add

1、分离扫描速度和手动控制速度；
2、添加扫描速度的反向运动，并保存以前的设置；

fix
和贡嘎山的相互干扰；

.gitignore

@@ -8,6 +8,8 @@ HPPA - 副本.ui
 icon
 ignore_*
 resources
+*.bkp
+.qwen
 
 ## Ignore Visual Studio temporary files, build results, and
 ## files generated by popular Visual Studio add-ons.

HPPA.sln

@@ -12,6 +12,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "vincecontrol", "vincecontro
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "IrisMultiMotorController", "IrisMultiMotorController\IrisMultiMotorController\IrisMultiMotorController.vcxproj", "{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "JinspSpectralmeterControl", "JinspSpectralmeterControl\JinspSpectralmeterControl.vcxproj", "{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|x64 = Debug|x64
@@ -44,6 +46,14 @@ Global
 		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x64.Build.0 = Release|x64
 		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.ActiveCfg = Release|x64
 		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.Build.0 = Release|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Debug|x64.ActiveCfg = Debug|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Debug|x64.Build.0 = Debug|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Debug|x86.ActiveCfg = Debug|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Debug|x86.Build.0 = Debug|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Release|x64.ActiveCfg = Release|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Release|x64.Build.0 = Release|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Release|x86.ActiveCfg = Release|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Release|x86.Build.0 = Release|x64
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

HPPA/AppSettings.cpp

@@ -0,0 +1,218 @@
+#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();
+const double AppSettings::kDefaultScanSpeed = 1.0;
+const double AppSettings::kDefaultReturnSpeed = 5.0;
+const int AppSettings::kDefaultGonggaShanRecordPort = 666;
+const AppSettings::HyperimgDisplayMode AppSettings::kDefaultHyperimgDisplayMode = HyperimgDisplayMode::Waterfall;
+
+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);
+}
+
+QString AppSettings::FiberImagerDataFolder() const
+{
+	QString path = m_settings.value("General/FiberImagerDataFolder").toString();
+	if (path.isEmpty())
+	{
+		return QCoreApplication::applicationDirPath() + "/CapturedFiberImagerData/";
+	}
+	return path;
+}
+
+void AppSettings::setFiberImagerDataFolder(const QString& path)
+{
+	m_settings.setValue("General/FiberImagerDataFolder", path);
+}
+
+QString AppSettings::rgbCameraDataFolder() const
+{
+	QString path = m_settings.value("RgbCamera/RgbCameraDataFolder", "D:").toString();
+	if (path.isEmpty())
+	{
+		return QCoreApplication::applicationDirPath() + "/CapturedRgbCameraData/";
+	}
+	return path;
+}
+
+void AppSettings::setRgbCameraDataFolder(const QString& path)
+{
+	m_settings.setValue("RgbCamera/RgbCameraDataFolder", path);
+}
+
+QString AppSettings::rgbCameraFileName() const
+{
+	return m_settings.value("RgbCamera/FileName", "test_rgb_data").toString();
+}
+
+void AppSettings::setRgbCameraFileName(const QString& name)
+{
+	m_settings.setValue("RgbCamera/FileName", name);
+}
+
+QString AppSettings::fodisCameraFileName() const
+{
+	return m_settings.value("FodisCamera/FileName", "test_fodis_data").toString();
+}
+
+void AppSettings::setFodisCameraFileName(const QString& name)
+{
+	m_settings.setValue("FodisCamera/FileName", name);
+}
+
+double AppSettings::scanSpeed() const
+{
+	return m_settings.value("OneMotorControl/ScanSpeed", kDefaultScanSpeed).toDouble();
+}
+
+void AppSettings::setScanSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ScanSpeed", value);
+}
+
+double AppSettings::returnSpeed() const
+{
+	return m_settings.value("OneMotorControl/ReturnSpeed", kDefaultReturnSpeed).toDouble();
+}
+
+void AppSettings::setReturnSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ReturnSpeed", value);
+}
+
+double AppSettings::manualMovementSpeed() const
+{
+	return m_settings.value("OneMotorControl/ManualMovementSpeed", 1).toDouble();
+}
+
+void AppSettings::setManualMovementSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ManualMovementSpeed", value);
+}
+
+bool AppSettings::isReverseMove() const
+{
+	return m_settings.value("OneMotorControl/IsReverseMove", 0).toBool();
+}
+
+void AppSettings::setIsReverseMove(bool value)
+{
+	m_settings.setValue("OneMotorControl/IsReverseMove", value);
+}
+
+int AppSettings::gonggaShanRecordPort() const
+{
+	return m_settings.value("GonggaShanRecordCtl/Port", kDefaultGonggaShanRecordPort).toInt();
+}
+
+void AppSettings::setGonggaShanRecordPort(int value)
+{
+	m_settings.setValue("GonggaShanRecordCtl/Port", value);
+}
+
+AppSettings::HyperimgDisplayMode AppSettings::hyperimgDisplayMode() const
+{
+	return static_cast<HyperimgDisplayMode>(
+		m_settings.value("Display/HyperimgDisplayMode",
+			static_cast<int>(kDefaultHyperimgDisplayMode)).toInt());
+}
+
+void AppSettings::setHyperimgDisplayMode(HyperimgDisplayMode mode)
+{
+	m_settings.setValue("Display/HyperimgDisplayMode", static_cast<int>(mode));
+}

HPPA/AppSettings.h

@@ -0,0 +1,97 @@
+#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);
+
+	QString FiberImagerDataFolder() const;
+	void setFiberImagerDataFolder(const QString& path);
+
+	QString rgbCameraDataFolder() const;
+	void setRgbCameraDataFolder(const QString& path);
+
+	// RGB相机文件名
+	QString rgbCameraFileName() const;
+	void setRgbCameraFileName(const QString& name);
+
+	QString fodisCameraFileName() const;
+	void setFodisCameraFileName(const QString& name);
+
+	// 扫描速度
+	double scanSpeed() const;
+	void setScanSpeed(double value);
+
+	// 返回速度
+	double returnSpeed() const;
+	void setReturnSpeed(double value);
+
+	// 手动移动速度
+	double manualMovementSpeed() const;
+	void setManualMovementSpeed(double value);
+
+	bool isReverseMove() const;
+	void setIsReverseMove(bool value);
+
+	// 贡嘎山记录端口
+	int gonggaShanRecordPort() const;
+	void setGonggaShanRecordPort(int value);
+
+	// 图像显示模式枚举
+	enum class HyperimgDisplayMode { Full, Waterfall };
+
+	// 图像显示模式
+	HyperimgDisplayMode hyperimgDisplayMode() const;
+	void setHyperimgDisplayMode(HyperimgDisplayMode mode);
+	// 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;
+	static const double kDefaultScanSpeed;
+	static const double kDefaultReturnSpeed;
+	static const int kDefaultGonggaShanRecordPort;
+	static const HyperimgDisplayMode kDefaultHyperimgDisplayMode;
+};

HPPA/CaptureCoordinator.cpp

@@ -1,54 +1,25 @@
 #include "CaptureCoordinator.h"
+#include <algorithm>
 
 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)),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
-	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
-		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+	connect(this, qOverload<int, double, double, int>(&TwoMotionCaptureCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(this, qOverload<const std::vector<double>, const std::vector<double>, int>(&TwoMotionCaptureCoordinator::moveTo),
+		m_motorCtrl, qOverload<const std::vector<double>, const std::vector<double>, int>(&IrisMultiMotorController::moveTo));
 	connect(this, &TwoMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
 		this, &TwoMotionCaptureCoordinator::handlePositionReached);
 	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
 	//	this, &TwoMotionCaptureCoordinator::handleError);
-
-	connect(this, &TwoMotionCaptureCoordinator::startRecordHSISignal,
-		m_cameraCtrl, &ImagerOperationBase::start_record);
-	connect(this, &TwoMotionCaptureCoordinator::stopRecordHSISignal,
-		m_cameraCtrl, &ImagerOperationBase::stop_record);
-	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
-		this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
-	//connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberNotMeet,
-	//	this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberNotMeet);
-	//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
-	//	this, &TwoMotionCaptureCoordinator::handleError);
-}
-
-TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
-	IrisMultiMotorController* motorCtrl,
-	QObject* parent)
-	: QObject(parent)
-	, m_motorCtrl(motorCtrl)
-	, m_isRunning(false)
-{
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
-	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
-		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
-
-	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
-		this, &TwoMotionCaptureCoordinator::handlePositionReached);
-	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
-	//	this, &TwoMotionCaptureCoordinator::handleError);
 }
 
 TwoMotionCaptureCoordinator::~TwoMotionCaptureCoordinator()
@@ -97,15 +68,12 @@ 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 +88,7 @@ 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();
 		});
@@ -129,6 +98,11 @@ void TwoMotionCaptureCoordinator::getLocBeforeStart()
 
 	loop.exec();
 
+	std::vector<double> pos;
+	pos.push_back(0);
+	pos.push_back(0);
+	m_locBeforeStart = pos;
+
 	disconnect(conn);
 }
 
@@ -147,7 +121,7 @@ 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 +203,12 @@ 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 +238,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2YStartLoc)
 		{
 			m_isMoving2YStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -272,6 +247,8 @@ 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 +277,8 @@ 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 +302,7 @@ 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 +315,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2XStartLoc)
 		{
 			m_isMoving2XStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -379,9 +355,25 @@ 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 +417,8 @@ 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();
@@ -451,9 +444,9 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 	, m_cameraCtrl(cameraCtrl)
 	, m_isRunning(false)
 {
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
-	connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
+	connect(this, qOverload<int, double, double, int>(&OneMotionCaptureCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(this, &OneMotionCaptureCoordinator::moveSignal, m_motorCtrl, qOverload<int, double, int>(&IrisMultiMotorController::move));
 	connect(this, &OneMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
@@ -466,15 +459,18 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 	connect(this, &OneMotionCaptureCoordinator::stopRecordHSISignal,
 		m_cameraCtrl, &ImagerOperationBase::stop_record);
 	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
-		this, &OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+		this, &OneMotionCaptureCoordinator::handleHyperImagerCaptureComplete);
+	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberNotMeet,
+		this, &OneMotionCaptureCoordinator::handleHyperImagerCaptureComplete);
 }
 
 OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
 {
-
+	disconnect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &OneMotionCaptureCoordinator::handleMotorStoped);
 }
 
-void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
+void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)//这个函数为啥被调用了2次？
 {
 	QMutexLocker locker(&m_dataMutex);
 
@@ -492,7 +488,7 @@ void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathL
 	m_pathLine.timestamp1 = QDateTime::currentDateTime();
 
 	//移动马达并开始采集高光谱
-	emit moveSignal(0, false, m_pathLine.speedRecord, 1000);
+	emit moveSignal(0, m_pathLine.speedRecord, 1000);
 	emit startRecordHSISignal();
 }
 
@@ -504,13 +500,12 @@ void OneMotionCaptureCoordinator::stopStepMotion()
 	{
 		m_cameraCtrl->stop_record();
 	}
-
-	emit stopMotorSignal(0);
 }
 
-void OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
+void OneMotionCaptureCoordinator::handleHyperImagerCaptureComplete()
 {
 	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::getLocBeforeStart()
@@ -535,6 +530,10 @@ void OneMotionCaptureCoordinator::getLocBeforeStart()
 	loop.exec();
 
 	disconnect(conn);
+
+	std::vector<double> pos;
+	pos.push_back(0);
+	m_locBeforeStart = pos;
 }
 
 void OneMotionCaptureCoordinator::move2LocBeforeStart()
@@ -570,21 +569,30 @@ bool OneMotionCaptureCoordinator::saveToCsv(const QString& filename)
 
 void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 {
-	if (!m_isRunning) return;
-
 	QMutexLocker locker(&m_dataMutex);
 
-	// 记录位置信息
-	m_pathLine.stopPosition = pos;
-	m_pathLine.timestamp2 = QDateTime::currentDateTime();
-
-	//光谱仪停止采集，马达回到初始位置
-	emit stopRecordHSISignal();
-	if (m_cameraCtrl != nullptr)
+	if (m_isHypercamStopRecord == true)
 	{
-		m_cameraCtrl->stop_record();
+		m_isHypercamStopRecord = false;
+
+		// 记录位置信息
+		m_pathLine.stopPosition = pos;
+		m_pathLine.timestamp2 = QDateTime::currentDateTime();
+
+		//光谱仪停止采集，马达回到初始位置
+		emit stopRecordHSISignal();
+		if (m_cameraCtrl != nullptr)
+		{
+			m_cameraCtrl->stop_record();
+		}
+		move2LocBeforeStart();
+
+		emit sequenceCompleteSignal_hyperImagerStopRecord(0);
+	}
+	else
+	{
+		emit sequenceCompleteSignal_motorBack2Origin(0);
 	}
-	move2LocBeforeStart();
 }
 
 void OneMotionCaptureCoordinator::handleCaptureComplete(double index)
@@ -613,9 +621,9 @@ DarkAndWhiteCaptureCoordinator::DarkAndWhiteCaptureCoordinator(
 	, m_cameraCtrl(cameraCtrl)
 	, m_isRunning(false)
 {
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
-	connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
+	connect(this, qOverload<int, double, double, int>(&DarkAndWhiteCaptureCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(this, &DarkAndWhiteCaptureCoordinator::moveSignal, m_motorCtrl, qOverload<int, double, int>(&IrisMultiMotorController::move));
 	connect(this, &DarkAndWhiteCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
@@ -659,7 +667,7 @@ void DarkAndWhiteCaptureCoordinator::startStepMotion(double speed)
 	getLocBeforeStart();
 
 	//移动马达并开始采集高光谱
-	emit moveSignal(0, false, m_speed, 1000);
+	emit moveSignal(0, m_speed, 1000);
 	emit startRecordHSISignal();
 }
 
