add，计划采集14：

修改节点名

HPPA/AppSettings.cpp

@@ -0,0 +1,102 @@
+#include "AppSettings.h"
+#include <QCoreApplication>
+
+const QString AppSettings::kDefaultDataFolder = QStringLiteral("C:\\HPPA_image");
+const QString AppSettings::kDefaultFileName = QStringLiteral("test_image");
+const int AppSettings::kDefaultFrameRate = 20;
+const int AppSettings::kDefaultIntegrationTime = 1;
+const int AppSettings::kDefaultGain = 0;
+const QString AppSettings::kDefaultSLRDataFolder = QString();
+const QString AppSettings::kDefaultDepthCameraDataFolder = QString();
+
+AppSettings::AppSettings()
+	: m_settings(QSettings::IniFormat, QSettings::UserScope,
+		QStringLiteral("IRIS"), QStringLiteral("HPPA"))
+{
+}
+
+AppSettings& AppSettings::instance()
+{
+	static AppSettings s;
+	return s;
+}
+
+QString AppSettings::dataFolder() const
+{
+	return m_settings.value("General/DataFolder", kDefaultDataFolder).toString();
+}
+
+void AppSettings::setDataFolder(const QString& path)
+{
+	m_settings.setValue("General/DataFolder", path);
+}
+
+QString AppSettings::fileName() const
+{
+	return m_settings.value("General/FileName", kDefaultFileName).toString();
+}
+
+void AppSettings::setFileName(const QString& path)
+{
+	m_settings.setValue("General/FileName", path);
+}
+
+int AppSettings::frameRate() const
+{
+	return m_settings.value("CameraParams/FrameRate", kDefaultFrameRate).toInt();
+}
+
+void AppSettings::setFrameRate(int value)
+{
+	m_settings.setValue("CameraParams/FrameRate", value);
+}
+
+int AppSettings::integrationTime() const
+{
+	return m_settings.value("CameraParams/IntegrationTime", kDefaultIntegrationTime).toInt();
+}
+
+void AppSettings::setIntegrationTime(int value)
+{
+	m_settings.setValue("CameraParams/IntegrationTime", value);
+}
+
+int AppSettings::gain() const
+{
+	return m_settings.value("CameraParams/Gain", kDefaultGain).toInt();
+}
+
+void AppSettings::setGain(int value)
+{
+	m_settings.setValue("CameraParams/Gain", value);
+}
+
+QString AppSettings::slrDataFolder() const
+{
+	QString path = m_settings.value("General/SLRDataFolder").toString();
+	if (path.isEmpty())
+	{
+		return QCoreApplication::applicationDirPath() + "/CapturedImages/";
+	}
+	return path;
+}
+
+void AppSettings::setSlrDataFolder(const QString& path)
+{
+	m_settings.setValue("General/SLRDataFolder", path);
+}
+
+QString AppSettings::depthCameraDataFolder() const
+{
+	QString path = m_settings.value("General/DepthCameraDataFolder").toString();
+	if (path.isEmpty())
+	{
+		return QCoreApplication::applicationDirPath() + "/CapturedDepthImages/";
+	}
+	return path;
+}
+
+void AppSettings::setDepthCameraDataFolder(const QString& path)
+{
+	m_settings.setValue("General/DepthCameraDataFolder", path);
+}

HPPA/AppSettings.h

@@ -0,0 +1,54 @@
+#pragma once
+
+#include <QSettings>
+#include <QString>
+
+class AppSettings
+{
+public:
+	static AppSettings& instance();
+
+	// 数据路径
+	QString dataFolder() const;
+	void setDataFolder(const QString& path);
+
+	QString fileName() const;
+	void setFileName(const QString& path);
+
+	// 帧率
+	int frameRate() const;
+	void setFrameRate(int value);
+
+	// 积分时间
+	int integrationTime() const;
+	void setIntegrationTime(int value);
+
+	// 增益
+	int gain() const;
+	void setGain(int value);
+
+	// 单反相机数据保存路径
+	QString slrDataFolder() const;
+	void setSlrDataFolder(const QString& path);
+
+	// 深度相机数据保存路径
+	QString depthCameraDataFolder() const;
+	void setDepthCameraDataFolder(const QString& path);
+	// 在此处添加更多参数的 getter/setter ...
+
+private:
+	AppSettings();
+	AppSettings(const AppSettings&) = delete;
+	AppSettings& operator=(const AppSettings&) = delete;
+
+	QSettings m_settings;
+
+	// 默认值
+	static const QString kDefaultDataFolder;
+	static const QString kDefaultFileName;
+	static const int kDefaultFrameRate;
+	static const int kDefaultIntegrationTime;
+	static const int kDefaultGain;
+	static const QString kDefaultSLRDataFolder;
+	static const QString kDefaultDepthCameraDataFolder;
+};

HPPA/CaptureCoordinator.cpp

@@ -2,12 +2,11 @@
 
 TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
 	IrisMultiMotorController* motorCtrl,
-	ImagerOperationBase* cameraCtrl,
 	QObject* parent)
 	: QObject(parent)
 	, m_motorCtrl(motorCtrl)
-	, m_cameraCtrl(cameraCtrl)
 	, m_isRunning(false)
+	, m_isValidCapturing(false)
 {
 	//这些信号槽是按照逻辑顺序的
 	connect(this, SIGNAL(moveTo(int, double, double, int)),
@@ -20,35 +19,6 @@ TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
 		this, &TwoMotionCaptureCoordinator::handlePositionReached);
 	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
 	//	this, &TwoMotionCaptureCoordinator::handleError);
-
-	connect(this, &TwoMotionCaptureCoordinator::startRecordHSISignal,
-		m_cameraCtrl, &ImagerOperationBase::start_record);
-	connect(this, &TwoMotionCaptureCoordinator::stopRecordHSISignal,
-		m_cameraCtrl, &ImagerOperationBase::stop_record);
-	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
-		this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
-	//connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberNotMeet,
-	//	this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberNotMeet);
-	//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
-	//	this, &TwoMotionCaptureCoordinator::handleError);
-}
-
-TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
-	IrisMultiMotorController* motorCtrl,
-	QObject* parent)
-	: QObject(parent)
-	, m_motorCtrl(motorCtrl)
-	, m_isRunning(false)
-{
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
-	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
-		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
-
-	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
-		this, &TwoMotionCaptureCoordinator::handlePositionReached);
-	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
-	//	this, &TwoMotionCaptureCoordinator::handleError);
 }
 
 TwoMotionCaptureCoordinator::~TwoMotionCaptureCoordinator()
@@ -97,15 +67,12 @@ void TwoMotionCaptureCoordinator::stop()
 	std::cout << "The user manually stops the collection! " << std::endl;
 	savePathLinesToCsv();
 	
-	emit sequenceComplete(1);
 	emit finishRecordLineNumSignal(m_numCurrentPathLine);
-	//emit stopRecordHSISignal(m_numCurrentPathLine);
-	if (m_cameraCtrl != nullptr)
-	{
-		m_cameraCtrl->stop_record();
-	}
+	emit stopRecordHSISignal(m_numCurrentPathLine);
 
 	move2LocBeforeStart();
+
+	emit sequenceComplete(1);
 }
 
 void TwoMotionCaptureCoordinator::getLocBeforeStart()
@@ -120,6 +87,7 @@ void TwoMotionCaptureCoordinator::getLocBeforeStart()
 	QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
 		[&](std::vector<double> pos) {
 			m_locBeforeStart = pos;
+			std::cout << "start pos: "<< pos[0] <<", " << pos[1] << std::endl;
 			received = true;
 			loop.quit();
 		});
@@ -147,7 +115,7 @@ void TwoMotionCaptureCoordinator::move2LocBeforeStart()
 	speed.push_back(tmp.speedTargetYPosition);
 	emit moveTo(m_locBeforeStart, speed, 1000);
 
-	m_isRunning = false;
+	m_isValidCapturing = false;
 
 	m_isMoving2XMin = false;
 	m_isMoving2XMax = false;
@@ -229,12 +197,12 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 
 	//QMutexLocker locker(&m_dataMutex);
 
-	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
-
 	if (motorID == 1)//y马达
 	{
 		if (m_isMoving2YTargeLoc)
 		{
+			PathLine& tmp = m_pathLines[m_numCurrentPathLine];
+
 			double threshold = getThre(tmp.targetYPosition, pos);
 
 			if (threshold > 5)
@@ -264,6 +232,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2YStartLoc)
 		{
 			m_isMoving2YStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -272,6 +241,8 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 	{
 		if (m_isMoving2XMin)
 		{
+			PathLine& tmp = m_pathLines[m_numCurrentPathLine];
+
 			double threshold = getThre(tmp.targetXMinPosition, pos);
 
 			if (threshold > 5)
@@ -300,6 +271,8 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 
 		if (m_isMoving2XMax)
 		{
+			PathLine& tmp = m_pathLines[m_numCurrentPathLine];
+
 			double threshold = getThre(tmp.targetXMaxPosition, pos);
 			
 			if (threshold > 5 && !m_isImagerFrameNumberMeet)//马达没到准确位置 && 【非】光谱仪因帧数限制主动停止采集
@@ -323,11 +296,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 
 			//停止采集高光谱数据
 			emit finishRecordLineNumSignal(m_numCurrentPathLine);
-			//emit stopRecordHSISignal(m_numCurrentPathLine);
-			if (m_cameraCtrl!=nullptr)
-			{
-				m_cameraCtrl->stop_record();
-			}
+			emit stopRecordHSISignal(m_numCurrentPathLine);
 
 			m_isMoving2XMax = false;
 			m_isImagerFrameNumberMeet = false;
@@ -340,6 +309,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2XStartLoc)
 		{
 			m_isMoving2XStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -379,9 +349,25 @@ void TwoMotionCaptureCoordinator::startRecordHsi()
 		emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000);
 
 		emit startRecordHSISignal(m_numCurrentPathLine);
+		emit startRecordLineNumSignal(m_numCurrentPathLine);
 	}
 }
 
+void TwoMotionCaptureCoordinator::isBack2Origin()
+{
+	if (!m_isRunning) return;
+
+	//QMutexLocker locker(&m_dataMutex);
+
+	if (!m_isMoving2XStartLoc && !m_isMoving2YStartLoc)
+	{
+		m_isRunning = false;
+
+		emit back2OriginSignal();
+	}
+
+}
+
 void TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
 {
 	m_isImagerFrameNumberMeet = true;
@@ -425,7 +411,8 @@ void TwoMotionCaptureCoordinator::processNextPathLine()
 	}
 
 	std::cout << "\nNew path line: " << m_numCurrentPathLine << std::endl;
-	emit startRecordLineNumSignal(m_numCurrentPathLine);
+	emit gotoRecordLineNumSignal(m_numCurrentPathLine);
+	m_isValidCapturing = true;
 
 	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
 	tmp.timestamp1 = QDateTime::currentDateTime();
@@ -471,7 +458,8 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 
 OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
 {
-
+	disconnect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &OneMotionCaptureCoordinator::handleMotorStoped);
 }
 
 void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
@@ -585,6 +573,10 @@ void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 		m_cameraCtrl->stop_record();
 	}
 	move2LocBeforeStart();
+
+	// emit sequenceComplete last: the slot connected to it may delete this object,
+	// so no member access is allowed after this point.
+	emit sequenceComplete(0);
 }
 
 void OneMotionCaptureCoordinator::handleCaptureComplete(double index)

HPPA/CaptureCoordinator.h

@@ -38,9 +38,6 @@ class TwoMotionCaptureCoordinator : public QObject
 {
 	Q_OBJECT
 public:
-	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
-		ImagerOperationBase* cameraCtrl,
-		QObject* parent = nullptr);
 	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
 		QObject* parent = nullptr);
 	~TwoMotionCaptureCoordinator();
@@ -49,6 +46,8 @@ public:
 
 signals:
 	void sequenceComplete(int);//0：所有采集线正常运行完成，1：用户主动取消采集
+	void back2OriginSignal();
+	void gotoRecordLineNumSignal(int lineNum);
 	void startRecordLineNumSignal(int lineNum);
 	void finishRecordLineNumSignal(int lineNum);
 
@@ -62,13 +61,15 @@ signals:
 
 	void recordState(bool state);
 
+public slots:
+	void handleCaptureCompleteWhenFrameNumberMeet();
+
 private slots:
 	void start(QVector<PathLine> pathLines);
 	void stop();
 	void getRecordState();
 
 	void handlePositionReached(int motorID, double pos);
-	void handleCaptureCompleteWhenFrameNumberMeet();
 	void handleError(const QString& error);
 
 	void move2LocBeforeStart();
@@ -76,6 +77,7 @@ private slots:
 private:
 	void processNextPathLine();
 	void startRecordHsi();
+	void isBack2Origin();
 	void getLocBeforeStart();
 	double getThre(double targetLoc, double actualLoc);
 
@@ -88,6 +90,7 @@ private:
 	mutable QMutex m_dataMutex;
 
 	bool m_isRunning;
+	bool m_isValidCapturing;
 	bool m_isMoving2YTargeLoc;
 	bool m_isMoving2XMin;
 	bool m_isMoving2XMax;

HPPA/Carousel.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QWidget>
 #include <QPushButton>
@@ -40,13 +40,13 @@ private:
     QString m_nomalQSS;
     QString m_lockedQSS;
 
-    // ״ֵ̬
+    // 状态值
     int m_currentIndex;
     bool m_isPlaying;
     bool m_isLocked;
     int m_lockedIndex;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 参数
     int m_playInterval;
     int m_intervalButtonSize;
 

HPPA/CommunicationInterfaceBase.cpp

@@ -0,0 +1,14 @@
+#include "CommunicationInterfaceBase.h"
+
+using namespace MotorParams;
+
+CommunicationInterfaceBase::CommunicationInterfaceBase(QObject* parent)
+	:QObject(parent)
+{
+
+}
+
+CommunicationInterfaceBase::~CommunicationInterfaceBase()
+{
+
+}

HPPA/CommunicationInterfaceBase.h

@@ -0,0 +1,36 @@
+#pragma once
+#include <QObject>
+#include <QString>
+#include "motorParams.h"
+
+namespace MotorParams {
+
+    struct TCPConnectionParams
+    {
+        QString serverIP;
+        int port;
+    };
+class CommunicationInterfaceBase :public QObject
+{
+    Q_OBJECT
+public:
+    CommunicationInterfaceBase(QObject* parent = nullptr);
+    ~CommunicationInterfaceBase();
+
+    virtual bool connect2Motor() = 0;
+    //virtual void disconnect() = 0;
+    //virtual bool isConnected() const = 0;
+
+    virtual int sendCommand(const QString command) = 0;
+    //virtual void sendCommandAsync(const QString& command) = 0;
+    virtual int recvData(QByteArray& dataRecv) = 0;
+
+signals:
+    void dataReceived(const QByteArray& data);
+
+    void connected();     // <20><><EFBFBD>ܴ<EFBFBD><DCB4>ڻ<EFBFBD><DABB><EFBFBD>TCP<43><50><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
+    void disconnected();
+    void errorOccurred(QString msg);
+};
+
+} // namespace MotorParams

HPPA/CommunicationViaTCP.cpp

@@ -0,0 +1,95 @@
+#include "CommunicationViaTCP.h"
+
+using namespace MotorParams;
+
+CommunicationViaTCP::CommunicationViaTCP(MotorParams::TCPConnectionParams connectionParams, QObject* parent)
+	:MotorParams::CommunicationInterfaceBase(parent)
+{
+	m_bConnected = false;
+	m_tcpServer = new QTcpServer(this);
+	connect(m_tcpServer, SIGNAL(newConnection()), this, SLOT(onNewConnection()));
+	
+	m_tcpServer->listen(QHostAddress::Any, connectionParams.port);
+}
+
+CommunicationViaTCP::~CommunicationViaTCP()
+{
+	m_tcpServer->close();
+	delete m_tcpServer;
+
+	//这两行代码要报错，为啥呢？？？？？？？？？？？？？？？？？
+	//m_tcpSocket->disconnectFromHost();
+	//delete m_tcpSocket;
+}
+
+bool CommunicationViaTCP::connect2Motor()
+{
+	return true;
+}
+
+void CommunicationViaTCP::onNewConnection()
+{
+	m_bConnected = true;
+	m_tcpSocket = m_tcpServer->nextPendingConnection();
+	connect(m_tcpSocket, SIGNAL(disconnected()), this, SLOT(onTcpSocketDisconnected()));
+
+	emit connected();
+}
+
+bool CommunicationViaTCP::isConnected() const
+{
+	return m_bConnected;
+}
+
+//从拔掉客户端的电源（客户端m_tcpSocket断开连接）到这个函数被调用有延迟，所以这个函数调用也有延迟，导致拔掉电源后的一小段时间函数isConnected()还是返回true
+void CommunicationViaTCP::onTcpSocketDisconnected()
+{
+	int a = 1;
+	m_bConnected = false;
+	m_tcpSocket->deleteLater();
+}
+
+int CommunicationViaTCP::sendCommand(const QString cmd)
+{
+	if (!isConnected()) {
+		QString error = "No client connected";
+		emit commandSendResult(-1, error);
+		qWarning() << error << "command:" << cmd;
+		return -1;
+	}
+
+	qint64 bytesWritten = m_tcpSocket->write(cmd.toUtf8().data());
+	m_tcpSocket->waitForBytesWritten(50);
+
+	return bytesWritten;
+}
+
+int CommunicationViaTCP::recvData(QByteArray& dataRecv)
+{
+	if (!isConnected()) {
+		QString error = "No client connected";
+		return -1;
+	}
+
+	dataRecv.clear();
+
+	QByteArray temp;
+
+	temp = m_tcpSocket->readAll();
+	dataRecv.append(temp);
+
+	int counter = 0;
+	while (dataRecv.size() < 21)
+	{
+		counter++;
+		m_tcpSocket->waitForReadyRead(100);
+		temp = m_tcpSocket->readAll();
+		dataRecv.append(temp);
+
+		if (counter >= 5)
+			break;
+	}
+	//qDebug() << "Hex:" << dataRecv.toHex();
+
+	return dataRecv.size();
+}

HPPA/CommunicationViaTCP.h

@@ -0,0 +1,45 @@
+#pragma once
+#include <QObject>
+#include <QThread>
+#include <QDebug>
+#include <QTcpServer>
+#include <QTcpSocket>
+
+#include "CommunicationInterfaceBase.h"
+
+namespace MotorParams {
+
+    class CommunicationViaTCP :
+        public CommunicationInterfaceBase
+    {
+        Q_OBJECT
+
+    public:
+        CommunicationViaTCP(TCPConnectionParams connectionParams, QObject* parent = nullptr);
+        ~CommunicationViaTCP();
+
+        //继承基类
+        bool connect2Motor();
+        //void disconnect();
+        //bool isConnected() const;
+
+        int sendCommand(const QString cmd);
+        //void sendCommandAsync(const QString& command);
+        int recvData(QByteArray& dataRecv);
+
+    private:
+        QTcpServer* m_tcpServer;
+        QTcpSocket* m_tcpSocket;
+        int m_iCommunicationProtocol;
+
+        bool m_bConnected;
+        bool isConnected() const;
+
+    public Q_SLOTS:
+        void onNewConnection();
+        void onTcpSocketDisconnected();
+
+    signals:
+        void commandSendResult(int bytesWritten, const QString& error = QString());
+    };
+}

HPPA/Corning410Imager.cpp

@@ -1,8 +1,8 @@
-#include "Corning410Imager.h"
+#include "Corning410Imager.h"
 
 Corning410Imager::Corning410Imager()
 {
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+	//配置文件：如果没有，就创建配置文件
 	string CfgFile = getPathofEXE() + "\\corning410.cfg";
 	m_configfile.setConfigfilePath(CfgFile);
 	if (!m_configfile.isConfigfileExist())
@@ -18,7 +18,7 @@ Corning410Imager::~Corning410Imager()
 {
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 		free(dark);
 		free(white);
@@ -70,7 +70,7 @@ void Corning410Imager::connectImager(const char* camera_sn)
 {
 	m_imager.connect();
 
-	//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD>
+	//读取配置文件参数，并为相机设置参数
 	bool ret, ret1, ret2;
 
 	int spatialBin;
@@ -82,8 +82,8 @@ void Corning410Imager::connectImager(const char* camera_sn)
 		bool haha = m_imager.setSpectralBin(spectralBin);
 		bool haha2 = m_imager.setSpatialBin(spatialBin);
 
-		std::cout << "spectralBin<EFBFBD><EFBFBD>" << spectralBin << std::endl;
-		std::cout << "spatialBin<EFBFBD><EFBFBD>" << spatialBin << std::endl;
+		std::cout << "spectralBin：" << spectralBin << std::endl;
+		std::cout << "spatialBin：" << spatialBin << std::endl;
 	}
 
 	float gain, offset;

HPPA/Corning410Imager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <string>
 #include <opencv2/core/core.hpp> 
 

HPPA/CustomDockWidgetBase.cpp

@@ -1,4 +1,4 @@
-#include "CustomDockWidgetBase.h"
+#include "CustomDockWidgetBase.h"
 
 CustomDockWidgetBase::CustomDockWidgetBase(QMainWindow* parent)
     : QDockWidget(parent),
@@ -55,7 +55,7 @@ void CustomDockWidgetBase::initialize()
 			border-top: 1px solid #2c586b;
 			border-left: 1px solid #2c586b;
 			border-right: 1px solid #2c586b;
-			border-bottom: none;  /* ȡ<EFBFBD><EFBFBD><EFBFBD>ײ<EFBFBD><EFBFBD>߿<EFBFBD> */
+			border-bottom: none;  /* 取消底部边框 */
 			
 			border-top-left-radius: 5px;
 			border-top-right-radius: 5px;

HPPA/CustomDockWidgetBase.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QDockWidget>
 #include <QToolButton>
 #include <QStyle>

HPPA/DepthCamera.ui

@@ -0,0 +1,205 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DepthCameraClass</class>
+ <widget class="QDialog" name="DepthCameraClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>857</width>
+    <height>477</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>DepthCamera</string>
+  </property>
+  <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_2">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="1">
+      <widget class="QPushButton" name="closeDepthCamera_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>
+     <item row="0" column="0">
+      <widget class="QPushButton" name="openDepthCamera_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>
+    </layout>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="styleSheet">
+        <string notr="true">QLabel {
+    color: rgb(255, 255, 255);
+}</string>
+       </property>
+       <property name="text">
+        <string>数据路径</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="dataFolderLineEdit">
+       <property name="styleSheet">
+        <string notr="true">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;
+}</string>
+       </property>
+       <property name="text">
+        <string>./CapturedImages</string>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="dataFolderBtn">
+       <property name="text">
+        <string>...</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="1">
+    <spacer name="verticalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/DepthCameraWindow.cpp

@@ -0,0 +1,358 @@
+#include "DepthCameraWindow.h"
+
+DepthCameraWindow::DepthCameraWindow(QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	m_DepthCameraThread = new QThread();
+	m_DepthCameraOperation = new DepthCameraOperation();
+	m_DepthCameraOperation->moveToThread(m_DepthCameraThread);
+	m_DepthCameraThread->start();
+
+	connect(ui.openDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::openDepthCamera);
+	connect(ui.closeDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::closeDepthCamera);
+
+	connect(this, &DepthCameraWindow::openDepthCameraSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera);
+
+	connect(m_DepthCameraOperation, &DepthCameraOperation::CamOpenedSignal, this, &DepthCameraWindow::onCamOpened);
+	connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::onCamClosed);
+
+	connect(m_DepthCameraOperation, &DepthCameraOperation::PlotSignal, this, &DepthCameraWindow::PlotDepthImageSignal);
+	connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::DepthCamClosedSignal);
+
+	connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
+
+	// 初始化数据保存路径显示（从 AppSettings 恢复或使用默认）
+	ui.dataFolderLineEdit->setText(AppSettings::instance().depthCameraDataFolder());
+}
+
+DepthCameraWindow::~DepthCameraWindow()
+{
+    m_DepthCameraThread->quit();
+    m_DepthCameraThread->wait();
+    delete m_DepthCameraOperation;
+    m_DepthCameraOperation = nullptr;
+}
+
+void DepthCameraWindow::onSelectDataFolder()
+{
+	QString dir = QFileDialog::getExistingDirectory(this,
+		QString::fromLocal8Bit("选择数据保存路径"),
+		ui.dataFolderLineEdit->text());
+
+    setDataFolder(dir);
+}
+
+void DepthCameraWindow::setDataFolder(QString dir)
+{
+    if (!dir.isEmpty())
+    {
+        ui.dataFolderLineEdit->setText(dir);
+        AppSettings::instance().setDepthCameraDataFolder(dir);
+    }
+}
+
+void DepthCameraWindow::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_DepthCameraOperation->setCaptureInterval(captureIntervalSeconds);
+}
+
+void DepthCameraWindow::openDepthCamera()
+{
+    if (!m_DepthCameraOperation->getRecordStatus())
+    {
+        emit openDepthCameraSignal();
+    }
+}
+
+void DepthCameraWindow::onCamOpened()
+{
+    ui.openDepthCamera_btn->setEnabled(false);
+	ui.closeDepthCamera_btn->setEnabled(true);
+
+    ui.openDepthCamera_btn->setText(QString::fromLocal8Bit("已打开"));
+}
+
+void DepthCameraWindow::closeDepthCamera()
+{
+    m_DepthCameraOperation->CloseDepthCamera();
+}
+
+void DepthCameraWindow::onCamClosed()
+{
+    ui.openDepthCamera_btn->setEnabled(true);
+    ui.closeDepthCamera_btn->setEnabled(false);
+
+    ui.openDepthCamera_btn->setText(QString::fromLocal8Bit("打   开"));
+}
+
+//-------------------------------------------------------------------------------------------------------------------------------
+DepthCameraOperation::DepthCameraOperation()
+{
+    m_pipe = nullptr;
+	m_func = nullptr;
+	record = false;
+
+    m_captureIntervalMilliseconds = 3000;
+}
+
+DepthCameraOperation::~DepthCameraOperation()
+{
+    if (m_pipe) 
+    {
+		m_pipe->stop();
+
+        delete m_pipe;
+        m_pipe = nullptr;
+    }
+}
+
+void DepthCameraOperation::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
+}
+
+void DepthCameraOperation::OpenDepthCamera()
+{
+    if (m_pipe)
+    {
+        return;
+    }
+    m_pipe = new ob::Pipeline();
+
+    std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
+
+    // Get device from pipeline.
+    auto device = m_pipe->getDevice();
+    auto devInfo = device->getDeviceInfo();
+    auto pid = devInfo->getPid();
+    auto vid = devInfo->getVid();
+
+    //// Get sensorList from device.
+    //auto sensorList = device->getSensorList();
+
+    //for (uint32_t index = 0; index < sensorList->getCount(); index++) {
+    //    // Query all supported infrared sensor type and enable the infrared stream.
+    //    // For dual infrared device, enable the left and right infrared streams.
+    //    // For single infrared device, enable the infrared stream.
+    //    OBSensorType sensorType = sensorList->getSensorType(index);
+    //    std::cout << "Supported Sensor type: " << sensorType << std::endl;
+
+    //    // Enable the stream for the sensor type.
+    //    config->enableStream(sensorType);
+    //}
+
+    config->enableVideoStream(OB_STREAM_DEPTH, 640, 480, 15, OB_FORMAT_Y16);
+    config->enableVideoStream(OB_STREAM_COLOR, 640, 480, 15, OB_FORMAT_YUYV);
+    config->enableAccelStream();
+    config->enableGyroStream();
+    config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
+    config->setAlignMode(ALIGN_D2C_HW_MODE);
+
+    m_pipe->enableFrameSync();
+
+    // Create a format converter filter.
+    auto formatConverter = std::make_shared<ob::FormatConvertFilter>();
+
+    m_pipe->start(config);
+
+    // Drop several frames
+    for (int i = 0; i < 15; ++i) {
+        auto lost = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
+    }
+
+    auto pointCloud = std::make_shared<ob::PointCloudFilter>();
+
+    int frameIndex = 0;
+    record = true;
+    QString fileNamePrefix = AppSettings::instance().depthCameraDataFolder() + QDir::separator() + "Gemini336L";
+	QString imuFilePath = fileNamePrefix + "_IMU.txt";
+	std::ofstream imuFile(imuFilePath.toStdString(), std::ios::out | std::ios::trunc);
+    while (record)
+    {
+        if(frameIndex==0)
+        {
+            emit CamOpenedSignal();
+            std::cout << "Start recording..." << std::endl;
+		}
+
+        auto frameSet = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
+        if (frameSet == nullptr)
+        {
+            std::cout << "No frames received in 100ms..." << std::endl;
+            continue;
+        }
+
+        std::cout << "DepthCamera frameIndex："<< frameIndex << std::endl;
+
+		// 彩色和深度图像
+        auto depthFrame = frameSet->getFrame(OB_FRAME_DEPTH)->as<ob::DepthFrame>();
+        auto colorFrame = frameSet->getFrame(OB_FRAME_COLOR)->as<ob::ColorFrame>();
+
+        // Convert the color frame to RGB format.
+        if (colorFrame->format() != OB_FORMAT_RGB) {
+            if (colorFrame->format() == OB_FORMAT_MJPG) {
+                formatConverter->setFormatConvertType(FORMAT_MJPG_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_UYVY) {
+                formatConverter->setFormatConvertType(FORMAT_UYVY_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_YUYV) {
+                formatConverter->setFormatConvertType(FORMAT_YUYV_TO_RGB);
+            }
+            else {
+                std::cout << "Color format is not support!" << std::endl;
+                continue;
+            }
+            colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+        }
+        // Processed the color frames to BGR format, use OpenCV to save to disk.
+        formatConverter->setFormatConvertType(FORMAT_RGB_TO_BGR);
+        colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+
+        saveDepthFrame(depthFrame, frameIndex, fileNamePrefix.toStdString());
+        saveColorFrame(colorFrame, frameIndex, fileNamePrefix.toStdString());
+
+        cv::Mat colorMat(colorFrame->height(), colorFrame->width(), CV_8UC3, colorFrame->data());
+        cv::Mat rgbMat;
+        cv::cvtColor(colorMat, rgbMat, cv::COLOR_BGR2RGB);
+        m_colorImage = QImage(rgbMat.data, rgbMat.cols, rgbMat.rows, static_cast<int>(rgbMat.step), QImage::Format_RGB888).copy();
+
+        cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
+        cv::Mat depthMat8U;
+        depthMat.convertTo(depthMat8U, CV_8UC1, 255.0 / 4096.0);
+        cv::Mat depthColorMap;
+        cv::applyColorMap(depthMat8U, depthColorMap, cv::COLORMAP_JET);
+        cv::Mat depthRgbMat;
+        cv::cvtColor(depthColorMap, depthRgbMat, cv::COLOR_BGR2RGB);
+        m_depthImage = QImage(depthRgbMat.data, depthRgbMat.cols, depthRgbMat.rows, static_cast<int>(depthRgbMat.step), QImage::Format_RGB888).copy();
+        //m_depthImage = QImage(depthMat.data, depthMat.cols, depthMat.rows, static_cast<int>(depthMat.step), QImage::Format_Grayscale16).copy();
+
+        emit PlotSignal();
+
+        //点云
+        pointCloud->setCreatePointFormat(OB_FORMAT_RGB_POINT);
+        std::shared_ptr<ob::Frame> frame = pointCloud->process(frameSet);
+
+        QString plyPath = fileNamePrefix + "_PointCloud_"+ QString::number(frameIndex) + ".ply";
+        ob::PointCloudHelper::savePointcloudToPly(plyPath.toStdString().c_str(), frame, false, false, 50);
+
+        //惯导数据
+        auto accelFrameRaw = frameSet->getFrame(OB_FRAME_ACCEL);
+        auto accelFrame = accelFrameRaw->as<ob::AccelFrame>();
+        auto accelIndex = accelFrame->getIndex();
+        auto accelTimeStampUs = accelFrame->getTimeStampUs();
+        auto accelTemperature = accelFrame->getTemperature();
+        auto accelType = accelFrame->getType();
+        //if (frameIndex % 50 == 0) 
+        //{  // print information every 50 frames.
+        //    auto accelValue = accelFrame->getValue();
+        //    printImuValue(accelValue, accelIndex, accelTimeStampUs, accelTemperature, accelType, "m/s^2");
+        //}
+        //auto accelValue = accelFrame->getValue();
+        //printImuValue(accelValue, accelIndex, accelTimeStampUs, accelTemperature, accelType, "m/s^2");
+
+        auto gyroFrameRaw = frameSet->getFrame(OB_FRAME_GYRO);
+        auto gyroFrame = gyroFrameRaw->as<ob::GyroFrame>();
+        auto gyroIndex = gyroFrame->getIndex();
+        auto gyroTimeStampUs = gyroFrame->getTimeStampUs();
+        auto gyroTemperature = gyroFrame->getTemperature();
+        auto gyroType = gyroFrame->getType();
+        //if (frameIndex % 50 == 0) {  // print information every 50 frames.
+        //    auto gyroValue = gyroFrame->getValue();
+        //    printImuValue(gyroValue, gyroIndex, gyroTimeStampUs, gyroTemperature, gyroType, "rad/s");
+        //}
+        //auto gyroValue = gyroFrame->getValue();
+        //printImuValue(gyroValue, gyroIndex, gyroTimeStampUs, gyroTemperature, gyroType, "rad/s");
+
+        saveImuData(imuFile, accelFrame, gyroFrame);
+
+        frameIndex++;
+    }
+
+    imuFile.close();
+
+    m_pipe->stop();
+
+    delete m_pipe;
+    m_pipe = nullptr;
+}
+
+void DepthCameraOperation::saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
+{
+    std::vector<int> params;
+    params.push_back(cv::IMWRITE_PNG_COMPRESSION);
+    params.push_back(0);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
+    std::string depthName = fileNamePrefix_ + "_Depth_" + std::to_string(depthFrame->width()) + "x" + std::to_string(depthFrame->height()) + "_" + std::to_string(frameIndex) + "_"
+        + std::to_string(depthFrame->timeStamp()) + "ms.png";
+    cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
+    cv::imwrite(depthName, depthMat, params);
+    //std::cout << "Depth saved:" << depthName << std::endl;
+}
+
+void DepthCameraOperation::saveColorFrame(const std::shared_ptr<ob::ColorFrame> colorFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
+{
+    std::vector<int> params;
+    params.push_back(cv::IMWRITE_PNG_COMPRESSION);
+    params.push_back(0);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
+    std::string colorName = fileNamePrefix_ + "_Color_" + std::to_string(colorFrame->width()) + "x" + std::to_string(colorFrame->height()) + "_" + std::to_string(frameIndex) + "_"
+        + std::to_string(colorFrame->timeStamp()) + "ms.png";
+    cv::Mat depthMat(colorFrame->height(), colorFrame->width(), CV_8UC3, colorFrame->data());
+    cv::imwrite(colorName, depthMat, params);
+    //std::cout << "Color saved:" << colorName << std::endl;
+}
+
+void DepthCameraOperation::printImuValue(OBFloat3D obFloat3d, uint64_t index, uint64_t timeStampUs, float temperature, OBFrameType type, const std::string& unitStr)
+{
+    std::cout << "frame index: " << index << std::endl;
+    auto typeStr = ob::TypeHelper::convertOBFrameTypeToString(type);
+    std::cout << typeStr << " Frame: \n\r{\n\r"
+        << "  tsp = " << timeStampUs << "\n\r"
+        << "  temperature = " << temperature << "\n\r"
+        << "  " << typeStr << ".x = " << obFloat3d.x << unitStr << "\n\r"
+        << "  " << typeStr << ".y = " << obFloat3d.y << unitStr << "\n\r"
+        << "  " << typeStr << ".z = " << obFloat3d.z << unitStr << "\n\r"
+        << "}\n\r" << std::endl;
+}
+
+void DepthCameraOperation::saveImuData(std::ofstream& imuFile, const std::shared_ptr<ob::AccelFrame>& accelFrame, const std::shared_ptr<ob::GyroFrame>& gyroFrame)
+{
+    if (!imuFile.is_open())
+        return;
+
+    auto accelValue = accelFrame->getValue();
+    auto gyroValue = gyroFrame->getValue();
+
+    // position (acceleration): ax, ay, az
+    // attitude (angular velocity): gx, gy, gz
+    imuFile << accelFrame->getIndex() << ","
+            << accelFrame->getTimeStampUs() << ","
+            << accelValue.x << "," << accelValue.y << "," << accelValue.z << ","
+            << gyroFrame->getIndex() << ","
+            << gyroFrame->getTimeStampUs() << ","
+            << gyroValue.x << "," << gyroValue.y << "," << gyroValue.z << "\n";
+}
+
+void DepthCameraOperation::OpenDepthCamera_callback()
+{
+
+}
+
+void DepthCameraOperation::setCallback(void(*func)())
+{
+	m_func = func;
+}
+
+void DepthCameraOperation::CloseDepthCamera()
+{
+	std::cout << "DepthCameraOperation::CloseDepthCamera，关闭深度相机" << std::endl;
+    
+    record = false;
+
+	emit CamClosedSignal();
+}