@@ -714,3 +722,514 @@ void DarkAndWhiteCaptureCoordinator::handleCaptureComplete(double index)
 {
 	QMutexLocker locker(&m_dataMutex);
 }
+
+
+TwoMotor1PosCoordinator::TwoMotor1PosCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_isMoving2Target(false)
+	, m_isMoving2Origin(false)
+	, m_targetX(0)
+	, m_targetY(0)
+	, m_speedX(0)
+	, m_speedY(0)
+	, m_actualX(0)
+	, m_actualY(0)
+	, m_retryTimesX(0)
+	, m_retryTimesY(0)
+	, m_xReached(false)
+	, m_yReached(false)
+{
+	//因为IrisMultiMotorController::moveTo有多个重载版本，所以使用qOverload来指定参数类型
+	connect(this, qOverload<int, double, double, int>(&TwoMotor1PosCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(this, qOverload<const std::vector<double>, const std::vector<double>, int>(&TwoMotor1PosCoordinator::moveTo),
+		m_motorCtrl, qOverload<const std::vector<double>, const std::vector<double>, int>(&IrisMultiMotorController::moveTo));
+
+	connect(this, &TwoMotor1PosCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &TwoMotor1PosCoordinator::handlePositionReached);
+}
+
+TwoMotor1PosCoordinator::~TwoMotor1PosCoordinator()
+{
+
+}
+
+void TwoMotor1PosCoordinator::moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_isMoving2Target = true;
+	m_isMoving2Origin = false;
+
+	moveToTargetPrivate(xTarget, yTarget, xSpeed, ySpeed);
+}
+
+void TwoMotor1PosCoordinator::back2origin()
+{
+	m_isMoving2Target = false;
+	m_isMoving2Origin = true;
+
+	moveToTargetPrivate(0, 0, m_speedX, m_speedY);
+}
+
+void TwoMotor1PosCoordinator::moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_targetX = xTarget;
+	m_targetY = yTarget;
+	m_speedX = xSpeed;
+	m_speedY = ySpeed;
+
+	m_xReached = false;
+	m_yReached = false;
+	m_retryTimesX = 0;
+	m_retryTimesY = 0;
+
+	std::vector<double> loc = { m_targetX, m_targetY };
+	std::vector<double> speed = { m_speedX, m_speedY };
+
+	std::cout << "TwoMotor1PosCoordinator: moving to (" << m_targetX << ", " << m_targetY << ")" << std::endl;
+	emit moveTo(loc, speed, 1000);
+}
+
+void TwoMotor1PosCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isMoving2Target && !m_isMoving2Origin)
+	{
+		return;
+	}
+
+	double errorRateThreshold = 5;
+	if (motorID == 0)
+	{
+		m_actualX = pos;
+
+		double errorRate = getErrorRate(m_targetX, m_actualX);
+		
+		if (errorRate > errorRateThreshold && m_retryTimesX < m_retryLimit)
+		{
+			m_retryTimesX++;
+			std::cout << "X motor retry " << m_retryTimesX << ", target: " << m_targetX << ", actual: " << m_actualX << std::endl;
+			emit moveTo(0, m_targetX, m_speedX, 1000);
+			return;
+		}
+		m_retryTimesX = 0;
+		m_xReached = true;
+
+		std::cout << "X motor reached: " << m_actualX << std::endl;
+	}
+	else if (motorID == 1)
+	{
+		m_actualY = pos;
+
+		double errorRate = getErrorRate(m_targetY, m_actualY);
+		if (errorRate > errorRateThreshold && m_retryTimesY < m_retryLimit)
+		{
+			m_retryTimesY++;
+			std::cout << "Y motor retry " << m_retryTimesY << ", target: " << m_targetY << ", actual: " << m_actualY << std::endl;
+			emit moveTo(1, m_targetY, m_speedY, 1000);
+			return;
+		}
+		m_retryTimesY = 0;
+		m_yReached = true;
+
+		std::cout << "Y motor reached: " << m_actualY << std::endl;
+	}
+
+	if (checkArrival())
+	{
+		std::cout << "TwoMotor1PosCoordinator: Arrived at (" << m_actualX << ", " << m_actualY << ")" << std::endl;
+
+		if (m_isMoving2Origin)
+		{
+			m_isMoving2Origin = false;
+
+			emit back2OriginSignal();
+		}
+
+		if (m_isMoving2Target)
+		{
+			m_isMoving2Target = false;
+			
+			emit ArrivalSignal(m_actualX, m_actualY);
+		}
+	}
+}
+
+double TwoMotor1PosCoordinator::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}
+
+bool TwoMotor1PosCoordinator::checkArrival()
+{
+	return m_xReached && m_yReached;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------
+
+OneMotionCoordinator::OneMotionCoordinator(IrisMultiMotorController* motorCtrl, QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_targetPosition(0)
+	, m_speed(0)
+	, m_actualPosition(0)
+	, m_isMoving(false)
+	, m_retryTimes(0)
+	, m_reached(false)
+{
+	connect(this, qOverload<int, double, double, int>(&OneMotionCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &OneMotionCoordinator::handlePositionReached);
+}
+
+OneMotionCoordinator::~OneMotionCoordinator()
+{
+}
+
+void OneMotionCoordinator::moveToTarget(double position, double speed)
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_targetPosition = position;
+	m_speed = speed;
+	m_retryTimes = 0;
+	m_reached = false;
+	m_isMoving = true;
+
+	qDebug() << "OneMotionCoordinator: moving to" << position;
+	emit moveTo(0, position, speed, 1000);
+}
+
+void OneMotionCoordinator::handlePositionReached(int motorID, double position)
+{
+	if (!m_isMoving || motorID != 0)
+	{
+		return;
+	}
+
+	QMutexLocker locker(&m_dataMutex);
+	m_actualPosition = position;
+
+	double errorRate = getErrorRate(m_targetPosition, m_actualPosition);
+
+	if (errorRate > 5 && m_retryTimes < m_retryLimit)
+	{
+		m_retryTimes++;
+		qDebug() << "OneMotionCoordinator: retry" << m_retryTimes << ", target:" << m_targetPosition << ", actual:" << m_actualPosition;
+		emit moveTo(0, m_targetPosition, m_speed, 1000);
+		return;
+	}
+
+	m_retryTimes = 0;
+	m_reached = true;
+	m_isMoving = false;
+
+	qDebug() << "OneMotionCoordinator: Arrived at" << m_actualPosition;
+
+	emit sequenceComplete(0);
+	emit ArrivalSignal(m_actualPosition);
+}
+
+double OneMotionCoordinator::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------
+OneMotorMultiPosCoordinator::OneMotorMultiPosCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	ImagerOperationBase* cameraCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_cameraCtrl(cameraCtrl)
+	, m_currentPos(0)
+	, m_isRunning(false)
+	, m_isZeroing(false)
+{
+	//这些信号槽是按照逻辑顺序的
+	connect(this, qOverload<int, double, double, int>(&OneMotorMultiPosCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+
+	connect(this, &OneMotorMultiPosCoordinator::zeroStart,
+		m_motorCtrl, &IrisMultiMotorController::zeroStart);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &OneMotorMultiPosCoordinator::handlePositionReached);
+	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
+	//	this, &OneMotorMultiPosCoordinator::handleError);
+
+	connect(this, &OneMotorMultiPosCoordinator::startAutoExposureSignal,
+		m_cameraCtrl, &ImagerOperationBase::auto_exposure);
+
+	connect(m_cameraCtrl, &ImagerOperationBase::autoExposureSignal,
+		this, &OneMotorMultiPosCoordinator::onAutoExposureFinished);
+	//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
+	//	this, &OneMotorMultiPosCoordinator::handleError);
+}
+
+OneMotorMultiPosCoordinator::~OneMotorMultiPosCoordinator()
+{
+
+}
+
+void OneMotorMultiPosCoordinator::startStepMotion(double speed, std::vector<double> locations)
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	if (locations.empty())
+	{
+		emit sequenceComplete(1);
+
+		return;
+	}
+
+
+	if (m_isRunning)
+	{
+		emit errorOccurred("Sequence already running");
+		return;
+	}
+	m_locations = locations;
+
+	m_counter = 0;
+
+	m_positionData.clear();
+
+	m_speed = speed;
+	m_iStepIntervalRealTime = 1;
+
+	m_isRunning = true;
+	m_isZeroing = true;
+
+	// 先执行归零操作
+	emit zeroStart(0);
+	qDebug() << "OneMotorMultiPosCoordinator::startStepMotion: Zeroing started.";
+}
+
+void OneMotorMultiPosCoordinator::startMotionSequence()
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	m_isZeroing = false;
+	qDebug() << "OneMotorMultiPosCoordinator::startMotionSequence: Zeroing complete. Starting motion sequence.";
+
+	processNextPosition();
+}
+
+void OneMotorMultiPosCoordinator::handleZeroComplete(int motorID, double pos)
+{
+	if (!m_isRunning || !m_isZeroing) return;
+
+	// 归零完成，开始分步运动
+	startMotionSequence();
+}
+
+void OneMotorMultiPosCoordinator::stopStepMotion()
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_isRunning = false;
+	emit sequenceStopped();
+}
+
+QVector<PositionsLogData> OneMotorMultiPosCoordinator::getAllPositionData() const
+{
+	//QMutexLocker locker(&m_dataMutex);
+	return m_positionData;
+}
+
+bool OneMotorMultiPosCoordinator::saveToCsv(const QString& filename)
+{
+	//QMutexLocker locker(&m_dataMutex);
+
+	QFile file(filename);
+	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+	{
+		return false;
+	}
+
+	QTextStream out(&file);
+	out << "Timestamp,targetPosition,ActualPosition,exposureTime\n";
+
+	for (const auto& data : m_positionData)
+	{
+		out << data.timestamp.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+			<< QString::number(data.targetPosition, 'f', 4) << ","
+			<< QString::number(data.actualPosition, 'f', 4) << ","
+			<< QString::number(data.exposureTime, 'f', 4) << "\n";
+	}
+
+	file.close();
+	return true;
+}
+
+void OneMotorMultiPosCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isRunning) return;
+
+	// 如果正在等待归零完成，调用归零完成处理
+	if (m_isZeroing)
+	{
+		handleZeroComplete(motorID, pos);
+		return;
+	}
+
+	QMutexLocker locker(&m_dataMutex);
+
+	//验证马达运动位置是否到达指定位置
+	//if (pos != m_currentPos) return;
+
+	// 记录位置信息
+	PositionsLogData data;
+	data.targetPosition = m_currentPos;
+	data.actualPosition = pos;
+	data.timestamp = QDateTime::currentDateTime();
+	data.frameRate = 10;
+	m_positionData.append(data);
+
+	// 开始自动曝光
+	m_cameraCtrl->setFramerate(m_positionData.last().frameRate);
+	emit startAutoExposureSignal();
+}
+
+void OneMotorMultiPosCoordinator::onAutoExposureFinished(double exposureTime)
+{
+	if (!m_isRunning) return;
+
+	QMutexLocker locker(&m_dataMutex);
+
+	// 在保证曝光质量的前提下，尽量提高帧率，帧率下限为10hz
+
+	m_positionData.last().exposureTime = exposureTime;
+
+	std::cout << "第" << m_counter << "次曝光：" << std::endl;
+	std::cout << "目标位置：" << m_positionData.last().targetPosition << std::endl;
+	std::cout << "实际位置：" << m_positionData.last().actualPosition << std::endl;
+	std::cout << "曝光时间：" << m_positionData.last().exposureTime << std::endl;
+
+	// 如果曝光时间过低（< 2ms），基于曝光时间计算新的帧率并重新进行自动曝光
+	if (exposureTime < 2.0) {
+		int currentFrameRate = m_positionData.last().frameRate;
+		
+		// 基于曝光时间计算理论最大帧率：fps = 1000 / exposureTime(ms)
+		// 乘以0.8作为安全系数，确保不会达到极限
+		int newFrameRate = static_cast<int>((1000.0 / exposureTime) * 0.8);
+		
+		// 设置合理的帧率范围：[currentFrameRate + 10, min(200, newFrameRate)]
+		newFrameRate = std::max(currentFrameRate + 10, newFrameRate);
+		newFrameRate = std::min(newFrameRate, 200);
+		
+		m_positionData.last().frameRate = newFrameRate;
+
+		std::cout << "曝光时间过低，基于曝光时间计算新帧率：" << currentFrameRate << " -> " << newFrameRate << std::endl;
+		std::cout << "（曝光时间 " << exposureTime << "ms -> 理论最大帧率 " << (1000.0 / exposureTime) << "fps）" << std::endl;
+
+		m_cameraCtrl->setFramerate(newFrameRate);
+	}
+
+	processNextPosition();
+}
+
+void OneMotorMultiPosCoordinator::handleError(const QString& error)
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_isRunning = false;
+	emit errorOccurred(error);
+}
+
+void OneMotorMultiPosCoordinator::processNextPosition()
+{
+	if (!m_isRunning) return;
+
+	if (m_locations.empty())
+	{
+		m_isRunning = false;
+		emit sequenceComplete(0);
+
+		// 找到曝光时间最大的那组数据
+		double maxExposureTime = 0.0;
+		double maxFrameRate = 10;
+		for (const auto& data : m_positionData) {
+			if (data.exposureTime > maxExposureTime) {
+				maxExposureTime = data.exposureTime;
+				maxFrameRate = data.frameRate;
+			}
+		}
+
+		std::cout << "自动曝光完成，使用最大曝光时间参数：" << std::endl;
+		std::cout << "  曝光时间：" << maxExposureTime << "ms" << std::endl;
+		std::cout << "  帧率：" << maxFrameRate << "Hz" << std::endl;
+
+		emit hyperAutoExposureDoneSignal(maxExposureTime, maxFrameRate);
+		m_cameraCtrl->setIntegrationTime(maxExposureTime);
+		m_cameraCtrl->setFramerate(maxFrameRate);
+
+		return;
+	}
+
+	m_currentPos = m_locations.front();
+	m_locations.erase(m_locations.begin());
+
+	emit moveTo(0, m_currentPos, m_speed, 1000);
+}

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;
@@ -138,13 +141,14 @@ public slots:
 	void startStepMotion(OneMotionCapturePathLine pathLine);
 	void stopStepMotion();
 
-	void handleCaptureCompleteWhenFrameNumberMeet();
+	void handleHyperImagerCaptureComplete();
 
 signals:
-	void sequenceComplete(int);
+	void sequenceCompleteSignal_hyperImagerStopRecord(int);
+	void sequenceCompleteSignal_motorBack2Origin(int);
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
-	void moveSignal(int, bool, double, int);
+	void moveSignal(int, double, int);
 	void stopMotorSignal(int axis);
 
 	void startRecordHSISignal();
@@ -162,6 +166,7 @@ private:
 	mutable QMutex m_dataMutex;
 
 	bool m_isRunning;
+	bool m_isHypercamStopRecord = false;
 
 	std::vector<double> m_locBeforeStart;
 	void getLocBeforeStart();
@@ -185,7 +190,7 @@ public slots:
 signals:
 	void sequenceComplete(int);
 	void moveTo(int, double, double, int);
-	void moveSignal(int, bool, double, int);
+	void moveSignal(int, double, int);
 	void stopMotorSignal(int axis);
 
 	void startRecordHSISignal();
@@ -208,3 +213,162 @@ private:
 	void getLocBeforeStart();
 	void move2LocBeforeStart();
 };
+
+
+class TwoMotor1PosCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	TwoMotor1PosCoordinator(IrisMultiMotorController* motorCtrl,
+		QObject* parent = nullptr);
+	~TwoMotor1PosCoordinator();
+
+public slots:
+	void moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	void back2origin();
+
+signals:
+	void ArrivalSignal(double xPos, double yPos);
+	void back2OriginSignal();
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void moveTo(const std::vector<double>, const std::vector<double>, int);
+	void stopMotorSignal(int axis);
+
+private slots:
+	void handlePositionReached(int motorID, double pos);
+
+private:
+	void moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	double getErrorRate(double targetLoc, double actualLoc);
+	bool checkArrival();
+	void move2Origin();
+
+	IrisMultiMotorController* m_motorCtrl;
+	mutable QMutex m_dataMutex;
+
+	bool m_isMoving2Target;
+	bool m_isMoving2Origin;
+
+	double m_targetX;
+	double m_targetY;
+	double m_speedX;
+	double m_speedY;
+
+	double m_actualX;
+	double m_actualY;
+
+	int m_retryLimit = 3;
+	int m_retryTimesX;
+	int m_retryTimesY;
+
+	bool m_xReached;
+	bool m_yReached;
+};
+
+class OneMotionCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	OneMotionCoordinator(IrisMultiMotorController* motorCtrl, QObject* parent = nullptr);
+	~OneMotionCoordinator();
+
+public slots:
+	void moveToTarget(double position, double speed);
+
+signals:
+	void sequenceComplete(int status);
+	void ArrivalSignal(double position);
+	void moveTo(int, double, double, int);
+
+private slots:
+	void handlePositionReached(int motorID, double position);
+
+private:
+	bool checkArrival();
+	double getErrorRate(double targetLoc, double actualLoc);
+
+	IrisMultiMotorController* m_motorCtrl;
+	mutable QMutex m_dataMutex;
+
+	double m_targetPosition;
+	double m_speed;
+	double m_actualPosition;
+	bool m_isMoving;
+
+	int m_retryLimit = 3;
+	int m_retryTimes;
+	bool m_reached;
+};
+
+
+
+// 数据记录结构体
+struct PositionsLogData
+{
+	double targetPosition;    // 目标位置
+	double actualPosition; // 实际马达位置
+	double frameRate;        // 帧率
+	double exposureTime;    //
+	QDateTime timestamp;   // 时间戳
+
+	PositionsLogData(double target = 0, double actual = 0.0, double exposure = 0.0, double frameRate = 10.0)
+		: targetPosition(target), actualPosition(actual), frameRate(frameRate),
+		exposureTime(exposure ), timestamp(QDateTime::currentDateTime()) {
+	}
+};
+
+// 协调控制器
+class OneMotorMultiPosCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	OneMotorMultiPosCoordinator(IrisMultiMotorController* motorCtrl,
+		ImagerOperationBase* cameraCtrl,
+		QObject* parent = nullptr);
+	~OneMotorMultiPosCoordinator();
+
+	QVector<PositionsLogData> getAllPositionData() const;
+	bool saveToCsv(const QString& filename);
+
+public slots:
+	void startStepMotion(double speed, std::vector<double> locations);
+	void stopStepMotion();
+
+signals:
+	void progressChanged(int progress);
+	void sequenceComplete(int status);
+	void sequenceStopped();
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void startAutoExposureSignal();
+	void zeroStart(int motorID);
+
+	void hyperAutoExposureDoneSignal(double exposureTime, double frameRate);
+
+private slots:
+	void handlePositionReached(int motorID, double pos);
+	void onAutoExposureFinished(double exposureTime);
+	void handleError(const QString& error);
+	void handleZeroComplete(int motorID, double pos);
+
+private:
+	void processNextPosition();
+	void startMotionSequence();
+
+	IrisMultiMotorController* m_motorCtrl;
+	ImagerOperationBase* m_cameraCtrl;
+	QVector<PositionsLogData> m_positionData;
+	mutable QMutex m_dataMutex;
+
+	double m_currentPos;
+	bool m_isRunning;
+	double m_speed;
+
+	int m_iStepInterval;
+	int m_iStepIntervalRealTime;
+	int m_counter;
+	bool m_isZeroing;
+
+	std::vector<double> m_locations;
+};

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 +1,122 @@
+#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()));
+	connect(m_tcpSocket, &QTcpSocket::readyRead, this, &CommunicationViaTCP::receiveData);
+
+	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();
+}
+
+void CommunicationViaTCP::receiveData()
+{
+	if (!isConnected()) 
+	{
+		qWarning() << "receiveData: No client connected";
+		return;
+	}
+
+	QByteArray data = m_tcpSocket->readAll();
+	if (data.isEmpty()) 
+	{
+		return;
+	}
+
+	bool ok;
+	int position = QString::fromUtf8(data).toInt(&ok);
+	if (ok)
+	{
+		qDebug() << "Received position:" << position;
+		emit positionReceived(position);
+	} else
+	{
+		qWarning() << "Failed to parse position data:" << data;
+	}
+}
+
+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 +1,47 @@
+#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 receiveData();
+        void onTcpSocketDisconnected();
+
+    signals:
+        void commandSendResult(int bytesWritten, const QString& error = QString());
+        void positionReceived(int position);
+    };
+}

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 +1,635 @@
+#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(this, &DepthCameraWindow::OpenDepthCamera_getDepthValueSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera_getDepthValue);
+
+	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::OpenDepthCamera_getDepthValue()
+{
+    if (!m_DepthCameraOperation->getRecordStatus())
+    {
+        emit OpenDepthCamera_getDepthValueSignal();
+    }
+}
+
+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::OpenDepthCamera_getDepthValue()
+{
+    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();
+
+    config->enableVideoStream(OB_STREAM_DEPTH, 640, 480, 15, OB_FORMAT_Y16);
+    config->enableVideoStream(OB_STREAM_COLOR, 640, 480, 15, OB_FORMAT_YUYV);
+    config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
+
+    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";
+
+    // 增量平均所需的变量
+    cv::Mat avgRgbMat, avgDepthMat;
+    int avgFrameCount = 0;
+
+    for (size_t i = 0; i < m_averageNumberOfTimes; i++)
+    {
+        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>();
+
+        //用于测试：保存深度图像
+        //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());
+
+        // 增量平均计算
+        if (avgFrameCount == 0)
+        {
+            avgRgbMat = cv::Mat::zeros(rgbMat.size(), CV_32FC3);
+            avgDepthMat = cv::Mat::zeros(depthMat.size(), CV_32F);
+        }
+        avgFrameCount++;
+        cv::Mat rgbFloat;
+        rgbMat.convertTo(rgbFloat, CV_32FC3);
+        avgRgbMat = avgRgbMat + (rgbFloat - avgRgbMat) / avgFrameCount;
+
+        cv::Mat depthMatTmp;
+        depthMat.convertTo(depthMatTmp, CV_32F);
+        avgDepthMat = avgDepthMat + (depthMatTmp - avgDepthMat) / avgFrameCount;
+
+
+        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();
+
+        frameIndex++;
+    }
+    m_pipe->stop();
+
+    // 对累积平均后的图像进行处理
+    double depthValue;
+    if (avgFrameCount > 0)
+    {
+        cv::Mat avgRgbResult, avgDepthResult;
+        avgRgbMat.convertTo(avgRgbResult, CV_8UC3);
+        avgDepthMat.convertTo(avgDepthResult, CV_16UC1);
+
+        // 保存平均结果图像
+        std::vector<int> pngParams;
+        pngParams.push_back(cv::IMWRITE_PNG_COMPRESSION);
+        pngParams.push_back(0);
+        pngParams.push_back(cv::IMWRITE_PNG_STRATEGY);
+        pngParams.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
+        cv::imwrite(getTestFilePath("_AvgRGB_").toStdString(), avgRgbResult, pngParams);
+        cv::imwrite(getTestFilePath("_AvgDepth_").toStdString(), avgDepthResult, pngParams);
+
+        // 创建掩膜，排除深度值为0的区域
+        cv::Mat mask = avgDepthResult != 0;
+
+        // 保存掩膜
+        cv::Mat mask8U;
+        mask.convertTo(mask8U, CV_8UC1, 255.0);
+        std::string maskName = fileNamePrefix.toStdString() + "_Mask_" + std::to_string(mask.cols) + "x" + std::to_string(mask.rows) + ".png";
+        cv::imwrite(maskName, mask8U, pngParams);
+
+        if (m_depthAlgorithm == 0)
+        {
+            depthValue = processAveragedImages_roiAvg(avgDepthResult, mask);
+        }
+        else if (m_depthAlgorithm == 1)
+        {
+            depthValue = processAveragedImages_depthRangePercentage(avgDepthResult, mask);
+        }
+        else if (m_depthAlgorithm == 2)
+        {
+            depthValue = processAveragedImages_segmentation(avgRgbResult, avgDepthResult, mask);
+        }
+    }
+
+    //计算平均深度值
+    std::cout << "Depth value: " << depthValue << " m" << std::endl;
+    emit DepthValueSignal(depthValue);
+
+    delete m_pipe;
+    m_pipe = nullptr;
+
+    record = false;
+}
+
+double DepthCameraOperation::processAveragedImages_roiAvg(const cv::Mat& avgDepthResult, const cv::Mat& mask)
+{
+    //裁剪边缘区域
+    int cropRows = static_cast<int>(avgDepthResult.rows * (1 - m_percentageOfEffectiveArea) / 2);
+    int cropCols = static_cast<int>(avgDepthResult.cols * (1 - m_percentageOfEffectiveArea) / 2);
+    cv::Rect roi(cropCols, cropRows,
+        avgDepthResult.cols - 2 * cropCols,
+        avgDepthResult.rows - 2 * cropRows);
+    cv::Mat depthRoi = avgDepthResult(roi);
+    cv::Mat maskRoi = mask(roi);
+    //计算平均深度值，使用掩膜排除深度值为0的区域
+    cv::Scalar meanDepth = cv::mean(depthRoi, maskRoi);
+    double depthValue = meanDepth[0] / 1000.0; // 转换为米
+
+	return depthValue;
+}
+
+double DepthCameraOperation::processAveragedImages_depthRangePercentage(const cv::Mat& avgDepthResult, const cv::Mat& mask)
+{
+    // 找出最大最小值
+    double minVal, maxVal;
+    cv::minMaxLoc(avgDepthResult, &minVal, &maxVal, nullptr, nullptr, mask);
+
+    // 检查是否有有效数据
+    if (minVal == std::numeric_limits<double>::max())
+    {
+        std::cout << "Warning: No valid depth pixels found in masked region!" << std::endl;
+        return 0.0;
+    }
+
+    // 返回最小值乘以m_depthRangePercentage
+    double depthValue = minVal * m_depthRangePercentage / 1000.0; // 转换为米
+
+    return depthValue;
+}
+
+double DepthCameraOperation::processAveragedImages_segmentation(const cv::Mat& avgRgbResult, const cv::Mat& avgDepthResult, const cv::Mat& mask)
+{
+    // 转换到 HSV 颜色空间进行植被分割
+    cv::Mat hsvMat;
+    cv::cvtColor(avgRgbResult, hsvMat, cv::COLOR_RGB2HSV);
+
+    // 分离通道
+    std::vector<cv::Mat> hsvChannels;
+    cv::split(hsvMat, hsvChannels);
+    cv::Mat hue = hsvChannels[0];
+    cv::Mat sat = hsvChannels[1];
+    cv::Mat val = hsvChannels[2];
+
+    // 定义绿色植被的Hue范围 (OpenCV中Hue范围是0-180，实际绿色约35-90度)
+    // 扩展范围以覆盖不同光照条件下的绿色
+    cv::Mat hueMask1 = (hue >= 35) & (hue <= 85);
+    cv::Mat satMask = sat > 30;  // 饱和度阈值，去除灰色区域
+    cv::Mat valMask = val > 50;  // 亮度阈值，去除过暗区域
+
+    // 组合条件生成植被掩膜
+    cv::Mat vmask;
+    cv::bitwise_and(hueMask1, satMask, vmask);
+    cv::bitwise_and(vmask, valMask, vmask);
+
+    // 结合深度掩膜，计算两个mask的交集
+    cv::Mat combinedMask;
+    cv::bitwise_and(mask, vmask, combinedMask);
+
+    // 保存 vmask 和 combinedMask 到 exe 所在文件夹的文件夹
+    cv::Mat vmask8U, combinedMask8U;
+    vmask.convertTo(vmask8U, CV_8UC1, 255.0);
+    combinedMask.convertTo(combinedMask8U, CV_8UC1, 255.0);
+    cv::imwrite(getTestFilePath("vmask").toStdString(), vmask8U);
+    cv::imwrite(getTestFilePath("combinedMask").toStdString(), combinedMask8U);
+
+    // 计算 avgRgbResult 在 combinedMask 区域内的平均深度值
+    double depthValue = 0.0;
+    if (cv::countNonZero(combinedMask) > 0) {
+        cv::Scalar meanDepth = cv::mean(avgDepthResult, combinedMask);
+        depthValue = meanDepth[0] / 1000.0; // 转换为米
+    } else {
+        std::cout << "Warning: No valid pixels in combined mask!" << std::endl;
+    }
+
+    return depthValue;
+}
+
+QString DepthCameraOperation::getTestFilePath(const QString& fileName)
+{
+    QString testFolder = QCoreApplication::applicationDirPath() + QDir::separator() + "depthValueTest";
+    QDir().mkpath(testFolder);
+    QString timestamp = QString::number(QDateTime::currentMSecsSinceEpoch());
+    return testFolder + QDir::separator() + fileName + "_" + timestamp + ".png";
+}
+
+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 +1,116 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <QImage>
+#include <QThread>
+#include <QDir>
+#include <QCoreApplication>
+#include <QDateTime>
+//#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);
+
+	void setDepthAlgorithm(int depthAlgorithm) { m_depthAlgorithm = depthAlgorithm; }
+	void setAverageNumberOfTimes(double averageNumberOfTimes) { m_averageNumberOfTimes = averageNumberOfTimes; }
+	void setPercentageOfEffectiveArea(double percentageOfEffectiveArea) { m_percentageOfEffectiveArea = percentageOfEffectiveArea; }
+	void setDepthRangePercentage(double depthRangePercentage) { m_depthRangePercentage = depthRangePercentage; }
+
+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;
+
+	int m_depthAlgorithm;
+	double m_averageNumberOfTimes;
+	double m_percentageOfEffectiveArea;
+	double m_depthRangePercentage;
+
+	double processAveragedImages_roiAvg(const cv::Mat& avgDepthResult, const cv::Mat& mask);
+	double processAveragedImages_depthRangePercentage(const cv::Mat& avgDepthResult, const cv::Mat& mask);
+	double processAveragedImages_segmentation(const cv::Mat& avgRgbResult, const cv::Mat& avgDepthResult, const cv::Mat& mask);
+
+	QString getTestFilePath(const QString& fileName);
+
+public slots:
+	void OpenDepthCamera();
+	void OpenDepthCamera_getDepthValue();
+	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 DepthValueSignal(double depthValue);
+
+	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 OpenDepthCamera_getDepthValue();
+	void onCamOpened();
+	void closeDepthCamera();
+	void onCamClosed();
+
+	void onSelectDataFolder();
+
+signals:
+	void openDepthCameraSignal();
+	void OpenDepthCamera_getDepthValueSignal();
+	void PlotDepthImageSignal();
+	void DepthCamClosedSignal();
+
+private:
+	Ui::DepthCameraClass ui;
+	QThread* m_DepthCameraThread;
+};

HPPA/DepthValueLogger.cpp

@@ -0,0 +1,138 @@
+#include "stdafx.h"
+#include "DepthValueLogger.h"
+#include "AppSettings.h"
+#include "fileOperation.h"
+#include <QDir>
+
+DepthValueLogger& DepthValueLogger::instance()
+{
+    static DepthValueLogger instance;
+    return instance;
+}
+
+DepthValueLogger::DepthValueLogger()
+{
+}
+
+DepthValueLogger::~DepthValueLogger()
+{
+}
+
+QString DepthValueLogger::getLogFilePath(DepthValueType type) const
+{
+    FileOperation* fileOperation = new FileOperation();
+    QString directory = QString::fromStdString(fileOperation->getDirectoryOfExe());
+    QString basePath = directory + QDir::separator() + "3DPlantPhenotypeScenario";
+
+    switch (type)
+    {
+    case DepthValueType::Plant:
+        return basePath + QDir::separator() + "plant_depth_values.txt";
+    case DepthValueType::LiftingPlatform:
+        return basePath + QDir::separator() + "LiftingPlatform_depth_values.txt";
+    default:
+        return basePath + QDir::separator() + "plant_depth_values.txt";
+    }
+}
+
+void DepthValueLogger::appendDepthValue(double depthValue, DepthValueType type)
+{
+    QString filePath = getLogFilePath(type);
+    QFileInfo fileInfo(filePath);
+    QDir dir = fileInfo.absoluteDir();
+    if (!dir.exists())
+    {
+        dir.mkpath(".");
+    }
+
+    QFile file(filePath);
+
+    if (file.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text))
+    {
+        QTextStream out(&file);
+        QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss.zzz");
+        out << timestamp << "\t" << QString::number(depthValue, 'f', 6) << "\n";
+        file.close();
+
+        emit depthValueLogged(depthValue, type);
+    }
+}
+
+double DepthValueLogger::readLatestDepthValue(DepthValueType type) const
+{
+    QString filePath = getLogFilePath(type);
+    QFile file(filePath);
+
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
+    {
+        return 0.0;
+    }
+
+    double latestValue = 0.0;
+    QTextStream in(&file);
+
+    while (!in.atEnd())
+    {
+        QString line = in.readLine().trimmed();
+        if (line.isEmpty())
+        {
+            continue;
+        }
+
+        QStringList parts = line.split("\t");
+        if (parts.size() >= 2)
+        {
+            latestValue = parts.last().toDouble();
+        }
+    }
+
+    file.close();
+    return latestValue;
+}
+
+bool DepthValueLogger::hasValidDepthValue(DepthValueType type) const
+{
+    QString filePath = getLogFilePath(type);
+    QFile file(filePath);
+
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
+    {
+        return false;
+    }
+
+    bool hasValue = false;
+    QTextStream in(&file);
+
+    while (!in.atEnd())
+    {
+        QString line = in.readLine().trimmed();
+        if (!line.isEmpty())
+        {
+            hasValue = true;
+            break;
+        }
+    }
+
+    file.close();
+    return hasValue;
+}
+
+void DepthValueLogger::appendPlantDepthValue(double depthValue)
+{
+    appendDepthValue(depthValue, DepthValueType::Plant);
+}
+
+void DepthValueLogger::appendLiftingPlatformDepthValue(double depthValue)
+{
+    appendDepthValue(depthValue, DepthValueType::LiftingPlatform);
+}
+
+double DepthValueLogger::readLatestPlantDepthValue() const
+{
+    return readLatestDepthValue(DepthValueType::Plant);
+}
+
+double DepthValueLogger::readLatestLiftingPlatformDepthValue() const
+{
+    return readLatestDepthValue(DepthValueType::LiftingPlatform);
+}

HPPA/DepthValueLogger.h

@@ -0,0 +1,41 @@
+#ifndef DEPTH_VALUE_LOGGER_H
+#define DEPTH_VALUE_LOGGER_H
+
+#include <QObject>
+#include <QString>
+
+enum class DepthValueType
+{
+    Plant,
+    LiftingPlatform
+};
+
+class DepthValueLogger : public QObject
+{
+    Q_OBJECT
+
+public:
+    static DepthValueLogger& instance();
+
+    void appendDepthValue(double depthValue, DepthValueType type);
+    double readLatestDepthValue(DepthValueType type) const;
+    bool hasValidDepthValue(DepthValueType type) const;
+
+    void appendPlantDepthValue(double depthValue);
+    void appendLiftingPlatformDepthValue(double depthValue);
+    double readLatestPlantDepthValue() const;
+    double readLatestLiftingPlatformDepthValue() const;
+
+signals:
+    void depthValueLogged(double value, DepthValueType type);
+
+private:
+    DepthValueLogger();
+    ~DepthValueLogger();
+    DepthValueLogger(const DepthValueLogger&) = delete;
+    DepthValueLogger& operator=(const DepthValueLogger&) = delete;
+
+    QString getLogFilePath(DepthValueType type) const;
+};
+
+#endif

HPPA/FiberSpectrometerOperationBase.h

@@ -0,0 +1,61 @@
+//
+// Created by tangchao on 2022/1/11.
+//
+
+#ifndef OCEAN_OPTICS_CALIBRATION_CONSOLE_FIBERSPECTROMETEROPERATIONBASE_H
+#define OCEAN_OPTICS_CALIBRATION_CONSOLE_FIBERSPECTROMETEROPERATIONBASE_H
+
+
+#include "ZZ_Types.h"
+
+using namespace ZZ_MISCDEF;
+using namespace ZZ_MISCDEF::IRIS::FS;
+
+class FiberSpectrometerOperationBase
+{
+
+public:
+//    FiberSpectrometerOperationBase();
+//    ~FiberSpectrometerOperationBase();
+
+    virtual void connectFiberSpectrometer(QString& sn, QString& pixelCount, QString& wavelengthInfo) = 0;
+    virtual void disconnectFiberSpectrometer() = 0;
+    virtual void getDeviceAttribute(DeviceAttribute& deviceAttribute) = 0;
+    virtual void getDeviceInfo(DeviceInfo& deviceInfo) = 0;
+
+    virtual void setExposureTime(int iExposureTimeInMS) = 0;
+
+    virtual void getExposureTime(int &iExposureTimeInMS) = 0;
+    virtual void getDeviceTemperature(float &fTemperature) = 0;
+
+    virtual void singleShot(DataFrame &dfData) = 0;
+
+//    typedef struct coeffs
+//    {
+//        ZZ_U32    coeffsCounter;
+//        double    coeffs[100];
+//    }coeffsFrame;
+    virtual void getNonlinearityCoeffs(coeffsFrame &coeffs) = 0;
+
+
+//    ZZ_S32 GetMaxValue(ZZ_S32 * dark, int number) = 0;
+
+    DataFrame m_IntegratingSphereData;
+    DataFrame m_DarkData;
+protected:
+    ZZ_U32 m_MaxValueOfFiberSpectrometer;
+private:
+
+
+
+public slots:
+    virtual void recordDark(QString path) = 0;
+    virtual void recordTarget2csv(int recordTimes, QString path) = 0;
+    virtual void autoExpose() = 0;
+
+    signals:
+    void sendExposureTimeSignal(int exposureTime);
+
+};
+
+#endif //OCEAN_OPTICS_CALIBRATION_CONSOLE_FIBERSPECTROMETEROPERATIONBASE_H