HPPA/DepthCameraWindow.h

@@ -0,0 +1,95 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <QImage>
+#include <Qthread>
+#include <QDir>
+//#include <QLabel>
+#include <QFileDialog>
+
+#include <iostream>
+#include "ui_DepthCamera.h"
+#include "AppSettings.h"
+
+#include <fstream>
+#include <opencv2/opencv.hpp>
+#include <libobsensor/ObSensor.hpp>
+#include "libobsensor/hpp/Utils.hpp"
+typedef void(*func)();
+
+class DepthCameraOperation :public QObject
+{
+	Q_OBJECT
+
+public:
+	DepthCameraOperation();
+	~DepthCameraOperation();
+
+	QImage m_colorImage;
+	QImage m_depthImage;
+	void setCallback(void(*func)());
+	bool getRecordStatus() const { return record; }
+
+	void setCaptureInterval(int captureIntervalSeconds);
+
+private:
+	ob::Pipeline* m_pipe;
+	cv::Mat frame;
+
+	func m_func;
+
+	void saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
+	void saveColorFrame(const std::shared_ptr<ob::ColorFrame> colorFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
+	void printImuValue(OBFloat3D obFloat3d, uint64_t index, uint64_t timeStampUs, float temperature, OBFrameType type, const std::string& unitStr);
+	void saveImuData(std::ofstream& imuFile, const std::shared_ptr<ob::AccelFrame>& accelFrame, const std::shared_ptr<ob::GyroFrame>& gyroFrame);
+
+	bool record;
+
+	int m_captureIntervalMilliseconds;
+
+public slots:
+	void OpenDepthCamera();
+	void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
+	void CloseDepthCamera();
+
+signals:
+	void PlotSignal();
+
+	void CamOpenedSignal();
+	void CamClosedSignal();
+};
+
+class DepthCameraWindow : public QDialog
+{
+	Q_OBJECT
+
+public:
+	DepthCameraWindow(QWidget* parent = nullptr);
+	~DepthCameraWindow();
+
+	DepthCameraOperation* m_DepthCameraOperation;
+
+	void setDataFolder(QString dir);
+	void setCaptureInterval(int captureIntervalSeconds);
+
+public Q_SLOTS:
+	void openDepthCamera();
+	void onCamOpened();
+	void closeDepthCamera();
+	void onCamClosed();
+
+	void onSelectDataFolder();
+
+signals:
+void openDepthCameraSignal();
+void PlotDepthImageSignal();
+void DepthCamClosedSignal();
+
+private:
+	Ui::DepthCameraClass ui;
+	QThread* m_DepthCameraThread;
+	
+};

HPPA/FileNameLineEdit.cpp

@@ -0,0 +1,46 @@
+#include "FileNameLineEdit.h"
+
+FileNameLineEdit::FileNameLineEdit(QWidget* parent)
+	: QLineEdit(parent)
+{
+	setText(AppSettings::instance().fileName());
+	connect(this, &QLineEdit::textChanged, this, &FileNameLineEdit::onTextChanged);
+}
+
+void FileNameLineEdit::keyPressEvent(QKeyEvent* event)
+{
+	if (event->key() == Qt::Key_Space)
+	{
+		event->ignore();
+		return;
+	}
+	QLineEdit::keyPressEvent(event);
+}
+
+void FileNameLineEdit::inputMethodEvent(QInputMethodEvent* event)
+{
+	QString commitString = event->commitString();
+	if (commitString.contains(' '))
+	{
+		commitString.remove(' ');
+		QInputMethodEvent filtered(event->preeditString(), event->attributes());
+		filtered.setCommitString(commitString);
+		QLineEdit::inputMethodEvent(&filtered);
+		return;
+	}
+	QLineEdit::inputMethodEvent(event);
+}
+
+void FileNameLineEdit::onTextChanged(const QString& text)
+{
+	QString cleaned = text;
+	if (cleaned.contains(' '))
+	{
+		int pos = cursorPosition();
+		cleaned.remove(' ');
+		setText(cleaned);
+		setCursorPosition(qMin(pos, cleaned.length()));
+		return;
+	}
+	AppSettings::instance().setFileName(cleaned);
+}

HPPA/FileNameLineEdit.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include <QLineEdit>
+#include <QKeyEvent>
+#include "AppSettings.h"
+
+class FileNameLineEdit : public QLineEdit
+{
+	Q_OBJECT
+
+public:
+	explicit FileNameLineEdit(QWidget* parent = nullptr);
+
+protected:
+	void keyPressEvent(QKeyEvent* event) override;
+
+	void inputMethodEvent(QInputMethodEvent* event) override;
+
+private slots:
+	void onTextChanged(const QString& text);
+};

HPPA/HPPA - 副本 (2).ui

@@ -0,0 +1,861 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HPPAClass</class>
+ <widget class="QMainWindow" name="HPPAClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1486</width>
+    <height>898</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Spectral Insight</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="HPPA.qrc">
+    <normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</iconset>
+  </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <widget class="QWidget" name="centralWidget"/>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1486</width>
+     <height>30</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>-1</pointsize>
+    </font>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QMenuBar{
+background:#F0F0F0;
+color:rgb(0,0,0);
+font-size:14px;
+padding:1px;
+border:1px solid rgb(165,171,184);
+}
+
+QMenuBar::item{
+background:#F0F0F0;
+width:30px;
+height:15px;
+}
+
+QMenuBar::item:selected{
+background:rgb(185,196,221);
+}
+
+QMenu{
+background:rgb(255,255,255);
+color:rgb(0,0,0);
+border:1px solid rgb(165,171,184);
+}
+
+QMenu::item:selected{
+background:rgb(69,123,255);
+color:white;
+}
+</string>
+   </property>
+   <widget class="QMenu" name="file">
+    <property name="title">
+     <string>文件</string>
+    </property>
+    <addaction name="mActionOpenImg"/>
+    <addaction name="separator"/>
+    <addaction name="mSetting"/>
+    <addaction name="action_exit"/>
+   </widget>
+   <widget class="QMenu" name="menuspectrometer">
+    <property name="title">
+     <string>光谱仪</string>
+    </property>
+    <widget class="QMenu" name="menu">
+     <property name="font">
+      <font>
+       <family>宋体</family>
+      </font>
+     </property>
+     <property name="title">
+      <string>选择相机类型</string>
+     </property>
+     <addaction name="mActionPica_L"/>
+     <addaction name="mActionPica_NIR"/>
+     <addaction name="mActionPika_XC2"/>
+     <addaction name="separator"/>
+     <addaction name="mActionCorning_410"/>
+    </widget>
+    <addaction name="menu"/>
+    <addaction name="action_connect_imager"/>
+    <addaction name="separator"/>
+    <addaction name="action_auto_exposure"/>
+    <addaction name="action_focus"/>
+    <addaction name="action_dark"/>
+    <addaction name="action_reference"/>
+    <addaction name="separator"/>
+    <addaction name="action_start_recording"/>
+    <addaction name="separator"/>
+    <addaction name="actionOpenDirectory"/>
+   </widget>
+   <widget class="QMenu" name="menuhelp">
+    <property name="title">
+     <string>帮助</string>
+    </property>
+    <addaction name="action_about"/>
+   </widget>
+   <widget class="QMenu" name="mWindowsMenu">
+    <property name="title">
+     <string>窗口</string>
+    </property>
+   </widget>
+   <widget class="QMenu" name="menu_2">
+    <property name="title">
+     <string>扫描平台</string>
+    </property>
+    <addaction name="mAction_is_no_motor"/>
+    <addaction name="mAction_1AxisMotor"/>
+    <addaction name="mAction_2AxisMotor_new"/>
+    <addaction name="separator"/>
+    <addaction name="mAction_RobotArm"/>
+   </widget>
+   <widget class="QMenu" name="mMenuScenario">
+    <property name="title">
+     <string>应用场景</string>
+    </property>
+    <addaction name="mActionOneMotorScenario"/>
+    <addaction name="mActionPlantPhenotypeScenario"/>
+   </widget>
+   <widget class="QMenu" name="menu_4">
+    <property name="title">
+     <string>数据处理</string>
+    </property>
+    <addaction name="action_4"/>
+    <addaction name="action_5"/>
+    <addaction name="action_13"/>
+   </widget>
+   <addaction name="file"/>
+   <addaction name="menuspectrometer"/>
+   <addaction name="mMenuScenario"/>
+   <addaction name="menu_4"/>
+   <addaction name="menu_2"/>
+   <addaction name="mWindowsMenu"/>
+   <addaction name="menuhelp"/>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <property name="sizePolicy">
+    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+     <horstretch>0</horstretch>
+     <verstretch>0</verstretch>
+    </sizepolicy>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+     <pointsize>2</pointsize>
+    </font>
+   </property>
+   <property name="windowTitle">
+    <string>相机控制</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar{
+	
+	background-color: #f5f5f5;
+	color:rgb(0,0,0);
+}
+QToolBar QToolButton {
+    background: #f5f5f5;               /* 按钮背景颜色 */
+	font-size:15px;
+    border-radius: 3px;             /* 按钮圆角 */
+    padding: 4px;                   /* 按钮内边距 */
+}
+QToolBar QToolButton:hover {
+    background: rgb(185,196,221);            /* 按钮悬停背景颜色 */
+    color: white;                   /* 按钮悬停文字颜色 */
+}
+</string>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+   <addaction name="action_connect_imager"/>
+   <addaction name="action_auto_exposure"/>
+   <addaction name="action_focus"/>
+   <addaction name="action_dark"/>
+   <addaction name="action_reference"/>
+   <addaction name="action_start_recording"/>
+   <addaction name="actionOpenDirectory"/>
+   <addaction name="mActionPan"/>
+   <addaction name="mActionSpectral"/>
+  </widget>
+  <widget class="QStatusBar" name="statusBar">
+   <property name="styleSheet">
+    <string notr="true">QStatusBar
+{
+	background-color: #0D1233;
+	color: white;
+}
+
+QStatusBar::item
+{
+    border: none;
+}</string>
+   </property>
+  </widget>
+  <widget class="CustomDockWidgetBase" name="mDockWidgetSimulator">
+   <property name="styleSheet">
+    <string notr="true"/>
+   </property>
+   <property name="features">
+    <set>QDockWidget::AllDockWidgetFeatures</set>
+   </property>
+   <property name="windowTitle">
+    <string>3D模型</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>1</number>
+   </attribute>
+   <widget class="QWidget" name="dockWidgetContents_2">
+    <layout class="QGridLayout" name="gridLayout_7">
+     <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="verticalSpacing">
+      <number>0</number>
+     </property>
+    </layout>
+   </widget>
+  </widget>
+  <widget class="CustomDockWidgetHideAbove" name="mDockWidgetSpectrometer">
+   <property name="styleSheet">
+    <string notr="true"/>
+   </property>
+   <property name="windowTitle">
+    <string>控制</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>2</number>
+   </attribute>
+   <widget class="QWidget" name="controlContents">
+    <property name="styleSheet">
+     <string notr="true">QWidget #controlContents
+{
+	background-color: #0E1C4C;
+	
+	border-top: 1px solid #2c586b;
+	border-left: 1px solid #2c586b;
+	border-right: 1px solid #2c586b;
+	border-bottom: 1px solid #2c586b;
+	
+	border-top-left-radius: 0px;
+	border-top-right-radius: 0px;
+	border-bottom-left-radius: 10px;
+	border-bottom-right-radius: 10px;
+}
+</string>
+    </property>
+    <layout class="QGridLayout" name="gridLayout_5">
+     <property name="leftMargin">
+      <number>2</number>
+     </property>
+     <property name="topMargin">
+      <number>2</number>
+     </property>
+     <property name="rightMargin">
+      <number>2</number>
+     </property>
+     <property name="bottomMargin">
+      <number>2</number>
+     </property>
+     <property name="horizontalSpacing">
+      <number>6</number>
+     </property>
+     <item row="0" column="0">
+      <widget class="QTabWidget" name="controlTabWidget">
+       <property name="styleSheet">
+        <string notr="true">QTabBar::tab {
+	background: #0E1C4C;
+	color: white;
+	padding: 6px 12px;
+	border: none;
+	border-top: 1px solid #27376C;
+	height: 41;
+}
+
+QTabBar::tab:selected {
+	background: #0D1233;
+	color: white;
+	border: none;
+}
+
+/*QTabBar::tab:hover {
+	background: #141A45;
+}*/
+
+QTabWidget::pane {
+	border: none;
+	border-top: 1px solid #27376C;
+	background: #0D1233;
+	top: -1px;
+}
+</string>
+       </property>
+       <property name="tabPosition">
+        <enum>QTabWidget::South</enum>
+       </property>
+       <property name="tabShape">
+        <enum>QTabWidget::Rounded</enum>
+       </property>
+       <property name="currentIndex">
+        <number>0</number>
+       </property>
+       <property name="elideMode">
+        <enum>Qt::ElideNone</enum>
+       </property>
+       <widget class="QWidget" name="rgbCameraWidget">
+        <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>
+        <attribute name="title">
+         <string>rgb相机</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_4" rowstretch="2,4,2" 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>174</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>115</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="1" column="1">
+          <layout class="QGridLayout" name="gridLayout_3" columnstretch="1,1">
+           <property name="spacing">
+            <number>20</number>
+           </property>
+           <item row="1" column="0">
+            <widget class="QPushButton" name="take_video_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>录制视频</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="1">
+            <widget class="QPushButton" name="take_photo_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>拍照</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="1">
+            <widget class="QPushButton" name="close_rgb_camera_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>
+           <item row="0" column="0">
+            <widget class="QPushButton" name="open_rgb_camera_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>
+          </layout>
+         </item>
+         <item row="1" column="2">
+          <spacer name="horizontalSpacer_2">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>115</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>173</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </widget>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+  </widget>
+  <widget class="QToolBar" name="toolBar">
+   <property name="minimumSize">
+    <size>
+     <width>20</width>
+     <height>0</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>LeftToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QToolBar" name="toolBar_2">
+   <property name="minimumSize">
+    <size>
+     <width>20</width>
+     <height>0</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar_2</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>RightToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QToolBar" name="toolBar_3">
+   <property name="minimumSize">
+    <size>
+     <width>0</width>
+     <height>20</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar_3</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>BottomToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <action name="action_exit">
+   <property name="text">
+    <string>退出</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>Adobe Devanagari</family>
+    </font>
+   </property>
+  </action>
+  <action name="action_open">
+   <property name="text">
+    <string>open</string>
+   </property>
+   <property name="iconText">
+    <string>open</string>
+   </property>
+  </action>
+  <action name="actionpreference">
+   <property name="text">
+    <string>preference...</string>
+   </property>
+  </action>
+  <action name="action_start_recording">
+   <property name="text">
+    <string>采集</string>
+   </property>
+  </action>
+  <action name="action_focus">
+   <property name="text">
+    <string>调焦</string>
+   </property>
+  </action>
+  <action name="action_auto_exposure">
+   <property name="text">
+    <string>曝光</string>
+   </property>
+  </action>
+  <action name="action_dark">
+   <property name="text">
+    <string>暗电流</string>
+   </property>
+  </action>
+  <action name="action_reference">
+   <property name="text">
+    <string>白板</string>
+   </property>
+  </action>
+  <action name="action_connect_imager">
+   <property name="text">
+    <string>连接相机</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="actionOpenDirectory">
+   <property name="text">
+    <string>打开文件夹</string>
+   </property>
+  </action>
+  <action name="mActionPica_L">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pika L</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="mActionCorning_410">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Corning 410</string>
+   </property>
+  </action>
+  <action name="mActionPika_XC2">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pika XC2</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="action_about">
+   <property name="text">
+    <string>关于</string>
+   </property>
+  </action>
+  <action name="mActionPica_NIR">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pika NIR</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="actionpanel">
+   <property name="text">
+    <string>面板</string>
+   </property>
+  </action>
+  <action name="action">
+   <property name="text">
+    <string>工具栏</string>
+   </property>
+  </action>
+  <action name="action_2">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>马达</string>
+   </property>
+  </action>
+  <action name="mAction_is_no_motor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>无</string>
+   </property>
+  </action>
+  <action name="mAction_2AxisMotor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>2 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mAction_RobotArm">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>机械臂</string>
+   </property>
+  </action>
+  <action name="mAction_1AxisMotor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>1 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mActionOneMotorScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>室内1轴线性平台</string>
+   </property>
+  </action>
+  <action name="action_4">
+   <property name="text">
+    <string>辐亮度</string>
+   </property>
+  </action>
+  <action name="action_5">
+   <property name="text">
+    <string>反射率</string>
+   </property>
+  </action>
+  <action name="action_6">
+   <property name="text">
+    <string>机械臂</string>
+   </property>
+  </action>
+  <action name="action_7">
+   <property name="text">
+    <string>显微镜</string>
+   </property>
+  </action>
+  <action name="action_8">
+   <property name="text">
+    <string>三脚架（旋转平台）</string>
+   </property>
+  </action>
+  <action name="mActionOpenImg">
+   <property name="text">
+    <string>打开影像</string>
+   </property>
+  </action>
+  <action name="action_10">
+   <property name="text">
+    <string>关闭影像</string>
+   </property>
+  </action>
+  <action name="mSetting">
+   <property name="text">
+    <string>设置</string>
+   </property>
+  </action>
+  <action name="action_13">
+   <property name="text">
+    <string>拼接</string>
+   </property>
+  </action>
+  <action name="mActionPlantPhenotypeScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>植物表型</string>
+   </property>
+  </action>
+  <action name="action2">
+   <property name="text">
+    <string>2轴旋转平台</string>
+   </property>
+  </action>
+  <action name="mAction_2AxisMotor_new">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>2 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mActionPan">
+   <property name="text">
+    <string>漫游</string>
+   </property>
+  </action>
+  <action name="mActionSpectral">
+   <property name="text">
+    <string>光谱</string>
+   </property>
+  </action>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+  <customwidget>
+   <class>CustomDockWidgetBase</class>
+   <extends>QDockWidget</extends>
+   <header>customdockwidgetbase.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>CustomDockWidgetHideAbove</class>
+   <extends>QDockWidget</extends>
+   <header>CustomDockWidgetBase.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="HPPA.qrc"/>
+ </resources>
+ <connections/>
+</ui>

HPPA/HPPA.h

@@ -73,6 +73,20 @@
 
 #include "recordFrameCounter.h"
 
+#include "setWindow.h"
+#include "AppSettings.h"
+#include "FileNameLineEdit.h"
+
+#include "rgbCameraWindow.h"
+#include "DepthCameraWindow.h"
+#include "SingleLensReflexCameraWindow.h"
+
+#include "LayerTreeImageNode.h"
+
+#include "TimedDataCollection.h"
+
+#include "PowerControl3D.h"
+
 #define PI 3.1415926
 
 QT_CHARTS_USE_NAMESPACE//QChartView 使用 需要加宏， 否则无法使用
@@ -206,7 +220,7 @@ private:
 	QWidget* tmp(QWidget* a);
 
 	QLineEdit * frame_number;
-	QLineEdit * m_FilenameLineEdit;
+	FileNameLineEdit * m_FilenameLineEdit;
 	QLabel * xmotor_state_label1;
 	QLabel * ymotor_state_label1;
 
@@ -217,7 +231,7 @@ private:
 	int m_RecordState;//用来控制相机采集流程，取2的余数，1 → 正在采集，0 → 停止采集
 
 	QThread * m_RecordThread;//影像采集线程
-	QThread * m_RgbCameraThread;//rgb相机获取图像线程
+	
 	QThread * m_CopyFileThread;//影像文件复制线程
 	FileOperation * m_FileOperation;
 
@@ -239,7 +253,7 @@ private:
 
 	//
 	int m_TabWidgetCurrentIndex;//当手动选择TabWidget的标签时，记录变化后的tab index
-	RgbCameraOperation *m_RgbCamera;
+	
 
 	void getRequest(QString str);
 
@@ -264,15 +278,21 @@ private:
 
 	MyCarousel* m_carousel;
 	QLabel* m_cam_label;
+	QLabel* m_SingleLensReflexCamera_label;
+	QLabel* m_depthCamera_label;
 	QPushButton* m_open_rgb_camera_btn;
 	QPushButton* m_close_rgb_camera_btn;
 
 	TabManager* m_tabManager;
 
 	HyperImagerControl* m_hic;
+	rgbCameraWindow* m_rgbCameraControlWindow;
 	ImageControl* m_ic;
+	DepthCameraWindow* m_depthCameraWindow;
+	SingleLensReflexCameraWindow* m_singleLensReflexCameraWindow;
 	adjustTable* m_adt;
 	PowerControl* m_pc;
+	PowerControl3D* m_pc3D;
 	RobotArmControl* m_rac;
 	OneMotorControl* m_omc;
 	TwoMotorControl* m_tmc;
@@ -296,9 +316,16 @@ private:
 
 	recordFrameCounter* m_recordFrameCounter = nullptr;
 
+	bool testImagerVality();
+	void showMessageBox(QString msg, QString title= QString::fromLocal8Bit("提示"));
+	bool showResultMessageBox(QString title, QString msg);
+	void disconnectImagerAndCleanup();
+
+	void initTimedDataCollection();
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
-	void PlotSpectral(int state);
+	void focusPlotSpectralImg(int state);
 	void onRecordFinishedSignal_WhenFrameNumberMeet();
 	void onRecordFinishedSignal_WhenFrameNumberNotMeet();
 	void onsequenceComplete();
@@ -313,6 +340,7 @@ public Q_SLOTS:
 	void onFocus2(int command);
 	void onFocusWindowClosed();
 	void onAbout();
+	void settingWindow();
 	void onDark();
 	void recordDarkFinish();
 	void onReference();
@@ -336,8 +364,13 @@ public Q_SLOTS:
 		void OnSendLogToCallClass(QString str);
 
 		void onPlotRgbImage();
-		void onCloseRgbCamera();
+		void onPlotDepthImage();
+		
+		void onLiveViewImageReady(const QImage& image);
+		void HPPA::onLiveViewStopped();
+
 		void onClearLabel();
+		void onClearDepthLabel();
 
 		void onCopyFinished();
 
@@ -347,12 +380,19 @@ public Q_SLOTS:
 
 		void createOneMotorScenario();
 		void createPlantPhenotypeScenario();
+		void create3DPlantPhenotypeScenario();
 		void onCreated3DModelPlantPhenotype();
+		void onCreated3DModelMicroscopicMotion();
+		void createMicroscopicMotionControlScenario();
 		void onCreated3DModelOneMotor();
 
-		void addLayer(const QString& baseName, const QString& filePath, bool refresh);
+		void addLayer(const QString& baseName, const QString& filePath, bool refresh, bool isAddImage = true);
+		void newImage(RasterLayer* ml, RasterImageLayer::RendererType, LayerTreeNode* parent, bool refresh=true);
 		void onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex);
 		void removeLayerByTreeIndex();
+		void removeLayerByNode(LayerTreeNode* node);
+		void showColorImageByTreeIndex();
+		void removeImageByTreeIndex();
 		void removeAllLayersInRasterGroup();
 
 		void onLayerTreeSelectionChanged(const QItemSelection& selected, const QItemSelection& deselected);
@@ -360,6 +400,12 @@ public Q_SLOTS:
 
 		void onMapToolPanTriggered();
 		void onMapToolSpectralTriggered();
+
+		void onTimedDataCollection();
+		void setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+		void setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder);
+		void setTimedDataCollectionMotorParm(QString pathLineFilePath);
+		void onStartTimedDataCollection(int camType);
 protected:
 	void closeEvent(QCloseEvent* event) override;
 
@@ -370,4 +416,6 @@ signals:
 
 	void RecordWhiteSignal();
 	void RecordDarlSignal();
+
+	void updateRecordingFileInfoSignal(const QString& filePath, const QString& baseName, int frameNumber);
 };

HPPA/HPPA.ui

@@ -72,7 +72,7 @@ color:white;
     </property>
     <addaction name="mActionOpenImg"/>
     <addaction name="separator"/>
-    <addaction name="action_11"/>
+    <addaction name="mSetting"/>
     <addaction name="action_exit"/>
    </widget>
    <widget class="QMenu" name="menuspectrometer">
@@ -105,6 +105,7 @@ color:white;
     <addaction name="action_start_recording"/>
     <addaction name="separator"/>
     <addaction name="actionOpenDirectory"/>
+    <addaction name="mActionTimedDataCollection"/>
    </widget>
    <widget class="QMenu" name="menuhelp">
     <property name="title">
@@ -133,6 +134,8 @@ color:white;
     </property>
     <addaction name="mActionOneMotorScenario"/>
     <addaction name="mActionPlantPhenotypeScenario"/>
+    <addaction name="mActionMicroscopicMotionControlScenario"/>
+    <addaction name="mAction3DPlantPhenotypeScenario"/>
    </widget>
    <widget class="QMenu" name="menu_4">
     <property name="title">
@@ -383,119 +386,6 @@ QPushButton:pressed
         <attribute name="title">
          <string>rgb相机</string>
         </attribute>
-        <layout class="QGridLayout" name="gridLayout_4" rowstretch="2,4,2" 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>174</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>115</width>
-             <height>20</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-         <item row="1" column="1">
-          <layout class="QGridLayout" name="gridLayout_3" columnstretch="1,1">
-           <property name="spacing">
-            <number>20</number>
-           </property>
-           <item row="1" column="0">
-            <widget class="QPushButton" name="take_video_btn">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="text">
-              <string>录制视频</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="1">
-            <widget class="QPushButton" name="take_photo_btn">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="text">
-              <string>拍照</string>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="1">
-            <widget class="QPushButton" name="close_rgb_camera_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>
-           <item row="0" column="0">
-            <widget class="QPushButton" name="open_rgb_camera_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>
-          </layout>
-         </item>
-         <item row="1" column="2">
-          <spacer name="horizontalSpacer_2">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>115</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>173</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-        </layout>
        </widget>
       </widget>
      </item>
@@ -797,7 +687,7 @@ QPushButton:pressed
     <string>关闭影像</string>
    </property>
   </action>
-  <action name="action_11">
+  <action name="mSetting">
    <property name="text">
     <string>设置</string>
    </property>
@@ -838,6 +728,27 @@ QPushButton:pressed
     <string>光谱</string>
    </property>
   </action>
+  <action name="mActionMicroscopicMotionControlScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>显微运动控制台</string>
+   </property>
+  </action>
+  <action name="mAction3DPlantPhenotypeScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>3D植物表型</string>
+   </property>
+  </action>
+  <action name="mActionTimedDataCollection">
+   <property name="text">
+    <string>定时采集</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>