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/FocusDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>557</width>
-    <height>432</height>
+    <width>582</width>
+    <height>465</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -154,7 +154,7 @@ QSlider::handle:horizontal:pressed {
 	border: 1px solid #2f6bff;
 }</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_7">
+     <layout class="QGridLayout" name="gridLayout_10">
       <property name="leftMargin">
        <number>0</number>
       </property>
@@ -168,7 +168,7 @@ QSlider::handle:horizontal:pressed {
        <number>0</number>
       </property>
       <property name="spacing">
-       <number>10</number>
+       <number>6</number>
       </property>
       <item row="0" column="0">
        <widget class="QWidget" name="titlebarWidget" native="true">
@@ -242,23 +242,11 @@ QSlider::handle:horizontal:pressed {
       </item>
       <item row="1" column="0">
        <widget class="QWidget" name="widget" native="true">
-        <layout class="QGridLayout" name="gridLayout_2">
-         <property name="leftMargin">
-          <number>10</number>
-         </property>
-         <property name="topMargin">
-          <number>10</number>
-         </property>
-         <property name="rightMargin">
-          <number>10</number>
-         </property>
-         <property name="bottomMargin">
-          <number>10</number>
-         </property>
+        <layout class="QGridLayout" name="gridLayout_2" columnstretch="2,3">
          <property name="spacing">
-          <number>10</number>
+          <number>9</number>
          </property>
-         <item row="0" column="0" rowspan="2">
+         <item row="0" column="0">
           <widget class="QWidget" name="connectFocusModule_widget" native="true">
            <property name="styleSheet">
             <string notr="true">QWidget #connectFocusModule_widget
@@ -274,85 +262,185 @@ QRadioButton
            </property>
            <layout class="QGridLayout" name="gridLayout">
             <property name="leftMargin">
-             <number>9</number>
+             <number>0</number>
             </property>
             <property name="topMargin">
-             <number>9</number>
+             <number>0</number>
             </property>
             <property name="rightMargin">
-             <number>9</number>
+             <number>0</number>
             </property>
             <property name="bottomMargin">
-             <number>9</number>
+             <number>0</number>
             </property>
-            <item row="0" column="0">
-             <widget class="QLabel" name="label">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
-               <string>连接调焦模块</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QLabel" name="label_2">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="text">
-               <string>线性平台</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QComboBox" name="motorPort_comboBox"/>
-            </item>
-            <item row="2" column="0">
-             <widget class="QRadioButton" name="ultrasound_radioButton">
-              <property name="text">
-               <string>超声</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QComboBox" name="ultrasoundPort_comboBox">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <widget class="QRadioButton" name="is_new_version_radioButton">
-              <property name="text">
-               <string>新版</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <spacer name="horizontalSpacer_2">
-              <property name="orientation">
-               <enum>Qt::Horizontal</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>107</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item row="4" column="0" colspan="2">
-             <widget class="QPushButton" name="connectMotor_btn">
-              <property name="text">
-               <string>连接线性平台</string>
+            <property name="spacing">
+             <number>0</number>
+            </property>
+            <item row="0" column="1">
+             <widget class="QGroupBox" name="groupBox">
+              <property name="title">
+               <string>连接调焦线性平台</string>
               </property>
+              <layout class="QGridLayout" name="gridLayout_7">
+               <item row="0" column="0">
+                <widget class="QRadioButton" name="is_new_version_radioButton">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="text">
+                  <string>新版</string>
+                 </property>
+                 <property name="checkable">
+                  <bool>true</bool>
+                 </property>
+                 <property name="checked">
+                  <bool>true</bool>
+                 </property>
+                 <property name="autoExclusive">
+                  <bool>false</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="1">
+                <spacer name="horizontalSpacer_2">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item row="1" column="0" colspan="2">
+                <widget class="QStackedWidget" name="stackedWidget_connetcParm">
+                 <property name="currentIndex">
+                  <number>0</number>
+                 </property>
+                 <widget class="QWidget" name="page">
+                  <layout class="QGridLayout" name="gridLayout_12">
+                   <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>
+                  </layout>
+                 </widget>
+                 <widget class="QWidget" name="page_2">
+                  <layout class="QGridLayout" name="gridLayout_13">
+                   <item row="0" column="0">
+                    <widget class="QLabel" name="label_2">
+                     <property name="enabled">
+                      <bool>true</bool>
+                     </property>
+                     <property name="text">
+                      <string>线性平台</string>
+                     </property>
+                     <property name="alignment">
+                      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="0" column="1">
+                    <widget class="QComboBox" name="motorPort_comboBox"/>
+                   </item>
+                   <item row="1" column="0">
+                    <widget class="QRadioButton" name="ultrasound_radioButton">
+                     <property name="text">
+                      <string>超声</string>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="1" column="1">
+                    <widget class="QComboBox" name="ultrasoundPort_comboBox">
+                     <property name="enabled">
+                      <bool>false</bool>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </widget>
+                </widget>
+               </item>
+               <item row="2" column="0" colspan="2">
+                <widget class="QPushButton" name="connectMotor_btn">
+                 <property name="text">
+                  <string>连接</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="0">
+                <spacer name="horizontalSpacer">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item row="3" column="1">
+                <layout class="QHBoxLayout" name="horizontalLayout">
+                 <item>
+                  <widget class="QLabel" name="label_4">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="text">
+                    <string>状态</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="motor_state_label">
+                   <property name="maximumSize">
+                    <size>
+                     <width>8</width>
+                     <height>8</height>
+                    </size>
+                   </property>
+                   <property name="sizeIncrement">
+                    <size>
+                     <width>8</width>
+                     <height>8</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">QLabel#motor_state_label
+{
+	background-color: red;
+	border-radius: 4px;
+}</string>
+                   </property>
+                   <property name="text">
+                    <string/>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </item>
+              </layout>
              </widget>
             </item>
            </layout>
@@ -368,151 +456,147 @@ QRadioButton
 }</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_3">
-            <item row="2" column="0">
-             <widget class="QPushButton" name="moveto_btn">
-              <property name="text">
-               <string>移动至</string>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="0">
-             <widget class="QPushButton" name="logicZero_btn">
-              <property name="text">
-               <string>LogicZero</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1" colspan="2">
-             <widget class="QLineEdit" name="move2_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>10</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <widget class="QPushButton" name="add_btn">
-              <property name="text">
-               <string>+</string>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="1" colspan="2">
-             <widget class="QLineEdit" name="subtractStepSize_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>10</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QPushButton" name="updateCurrentLocation_btn">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="minimumSize">
-               <size>
-                <width>0</width>
-                <height>34</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>更新实时位置</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1" colspan="2">
-             <widget class="QLineEdit" name="addStepSize_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>10</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="2">
-             <widget class="QPushButton" name="rangeMeasurement_btn">
-              <property name="text">
-               <string>量程测量</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1" colspan="2">
-             <widget class="QLineEdit" name="currentLocation_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>null</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="0">
-             <widget class="QPushButton" name="subtract_btn">
-              <property name="text">
-               <string>-</string>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="1">
-             <widget class="QPushButton" name="max_btn">
-              <property name="text">
-               <string>max</string>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="0">
-             <widget class="QLabel" name="label_5">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
+            <item row="0" column="2">
+             <widget class="QGroupBox" name="groupBox_2">
+              <property name="title">
                <string>调整线性平台</string>
               </property>
+              <layout class="QGridLayout" name="gridLayout_8">
+               <item row="0" column="0">
+                <widget class="QPushButton" name="updateCurrentLocation_btn">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>34</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>更新实时位置</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="0">
+                <widget class="QPushButton" name="subtract_btn">
+                 <property name="text">
+                  <string>-</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="0">
+                <widget class="QPushButton" name="add_btn">
+                 <property name="text">
+                  <string>+</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="0">
+                <widget class="QPushButton" name="logicZero_btn">
+                 <property name="text">
+                  <string>LogicZero</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="1" colspan="2">
+                <widget class="QLineEdit" name="move2_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="1" colspan="2">
+                <widget class="QLineEdit" name="subtractStepSize_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>1</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="0">
+                <widget class="QPushButton" name="moveto_btn">
+                 <property name="text">
+                  <string>移动至</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="1" colspan="2">
+                <widget class="QLineEdit" name="currentLocation_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>null</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="1">
+                <widget class="QPushButton" name="max_btn">
+                 <property name="text">
+                  <string>max</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="2">
+                <widget class="QPushButton" name="rangeMeasurement_btn">
+                 <property name="text">
+                  <string>量程测量</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="1" colspan="2">
+                <widget class="QLineEdit" name="addStepSize_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>1</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+              </layout>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
-         <item row="1" column="1">
+         <item row="1" column="0" colspan="2">
           <widget class="QWidget" name="controlFocus_widget" native="true">
            <property name="styleSheet">
             <string notr="true">QWidget #controlFocus_widget
@@ -521,53 +605,53 @@ QRadioButton
 	border-radius: 5px 5px 5px 5px;
 }</string>
            </property>
-           <layout class="QGridLayout" name="gridLayout_4">
-            <item row="0" column="0">
-             <widget class="QLabel" name="label_4">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
+           <layout class="QGridLayout" name="gridLayout_4" columnstretch="1,2">
+            <item row="0" column="1">
+             <widget class="QGroupBox" name="groupBox_3">
+              <property name="title">
+               <string>自动调焦</string>
               </property>
-              <property name="text">
-               <string>调焦</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QLabel" name="label_3">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="text">
-               <string>采样率</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QLineEdit" name="sample_ratio_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>20</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="0">
-             <widget class="QProgressBar" name="autoFocusProgress_progressBar">
-              <property name="styleSheet">
-               <string notr="true">QProgressBar {
+              <layout class="QGridLayout" name="gridLayout_9">
+               <item row="0" column="0">
+                <widget class="QLabel" name="label_3">
+                 <property name="enabled">
+                  <bool>true</bool>
+                 </property>
+                 <property name="text">
+                  <string>采样数</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="1">
+                <widget class="QLineEdit" name="sample_ratio_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>20</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="1">
+                <widget class="QPushButton" name="autoFocus_btn">
+                 <property name="text">
+                  <string>自动调焦</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="0">
+                <widget class="QProgressBar" name="autoFocusProgress_progressBar">
+                 <property name="styleSheet">
+                  <string notr="true">QProgressBar {
         border: 2px solid #08FACE;       /* 边框颜色和宽度 */
         border-radius: 8px;           /* 圆角 */
         background-color: #eee;       /* 未完成部分颜色 */
@@ -579,37 +663,29 @@ QRadioButton
         background-color: #08FACE;                          /* 渐变色进度块 */
         border-radius: 8px;             /* 保持和整体圆角一致 */
     }</string>
-              </property>
-              <property name="value">
-               <number>24</number>
-              </property>
+                 </property>
+                 <property name="value">
+                  <number>24</number>
+                 </property>
+                </widget>
+               </item>
+              </layout>
              </widget>
             </item>
-            <item row="2" column="1">
-             <widget class="QPushButton" name="autoFocus_btn">
-              <property name="text">
-               <string>自动调焦</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <spacer name="horizontalSpacer">
-              <property name="orientation">
-               <enum>Qt::Horizontal</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>171</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item row="3" column="1">
-             <widget class="QPushButton" name="manualFocus_btn">
-              <property name="text">
+            <item row="0" column="0">
+             <widget class="QGroupBox" name="groupBox_4">
+              <property name="title">
                <string>手动调焦</string>
               </property>
+              <layout class="QGridLayout" name="gridLayout_11">
+               <item row="0" column="0">
+                <widget class="QPushButton" name="manualFocus_btn">
+                 <property name="text">
+                  <string>手动调焦</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
              </widget>
             </item>
            </layout>

HPPA/FodisWindow.cpp

@@ -0,0 +1,128 @@
+#include "FodisWindow.h"
+#include "JinspFiberImagerConfig.h"
+
+FodisWindow::FodisWindow(QWidget* parent)
+    : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    m_FiberImagerThread = new QThread();
+    m_JinspFiberImagerOperation = new JinspFiberImager(false, JinspFiberImagerConfig::instance().portName().toStdString(), "JINSP");
+    connect(m_JinspFiberImagerOperation, &JinspFiberImager::spectalCaptured, this, &FodisWindow::spectalCaptured);
+    connect(m_JinspFiberImagerOperation, &JinspFiberImager::startExposureSignal, this, &FodisWindow::startExposureSignal);
+    connect(m_JinspFiberImagerOperation, &JinspFiberImager::exposureCompleteSignal, this, &FodisWindow::exposureCompleteSignal);
+    m_JinspFiberImagerOperation->moveToThread(m_FiberImagerThread);
+    m_FiberImagerThread->start();
+
+    connect(ui.open_btn, &QPushButton::clicked, this, &FodisWindow::openFiberImager);
+    connect(ui.close_btn, &QPushButton::clicked, this, &FodisWindow::closeFiberImager);
+
+    connect(this, &FodisWindow::openFiberImagerSignal, m_JinspFiberImagerOperation, &JinspFiberImager::OpenFiberImagerAndRecord);
+
+    //connect(m_JinspFiberImagerOperation, &JinspFiberImager::CamOpenedSignal, this, &FodisWindow::onCamOpened);
+    //connect(m_JinspFiberImagerOperation, &JinspFiberImager::CamClosedSignal, this, &FodisWindow::onCamClosed);
+
+    //connect(m_JinspFiberImagerOperation, &JinspFiberImager::PlotSignal, this, &FodisWindow::PlotSpectralSignal);
+    //connect(m_JinspFiberImagerOperation, &JinspFiberImager::CamClosedSignal, this, &FodisWindow::FiberImagerClosedSignal);
+
+    connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
+
+    connect(ui.fileNameLineEdit, &QLineEdit::textChanged, this, &FodisWindow::onFileNameChanged);
+
+    loadSettings();
+}
+
+FodisWindow::~FodisWindow()
+{
+    m_FiberImagerThread->quit();
+    m_FiberImagerThread->wait();
+    delete m_JinspFiberImagerOperation;
+    m_JinspFiberImagerOperation = nullptr;
+}
+
+void FodisWindow::loadSettings()
+{
+    ui.dataFolderLineEdit->setText(AppSettings::instance().FiberImagerDataFolder());
+    ui.fileNameLineEdit->setText(AppSettings::instance().fodisCameraFileName());
+}
+
+void FodisWindow::onSelectDataFolder()
+{
+    QString dir = QFileDialog::getExistingDirectory(this,
+        QString::fromLocal8Bit("选择数据保存路径"),
+        ui.dataFolderLineEdit->text());
+
+    setDataFolder(dir);
+}
+
+void FodisWindow::setDataFolder(QString dir)
+{
+    if (!dir.isEmpty())
+    {
+        ui.dataFolderLineEdit->setText(dir);
+        AppSettings::instance().setFiberImagerDataFolder(dir);
+    }
+}
+
+void FodisWindow::setFileName(QString name)
+{
+    ui.fileNameLineEdit->setText(name);
+    AppSettings::instance().setFodisCameraFileName(name);
+}
+
+void FodisWindow::onFileNameChanged(const QString& text)
+{
+    AppSettings::instance().setFodisCameraFileName(text);
+}
+
+void FodisWindow::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_JinspFiberImagerOperation->setCaptureInterval(captureIntervalSeconds);
+}
+
+void FodisWindow::openFiberImager()
+{
+    openFiberImager_expose_record("pos_null");
+}
+
+void FodisWindow::openFiberImager_expose_record(QString posInfo, QString dataFolder)
+{
+    setDataFolder(dataFolder);
+    setFileName(posInfo);
+
+    if (!m_JinspFiberImagerOperation->getRecordStatus())
+    {
+        QString folder = AppSettings::instance().FiberImagerDataFolder();
+        QDir dir(folder);
+        if (!dir.exists())
+        {
+            dir.mkpath(".");
+        }
+        QString eventPrefix = posInfo.isEmpty() ? "default" : posInfo;
+        QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
+        QString m_qstrFullFileName = folder + QDir::separator() + dateStr + "_" + eventPrefix + "_fodis_data.dat";
+
+        emit openFiberImagerSignal(m_qstrFullFileName);
+    }
+}
+
+void FodisWindow::onCamOpened()
+{
+    ui.open_btn->setEnabled(false);
+    ui.close_btn->setEnabled(true);
+
+    ui.open_btn->setText(QString::fromLocal8Bit("已打开"));
+}
+
+void FodisWindow::closeFiberImager()
+{
+    m_JinspFiberImagerOperation->disconnectFiberSpectrometer();
+}
+
+void FodisWindow::onCamClosed()
+{
+    ui.open_btn->setEnabled(true);
+    ui.close_btn->setEnabled(false);
+
+    ui.open_btn->setText(QString::fromLocal8Bit("打   开"));
+}

HPPA/FodisWindow.h

@@ -0,0 +1,60 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <QImage>
+#include <Qthread>
+#include <QDir>
+//#include <QLabel>
+#include <QFileDialog>
+
+#include <iostream>
+#include "ui_fodis.h"
+#include "AppSettings.h"
+
+#include <fstream>
+
+#include "JinspFiberImager.h"
+
+class FodisWindow : public QDialog
+{
+	Q_OBJECT
+
+public:
+	FodisWindow(QWidget* parent = nullptr);
+	~FodisWindow();
+
+	void setDataFolder(QString dir);
+	void setCaptureInterval(int captureIntervalSeconds);
+
+public Q_SLOTS:
+	void openFiberImager();
+	void openFiberImager_expose_record(QString posInfo, QString dataFolder = "");
+	void onCamOpened();
+	void closeFiberImager();
+	void onCamClosed();
+
+	void onSelectDataFolder();
+	void onFileNameChanged(const QString& text);
+	void setFileName(QString name);
+
+signals:
+	void openFiberImagerSignal(QString filePath);
+	void PlotSpectralSignal();
+	void FiberImagerClosedSignal();
+
+	void spectalCaptured(DeviceAttribute attribute, DataFrame dataFrame);
+
+	void startExposureSignal();
+	void exposureCompleteSignal(int exposureTime);
+
+private:
+	Ui::FodisWindow ui;
+	QThread* m_FiberImagerThread;
+
+	JinspFiberImager* m_JinspFiberImagerOperation;
+
+	void loadSettings();
+};