HPPA/HPPA.vcxproj

@@ -55,18 +55,18 @@
   </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Header;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;C:\Program Files\OrbbecSDK 2.7.6\lib;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Library;$(LibraryPath)</LibraryPath>
     <TargetName>Spectral Insight</TargetName>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Header;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;C:\Program Files\OrbbecSDK 2.7.6\lib;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Library;$(LibraryPath)</LibraryPath>
     <TargetName>Spectral Insight</TargetName>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;OrbbecSDK.lib;EDSDK.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
     <ClCompile>
@@ -75,7 +75,7 @@
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;OrbbecSDK.lib;EDSDK.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
   </ItemDefinitionGroup>
@@ -108,11 +108,16 @@
   <ItemGroup>
     <ClCompile Include="aboutWindow.cpp" />
     <ClCompile Include="adjustTable.cpp" />
+    <ClCompile Include="AppSettings.cpp" />
     <ClCompile Include="AspectRatioLabel.cpp" />
     <ClCompile Include="CaptureCoordinator.cpp" />
     <ClCompile Include="Carousel.cpp" />
+    <ClCompile Include="CommunicationInterfaceBase.cpp" />
+    <ClCompile Include="CommunicationViaTCP.cpp" />
     <ClCompile Include="Corning410Imager.cpp" />
     <ClCompile Include="CustomDockWidgetBase.cpp" />
+    <ClCompile Include="DepthCameraWindow.cpp" />
+    <ClCompile Include="FileNameLineEdit.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
     <ClCompile Include="HyperImagerControl.cpp" />
     <ClCompile Include="imageControl.cpp" />
@@ -121,6 +126,7 @@
     <ClCompile Include="irisximeaimager.cpp" />
     <ClCompile Include="LayerTree.cpp" />
     <ClCompile Include="LayerTreeGroupNode.cpp" />
+    <ClCompile Include="LayerTreeImageNode.cpp" />
     <ClCompile Include="LayerTreeLayerNode.cpp" />
     <ClCompile Include="LayerTreeModel.cpp" />
     <ClCompile Include="LayerTreeNode.cpp" />
@@ -132,24 +138,36 @@
     <ClCompile Include="MapToolPan.cpp" />
     <ClCompile Include="MapTools.cpp" />
     <ClCompile Include="MapToolSpectral.cpp" />
+    <ClCompile Include="MotorWindowBase.cpp" />
     <ClCompile Include="OneMotorControl.cpp" />
+    <ClCompile Include="PathLine.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
+    <ClCompile Include="PowerControl3D.cpp" />
     <ClCompile Include="QDoubleSlider.cpp" />
     <ClCompile Include="QMotorDoubleSlider.cpp" />
     <ClCompile Include="RasterDataProvider.cpp" />
     <ClCompile Include="RasterLayer.cpp" />
-    <ClCompile Include="RasterRenderer.cpp" />
+    <ClCompile Include="MultibandRasterRenderer.cpp" />
+    <ClCompile Include="RasterRendererBase.cpp" />
+    <ClCompile Include="RasterImageLayer.cpp" />
+    <ClCompile Include="SinglebandRasterRenderer.cpp" />
     <ClCompile Include="recordFrameCounter.cpp" />
     <ClCompile Include="resononImager.cpp" />
     <ClCompile Include="ResononNirImager.cpp" />
     <ClCompile Include="RgbCameraOperation.cpp" />
+    <ClCompile Include="rgbCameraWindow.cpp" />
     <ClCompile Include="RobotArmControl.cpp" />
+    <ClCompile Include="setWindow.cpp" />
+    <ClCompile Include="SingleLensReflexCameraWindow.cpp" />
     <ClCompile Include="stdafx.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
     <ClCompile Include="TabManager.cpp" />
+    <ClCompile Include="TaskTreeModel.cpp" />
+    <ClCompile Include="TimedDataCollection.cpp" />
+    <ClCompile Include="TimedDataCollectionDataStructures.cpp" />
     <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
     <ClCompile Include="View3D.cpp" />
@@ -157,6 +175,7 @@
     <QtRcc Include="HPPA.qrc" />
     <QtUic Include="about.ui" />
     <QtUic Include="adjustTable.ui" />
+    <QtUic Include="DepthCamera.ui" />
     <QtUic Include="FocusDialog.ui" />
     <QtUic Include="HPPA.ui" />
     <QtMoc Include="HPPA.h" />
@@ -175,9 +194,14 @@
     <QtUic Include="oneMotorControl.ui" />
     <QtUic Include="PathPlan.ui" />
     <QtUic Include="PowerControl.ui" />
+    <QtUic Include="PowerControl3D.ui" />
     <QtUic Include="RadianceConversion.ui" />
     <QtUic Include="ReflectanceConversion.ui" />
+    <QtUic Include="rgbCamera.ui" />
     <QtUic Include="RobotArmControl.ui" />
+    <QtUic Include="set.ui" />
+    <QtUic Include="SingleLensReflexCamera.ui" />
+    <QtUic Include="TimedDataCollection_ui.ui" />
     <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
@@ -202,6 +226,11 @@
     <QtMoc Include="imageControl.h" />
     <QtMoc Include="AspectRatioLabel.h" />
     <QtMoc Include="HyperImagerControl.h" />
+    <ClInclude Include="AppSettings.h" />
+    <QtMoc Include="FileNameLineEdit.h" />
+    <QtMoc Include="DepthCameraWindow.h" />
+    <QtMoc Include="CommunicationViaTCP.h" />
+    <QtMoc Include="CommunicationInterfaceBase.h" />
     <ClInclude Include="imager_base.h" />
     <ClInclude Include="irisximeaimager.h" />
     <QtMoc Include="OneMotorControl.h" />
@@ -215,15 +244,28 @@
     <QtMoc Include="MapLayer.h" />
     <QtMoc Include="RasterLayer.h" />
     <QtMoc Include="MapLayerStore.h" />
+    <QtMoc Include="LayerTreeImageNode.h" />
     <ClInclude Include="LayerTreeView.h" />
     <QtMoc Include="LayerTreeViewMenuProvider.h" />
     <QtMoc Include="MapTool.h" />
     <QtMoc Include="MapToolPan.h" />
     <QtMoc Include="MapToolSpectral.h" />
     <QtMoc Include="MapTools.h" />
+    <ClInclude Include="MotorWindowBase.h" />
+    <QtMoc Include="PowerControl3D.h" />
+    <ClInclude Include="PathLine.h" />
     <ClInclude Include="RasterDataProvider.h" />
-    <ClInclude Include="RasterRenderer.h" />
+    <ClInclude Include="MultibandRasterRenderer.h" />
+    <ClInclude Include="RasterImageLayer.h" />
+    <ClInclude Include="RasterRendererBase.h" />
+    <ClInclude Include="SinglebandRasterRenderer.h" />
     <QtMoc Include="recordFrameCounter.h" />
+    <QtMoc Include="setWindow.h" />
+    <QtMoc Include="rgbCameraWindow.h" />
+    <QtMoc Include="SingleLensReflexCameraWindow.h" />
+    <QtMoc Include="TimedDataCollection.h" />
+    <QtMoc Include="TimedDataCollectionDataStructures.h" />
+    <QtMoc Include="TaskTreeModel.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -160,10 +160,16 @@
     <ClCompile Include="RasterLayer.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="RasterImageLayer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
     <ClCompile Include="RasterDataProvider.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="RasterRenderer.cpp">
+    <ClCompile Include="MultibandRasterRenderer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="SinglebandRasterRenderer.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
     <ClCompile Include="MapLayerStore.cpp">
@@ -199,6 +205,54 @@
     <ClCompile Include="recordFrameCounter.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="setWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="AppSettings.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="FileNameLineEdit.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MotorWindowBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="rgbCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="DepthCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="SingleLensReflexCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeImageNode.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RasterRendererBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollection.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollectionDataStructures.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="CommunicationViaTCP.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="CommunicationInterfaceBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PowerControl3D.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TaskTreeModel.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PathLine.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -324,6 +378,42 @@
     <QtMoc Include="recordFrameCounter.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="setWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="FileNameLineEdit.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="rgbCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="DepthCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="SingleLensReflexCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeImageNode.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="TimedDataCollection.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="TimedDataCollectionDataStructures.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="CommunicationViaTCP.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="CommunicationInterfaceBase.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="PowerControl3D.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="TaskTreeModel.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -359,12 +449,30 @@
     <ClInclude Include="RasterDataProvider.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="RasterRenderer.h">
+    <ClInclude Include="MultibandRasterRenderer.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RasterImageLayer.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RasterRendererBase.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="SinglebandRasterRenderer.h">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="LayerTreeView.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="AppSettings.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MotorWindowBase.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="PathLine.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -403,6 +511,24 @@
     <QtUic Include="hyperImagerControl.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="set.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="rgbCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="DepthCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="SingleLensReflexCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="TimedDataCollection_ui.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="PowerControl3D.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />

HPPA/HyperImagerControl.cpp

@@ -83,6 +83,7 @@ void HyperImagerControl::setFrameRate(double frameRate)
 	ui.FramerateSlider->setValue(frameRate);
 
 	updateIntegrationTimeRange(frameRate);
+	AppSettings::instance().setFrameRate(frameRate);
 }
 
 void HyperImagerControl::setIntegrationTime(double integrationTime)
@@ -91,12 +92,15 @@ void HyperImagerControl::setIntegrationTime(double integrationTime)
 	ui.IntegratioinTimeSlider->setValue(integrationTime);
 
 	updateFramerateRange(integrationTime);
+	AppSettings::instance().setIntegrationTime(integrationTime);
 }
 
 void HyperImagerControl::setGain(double gain)
 {
 	ui.gain_spinBox->setValue(gain);
 	ui.GainSlider->setValue(gain);
+
+	AppSettings::instance().setGain(gain);
 }
 
 void HyperImagerControl::onFramerateSpinBoxEditingFinished()
@@ -161,7 +165,7 @@ void HyperImagerControl::onGainSliderReleased()
 
 void HyperImagerControl::updateIntegrationTimeRange(double frameRate)
 {
-	double maxIntegrationTime = 1.0 / frameRate * 1000.0; // 毫秒
+	double maxIntegrationTime = 1.0 / frameRate * 999.0; // 毫秒
 
 	ui.IntegratioinTimeSlider->blockSignals(true);
 	ui.IntegratioinTimeSlider->setMaximum(maxIntegrationTime);
@@ -176,7 +180,7 @@ void HyperImagerControl::updateIntegrationTimeRange(double frameRate)
 
 void HyperImagerControl::updateFramerateRange(double integrationTime)
 {
-	double maxFramerate = 1.0 / (integrationTime / 1000.0); // 积分时间(毫秒)转帧率
+	double maxFramerate = 1.0 / (integrationTime / 999.0); // 积分时间(毫秒)转帧率
 
 	if(maxFramerate > m_frameRateLimit)
 	{

HPPA/HyperImagerControl.h

@@ -5,6 +5,7 @@
 #include "ui_hyperImagerControl.h"
 
 #include "AspectRatioLabel.h"
+#include "AppSettings.h"
 
 class QDoubleSlider;
 

HPPA/ImageReaderWriter.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 
 #include "ImageReaderWriter.h"
@@ -11,11 +11,11 @@ ImageReaderWriter::ImageReaderWriter(const char * fileName)
 	m_poDataset = (GDALDataset *)GDALOpen(fileName, GA_ReadOnly);
 	if (m_poDataset == NULL)
 	{
-		std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>" << std::endl;
+		std::cout << "打开影像失败！" << std::endl;
 		return;
 	}
 
-	//<EFBFBD><EFBFBD>ȡӰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+	//获取影像信息
 	m_DataType = m_poDataset->GetRasterBand(1)->GetRasterDataType();
 	m_iBands = m_poDataset->GetRasterCount();
 	m_iXCount = m_poDataset->GetRasterXSize();
@@ -47,11 +47,11 @@ float * ImageReaderWriter::ReadImage(int nXOff, int nYOff, int nXSize, int nYSiz
 		float *pDataBuffer = (float*)CPLMalloc(sizeof(float)*(1)*(1)*(m_iBands));
 		memset(pDataBuffer, 0, 1 * 1 * m_iBands * sizeof(float));
 
-		CPLErr status = m_poDataset->RasterIO(GF_Read, nXOff, nYOff, nXSize, nYSize, pDataBuffer, xBuff, yBuff, GDT_Float32, m_iBands, NULL, 0, 0, 0); //<EFBFBD>ȸߺ<EFBFBD><EFBFBD><EFBFBD>
+		CPLErr status = m_poDataset->RasterIO(GF_Read, nXOff, nYOff, nXSize, nYSize, pDataBuffer, xBuff, yBuff, GDT_Float32, m_iBands, NULL, 0, 0, 0); //先高后宽
 
 		if (status != CE_None)
 		{
-			std::cout << "<EFBFBD><EFBFBD>ȡӰ<EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>" << std::endl;
+			std::cout << "读取影像失败！" << std::endl;
 			return 0;
 		}
 

HPPA/ImageReaderWriter.h

@@ -1,4 +1,4 @@
-#ifndef IMAGE_READER_WRITER
+#ifndef IMAGE_READER_WRITER
 #define IMAGE_READER_WRITER
 #include "stdafx.h"
 #include "gdal_priv.h"

HPPA/ImageViewer.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 #include <cmath>
 
@@ -6,7 +6,7 @@
 #include <QPoint>
 
 #include "ImageViewer.h"
-#include "RasterLayer.h"
+#include "RasterImageLayer.h"
 #include "MapTool.h"
 
 
@@ -20,7 +20,7 @@ Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
     setRenderHint(QPainter::SmoothPixmapTransform);
     setDragMode(QGraphicsView::ScrollHandDrag);
 
-    // ʹ<EFBFBD><EFBFBD> Qt Ĭ<EFBFBD><EFBFBD> anchor <EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 使用 Qt 默认 anchor 行为以外的配置
     setTransformationAnchor(QGraphicsView::NoAnchor);
     setResizeAnchor(QGraphicsView::NoAnchor);
 
@@ -264,35 +264,22 @@ qreal Mapcavas::zoomDelta() const
     return m_zoomDelta;
 }
 
-// new: set associated raster layer
-void Mapcavas::setLayers(RasterLayer* layer)
+// set associated raster image layer
+void Mapcavas::setImageLayer(RasterImageLayer* layer)
 {
-    m_rasterLayer = layer;
+    m_imageLayer = layer;
 }
 
-RasterLayer* Mapcavas::rasterLayer() const
+RasterImageLayer* Mapcavas::imageLayer() const
 {
-    return m_rasterLayer;
+    return m_imageLayer;
 }
 
-// new: refresh the map by rendering using the RasterLayer's render method
 void Mapcavas::freshmap()
 {
-    if (!m_rasterLayer) return;
+    if (!m_imageLayer) return;
 
-    RasterLayer::RenderParams params = m_rasterLayer->currentRenderParams();
-    QImage img = m_rasterLayer->render(params);
-    if (img.isNull()) return;
-
-    QPixmap pm = QPixmap::fromImage(img);
-    SetImage(&pm);
-}
-
-void Mapcavas::freshmap(const RasterLayer::RenderParams& params)
-{
-    if (!m_rasterLayer) return;
-
-    QImage img = m_rasterLayer->render(params);
+    QImage img = m_imageLayer->render();
     if (img.isNull()) return;
 
     QPixmap pm = QPixmap::fromImage(img);

HPPA/ImageViewer.h

@@ -1,10 +1,11 @@
-#ifndef MAPCAVAS_H
+#ifndef MAPCAVAS_H
 #define MAPCAVAS_H
 
 #include "QGraphicsView"
 #include "qlabel.h"
 #include <QVector>
-#include "RasterLayer.h"
+
+class RasterImageLayer;
 
 class MapTool;
 
@@ -35,24 +36,23 @@ public:
 	void wheelEvent(QWheelEvent *event) Q_DECL_OVERRIDE;
 	void scaling(qreal scaleFactor);
 
-	void zoomIn();  // <EFBFBD>Ŵ<EFBFBD>
-	void zoomOut();  // <EFBFBD><EFBFBD>С
-	void zoom(float scaleFactor); // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> - scaleFactor<EFBFBD><EFBFBD><EFBFBD>ŵı<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void zoomIn();  // 放大
+	void zoomOut();  // 缩小
+	void zoom(float scaleFactor); // 缩放 - scaleFactor缩放的比例因子
 
-	// ƽ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
+	// 平移速度
 	void setTranslateSpeed(qreal speed);
 	qreal translateSpeed() const;
 
-	// <EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// 缩放的增量
 	void setZoomDelta(qreal delta);
 	qreal zoomDelta() const;
 
-	// new: set raster layer and refresh map
-	void setLayers(RasterLayer* layer);
+	// set raster image layer and refresh map
+	void setImageLayer(RasterImageLayer* layer);
 	void freshmap();
-	void freshmap(const RasterLayer::RenderParams& params);
 
-	RasterLayer* rasterLayer() const;
+	RasterImageLayer* imageLayer() const;
 
 	// MapTool management
 	void setMapTool(MapTool* tool);
@@ -63,16 +63,16 @@ protected:
 	QGraphicsScene *m_qtGraphicsScene;
 private:
 	QGraphicsPixmapItem *m_GraphicsPixmapItemHandle;
-	QLabel *m_framNumberLabel;//<EFBFBD><EFBFBD>ʾʵʱ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
+	QLabel *m_framNumberLabel;//显示实时采集到的帧数
 
-	RasterLayer* m_rasterLayer = nullptr; // associated raster layer
+	RasterImageLayer* m_imageLayer = nullptr; // associated raster image layer
 	MapTool* m_mapTool = nullptr;         // current active map tool
 
-	qreal m_translateSpeed;  // ƽ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
-	qreal m_zoomDelta;  // <EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	bool m_bMouseTranslate;  // ƽ<EFBFBD>Ʊ<EFBFBD>ʶ
-	QPoint m_lastMousePos;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD>λ<EFBFBD><EFBFBD>
-	qreal m_scale;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+	qreal m_translateSpeed;  // 平移速度
+	qreal m_zoomDelta;  // 缩放的增量
+	bool m_bMouseTranslate;  // 平移标识
+	QPoint m_lastMousePos;  // 鼠标最后按下的位置
+	qreal m_scale;  // 缩放值
 
 	double m_CrosshairHalfLen = 10.0;
 	QGraphicsLineItem* m_hLine = nullptr;  // horizontal line

HPPA/ImagerOperationBase.cpp

@@ -1,4 +1,5 @@
-#include "ImagerOperationBase.h"
+#include "ImagerOperationBase.h"
+#include <QDir>
 
 ImagerOperationBase::ImagerOperationBase()
 {
@@ -44,11 +45,11 @@ void ImagerOperationBase::connect_imager(int frameNumber)
 
 double ImagerOperationBase::auto_exposure()
 {
-	//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	double x = 1 / getFramerate() * 1000;//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第一步：先设置曝光时间为在当前帧率情况下最大
+	double x = 1 / getFramerate() * 1000;//获取最大毫秒曝光时间
 	setIntegrationTime(x);
 
-	//<EFBFBD>ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD>Ѱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第二步：通过循环寻找最佳曝光时间
 	imagerStartCollect();
 
 	while (true)
@@ -57,7 +58,7 @@ double ImagerOperationBase::auto_exposure()
 		if (GetMaxValue(buffer, m_FrameSize) >= 4094)
 		{
 			setIntegrationTime(getIntegrationTime() * 0.95);
-			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+			std::cout << "自动曝光-----------" << std::endl;
 		}
 		else
 		{
@@ -69,7 +70,7 @@ double ImagerOperationBase::auto_exposure()
 
 	emit autoExposureSignal();
 
-	//std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع⣺" << getIntegrationTime() << std::endl;
+	//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
 
 	return getIntegrationTime();
 }
@@ -79,7 +80,7 @@ void ImagerOperationBase::focus()
 	m_iFocusFramesNumber = 0;
 
 	m_iFocusFrameCounter = 1;
-	//std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-----------" << std::endl;
+	//std::cout << "调焦-----------" << std::endl;
 
 	double tmpFrmerate = getFramerate();
 	double tmpIntegrationTime = getIntegrationTime();
@@ -87,7 +88,7 @@ void ImagerOperationBase::focus()
 
 	setFramerate(5);
 	auto_exposure();
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
+	std::cout << "调焦获得的曝光时间为：" << getIntegrationTime() << std::endl;
 
 	int iWidth, iHeight;
 	GetFrameSize(iWidth, iHeight);
@@ -99,7 +100,7 @@ void ImagerOperationBase::focus()
 	m_bFocusControlState = true;
 	while (m_bFocusControlState)
 	{
-		////<EFBFBD><EFBFBD>֡ƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		////多帧平均，减弱单帧跳动
 		//memset((void*)buffer, 0, m_FrameSize * sizeof(unsigned short));
 		//int fn = 5;
 		//for (int i = 0; i < fn; i++)
@@ -123,7 +124,7 @@ void ImagerOperationBase::focus()
 
 		double focusIndex = calcFocusIndexSobelPrivate(buffer);
 		emit FocusIndexSobelSignal(focusIndex);
-		std::cout << "focusIndex<EFBFBD><EFBFBD>" << focusIndex << std::endl;
+		std::cout << "focusIndex：" << focusIndex << std::endl;
 
 		emit SpectralSignal(1);
 
@@ -140,7 +141,7 @@ void ImagerOperationBase::focus()
 
 void ImagerOperationBase::record_dark()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集暗电流！！！！！！！！！" << std::endl;
 	imagerStartCollect();
 	
 	unsigned int* dark_tmp = new unsigned int[m_FrameSize];
@@ -172,7 +173,7 @@ void ImagerOperationBase::record_dark()
 
 void ImagerOperationBase::record_white()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集白板！！！！！！！！！" << std::endl;
 	imagerStartCollect();
 
 	unsigned int* white_tmp = new unsigned int[m_FrameSize];
@@ -197,7 +198,7 @@ void ImagerOperationBase::record_white()
 	
 	imagerStopCollect();
 
-	//<EFBFBD>װ<EFBFBD><EFBFBD>۰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//白板扣暗电流
 	if (m_HasDark)
 	{
 		for (size_t i = 0; i < m_FrameSize; i++)
@@ -225,17 +226,17 @@ void ImagerOperationBase::start_record()
     //std::cout << "------------------------------------------------------" << std::endl;
 
 	m_iFrameCounter = 0;
-	m_RgbImage->m_iFrameCounter = 0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>0<EFBFBD><EFBFBD>
+	m_RgbImage->m_iFrameCounter = 0;//设置填充rgb图像的第0行
 	m_bRecordControlState = true;
 
-	//<EFBFBD>ж<EFBFBD><EFBFBD>ڴ<EFBFBD>buffer<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//判断内存buffer是否正常分配
 	if (buffer == 0)
 	{
 		std::cerr << "Error: memory could not be allocated for datacube";
 		exit(EXIT_FAILURE);
 	}
 
-	// <EFBFBD>ڿ<EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD>UI <20><><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD> MapLayer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// 在开始采集时仅发出文件信息，UI 层自行创建 MapLayer 并管理生命周期
 	// prepare file name that will be used for saving
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
 	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
@@ -250,6 +251,7 @@ void ImagerOperationBase::start_record()
 	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
 	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
 
+
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
@@ -257,8 +259,9 @@ void ImagerOperationBase::start_record()
 
 		getFrame(buffer);
 		long long timeOs = getNanosecondsSinceMidnight();
+		//qDebug() << "time ns-------------------: " << timeOs;
 		
-		//<EFBFBD><EFBFBD>ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<EFBFBD><EFBFBD>dark<EFBFBD><EFBFBD><EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<EFBFBD><EFBFBD>buffer-dark=65535
+		//减去暗电流，应为buffer和dark都是unsigned short，所以当dark>buffer时，buffer-dark=65535
 		if (m_HasDark)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
@@ -276,12 +279,12 @@ void ImagerOperationBase::start_record()
 		}
 
 
-		//ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		//转反射率
 		if (m_HasWhite)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
 			{
-				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				//处理除数（白板）为0的情况
 				if (white[i] != 0)
 				{
 					pixelValueTmp = buffer[i];
@@ -297,14 +300,14 @@ void ImagerOperationBase::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
-		fprintf(hTimesFile, "%d\n", timeOs);
+		fprintf(hTimesFile, "%ll\n", timeOs);
 
-		//<EFBFBD><EFBFBD>rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+		//将rgb波段提取出来，以便在界面中显示
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
-		//std::cout << "<EFBFBD><EFBFBD>" << m_iFrameCounter << "֡д<EFBFBD><EFBFBD>" << x << "<EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD>" << std::endl;
+		//std::cout << "第" << m_iFrameCounter << "帧写了" << x << "个unsigned short。" << std::endl;
 
-		//ÿ<EFBFBD><EFBFBD>1s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
+		//每隔1s进行一次界面图形绘制
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
 			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter, filePath);
@@ -318,15 +321,15 @@ void ImagerOperationBase::start_record()
 	}
 	imagerStopCollect();
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//在最后一次画图前需要进行一次拉伸
 	//m_RgbImage
-	emit PlotSignal(m_FileSavedCounter, -1, filePath);
+	emit PlotSignal(m_FileSavedCounter, -1, filePath);//采集完成后进行一次画图，以防采集帧数不是帧率的倍数时，画图不全
 
 	m_bRecordControlState = false;
 	WriteHdr();
 
-	// <EFBFBD><EFBFBD><EFBFBD><EFBFBD> ImageFileSaved <EFBFBD>źţ<EFBFBD>֪ͨ UI <20><><EFBFBD>Ѹ<EFBFBD><D1B8>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	// m_FileName2Save2 <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˱<EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD> .bil <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> "tmp_image_0.bil"<EFBFBD><EFBFBD>
+	// 发射 ImageFileSaved 信号，通知 UI 层把该文件加入图层管理器
+	// m_FileName2Save2 保存了本次写入的 .bil 文件名（例如 "tmp_image_0.bil"）
 	emit ImageFileSaved(QString::fromStdString(m_FileName2Save2), m_FileSavedCounter);
 
 	m_FileSavedCounter++;
@@ -357,6 +360,14 @@ void ImagerOperationBase::setFileName2Save(string FileName)
 	m_FileSavedCounter = 0;
 }
 
+void ImagerOperationBase::updateRecordingFileInfo(const QString& filePath, const QString& baseName, int frameNumber)
+{
+	m_FileName2Save = (filePath + QDir::separator() + baseName).toStdString();
+	m_FileSavedCounter = 0;
+
+	setFrameNumber(frameNumber);
+}
+
 void ImagerOperationBase::setFocusControlState(bool FocusControlState)
 {
 	m_bFocusControlState = FocusControlState;
@@ -397,7 +408,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 	unsigned short* psData;
 	psData = (unsigned short*)pvData;
 
-	cv::Mat gray(iHeight, iWidth, CV_16UC1, psData);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD>gray.data<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD>psDataһ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	cv::Mat gray(iHeight, iWidth, CV_16UC1, psData);//经验证，gray.data的数据和psData一样；
 	/*string rgbFilePathNoStrech = "E:\\hppa\\delete\\focusImg_";
 	string tmp1 = std::to_string(m_iFocusFramesNumber);
 	string tmp2 = ".png";*/
@@ -407,7 +418,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 	//cv::imwrite(rgbFilePathNoStrech, gray);
 	m_iFocusFramesNumber++;
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>
+	//进行滤波
 	//cv::Mat outputImage;
 	//cv::Size kernelSize(5, 5);
 	//double sigmaX = 1.5;
@@ -417,7 +428,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 
 	cv::Mat gradX, gradY, absGradX, absGradY;
 
-	cv::Sobel(outputImage, gradX, CV_32F, 1, 0);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16S<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>cv::magnitude<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	cv::Sobel(outputImage, gradX, CV_32F, 1, 0);//如果参数为CV_16S，则函数cv::magnitude报错
 	cv::Sobel(outputImage, gradY, CV_32F, 0, 1);
 	cv::convertScaleAbs(gradX, absGradX);
 	cv::convertScaleAbs(gradY, absGradY);
@@ -426,7 +437,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 
 	cv::Mat magnitude, direction;
 	cv::magnitude(gradX, gradY, magnitude);//
-	cv::phase(gradX, gradY, direction, true);  // true<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD>ؽǶȶ<EFBFBD><EFBFBD>ǻ<EFBFBD><EFBFBD><EFBFBD>
+	cv::phase(gradX, gradY, direction, true);  // true表示返回角度而非弧度
 
 
 	return cv::mean(magnitude)[0];
@@ -479,23 +490,23 @@ int ImagerOperationBase::getFocusFrameCounter() const
 
 void ImagerOperationBase::set_buffer()
 {
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//如果
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 	}
 
 	m_FrameSize = getBandCount() * getSampleCount();
-	//std::cout << "m_FrameSize<EFBFBD><EFBFBD>СΪ" << m_FrameSize << std::endl;
+	//std::cout << "m_FrameSize大小为" << m_FrameSize << std::endl;
 
 	buffer = new unsigned short[m_FrameSize];
 	dark = new unsigned short[m_FrameSize];
 	white = new unsigned short[m_FrameSize];
 
-	std::cout << "buffer<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << buffer << std::endl;
-	std::cout << "dark<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << dark << std::endl;
-	std::cout << "white<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << white << std::endl;
+	std::cout << "buffer内存地址" << buffer << std::endl;
+	std::cout << "dark内存地址" << dark << std::endl;
+	std::cout << "white内存地址" << white << std::endl;
 }
 
 void ImagerOperationBase::WriteHdr()
@@ -540,6 +551,6 @@ unsigned short ImagerOperationBase::GetMaxValue(unsigned short* dark, int number
 			max = dark[i];
 		}
 	}
-	//std::cout << "<EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵΪ" << max << std::endl;
+	//std::cout << "本帧最大值为" << max << std::endl;
 	return max;
 }

HPPA/ImagerOperationBase.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QObject>
 #include <QString>
 
@@ -49,7 +49,7 @@ public:
     int getFrameCounter() const;
     int getFocusFrameCounter() const;
 
-    unsigned short* buffer;//<EFBFBD>洢<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>д<EFBFBD>뵽Ӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    unsigned short* buffer;//存储采集到的影像的中间变量，下一步写入到硬盘中
     void set_buffer();
     void setFileName2Save(string FileName);
 
@@ -60,25 +60,25 @@ public:
     
 
 protected:
-    CImage* m_RgbImage;//<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD>
-    bool m_bRecordControlState;//<EFBFBD>ɼ<EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    int m_iFrameCounter;//<EFBFBD><EFBFBD>¼<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
-    int m_iFocusFrameCounter;//<EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
-    int m_FrameSize;//<EFBFBD><EFBFBD>ʾһ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><EFBFBD>ٸ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>m_FrameSize = m_imager.get_band_count()*m_imager.get_sample_count();
-    int m_iFrameNumber;//<EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
+    CImage* m_RgbImage;//显示的rgb图像
+    bool m_bRecordControlState;//采集状态；可用于执行停止采集操作
+    int m_iFrameCounter;//记录采集的帧数
+    int m_iFocusFrameCounter;//记录调焦时采集的帧数
+    int m_FrameSize;//表示一帧代表有多少个数值：m_FrameSize = m_imager.get_band_count()*m_imager.get_sample_count();
+    int m_iFrameNumber;//需要采集的总帧数
 
-    //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    string m_FileName2Save;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>
+    //以下两个参数用于给保存的影像文件命名
+    string m_FileName2Save;//保存的影像文件名
     string m_FileName2Save2;
-    int m_FileSavedCounter;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+    int m_FileSavedCounter;//保存了几个影像文件
 
-    bool m_HasDark;//<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD>˰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
-    bool m_HasWhite;//<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD>˰װ<EFBFBD>֮<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
+    bool m_HasDark;//当采集了暗电流之后，设置为true
+    bool m_HasWhite;//当采集了白板之后，设置为true
 
-    unsigned short* dark;//<EFBFBD>洢<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    unsigned short* white;//<EFBFBD>洢<EFBFBD>װ<EFBFBD>
+    unsigned short* dark;//存储暗电流
+    unsigned short* white;//存储白板
 
-    bool m_bFocusControlState;//<EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    bool m_bFocusControlState;//控制调焦结束
 
     
 