HPPA/GonggaShanRecordCtl.h

@@ -0,0 +1,350 @@
+#pragma once
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <vector>
+#include <QPointer>
+
+#include <QDateTime>
+#include <QFile>
+#include <QTextStream>
+#include <QDir>
+#include <QStateMachine>
+#include <QSignalTransition>
+#include <QFinalState>
+#include <QTimer>
+#include <QSerialPort>
+#include <QElapsedTimer>
+
+#include "ui_gonggashanCtl.h"
+
+#include "CommunicationViaTCP.h"
+#include "AppSettings.h"
+
+class GsbGpsParse;
+class GsbGpsReader;
+
+// ============ 执行阶段枚举 ============
+enum class GonggaShanExecPhase {
+    Idle,            // 空闲
+    Preparation,     // 准备阶段
+    HyperExposure,   // 高光谱传感器曝光
+    FiberExposure,   // 光纤光谱仪曝光
+    GpsAcquisition,  // 获取GPS位置
+    MotorCalc,       // 计算马达速度
+    DataCollection,  // 开始采集：高光谱、FODIS、rgb相机
+    Completed        // 完成
+};
+
+// ============ 任务执行器 ============
+class GonggashanTaskExecutor : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit GonggashanTaskExecutor(QObject* parent = nullptr);
+    ~GonggashanTaskExecutor();
+
+    bool isRunning() const { return m_machine && m_machine->isRunning() && !m_machine->configuration().isEmpty(); }
+
+public slots:
+    void start(const QString& posInfo);
+    void stop();
+
+    void onHyperExposureComplete(double exposureTime, double frameRate);
+    void onFiberExposureComplete(double exposureTime);
+    void onGpsAcquired(double latitude, double longitude, double altitude);
+    void onMotorSpeedCalculated(double rotationSpeed);
+    void onRcordComplete();
+
+signals:
+    void hyperAutoExposureSignal_gonggashan();
+    void fiberExposureRecordSignal(QString posInfo, QString dataFolder);
+    void gpsAcquisitionSignal();
+    void motorSpeedSignal(double speed);
+    void startCollectionSignal(const QString& posInfo, const QString& gpsData, double m_motorRotationSpeed, QString dataFolder);
+
+    void calculateMotorSpeedSignal(double hyperFrameRate);
+
+    void finished(bool success);
+    void errorOccurred(const QString& error);
+
+    // ---- 以下为状态机内部信号，供 transition 使用 ----
+    void taskStartRequested(const QString& posInfo);
+    void preparationComplete();
+    void hyperExposureDone();
+    void fiberExposureDone();
+    void gpsAcquisitionDone();
+    void motorSpeedDone();
+    void dataCollectionDone();
+    void stopRequested();
+
+protected:
+    virtual bool preparationImpl();
+    virtual bool hyperExposureImpl(int exposureTime);
+    virtual bool fiberExposureImpl(int exposureTime);
+    virtual bool gpsAcquisitionImpl(double lat, double lon, double alt);
+    virtual bool motorCalcImpl();
+
+private slots:
+    void onFinalStateEntered();
+
+private:
+    void buildStateMachine();
+    QState* currentState() const;
+    void leavePhase(QState* state);
+
+    QString m_posInfo;
+    QString m_gpsData;
+    double m_motorRotationSpeed = 0.0;
+    double m_hyperExposureTime = 0;
+    double m_hyperFrameRate = 0;
+    double m_fiberExposureTime = 0;
+    bool m_stopRequested = false;
+    QString m_todayDataFolder;  // 当天日期的数据保存文件夹
+
+    // Qt State Machine
+    QStateMachine* m_machine = nullptr;
+    QState* m_hyperExposureState = nullptr;
+    QState* m_fiberExposureState = nullptr;
+    QState* m_gpsAcquisitionState = nullptr;
+    QState* m_motorCalcState = nullptr;
+    QState* m_dataCollectionState = nullptr;
+    QFinalState* m_finalState = nullptr;
+};
+
+class GonggaShanRecordCtl : public QDialog
+{
+	Q_OBJECT
+
+public:
+	GonggaShanRecordCtl(QWidget* parent = nullptr);
+	~GonggaShanRecordCtl();
+
+    void recordHsiFinished();
+
+public Q_SLOTS:
+	void onFiberImagerStartExposureSignal();
+	void onRcordFinished();
+	void onFiberImagerExposureCompleteSignal(int exposureTime);
+
+Q_SIGNALS:
+    void gpsAcquisitionDoneSignal_gonggashan(double lat, double lon, double alt);
+
+    void calculateMotorSpeedDoneSignal_gonggashan(double rotationSpeed);
+
+    void hyperAutoExposureSignal_gonggashan();
+    void hyperAutoExposureDoneSignal_gonggashan(double exposureTime, double frameRate);
+
+    void fiberExposureRecordSignal_gonggashan(QString posInfo, QString dataFolder);
+    void fiberExposureDoneSignal_gonggashan(double exposureTime);
+
+	void startRcordSignal_gonggashan(const QString& posInfo, const QString& gpsData, double m_motorRotationSpeed, QString dataFolder);
+    void recordFinishedSignal_gonggashan();
+
+private Q_SLOTS:
+	void startListen();
+	void stopListen();
+
+	void startRecord(int position);
+
+	// GonggashanTaskExecutor 反馈槽
+	void onTaskExecutorFinished(bool success);
+
+    void onGpsAcquisition();
+    void onCalculateMotorSpeed(double hyperFrameRate);
+
+private:
+	void logStatus(const QString& message, bool isHearderBlankLine = false, bool isTailBlankLine = false);
+
+	Ui::gongga_control ui;
+	QPointer<MotorParams::CommunicationViaTCP> tcpServer6005;
+	GonggashanTaskExecutor* m_taskExecutor;  // 新增
+	QString m_logFilePath;
+	QFile m_logFile;
+	QTextStream m_logStream;
+
+	// GPS 串口读取器
+	GsbGpsReader* m_gpsReader = nullptr;
+};
+
+// ============ USB GPS NMEA-0183 解析器 (G6301, COM17) ============
+class GsbGpsParse : public QObject
+{
+    Q_OBJECT
+
+public:
+    // GPS数据有效性状态
+    enum class GpsStatus {
+        Invalid,       // 无效或未定位
+        Valid,         // 有效定位
+        Differential   // 差分定位
+    };
+
+    // GPS解析数据结构
+    struct GpsData {
+        QString rawNmea;          // 原始NMEA语句
+        QString utcTime;          // UTC时间 (HHMMSS.SSS)
+        QString utcDate;          // UTC日期 (DDMMYY)
+        double latitude = 0.0;    // 纬度 (十进制度)
+        double longitude = 0.0;   // 经度 (十进制度)
+        double altitude = 0.0;    // 高程 (米)
+        int satelliteCount = 0;   // 卫星数目
+        GpsStatus status = GpsStatus::Invalid;  // 定位状态
+        bool isValid = false;     // 综合有效性
+        bool hasGga = false;      // 是否已收到GPGGA语句
+        bool hasRmc = false;      // 是否已收到GPRMC语句
+    };
+
+    explicit GsbGpsParse(QObject* parent = nullptr);
+    ~GsbGpsParse() = default;
+
+    // 设置最小卫星数目要求 (默认4颗)
+    void setMinSatelliteCount(int count) { m_minSatelliteCount = count; }
+    int minSatelliteCount() const { return m_minSatelliteCount; }
+
+    // 解析单条NMEA语句
+    bool parseNmeaSentence(const QString& sentence);
+
+    // 获取当前解析的GPS数据
+    const GpsData& gpsData() const { return m_gpsData; }
+
+    // 检查GPS数据是否有效
+    bool isGpsDataValid() const;
+
+    // 格式化输出
+    QString toDisplayString() const;
+
+    // 获取状态描述
+    QString statusDescription() const;
+
+signals:
+    void gpsDataUpdated(const GpsData& data);
+    void gpsStatusChanged(bool isValid);
+
+private:
+    // 解析 $GPGGA - GPS定位数据
+    bool parseGpgga(const QStringList& fields);
+
+    // 解析 $GPRMC - 推荐最小定位数据
+    bool parseGprmc(const QStringList& fields);
+
+    // NMEA校验
+    bool validateNmeaChecksum(const QString& sentence);
+
+    // 转换纬度格式 (DDMM.MMMM -> DD.DDDDD)
+    double convertLatitude(const QString& degMin, const QString& direction);
+
+    // 转换经度格式 (DDDMM.MMMM -> DDD.DDDDD)
+    double convertLongitude(const QString& degMin, const QString& direction);
+
+    // 检查数据有效性
+    void validateData();
+
+    GpsData m_gpsData;
+    int m_minSatelliteCount = 4;  // 默认要求至少4颗卫星
+    QString m_pendingTime;
+    QString m_pendingDate;
+};
+
+// ============ USB GPS 串口读取器 (G6301, COM17) ============
+class GsbGpsReader : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit GsbGpsReader(QObject* parent = nullptr);
+    ~GsbGpsReader();
+
+    // 打开指定串口
+    bool openPort(const QString& portName, qint32 baudRate = 4800);
+
+    // 关闭串口
+    void closePort();
+
+    // 串口是否打开
+    bool isPortOpen() const;
+
+    // 获取GPS解析器（用于设置参数如最小卫星数）
+    GsbGpsParse* gpsParser() { return &m_parser; }
+    const GsbGpsParse* gpsParser() const { return &m_parser; }
+
+    // 获取GPS数据
+    GsbGpsParse::GpsData currentGpsData() const;
+
+    // 等待有效GPS数据 (带超时)
+    bool waitForValidData(int timeoutMs = 30000);
+
+signals:
+    void gpsDataReady(const GsbGpsParse::GpsData& data);
+    void portOpened();
+    void portClosed();
+    void portError(const QString& error);
+
+private slots:
+    void onReadyRead();
+
+private:
+    GsbGpsParse m_parser;
+    QSerialPort* m_serialPort;
+};
+
+// ============ 帧率与旋转速度计算器 ============
+class FramerateRotateSpeedCal : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit FramerateRotateSpeedCal(QObject* parent = nullptr);
+    ~FramerateRotateSpeedCal() = default;
+
+    // 设置参数
+    void setAltitude(double altitude) { m_altitude = altitude; }
+    void setVerticalFov(double fovDegrees) { m_verticalFov = fovDegrees; }
+    void setVerticalPixels(int pixels) { m_verticalPixels = pixels; }
+    void setFramerate(double framerate) { m_framerate = framerate; }
+
+    // 获取参数
+    double altitude() const { return m_altitude; }
+    double verticalFov() const { return m_verticalFov; }
+    int verticalPixels() const { return m_verticalPixels; }
+    double framerate() const { return m_framerate; }
+
+    // 计算垂直航向分辨率（地面分辨率）
+    // 基于高度、视场角和像素个数
+    // 公式: resolution = 2 * altitude * tan(FOV/2) / pixels
+    double calculateVerticalGroundResolution();
+
+    // 计算速度
+    // 基于帧率和垂直航向分辨率
+    // 公式: speed = framerate * ground_resolution
+    double calculateSpeed();
+
+    // 计算旋转速度
+    // 基于高度和计算出的速度
+    // 公式: rotation_speed = speed / (2 * PI * altitude)
+    double calculateRotationSpeed();
+
+    // 一站式计算：设置参数后一次性计算所有结果
+    double calculate(double altitude, double verticalFov, int verticalPixels, double framerate);
+
+    // 获取计算结果
+    double groundResolution() const { return m_groundResolution; }
+    double speed() const { return m_speed; }
+    double rotationSpeed() const { return m_rotationSpeedDegPerSec; }
+
+signals:
+    void calculationCompleted(double groundResolution, double speed, double rotationSpeed);
+
+private:
+	double m_pi = 3.14159265358979323846; // 圆周率
+    double m_altitude = 0.0;           // 高度（米）
+    double m_verticalFov = 0.0;        // 垂直视场角（度）
+    int m_verticalPixels = 0;          // 垂直方向像素个数
+    double m_framerate = 0.0;          // 帧率（Hz）
+
+    double m_groundResolution = 0.0;   // 垂直航向分辨率（米/像素）
+    double m_speed = 0.0;              // 速度（米/秒）
+    double m_rotationSpeedDegPerSec = 0.0;      // 旋转速度（度/秒）
+};

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

@@ -13,6 +13,7 @@
 #include <QChart>
 #include <QChartView>
 #include <QValueAxis>
+#include <QPointer>
 #include <QFileDialog>
 
 #include <QNetworkRequest>
@@ -73,6 +74,25 @@
 
 #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"
+#include "FodisWindow.h"
+
+#include "GonggaShanRecordCtl.h"
+
+#include <algorithm>
+
 #define PI 3.1415926
 
 QT_CHARTS_USE_NAMESPACE//QChartView 使用 需要加宏， 否则无法使用
@@ -179,6 +199,26 @@ private:
 	QPixmap m_pixmap;
 };
 
+class ImageStretchWorker : public QObject
+{
+	Q_OBJECT
+public:
+	explicit ImageStretchWorker(QObject* parent = nullptr);
+	~ImageStretchWorker();
+public slots:
+	void processImage(const cv::Mat& rgbImage, int fileNumber, const QString& filePath, float ratio = 0.02f);
+signals:
+	void imageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
+	void processingError(int fileNumber, const QString& filePath, const QString& error);
+private:
+	cv::Mat CStretch(const cv::Mat& img, float ratio);
+	cv::Mat CStretchDeal(const cv::Mat& img, uint minnum, uint maxnum);
+	std::vector<cv::Point2f> CHistogram(const cv::Mat& img);
+	uint MaxRatio(const std::vector<cv::Point2f>& data, float ratio);
+	uint MinRatio(const std::vector<cv::Point2f>& data, float ratio);
+	QImage Mat2QImage(const cv::Mat& cvImg);
+};
+
 class HPPA : public QMainWindow
 {
 	Q_OBJECT
@@ -206,7 +246,7 @@ private:
 	QWidget* tmp(QWidget* a);
 
 	QLineEdit * frame_number;
-	QLineEdit * m_FilenameLineEdit;
+	FileNameLineEdit * m_FilenameLineEdit;
 	QLabel * xmotor_state_label1;
 	QLabel * ymotor_state_label1;
 
@@ -217,7 +257,7 @@ 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 +279,7 @@ 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);
 
@@ -264,18 +304,28 @@ 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;
+	OneMotorControl_LiftingPlatform* m_omc_LiftingPlatform;
 	TwoMotorControl* m_tmc;
+	FodisWindow* m_fodisWindow;
+	GonggaShanRecordCtl* m_gonggaShanRecordCtl;
+	QPointer<TimedDataCollection> m_tdc;
 
 	View3DModelManager* m_view3DModelManager;
 
@@ -295,10 +345,30 @@ private:
 	QWidget* m_focusTab=nullptr;
 
 	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();
+
+	QThread* m_ImageStretchThread = nullptr;
+	ImageStretchWorker* m_ImageStretchWorker = nullptr;
+
+	// 用于临时显示的未拉伸图像（可选，用于快速预览）
+	void showQuickPreview(int fileNumber, const QString& filePath, const cv::Mat& rgbImage);
+
+
+	QChart* m_FiberImagerChart;
+	void showFiberImagerSpectral(DeviceAttribute attribute, DataFrame dataFrame);
+
+	void setupGonggashanAutoRecordConnection();
 	
+
 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 +383,7 @@ public Q_SLOTS:
 	void onFocus2(int command);
 	void onFocusWindowClosed();
 	void onAbout();
+	void settingWindow();
 	void onDark();
 	void recordDarkFinish();
 	void onReference();
@@ -336,8 +407,13 @@ 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();
 
@@ -346,13 +422,21 @@ public Q_SLOTS:
 		void recordFromRobotArm(int fileCounter);
 
 		void createOneMotorScenario();
+		void createGonggaRotatingPlatformScenario();
 		void createPlantPhenotypeScenario();
+		void create3DPlantPhenotypeScenario();
 		void onCreated3DModelPlantPhenotype();
+		void onCreated3DModelMicroscopicMotion();
+		void createMicroscopicMotionControlScenario();
 		void onCreated3DModelOneMotor();
 
-		void addLayer(const QString& baseName, const QString& filePath, bool refresh);
-		void onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex);
+		void addLayer(const QString& baseName, const QString& filePath, bool refresh, bool isAddImage = true, const QString& hyperimagerTppe="");
+		void newImage(RasterLayer* ml, RasterImageLayer::RendererType, LayerTreeNode* parent, bool refresh=true, const QString& hyperimagerTppe="");
+		void onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex, const QString& hyperimagerTppe);
 		void removeLayerByTreeIndex();
+		void removeLayerByNode(LayerTreeNode* node);
+		void showColorImageByTreeIndex();
+		void removeImageByTreeIndex();
 		void removeAllLayersInRasterGroup();
 
 		void onLayerTreeSelectionChanged(const QItemSelection& selected, const QItemSelection& deselected);
@@ -360,6 +444,25 @@ 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);
+		void onObtainTargetDepthInformation(SubTask subTaskParams);
+		void onLiftingPlatform(SubTask subTaskParams);
+		void onAutoFocus_TimedDataCollection(SubTask subTaskParams);
+
+		void onStretchedImageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
+		void onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error);
+
+		void onGonggashanRecord(const QString& posInfo, const QString& gpsData, double motorRotationSpeed, QString dataFolder);
+		void onGonggashanHyperAutoExposure();
+		void onGonggashanFiberAutoExposureRecord(QString posInfo, QString dataFolder);
+
+		void onSequenceCompleteStopRecord();
+
 protected:
 	void closeEvent(QCloseEvent* event) override;
 
@@ -370,4 +473,6 @@ 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">
@@ -132,7 +133,10 @@ color:white;
      <string>应用场景</string>
     </property>
     <addaction name="mActionOneMotorScenario"/>
+    <addaction name="mActionGonggaRotatingPlatformScenario"/>
     <addaction name="mActionPlantPhenotypeScenario"/>
+    <addaction name="mActionMicroscopicMotionControlScenario"/>
+    <addaction name="mAction3DPlantPhenotypeScenario"/>
    </widget>
    <widget class="QMenu" name="menu_4">
     <property name="title">
@@ -383,119 +387,6 @@ 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 +688,7 @@ 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 +729,35 @@ 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>
+  <action name="mActionGonggaRotatingPlatformScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>贡嘎山旋转平台</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>

HPPA/HPPA.vcxproj

@@ -55,27 +55,28 @@
   </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;D:\cpp_project_vs2022\HPPA\JinspSpectralmeterControl;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;C:\Program Files\OrbbecSDK 2.7.6\lib;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Library;$(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;D:\cpp_project_vs2022\HPPA\JinspSpectralmeterControl;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;C:\Program Files\OrbbecSDK 2.7.6\lib;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Library;$(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;JinspSpectralmeterControl.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
     <ClCompile>
       <PreprocessorDefinitions>%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <LanguageStandard>stdcpp14</LanguageStandard>
     </ClCompile>
   </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;JinspSpectralmeterControl.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
   </ItemDefinitionGroup>
@@ -108,19 +109,29 @@
   <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="FodisWindow.cpp" />
+    <ClCompile Include="GonggaShanRecordCtl.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
     <ClCompile Include="HyperImagerControl.cpp" />
     <ClCompile Include="imageControl.cpp" />
     <ClCompile Include="ImagerOperationBase.cpp" />
     <ClCompile Include="imager_base.cpp" />
     <ClCompile Include="irisximeaimager.cpp" />
+    <ClCompile Include="JinspFiberImager.cpp" />
+    <ClCompile Include="JinspFiberImagerConfig.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 +143,37 @@
     <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="RgbCameraCaptureCoordinator.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" />
@@ -157,9 +181,13 @@
     <QtRcc Include="HPPA.qrc" />
     <QtUic Include="about.ui" />
     <QtUic Include="adjustTable.ui" />
+    <QtUic Include="DepthCamera.ui" />
     <QtUic Include="FocusDialog.ui" />
+    <QtUic Include="fodis.ui" />
+    <QtUic Include="gonggashanCtl.ui" />
     <QtUic Include="HPPA.ui" />
     <QtMoc Include="HPPA.h" />
+    <ClCompile Include="DepthValueLogger.cpp" />
     <ClCompile Include="fileOperation.cpp" />
     <ClCompile Include="focusWindow.cpp" />
     <ClCompile Include="HPPA.cpp" />
@@ -175,12 +203,18 @@
     <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>
+    <QtMoc Include="DepthValueLogger.h" />
     <QtMoc Include="fileOperation.h" />
   </ItemGroup>
   <ItemGroup>
@@ -202,6 +236,14 @@
     <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" />
+    <QtMoc Include="FodisWindow.h" />
+    <ClInclude Include="FiberSpectrometerOperationBase.h" />
+    <QtMoc Include="GonggaShanRecordCtl.h" />
     <ClInclude Include="imager_base.h" />
     <ClInclude Include="irisximeaimager.h" />
     <QtMoc Include="OneMotorControl.h" />
@@ -215,15 +257,29 @@
     <QtMoc Include="MapLayer.h" />
     <QtMoc Include="RasterLayer.h" />
     <QtMoc Include="MapLayerStore.h" />
+    <QtMoc Include="LayerTreeImageNode.h" />
+    <QtMoc Include="JinspFiberImager.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" />
@@ -234,6 +290,7 @@
     <ClInclude Include="ResononNirImager.h" />
     <ClInclude Include="resource.h" />
     <ClInclude Include="stdafx.h" />
+    <QtMoc Include="RgbCameraCaptureCoordinator.h" />
     <QtMoc Include="RgbCameraOperation.h" />
     <QtMoc Include="resononImager.h" />
     <QtMoc Include="QMotorDoubleSlider.h" />

HPPA/HPPA.vcxproj.filters

@@ -21,6 +21,24 @@
       <UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
       <Extensions>ts</Extensions>
     </Filter>
+    <Filter Include="Header Files\TimedDataCollection">
+      <UniqueIdentifier>{3777a3c2-8d8a-4414-b6c9-ac20640f7b2e}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\TimedDataCollection">
+      <UniqueIdentifier>{ea004f0d-34de-4b29-8ce2-57dd8aa01c03}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\LayerTree">
+      <UniqueIdentifier>{25329ee3-f78c-4dd9-9170-e64ccb4ccd9e}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Header Files\LayerTree">
+      <UniqueIdentifier>{18072152-2a29-4ad8-be97-d097af97eeec}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Header Files\hyperImagerCtl">
+      <UniqueIdentifier>{b3f08410-c140-42db-bcfd-24efba860cfb}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\hyperImagerCtl">
+      <UniqueIdentifier>{205ec088-0286-42ca-862c-2870928a46f5}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="HPPA.qrc">
@@ -70,9 +88,6 @@
     <ClCompile Include="QMotorDoubleSlider.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="resononImager.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="RgbCameraOperation.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -88,12 +103,6 @@
     <ClCompile Include="path_tc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="ResononNirImager.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="ImagerOperationBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="utility_tc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -139,42 +148,27 @@
     <ClCompile Include="View3DModelManager.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="LayerTreeNode.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTreeModel.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTree.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTreeGroupNode.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTreeLayerNode.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="MapLayer.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
     <ClCompile Include="RasterLayer.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="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">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="LayerTreeView.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTreeViewMenuProvider.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="imageControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -199,6 +193,99 @@
     <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="RasterRendererBase.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="PathLine.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="FodisWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="JinspFiberImager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="JinspFiberImagerConfig.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="GonggaShanRecordCtl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TaskTreeModel.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollection.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollectionDataStructures.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTree.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeGroupNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeImageNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeLayerNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeModel.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeView.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeViewMenuProvider.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="ImagerOperationBase.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="resononImager.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="ResononNirImager.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="DepthValueLogger.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -225,18 +312,12 @@
     <QtMoc Include="QMotorDoubleSlider.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="resononImager.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="RgbCameraOperation.h">
       <Filter>Header Files</Filter>
     </QtMoc>
     <QtMoc Include="aboutWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="ImagerOperationBase.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="adjustTable.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -273,21 +354,6 @@
     <QtMoc Include="View3DModelManager.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="LayerTreeModel.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTreeNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTree.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTreeGroupNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTreeLayerNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="MapLayer.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -297,9 +363,6 @@
     <QtMoc Include="MapLayerStore.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="LayerTreeViewMenuProvider.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="imageControl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -324,6 +387,78 @@
     <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="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="FodisWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="JinspFiberImager.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="GonggaShanRecordCtl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="TimedDataCollection.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="TaskTreeModel.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="TimedDataCollectionDataStructures.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTree.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeGroupNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeImageNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeLayerNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeModel.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeViewMenuProvider.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="ImagerOperationBase.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </QtMoc>
+    <QtMoc Include="resononImager.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </QtMoc>
+    <QtMoc Include="DepthValueLogger.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -344,9 +479,6 @@
     <ClInclude Include="path_tc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="ResononNirImager.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="utility_tc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -359,11 +491,35 @@
     <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="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>
+    <ClInclude Include="FiberSpectrometerOperationBase.h">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="LayerTreeView.h">
-      <Filter>Header Files</Filter>
+      <Filter>Header Files\LayerTree</Filter>
+    </ClInclude>
+    <ClInclude Include="ResononNirImager.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
     </ClInclude>
   </ItemGroup>
   <ItemGroup>
@@ -403,6 +559,30 @@
     <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>
+    <QtUic Include="fodis.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="gonggashanCtl.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);
 