@@ -92,7 +92,7 @@ private:
     double calcFocusIndexSobelPrivate(void* pvData);
 
 public slots:
-    virtual void connect_imager(int frameNumber);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٻ<EFBFBD><EFBFBD><EFBFBD>
+    virtual void connect_imager(int frameNumber);//连接相机、开辟缓存
     virtual double auto_exposure();
     virtual void focus();
     virtual void start_record();
@@ -101,11 +101,14 @@ public slots:
     virtual void record_white();
 
     void getFocusIndexSobel();
+
+	void updateRecordingFileInfo(const QString& filePath, const QString& baseName, int frameNumber);
+
 signals:
-    void PlotSignal(int, int, QString);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD>񣻵ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-1<><31><EFBFBD><EFBFBD><EFBFBD>˴βɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
-    void RecordFinishedSignal_WhenFrameNumberMeet();//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>m_iFrameNumber<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    void RecordFinishedSignal_WhenFrameNumberNotMeet();//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>m_iFrameNumber<EFBFBD><EFBFBD>û<EFBFBD>вɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD><EFBFBD><EFBFBD>;ֹͣ<EFBFBD>ɼ<EFBFBD>
-    void SpectralSignal(int);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><EFBFBD>ף<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>
+    void PlotSignal(int, int, QString);//绘制影像信号，第一个参数：第几个影像；第二个参数：采集到的帧数，-1代表此次采集的最后一次绘制
+    void RecordFinishedSignal_WhenFrameNumberMeet();//采集完成信号：需要采集的总帧数（m_iFrameNumber）采集完成
+    void RecordFinishedSignal_WhenFrameNumberNotMeet();//采集完成信号：需要采集的总帧数（m_iFrameNumber）没有采集完成，中途停止采集
+    void SpectralSignal(int);//发射1代表正在调焦，绘制光谱，发射0表示调焦完成；
 
     void RecordWhiteFinishSignal();
     void RecordDarlFinishSignal();
@@ -113,12 +116,12 @@ signals:
     void FocusIndexSobelSignal(double);
 
 
-    void testImagerStatus();//<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD>Բ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    void testImagerStatus();//表示可以测试相机连接状态：是否连接，并反映到界面上
     void autoExposureSignal();
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>.bil/.hdr<64><72>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD>ɺ󷢳<C9BA><F3B7A2B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӳɼ<D3B2><C9BC>̷߳<DFB3><CCB7><EFBFBD><EFBFBD><EFBFBD>Qt <20><><EFBFBD><EFBFBD> queued connection<EFBFBD><EFBFBD>
+    // 新增：当一组影像文件（.bil/.hdr）写入完成后发出（会从采集线程发出，Qt 会做 queued connection）
     void ImageFileSaved(const QString& path, int fileIndex);
 
-    // <EFBFBD>޸ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>ӷ<EFBFBD><EFBFBD><EFBFBD> MapLayer*<2A><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD>UI <20>㸺<EFBFBD>𴴽<EFBFBD> MapLayer <20><><EFBFBD>󲢹<EFBFBD><F3B2A2B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 修改：不再直接发送 MapLayer*，而是发送文件名与文件路径，UI 层负责创建 MapLayer 对象并管理生命周期
     void LayerFileCreated(const QString& baseName, const QString& filePath, int fileIndex);
 };

HPPA/ImagerPositionSimulation.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 
 #include "ImagerPositionSimulation.h"
 
@@ -61,7 +61,7 @@ void ImagerPositionSimulation::mouseReleaseEvent(QMouseEvent *event)
 {
 	QPoint viewPos = event->pos();
 
-	////<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	////输出类型
 	//const type_info &x = typeid(imager);
 	//qDebug() << "---------------type_info: " << x.name() << x.raw_name() << x.hash_code();
 

HPPA/ImagerPositionSimulation.h

@@ -1,4 +1,4 @@
-#ifndef IMAGER_POSITION_SIMULATION
+#ifndef IMAGER_POSITION_SIMULATION
 #define IMAGER_POSITION_SIMULATION
 #include <QGraphicsView>
 #include <QGraphicsScene>
@@ -16,7 +16,7 @@ public:
 
 	void drawX();
 
-	void setSceneRect();//<EFBFBD><EFBFBD>QGraphicsView<EFBFBD><EFBFBD>viewport<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪsceneRect
+	void setSceneRect();//将QGraphicsView的viewport设置为sceneRect
 
 	QRectF sceneRect();
 

HPPA/LayerTree.cpp

@@ -1,4 +1,4 @@
-#include "LayerTree.h"
+#include "LayerTree.h"
 
 LayerTree::LayerTree(QObject* parent)
     : LayerTreeGroup("__root__", parent)

HPPA/LayerTree.h

@@ -1,14 +1,14 @@
-#pragma once
+#pragma once
 
 #include "LayerTreeGroupNode.h"
 
 /**
- * LayerTree<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD>̳<EFBFBD><EFBFBD><EFBFBD> LayerTreeGroup<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĸ<EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD>ṩ<EFBFBD>ɼ<EFBFBD><EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>븸<EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><EFBFBD><EFBFBD>µľ<EFBFBD>̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * LayerTree：图层树根节点
+ * - 继承自 LayerTreeGroup，本身就是树的根节点
+ * - 提供可见性级联与父节点三态更新的静态工具
  *
- * ע<EFBFBD>⣺beginInsertRows/endInsertRows <EFBFBD><EFBFBD> Qt Model <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֪ͨӦ<EFBFBD><EFBFBD> Model <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>
- * LayerTree ֻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ά<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>ȷ<EFBFBD>ԡ<EFBFBD>
+ * 注意：beginInsertRows/endInsertRows 等 Qt Model 变更通知应由 Model 驱动调用，
+ * LayerTree 只负责维护数据结构正确性。
  */
 class LayerTree : public LayerTreeGroup
 {
@@ -20,7 +20,7 @@ public:
     LayerTree(const LayerTree&) = delete;
     LayerTree& operator=(const LayerTree&) = delete;
 
-    // <EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Model <EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>
+    // 可见性逻辑（供 Model 调用）
     static void setChildrenVisible(LayerTreeNode* n, Qt::CheckState state);
     static void updateParentVisibleFromChildren(LayerTreeNode* parent);
 };

HPPA/LayerTreeGroupNode.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeGroupNode.h"
+#include "LayerTreeGroupNode.h"
 #include "LayerTreeLayerNode.h"
 
 LayerTreeGroup::LayerTreeGroup(const QString& name, QObject* parent)

HPPA/LayerTreeGroupNode.h

@@ -1,12 +1,12 @@
-#pragma once
+#pragma once
 #include "LayerTreeNode.h"
 
 class LayerTreeLayer;
 
 /**
- * LayerTreeGroup<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ LayerTreeNode
- * - <EFBFBD>ṩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>ڵ㣨LayerTreeLayer<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>飨LayerTreeGroup<EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * LayerTreeGroup：图层组节点
+ * - 基类为 LayerTreeNode
+ * - 提供插入图层节点（LayerTreeLayer）或图层组（LayerTreeGroup）的便利方法
  */
 class LayerTreeGroup : public LayerTreeNode
 {
@@ -17,28 +17,28 @@ public:
 
     Type type() const override { return Type::Group; }
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 便利方法：插入子组
     LayerTreeGroup* insertGroup(int index, const QString& name);
     LayerTreeGroup* addGroup(const QString& name);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
+    // 便利方法：插入图层节点
     LayerTreeLayer* insertLayer(int index, LayerTreeLayer* layer);
     LayerTreeLayer* addLayer(LayerTreeLayer* layer);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
+    // 插入任意节点
     void insertChildNode(int index, LayerTreeNode* node);
     void addChildNode(LayerTreeNode* node);
 
-    // <EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ㣨<EFBFBD><EFBFBD> delete<74><65><EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><D8B1>Ƴ<EFBFBD><C6B3>ڵ㣩
+    // 移除子节点（不 delete，返回被移除节点）
     LayerTreeNode* removeChildNode(LayerTreeNode* node);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 查找
     LayerTreeLayer* findLayer(const QString& name) const;
     QList<LayerTreeLayer*> findLayers() const;
     QList<LayerTreeGroup*> findGroups() const;
 
-    // <EFBFBD>Ժ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD>collapsed / groupOpacity <EFBFBD><EFBFBD>
+    // 以后可扩展：collapsed / groupOpacity 等
 };
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// 保持向后兼容
 using LayerTreeGroupNode = LayerTreeGroup;

HPPA/LayerTreeImageNode.cpp

@@ -0,0 +1,31 @@
+#include "LayerTreeImageNode.h"
+#include "RasterImageLayer.h"
+
+LayerTreeImageNode::LayerTreeImageNode(RasterImageLayer* imageLayer,
+                                       const QString& name,
+                                       QWidget* widget,
+                                       QObject* parent)
+    : LayerTreeNode(name, parent)
+    , m_imageLayer(imageLayer)
+    , m_widget(widget)
+{
+}
+
+LayerTreeImageNode::~LayerTreeImageNode()
+{
+}
+
+LayerTreeNode::Type LayerTreeImageNode::type() const
+{
+    return Type::Image;
+}
+
+QWidget* LayerTreeImageNode::widget() const
+{
+    return m_widget;
+}
+
+void LayerTreeImageNode::setWidget(QWidget* widget)
+{
+    m_widget = widget;
+}

HPPA/LayerTreeImageNode.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include "LayerTreeNode.h"
+#include <memory>
+
+class QWidget;
+class RasterImageLayer;
+
+class LayerTreeImageNode : public LayerTreeNode
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeImageNode(RasterImageLayer* imageLayer,
+                                const QString& name,
+                                QWidget* widget = nullptr,
+                                QObject* parent = nullptr);
+
+    ~LayerTreeImageNode();
+
+    Type type() const override;
+
+    RasterImageLayer* imageLayer() const { return m_imageLayer; }
+    QWidget* widget() const;
+    void setWidget(QWidget* widget);
+
+private:
+    RasterImageLayer* m_imageLayer;
+    QWidget* m_widget = nullptr;
+};
+

HPPA/LayerTreeLayerNode.cpp

@@ -1,7 +1,7 @@
-#include "LayerTreeLayerNode.h"
+#include "LayerTreeLayerNode.h"
 
 LayerTreeLayer::LayerTreeLayer(MapLayer* layer, QObject* parent)
-    : LayerTreeNode(layer ? layer->name() : QString(), parent), m_layer(layer)
+    : LayerTreeGroup(layer ? layer->name() : QString(), parent), m_layer(layer)
 {
 }
 
@@ -10,7 +10,7 @@ LayerTreeNode::Type LayerTreeLayer::type() const
     return Type::Layer; 
 }
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD> MapLayer ָ<EFBFBD>루<EFBFBD><EFBFBD>ӵ<EFBFBD>У<EFBFBD>
+// 持有一个 MapLayer 指针（不拥有）
 void LayerTreeLayer::setMapLayer(MapLayer* layer) 
 { 
     m_layer = layer; 

HPPA/LayerTreeLayerNode.h

@@ -1,19 +1,19 @@
-#pragma once
-#include "LayerTreeNode.h"
+#pragma once
+#include "LayerTreeGroupNode.h"
 #include "MapLayer.h"
 
 /**
- * LayerTreeLayer<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ LayerTreeNode
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD> MapLayer ָ<EFBFBD>루<EFBFBD><EFBFBD>ӵ<EFBFBD>У<EFBFBD>
+ * LayerTreeLayer：图层节点
+ * - 基类为 LayerTreeNode
+ * - 持有一个 MapLayer 指针（不拥有）
  */
-class LayerTreeLayer : public LayerTreeNode
+class LayerTreeLayer : public LayerTreeGroup
 {
     Q_OBJECT
 public:
     explicit LayerTreeLayer(MapLayer* layer, QObject* parent = nullptr);
 
-    Type type() const override;
+    Type type() const;
 
     void setMapLayer(MapLayer* layer);
     MapLayer* mapLayer() const;
@@ -21,8 +21,8 @@ public:
 private:
     MapLayer* m_layer = nullptr;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD>layerId / pointer / legendItems <EFBFBD><EFBFBD>
+    // 可扩展：layerId / pointer / legendItems 等
 };
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// 保持向后兼容
 using LayerTreeLayerNode = LayerTreeLayer;

HPPA/LayerTreeModel.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeModel.h"
+#include "LayerTreeModel.h"
 #include "LayerTreeGroupNode.h"
 #include "LayerTreeLayerNode.h"
 
@@ -90,15 +90,15 @@ bool LayerTreeModel::setData(const QModelIndex& index, const QVariant& value, in
 
         n->setVisible(newState);
 
-        // 1) <EFBFBD><EFBFBD> -> <EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
+        // 1) 父 -> 子 级联
         if (m_cascadeCheck) {
             LayerTree::setChildrenVisible(n, newState);
         }
 
-        // 2) <EFBFBD><EFBFBD> -> <EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> PartiallyChecked
+        // 2) 子 -> 父 更新 PartiallyChecked
         LayerTree::updateParentVisibleFromChildren(n->parentNode());
 
-        // <EFBFBD>򻯣<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD>£<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>滻Ϊ<EFBFBD><EFBFBD>׼ dataChanged<EFBFBD><EFBFBD>
+        // 简化：整体刷新（你后续可替换为精准 dataChanged）
         emit layoutChanged();
         return true;
     }
@@ -133,7 +133,7 @@ LayerTreeNode* LayerTreeModel::addGroup(LayerTreeNode* parent, const QString& na
     return g;
 }
 
-LayerTreeNode* LayerTreeModel::addLayer(LayerTreeNode* parent, LayerTreeLayer* layerNode, const QIcon& icon)
+LayerTreeNode* LayerTreeModel::addLayer(LayerTreeNode* parent, LayerTreeNode* layerNode, const QIcon& icon)
 {
     if (!parent) parent = m_tree;
     if (!layerNode) return nullptr;
@@ -156,7 +156,7 @@ bool LayerTreeModel::cascadeCheckEnabled() const
     return m_cascadeCheck;
 }
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>֣<EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ㲢<EFBFBD><EFBFBD> model <EFBFBD>Ϸ<EFBFBD><EFBFBD><EFBFBD> begin/endRemoveRows
+// 新增实现：移除子节点并在 model 上发出 begin/endRemoveRows
 LayerTreeNode* LayerTreeModel::removeNode(LayerTreeNode* parent, int row)
 {
     if (!parent) parent = m_tree;

HPPA/LayerTreeModel.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QCoreApplication>
 #include <QAbstractItemModel>
 #include "LayerTree.h"
@@ -6,9 +6,9 @@
 class LayerTreeLayer; // forward declare
 
 /**
- * LayerTreeModel<EFBFBD><EFBFBD>Qt <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣨<EFBFBD><EFBFBD><EFBFBD>ٹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * - 1 <EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>꣩+ checkbox
- * - <EFBFBD><EFBFBD>ѡ<EFBFBD>ɼ<EFBFBD><EFBFBD>ԣ<EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD>
+ * LayerTreeModel：Qt 适配层（不再管理树）
+ * - 1 列：名称（带图标）+ checkbox
+ * - 勾选可见性（可选级联勾选）
  */
 class LayerTreeModel : public QAbstractItemModel
 {
@@ -19,7 +19,7 @@ public:
         bool cascadeCheck = true);
     ~LayerTreeModel() override = default;
 
-    // QAbstractItemModel <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
+    // QAbstractItemModel 必须接口
     QModelIndex index(int row, int column,
         const QModelIndex& parent = QModelIndex()) const override;
     QModelIndex parent(const QModelIndex& child) const override;
@@ -30,16 +30,16 @@ public:
     bool setData(const QModelIndex& index, const QVariant& value, int role) override;
     Qt::ItemFlags flags(const QModelIndex& index) const override;
 
-    // <EFBFBD><EFBFBD><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<EFBFBD><EFBFBD>
+    // 对外 API：构建树（内部会正确调用 begin/endInsertRows）
     LayerTreeNode* root() const;
 
     LayerTreeNode* addGroup(LayerTreeNode* parent, const QString& name, const QIcon& icon = QIcon());
-    LayerTreeNode* addLayer(LayerTreeNode* parent, LayerTreeLayer* layerNode, const QIcon& icon = QIcon());
+    LayerTreeNode* addLayer(LayerTreeNode* parent, LayerTreeNode* layerNode, const QIcon& icon = QIcon());
 
     void setCascadeCheckEnabled(bool enabled);
     bool cascadeCheckEnabled() const;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӹ<EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ㣨<EFBFBD><EFBFBD>װ LayerTree::removeNode <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> model ֪ͨ<EFBFBD><EFBFBD>
+    // 新增：从父节点移除子节点（包装 LayerTree::removeNode 并发出 model 通知）
     LayerTreeNode* removeNode(LayerTreeNode* parent, int row);
 
 private:

HPPA/LayerTreeNode.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeNode.h"
+#include "LayerTreeNode.h"
 
 #include <QtGlobal>
 
@@ -55,7 +55,7 @@ LayerTreeNode* LayerTreeNode::parentNode() const
 void LayerTreeNode::setParentNode(LayerTreeNode* p)
 {
     m_parentNode = p;
-    // <EFBFBD><EFBFBD> QObject <EFBFBD><EFBFBD> parent Ҳ<EFBFBD><EFBFBD><EFBFBD>棨<EFBFBD><EFBFBD><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<EFBFBD><EFBFBD>
+    // 让 QObject 的 parent 也跟随（便于 Qt 对象层次管理，且不会影响我们手动 delete children）
     if (p) this->setParent(p);
     else this->setParent(nullptr);
 }

HPPA/LayerTreeNode.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QVector>
@@ -6,20 +6,20 @@
 #include <QString>
 
 /**
- * LayerTreeNode<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ࣨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/ͼ<><CDBC>/<2F>ɼ<EFBFBD><C9BC><EFBFBD>/<2F><><EFBFBD>ӹ<EFBFBD>ϵ
- * - Group / Layer <EFBFBD>ڵ<EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD>̳<EFBFBD>ʵ<EFBFBD><EFBFBD>
- * - <EFBFBD>ṩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/ɾ<><C9BE><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD>ź<EFBFBD>֪ͨ
+ * LayerTreeNode：节点基类（抽象）
+ * - 仅包含通用属性：名称/图标/可见性/父子关系
+ * - Group / Layer 节点通过继承实现
+ * - 提供插入/删除节点的信号通知
  *
- * ˵<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱά<EFBFBD><EFBFBD>"<22><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>"<22><>m_parentNode<EFBFBD><EFBFBD><EFBFBD><EFBFBD> QObject parent<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD>
- * - children <EFBFBD>ɽڵ<EFBFBD><EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>в<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ delete children<EFBFBD><EFBFBD>
+ * 说明：
+ * - 这里同时维护"树父指针"（m_parentNode）与 QObject parent（可选）
+ * - children 由节点自己持有并负责释放（析构时 delete children）
  */
 class LayerTreeNode : public QObject
 {
     Q_OBJECT
 public:
-    enum class Type { Group, Layer };
+    enum class Type { Group, Layer, Image };
 
     explicit LayerTreeNode(const QString& name,
         QObject* parent = nullptr);
@@ -52,8 +52,8 @@ public:
     void appendChild(LayerTreeNode* child);
     void insertChild(int row, LayerTreeNode* child);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> QgsLayerTreeNode::removeChildrenPrivate <EFBFBD>Ľ<EFBFBD>
-    // from: <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>, count: <EFBFBD>Ƴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, destroy: true <EFBFBD><EFBFBD> delete <EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ڵ<EFBFBD>
+    // 基于 QgsLayerTreeNode::removeChildrenPrivate 改进
+    // from: 起始索引, count: 移除数量, destroy: true 则 delete 被移除节点
     void removeChild(int from, int count, bool destroy = true);
 
     // ---- static type helpers ----
@@ -68,11 +68,11 @@ public:
     }
 
 signals:
-    // <EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӽڵ<EFBFBD>֮ǰ/֮<>󷢳<EFBFBD>
+    // 在插入子节点之前/之后发出
     void willAddChildren(LayerTreeNode* node, int indexFrom, int indexTo);
     void addedChildren(LayerTreeNode* node, int indexFrom, int indexTo);
 
-    // <EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ<EFBFBD>֮ǰ/֮<>󷢳<EFBFBD>
+    // 在移除子节点之前/之后发出
     void willRemoveChildren(LayerTreeNode* node, int indexFrom, int indexTo);
     void removedChildren(LayerTreeNode* node, int indexFrom, int indexTo);
 

HPPA/LayerTreeView.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeView.h"
+#include "LayerTreeView.h"
 #include "LayerTreeViewMenuProvider.h"
 #include <QContextMenuEvent>
 #include <QMenu>

HPPA/LayerTreeView.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QTreeView>
 

HPPA/LayerTreeViewMenuProvider.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeViewMenuProvider.h"
+#include "LayerTreeViewMenuProvider.h"
 #include "LayerTreeView.h"
 #include "LayerTreeModel.h"
 #include "LayerTreeNode.h"
@@ -36,16 +36,27 @@ QMenu* LayerTreeViewMenuProvider::createContextMenu()
 
     if (node->type() == LayerTreeNode::Type::Layer)
     {
-        QAction* removeAction = new QAction(QStringLiteral("<EFBFBD>Ƴ<EFBFBD>ͼ<EFBFBD><EFBFBD>"), menu);
-        connect(removeAction, &QAction::triggered, HPPA::instance(), &HPPA::removeLayerByTreeIndex);
-        menu->addAction(removeAction);
+        QAction* removeLayerAction = new QAction(QStringLiteral("移除图层"), menu);
+        connect(removeLayerAction, &QAction::triggered, HPPA::instance(), &HPPA::removeLayerByTreeIndex);
+
+        QAction* showColorImageAction = new QAction(QStringLiteral("显示彩色图像"), menu);
+        connect(showColorImageAction, &QAction::triggered, HPPA::instance(), &HPPA::showColorImageByTreeIndex);
+
+        menu->addAction(removeLayerAction);
+        menu->addAction(showColorImageAction);
+    }
+    else if (node->type() == LayerTreeNode::Type::Image)
+    {
+        QAction* removeImageAction = new QAction(QStringLiteral("移除图像"), menu);
+        connect(removeImageAction, &QAction::triggered, HPPA::instance(), &HPPA::removeImageByTreeIndex);
+        menu->addAction(removeImageAction);
     }
     else if (node->type() == LayerTreeNode::Type::Group)
     {
         HPPA* app = HPPA::instance();
         if (app && node == app->rasterGroupNode())
         {
-            QAction* removeAllAction = new QAction(QStringLiteral("<EFBFBD>Ƴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>"), menu);
+            QAction* removeAllAction = new QAction(QStringLiteral("移除所有图层"), menu);
             connect(removeAllAction, &QAction::triggered, app, &HPPA::removeAllLayersInRasterGroup);
             menu->addAction(removeAllAction);
         }

HPPA/LayerTreeViewMenuProvider.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QMenu>
 #include <QObject>
@@ -15,7 +15,7 @@ public:
     explicit LayerTreeViewMenuProvider(LayerTreeView* view, QObject* parent = nullptr);
     ~LayerTreeViewMenuProvider() override = default;
 
-    // <EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><EFBFBD><EFBFBD> index <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>˵<EFBFBD><CBB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߸<EFBFBD><DFB8><EFBFBD>ɾ<EFBFBD><C9BE><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD> QMenu*
+    // 根据给定 index 创建一个菜单，调用者负责删除返回的 QMenu*
     QMenu* createContextMenu();
 
 private:

HPPA/MapLayer.cpp

@@ -1,4 +1,4 @@
-#include "MapLayer.h"
+#include "MapLayer.h"
 
 MapLayer::MapLayer(const QString& name, const QString& uri)
     : QObject(nullptr), m_name(name), m_uri(uri)

HPPA/MapLayer.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QString>

HPPA/MapLayerStore.cpp

@@ -1,60 +1,137 @@
-#include "MapLayerStore.h"
+#include "MapLayerStore.h"
 #include "MapLayer.h"
+#include "RasterImageLayer.h"
+#include <QFileInfo>
+#include <QWidget>
 
 MapLayerStore::MapLayerStore(QObject* parent)
     : QObject(parent)
 {
-    int a = 1;
 }
 
-void MapLayerStore::addLayer(MapLayer* layer, QWidget* widget)
+void MapLayerStore::addLayer(MapLayer* layer)
 {
     if (!layer) return;
-    MapLayer* raw = layer;
-    m_layers.emplace_back(std::shared_ptr<MapLayer>(layer));
-    if (widget)
-        m_layerWidgets[raw] = widget;
-    emit layerAdded(raw);
+
+    int index = (int)m_layers.size();
+    LayerEntry entry;
+    entry.mapLayer.reset(layer);
+
+    m_layers.push_back(std::move(entry));
+    m_mapLayerIndex[layer] = index;
+
+    emit layerAdded(layer);
+}
+
+void MapLayerStore::addImageLayer(MapLayer* mapLayer, RasterImageLayer* imageLayer, QWidget* widget)
+{
+    if (!mapLayer || !imageLayer) return;
+
+    LayerEntry* entry = findLayerEntry(mapLayer);
+    if (!entry) return;
+
+    entry->imageLayers.push_back({std::unique_ptr<RasterImageLayer>(imageLayer), widget});
+    emit imageLayerAdded(imageLayer);
 }
 
 void MapLayerStore::removeLayer(MapLayer* layer)
 {
     if (!layer) return;
-    for (auto it = m_layers.begin(); it != m_layers.end(); ++it) {
-        if (it->get() == layer) {
-            emit layerAboutToBeRemoved(layer);
-            m_layers.erase(it);
-            m_layerWidgets.erase(layer);
-            return;
+
+    auto it = m_mapLayerIndex.find(layer);
+    if (it == m_mapLayerIndex.end()) return;
+
+    int index = it->second;
+    if (index < 0 || index >= (int)m_layers.size()) return;
+
+    LayerEntry& entry = m_layers[index];
+
+    // Delete all associated widgets
+    for (auto& imgEntry : entry.imageLayers) {
+        if (imgEntry.widget) {
+            delete imgEntry.widget;
+        }
+    }
+    entry.imageLayers.clear();
+
+    emit layerAboutToBeRemoved(layer);
+
+    m_layers.erase(m_layers.begin() + index);//?????????????????????
+    m_mapLayerIndex.erase(it);
+
+    // Rebuild index for layers after removed one
+    for (int i = index; i < (int)m_layers.size(); ++i) {
+        m_mapLayerIndex[m_layers[i].mapLayer.get()] = i;
+    }
+}
+
+void MapLayerStore::removeImageLayer(RasterImageLayer* imageLayer)//可以优化：RasterImageLayer包含一个指向所属MapLayer的指针，这样就不需要遍历所有图层来找到它了
+{
+    if (!imageLayer) return;
+
+    for (auto& entry : m_layers) {
+        for (auto it = entry.imageLayers.begin(); it != entry.imageLayers.end(); ++it) {
+            if (it->imageLayer.get() == imageLayer) {
+                emit imageLayerAboutToBeRemoved(imageLayer);
+                if (it->widget) {
+					//delete it->widget;//在调用此函数的地方已经删除了widget了，这里不需要再删除一次了
+                }
+                entry.imageLayers.erase(it);
+                return;
+            }
         }
     }
 }
 
 void MapLayerStore::removeLayerByName(const QString& name)
 {
-    for (auto it = m_layers.begin(); it != m_layers.end(); ++it) {
-        if ((*it)->name() == name) {
-            MapLayer* raw = it->get();
-            emit layerAboutToBeRemoved(raw);
-            m_layers.erase(it);
-            m_layerWidgets.erase(raw);
+    for (auto& entry : m_layers) {
+        if (entry.mapLayer->name() == name) {
+            removeLayer(entry.mapLayer.get());
             return;
         }
     }
 }
 
+bool MapLayerStore::containsLayer(const QString& url, bool isAbsolutePath) const
+{
+    QFileInfo fi(url);
+    QString fileName = fi.completeBaseName();
+
+    if (!isAbsolutePath) {
+        return getLayer(fileName) != nullptr;
+    }
+
+    for (const auto& entry : m_layers) {
+        if (entry.mapLayer->dataPath() == url)
+            return true;
+    }
+    return false;
+}
+
 MapLayer* MapLayerStore::getLayer(const QString& name) const
 {
-    for (const auto& l : m_layers) {
-        if (l->name() == name) return l.get();
+    for (const auto& entry : m_layers) {
+        if (entry.mapLayer->name() == name)
+            return entry.mapLayer.get();
     }
     return nullptr;
 }
 
 MapLayer* MapLayerStore::getLayerAt(int index) const
 {
-    if (index < 0 || index >= (int)m_layers.size()) return nullptr;
-    return m_layers[index].get();
+    if (index < 0 || index >= (int)m_layers.size())
+        return nullptr;
+    return m_layers[index].mapLayer.get();
+}
+
+MapLayer* MapLayerStore::getLayerByAbsolutePath(const QString& absolutePath) const
+{
+    for (const auto& entry : m_layers) {
+        if (entry.mapLayer->dataPath() == absolutePath)
+            return entry.mapLayer.get();
+    }
+    return nullptr;
 }
 
 int MapLayerStore::layerCount() const
@@ -62,31 +139,129 @@ int MapLayerStore::layerCount() const
     return (int)m_layers.size();
 }
 
-QWidget* MapLayerStore::widgetForLayer(MapLayer* layer) const
+RasterImageLayer* MapLayerStore::getImageLayer(MapLayer* mapLayer, int index) const
 {
-    auto it = m_layerWidgets.find(layer);
-    if (it == m_layerWidgets.end()) return nullptr;
-    return it->second;
+    const LayerEntry* entry = findLayerEntry(mapLayer);
+    if (!entry) return nullptr;
+
+    if (index < 0 || index >= (int)entry->imageLayers.size())
+        return nullptr;
+
+    return entry->imageLayers[index].imageLayer.get();
+}
+
+int MapLayerStore::imageLayerCount(MapLayer* mapLayer) const
+{
+    const LayerEntry* entry = findLayerEntry(mapLayer);
+    if (!entry) return 0;
+    return (int)entry->imageLayers.size();
+}
+
+std::vector<RasterImageLayer*> MapLayerStore::getAllImageLayers() const
+{
+    std::vector<RasterImageLayer*> result;
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.imageLayer)
+                result.push_back(imgEntry.imageLayer.get());
+        }
+    }
+    return result;
+}
+
+QWidget* MapLayerStore::widgetForImageLayer(RasterImageLayer* imageLayer) const
+{
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.imageLayer.get() == imageLayer)
+                return imgEntry.widget;
+        }
+    }
+    return nullptr;
+}
+
+QWidget* MapLayerStore::widgetForLayer(MapLayer* layer) const//需要修改??????????????????????????????????????????????
+{
+    const LayerEntry* entry = findLayerEntry(layer);
+    if (!entry || entry->imageLayers.empty())
+        return nullptr;
+    return entry->imageLayers.front().widget;
 }
 
 QWidget* MapLayerStore::widgetForLayer(const QString& absolutePath) const
 {
-    for (const auto& sp : m_layers) {
-        if (sp && sp->dataPath() == absolutePath) {
-            MapLayer* raw = sp.get();
-            auto it = m_layerWidgets.find(raw);
-            if (it != m_layerWidgets.end()) return it->second;
+    for (const auto& entry : m_layers) {
+        if (entry.mapLayer->dataPath() == absolutePath) {
+            if (!entry.imageLayers.empty())
+                return entry.imageLayers.front().widget;
             return nullptr;
         }
     }
     return nullptr;
 }
 
-MapLayer* MapLayerStore::layerForWidget(QWidget* widget) const
+std::vector<QWidget*> MapLayerStore::widgetsForMapLayer(MapLayer* mapLayer) const
 {
-    if (!widget) return nullptr;
-    for (const auto& kv : m_layerWidgets) {
-        if (kv.second == widget) return kv.first;
+    std::vector<QWidget*> result;
+    const LayerEntry* entry = findLayerEntry(mapLayer);
+    if (!entry) return result;
+
+    for (const auto& imgEntry : entry->imageLayers) {
+        if (imgEntry.widget)
+            result.push_back(imgEntry.widget);
+    }
+    return result;
+}
+
+MapLayer* MapLayerStore::mapLayerForImageLayer(RasterImageLayer* imageLayer) const
+{
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.imageLayer.get() == imageLayer)
+                return entry.mapLayer.get();
+        }
     }
     return nullptr;
 }
+
+MapLayer* MapLayerStore::mapLayerForWidget(QWidget* widget) const
+{
+    if (!widget) return nullptr;
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.widget == widget)
+                return entry.mapLayer.get();
+        }
+    }
+    return nullptr;
+}
+
+RasterImageLayer* MapLayerStore::imageLayerForWidget(QWidget* widget) const
+{
+    if (!widget) return nullptr;
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.widget == widget)
+                return imgEntry.imageLayer.get();
+        }
+    }
+    return nullptr;
+}
+
+MapLayerStore::LayerEntry* MapLayerStore::findLayerEntry(MapLayer* mapLayer)
+{
+    auto it = m_mapLayerIndex.find(mapLayer);
+    if (it == m_mapLayerIndex.end()) return nullptr;
+    int index = it->second;
+    if (index < 0 || index >= (int)m_layers.size()) return nullptr;
+    return &m_layers[index];
+}
+
+const MapLayerStore::LayerEntry* MapLayerStore::findLayerEntry(MapLayer* mapLayer) const
+{
+    auto it = m_mapLayerIndex.find(mapLayer);
+    if (it == m_mapLayerIndex.end()) return nullptr;
+    int index = it->second;
+    if (index < 0 || index >= (int)m_layers.size()) return nullptr;
+    return &m_layers[index];
+}