@@ -36,7 +36,7 @@ Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
     ft.setPointSize(14);
     m_framNumberLabel->setFont(ft);
 	m_framNumberLabel->setText("0");
-
+    m_framNumberLabel->setVisible(false);
 
     m_GraphicsPixmapItemHandle = nullptr;
 
@@ -48,6 +48,8 @@ Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
     setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setFrameShape(QFrame::NoFrame);
+
+    m_displayMode = AppSettings::instance().hyperimgDisplayMode();
 }
 
 Mapcavas::~Mapcavas()
@@ -55,6 +57,11 @@ Mapcavas::~Mapcavas()
 
 }
 
+void Mapcavas::updateDisplayMode()
+{
+    m_displayMode = AppSettings::instance().hyperimgDisplayMode();
+}
+
 void Mapcavas::DisplayFrameNumber(int frameNumber)
 {
     m_framNumberLabel->setText(QString::number(frameNumber));
@@ -71,7 +78,15 @@ void Mapcavas::SetImage(QPixmap *image)
     {
         m_GraphicsPixmapItemHandle->setPixmap(*image);
     }
-    ensureSceneVisible();
+
+    if (m_displayMode == AppSettings::HyperimgDisplayMode::Full)
+    {
+        ensureSceneVisible();
+    }
+    else if (m_displayMode == AppSettings::HyperimgDisplayMode::Waterfall)
+    {
+        ensureWaterfallVisible();
+    }
 }
 
 void Mapcavas::ensureSceneVisible()
@@ -91,6 +106,44 @@ void Mapcavas::ensureSceneVisible()
     centerOn(scene_rect.center());
 }
 
+void Mapcavas::ensureWaterfallVisible()
+{
+    resetTransform();
+
+    auto items = this->scene()->items();
+    if (items.isEmpty())
+        return;
+
+    auto scene_rect = this->scene()->itemsBoundingRect();
+    qreal view_width = viewport()->rect().width();
+    qreal view_height = viewport()->rect().height();
+
+    double x_scale = view_width / scene_rect.width();
+    double y_scale = view_height / scene_rect.height();
+
+    double scale_factor = qMin(x_scale, y_scale) * 0.9;
+
+    scale(x_scale, x_scale);
+    m_scale *= x_scale;
+
+    // 计算缩放后的图片可见高度
+    qreal scaled_height = scene_rect.height() * x_scale;
+
+    // 根据图片高度决定 Y 坐标
+    qreal center_y;
+    if (scaled_height <= view_height)
+    {
+        center_y = scene_rect.center().y();
+    }
+    else
+    {
+        qreal half_view_height = view_height / 2.0 / x_scale;
+        center_y = scene_rect.bottom() - half_view_height;
+    }
+
+    centerOn(scene_rect.center().x(), center_y);
+}
+
 bool Mapcavas::HasImage()
 {
     if (m_GraphicsPixmapItemHandle == nullptr)
@@ -264,35 +317,22 @@ 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 +1,12 @@
-#ifndef MAPCAVAS_H
+#ifndef MAPCAVAS_H
 #define MAPCAVAS_H
 
 #include "QGraphicsView"
 #include "qlabel.h"
 #include <QVector>
-#include "RasterLayer.h"
+#include "AppSettings.h"
+
+class RasterImageLayer;
 
 class MapTool;
 
@@ -16,9 +18,9 @@ public:
 	Mapcavas(QWidget* pParent = NULL);
 	~Mapcavas();
 
-	
-	void DisplayFrameNumber(int frameNumber);
 
+	void DisplayFrameNumber(int frameNumber);
+	void updateDisplayMode();
 
 	void mousePressEvent(QMouseEvent *event);
 	void mouseMoveEvent(QMouseEvent *event);
@@ -28,6 +30,7 @@ public:
 	void SetImage(QPixmap *image);
 	bool HasImage();
 	void ensureSceneVisible();
+	void ensureWaterfallVisible();
 
 	void updateCrosshair(double sceneX, double sceneY);
 	void removeCrosshair();
@@ -35,24 +38,23 @@ 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);
@@ -63,21 +65,22 @@ 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
 	QGraphicsLineItem* m_vLine = nullptr;  // vertical line
 
+	AppSettings::HyperimgDisplayMode m_displayMode;
 
 signals:
 	void leftMouseButtonPressed(int, int, QVector<double>, QVector<double>);

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
 		{
@@ -67,11 +68,12 @@ double ImagerOperationBase::auto_exposure()
 
 	imagerStopCollect();
 
-	emit autoExposureSignal();
+	double exposureTime = getIntegrationTime();
+	emit autoExposureSignal(exposureTime);
 
-	//std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع⣺" << getIntegrationTime() << std::endl;
+	//std::cout << "自动曝光：" << exposureTime << std::endl;
 
-	return getIntegrationTime();
+	return exposureTime;
 }
 
 void ImagerOperationBase::focus()
@@ -79,7 +81,7 @@ 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 +89,7 @@ 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 +101,7 @@ 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 +125,7 @@ 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 +142,7 @@ 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 +174,7 @@ 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 +199,7 @@ 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++)
@@ -220,27 +222,37 @@ void ImagerOperationBase::record_white()
 
 void ImagerOperationBase::start_record()
 {
+	QObject* obj = sender();
+	if (obj)
+	{
+		qDebug() << "ImagerOperationBase::start_record, sender name:" << obj->objectName();
+	}
+	else
+	{
+		qDebug() << "ImagerOperationBase::start_record, sender is null";
+	}
+	 
     using namespace std;
 
     //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));
 	QString filePath = QString::fromStdString(m_FileName2Save2);
-	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter);
+	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter, "visibleLight");
 
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
@@ -250,6 +262,7 @@ void ImagerOperationBase::start_record()
 	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
 	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
 
+
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
@@ -257,8 +270,9 @@ void ImagerOperationBase::start_record()
 
 		getFrame(buffer);
 		long long timeOs = getNanosecondsSinceMidnight();
-
-		//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
+		//qDebug() << "time ns-------------------: " << timeOs;
+		
+		//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 +290,12 @@ 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 +311,14 @@ 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
-		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
+		//将rgb波段提取出来，以便在界面中显示
+		m_RgbImage->FillRgbImage(buffer, 121, 79, 40);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
-		//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 +332,15 @@ 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 +371,14 @@ 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 +419,7 @@ 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 +429,7 @@ 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 +439,7 @@ 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 +448,7 @@ 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 +501,23 @@ 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 +562,6 @@ 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 autoExposureSignal();
+    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(double exposureTime);
 
-    // <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>
-    void LayerFileCreated(const QString& baseName, const QString& filePath, int fileIndex);
+    // 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, const QString& hyperimagerTppe);
 };

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/JinspFiberImager.cpp

@@ -0,0 +1,359 @@
+//
+// Created by 73505 on 2023/5/7.
+//
+#include <algorithm>
+#include <QFile> 
+#include <QDir> 
+#include "JinspFiberImager.h"
+
+JinspFiberImager::JinspFiberImager(bool bIsUSBMode, std::string ucPortNumber, std::string strDeviceName)
+{
+    m_FiberSpectrometer = NULL;
+
+    mUcPortNumber=ucPortNumber;
+
+    m_record = false;
+
+    m_captureIntervalMilliseconds = 1 * 1000;
+
+    qRegisterMetaType<DeviceAttribute>("DeviceAttribute");
+    qRegisterMetaType<DataFrame>("DataFrame");
+}
+
+JinspFiberImager::~JinspFiberImager()
+{
+
+}
+
+void JinspFiberImager::connectFiberSpectrometer(QString& SN, QString& pixelCount, QString& wavelengthInfo)
+{
+    using namespace std;
+
+    m_FiberSpectrometer = new JinspSpectralmeterControl();
+
+    m_FiberSpectrometer->Initialize(false, mUcPortNumber, "OPTOSKY");
+
+    DeviceInfo deviceInfo;//
+    DeviceAttribute deviceAttribute;
+
+    m_FiberSpectrometer->GetDeviceInfo(deviceInfo);
+    m_FiberSpectrometer->GetDeviceAttribute(deviceAttribute);//？？？？？
+
+    SN = QString::fromStdString(deviceInfo.strSN);
+    pixelCount = QString::number(deviceAttribute.iPixels);
+    wavelengthInfo = QString::number(deviceAttribute.fWaveLengthInNM[0]) + "--" + QString::number(deviceAttribute.fWaveLengthInNM[deviceAttribute.iPixels - 1]);
+
+    m_FiberSpectrometer->SetDeviceTemperature(-10);
+
+
+    //设置dn值的最大值（和位深相关）
+    string qepro = "QEP";//?????????????????????????????????????????????????????????????????????????????????????????
+    string flame = "FLMS";//?????????????????????????????????????????????????????????????????????????????????????????
+    if (deviceInfo.strSN.find(qepro) != string::npos)
+    {
+        m_MaxValueOfFiberSpectrometer = 200000;
+    }
+    else if (deviceInfo.strSN.find(flame) != string::npos)
+    {
+        m_MaxValueOfFiberSpectrometer = 65535;
+    }
+    else//没有找到匹配的仪器来设置   dn值的最大值
+    {
+        m_MaxValueOfFiberSpectrometer = 65535;
+    }
+
+}
+
+void JinspFiberImager::disconnectFiberSpectrometer()
+{
+    m_record = false;
+}
+
+void JinspFiberImager::getDeviceAttribute(DeviceAttribute& deviceAttribute)
+{
+    m_FiberSpectrometer->GetDeviceAttribute(deviceAttribute);
+}
+
+void JinspFiberImager::getDeviceInfo(DeviceInfo& deviceInfo)
+{
+    m_FiberSpectrometer->GetDeviceInfo(deviceInfo);
+}
+
+void JinspFiberImager::setExposureTime(int iExposureTimeInMS)
+{
+    m_FiberSpectrometer->SetExposureTime(iExposureTimeInMS);
+}
+
+void JinspFiberImager::getExposureTime(int &iExposureTimeInMS)
+{
+    m_FiberSpectrometer->GetExposureTime(iExposureTimeInMS);
+}
+
+void JinspFiberImager::getDeviceTemperature(float &fTemperature)
+{
+    m_FiberSpectrometer->GetDeviceTemperature(fTemperature);
+}
+
+void JinspFiberImager::singleShot(DataFrame &dfData)
+{
+    m_FiberSpectrometer->SingleShot(dfData);
+}
+
+void JinspFiberImager::getNonlinearityCoeffs(coeffsFrame &coeffs)
+{
+    printf("This is JinspFiberImager.\n");
+}
+
+void JinspFiberImager::recordDark(QString path)
+{
+    //获取设备信息
+    DeviceAttribute attribute;
+    DeviceInfo deviceInfo;
+    getDeviceAttribute(attribute);
+    getDeviceInfo(deviceInfo);
+
+    //采集暗帧
+    singleShot(m_DarkData);
+
+    //输出到csv
+    QDateTime curDateTime = QDateTime::currentDateTime();
+    QString currentTime = curDateTime.toString("yyyy_MM_dd_hh_mm_ss");
+    QString fileName = path + "/" + currentTime + "_" + QString::fromStdString(deviceInfo.strSN) + "_darkSpectral_dn.csv";
+    std::ofstream outfile(fileName.toStdString().c_str());
+
+    for (int i = 0; i < attribute.iPixels; i++)
+    {
+        if (i==0)
+        {
+            outfile << m_DarkData.usExposureTimeInMS << std::endl;
+        }
+        outfile << attribute.fWaveLengthInNM[i] << "," << m_DarkData.lData[i] << std::endl;
+    }
+
+    outfile.close();
+}
+
+void JinspFiberImager::recordTarget2csv(int recordTimes, QString path)
+{
+    //获取设备信息
+    DeviceAttribute attribute;
+    DeviceInfo deviceInfo;
+    getDeviceAttribute(attribute);
+    getDeviceInfo(deviceInfo);
+
+
+    DataFrame integratingSphereData_tmp;
+
+    for (int i = 0; i < recordTimes; i++)
+    {
+        singleShot(integratingSphereData_tmp);
+
+        if (i == 0)//将integratingSphereData_tmp中的曝光时间、温度等信息传给m_IntegratingSphereData
+        {
+            m_IntegratingSphereData = integratingSphereData_tmp;
+        }
+        else
+        {
+            for (int i = 0; i < attribute.iPixels; i++)
+            {
+                m_IntegratingSphereData.lData[i] += integratingSphereData_tmp.lData[i];
+            }
+        }
+
+    }
+
+    for (int i = 0; i < attribute.iPixels; i++)
+    {
+        m_IntegratingSphereData.lData[i] = m_IntegratingSphereData.lData[i] / recordTimes;
+    }
+
+    //将m_IntegratingSphereData通过信号发送
+    emit spectalCaptured(attribute, m_IntegratingSphereData);
+
+    //输出到csv
+    QDateTime curDateTime = QDateTime::currentDateTime();
+    QString currentTime = curDateTime.toString("yyyy_MM_dd_hh_mm_ss");
+    QString fileName = path + "/" + currentTime + "_" + m_posInfo + "_" + QString::fromStdString(deviceInfo.strSN) + "_integratingSphereSpectral_dn.csv";
+    std::ofstream outfile(fileName.toStdString().c_str());
+
+    for (int i = 0; i < attribute.iPixels; i++)
+    {
+        if (i==0)
+        {
+            outfile << m_IntegratingSphereData.usExposureTimeInMS << "," << getNanosecondsSinceMidnight() << std::endl;
+        }
+        outfile << attribute.fWaveLengthInNM[i] << "," << m_IntegratingSphereData.lData[i] << std::endl;
+    }
+
+    outfile.close();
+}
+
+void JinspFiberImager::autoExpose()
+{
+    int allowMaxExposure = 6000;
+
+    DeviceAttribute attribute;
+    getDeviceAttribute(attribute);
+
+    const ZZ_U32 maxPixelValue = m_MaxValueOfFiberSpectrometer;
+    const double targetMinRatio = 0.80;
+    const double targetMaxRatio = 0.90;
+    const ZZ_U32 targetMin = maxPixelValue * targetMinRatio;
+    const ZZ_U32 targetMax = maxPixelValue * targetMaxRatio;
+
+    ZZ_U32 thresholdLow = targetMin;
+    ZZ_U32 thresholdHigh = targetMax;
+
+    // 自适应初始曝光时间：先快速探测亮度水平
+    int exposureTime = 10;
+    setExposureTime(exposureTime);
+    DataFrame dataFrame;
+    singleShot(dataFrame);
+    ZZ_S32 maxValue = GetMaxValue(dataFrame.lData, attribute.iPixels);
+
+    // 探测阶段：快速逼近目标区间
+    if (maxValue > 0)
+    {
+        // 预测达到目标区间所需的曝光时间
+        ZZ_U32 targetValue = (targetMin + targetMax) / 2;
+        double predictedRatio = static_cast<double>(targetValue) / maxValue;
+        // 曝光时间与亮度为对数关系，使用对数预测更准确
+        double logRatio = log(static_cast<double>(targetValue) / maxValue + 0.001);
+        int predictedExposure = static_cast<int>(exposureTime * pow(predictedRatio, 0.7));
+
+        if (predictedExposure < 1)
+            predictedExposure = 1;
+        if (predictedExposure > allowMaxExposure)
+            predictedExposure = allowMaxExposure;
+        //predictedExposure = std::clamp(predictedExposure, 1, allowMaxExposure);
+
+        exposureTime = predictedExposure;
+        setExposureTime(exposureTime);
+        singleShot(dataFrame);
+        maxValue = GetMaxValue(dataFrame.lData, attribute.iPixels);
+    }
+
+    emit sendExposureTimeSignal(exposureTime);
+
+    // 二分查找阶段：在目标区间内精确查找
+    int lowExposure = 1;
+    int highExposure = allowMaxExposure;
+    int iterations = 0;
+    const int maxIterations = 10;
+
+    while (iterations < maxIterations)
+    {
+        // 检查是否已在目标区间内
+        if (maxValue >= thresholdLow && maxValue <= thresholdHigh)
+        {
+            std::cout << "自动曝光完成 - 曝光时间:" << exposureTime
+                      << "ms, 最大值:" << maxValue << std::endl;
+            break;
+        }
+
+        // 获取当前曝光时间
+        m_FiberSpectrometer->GetExposureTime(exposureTime);
+
+        if (maxValue < thresholdLow)
+        {
+            // 曝光不足，增大曝光时间 - 使用二分策略
+            lowExposure = exposureTime;
+            int newExposure = (exposureTime + highExposure) / 2;
+            if (newExposure <= exposureTime)
+            {
+                newExposure = exposureTime * 2;
+            }
+            exposureTime = std::min(newExposure, allowMaxExposure);
+            std::cout << "自动曝光 +++ (" << iterations << ") 曝光时间:"
+                      << exposureTime << "ms, 最大值:" << maxValue << std::endl;
+        } 
+        else
+        {
+            // 曝光过度，减小曝光时间 - 使用二分策略
+            highExposure = exposureTime;
+            int newExposure = (lowExposure + exposureTime) / 2;
+            if (newExposure >= exposureTime) {
+                newExposure = exposureTime / 2;
+            }
+            exposureTime = std::max(newExposure, 1);
+            std::cout << "自动曝光 --- (" << iterations << ") 曝光时间:"
+                      << exposureTime << "ms, 最大值:" << maxValue << std::endl;
+        }
+
+        setExposureTime(exposureTime);
+        singleShot(dataFrame);
+        maxValue = GetMaxValue(dataFrame.lData, attribute.iPixels);
+        emit sendExposureTimeSignal(exposureTime);
+
+        iterations++;
+    }
+
+    if (iterations >= maxIterations) {
+        std::cout << "自动曝光达到最大迭代次数，最终曝光时间:"
+                  << exposureTime << "ms, 最大值:" << maxValue << std::endl;
+    }
+
+    m_iExposureTime = exposureTime;
+}
+
+ZZ_S32 JinspFiberImager::GetMaxValue(ZZ_S32 * dark, int number)
+{
+    ZZ_S32 max = 0;
+    //std::cout << "本帧最大值为" << max << std::endl;
+    for (size_t i = 0; i < number; i++)
+    {
+//        std::cout << dark[i] << std::endl;
+        if(dark[i]>65535)
+            continue;
+        if (dark[i] > max)
+        {
+            max = dark[i];
+        }
+    }
+    //std::cout << "本帧最大值为" << max << std::endl;
+    return max;
+}
+
+void JinspFiberImager::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
+}
+
+void JinspFiberImager::OpenFiberImagerAndRecord(QString filePath)
+{
+    //连接光谱仪
+    QString SN;
+    QString pixelCount;
+    QString wavelengthInfo;
+
+    connectFiberSpectrometer(SN, pixelCount, wavelengthInfo);
+
+    //曝光
+    emit startExposureSignal();
+    autoExpose();
+    emit exposureCompleteSignal(m_iExposureTime);
+
+    //采集
+    QFile qfData(filePath);
+    bool bRes = qfData.open(QFile::WriteOnly | QIODevice::Append);
+    if (!bRes)
+    {
+        printf("WriteData QFile open Failed");
+        return;
+    }
+
+    m_record = true;
+    DataFrame data;
+    while (m_record)
+    {
+        singleShot(data);
+        qfData.write((char*)&data, sizeof(DataFrame));
+        qfData.flush();
+
+        QThread::msleep(m_captureIntervalMilliseconds);
+    }
+    qfData.close();
+
+    std::cout << "close.........." << std::endl;
+    m_FiberSpectrometer->Close();
+}

HPPA/JinspFiberImager.h

@@ -0,0 +1,75 @@
+//
+// Created by 73505 on 2023/5/7.
+//
+#pragma once
+#include <qthread.h>
+//#include <QFileDialog>
+#include <QDateTime>
+#include <QTimer>
+#include <iostream>
+#include <fstream>
+
+#include "JinspSpectralmeterControl.h"
+#include "FiberSpectrometerOperationBase.h"
+#include "utility_tc.h"
+#include "AppSettings.h"
+
+class JinspFiberImager :public QObject,public FiberSpectrometerOperationBase
+{
+Q_OBJECT
+
+public:
+    JinspFiberImager(bool bIsUSBMode, std::string ucPortNumber, std::string strDeviceName);
+    ~JinspFiberImager();
+
+    JinspSpectralmeterControl* m_FiberSpectrometer;
+
+    void connectFiberSpectrometer(QString& sn, QString& pixelCount, QString& wavelengthInfo);
+    void disconnectFiberSpectrometer();
+    void getDeviceAttribute(DeviceAttribute& deviceAttribute);
+    void getDeviceInfo(DeviceInfo& deviceInfo);
+
+    void setExposureTime(int iExposureTimeInMS);
+
+    void getExposureTime(int &iExposureTimeInMS);//ok
+    void getDeviceTemperature(float &fTemperature);//ok
+
+    void singleShot(DataFrame &dfData);
+
+    void getNonlinearityCoeffs(coeffsFrame &coeffs);
+
+    ZZ_S32 GetMaxValue(ZZ_S32 * dark, int number);
+
+    bool getRecordStatus() const { return m_record; }
+    void setCaptureInterval(int captureIntervalSeconds);
+
+
+//	DataFrame m_IntegratingSphereData;
+//	DataFrame m_DarkData;
+protected:
+private:
+    std::string mUcPortNumber;
+
+    bool m_record;
+    int m_captureIntervalMilliseconds;
+
+    int m_iExposureTime;
+
+    QString m_posInfo;
+
+//	ZZ_U32 m_MaxValueOfFiberSpectrometer;
+
+public slots:
+    void recordDark(QString path);
+    void recordTarget2csv(int recordTimes, QString path);
+    void autoExpose();
+
+    void OpenFiberImagerAndRecord(QString filePath);
+
+signals:
+    void sendExposureTimeSignal(int exposureTime);
+    void spectalCaptured(DeviceAttribute attribute, DataFrame dataFrame);
+
+    void exposureCompleteSignal(int exposureTime);
+    void startExposureSignal();
+};

HPPA/JinspFiberImagerConfig.cpp

@@ -0,0 +1,85 @@
+#include "JinspFiberImagerConfig.h"
+#include <QCoreApplication>
+#include <QFile>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonValue>
+#include <QDebug>
+
+const QString JinspFiberImagerConfig::kDefaultPortName = QStringLiteral("COM9");
+const QString JinspFiberImagerConfig::kConfigFileName = QStringLiteral("jinsp_fiber_imager_config.json");
+
+JinspFiberImagerConfig::JinspFiberImagerConfig()
+	: m_configFilePath(QCoreApplication::applicationDirPath() + "/" + kConfigFileName)
+	, m_portName(kDefaultPortName)
+{
+	loadConfig();
+}
+
+JinspFiberImagerConfig& JinspFiberImagerConfig::instance()
+{
+	static JinspFiberImagerConfig s;
+	return s;
+}
+
+QString JinspFiberImagerConfig::portName() const
+{
+	return m_portName;
+}
+
+void JinspFiberImagerConfig::setPortName(const QString& port)
+{
+	if (m_portName != port)
+	{
+		m_portName = port;
+		saveConfig();
+	}
+}
+
+void JinspFiberImagerConfig::loadConfig()
+{
+	QFile file(m_configFilePath);
+	if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
+	{
+		qDebug() << "JinspFiberImagerConfig: No config file found, using default port:" << kDefaultPortName;
+		saveConfig();
+		return;
+	}
+
+	QByteArray jsonData = file.readAll();
+	file.close();
+
+	QJsonParseError parseError;
+	QJsonDocument doc = QJsonDocument::fromJson(jsonData, &parseError);
+	if (parseError.error != QJsonParseError::NoError)
+	{
+		qWarning() << "JinspFiberImagerConfig: JSON parse error:" << parseError.errorString();
+		return;
+	}
+
+	QJsonObject obj = doc.object();
+	if (obj.contains("portName"))
+	{
+		m_portName = obj["portName"].toString(kDefaultPortName);
+	}
+}
+
+void JinspFiberImagerConfig::saveConfig()
+{
+	QJsonObject obj;
+	obj["portName"] = m_portName;
+
+	QJsonDocument doc(obj);
+
+	QFile file(m_configFilePath);
+	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+	{
+		qWarning() << "JinspFiberImagerConfig: Failed to open config file for writing:" << m_configFilePath;
+		return;
+	}
+
+	file.write(doc.toJson(QJsonDocument::Indented));
+	file.close();
+
+	qDebug() << "JinspFiberImagerConfig: Config saved to" << m_configFilePath;
+}

HPPA/JinspFiberImagerConfig.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#include <QString>
+
+class JinspFiberImagerConfig
+{
+public:
+	static JinspFiberImagerConfig& instance();
+
+	QString portName() const;
+	void setPortName(const QString& port);
+
+	static const QString kDefaultPortName;
+	static const QString kConfigFileName;
+
+private:
+	JinspFiberImagerConfig();
+	JinspFiberImagerConfig(const JinspFiberImagerConfig&) = delete;
+	JinspFiberImagerConfig& operator=(const JinspFiberImagerConfig&) = delete;
+
+	QString m_configFilePath;
+	QString m_portName;
+
+	void loadConfig();
+	void saveConfig();
+};

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

@@ -0,0 +1,207 @@
+#include "MultibandRasterRenderer.h"
+#include "RasterDataProvider.h"
+#include <QDebug>
+#include <algorithm>
+#include <cmath>
+
+MultibandRasterRenderer::MultibandRasterRenderer(RasterDataProvider* provider)
+    : RasterRendererBase(provider)
+{
+}
+
+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)
+    {
+        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);
+    }
+}
+
+void MultibandRasterRenderer::computeHistogram(const std::vector<float>& in, std::vector<long>& hist, float& minVal, float& maxVal)
+{
+    if (in.empty())
+    {
+        minVal = 0.0f;
+        maxVal = 1.0f;
+        hist.clear();
+        return;
+    }
+
+    minVal = in[0];
+    maxVal = in[0];
+    for (size_t i = 0; i < in.size(); ++i)
+    {
+        if (in[i] < minVal) minVal = in[i];
+        if (in[i] > maxVal) maxVal = in[i];
+    }
+
+    if (maxVal <= minVal)
+    {
+        hist.assign(256, 0);
+        hist[0] = static_cast<long>(in.size());
+        minVal = 0.0f;
+        maxVal = 1.0f;
+        return;
+    }
+
+    const int numBins = 65536;
+    hist.assign(numBins, 0);
+
+    for (size_t i = 0; i < in.size(); ++i)
+    {
+        ++hist[static_cast<int>(in[i])];
+    }
+}
+
+void MultibandRasterRenderer::findStretchValuesByRatio(const std::vector<long>& hist, float ratio, float& minVal, float& maxVal)
+{
+    if (hist.empty()) return;
+
+    long totalPixels = 0;
+    for (size_t i = 0; i < hist.size(); ++i)
+    {
+        totalPixels += hist[i];
+    }
+    if (totalPixels == 0) return;
+
+    long targetCount = static_cast<long>(totalPixels * ratio);
+
+    long cumulative = 0;
+    for (size_t i = 0; i < hist.size(); ++i)
+    {
+        cumulative += hist[i];
+        if (cumulative >= targetCount)
+        {
+            minVal = static_cast<float>(i);
+            break;
+        }
+    }
+
+    cumulative = 0;
+    for (size_t i = hist.size(); i > 0; --i)
+    {
+        cumulative += hist[i - 1];
+        if (cumulative >= targetCount)
+        {
+            maxVal = static_cast<float>(i - 1);
+            break;
+        }
+    }
+}
+
+void MultibandRasterRenderer::stretchTo8bitByHistogram(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal)
+{
+    size_t n = in.size();
+    out.resize(n);
+    if (maxVal <= minVal)
+    {
+        std::fill(out.begin(), out.end(), 0);
+        return;
+    }
+    float denom = 1.0f / (maxVal - minVal);
+    for (size_t i = 0; i < n; ++i)
+    {
+        float v = (in[i] - minVal) * denom;
+        v = std::min(std::max(v, 0.0f), 1.0f);
+        out[i] = static_cast<unsigned char>(v * 255.0f);
+    }
+}
+
+QImage MultibandRasterRenderer::render()
+{
+    if (!m_provider) return QImage();
+    int bands = m_provider->bandCount();
+    int w = m_provider->width();
+    int h = m_provider->height();
+    if (w <= 0 || h <= 0) return QImage();
+
+    // Find nearest bands for requested wavelengths if wavelengths available
+    std::vector<double> wavelengths = m_provider->bandWavelengths();
+
+    auto chooseBandIndexForWave = [&](double wave)->int {
+        if (wavelengths.empty()) {
+            // fallback: select R,G,B as first three bands
+            if (bands >= 3) return (wave==m_params.rWave?0:(wave==m_params.gWave?1:2));
+            if (bands >= 1) return 0;
+            return -1;
+        }
+        int best = -1; double bestDiff = 1e12;
+        for (int i = 0; i < (int)wavelengths.size(); ++i) {
+            if (wavelengths[i] < 0) continue;
+            double d = std::abs(wavelengths[i] - wave);
+            if (d < bestDiff) { bestDiff = d; best = i; }
+        }
+        if (best >= 0) return best;
+        // fallback
+        return std::min(2, bands-1);
+    };
+
+    int rIdx = chooseBandIndexForWave(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);
+    if (gIdx >= 0) m_provider->readBandAsFloat(gIdx, gbuf);
+    if (bIdx >= 0) m_provider->readBandAsFloat(bIdx, bbuf);
+
+    std::vector<unsigned char> r8, g8, b8;
+
+    // Compute histogram-based stretch for each channel
+    float ratio = m_stretchRatio;
+
+    // R channel stretch
+    if (!rbuf.empty()) {
+        std::vector<long> rHist;
+        float rMin, rMax;
+        computeHistogram(rbuf, rHist, rMin, rMax);
+        float rStretchMin = rMin, rStretchMax = rMax;
+        findStretchValuesByRatio(rHist, ratio, rStretchMin, rStretchMax);
+        stretchTo8bitByHistogram(rbuf, r8, rStretchMin, rStretchMax);
+    }
+
+    // G channel stretch
+    if (!gbuf.empty()) {
+        std::vector<long> gHist;
+        float gMin, gMax;
+        computeHistogram(gbuf, gHist, gMin, gMax);
+        float gStretchMin = gMin, gStretchMax = gMax;
+        findStretchValuesByRatio(gHist, ratio, gStretchMin, gStretchMax);
+        stretchTo8bitByHistogram(gbuf, g8, gStretchMin, gStretchMax);
+    }
+
+    // B channel stretch
+    if (!bbuf.empty()) {
+        std::vector<long> bHist;
+        float bMin, bMax;
+        computeHistogram(bbuf, bHist, bMin, bMax);
+        float bStretchMin = bMin, bStretchMax = bMax;
+        findStretchValuesByRatio(bHist, ratio, bStretchMin, bStretchMax);
+        stretchTo8bitByHistogram(bbuf, b8, bStretchMin, bStretchMax);
+    }
+
+    QImage out(w, h, QImage::Format_RGB888);
+    for (int y = 0; y < h; ++y) {
+        unsigned char* scan = out.scanLine(y);
+        for (int x = 0; x < w; ++x) {
+            int idx = y * w + x;
+            unsigned char rc = (r8.size() > (size_t)idx) ? r8[idx] : 0;
+            unsigned char gc = (g8.size() > (size_t)idx) ? g8[idx] : 0;
+            unsigned char bc = (b8.size() > (size_t)idx) ? b8[idx] : 0;
+            scan[x*3 + 0] = rc;
+            scan[x*3 + 1] = gc;
+            scan[x*3 + 2] = bc;
+        }
+    }
+    return out;
+}

HPPA/MultibandRasterRenderer.h

@@ -0,0 +1,39 @@
+#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; }
+
+    void setStretchRatio(float ratio) { m_stretchRatio = ratio; }
+    float stretchRatio() const { return m_stretchRatio; }
+
+private:
+    MultibandRenderParams m_params;
+    float m_stretchRatio = 0.02f;
+
+    // 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);
+
+    // Helper to compute histogram from float buffer
+    static void computeHistogram(const std::vector<float>& in, std::vector<long>& hist, float& minVal, float& maxVal);
+
+    // Helper to find stretch values by cumulative histogram ratio
+    static void findStretchValuesByRatio(const std::vector<long>& hist, float ratio, float& minVal, float& maxVal);
+
+    // Helper to stretch to 8-bit using histogram-based stretch
+    static void stretchTo8bitByHistogram(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 +6,32 @@ 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()));
+
+    // 连接信号，当控件数值变化时保存到 AppSettings
+    connect(ui.scanSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.scanSpeed_lineEdit->text().toDouble());
+    });
+    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
+    });
+    connect(ui.manualMovementSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setManualMovementSpeed(ui.manualMovementSpeed_lineEdit->text().toDouble());
+    });
+    connect(ui.reverseMove_radioButton, &QRadioButton::toggled, [this](bool checked) {
+        AppSettings::instance().setIsReverseMove(checked);
+    });
+
+    loadSettings();
 }
 
 OneMotorControl::~OneMotorControl()
@@ -14,8 +40,55 @@ OneMotorControl::~OneMotorControl()
     m_motorThread.wait();
 }
 
+void OneMotorControl::loadSettings()
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(AppSettings::instance().scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(AppSettings::instance().returnSpeed()));
+    ui.manualMovementSpeed_lineEdit->setText(QString::number(AppSettings::instance().manualMovementSpeed()));
+
+    ui.reverseMove_radioButton->setChecked(AppSettings::instance().isReverseMove());
+}
+
 void OneMotorControl::onConnectMotor()
 {
+    connectMotor(true);
+}
+
+void OneMotorControl::setScanSpeed(double speed)
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(speed));
+}
+
+void OneMotorControl::connectMotor(bool isNotification)
+{
+    if (getMotorsConnectionStatus())
+    {
+        if (isNotification)
+        {
+            QMessageBox msgBox;
+            msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+            msgBox.exec();
+
+        }
+        return;
+    }
+
+    if (m_multiAxisController != nullptr)
+    {
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl::display_x_loc);
+        disconnect(this, &OneMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+        disconnect(this, qOverload<int, double, double, int>(&OneMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+        disconnect(this, &OneMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
+        disconnect(this, &OneMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
+        disconnect(this, &OneMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
+        disconnect(this, &OneMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl::display_motors_connectivity);
+
+        m_motorThread.quit();
+        m_motorThread.wait();
+        m_multiAxisController = nullptr;
+    }
+
 	try
 	{
         FileOperation* fileOperation = new FileOperation();
@@ -27,35 +100,27 @@ 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(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::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(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl::display_x_loc);
 
-    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+    connect(this, &OneMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+    connect(this, qOverload<int, double, double, int>(&OneMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+    connect(this, &OneMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
 
-    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+    connect(this, &OneMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
 
-    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, &OneMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
 
-    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
-    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+    connect(this, &OneMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl::display_motors_connectivity);
 
-    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
-    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
-
-    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
-    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
-    
     m_motorThread.start();
     emit testConnectivitySignal(0, 1000);
 }
@@ -63,7 +128,7 @@ void OneMotorControl::onConnectMotor()
 void OneMotorControl::display_x_loc(std::vector<double> loc)
 {
     double tmp = round(loc[0] * 100) / 100;
-    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+    this->ui.realTimeLoc_label->setText(QString::number(tmp));
 
     emit broadcastLocationSignal(loc);
 }
@@ -73,11 +138,36 @@ 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"));
     }
 }
 