HPPA/MapLayerStore.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QString>
@@ -7,45 +7,66 @@
 #include <unordered_map>
 
 class MapLayer;
+class RasterImageLayer;
 class QWidget;
 
 class MapLayerStore : public QObject
 {
     Q_OBJECT
+
+    struct ImageLayerEntry {
+        std::unique_ptr<RasterImageLayer> imageLayer;
+        QWidget* widget;
+    };
+
+    struct LayerEntry {
+        std::unique_ptr<MapLayer> mapLayer;
+        std::vector<ImageLayerEntry> imageLayers;
+    };
+
 public:
     explicit MapLayerStore(QObject* parent = nullptr);
     ~MapLayerStore() override = default;
 
-    // Take ownership of the layer (store will own and manage its lifetime)
-    // Now also accept the associated QWidget so UI widget can be retrieved by layer pointer
-    void addLayer(MapLayer* layer, QWidget* widget = nullptr);
-
-    // Remove by pointer or by name. Destruction happens when removed from store.
-public slots:
+    // Layer management
+    void addLayer(MapLayer* layer);
     void removeLayer(MapLayer* layer);
     void removeLayerByName(const QString& name);
+    bool containsLayer(const QString& url, bool isAbsolutePath = true) const;
 
-    // Queries
     MapLayer* getLayer(const QString& name) const;
+    MapLayer* getLayerByAbsolutePath(const QString& absolutePath) const;
     MapLayer* getLayerAt(int index) const;
     int layerCount() const;
 
-    // Get associated widget for a layer (or nullptr if none)
-    QWidget* widgetForLayer(MapLayer* layer) const;
-    // Get associated widget by layer absolute data path
-    QWidget* widgetForLayer(const QString& absolutePath) const;
+    // ImageLayer management
+    void addImageLayer(MapLayer* mapLayer, RasterImageLayer* imageLayer, QWidget* widget);
+    void removeImageLayer(RasterImageLayer* imageLayer);
+    RasterImageLayer* getImageLayer(MapLayer* mapLayer, int index) const;
+    int imageLayerCount(MapLayer* mapLayer) const;
+    std::vector<RasterImageLayer*> getAllImageLayers() const;
 
-    // Reverse lookup: find the MapLayer associated with a given widget (or nullptr)
-    MapLayer* layerForWidget(QWidget* widget) const;
+    // Widget queries
+    QWidget* widgetForImageLayer(RasterImageLayer* imageLayer) const;
+    QWidget* widgetForLayer(MapLayer* layer) const;
+    QWidget* widgetForLayer(const QString& absolutePath) const;
+    std::vector<QWidget*> widgetsForMapLayer(MapLayer* mapLayer) const;    
+
+    // Reverse lookups
+    MapLayer* mapLayerForImageLayer(RasterImageLayer* imageLayer) const;
+    MapLayer* mapLayerForWidget(QWidget* widget) const;
+    RasterImageLayer* imageLayerForWidget(QWidget* widget) const;
 
 signals:
     void layerAdded(MapLayer* layer);
-    // Emitted just before the layer is destroyed/removed from store
     void layerAboutToBeRemoved(MapLayer* layer);
+    void imageLayerAdded(RasterImageLayer* imageLayer);
+    void imageLayerAboutToBeRemoved(RasterImageLayer* imageLayer);
 
 private:
-    // store shared ownership so other parts can keep raw pointers safely (or use QPointer)
-    std::vector<std::shared_ptr<MapLayer>> m_layers;
-    // mapping from raw MapLayer pointer to associated QWidget*
-    std::unordered_map<MapLayer*, QWidget*> m_layerWidgets;
+    LayerEntry* findLayerEntry(MapLayer* mapLayer);
+    const LayerEntry* findLayerEntry(MapLayer* mapLayer) const;
+
+    std::vector<LayerEntry> m_layers;
+    std::unordered_map<MapLayer*, int> m_mapLayerIndex;
 };

HPPA/MapToolSpectral.cpp

@@ -41,10 +41,10 @@ void MapToolSpectral::canvasMousePressEvent(QMouseEvent* e)
     const int x = static_cast<int>(std::floor(scenePt.x()));
     const int y = static_cast<int>(std::floor(scenePt.y()));
 
-    RasterLayer* rl = canvas()->rasterLayer();
+    auto* imageLayer = canvas()->imageLayer();
+    RasterLayer* rl = imageLayer ? imageLayer->layer() : nullptr;
     if (rl && rl->isValidPixel(x, y))
     {
-        // Place crosshair at pixel center
         canvas()->updateCrosshair(x + 0.5, y + 0.5);
 
         QVector<double> wavelengths;

HPPA/MapToolSpectral.h

@@ -4,6 +4,8 @@
 #include "MapTool.h"
 #include <QVector>
 
+#include "RasterImageLayer.h"
+
 class QGraphicsLineItem;
 
 class MapToolSpectral : public MapTool

HPPA/MotorWindowBase.cpp

@@ -0,0 +1,11 @@
+#include "MotorWindowBase.h"
+
+MotorWindowBase::MotorWindowBase()
+{
+
+}
+
+MotorWindowBase::~MotorWindowBase()
+{
+
+}

HPPA/MotorWindowBase.h

@@ -0,0 +1,15 @@
+#pragma once
+
+class MotorWindowBase
+{
+
+public:
+    MotorWindowBase();
+    ~MotorWindowBase();
+
+protected:
+    virtual bool getMotorsConnectionStatus()=0;
+
+private:
+
+};

HPPA/MultibandRasterRenderer.cpp

@@ -1,30 +1,32 @@
-#include "RasterRenderer.h"
+#include "MultibandRasterRenderer.h"
 #include "RasterDataProvider.h"
 #include <QDebug>
 #include <algorithm>
 
-RasterRenderer::RasterRenderer(RasterDataProvider* provider)
-    : m_provider(provider)
+MultibandRasterRenderer::MultibandRasterRenderer(RasterDataProvider* provider)
+    : RasterRendererBase(provider)
 {
 }
 
-void RasterRenderer::stretchTo8bit(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal)
+void MultibandRasterRenderer::stretchTo8bit(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal)
 {
     size_t n = in.size();
     out.resize(n);
-    if (maxVal <= minVal) {
+    if (maxVal <= minVal)
+    {
         std::fill(out.begin(), out.end(), 0);
         return;
     }
     float denom = 1.0f / (maxVal - minVal);
-    for (size_t i = 0; i < n; ++i) {
+    for (size_t i = 0; i < n; ++i)
+    {
         float v = (in[i] - minVal) * denom;
         v = std::min(std::max(v, 0.0f), 1.0f);
         out[i] = static_cast<unsigned char>(v * 255.0f);
     }
 }
 
-QImage RasterRenderer::render(const Params& params)
+QImage MultibandRasterRenderer::render()
 {
     if (!m_provider) return QImage();
     int bands = m_provider->bandCount();
@@ -38,7 +40,7 @@ QImage RasterRenderer::render(const Params& params)
     auto chooseBandIndexForWave = [&](double wave)->int {
         if (wavelengths.empty()) {
             // fallback: select R,G,B as first three bands
-            if (bands >= 3) return (wave==params.rWave?0:(wave==params.gWave?1:2));
+            if (bands >= 3) return (wave==m_params.rWave?0:(wave==m_params.gWave?1:2));
             if (bands >= 1) return 0;
             return -1;
         }
@@ -53,9 +55,9 @@ QImage RasterRenderer::render(const Params& params)
         return std::min(2, bands-1);
     };
 
-    int rIdx = chooseBandIndexForWave(params.rWave);
-    int gIdx = chooseBandIndexForWave(params.gWave);
-    int bIdx = chooseBandIndexForWave(params.bWave);
+    int rIdx = chooseBandIndexForWave(m_params.rWave);
+    int gIdx = chooseBandIndexForWave(m_params.gWave);
+    int bIdx = chooseBandIndexForWave(m_params.bWave);
 
     std::vector<float> rbuf, gbuf, bbuf;
     if (rIdx >= 0) m_provider->readBandAsFloat(rIdx, rbuf);
@@ -63,8 +65,8 @@ QImage RasterRenderer::render(const Params& params)
     if (bIdx >= 0) m_provider->readBandAsFloat(bIdx, bbuf);
 
     std::vector<unsigned char> r8, g8, b8;
-    float minV = static_cast<float>(params.minValue);
-    float maxV = static_cast<float>(params.maxValue);
+    float minV = static_cast<float>(m_params.minValue);
+    float maxV = static_cast<float>(m_params.maxValue);
     if (!rbuf.empty()) stretchTo8bit(rbuf, r8, minV, maxV);
     if (!gbuf.empty()) stretchTo8bit(gbuf, g8, minV, maxV);
     if (!bbuf.empty()) stretchTo8bit(bbuf, b8, minV, maxV);

HPPA/MultibandRasterRenderer.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#include "RasterRendererBase.h"
+#include "RasterRenderParams.h"
+#include <vector>
+#include <memory>
+
+class RasterDataProvider;
+
+class MultibandRasterRenderer : public RasterRendererBase
+{
+public:
+    explicit MultibandRasterRenderer(RasterDataProvider* provider);
+
+    QImage render() override;
+
+    // Parameter access
+    MultibandRenderParams params() const { return m_params; }
+    void setParams(const MultibandRenderParams& params) { m_params = params; }
+
+private:
+    MultibandRenderParams m_params;
+
+    // Helper to map float buffer to 8-bit with min/max stretch
+    static void stretchTo8bit(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal);
+};

HPPA/OneMotorControl.cpp

@@ -1,4 +1,4 @@
-#include "OneMotorControl.h"
+#include "OneMotorControl.h"
 
 OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 {
@@ -6,6 +6,16 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 
     connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
 
+    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
 }
 
 OneMotorControl::~OneMotorControl()
@@ -16,6 +26,31 @@ OneMotorControl::~OneMotorControl()
 
 void OneMotorControl::onConnectMotor()
 {
+    if (getMotorsConnectionStatus())
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+        msgBox.exec();
+
+        return;
+    }
+
+    if (m_multiAxisController != nullptr)
+    {
+        disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+        disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+        disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+        disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+        disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+        disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+        disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+        disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+        m_motorThread.quit();
+        m_motorThread.wait();
+        m_multiAxisController = nullptr;
+    }
+
 	try
 	{
         FileOperation* fileOperation = new FileOperation();
@@ -27,30 +62,22 @@ void OneMotorControl::onConnectMotor()
 	catch (std::exception const& e)
 	{
         QMessageBox msgBox;
-        msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
         msgBox.exec();
+        return;
 	}
 
     m_multiAxisController->moveToThread(&m_motorThread);
     connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
 
-    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
-    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
-    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-
-    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
-
     connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
 
     connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
     connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
     connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
 
-    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
     connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
 
-    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
     connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
 
     connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
@@ -73,11 +100,36 @@ void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)
     //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
     if (connectivity[0])
     {
-        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+        m_xMotorConnectionStatus = true;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
     }
     else
     {
-        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+        m_xMotorConnectionStatus = false;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
+    }
+
+    if (getMotorsConnectionStatus())
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
+    }
+    else
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
     }
 }
 
@@ -150,15 +202,12 @@ void OneMotorControl::record_white()
 
 void OneMotorControl::run()
 {
-    if (m_coordinator == nullptr)
-    {
-        qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
-        m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
-        connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
-        connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
+    qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
+    m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+    connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
+    connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
 
-        connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
-    }
+    connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
 
     OneMotionCapturePathLine tmp;
     tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
@@ -172,7 +221,22 @@ void OneMotorControl::stop()
     emit stopStepMotionSignal();
 }
 
-void OneMotorControl::onSequenceComplete()
+void OneMotorControl::onSequenceComplete(int state)
 {
     emit sequenceComplete();
+
+    disconnect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
+    disconnect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
+    disconnect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
+
+    // Use deleteLater() instead of delete: this slot may have been called directly
+    // from OneMotionCaptureCoordinator's call stack (direct connection), so deleting
+    // the object here would cause a crash when execution returns to the destroyed object.
+    m_coordinator->deleteLater();
+    m_coordinator = nullptr;
+}
+
+bool OneMotorControl::getMotorsConnectionStatus()
+{
+    return m_xMotorConnectionStatus;
 }

HPPA/OneMotorControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QThread>
 #include <QMessageBox>
 
@@ -7,8 +7,9 @@
 #include "IrisMultiMotorController.h"
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
+#include "MotorWindowBase.h"
 
-class OneMotorControl : public QDialog
+class OneMotorControl : public QDialog, public MotorWindowBase
 {
     Q_OBJECT
 
@@ -24,6 +25,7 @@ public:
     void record_dark();
     void record_white();
 
+    bool getMotorsConnectionStatus();
 
 public Q_SLOTS:
     void onConnectMotor();
@@ -38,7 +40,7 @@ public Q_SLOTS:
     void onxMotorLeft();
     void onxMotorStop();
 
-    void onSequenceComplete();
+    void onSequenceComplete(int state);
 
 signals:
     void moveSignal(int, bool, double, int);
@@ -61,11 +63,13 @@ private:
     Ui::OneMotorControl_UI ui;
 
     QThread m_motorThread;
-    IrisMultiMotorController* m_multiAxisController;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
 
     OneMotionCaptureCoordinator* m_coordinator = nullptr;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
+
+    bool m_xMotorConnectionStatus = false;
 };

HPPA/PathLine.cpp

@@ -0,0 +1,319 @@
+#include "PathLine.h"
+#include <QTableWidgetItem>
+#include <cstdio>
+
+PathLineManager::PathLineManager()
+{
+}
+
+PathLineManager::~PathLineManager()
+{
+}
+
+QVector<PathLine2> PathLineManager::readFromTableWidget(QTableWidget* tableWidget)
+{
+    QVector<PathLine2> pathLines;
+
+    if (tableWidget == nullptr)
+        return pathLines;
+
+    int rowCount = tableWidget->rowCount();
+
+    for (int i = 0; i < rowCount; i++)
+    {
+        PathLine2 tmp;
+
+        tmp.targetYPosition = tableWidget->item(i, 0)->text().toDouble();
+        tmp.speedTargetYPosition = tableWidget->item(i, 1)->text().toDouble();
+        tmp.targetXMinPosition = tableWidget->item(i, 2)->text().toDouble();
+        tmp.speedTargetXMinPosition = tableWidget->item(i, 3)->text().toDouble();
+        tmp.targetXMaxPosition = tableWidget->item(i, 4)->text().toDouble();
+        tmp.speedTargetXMaxPosition = tableWidget->item(i, 5)->text().toDouble();
+
+        pathLines.append(tmp);
+    }
+
+    return pathLines;
+}
+
+void PathLineManager::writeToTableWidget(QTableWidget* tableWidget, const QVector<PathLine2>& pathLines)
+{
+    if (tableWidget == nullptr)
+        return;
+
+    // 清空现有行
+    int rowCount = tableWidget->rowCount();
+    for (int i = 0; i < rowCount; i++)
+    {
+        tableWidget->removeRow(0);
+    }
+
+    // 添加新行
+    for (int i = 0; i < pathLines.size(); i++)
+    {
+        tableWidget->insertRow(i);
+
+        QTableWidgetItem* item0 = new QTableWidgetItem(QString::number(pathLines[i].targetYPosition, 'f', 5));
+        QTableWidgetItem* item1 = new QTableWidgetItem(QString::number(pathLines[i].speedTargetYPosition, 'f', 5));
+        QTableWidgetItem* item2 = new QTableWidgetItem(QString::number(pathLines[i].targetXMinPosition, 'f', 5));
+        QTableWidgetItem* item3 = new QTableWidgetItem(QString::number(pathLines[i].speedTargetXMinPosition, 'f', 5));
+        QTableWidgetItem* item4 = new QTableWidgetItem(QString::number(pathLines[i].targetXMaxPosition, 'f', 5));
+        QTableWidgetItem* item5 = new QTableWidgetItem(QString::number(pathLines[i].speedTargetXMaxPosition, 'f', 5));
+
+        item0->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+
+        tableWidget->setItem(i, 0, item0);
+        tableWidget->setItem(i, 1, item1);
+        tableWidget->setItem(i, 2, item2);
+        tableWidget->setItem(i, 3, item3);
+        tableWidget->setItem(i, 4, item4);
+        tableWidget->setItem(i, 5, item5);
+    }
+}
+
+bool PathLineManager::saveToFile(const QString& filePath, QTableWidget* tableWidget)
+{
+    if (tableWidget == nullptr || tableWidget->rowCount() <= 0)
+        return false;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "wb+");
+    if (fileHandle == nullptr)
+        return false;
+
+    double number = tableWidget->rowCount() * tableWidget->columnCount();
+    fwrite(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+
+    for (int i = 0; i < tableWidget->rowCount(); i++)
+    {
+        for (int j = 0; j < tableWidget->columnCount(); j++)
+        {
+            data[i * tableWidget->columnCount() + j] = tableWidget->item(i, j)->text().toDouble();
+        }
+    }
+
+    fwrite(data, sizeof(double), static_cast<size_t>(number), fileHandle);
+
+    fclose(fileHandle);
+    delete[] data;
+
+    return true;
+}
+
+bool PathLineManager::saveToFile(const QString& filePath, const QVector<PathLine2>& pathLines)
+{
+    if (pathLines.isEmpty())
+        return false;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "wb+");
+    if (fileHandle == nullptr)
+        return false;
+
+    double number = pathLines.size() * COLUMN_COUNT;
+    fwrite(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+
+    for (int i = 0; i < pathLines.size(); i++)
+    {
+        data[i * COLUMN_COUNT + 0] = pathLines[i].targetYPosition;
+        data[i * COLUMN_COUNT + 1] = pathLines[i].speedTargetYPosition;
+        data[i * COLUMN_COUNT + 2] = pathLines[i].targetXMinPosition;
+        data[i * COLUMN_COUNT + 3] = pathLines[i].speedTargetXMinPosition;
+        data[i * COLUMN_COUNT + 4] = pathLines[i].targetXMaxPosition;
+        data[i * COLUMN_COUNT + 5] = pathLines[i].speedTargetXMaxPosition;
+    }
+
+    fwrite(data, sizeof(double), static_cast<size_t>(number), fileHandle);
+
+    fclose(fileHandle);
+    delete[] data;
+
+    return true;
+}
+
+bool PathLineManager::readFromFile(const QString& filePath, QTableWidget* tableWidget)
+{
+    if (tableWidget == nullptr)
+        return false;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "rb");
+    if (fileHandle == nullptr)
+        return false;
+
+    double number;
+    fread(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+    for (int i = 0; i < static_cast<int>(number); i++)
+    {
+        fread(data + i, sizeof(double), 1, fileHandle);
+    }
+
+    // 清空现有行
+    int rowCount = tableWidget->rowCount();
+    for (int i = 0; i < rowCount; i++)
+    {
+        tableWidget->removeRow(0);
+    }
+
+    // 添加新行
+    int recordLineCount = static_cast<int>(number) / tableWidget->columnCount();
+    for (int i = 0; i < recordLineCount; i++)
+    {
+        tableWidget->insertRow(i);
+    }
+
+    // 填充数据
+    for (int i = 0; i < tableWidget->rowCount(); i++)
+    {
+        for (int j = 0; j < tableWidget->columnCount(); j++)
+        {
+            QTableWidgetItem* tmp = new QTableWidgetItem(
+                QString::number(data[i * tableWidget->columnCount() + j], 'f', 5));
+            tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+            tableWidget->setItem(i, j, tmp);
+        }
+    }
+
+    fclose(fileHandle);
+    delete[] data;
+
+    return true;
+}
+
+QVector<PathLine2> PathLineManager::readFromFile(const QString& filePath, bool* success)
+{
+    QVector<PathLine2> pathLines;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "rb");
+    if (fileHandle == nullptr)
+    {
+        if (success) *success = false;
+        return pathLines;
+    }
+
+    double number;
+    fread(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+    for (int i = 0; i < static_cast<int>(number); i++)
+    {
+        fread(data + i, sizeof(double), 1, fileHandle);
+    }
+
+    int recordLineCount = static_cast<int>(number) / COLUMN_COUNT;
+    for (int i = 0; i < recordLineCount; i++)
+    {
+        PathLine2 tmp;
+        tmp.targetYPosition = data[i * COLUMN_COUNT + 0];
+        tmp.speedTargetYPosition = data[i * COLUMN_COUNT + 1];
+        tmp.targetXMinPosition = data[i * COLUMN_COUNT + 2];
+        tmp.speedTargetXMinPosition = data[i * COLUMN_COUNT + 3];
+        tmp.targetXMaxPosition = data[i * COLUMN_COUNT + 4];
+        tmp.speedTargetXMaxPosition = data[i * COLUMN_COUNT + 5];
+
+        pathLines.append(tmp);
+    }
+
+    fclose(fileHandle);
+    delete[] data;
+
+    if (success) *success = true;
+    return pathLines;
+}
+
+void PathLineManager::addRecordLine(QTableWidget* tableWidget,
+    double yPos, double ySpeed,
+    double xMinPos, double xMinSpeed,
+    double xMaxPos, double xMaxSpeed)
+{
+    if (tableWidget == nullptr)
+        return;
+
+    int currentRow = tableWidget->currentRow();
+    int insertRow = (currentRow == -1) ? tableWidget->rowCount() : currentRow + 1;
+
+    tableWidget->insertRow(insertRow);
+
+    QTableWidgetItem* item0 = new QTableWidgetItem(QString::number(yPos, 'f', 2));
+    QTableWidgetItem* item1 = new QTableWidgetItem(QString::number(ySpeed, 'f', 2));
+    QTableWidgetItem* item2 = new QTableWidgetItem(QString::number(xMinPos, 'f', 2));
+    QTableWidgetItem* item3 = new QTableWidgetItem(QString::number(xMinSpeed, 'f', 2));
+    QTableWidgetItem* item4 = new QTableWidgetItem(QString::number(xMaxPos, 'f', 2));
+    QTableWidgetItem* item5 = new QTableWidgetItem(QString::number(xMaxSpeed, 'f', 2));
+
+    item0->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+
+    tableWidget->setItem(insertRow, 0, item0);
+    tableWidget->setItem(insertRow, 1, item1);
+    tableWidget->setItem(insertRow, 2, item2);
+    tableWidget->setItem(insertRow, 3, item3);
+    tableWidget->setItem(insertRow, 4, item4);
+    tableWidget->setItem(insertRow, 5, item5);
+}
+
+double PathLineManager::calculateTimeFromFile(const QString& filePath)
+{
+    bool success = false;
+    QVector<PathLine2> pathLines = readFromFile(filePath, &success);
+    if (!success || pathLines.isEmpty())
+        return 0.0;
+
+    double totalTimeSecond = 0.0;
+    double currentX = 0.0;
+    double currentY = 0.0;
+    double yTime;
+    double xTime;
+
+    for (int i = 0; i < pathLines.size(); i++)
+    {
+        const PathLine2& line = pathLines[i];
+
+        double yDistance = qAbs(line.targetYPosition - currentY);
+        if (line.speedTargetYPosition > 0.0 && yDistance > 0.0)
+        {
+            yTime = yDistance / line.speedTargetYPosition;
+        }
+        double xMinDistance = qAbs(line.targetXMinPosition - currentX);
+        if (line.speedTargetXMinPosition > 0.0 && xMinDistance > 0.0)
+        {
+            xTime = xMinDistance / line.speedTargetXMinPosition;
+        }
+        totalTimeSecond += std::max(yTime, xTime);
+
+        double xMaxDistance = qAbs(line.targetXMaxPosition - line.targetXMinPosition);
+        if (line.speedTargetXMaxPosition > 0.0 && xMaxDistance > 0.0)
+        {
+            totalTimeSecond += xMaxDistance / line.speedTargetXMaxPosition;
+        }
+
+        currentX = line.targetXMaxPosition;
+        currentY = line.targetYPosition;
+    }
+
+    double returnYDistance = currentY;
+    double returnXDistance = currentX;
+    if (currentY > 0.0)
+    {
+        yTime += returnYDistance / pathLines[0].speedTargetYPosition;
+    }
+    if (currentX > 0.0)
+    {
+        xTime += returnXDistance / pathLines[0].speedTargetXMinPosition;
+    }
+    totalTimeSecond += std::max(yTime, xTime);
+
+    return totalTimeSecond / 60;
+}

HPPA/PathLine.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include <QString>
+#include <QVector>
+#include <QTableWidget>
+
+// PathLine 结构体定义（如果还没有在其他地方定义）
+struct PathLine2
+{
+    double targetYPosition;
+    double speedTargetYPosition;
+    double targetXMinPosition;
+    double speedTargetXMinPosition;
+    double targetXMaxPosition;
+    double speedTargetXMaxPosition;
+};
+
+class PathLineManager
+{
+public:
+    PathLineManager();
+    ~PathLineManager();
+
+    // 从TableWidget读取PathLine数据
+    static QVector<PathLine2> readFromTableWidget(QTableWidget* tableWidget);
+
+    // 将PathLine数据写入TableWidget
+    static void writeToTableWidget(QTableWidget* tableWidget, const QVector<PathLine2>& pathLines);
+
+    // 保存PathLine到文件
+    static bool saveToFile(const QString& filePath, QTableWidget* tableWidget);
+    static bool saveToFile(const QString& filePath, const QVector<PathLine2>& pathLines);
+
+    // 从文件读取PathLine
+    static bool readFromFile(const QString& filePath, QTableWidget* tableWidget);
+    static QVector<PathLine2> readFromFile(const QString& filePath, bool* success = nullptr);
+
+    // 添加一行PathLine到TableWidget
+    static void addRecordLine(QTableWidget* tableWidget,
+        double yPos = 15.0,
+        double ySpeed = 1.0,
+        double xMinPos = 0.0,
+        double xMinSpeed = 1.0,
+        double xMaxPos = 50.0,
+        double xMaxSpeed = 1.0);
+
+    static double calculateTimeFromFile(const QString& filePath);
+
+private:
+    static const int COLUMN_COUNT = 6;
+};

HPPA/PowerControl.cpp

@@ -1,4 +1,4 @@
-#include "PowerControl.h"
+#include "PowerControl.h"
 
 PowerControl::PowerControl(QWidget *parent)
 	: QDialog(parent)

HPPA/PowerControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QDialog>
 #include <QNetworkRequest>

HPPA/PowerControl3D.cpp

@@ -0,0 +1,100 @@
+#include "PowerControl3D.h"
+
+using namespace MotorParams;
+
+PowerControl3D::PowerControl3D(QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	connect(ui.halogenLampPowerOn_btn, &QPushButton::clicked, this, &PowerControl3D::halogenLampPowerOn);
+	connect(ui.halogenLampPowerDown_btn, &QPushButton::clicked, this, &PowerControl3D::halogenLampPowerDown);
+
+	connect(ui.d65LampPowerOn_btn, &QPushButton::clicked, this, &PowerControl3D::d65LampPowerOn);
+	connect(ui.d65LampPowerDown_btn, &QPushButton::clicked, this, &PowerControl3D::d65LampPowerDown);
+
+	connect(ui.slrPowerOn_btn, &QPushButton::clicked, this, &PowerControl3D::slrPowerOn);
+	connect(ui.slrPowerDown_btn, &QPushButton::clicked, this, &PowerControl3D::slrPowerDown);
+
+	MotorParams::TCPConnectionParams tcpConnectionParams6003;
+	tcpConnectionParams6003.port = 6003;
+	tcpConnectionParams6003.serverIP = "192.168.1.2";
+	tcpServer6003 = new CommunicationViaTCP(tcpConnectionParams6003, this);
+
+	MotorParams::TCPConnectionParams tcpConnectionParams6004;
+	tcpConnectionParams6004.port = 6004;
+	tcpConnectionParams6004.serverIP = "192.168.1.2";
+	tcpServer6004 = new CommunicationViaTCP(tcpConnectionParams6004, this);
+}
+
+PowerControl3D::~PowerControl3D()
+{
+	delete tcpServer6003;
+	delete tcpServer6004;
+}
+
+void PowerControl3D::halogenLampPowerOn()
+{
+	tcpServer6003->sendCommand(R"({"key1":1,"type":"event"})");
+}
+
+void PowerControl3D::halogenLampPowerDown()
+{
+	tcpServer6003->sendCommand(R"({"key1":0,"type":"event"})");
+}
+
+void PowerControl3D::switchHalogenLampPower(int state)
+{
+	if (state==0)
+	{
+		halogenLampPowerDown();
+	}
+	else if(state == 1)
+	{
+		halogenLampPowerOn();
+	}
+}
+
+void PowerControl3D::d65LampPowerOn()
+{
+	tcpServer6004->sendCommand(R"({"key1":1,"type":"event"})");
+}
+
+void PowerControl3D::d65LampPowerDown()
+{
+	tcpServer6004->sendCommand(R"({"key1":0,"type":"event"})");
+}
+
+void PowerControl3D::switchD65LampPower(int state)
+{
+	if (state == 0)
+	{
+		d65LampPowerDown();
+	}
+	else if (state == 1)
+	{
+		d65LampPowerOn();
+	}
+}
+
+void PowerControl3D::slrPowerOn()
+{
+	tcpServer6003->sendCommand(R"({"key2":1,"type":"event"})");
+}
+
+void PowerControl3D::slrPowerDown()
+{
+	tcpServer6003->sendCommand(R"({"key2":0,"type":"event"})");
+}
+
+void PowerControl3D::switchSlrPower(int state)
+{
+	if (state == 0)
+	{
+		slrPowerDown();
+	}
+	else if (state == 1)
+	{
+		slrPowerOn();
+	}
+}

HPPA/PowerControl3D.h

@@ -0,0 +1,42 @@
+#pragma once
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+
+#include "ui_PowerControl3D.h"
+
+#include "CommunicationViaTCP.h"
+
+//using namespace MotorParams;
+
+class PowerControl3D : public QDialog
+{
+	Q_OBJECT
+
+public:
+	PowerControl3D(QWidget* parent = nullptr);
+	~PowerControl3D();
+
+public Q_SLOTS:
+	void halogenLampPowerOn();
+	void halogenLampPowerDown();
+	void switchHalogenLampPower(int state);
+
+	void d65LampPowerOn();
+	void d65LampPowerDown();
+	void switchD65LampPower(int state);
+
+	void slrPowerOn();
+	void slrPowerDown();
+	void switchSlrPower(int state);
+
+signals:
+	//void powerOpened();
+
+private:
+	Ui::PowerControl3D_UI ui;
+
+	MotorParams::CommunicationViaTCP* tcpServer6003;
+	MotorParams::CommunicationViaTCP* tcpServer6004;
+};

HPPA/PowerControl3D.ui

@@ -0,0 +1,350 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PowerControl3D_UI</class>
+ <widget class="QDialog" name="PowerControl3D_UI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>493</width>
+    <height>369</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>PowerControl3D</string>
+  </property>
+  <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>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>18</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="halogenLampPowerOn_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="halogenLampPowerDown_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>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>D65灯</string>
+     </property>
+     <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="d65LampPowerOn_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="d65LampPowerDown_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_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>单反</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>18</number>
+      </property>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="slrPowerDown_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>下   电</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="slrPowerOn_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>上   电</string>
+        </property>
+       </widget>
+      </item>
+     </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"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/QDoubleSlider.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "qDoubleSlider.h"
 QDoubleSlider::QDoubleSlider(QWidget* pParent /*= NULL*/) :
 QSlider(pParent),
@@ -6,20 +6,21 @@ m_Multiplier(100.0)
 {
 	connect(this, SIGNAL(valueChanged(int)), this, SLOT(notifyValueChanged(int)));
 
-	setSingleStep(1);
+	setSingleStep(0);
+	setPageStep(0);
 	setRange(1, 500);
 
 	setOrientation(Qt::Horizontal);
 	setFocusPolicy(Qt::NoFocus);
 }
 
-//<EFBFBD><EFBFBD><EFBFBD>ⷢ<EFBFBD><EFBFBD>
+//向外发射
 void QDoubleSlider::notifyValueChanged(int Value)
 {
 	emit valueChanged((double)Value / m_Multiplier);
 }
 
-//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//接收外边
 void QDoubleSlider::setValue(double Value, bool BlockSignals)
 {
 	QSlider::blockSignals(BlockSignals);

HPPA/QDoubleSlider.h

@@ -1,4 +1,4 @@
-#ifndef Q_DOUBLE_SLIDER_H
+#ifndef Q_DOUBLE_SLIDER_H
 #define Q_DOUBLE_SLIDER_H
 #include <QtGui/QtGui>
 #include <QSlider>
@@ -17,14 +17,14 @@ public:
 	double value() const;
 
 	public slots:
-	void notifyValueChanged(int value);//<EFBFBD>ź<EFBFBD>valueChanged(int)<EFBFBD><EFBFBD>wrap
-	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wrap
+	void notifyValueChanged(int value);//信号valueChanged(int)的wrap
+	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue函数的wrap
 
 	private slots:
 
 signals :
-	void valueChanged(double Value);//QSlider<EFBFBD><EFBFBD>valueChanged<EFBFBD>źŵIJ<EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	void rangeChanged(double Min, double Max);//QSlider<EFBFBD><EFBFBD>rangeChanged<EFBFBD>źŵIJ<EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void valueChanged(double Value);//QSlider的valueChanged信号的参数为整型
+	void rangeChanged(double Min, double Max);//QSlider的rangeChanged信号的参数为整型
 
 private:
 	double	m_Multiplier;

HPPA/QMotorDoubleSlider.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "QMotorDoubleSlider.h" 
 QMotorDoubleSlider::QMotorDoubleSlider(QWidget* pParent /*= NULL*/) :QSlider(pParent)
 {
@@ -14,9 +14,9 @@ QMotorDoubleSlider::QMotorDoubleSlider(QWidget* pParent /*= NULL*/) :QSlider(pPa
 
 void QMotorDoubleSlider::setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionParam)
 {
-	//<EFBFBD><EFBFBD><EFBFBD>ݹ<EFBFBD>ʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>廻<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD>룺1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(m_Multiplier)=<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/(360/<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>)<29><><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
-	//m_Multiplier(0.00054496986),//<EFBFBD>Ϻ<EFBFBD>ũ<EFBFBD><EFBFBD>Ժ<EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD>ǰ<EFBFBD><EFBFBD>0.00052734375/5=0.00010546875<EFBFBD><EFBFBD><EFBFBD>޸ĺ<EFBFBD>׼ȷֵΪ0.000544969862759644<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0.00054496986/5=0.000108993972<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>и<EFBFBD><EFBFBD><EFBFBD>еװ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD><EFBFBD>
-	//m_Multiplier(0.00054496986)//<EFBFBD>˰<EFBFBD><EFBFBD><EFBFBD>ũ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//根据公式将脉冲换算为距离：1脉冲距离(m_Multiplier)=导程/(360/步距角*细分倍数)；网址：https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
+	//m_Multiplier(0.00054496986),//上海农科院，修改前：0.00052734375/5=0.00010546875；修改后准确值为0.000544969862759644，近似为0.00054496986/5=0.000108993972，因为有个机械装置1脉冲距离需要除以5；
+	//m_Multiplier(0.00054496986)//兴安盟农研所
 	m_Multiplier = lead / (360 / stepAnglemar * getValidSubdivision(subdivisionParam)) * scaleFactor;
 }
 
@@ -38,13 +38,13 @@ int QMotorDoubleSlider::getValidSubdivision(int subdivisionParam)
 		return 256;
 }
 
-//<EFBFBD><EFBFBD><EFBFBD>ⷢ<EFBFBD><EFBFBD>
+//向外发射
 void QMotorDoubleSlider::notifyValueChanged(int Value)
 {
 	emit valueChanged((double)Value * m_Multiplier);//////////
 }
 
-//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//接收外边
 void QMotorDoubleSlider::setValue(double Value, bool BlockSignals)
 {
 	QSlider::blockSignals(BlockSignals);

HPPA/QMotorDoubleSlider.h

@@ -1,4 +1,4 @@
-#ifndef Q_MOTOR_DOUBLE_SLIDER_H
+#ifndef Q_MOTOR_DOUBLE_SLIDER_H
 #define Q_MOTOR_DOUBLE_SLIDER_H
 #include <QtGui/QtGui>
 #include <QSlider>
@@ -15,7 +15,7 @@ public:
 	void setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionParam);
 	int getValidSubdivision(int subdivisionParam);
 
-	double	m_Multiplier;//<EFBFBD><EFBFBD><EFBFBD>ݹ<EFBFBD>ʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>廻<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD>룺1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(m_Multiplier)=<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/(360/<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>)<29><><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
+	double	m_Multiplier;//根据公式将脉冲换算为距离：1脉冲距离(m_Multiplier)=导程/(360/步距角*细分倍数)；网址：https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
 
 	void setRange(double Min, double Max);
 	void setMinimum(double Min);
@@ -23,13 +23,13 @@ public:
 	void setMaximum(double Max);
 	double maximum() const;
 	double value() const;
-	double OriginalValue() const;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫʵ<EFBFBD>ʵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǿ<EFBFBD><EFBFBD><EFBFBD>
-	long getPositionPulse(double position);//<EFBFBD><EFBFBD><EFBFBD>ݴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD>뷵<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+	double OriginalValue() const;//返回脉冲值：马达需要实际的脉冲值，而不是距离
+	long getPositionPulse(double position);//根据传入的距离返回脉冲值
 	double getDistanceFromPulse(int pulse);
 
 public slots:
-	void notifyValueChanged(int value);//<EFBFBD>ź<EFBFBD>valueChanged(int)<EFBFBD><EFBFBD>wrap
-	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wrap
+	void notifyValueChanged(int value);//信号valueChanged(int)的wrap
+	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue函数的wrap
 
 signals:
 	void valueChanged(double Value);

HPPA/RasterDataProvider.cpp

@@ -1,4 +1,4 @@
-#include "RasterDataProvider.h"
+#include "RasterDataProvider.h"
 #include <QString>
 #include <QDebug>
 #include <QFile>

HPPA/RasterDataProvider.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QString>
 #include <vector>

HPPA/RasterImageLayer.cpp

@@ -0,0 +1,81 @@
+#include "RasterImageLayer.h"
+#include "RasterLayer.h"
+#include "RasterDataProvider.h"
+#include "RasterRendererBase.h"
+#include "MultibandRasterRenderer.h"
+#include "SinglebandRasterRenderer.h"
+
+RasterImageLayer::RasterImageLayer(RasterLayer* layer, RendererType type)
+    : m_layer(layer)
+    , m_rendererType(type)
+    , m_rendererInitialized(false)
+{
+}
+
+void RasterImageLayer::ensureRenderer()
+{
+    if (m_rendererInitialized) return;
+    if (!m_layer) return;
+
+    RasterDataProvider* provider = nullptr;
+    if (m_layer->dataProvider())
+    {
+        provider = m_layer->dataProvider();
+    }
+    else if (m_layer->openDataProvider())
+    {
+        provider = m_layer->dataProvider();
+    }
+
+    if (!provider) return;
+
+    switch (m_rendererType)
+    {
+        case RendererType::Multiband:
+        {
+            auto* multiRenderer = new MultibandRasterRenderer(provider);
+            m_renderer.reset(multiRenderer);
+            multiRenderer->setParams(m_multibandParams);
+            break;
+        }
+        case RendererType::Singleband:
+        {
+            auto* singleRenderer = new SinglebandRasterRenderer(provider);
+            m_renderer.reset(singleRenderer);
+            singleRenderer->setParams(m_singlebandParams);
+            break;
+        }
+    }
+
+    m_rendererInitialized = true;
+}
+
+RasterImageLayer::~RasterImageLayer()
+{
+    m_renderer.reset();
+}
+
+QImage RasterImageLayer::render()
+{
+    ensureRenderer();
+    if (!m_renderer) return QImage();
+    return m_renderer->render();
+}
+
+void RasterImageLayer::setMultibandParams(const MultibandRenderParams& params)
+{
+    m_multibandParams = params;
+    if (m_rendererInitialized && m_rendererType == RendererType::Multiband) {
+        auto* r = static_cast<MultibandRasterRenderer*>(m_renderer.get());
+        r->setParams(params);
+    }
+}
+
+void RasterImageLayer::setSinglebandParams(const SinglebandRenderParams& params)
+{
+    m_singlebandParams = params;
+    if (m_rendererInitialized && m_rendererType == RendererType::Singleband) {
+        auto* r = static_cast<SinglebandRasterRenderer*>(m_renderer.get());
+        r->setParams(params);
+    }
+}

HPPA/RasterImageLayer.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#include <memory>
+#include <QImage>
+
+#include "RasterRendererBase.h"
+#include "RasterRenderParams.h"
+
+class RasterLayer;
+class RasterRendererBase;
+class MultibandRasterRenderer;
+class SinglebandRasterRenderer;
+
+class RasterImageLayer
+{
+public:
+    enum class RendererType {
+        Multiband,
+        Singleband
+    };
+
+    RasterImageLayer(RasterLayer* layer, RendererType type);
+    ~RasterImageLayer();
+
+    void ensureRenderer();
+    QImage render();
+
+    RasterLayer* layer() const { return m_layer; }
+    RasterRendererBase* renderer() const { return m_renderer.get(); }
+    RendererType rendererType() const { return m_rendererType; }
+
+    // Type-safe params access
+    MultibandRenderParams multibandParams() const { return m_multibandParams; }
+    SinglebandRenderParams singlebandParams() const { return m_singlebandParams; }
+
+    void setMultibandParams(const MultibandRenderParams& params);
+    void setSinglebandParams(const SinglebandRenderParams& params);
+
+private:
+    RasterLayer* m_layer;
+    RendererType m_rendererType;
+    std::unique_ptr<RasterRendererBase> m_renderer;
+    MultibandRenderParams m_multibandParams;
+    SinglebandRenderParams m_singlebandParams;
+    bool m_rendererInitialized = false;
+};

HPPA/RasterLayer.cpp

@@ -1,12 +1,9 @@
-#include "RasterLayer.h"
+#include "RasterLayer.h"
 #include "RasterDataProvider.h"
-#include "RasterRenderer.h"
-#include <algorithm>
 
 RasterLayer::RasterLayer(const QString& name, const QString& uri)
     : MapLayer(name, uri)
 {
-    // lazy creation
 }
 
 RasterLayer::~RasterLayer()
@@ -23,18 +20,11 @@ RasterDataProvider* RasterLayer::dataProvider() const
     return m_provider ? m_provider.get() : nullptr;
 }
 
-RasterRenderer* RasterLayer::renderer() const
-{
-    return m_renderer ? m_renderer.get() : nullptr;
-}
-
 bool RasterLayer::openDataProvider()
 {
     if (!m_provider) m_provider = std::make_unique<RasterDataProvider>(dataPath());
     if (!m_provider) return false;
-    bool ok = m_provider->open();
-    if (ok && !m_renderer) m_renderer = std::make_unique<RasterRenderer>(m_provider.get());
-    return ok;
+    return m_provider->open();
 }
 
 bool RasterLayer::isValidPixel(int x, int y)
@@ -71,31 +61,6 @@ bool RasterLayer::readPixelSpectrum(int x, int y, QVector<double>& wavelengths,
     return true;
 }
 
-QImage RasterLayer::render(const RenderParams& params)
-{
-    if (!m_provider) {
-        if (!openDataProvider()) return QImage();
-    }
-    if (!m_renderer) m_renderer = std::make_unique<RasterRenderer>(m_provider.get());
-    RasterRenderer::Params p;
-    p.rWave = params.rWave;
-    p.gWave = params.gWave;
-    p.bWave = params.bWave;
-    p.minValue = params.minValue;
-    p.maxValue = params.maxValue;
-    return m_renderer->render(p);
-}
-
-RasterLayer::RenderParams RasterLayer::currentRenderParams() const
-{
-    return m_currentParams;
-}
-
-void RasterLayer::setCurrentRenderParams(const RenderParams& params)
-{
-    m_currentParams = params;
-}
-
 bool RasterLayer::wavelengthRange(double& minWave, double& maxWave) const
 {
     auto wl = bandWavelengths();
@@ -108,9 +73,26 @@ bool RasterLayer::wavelengthRange(double& minWave, double& maxWave) const
 std::vector<double> RasterLayer::bandWavelengths() const
 {
     if (!m_provider) {
-        // need to open provider to read wavelengths - cast away const for lazy init
         auto* self = const_cast<RasterLayer*>(this);
         if (!self->openDataProvider()) return {};
     }
     return m_provider->bandWavelengths();
 }
+
+int RasterLayer::width() const
+{
+    if (!m_provider) {
+        auto* self = const_cast<RasterLayer*>(this);
+        if (!self->openDataProvider()) return 0;
+    }
+    return m_provider->width();
+}
+
+int RasterLayer::height() const
+{
+    if (!m_provider) {
+        auto* self = const_cast<RasterLayer*>(this);
+        if (!self->openDataProvider()) return 0;
+    }
+    return m_provider->height();
+}

HPPA/RasterLayer.h

@@ -1,12 +1,11 @@
-#pragma once
+#pragma once
 
 #include "MapLayer.h"
 #include <memory>
-#include <QImage>
 #include <QVector>
+#include <vector>
 
 class RasterDataProvider;
-class RasterRenderer;
 
 class RasterLayer : public MapLayer
 {
@@ -17,9 +16,8 @@ public:
 
     LayerType layerType() const override;
 
-    // Access provider/renderer
+    // Access provider
     RasterDataProvider* dataProvider() const;
-    RasterRenderer* renderer() const;
 
     // Create or open provider based on this layer's uri
     bool openDataProvider();
@@ -27,29 +25,16 @@ public:
     bool isValidPixel(int x, int y);
     bool readPixelSpectrum(int x, int y, QVector<double>& wavelengths, QVector<double>& spectrum);
 
-    struct RenderParams {
-        double rWave = 665.0; // default wavelengths (nm)
-        double gWave = 560.0;
-        double bWave = 490.0;
-        double minValue = 0.0; // optional stretch
-        double maxValue = 4095.0;
-    };
-
-    // Render the raster using current provider and renderer. Returns an empty QImage on failure.
-    QImage render(const RenderParams& params);
-
-    // Current render params stored per layer
-    RenderParams currentRenderParams() const;
-    void setCurrentRenderParams(const RenderParams& params);
-
     // Get wavelength range from data provider (min, max). Returns false if unavailable.
     bool wavelengthRange(double& minWave, double& maxWave) const;
 
     // Get all band wavelengths
     std::vector<double> bandWavelengths() const;
 
-private:
+    // Get dimensions
+    int width() const;
+    int height() const;
+
+protected:
     std::unique_ptr<RasterDataProvider> m_provider;
-    std::unique_ptr<RasterRenderer> m_renderer;
-    RenderParams m_currentParams;
 };

HPPA/RasterRenderParams.h

@@ -0,0 +1,19 @@
+#pragma once
+
+// Common base struct for all render parameters
+struct RasterRenderParamsBase {
+    double minValue = 0.0;
+    double maxValue = 4095.0;
+};
+
+// Parameters for multiband rendering (RGB with wavelengths)
+struct MultibandRenderParams : RasterRenderParamsBase {
+    double rWave = 665.0;
+    double gWave = 560.0;
+    double bWave = 490.0;
+};
+
+// Parameters for singleband rendering (wavelength)
+struct SinglebandRenderParams : RasterRenderParamsBase {
+    double wavelength = 550.0;
+};

HPPA/RasterRenderer.h

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

HPPA/RasterRendererBase.cpp

@@ -0,0 +1,6 @@
+#include "RasterRendererBase.h"
+
+RasterRendererBase::RasterRendererBase(RasterDataProvider* provider)
+	: m_provider(provider)
+{
+}

HPPA/RasterRendererBase.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <QImage>
+#include <memory>
+
+class RasterDataProvider;
+
+class RasterRendererBase
+{
+public:
+    //struct Params {
+    //    virtual ~Params() = default;
+    //};
+
+    virtual ~RasterRendererBase() = default;
+
+    virtual QImage render() = 0;
+
+    RasterDataProvider* dataProvider() const { return m_provider; }
+
+protected:
+    explicit RasterRendererBase(RasterDataProvider* provider);
+
+    RasterDataProvider* m_provider = nullptr;
+};

HPPA/ResononNirImager.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
@@ -14,7 +14,7 @@ ResononNirImager::~ResononNirImager()
 {
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 		free(dark);
 		free(white);
@@ -40,12 +40,12 @@ double ResononNirImager::getIntegrationTime()
 double ResononNirImager::getGain()
 {
 	//return m_ResononNirImager.get_gain();
-	return 0.0;//nir<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>gian
+	return 0.0;//nir不支持gian
 }
 
 void ResononNirImager::setGain(const double gain)
 {
-	//m_ResononNirImager.set_gain(gain);//nir<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>gian
+	//m_ResononNirImager.set_gain(gain);//nir不支持gian
 }
 
 void ResononNirImager::setFramerate(const double frames_per_second)
@@ -103,12 +103,12 @@ void ResononNirImager::setSpectraBin(int new_spectral_bin)
 
 double ResononNirImager::auto_exposure()
 {
-	//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	double x = 1 / getFramerate() * 1000;//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第一步：先设置曝光时间为在当前帧率情况下最大
+	double x = 1 / getFramerate() * 1000;//获取最大毫秒曝光时间
 	reConnectImage();
 	setIntegrationTime(x);
 
-	//<EFBFBD>ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD>Ѱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第二步：通过循环寻找最佳曝光时间
 	imagerStartCollect();
 
 	while (true)
@@ -117,7 +117,7 @@ double ResononNirImager::auto_exposure()
 		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
 		{
 			setIntegrationTime(getIntegrationTime() * 0.8);
-			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+			std::cout << "自动曝光-----------" << std::endl;
 		}
 		else
 		{
@@ -128,7 +128,7 @@ double ResononNirImager::auto_exposure()
 	reConnectImage();
 	//imagerStopCollect();
 
-	//std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع⣺" << getIntegrationTime() << std::endl;
+	//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
 
 	return getIntegrationTime();
 }
@@ -151,7 +151,7 @@ int ResononNirImager::getSampleCount()
 void ResononNirImager::focus()
 {
 	m_iFocusFrameCounter = 1;
-	//std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-----------" << std::endl;
+	//std::cout << "调焦-----------" << std::endl;
 
 	double tmpFrmerate = getFramerate();
 	double tmpIntegrationTime = getIntegrationTime();
@@ -159,7 +159,7 @@ void ResononNirImager::focus()
 
 	setFramerate(5);
 	auto_exposure();
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
+	std::cout << "调焦获得的曝光时间为：" << getIntegrationTime() << std::endl;
 
 	reConnectImage();
 	imagerStartCollect();
@@ -183,12 +183,12 @@ void ResononNirImager::focus()
 	reConnectImage();
 	setIntegrationTime(tmpIntegrationTime);
 
-	setFramerate(tmpFrmerate);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	setFramerate(tmpFrmerate);//必须要放在这里，如果不放这里，这行代码就要出错。。。。。。
 }
 
 void ResononNirImager::record_dark()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集暗电流！！！！！！！！！" << std::endl;
 	reConnectImage();
 	imagerStartCollect();
 
@@ -221,7 +221,7 @@ void ResononNirImager::record_dark()
 
 void ResononNirImager::record_white()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集白板！！！！！！！！！" << std::endl;
 	reConnectImage();
 	imagerStartCollect();
 	
@@ -247,7 +247,7 @@ void ResononNirImager::record_white()
 
 	imagerStopCollect();
 
-	//<EFBFBD>װ<EFBFBD><EFBFBD>۰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//白板扣暗电流
 	if (m_HasDark)
 	{
 		for (size_t i = 0; i < m_FrameSize; i++)
@@ -275,18 +275,23 @@ void ResononNirImager::start_record()
 	//std::cout << "------------------------------------------------------" << std::endl;
 
 	m_iFrameCounter = 0;
-	m_RgbImage->m_iFrameCounter = 0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>0<EFBFBD><EFBFBD>
+	m_RgbImage->m_iFrameCounter = 0;//设置填充rgb图像的第0行
 	m_bRecordControlState = true;
 
-	//<EFBFBD>ж<EFBFBD><EFBFBD>ڴ<EFBFBD>buffer<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//判断内存buffer是否正常分配
 	if (buffer == 0)
 	{
 		std::cerr << "Error: memory could not be allocated for datacube";
 		exit(EXIT_FAILURE);
 	}
 
+	// 在开始采集时仅发出文件信息，UI 层自行创建 MapLayer 并管理生命周期
+	// prepare file name that will be used for saving
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
 	QString filePath = QString::fromStdString(m_FileName2Save2);
+	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter);
+
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
 	size_t x;
@@ -295,7 +300,7 @@ void ResononNirImager::start_record()
 	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
 	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
 
-	reConnectImage();//nir<EFBFBD>ڶ<EFBFBD><EFBFBD>βɼ<EFBFBD>ʱ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<EFBFBD>ᱨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	reConnectImage();//nir第二次采集时需要重新连接相机，否则函数imagerStartCollect()会报错。。。。。。
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
@@ -305,7 +310,7 @@ void ResononNirImager::start_record()
 		long long timeOs = getNanosecondsSinceMidnight();
 		//qDebug() << "time ns-------------------: " << timeOs;
 
-		//<EFBFBD><EFBFBD>ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<EFBFBD><EFBFBD>dark<EFBFBD><EFBFBD><EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<EFBFBD><EFBFBD>buffer-dark=65535
+		//减去暗电流，应为buffer和dark都是unsigned short，所以当dark>buffer时，buffer-dark=65535
 		if (m_HasDark)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
@@ -323,12 +328,12 @@ void ResononNirImager::start_record()
 		}
 
 
-		//ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		//转反射率
 		if (m_HasWhite)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
 			{
-				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				//处理除数（白板）为0的情况
 				if (white[i] != 0)
 				{
 					pixelValueTmp = buffer[i];
@@ -344,14 +349,14 @@ void ResononNirImager::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
-		fprintf(hTimesFile, "%lld\n", timeOs);
+		fprintf(hTimesFile, "%ll\n", timeOs);
 
-		//<EFBFBD><EFBFBD>rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+		//将rgb波段提取出来，以便在界面中显示
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
-		//std::cout << "<EFBFBD><EFBFBD>" << m_iFrameCounter << "֡д<EFBFBD><EFBFBD>" << x << "<EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD>" << std::endl;
+		//std::cout << "第" << m_iFrameCounter << "帧写了" << x << "个unsigned short。" << std::endl;
 
-		//ÿ<EFBFBD><EFBFBD>1s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
+		//每隔1s进行一次界面图形绘制
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
 			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter, filePath);
@@ -360,18 +365,22 @@ void ResononNirImager::start_record()
 		if (m_iFrameCounter >= m_iFrameNumber)
 		{
 			break;
-			//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
 		}
 
 	}
 	imagerStopCollect();
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//在最后一次画图前需要进行一次拉伸
 	//m_RgbImage
-	emit PlotSignal(m_FileSavedCounter, -1, filePath);//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>Է<EFBFBD><EFBFBD>ɼ<EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>ȫ
+	emit PlotSignal(m_FileSavedCounter, -1, filePath);//采集完成后进行一次画图，以防采集帧数不是帧率的倍数时，画图不全
 
 	m_bRecordControlState = false;
 	WriteHdr();
+
+	// 发射 ImageFileSaved 信号，通知 UI 层把该文件加入图层管理器
+	// m_FileName2Save2 保存了本次写入的 .bil 文件名（例如 "tmp_image_0.bil"）
+	emit ImageFileSaved(QString::fromStdString(m_FileName2Save2), m_FileSavedCounter);
+
 	m_FileSavedCounter++;
 
 	if (m_iFrameCounter >= m_iFrameNumber)

HPPA/ResononNirImager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <string>
 #include <opencv2/core/core.hpp> 

HPPA/RgbCameraOperation.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "RgbCameraOperation.h"
 
 RgbCameraOperation::RgbCameraOperation()
@@ -14,14 +14,14 @@ RgbCameraOperation::~RgbCameraOperation()
 
 void RgbCameraOperation::OpenCamera()
 {
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "打开摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	cam = new cv::VideoCapture(0);
 
 	record = true;
 
 	while (record)
 	{
-		//std::cout << "<EFBFBD>ɼ<EFBFBD>Ӱ<EFBFBD><EFBFBD>+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+		//std::cout << "采集影像+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 		cam->read(frame);
 		m_qImage = m_ImageProcessor->Mat2QImage(frame);
 
@@ -30,20 +30,20 @@ void RgbCameraOperation::OpenCamera()
 
 	cam->release();
 
-	emit CamClosed();
+	emit CamOpenedSignal();
 
 }
 
 void RgbCameraOperation::OpenCamera_callback()
 {
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "打开摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	cam = new cv::VideoCapture(0);
 
 	record = true;
 
 	while (record)
 	{
-		//std::cout << "<EFBFBD>ɼ<EFBFBD>Ӱ<EFBFBD><EFBFBD>+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+		//std::cout << "采集影像+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 		cam->read(frame);
 		m_qImage = m_ImageProcessor->Mat2QImage(frame);
 
@@ -62,7 +62,9 @@ void RgbCameraOperation::setCallback(void(*func)())
 
 void RgbCameraOperation::CloseCamera()
 {
-	std::cout << "<EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "关闭摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 
 	record = false;
+
+	emit CamClosedSignal();
 }

HPPA/RgbCameraOperation.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #ifndef RGBCAMERAOPERATION_H
 #define RGBCAMERAOPERATION_H
 
@@ -36,12 +36,13 @@ private:
 
 public slots:
 	void OpenCamera();
-	void OpenCamera_callback();//<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD>źŶ<EFBFBD>ʹ<EFBFBD>ûص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֪ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ
+	void OpenCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
 	void CloseCamera();
 
 signals:
 	void PlotSignal();
 
-	void CamClosed();
+	void CamOpenedSignal();
+	void CamClosedSignal();
 };
 #endif // !RGBCAMERAOPERATION_H

HPPA/RobotArmControl.cpp

@@ -1,4 +1,4 @@
-#include "RobotArmControl.h"
+#include "RobotArmControl.h"
 
 RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
 {
@@ -82,7 +82,7 @@ void RobotArmControl::getTaskList()
         files.append(line.trimmed());
     }
 
-    ////<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>Ȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    ////先清除数据，然后添加数据
     //for (size_t i = 0; i < files.length(); i++)
     //{
     //    int row = m_pModel->rowCount();
@@ -112,7 +112,7 @@ void RobotArmControl::executeTaskWithHyperImager()
     QModelIndex index = ui.taskList_listView->currentIndex();
     if (-1 == index.row())
     {
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+        //弹窗提示用户选择文件
         ui.textEdit->append("Please select file on the left!");
         return;
     }
@@ -148,7 +148,7 @@ void RobotArmControl::executeTaskWithoutHyperImager()
     QModelIndex index = ui.taskList_listView->currentIndex();
     if (-1 == index.row())
     {
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+        //弹窗提示用户选择文件
         ui.textEdit->append("Please select file on the left!");
         return;
     }
@@ -290,7 +290,7 @@ bool RobotController::processResponse_getJbiState(QJsonObject response, QString&
 void RobotController::getPoint()
 {
     QJsonObject response;
-    getJbiState(response);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
+    getJbiState(response);//0 停止状态,1 暂停状态,2 急停状态,3 运行状态,4 错误状态
     QString result;
     bool x = processResponse_getJbiState(response, result);
     //qDebug() << "getJbiState:" << result;
@@ -302,7 +302,7 @@ void RobotController::getPoint()
         m_iCurrentJbiJobLine = 0;
         m_iFileCounter = 0;
 
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD>
+        //发射信号，相机停止采集
         emit hsiRecordSignal(-1);
 
         return;
@@ -321,12 +321,12 @@ void RobotController::getPoint()
         m_iFileCounter++;
 
         qDebug() << "Changed! CurrentJobLine:" << m_iCurrentJbiJobLine_tmp;
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD>
+        //发射信号，相机停止采集
         emit hsiRecordSignal(-1);
 
         m_iCurrentJbiJobLine = m_iCurrentJbiJobLine_tmp;
 
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>
+        //发射信号，相机开始采集
         emit hsiRecordSignal(m_iFileCounter);
     }
 }
@@ -421,7 +421,7 @@ bool RobotController::getRobotMode(QJsonObject& re)
 bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
 {
     QJsonObject paramsRunJbi;
-    paramsRunJbi["filename"] = jbiFilename;//ʹ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ
+    paramsRunJbi["filename"] = jbiFilename;//使用对象结构
 
     sendCommand("checkJbiExist", paramsRunJbi);
     socket->waitForReadyRead(m_iTimeout);
@@ -432,7 +432,7 @@ bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
 bool RobotController::setServoStatus(int status, QJsonObject& re)
 {
     QJsonObject params_set_servo_status;
-    params_set_servo_status["status"] = status;//ʹ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ
+    params_set_servo_status["status"] = status;//使用对象结构
 
     sendCommand("set_servo_status", params_set_servo_status);
     socket->waitForReadyRead(m_iTimeout);
@@ -443,7 +443,7 @@ bool RobotController::setServoStatus(int status, QJsonObject& re)
 bool RobotController::runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi)
 {
     QJsonObject paramsRunJbi;
-    paramsRunJbi["filename"] = jbiFilename;//ʹ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ
+    paramsRunJbi["filename"] = jbiFilename;//使用对象结构
 
     sendCommand("runJbi", paramsRunJbi);
     socket->waitForReadyRead(m_iTimeout);