@@ -88,13 +178,13 @@ void OneMotorControl::zeroStart()
 
 void OneMotorControl::onx_rangeMeasurement()
 {
-    double s0 = ui.speed_lineEdit->text().toDouble();
+    double s0 = ui.manualMovementSpeed_lineEdit->text().toDouble();
     emit rangeMeasurement(0, s0, 1000);
 }
 
 void OneMotorControl::onxMove2Loc()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
     double l = ui.move2loc_lineEdit->text().toDouble();
 
     emit move2LocSignal(0, l, s, 1000);
@@ -102,16 +192,16 @@ void OneMotorControl::onxMove2Loc()
 
 void OneMotorControl::onxMotorRight()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, false, s, 1000);
+    emit moveSignal(0, abs(s), 1000);
 }
 
 void OneMotorControl::onxMotorLeft()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, true, s, 1000);
+    emit moveSignal(0, abs(s)*-1, 1000);
 }
 
 void OneMotorControl::onxMotorStop()
@@ -126,7 +216,11 @@ void OneMotorControl::setImager(ImagerOperationBase* imager)
 
 void OneMotorControl::record_dark()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.scanSpeed_lineEdit->text().toDouble();
+    if (ui.reverseMove_radioButton->isChecked())
+    {
+        s = s * -1;
+    }
 
     if (m_darkCaptureCoordinator == nullptr)
     {
@@ -138,7 +232,11 @@ void OneMotorControl::record_dark()
 
 void OneMotorControl::record_white()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.scanSpeed_lineEdit->text().toDouble();
+    if (ui.reverseMove_radioButton->isChecked())
+    {
+        s = s * -1;
+    }
 
     if (m_whiteCaptureCoordinator == nullptr)
     {
@@ -150,18 +248,31 @@ void OneMotorControl::record_white()
 
 void OneMotorControl::run()
 {
-    if (m_coordinator == nullptr)
+    if (m_coordinator)//当高光谱相机停止采集后，马达还未回到原点时，上次任务的m_coordinator还没有被销毁
     {
-        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()));
+        onSequenceComplete_motorBack2Origin(0);
     }
 
+    qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
+    m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+    m_coordinator->setObjectName("testOneMotionCaptureCoordinator");
+
+    connect(this, &OneMotorControl::start, m_coordinator, &OneMotionCaptureCoordinator::startStepMotion);
+    connect(this, &OneMotorControl::stopStepMotionSignal, m_coordinator, &OneMotionCaptureCoordinator::stopStepMotion);
+
+    connect(m_coordinator, &OneMotionCaptureCoordinator::sequenceCompleteSignal_hyperImagerStopRecord,
+        this, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord);
+    connect(m_coordinator, &OneMotionCaptureCoordinator::sequenceCompleteSignal_motorBack2Origin, 
+        this, &OneMotorControl::onSequenceComplete_motorBack2Origin);
+
     OneMotionCapturePathLine tmp;
-    tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
+
+    double s = ui.scanSpeed_lineEdit->text().toDouble();
+    if (ui.reverseMove_radioButton->isChecked())
+    {
+        s = s * -1;
+    }
+    tmp.speedRecord = s;
     tmp.speedBack = ui.return_speed_lineEdit->text().toDouble();
 
     emit start(tmp);
@@ -172,7 +283,328 @@ void OneMotorControl::stop()
     emit stopStepMotionSignal();
 }
 
-void OneMotorControl::onSequenceComplete()
+void OneMotorControl::multiPosHyperAutoExposure()
 {
-    emit sequenceComplete();
+    //所有该自动曝光的位置
+    std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
+    double maxPos = maxRangeLocations[0];
+
+    std::vector<double> locations;
+	locations.push_back(maxPos * 0.2);
+    locations.push_back(maxPos * 0.5);
+    locations.push_back(maxPos * 0.8);
+
+	//创建协调器，并连接信号槽
+    m_coordinator_gonggashan_autoexpose = new OneMotorMultiPosCoordinator(m_multiAxisController, m_Imager);
+
+    //connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator_gonggashan_autoexpose, SLOT(stopStepMotion()));
+    connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::sequenceComplete, this, &OneMotorControl::onSequenceComplete_gonggashan_autoexpose);
+    connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::hyperAutoExposureDoneSignal, this, &OneMotorControl::hyperAutoExposureDoneSignal_gonggashan);
+    
+    m_coordinator_gonggashan_autoexpose->startStepMotion(ui.manualMovementSpeed_lineEdit->text().toDouble(), locations);
+}
+
+void OneMotorControl::onSequenceComplete_gonggashan_autoexpose(int state)
+{
+    emit multiPosAutoexposeSequenceCompleteSignal();
+
+    m_coordinator_gonggashan_autoexpose->deleteLater();
+}
+
+void OneMotorControl::onSequenceComplete_motorBack2Origin(int state)
+{
+    emit sequenceComplete_motorBack2Origin();
+
+    // 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;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+OneMotorControl_LiftingPlatform::OneMotorControl_LiftingPlatform(QWidget* parent) : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    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()));
+
+    // 连接信号，当控件数值变化时保存到 AppSettings
+    connect(ui.scanSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.scanSpeed_lineEdit->text().toDouble());
+        });
+    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
+        });
+    connect(ui.manualMovementSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setManualMovementSpeed(ui.manualMovementSpeed_lineEdit->text().toDouble());
+        });
+
+    loadSettings();
+}
+
+OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
+{
+    m_motorThread.quit();
+    m_motorThread.wait();
+}
+
+void OneMotorControl_LiftingPlatform::loadSettings()
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(AppSettings::instance().scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(AppSettings::instance().returnSpeed()));
+    ui.manualMovementSpeed_lineEdit->setText(QString::number(AppSettings::instance().manualMovementSpeed()));
+}
+
+void OneMotorControl_LiftingPlatform::onConnectMotor()
+{
+    connectMotor(true);
+}
+
+void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
+{
+    if (getMotorsConnectionStatus())
+    {
+        if (isNotification)
+        {
+            QMessageBox msgBox;
+            msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+            msgBox.exec();
+
+        }
+        return;
+    }
+
+    if (m_multiAxisController != nullptr)
+    {
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl_LiftingPlatform::display_x_loc);
+        disconnect(this, &OneMotorControl_LiftingPlatform::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+        disconnect(this, qOverload<int, double, double, int>(&OneMotorControl_LiftingPlatform::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+        disconnect(this, &OneMotorControl_LiftingPlatform::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
+        disconnect(this, &OneMotorControl_LiftingPlatform::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
+        disconnect(this, &OneMotorControl_LiftingPlatform::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
+        disconnect(this, &OneMotorControl_LiftingPlatform::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl_LiftingPlatform::display_motors_connectivity);
+
+        m_motorThread.quit();
+        m_motorThread.wait();
+        m_multiAxisController = nullptr;
+    }
+
+    try
+    {
+        FileOperation* fileOperation = new FileOperation();
+        string directory = fileOperation->getDirectoryOfExe();
+        QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_LiftingPlatform.cfg";
+
+        m_multiAxisController = new IrisMultiMotorController(configFilePath);
+    }
+    catch (std::exception const& e)
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
+        msgBox.exec();
+        return;
+    }
+
+    m_multiAxisController->moveToThread(&m_motorThread);
+    connect(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::deleteLater);
+
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl_LiftingPlatform::display_x_loc);
+
+    connect(this, &OneMotorControl_LiftingPlatform::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+    connect(this, qOverload<int, double, double, int>(&OneMotorControl_LiftingPlatform::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+    connect(this, &OneMotorControl_LiftingPlatform::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
+
+    connect(this, &OneMotorControl_LiftingPlatform::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
+
+    connect(this, &OneMotorControl_LiftingPlatform::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
+
+    connect(this, &OneMotorControl_LiftingPlatform::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl_LiftingPlatform::display_motors_connectivity);
+
+    m_motorThread.start();
+    emit testConnectivitySignal(0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::display_x_loc(std::vector<double> loc)
+{
+    double tmp = round(loc[0] * 100) / 100;
+    this->ui.realTimeLoc_label->setText(QString::number(tmp));
+
+    emit broadcastLocationSignal(loc);
+}
+
+void OneMotorControl_LiftingPlatform::display_motors_connectivity(std::vector<int> connectivity)
+{
+    //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+    if (connectivity[0])
+    {
+        m_xMotorConnectionStatus = true;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
+    }
+    else
+    {
+        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"));
+    }
+}
+
+void OneMotorControl_LiftingPlatform::zeroStart()
+{
+    zeroStartSignal(0);
+}
+
+void OneMotorControl_LiftingPlatform::onx_rangeMeasurement()
+{
+    double s0 = ui.manualMovementSpeed_lineEdit->text().toDouble();
+    emit rangeMeasurement(0, s0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMove2Loc()
+{
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
+    double l = ui.move2loc_lineEdit->text().toDouble();
+
+    emit move2LocSignal(0, l, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorRight()
+{
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, abs(s), 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorLeft()
+{
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, abs(s)*-1, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorStop()
+{
+    emit stopSignal(0);
+}
+
+void OneMotorControl_LiftingPlatform::run()
+{
+	m_coordinator = new OneMotionCoordinator(m_multiAxisController,this);
+    connect(m_coordinator, &OneMotionCoordinator::sequenceComplete, this, &OneMotorControl_LiftingPlatform::sequenceComplete);
+    connect(m_coordinator, &OneMotionCoordinator::ArrivalSignal, this, &OneMotorControl_LiftingPlatform::onBack2Origin);
+
+    double plantDepthValue = DepthValueLogger::instance().readLatestPlantDepthValue();
+    double liftingPlatformDepthValue = DepthValueLogger::instance().readLatestLiftingPlatformDepthValue();
+	double targetDepth = liftingPlatformDepthValue - plantDepthValue;
+
+    if (targetDepth < 0)
+    {
+        return;
+    }
+
+    m_coordinator->moveToTarget(targetDepth, ui.manualMovementSpeed_lineEdit->text().toDouble());
+}
+
+void OneMotorControl_LiftingPlatform::stop()
+{
+    emit stopStepMotionSignal();
+}
+
+void OneMotorControl_LiftingPlatform::onBack2Origin(double pos)
+{
+    emit back2OriginSignal_TimedDataCollection();
+
+    m_coordinator->deleteLater();
+    m_coordinator = nullptr;
+}
+
+bool OneMotorControl_LiftingPlatform::getMotorsConnectionStatus()
+{
+    return m_xMotorConnectionStatus;
 }

HPPA/OneMotorControl.h

@@ -1,14 +1,19 @@
-#pragma once
+#pragma once
 #include <QThread>
 #include <QMessageBox>
+#include <QPointer>
 
 #include "ui_oneMotorControl.h"
 
 #include "IrisMultiMotorController.h"
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
+#include "MotorWindowBase.h"
+#include "AppSettings.h"
 
-class OneMotorControl : public QDialog
+#include "DepthValueLogger.h"
+
+class OneMotorControl : public QDialog, public MotorWindowBase
 {
     Q_OBJECT
 
@@ -21,9 +26,16 @@ public:
     void run();
     void stop();
 
+    void multiPosHyperAutoExposure();
+
     void record_dark();
     void record_white();
 
+    bool getMotorsConnectionStatus();
+
+    void connectMotor(bool isNotification);
+
+    void setScanSpeed(double speed);
 
 public Q_SLOTS:
     void onConnectMotor();
@@ -38,10 +50,11 @@ public Q_SLOTS:
     void onxMotorLeft();
     void onxMotorStop();
 
-    void onSequenceComplete();
+    void onSequenceComplete_motorBack2Origin(int state);
+    void onSequenceComplete_gonggashan_autoexpose(int state);
 
 signals:
-    void moveSignal(int, bool, double, int);
+    void moveSignal(int, double, int);
     void move2LocSignal(int, double, double, int);
     void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
     void stopSignal(int);
@@ -54,18 +67,92 @@ signals:
     void stopStepMotionSignal();
 
     void sequenceComplete();
+    void sequenceComplete_motorBack2Origin();
 
     void broadcastLocationSignal(std::vector<double>);
 
+    void hyperAutoExposureDoneSignal_gonggashan(double exposureTime, double frameRate);
+
+    void multiPosAutoexposeSequenceCompleteSignal();
+
+    void sequenceCompleteSignal_hyperImagerStopRecord(int);
+
 private:
     Ui::OneMotorControl_UI ui;
 
     QThread m_motorThread;
-    IrisMultiMotorController* m_multiAxisController;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
 
-    OneMotionCaptureCoordinator* m_coordinator = nullptr;
+    QPointer<OneMotionCaptureCoordinator> m_coordinator;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
+
+    bool m_xMotorConnectionStatus = false;
+
+    QPointer<OneMotorMultiPosCoordinator> m_coordinator_gonggashan_autoexpose;
+
+    void loadSettings();
+};
+
+class OneMotorControl_LiftingPlatform : public QDialog, public MotorWindowBase
+{
+    Q_OBJECT
+
+public:
+    OneMotorControl_LiftingPlatform(QWidget* parent = nullptr);
+    ~OneMotorControl_LiftingPlatform();
+
+    void run();
+    void stop();
+
+    bool getMotorsConnectionStatus();
+
+    void connectMotor(bool isNotification);
+
+public Q_SLOTS:
+    void onConnectMotor();
+
+    void display_x_loc(std::vector<double> loc);
+    void display_motors_connectivity(std::vector<int> connectivity);
+    void onxMove2Loc();
+    void zeroStart();
+    void onx_rangeMeasurement();
+
+    void onxMotorRight();
+    void onxMotorLeft();
+    void onxMotorStop();
+
+    void onBack2Origin(double pos);
+
+signals:
+    void moveSignal(int, double, int);
+    void move2LocSignal(int, double, double, int);
+    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
+    void stopSignal(int);
+
+    void rangeMeasurement(int, double, int);
+    void zeroStartSignal(int);
+    void testConnectivitySignal(int, int);
+
+    void start(OneMotionCapturePathLine);
+    void stopStepMotionSignal();
+
+    void sequenceComplete(int status);
+    void back2OriginSignal_TimedDataCollection();
+
+    void broadcastLocationSignal(std::vector<double>);
+
+
+private:
+    Ui::OneMotorControl_UI ui;
+
+    QThread m_motorThread;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
+
+    QPointer<OneMotionCoordinator> m_coordinator;
+
+    bool m_xMotorConnectionStatus = false;
+    void loadSettings();
 };

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 +1,109 @@
+#include "RasterImageLayer.h"
+#include "RasterLayer.h"
+#include "RasterDataProvider.h"
+#include "RasterRendererBase.h"
+#include "MultibandRasterRenderer.h"
+#include "SinglebandRasterRenderer.h"
+
+RasterImageLayer::RasterImageLayer(RasterLayer* layer, RendererType type, bool initRenderParamsFromFile)
+    : m_layer(layer)
+    , m_rendererType(type)
+    , m_rendererInitialized(false)
+{
+    if (initRenderParamsFromFile)
+    {
+        // 此处根据头文件（打开影像文件）修改默认渲染波段，只对打开文件的情况下有效；
+        // 当边采集边显示时（initRenderParamsFromFile设置为false），应该在实例化RasterImageLayer后调用setMultibandParams设置默认渲染波段
+        try
+        {
+            if (!m_layer) return;
+
+            std::vector<double> wavelengths = m_layer->bandWavelengths();
+            if (wavelengths.empty()) return;
+
+            std::sort(wavelengths.begin(), wavelengths.end());
+            double m_minWave = wavelengths.front();
+            double m_maxWave = wavelengths.back();
+
+            if (m_minWave > 800 && m_maxWave > 1600)
+            {
+                m_multibandParams.rWave = 1500;
+                m_multibandParams.gWave = 1300;
+                m_multibandParams.bWave = 1100;
+            }
+        }
+        catch (const std::exception&)
+        {
+
+        }
+
+    }
+}
+
+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, bool initRenderParamsFromFile);
+    ~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

@@ -1,21 +1,18 @@
-#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()
 {
 }
 
-MapLayer::LayerType RasterLayer::layerType() const 
-{ 
-    return MapLayer::LayerType::Raster; 
+MapLayer::LayerType RasterLayer::layerType() const
+{
+    return MapLayer::LayerType::Raster;
 }
 
 RasterDataProvider* RasterLayer::dataProvider() const
@@ -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.cpp

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

HPPA/RasterRenderer.h

@@ -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)
@@ -103,21 +103,26 @@ 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;//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>
+	//第一步：先设置曝光时间为在当前帧率情况下最大
+	double f = getFramerate();
+	double x = 1 / f * 1000;//获取最大毫秒曝光时间
+	std::cout << f << "hz帧率下，最大曝光时间为" << x << std::endl;
+
 	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();
 
+	double tmpTime;
 	while (true)
 	{
 		getFrame(buffer);
-		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
+		if (GetMaxValue(buffer, m_FrameSize) >= 16383)
 		{
-			setIntegrationTime(getIntegrationTime() * 0.8);
-			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+			tmpTime = getIntegrationTime() * 0.8;
+			setIntegrationTime(tmpTime);
+			std::cout << "自动曝光-----------：" << tmpTime << std::endl;
 		}
 		else
 		{
@@ -128,9 +133,28 @@ double ResononNirImager::auto_exposure()
 	reConnectImage();
 	//imagerStopCollect();
 
-	//std::cout << "<22>Զ<EFBFBD><D4B6>ع⣺" << getIntegrationTime() << std::endl;
+	double exposureTime = getIntegrationTime();
+	emit autoExposureSignal(exposureTime);
 
-	return getIntegrationTime();
+	//std::cout << "自动曝光：" << exposureTime << std::endl;
+
+	return exposureTime;
+}
+
+unsigned short ResononNirImager::GetMaxValue(unsigned short* dark, int number)
+{
+	unsigned int max = 0;
+	for (size_t i = 0; i < number; i++)
+	{
+		if (dark[i] > 16383) continue;//IR L为14位
+
+		if (dark[i] > max)
+		{
+			max = dark[i];
+		}
+	}
+	std::cout << "本帧最大值为" << max << std::endl;
+	return max;
 }
 
 double ResononNirImager::getWavelengthAtBand(int band)
@@ -151,7 +175,7 @@ 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 +183,7 @@ 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 +207,12 @@ 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 +245,7 @@ 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 +271,7 @@ 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 +299,23 @@ 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, "nearInfrared");
+
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
 	size_t x;
@@ -295,7 +324,7 @@ 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 +334,7 @@ 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 +352,12 @@ 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 +373,15 @@ 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
-		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
+		//将rgb波段提取出来，以便在界面中显示
+		//需要修改函数m_RgbImage->FillRgbImage，接收参数：提取rgb的偏移，参数由相机类型、单帧大小、波长范围等确定
+		m_RgbImage->FillRgbImage(buffer, 172, 112, 52);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
-		//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 +390,22 @@ 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)
@@ -399,7 +433,7 @@ void ResononNirImager::WriteHdr()
 	outfile << "ENVI\n";
 	outfile << "interleave = bil\n";
 	outfile << "data type = 12\n";
-	outfile << "bit depth = 12\n";
+	outfile << "bit depth = 14\n";
 	outfile << "byte order = 0\n";
 	outfile << "samples = " << getSampleCount() << "\n";
 	outfile << "bands = " << getBandCount() << "\n";

HPPA/ResononNirImager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <string>
 #include <opencv2/core/core.hpp> 
@@ -38,6 +38,8 @@ public:
 	void WriteHdr();
 
 protected:
+	unsigned short GetMaxValue(unsigned short* dark, int number);
+
 private:
 	void reConnectImage();