HPPA/RobotArmControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <qdialog.h>
 #include <QTcpSocket>
 #include <QJsonDocument>
@@ -26,33 +26,33 @@ struct ECData
     quint32 msgSize;
     quint64 timeStamp;
     quint8 auto_cycle;
-    double machinePos[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double machinePose[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double machineUserPose[6];//<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double torque[8];//<EFBFBD>ؽڶ<EFBFBD><EFBFBD><EFBFBD>ذٷֱ<EFBFBD>
-    quint32 robotState;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
-    quint32 servoReady;//<EFBFBD>ŷ<EFBFBD>ʹ<EFBFBD><EFBFBD>״̬
-    quint32 can_motor_run;//ͬ<EFBFBD><EFBFBD>״̬
-    qint32 motor_speed[8];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
-    quint32 robotMode;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
-    double analog_ioInput[3];//ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double analog_ioOutput[5];//ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    quint64 digital_ioInput;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
-    quint64 digital_ioOutput;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
-    quint8 collision;//<EFBFBD><EFBFBD>ײ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
-    double machineFlangePose[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-    double machineUserFlangePose[6];//<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-    quint8 emergencyStopState;//<EFBFBD><EFBFBD>ǰ<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD>ͣ״̬
-    double tcpSpeed;//tcp<EFBFBD>˶<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntSpeed[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>¸<EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double tcpAcc;//tcp<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntAcc[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>¸<EFBFBD><EFBFBD>ؽڼ<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntTemperature[6];//<EFBFBD>¶<EFBFBD>
-    double joIntTorque[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ť<EFBFBD><EFBFBD>
-    double extJoIntTorques[6];//<EFBFBD>ⲿ<EFBFBD>ؽ<EFBFBD>Ť<EFBFBD><EFBFBD>ֵ
-    double exTcpForceIntool[6];//<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µ<EFBFBD><EFBFBD>ⲿĩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>ع<EFBFBD><D8B9><EFBFBD>ֵ
-    quint8 dragState;//<EFBFBD>϶<EFBFBD>ʹ<EFBFBD><EFBFBD>״̬
-    quint8 sensor_connected_state;//<EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
+    double machinePos[8];//关节坐标
+    double machinePose[6];//基座坐标
+    double machineUserPose[6];//用户坐标
+    double torque[8];//关节额定力矩百分比
+    quint32 robotState;//机器人状态
+    quint32 servoReady;//伺服使能状态
+    quint32 can_motor_run;//同步状态
+    qint32 motor_speed[8];//各轴电机转速
+    quint32 robotMode;//机器人模式
+    double analog_ioInput[3];//模拟量输入口数据
+    double analog_ioOutput[5];//模拟量输出口数据
+    quint64 digital_ioInput;//数字量输入口数据的二进制形式
+    quint64 digital_ioOutput;//数字量输出口数据的二进制形式
+    quint8 collision;//碰撞报警状态
+    double machineFlangePose[6];//基座坐标系下的法兰盘中心位姿
+    double machineUserFlangePose[6];//用户坐标系下的法兰盘中心位姿
+    quint8 emergencyStopState;//当前是否处于急停状态
+    double tcpSpeed;//tcp运动速度
+    double joIntSpeed[8];//关节运动下各关节运动速度
+    double tcpAcc;//tcp加速度
+    double joIntAcc[8];//关节运动下各关节加速度
+    double joIntTemperature[6];//温度
+    double joIntTorque[6];//输出扭矩
+    double extJoIntTorques[6];//外部关节扭矩值
+    double exTcpForceIntool[6];//当前工具坐标系下的外部末端力/力矩估计值
+    quint8 dragState;//拖动使能状态
+    quint8 sensor_connected_state;//力控传感器连接状态
     quint8 reserved;
     quint32 matchingWord;
 };
@@ -98,10 +98,10 @@ public:
     bool processResponse_getJbiState(QJsonObject response, QString& result);
 
     bool getRobotPose(QJsonObject& re);
-    bool getRobotState(QJsonObject& re);//ֹͣ״̬ 0<><30><EFBFBD><EFBFBD>ͣ״̬ 1<><31><EFBFBD><EFBFBD>ͣ״̬ 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 3<><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 4<><34><EFBFBD><EFBFBD>ײ״̬ 5
-    bool getJbiState(QJsonObject& re);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
+    bool getRobotState(QJsonObject& re);//停止状态 0，暂停状态 1，急停状态 2，运行状态 3，报警状态 4，碰撞状态 5
+    bool getJbiState(QJsonObject& re);//0 停止状态,1 暂停状态,2 急停状态,3 运行状态,4 错误状态
     bool getCurrentJobLine(QJsonObject& re);
-    bool getRobotMode(QJsonObject& re);//ʾ<EFBFBD><EFBFBD>ģʽ 0<><30><EFBFBD>Զ<EFBFBD>ģʽ 1<><31>Զ<EFBFBD><D4B6>ģʽ 2
+    bool getRobotMode(QJsonObject& re);//示教模式 0，自动模式 1，远程模式 2
     bool checkJbiExist(const QString& jbiFilename, QJsonObject& re);
     bool setServoStatus(int status, QJsonObject& re);
     bool runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi);

HPPA/SingleLensReflexCamera.ui

@@ -0,0 +1,240 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SingleLensReflexCameraClass</class>
+ <widget class="QDialog" name="SingleLensReflexCameraClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>855</width>
+    <height>481</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>SingleLensReflexCamera</string>
+  </property>
+  <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">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</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>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QPushButton" name="openSLRCamera_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>
+      <widget class="QPushButton" name="closeSLRCamera_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>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="styleSheet">
+        <string notr="true">QLabel {
+    color: rgb(255, 255, 255);
+}</string>
+       </property>
+       <property name="text">
+        <string>数据路径</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="dataFolderLineEdit">
+       <property name="styleSheet">
+        <string notr="true">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;
+}</string>
+       </property>
+       <property name="text">
+        <string>./CapturedImages</string>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="dataFolderBtn">
+       <property name="text">
+        <string>...</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="1">
+    <spacer name="verticalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <item>
+      <widget class="QPushButton" name="takePhoto_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>拍   摄</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="stopTakePhoto_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>停   拍</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+  <zorder>dataFolderLineEdit</zorder>
+  <zorder>dataFolderBtn</zorder>
+  <zorder>label</zorder>
+  <zorder>openSLRCamera_btn</zorder>
+  <zorder>layoutWidget</zorder>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/SingleLensReflexCameraWindow.h

@@ -0,0 +1,189 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <QImage>
+#include <QThread>
+#include <QDir>
+#include <QTimer>
+#include <QMutex>
+#include <QDateTime>
+#include <QLabel>
+#include <QFileDialog>
+
+#include <iostream>
+#include "ui_SingleLensReflexCamera.h"
+#include "AppSettings.h"
+
+#include <fstream>
+#include <opencv2/opencv.hpp>
+
+// 包含Canon EDSDK头文件
+#include "EDSDK.h"
+#include "EDSDKTypes.h"
+#include "EDSDKErrors.h"
+
+typedef void(*func)();
+
+class SingleLensReflexCameraOperation : public QObject
+{
+    Q_OBJECT
+
+public:
+    SingleLensReflexCameraOperation();
+    ~SingleLensReflexCameraOperation();
+
+    QImage m_colorImage;
+    QImage m_depthImage;
+    void setCallback(void(*func)());
+    bool getRecordStatus() const { return m_isRecord; }
+    
+    // 设置保存路径
+    void setSavePath(const QString& path);
+    
+    // 获取当前实时取景图像
+    QImage getCurrentLiveViewImage();
+
+    void setCaptureInterval(int captureIntervalSeconds);
+
+private:
+    cv::Mat frame;
+    func m_func;
+    bool m_isRecord;
+    
+    // Canon EDSDK相关成员
+    EdsCameraRef m_camera;
+    bool m_isSDKInitialized;
+    bool m_isSessionOpen;
+    bool m_isLiveViewActive;
+    
+    QTimer* m_captureTimer;      // 拍照定时器
+    QTimer* m_liveViewTimer;     // 实时取景定时器
+    
+    QString m_savePath;
+    int m_imageCounter;
+    int m_captureIntervalMilliseconds;
+    QMutex m_mutex;
+    QMutex m_liveViewMutex;
+    
+    QImage m_liveViewImage;      // 当前实时取景图像
+    
+    // EDSDK辅助函数
+    EdsError initializeSDK();
+    EdsError terminateSDK();
+    EdsError openCamera();
+    EdsError closeCamera();
+    EdsError takePicture();
+    EdsError setupSaveToHost();
+    
+    // 实时取景相关函数
+    EdsError startLiveView();
+    EdsError stopLiveView();
+    EdsError downloadEvfImage();
+    
+    // 静态回调函数
+    static EdsError EDSCALLBACK handleObjectEvent(EdsObjectEvent event, EdsBaseRef object, EdsVoid* context);
+    static EdsError EDSCALLBACK handlePropertyEvent(EdsPropertyEvent event, EdsPropertyID property, EdsUInt32 param, EdsVoid* context);
+    static EdsError EDSCALLBACK handleStateEvent(EdsStateEvent event, EdsUInt32 parameter, EdsVoid* context);
+    
+    // 下载图像
+    EdsError downloadImage(EdsDirectoryItemRef directoryItem);
+
+public slots:
+    void OpenSLRCamera();
+    void takePhoto();
+    void OpenAndTakePhotoSLRCamera();
+    void stopTakePhoto();
+    void OpenSLRCamera_callback();
+    void CloseSLRCamera();
+    void onCaptureTimer();
+    void onLiveViewTimer();
+    
+    // 控制拍照
+    void startCapture();    // 开始定时拍照
+    void stopCapture();     // 停止定时拍照
+    void captureOnce();     // 拍一张照片
+
+signals:
+    void PlotSignal();
+    void CamOpenedSignal();
+    void CamClosedSignal();
+    void ImageCapturedSignal(const QString& filePath);
+    void ErrorSignal(const QString& errorMsg);
+    
+    // 实时取景信号
+    void LiveViewImageReady(const QImage& image);
+    void LiveViewStarted();
+    void LiveViewStopped();
+
+    void CaptureStartedSignal();
+    void CaptureStoppedSignal();
+};
+
+class SingleLensReflexCameraWindow : public QDialog
+{
+    Q_OBJECT
+
+public:
+    SingleLensReflexCameraWindow(QWidget* parent = nullptr);
+    ~SingleLensReflexCameraWindow();
+
+    SingleLensReflexCameraOperation* m_SingleLensReflexCameraOperation;
+    void setDataFolder(QString dir);
+    void setCaptureInterval(int captureIntervalSeconds);
+
+public Q_SLOTS:
+    void onSelectDataFolder();
+
+    void openSLRCamera();
+    void takePhoto();
+    void OpenAndTakePhotoSLRCamera();
+    void stopTakePhoto();
+    void onCamOpened();
+    void closeSLRCamera();
+    void onCamClosed();
+    void onImageCaptured(const QString& filePath);
+    void onError(const QString& errorMsg);
+        
+    // 拍照控制
+    void onStartCapture();
+    void onStopCapture();
+    void onCaptureOnce();
+
+    void onCaptureStarted();
+    void onCaptureStopped();
+
+    void onStartTimedDataCollection(int lineNum);
+    void onStopTimedDataCollection();
+
+signals:
+    void openSLRCameraSignal();
+    void takePhotoSignal();
+    void OpenAndTakePhotoSLRCameraSignal();
+    void stopTakePhotoSignal();
+    void closeSLRCameraSignal();
+    void PlotSLRImageSignal();
+    void SLRCamClosedSignal();
+    
+    // 控制信号
+    void startCaptureSignal();
+    void stopCaptureSignal();
+    void captureOnceSignal();
+
+    // 实时取景信号
+    void LiveViewImageReady(const QImage& image);
+    void LiveViewStarted();
+    void LiveViewStopped();
+private:
+    Ui::SingleLensReflexCameraClass ui;
+    QThread* m_SLRCameraThread;
+    
+    // 用于显示实时取景的标签（如果UI中没有，可以动态创建）
+    QLabel* m_liveViewLabel;
+
+	QString m_btnOldText;  // 存储拍照按钮的原始文本
+    
+    bool m_isCapturing;  // 是否正在定时拍照
+};

HPPA/SinglebandRasterRenderer.cpp

@@ -0,0 +1,85 @@
+#include "SinglebandRasterRenderer.h"
+#include "RasterDataProvider.h"
+#include <algorithm>
+
+SinglebandRasterRenderer::SinglebandRasterRenderer(RasterDataProvider* provider)
+    : RasterRendererBase(provider)
+{
+}
+
+void SinglebandRasterRenderer::stretchTo8bit(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal)
+{
+    size_t n = in.size();
+    out.resize(n);
+    if (maxVal <= minVal) {
+        std::fill(out.begin(), out.end(), 0);
+        return;
+    }
+    float denom = 1.0f / (maxVal - minVal);
+    for (size_t i = 0; i < n; ++i) {
+        float v = (in[i] - minVal) * denom;
+        v = std::min(std::max(v, 0.0f), 1.0f);
+        out[i] = static_cast<unsigned char>(v * 255.0f);
+    }
+}
+
+int SinglebandRasterRenderer::nearestBandIndex(double wave) const
+{
+    if (!m_provider) return -1;
+
+    int bands = m_provider->bandCount();
+    if (bands <= 0) return -1;
+
+    std::vector<double> wavelengths = m_provider->bandWavelengths();
+    if (wavelengths.empty()) {
+        // No wavelengths available, fallback to first band
+        return 0;
+    }
+
+    int best = -1;
+    double bestDiff = 1e12;
+    for (int i = 0; i < (int)wavelengths.size(); ++i) {
+        if (wavelengths[i] < 0) continue;
+        double d = std::abs(wavelengths[i] - wave);
+        if (d < bestDiff) {
+            bestDiff = d;
+            best = i;
+        }
+    }
+
+    return (best >= 0) ? best : 0;
+}
+
+QImage SinglebandRasterRenderer::render()
+{
+    if (!m_provider) return QImage();
+
+    int w = m_provider->width();
+    int h = m_provider->height();
+    if (w <= 0 || h <= 0) return QImage();
+
+    int bandIdx = nearestBandIndex(m_params.wavelength);
+    if (bandIdx < 0 || bandIdx >= m_provider->bandCount()) {
+        bandIdx = 0;
+    }
+
+    std::vector<float> buf;
+    m_provider->readBandAsFloat(bandIdx, buf);
+
+    std::vector<unsigned char> gray8;
+    float minV = static_cast<float>(m_params.minValue);
+    float maxV = static_cast<float>(m_params.maxValue);
+    if (!buf.empty()) {
+        stretchTo8bit(buf, gray8, minV, maxV);
+    }
+
+    QImage out(w, h, QImage::Format_Grayscale8);
+    for (int y = 0; y < h; ++y) {
+        unsigned char* scan = out.scanLine(y);
+        for (int x = 0; x < w; ++x) {
+            int idx = y * w + x;
+            scan[x] = (gray8.size() > (size_t)idx) ? gray8[idx] : 0;
+        }
+    }
+    return out;
+}

HPPA/SinglebandRasterRenderer.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include "RasterRendererBase.h"
+#include "RasterRenderParams.h"
+#include <vector>
+
+class RasterDataProvider;
+
+class SinglebandRasterRenderer : public RasterRendererBase
+{
+public:
+    explicit SinglebandRasterRenderer(RasterDataProvider* provider);
+
+    QImage render() override;
+
+    // Parameter access
+    SinglebandRenderParams params() const { return m_params; }
+    void setParams(const SinglebandRenderParams& params) { m_params = params; }
+
+private:
+    SinglebandRenderParams m_params;
+
+    int nearestBandIndex(double wave) const;
+
+    // Helper to map float buffer to 8-bit with min/max stretch
+    static void stretchTo8bit(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal);
+};

HPPA/TabManager.cpp

@@ -1,4 +1,4 @@
-#include "TabManager.h"
+#include "TabManager.h"
 
 TabManager::TabManager(QTabWidget* tabWidget, QObject* parent)
     : QObject(parent),
@@ -7,6 +7,24 @@ TabManager::TabManager(QTabWidget* tabWidget, QObject* parent)
     Q_ASSERT(m_tabWidget);
 }
 
+void TabManager::hideAllTabs()
+{
+    int tabNumber = m_tabWidget->count();
+    for (size_t i = 0; i < tabNumber; i++)
+    {
+        int idx = 0;
+
+        TabInfo info;
+        info.index = idx;
+        info.text = m_tabWidget->tabText(idx);
+        info.icon = m_tabWidget->tabIcon(idx);
+        info.toolTip = m_tabWidget->tabToolTip(idx);
+
+        m_hiddenTabs.insert(m_tabWidget->widget(idx), info);
+        m_tabWidget->removeTab(idx);
+    }
+}
+
 void TabManager::hideTab(QWidget* page)
 {
     if (!page || !m_tabWidget)
@@ -27,7 +45,7 @@ void TabManager::hideTab(QWidget* page)
 
     m_hiddenTabs.insert(page, info);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>ǵ<EFBFBD>ǰҳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>հ<EFBFBD>
+    // 如果隐藏的是当前页，先切换，避免空白
     if (m_tabWidget->currentIndex() == index)
     {
         int next = (index > 0) ? index - 1 : 0;

HPPA/TabManager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QTabWidget>
@@ -10,6 +10,7 @@ class TabManager : public QObject
 public:
     explicit TabManager(QTabWidget* tabWidget, QObject* parent = nullptr);
 
+	void hideAllTabs();
     void hideTab(QWidget* page);
     void showTab(QWidget* page);
     bool isHidden(QWidget* page) const;

HPPA/TaskTreeModel.cpp

@@ -0,0 +1,645 @@
+#include "TaskTreeModel.h"
+#include <QBrush>
+#include <QFont>
+#include <QIcon>
+
+// ==================== TaskTreeNode 实现 ====================
+
+TaskTreeNode::TaskTreeNode(TaskTreeNode* parent)
+    : m_parent(parent)
+{
+}
+
+TaskTreeNode::~TaskTreeNode()
+{
+    qDeleteAll(m_children);
+}
+
+void TaskTreeNode::appendChild(TaskTreeNode* child)
+{
+    m_children.append(child);
+}
+
+TaskTreeNode* TaskTreeNode::child(int row)
+{
+    if (row < 0 || row >= m_children.size())
+        return nullptr;
+    return m_children.at(row);
+}
+
+int TaskTreeNode::childCount() const
+{
+    return m_children.size();
+}
+
+int TaskTreeNode::row() const
+{
+    if (m_parent) {
+        return m_parent->m_children.indexOf(const_cast<TaskTreeNode*>(this));
+    }
+    return 0;
+}
+
+TaskTreeNode* TaskTreeNode::parentNode()
+{
+    return m_parent;
+}
+
+// ==================== TaskTreeModel 实现 ====================
+
+TaskTreeModel::TaskTreeModel(QObject* parent)
+    : QAbstractItemModel(parent)
+    , m_rootNode(new TaskTreeNode())
+    , m_countdownTimer(new QTimer(this))
+{
+    m_rootNode->nodeType = TreeNodeType::Root;
+    m_countdownTimer->setInterval(1000);
+    connect(m_countdownTimer, &QTimer::timeout, this, &TaskTreeModel::onCountdownTimerTimeout);
+}
+
+TaskTreeModel::~TaskTreeModel()
+{
+    m_countdownTimer->stop();
+    delete m_rootNode;
+}
+
+QModelIndex TaskTreeModel::index(int row, int column, const QModelIndex& parent) const
+{
+    if (!hasIndex(row, column, parent))
+        return QModelIndex();
+
+    TaskTreeNode* parentNode;
+    if (!parent.isValid())
+        parentNode = m_rootNode;
+    else
+        parentNode = static_cast<TaskTreeNode*>(parent.internalPointer());
+
+    TaskTreeNode* childNode = parentNode->child(row);
+    if (childNode)
+        return createIndex(row, column, childNode);
+
+    return QModelIndex();
+}
+
+QModelIndex TaskTreeModel::parent(const QModelIndex& index) const
+{
+    if (!index.isValid())
+        return QModelIndex();
+
+    TaskTreeNode* childNode = static_cast<TaskTreeNode*>(index.internalPointer());
+    TaskTreeNode* parentNode = childNode->parentNode();
+
+    if (parentNode == m_rootNode)
+        return QModelIndex();
+
+    return createIndex(parentNode->row(), 0, parentNode);
+}
+
+int TaskTreeModel::rowCount(const QModelIndex& parent) const
+{
+    TaskTreeNode* parentNode;
+    if (!parent.isValid())
+        parentNode = m_rootNode;
+    else
+        parentNode = static_cast<TaskTreeNode*>(parent.internalPointer());
+
+    return parentNode->childCount();
+}
+
+int TaskTreeModel::columnCount(const QModelIndex& parent) const
+{
+    Q_UNUSED(parent)
+        return ColumnCount;
+}
+
+QVariant TaskTreeModel::data(const QModelIndex& index, int role) const
+{
+    if (!index.isValid())
+        return QVariant();
+
+    TaskTreeNode* node = static_cast<TaskTreeNode*>(index.internalPointer());
+
+    if (role == Qt::DisplayRole) {
+        if (node->nodeType == TreeNodeType::Task && node->taskData) {
+            const TimedTask& task = *node->taskData;
+            switch (index.column()) {
+            case ColName:
+                return QString::fromLocal8Bit("定时任务 %1").arg(task.id);
+            case ColScheduledTime:
+                return task.scheduledTime.toString("yyyy-MM-dd HH:mm:ss");
+            case ColCountdown: {
+                if (task.status == TaskStatus::Finished || task.status == TaskStatus::Running)
+                {
+                    return QString::fromLocal8Bit("0");
+                }
+                qint64 seconds = QDateTime::currentDateTime().secsTo(task.scheduledTime);
+                if (seconds < 0)
+                {
+                    return QString::fromLocal8Bit("已超时");
+                }
+                return formatCountdown(seconds);
+            }
+            case ColStartTime:
+                return task.startTime.isValid() ?
+                    task.startTime.toString("HH:mm:ss") : "-";
+            case ColEndTime:
+                return task.endTime.isValid() ?
+                    task.endTime.toString("HH:mm:ss") : "-";
+            case ColDuration:
+                return formatDuration(task.durationMinutes);
+            case ColEstimatedDuration:
+                return formatDuration(task.estimatedDurationMinutes);
+            case ColStatus:
+                return statusToString(task.status);
+            case ColProgress: {
+                int finished = 0;
+                for (const auto& sub : task.subTasks) {
+                    if (sub.status == TaskStatus::Finished) finished++;
+                }
+                return QString("%1/%2").arg(finished).arg(task.subTasks.size());
+            }
+            case ColPath:
+                return task.savePath;
+            }
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            const SubTask& subTask = *node->subTaskData;
+            switch (index.column()) {
+            case ColName:
+                return subTaskTypeToString(subTask.type);
+            case ColScheduledTime:
+                return "-";
+            case ColCountdown:
+                return "-";
+            case ColStartTime:
+                return subTask.startTime.isValid() ?
+                    subTask.startTime.toString("HH:mm:ss") : "-";
+            case ColEndTime:
+                return subTask.endTime.isValid() ?
+                    subTask.endTime.toString("HH:mm:ss") : "-";
+            case ColDuration:
+                return formatDuration(subTask.durationMinutes);
+            case ColEstimatedDuration:
+                return formatDuration(subTask.estimatedDurationMinutes);
+            case ColStatus:
+                return statusToString(subTask.status);
+            case ColProgress:
+                return "-";
+            case ColPath:
+                return "-";
+            }
+        }
+    }
+    else if (role == Qt::BackgroundRole) {
+        TaskStatus status = TaskStatus::Waiting;
+        if (node->nodeType == TreeNodeType::Task && node->taskData) {
+            status = node->taskData->status;
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            status = node->subTaskData->status;
+        }
+        return QBrush(statusColor(status));
+    }
+    else if (role == Qt::ForegroundRole) {
+        TaskStatus status = TaskStatus::Waiting;
+        if (node->nodeType == TreeNodeType::Task && node->taskData) {
+            status = node->taskData->status;
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            status = node->subTaskData->status;
+        }
+        if (status == TaskStatus::Running) {
+            return QBrush(QColor(0, 100, 0)); // 深绿色文字
+        }
+    }
+    else if (role == Qt::FontRole) {
+        QFont font;
+        if (node->nodeType == TreeNodeType::Task) {
+            font.setBold(true);
+            if (node->taskData && node->taskData->status == TaskStatus::Running) {
+                font.setItalic(true);
+            }
+        }
+        else if (node->nodeType == TreeNodeType::SubTask) {
+            if (node->subTaskData && node->subTaskData->status == TaskStatus::Running) {
+                font.setBold(true);
+            }
+        }
+        return font;
+    }
+    else if (role == Qt::DecorationRole && index.column() == ColName) {
+        if (node->nodeType == TreeNodeType::Task) {
+            // 可以返回任务图标
+            // return QIcon(":/icons/task.png");
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            // 根据子任务类型返回不同图标
+            switch (node->subTaskData->type) {
+            case SubTaskType::HyperSpectual400_1000nm:
+            case SubTaskType::HyperSpectual1000_1700nm:
+                // return QIcon(":/icons/hyperspectral.png");
+                break;
+            case SubTaskType::SingleLensReflex:
+                // return QIcon(":/icons/camera.png");
+                break;
+            case SubTaskType::DepthCamera:
+                // return QIcon(":/icons/depth.png");
+                break;
+            }
+        }
+    }
+    else if (role == Qt::TextAlignmentRole) {
+        if (index.column() == ColName || index.column() == ColPath) {
+            return static_cast<int>(Qt::AlignLeft | Qt::AlignVCenter);
+        }
+        return Qt::AlignCenter;
+    }
+    else if (role == Qt::ToolTipRole) {
+        if (node->nodeType == TreeNodeType::Task && node->taskData) {
+            return QString::fromLocal8Bit("任务ID: %1\n保存路径: %2\n预热时间: %3 分钟")
+                .arg(node->taskData->id)
+                .arg(node->taskData->savePath)
+                .arg(node->taskData->HalogenLampPreheatingTime_Minute);
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            QString tip = QString::fromLocal8Bit("类型: %1\n路径文件: %2")
+                .arg(subTaskTypeToString(node->subTaskData->type))
+                .arg(node->subTaskData->pathLineFilePath);
+
+            if (node->subTaskData->type == SubTaskType::HyperSpectual400_1000nm ||
+                node->subTaskData->type == SubTaskType::HyperSpectual1000_1700nm) {
+                tip += QString::fromLocal8Bit("\n帧率: %1\n曝光时间: %2")
+                    .arg(node->subTaskData->frameRate)
+                    .arg(node->subTaskData->exposureTime);
+            }
+            return tip;
+        }
+    }
+
+    return QVariant();
+}
+
+QVariant TaskTreeModel::headerData(int section, Qt::Orientation orientation, int role) const
+{
+    if (orientation != Qt::Horizontal || role != Qt::DisplayRole)
+        return QVariant();
+
+    switch (section) {
+    case ColName:          return QString::fromLocal8Bit("名称");
+    case ColScheduledTime: return QString::fromLocal8Bit("计划时间");
+    case ColCountdown:     return QString::fromLocal8Bit("倒计时");
+    case ColStartTime:     return QString::fromLocal8Bit("开始时间");
+    case ColEndTime:       return QString::fromLocal8Bit("结束时间");
+    case ColDuration:      return QString::fromLocal8Bit("耗时");
+    case ColEstimatedDuration:      return QString::fromLocal8Bit("预测耗时");
+    case ColStatus:        return QString::fromLocal8Bit("状态");
+    case ColProgress:      return QString::fromLocal8Bit("进度");
+    case ColPath:          return QString::fromLocal8Bit("路径");
+    }
+    return QVariant();
+}
+
+Qt::ItemFlags TaskTreeModel::flags(const QModelIndex& index) const
+{
+    if (!index.isValid())
+        return Qt::NoItemFlags;
+
+    return Qt::ItemIsEnabled | Qt::ItemIsSelectable;
+}
+
+void TaskTreeModel::setTasks(const QVector<TimedTask>& tasks)
+{
+    m_countdownTimer->stop();
+
+    beginResetModel();
+
+    m_tasks = tasks;
+    clearTree();
+    setupModelData();
+
+    endResetModel();
+
+    m_countdownTimer->start();
+}
+
+void TaskTreeModel::setupModelData()
+{
+    for (int i = 0; i < m_tasks.size(); ++i) {
+        TimedTask& task = m_tasks[i];
+
+        // 创建任务节点
+        TaskTreeNode* taskNode = new TaskTreeNode(m_rootNode);
+        taskNode->nodeType = TreeNodeType::Task;
+        taskNode->taskId = task.id;
+        taskNode->taskData = &task;
+        m_rootNode->appendChild(taskNode);
+
+        // 为每个子任务创建节点
+        for (int j = 0; j < task.subTasks.size(); ++j) {
+            SubTask& subTask = task.subTasks[j];
+
+            TaskTreeNode* subTaskNode = new TaskTreeNode(taskNode);
+            subTaskNode->nodeType = TreeNodeType::SubTask;
+            subTaskNode->taskId = task.id;
+            subTaskNode->subTaskIndex = j;
+            subTaskNode->subTaskData = &subTask;
+            taskNode->appendChild(subTaskNode);
+        }
+    }
+}
+
+void TaskTreeModel::clearTree()
+{
+    // 删除所有子节点
+    while (m_rootNode->childCount() > 0) {
+        delete m_rootNode->child(0);
+    }
+}
+
+void TaskTreeModel::updateTask(const TimedTask& task)
+{
+    int dataIndex = findTaskDataIndex(task.id);
+    if (dataIndex < 0) return;
+
+    // 更新数据
+    m_tasks[dataIndex] = task;
+
+    // 重新设置指针（因为数据被复制了）
+    TaskTreeNode* taskNode = findTaskNode(task.id);
+    if (taskNode) {
+        taskNode->taskData = &m_tasks[dataIndex];
+
+        // 更新子任务指针
+        for (int i = 0; i < taskNode->childCount() && i < m_tasks[dataIndex].subTasks.size(); ++i) {
+            TaskTreeNode* subNode = taskNode->child(i);
+            if (subNode) {
+                subNode->subTaskData = &m_tasks[dataIndex].subTasks[i];
+            }
+        }
+    }
+
+    // 通知视图更新任务行
+    QModelIndex taskIndex = getTaskIndex(task.id);
+    if (taskIndex.isValid()) {
+        QModelIndex topLeft = index(taskIndex.row(), 0, taskIndex.parent());
+        QModelIndex bottomRight = index(taskIndex.row(), ColumnCount - 1, taskIndex.parent());
+        emit dataChanged(topLeft, bottomRight);
+
+        // 更新所有子任务行
+        int subCount = rowCount(taskIndex);
+        if (subCount > 0) {
+            QModelIndex subTopLeft = index(0, 0, taskIndex);
+            QModelIndex subBottomRight = index(subCount - 1, ColumnCount - 1, taskIndex);
+            emit dataChanged(subTopLeft, subBottomRight);
+        }
+    }
+
+    emit taskUpdated(task.id);
+}
+
+void TaskTreeModel::updateSubTask(int taskId, int subTaskIndex, const SubTask& subTask)
+{
+    int dataIndex = findTaskDataIndex(taskId);
+    if (dataIndex < 0 || subTaskIndex >= m_tasks[dataIndex].subTasks.size())
+        return;
+
+    m_tasks[dataIndex].subTasks[subTaskIndex] = subTask;
+
+    // 重新设置指针
+    TaskTreeNode* subNode = findSubTaskNode(taskId, subTaskIndex);
+    if (subNode) {
+        subNode->subTaskData = &m_tasks[dataIndex].subTasks[subTaskIndex];
+    }
+
+    QModelIndex subTaskModelIndex = getSubTaskIndex(taskId, subTaskIndex);
+    if (subTaskModelIndex.isValid()) {
+        QModelIndex topLeft = index(subTaskModelIndex.row(), 0, subTaskModelIndex.parent());
+        QModelIndex bottomRight = index(subTaskModelIndex.row(), ColumnCount - 1, subTaskModelIndex.parent());
+        emit dataChanged(topLeft, bottomRight);
+    }
+
+    // 同时更新父任务的进度显示
+    QModelIndex taskIndex = getTaskIndex(taskId);
+    if (taskIndex.isValid()) {
+        QModelIndex progressIndex = index(taskIndex.row(), ColProgress, taskIndex.parent());
+        emit dataChanged(progressIndex, progressIndex);
+    }
+
+    emit subTaskUpdated(taskId, subTaskIndex);
+}
+
+void TaskTreeModel::setTaskAndSubtaskStatus(int taskId, TaskStatus status)
+{
+    int dataIndex = findTaskDataIndex(taskId);
+    if (dataIndex < 0) return;
+
+    updateTaskStatus(taskId, status);
+
+    for (size_t i = 0; i < m_tasks[dataIndex].subTaskCount(); i++)
+    {
+        updateSubTaskStatus(taskId, i, status);
+    }
+}
+
+void TaskTreeModel::updateTaskStatus(int taskId, TaskStatus status)
+{
+    int dataIndex = findTaskDataIndex(taskId);
+    if (dataIndex < 0) return;
+
+    m_tasks[dataIndex].status = status;
+
+    QModelIndex taskIndex = getTaskIndex(taskId);
+    if (taskIndex.isValid()) {
+        QModelIndex topLeft = index(taskIndex.row(), 0, taskIndex.parent());
+        QModelIndex bottomRight = index(taskIndex.row(), ColumnCount - 1, taskIndex.parent());
+        emit dataChanged(topLeft, bottomRight);
+    }
+}
+
+void TaskTreeModel::updateSubTaskStatusAndProgress(int taskId, int subTaskIndex, TaskStatus status)
+{
+    updateSubTaskStatus(taskId, subTaskIndex, status);
+    updateProgress(taskId);
+}
+
+void TaskTreeModel::updateSubTaskStatus(int taskId, int subTaskIndex, TaskStatus status)
+{
+    int dataIndex = findTaskDataIndex(taskId);
+    if (dataIndex < 0 || subTaskIndex >= m_tasks[dataIndex].subTasks.size())
+        return;
+
+    SubTask& subTask = m_tasks[dataIndex].subTasks[subTaskIndex];
+    subTask.status = status;
+
+    QModelIndex subTaskModelIndex = getSubTaskIndex(taskId, subTaskIndex);
+    if (subTaskModelIndex.isValid()) {
+        QModelIndex topLeft = index(subTaskModelIndex.row(), 0, subTaskModelIndex.parent());
+        QModelIndex bottomRight = index(subTaskModelIndex.row(), ColumnCount - 1, subTaskModelIndex.parent());
+        emit dataChanged(topLeft, bottomRight);
+    }
+}
+
+void TaskTreeModel::updateProgress(int taskId)
+{
+    // 更新父任务进度
+    QModelIndex taskIndex = getTaskIndex(taskId);
+    if (taskIndex.isValid()) {
+        QModelIndex progressIndex = index(taskIndex.row(), ColProgress, taskIndex.parent());
+        emit dataChanged(progressIndex, progressIndex);
+    }
+}
+
+TimedTask* TaskTreeModel::getTask(int taskId)
+{
+    int idx = findTaskDataIndex(taskId);
+    if (idx >= 0) {
+        return &m_tasks[idx];
+    }
+    return nullptr;
+}
+
+SubTask* TaskTreeModel::getSubTask(int taskId, int subTaskIndex)
+{
+    TimedTask* task = getTask(taskId);
+    if (task && subTaskIndex >= 0 && subTaskIndex < task->subTasks.size()) {
+        return &task->subTasks[subTaskIndex];
+    }
+    return nullptr;
+}
+
+QModelIndex TaskTreeModel::getTaskIndex(int taskId) const
+{
+    for (int i = 0; i < m_rootNode->childCount(); ++i) {
+        TaskTreeNode* node = m_rootNode->child(i);
+        if (node && node->taskId == taskId) {
+            return createIndex(i, 0, node);
+        }
+    }
+    return QModelIndex();
+}
+
+QModelIndex TaskTreeModel::getSubTaskIndex(int taskId, int subTaskIndex) const
+{
+    TaskTreeNode* taskNode = findTaskNode(taskId);
+    if (taskNode && subTaskIndex < taskNode->childCount()) {
+        TaskTreeNode* subNode = taskNode->child(subTaskIndex);
+        if (subNode) {
+            return createIndex(subTaskIndex, 0, subNode);
+        }
+    }
+    return QModelIndex();
+}
+
+TaskTreeNode* TaskTreeModel::findTaskNode(int taskId) const
+{
+    for (int i = 0; i < m_rootNode->childCount(); ++i) {
+        TaskTreeNode* node = m_rootNode->child(i);
+        if (node && node->taskId == taskId) {
+            return node;
+        }
+    }
+    return nullptr;
+}
+
+TaskTreeNode* TaskTreeModel::findSubTaskNode(int taskId, int subTaskIndex) const
+{
+    TaskTreeNode* taskNode = findTaskNode(taskId);
+    if (taskNode && subTaskIndex < taskNode->childCount()) {
+        return taskNode->child(subTaskIndex);
+    }
+    return nullptr;
+}
+
+int TaskTreeModel::findTaskDataIndex(int taskId) const
+{
+    for (int i = 0; i < m_tasks.size(); ++i) {
+        if (m_tasks[i].id == taskId) {
+            return i;
+        }
+    }
+    return -1;
+}
+
+QString TaskTreeModel::statusToString(TaskStatus status) const
+{
+    switch (status) {
+    case TaskStatus::default:  return QString::fromLocal8Bit("未调度");
+    case TaskStatus::Waiting:  return QString::fromLocal8Bit("等待中");
+    case TaskStatus::Running:  return QString::fromLocal8Bit("运行中");
+    case TaskStatus::Finished: return QString::fromLocal8Bit("已完成");
+    case TaskStatus::Skiped:   return QString::fromLocal8Bit("已跳过");
+    case TaskStatus::Timeout:   return QString::fromLocal8Bit("超时");
+    }
+    return "";
+}
+
+QString TaskTreeModel::subTaskTypeToString(SubTaskType type) const
+{
+    switch (type) {
+    case SubTaskType::HyperSpectual400_1000nm:  return QString::fromLocal8Bit("高光谱 400-1000nm");
+    case SubTaskType::HyperSpectual1000_1700nm: return QString::fromLocal8Bit("高光谱 1000-1700nm");
+    case SubTaskType::SingleLensReflex:         return QString::fromLocal8Bit("单反相机");
+    case SubTaskType::DepthCamera:              return QString::fromLocal8Bit("深度相机");
+    }
+    return "未知类型";
+}
+
+QString TaskTreeModel::formatDuration(double minutes) const
+{
+    if (minutes <= 0) return "-";
+
+    int hours = static_cast<int>(minutes) / 60;
+    int mins = static_cast<int>(minutes) % 60;
+    int secs = static_cast<int>((minutes - static_cast<int>(minutes)) * 60);
+
+    if (hours > 0) {
+        return QString::fromLocal8Bit(("%1时%2分%3秒")).arg(hours).arg(mins).arg(secs);
+    }
+    else if (mins > 0) {
+        return QString::fromLocal8Bit(("%1分%2秒")).arg(mins).arg(secs);
+    }
+    else {
+        return QString::fromLocal8Bit(("%1秒")).arg(secs);
+    }
+}
+
+QColor TaskTreeModel::statusColor(TaskStatus status) const
+{
+    switch (status) {
+    case TaskStatus::Waiting:  return QColor(255, 255, 230); // 浅黄
+    case TaskStatus::Running:  return QColor(200, 255, 200); // 浅绿
+    case TaskStatus::Finished: return QColor(220, 220, 255); // 浅蓝
+    case TaskStatus::Skiped:   return QColor(220, 220, 220); // 浅灰
+    }
+    return QColor(255, 255, 255);
+}
+
+QString TaskTreeModel::formatCountdown(qint64 seconds) const
+{
+    if (seconds < 0) {
+        return QString::fromLocal8Bit("已超时");
+    }
+
+    int hours = static_cast<int>(seconds) / 3600;
+    int mins = (static_cast<int>(seconds) % 3600) / 60;
+    int secs = static_cast<int>(seconds) % 60;
+
+    return QString("%1:%2:%3")
+        .arg(hours, 2, 10, QChar('0'))
+        .arg(mins, 2, 10, QChar('0'))
+        .arg(secs, 2, 10, QChar('0'));
+}
+
+void TaskTreeModel::onCountdownTimerTimeout()
+{
+    for (int i = 0; i < m_tasks.size(); ++i)
+    {
+        const TimedTask& task = m_tasks[i];
+        QModelIndex taskIndex = getTaskIndex(task.id);
+        if (taskIndex.isValid())
+        {
+            QModelIndex countdownIndex = index(taskIndex.row(), ColCountdown, taskIndex.parent());
+            emit dataChanged(countdownIndex, countdownIndex);
+        }
+    }
+}

HPPA/TaskTreeModel.h

@@ -0,0 +1,117 @@
+#pragma once
+
+#include <QAbstractItemModel>
+#include <QModelIndex>
+#include <QVariant>
+#include <QTimer>
+#include "TimedDataCollectionDataStructures.h"
+
+// 树节点类型
+enum class TreeNodeType {
+    Root,
+    Task,
+    SubTask
+};
+
+// 树节点数据
+class TaskTreeNode
+{
+public:
+    explicit TaskTreeNode(TaskTreeNode* parent = nullptr);
+    ~TaskTreeNode();
+
+    void appendChild(TaskTreeNode* child);
+    TaskTreeNode* child(int row);
+    int childCount() const;
+    int row() const;
+    TaskTreeNode* parentNode();
+
+    TreeNodeType nodeType = TreeNodeType::Root;
+    int taskId = -1;           // 任务ID
+    int subTaskIndex = -1;     // 子任务索引（仅子任务节点有效）
+
+    // 直接存储数据指针，方便更新
+    TimedTask* taskData = nullptr;
+    SubTask* subTaskData = nullptr;
+
+private:
+    QVector<TaskTreeNode*> m_children;
+    TaskTreeNode* m_parent;
+};
+
+// 树形模型
+class TaskTreeModel : public QAbstractItemModel
+{
+    Q_OBJECT
+
+public:
+    enum Column {
+        ColName = 0,           // 任务名称/子任务类型
+        ColScheduledTime,      // 计划时间
+        ColCountdown,          // 倒计时
+        ColStartTime,          // 开始时间
+        ColEndTime,            // 结束时间
+        ColDuration,           // 耗时
+        ColEstimatedDuration,  // 预测耗时
+        ColStatus,             // 状态
+        ColProgress,           // 进度（仅任务有效）
+        ColPath,               // 路径
+        ColumnCount
+    };
+
+    explicit TaskTreeModel(QObject* parent = nullptr);
+    ~TaskTreeModel();
+
+    // QAbstractItemModel 接口实现
+    QModelIndex index(int row, int column, const QModelIndex& parent = QModelIndex()) const override;
+    QModelIndex parent(const QModelIndex& index) 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 = Qt::DisplayRole) const override;
+    QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
+    Qt::ItemFlags flags(const QModelIndex& index) const override;
+
+    // 数据操作
+    void setTasks(const QVector<TimedTask>& tasks);
+    void updateTask(const TimedTask& task);
+    void updateSubTask(int taskId, int subTaskIndex, const SubTask& subTask);
+    void updateTaskStatus(int taskId, TaskStatus status);
+    void setTaskAndSubtaskStatus(int taskId, TaskStatus status);
+    void updateSubTaskStatusAndProgress(int taskId, int subTaskIndex, TaskStatus status);
+    void updateSubTaskStatus(int taskId, int subTaskIndex, TaskStatus status);
+    void updateProgress(int taskId);
+
+    // 获取数据
+    QVector<TimedTask>& tasks() { return m_tasks; }
+    const QVector<TimedTask>& tasks() const { return m_tasks; }
+    TimedTask* getTask(int taskId);
+    SubTask* getSubTask(int taskId, int subTaskIndex);
+
+    // 获取模型索引
+    QModelIndex getTaskIndex(int taskId) const;
+    QModelIndex getSubTaskIndex(int taskId, int subTaskIndex) const;
+
+signals:
+    void taskUpdated(int taskId);
+    void subTaskUpdated(int taskId, int subTaskIndex);
+
+private slots:
+    void onCountdownTimerTimeout();
+
+private:
+    void setupModelData();
+    void clearTree();
+    TaskTreeNode* findTaskNode(int taskId) const;
+    TaskTreeNode* findSubTaskNode(int taskId, int subTaskIndex) const;
+    int findTaskDataIndex(int taskId) const;
+
+    QString statusToString(TaskStatus status) const;
+    QString subTaskTypeToString(SubTaskType type) const;
+    QString formatDuration(double minutes) const;
+    QColor statusColor(TaskStatus status) const;
+    QString formatCountdown(qint64 seconds) const;
+
+    TaskTreeNode* m_rootNode;
+    QVector<TimedTask> m_tasks;
+    QTimer* m_countdownTimer;
+};

HPPA/TimedDataCollection.cpp

@@ -0,0 +1,494 @@
+#include "TimedDataCollection.h"
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QMessageBox>
+#include <QGroupBox>
+#include <QSplitter>
+
+TimedDataCollection::TimedDataCollection(QWidget* parent)
+    : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    setupUI();
+
+    // 初始化调度器
+    m_scheduler = new TaskScheduler(this);
+
+    setupConnections();
+
+    // 读取任务文件
+    readTimedTaskFromFile("D:/0tmp/3Dtest/task.json");
+}
+
+void TimedDataCollection::setupUI()
+{
+    // 设置窗口大小
+    //resize(1200, 600);
+    //setWindowTitle("定时数据采集系统");
+
+    // 创建任务树形模型
+    m_taskModel = new TaskTreeModel(this);
+
+    // 创建树形视图
+    ui.taskTreeView->setModel(m_taskModel);
+
+    // 配置树形视图
+    ui.taskTreeView->setSelectionBehavior(QAbstractItemView::SelectRows);
+    ui.taskTreeView->setSelectionMode(QAbstractItemView::SingleSelection);
+    ui.taskTreeView->setAlternatingRowColors(true);
+    ui.taskTreeView->setAnimated(true);
+    ui.taskTreeView->setExpandsOnDoubleClick(true);
+    ui.taskTreeView->setEditTriggers(QAbstractItemView::NoEditTriggers);
+    ui.taskTreeView->setUniformRowHeights(true);
+    ui.taskTreeView->setIndentation(25);
+
+    // 配置表头
+    QHeaderView* header = ui.taskTreeView->header();
+    header->setStretchLastSection(true);
+    header->setSectionResizeMode(QHeaderView::Interactive);
+    header->setDefaultAlignment(Qt::AlignCenter);
+
+    // 设置列宽
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColName, 200);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColScheduledTime, 150);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColCountdown, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColStartTime, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColEndTime, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColDuration, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColEstimatedDuration, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColStatus, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColProgress, 80);
+
+    // 创建状态标签
+    ui.statusLabel->setStyleSheet(
+        "QLabel {"
+        "  background-color: #f0f0f0;"
+        "  border: 1px solid #ccc;"
+        "  border-radius: 4px;"
+        "  padding: 8px;"
+        "  font-size: 12px;"
+        "}"
+    );
+
+    // 连接按钮信号
+    connect(ui.start_btn, &QPushButton::clicked, this, &TimedDataCollection::startScheduler);
+    connect(ui.stop_btn, &QPushButton::clicked, this, &TimedDataCollection::stopScheduler);
+    connect(ui.refresh_btn, &QPushButton::clicked, this, [this]() {
+        readTimedTaskFromFile("D:/0tmp/3Dtest/task.json");
+        });
+    connect(ui.expandAll_btn, &QPushButton::clicked, ui.taskTreeView, &QTreeView::expandAll);
+    connect(ui.collapseAll_btn, &QPushButton::clicked, ui.taskTreeView, &QTreeView::collapseAll);
+
+    // 树视图交互信号
+    connect(ui.taskTreeView, &QTreeView::clicked,
+        this, &TimedDataCollection::onTreeItemClicked);
+    connect(ui.taskTreeView, &QTreeView::doubleClicked,
+        this, &TimedDataCollection::onTreeItemDoubleClicked);
+    connect(ui.taskTreeView->selectionModel(), &QItemSelectionModel::selectionChanged,
+        this, &TimedDataCollection::onTreeSelectionChanged);
+}
+
+void TimedDataCollection::setupConnections()
+{
+    // 调度器信号连接
+    connect(m_scheduler, &TaskScheduler::taskStarted,
+        this, &TimedDataCollection::onTaskStarted);
+    connect(m_scheduler, &TaskScheduler::taskFinished,
+        this, &TimedDataCollection::onTaskFinished);
+    connect(m_scheduler, &TaskScheduler::subTaskStarted,
+        this, &TimedDataCollection::onSubTaskStarted);
+    connect(m_scheduler, &TaskScheduler::subTaskFinished,
+        this, &TimedDataCollection::onSubTaskFinished);
+    connect(m_scheduler, &TaskScheduler::taskDataChanged,
+        this, &TimedDataCollection::onTaskDataChanged);
+    connect(m_scheduler, &TaskScheduler::errorOccurred,
+        this, &TimedDataCollection::onErrorOccurred);
+
+    // 采集相关信号透传
+    connect(m_scheduler, &TaskScheduler::hyperCamParm,
+        this, &TimedDataCollection::hyperCamParm);
+    connect(m_scheduler, &TaskScheduler::camParm,
+        this, &TimedDataCollection::camParm);
+    connect(m_scheduler, &TaskScheduler::motorParm,
+        this, &TimedDataCollection::motorParm);
+    connect(m_scheduler, &TaskScheduler::startRecordSignal,
+        this, &TimedDataCollection::startRecordSignal);
+
+    connect(m_scheduler, &TaskScheduler::switchHalogenLampSignal,
+        this, &TimedDataCollection::switchHalogenLampSignal);
+    connect(m_scheduler, &TaskScheduler::switchD65LampSignal,
+        this, &TimedDataCollection::switchD65LampSignal);
+    connect(m_scheduler, &TaskScheduler::switchSlrSignal,
+        this, &TimedDataCollection::switchSlrSignal);
+
+    connect(this, &TimedDataCollection::sequenceCompleteSignal,
+        m_scheduler, &TaskScheduler::sequenceCompleteSignal);
+    connect(this, &TimedDataCollection::Back2OriginSignal,
+        m_scheduler, &TaskScheduler::Back2OriginSignal);
+}
+
+TimedDataCollection::~TimedDataCollection()
+{
+    if (m_scheduler) {
+        m_scheduler->stop();
+    }
+}
+
+// ==================== 任务状态更新槽实现 ====================
+
+void TimedDataCollection::onTaskStarted(int taskId)
+{
+    m_currentTaskId = taskId;
+    m_currentSubTaskIndex = -1;
+
+    m_taskModel->updateTaskStatus(taskId, TaskStatus::Running);
+
+    // 展开当前运行的任务
+    expandRunningTask();
+
+    updateStatusBar();
+    emit taskStarted(taskId);
+}
+
+void TimedDataCollection::onTaskFinished(int taskId, bool success)
+{
+    TaskStatus status = success ? TaskStatus::Finished : TaskStatus::Skiped;
+    m_taskModel->updateTaskStatus(taskId, status);
+
+    if (m_currentTaskId == taskId) {
+        m_currentTaskId = -1;
+        m_currentSubTaskIndex = -1;
+    }
+
+    updateStatusBar();
+    emit taskFinished(taskId, success);
+}
+
+void TimedDataCollection::onSubTaskStarted(int taskId, int subTaskIndex)
+{
+    m_currentSubTaskIndex = subTaskIndex;
+
+    m_taskModel->updateSubTaskStatusAndProgress(taskId, subTaskIndex, TaskStatus::Running);
+
+    // 滚动到当前子任务
+    QModelIndex subTaskIndex_model = m_taskModel->getSubTaskIndex(taskId, subTaskIndex);
+    if (subTaskIndex_model.isValid()) {
+        ui.taskTreeView->scrollTo(subTaskIndex_model);
+        ui.taskTreeView->setCurrentIndex(subTaskIndex_model);
+    }
+
+    updateStatusBar();
+    emit subTaskStarted(taskId, subTaskIndex);
+}
+
+void TimedDataCollection::onSubTaskFinished(int taskId, int subTaskIndex)
+{
+    m_taskModel->updateSubTaskStatusAndProgress(taskId, subTaskIndex, TaskStatus::Finished);
+
+    updateStatusBar();
+    emit subTaskFinished(taskId, subTaskIndex);
+}
+
+void TimedDataCollection::onTaskDataChanged(const TimedTask& task)
+{
+    // 核心：从 TaskExecutor 同步回来的完整任务数据
+    m_taskModel->updateTask(task);
+
+    updateStatusBar();
+}
+
+void TimedDataCollection::onErrorOccurred(const QString& error)
+{
+    ui.statusLabel->setText(QString::fromLocal8Bit("错误: %1").arg(error));
+    ui.statusLabel->setStyleSheet(
+        "QLabel {"
+        "  background-color: #ffebee;"
+        "  border: 1px solid #f44336;"
+        "  border-radius: 4px;"
+        "  padding: 8px;"
+        "  color: #c62828;"
+        "}"
+    );
+
+    QMessageBox::warning(this, "错误", error);
+    emit errorOccurred(error);
+}
+
+void TimedDataCollection::onTreeItemClicked(const QModelIndex& index)
+{
+    if (!index.isValid()) return;
+
+    TaskTreeNode* node = static_cast<TaskTreeNode*>(index.internalPointer());
+    if (!node) return;
+
+    QString info;
+    if (node->nodeType == TreeNodeType::Task && node->taskData) {
+        info = QString::fromLocal8Bit("选中任务 %1 - 状态: %2")
+            .arg(node->taskData->id)
+            .arg(node->taskData->status == TaskStatus::Running ? "运行中" :
+                node->taskData->status == TaskStatus::Finished ? "已完成" : "等待中");
+    }
+    else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+        info = QString::fromLocal8Bit("选中子任务 - 类型: %1")
+            .arg(m_taskModel->data(m_taskModel->index(index.row(),
+                TaskTreeModel::ColName, index.parent())).toString());
+    }
+
+    // 可以更新状态栏或其他UI
+}
+
+void TimedDataCollection::onTreeItemDoubleClicked(const QModelIndex& index)
+{
+    if (!index.isValid()) return;
+
+    TaskTreeNode* node = static_cast<TaskTreeNode*>(index.internalPointer());
+    if (!node) return;
+
+    if (node->nodeType == TreeNodeType::Task && node->taskData) {
+        const TimedTask& task = *node->taskData;
+        QString details = QString::fromLocal8Bit(
+            "【任务详情】\n\n"
+            "任务ID: %1\n"
+            "计划时间: %2\n"
+            "开始时间: %3\n"
+            "结束时间: %4\n"
+            "耗时: %5 分钟\n"
+            "状态: %6\n"
+            "子任务数: %7\n"
+            "保存路径: %8\n"
+            "卤素灯预热时间: %9 分钟"
+        ).arg(task.id)
+            .arg(task.scheduledTime.toString("yyyy-MM-dd HH:mm:ss"))
+            .arg(task.startTime.isValid() ? task.startTime.toString("yyyy-MM-dd HH:mm:ss") : "-")
+            .arg(task.endTime.isValid() ? task.endTime.toString("yyyy-MM-dd HH:mm:ss") : "-")
+            .arg(task.durationMinutes, 0, 'f', 2)
+            .arg(static_cast<int>(task.status))
+            .arg(task.subTasks.size())
+            .arg(task.savePath)
+            .arg(task.HalogenLampPreheatingTime_Minute);
+
+        QMessageBox::information(this, QString::fromLocal8Bit("任务详情"), details);
+    }
+    else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+        const SubTask& subTask = *node->subTaskData;
+        QString typeStr;
+        switch (subTask.type) {
+        case SubTaskType::HyperSpectual400_1000nm:  typeStr = QString::fromLocal8Bit("高光谱 400-1000nm"); break;
+        case SubTaskType::HyperSpectual1000_1700nm: typeStr = QString::fromLocal8Bit("高光谱 1000-1700nm"); break;
+        case SubTaskType::SingleLensReflex:         typeStr = QString::fromLocal8Bit("单反相机"); break;
+        case SubTaskType::DepthCamera:              typeStr = QString::fromLocal8Bit("深度相机"); break;
+        }
+
+        QString details = QString::fromLocal8Bit(
+            "【子任务详情】\n\n"
+            "类型: %1\n"
+            "开始时间: %2\n"
+            "结束时间: %3\n"
+            "耗时: %4 分钟\n"
+            "路径文件: %5\n"
+            "状态: %6"
+        ).arg(typeStr)
+            .arg(subTask.startTime.isValid() ? subTask.startTime.toString("yyyy-MM-dd HH:mm:ss") : "-")
+            .arg(subTask.endTime.isValid() ? subTask.endTime.toString("yyyy-MM-dd HH:mm:ss") : "-")
+            .arg(subTask.durationMinutes, 0, 'f', 2)
+            .arg(subTask.pathLineFilePath)
+            .arg(static_cast<int>(subTask.status));
+
+        if (subTask.type == SubTaskType::HyperSpectual400_1000nm ||
+            subTask.type == SubTaskType::HyperSpectual1000_1700nm) {
+            details += QString::fromLocal8Bit("\n帧率: %1\n曝光时间: %2")
+                .arg(subTask.frameRate)
+                .arg(subTask.exposureTime);
+        }
+
+        QMessageBox::information(this, QString::fromLocal8Bit("子任务详情"), details);
+    }
+}
+
+void TimedDataCollection::onTreeSelectionChanged()
+{
+    // 可以根据选择更新其他UI组件
+}
+
+void TimedDataCollection::updateStatusBar()
+{
+    QString statusText;
+    QString styleSheet;
+
+    if (m_currentTaskId > 0) {
+        TimedTask* task = m_taskModel->getTask(m_currentTaskId);
+        if (task) {
+            int finished = 0;
+            for (const auto& sub : task->subTasks) {
+                if (sub.status == TaskStatus::Finished) finished++;
+            }
+
+            statusText = QString::fromLocal8Bit("▶ 正在执行任务 %1 | 子任务进度: %2/%3")
+                .arg(m_currentTaskId)
+                .arg(finished)
+                .arg(task->subTasks.size());
+
+            if (m_currentSubTaskIndex >= 0 && m_currentSubTaskIndex < task->subTasks.size()) {
+                QString subTypeStr;
+                switch (task->subTasks[m_currentSubTaskIndex].type) {
+                case SubTaskType::HyperSpectual400_1000nm:  subTypeStr = QString::fromLocal8Bit("高光谱400-1000nm"); break;
+                case SubTaskType::HyperSpectual1000_1700nm: subTypeStr = QString::fromLocal8Bit("高光谱1000-1700nm"); break;
+                case SubTaskType::SingleLensReflex:         subTypeStr = QString::fromLocal8Bit("单反相机"); break;
+                case SubTaskType::DepthCamera:              subTypeStr = QString::fromLocal8Bit("深度相机"); break;
+                }
+                statusText += QString::fromLocal8Bit(" | 当前: %1").arg(subTypeStr);
+            }
+
+            styleSheet =
+                "QLabel {"
+                "  background-color: #e8f5e9;"
+                "  border: 1px solid #4CAF50;"
+                "  border-radius: 4px;"
+                "  padding: 8px;"
+                "  color: #2e7d32;"
+                "  font-weight: bold;"
+                "}";
+        }
+    }
+    else {
+        // 统计任务状态
+        int waiting = 0, running = 0, finished = 0;
+        for (const auto& task : m_taskModel->tasks()) {
+            switch (task.status) {
+            case TaskStatus::Waiting: waiting++; break;
+            case TaskStatus::Running: running++; break;
+            case TaskStatus::Finished: finished++; break;
+            default: break;
+            }
+        }
+
+        statusText = QString::fromLocal8Bit("任务统计 | 等待: %1 | 运行中: %2 | 已完成: %3 | 总计: %4")
+            .arg(waiting).arg(running).arg(finished)
+            .arg(m_taskModel->tasks().size());
+
+        styleSheet =
+            "QLabel {"
+            "  background-color: #f5f5f5;"
+            "  border: 1px solid #ccc;"
+            "  border-radius: 4px;"
+            "  padding: 8px;"
+            "}";
+    }
+
+    ui.statusLabel->setText(statusText);
+    ui.statusLabel->setStyleSheet(styleSheet);
+}
+
+void TimedDataCollection::expandRunningTask()
+{
+    if (m_currentTaskId > 0) {
+        QModelIndex taskIndex = m_taskModel->getTaskIndex(m_currentTaskId);
+        if (taskIndex.isValid()) {
+            ui.taskTreeView->expand(taskIndex);
+            ui.taskTreeView->scrollTo(taskIndex);
+            ui.taskTreeView->setCurrentIndex(taskIndex);
+        }
+    }
+}
+
+void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
+{
+    QVector<TimedTask> loadedTasks;
+    if (TimedDataCollectionDataStructuresReaderWriter::loadTasksFromFile(filePath, loadedTasks)) {
+        qDebug() << "Tasks loaded successfully, count:" << loadedTasks.size();
+
+        // 预测耗时：计算每个子任务和整个任务的预计耗时
+        for (int i = 0; i < loadedTasks.size(); ++i)
+        {
+            double totalEstimatedMinutes = 0.0;
+            for (int j = 0; j < loadedTasks[i].subTasks.size(); ++j)
+            {
+                QString pathLineFilePath = loadedTasks[i].subTasks[j].pathLineFilePath;
+                if (!pathLineFilePath.isEmpty())
+                {
+                    double estimatedMinutes = PathLineManager::calculateTimeFromFile(pathLineFilePath);
+                    loadedTasks[i].subTasks[j].estimatedDurationMinutes = estimatedMinutes;
+                    totalEstimatedMinutes += loadedTasks[i].subTasks[j].estimatedDurationMinutes;
+                }
+            }
+            double slrTimeMinute = 135 / 60;
+            loadedTasks[i].estimatedDurationMinutes = totalEstimatedMinutes + loadedTasks[i].HalogenLampPreheatingTime_Minute + slrTimeMinute;
+        }
+
+        m_taskModel->setTasks(loadedTasks);
+        ui.taskTreeView->expandAll(); // 默认展开所有任务
+
+        // 更新调度器
+        if (m_scheduler)
+        {
+            m_scheduler->loadTasks(loadedTasks);
+        }
+
+        updateStatusBar();
+    }
+    else {
+        qDebug() << "Failed to load tasks from:" << filePath;
+        QMessageBox::warning(this, "加载失败",
+            QString("无法从文件加载任务:\n%1").arg(filePath));
+    }
+}
+
+void TimedDataCollection::startScheduler()
+{
+    if (m_scheduler)
+    {
+        if (m_scheduler->isRunning())
+        {
+            return;
+        }
+
+        for (size_t i = 0; i < m_taskModel->tasks().size(); i++)
+        {
+            m_taskModel->setTaskAndSubtaskStatus(m_taskModel->tasks()[i].id, TaskStatus::Waiting);
+        }
+
+        m_scheduler->loadTasks(m_taskModel->tasks());
+        m_scheduler->start();
+
+        ui.statusLabel->setText(QString::fromLocal8Bit("调度器已启动，等待任务执行..."));
+        ui.statusLabel->setStyleSheet(
+            "QLabel {"
+            "  background-color: #fff3e0;"
+            "  border: 1px solid #ff9800;"
+            "  border-radius: 4px;"
+            "  padding: 8px;"
+            "  color: #e65100;"
+            "}");
+    }
+}
+
+void TimedDataCollection::stopScheduler()
+{
+    if (m_scheduler) {
+        m_scheduler->stop();
+
+        m_currentTaskId = -1;
+        m_currentSubTaskIndex = -1;
+
+        ui.statusLabel->setText(QString::fromLocal8Bit("调度器已停止"));
+        ui.statusLabel->setStyleSheet(
+            "QLabel {"
+            "  background-color: #fce4ec;"
+            "  border: 1px solid #e91e63;"
+            "  border-radius: 4px;"
+            "  padding: 8px;"
+            "  color: #880e4f;"
+            "}");
+    }
+}
+
+void TimedDataCollection::subTaskCompleted(int status)
+{
+    emit sequenceCompleteSignal(status);
+}
+
+void TimedDataCollection::onBack2Origin()
+{
+    emit Back2OriginSignal();
+}

HPPA/TimedDataCollection.h

@@ -0,0 +1,74 @@
+#pragma once
+
+#include <QDialog>
+#include <QTreeView>
+#include <QHeaderView>
+#include <QLabel>
+#include "ui_TimedDataCollection_ui.h"
+#include "TimedDataCollectionDataStructures.h"
+#include "TaskTreeModel.h"
+#include "PathLine.h"
+
+class TimedDataCollection : public QDialog
+{
+    Q_OBJECT
+
+public:
+    TimedDataCollection(QWidget* parent = nullptr);
+    ~TimedDataCollection();
+
+    void readTimedTaskFromFile(const QString& filePath);
+
+public Q_SLOTS:
+    void startScheduler();
+    void stopScheduler();
+    void subTaskCompleted(int status);
+    void onBack2Origin();
+
+private Q_SLOTS:
+    // 任务状态更新槽
+    void onTaskStarted(int taskId);
+    void onTaskFinished(int taskId, bool success);
+    void onSubTaskStarted(int taskId, int subTaskIndex);
+    void onSubTaskFinished(int taskId, int subTaskIndex);
+    void onTaskDataChanged(const TimedTask& task);
+    void onErrorOccurred(const QString& error);
+
+    // 树视图交互
+    void onTreeItemClicked(const QModelIndex& index);
+    void onTreeItemDoubleClicked(const QModelIndex& index);
+    void onTreeSelectionChanged();
+
+Q_SIGNALS:
+    void taskStarted(int taskId);
+    void taskFinished(int taskId, bool success);
+    void subTaskStarted(int taskId, int subTaskIndex);
+    void subTaskFinished(int taskId, int subTaskIndex);
+    void errorOccurred(const QString& error);
+
+    void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+    void camParm(int camType, int captureIntervalSeconds, QString folder);
+    void motorParm(QString pathLineFilePath);
+    void startRecordSignal(int camType);
+
+    void switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
+    void sequenceCompleteSignal(int status);
+    void Back2OriginSignal();
+
+private:
+    void setupUI();
+    void setupConnections();
+    void updateStatusBar();
+    void expandRunningTask();
+
+    Ui::TimedDataCollection_ui ui;
+
+    TaskTreeModel* m_taskModel;       // 任务树形模型
+    TaskScheduler* m_scheduler;
+
+    int m_currentTaskId = -1;
+    int m_currentSubTaskIndex = -1;
+};