add，计划采集21，上海农科院3D植物表型：

1、实现3种深度计算算法；

.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

@@ -8,6 +8,9 @@ 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;
 
 AppSettings::AppSettings()
 	: m_settings(QSettings::IniFormat, QSettings::UserScope,
@@ -100,3 +103,48 @@ 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);
+}
+
+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);
+}
+
+int AppSettings::gonggaShanRecordPort() const
+{
+	return m_settings.value("GonggaShanRecordCtl/Port", kDefaultGonggaShanRecordPort).toInt();
+}
+
+void AppSettings::setGonggaShanRecordPort(int value)
+{
+	m_settings.setValue("GonggaShanRecordCtl/Port", value);
+}

HPPA/AppSettings.h

@@ -34,6 +34,21 @@ public:
 	// 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);
+
+	// 扫描速度
+	double scanSpeed() const;
+	void setScanSpeed(double value);
+
+	// 返回速度
+	double returnSpeed() const;
+	void setReturnSpeed(double value);
+
+	// 贡嘎山记录端口
+	int gonggaShanRecordPort() const;
+	void setGonggaShanRecordPort(int value);
 	// 在此处添加更多参数的 getter/setter ...
 
 private:
@@ -51,4 +66,7 @@ private:
 	static const int kDefaultGain;
 	static const QString kDefaultSLRDataFolder;
 	static const QString kDefaultDepthCameraDataFolder;
+	static const double kDefaultScanSpeed;
+	static const double kDefaultReturnSpeed;
+	static const int kDefaultGonggaShanRecordPort;
 };

HPPA/CaptureCoordinator.cpp

@@ -6,6 +6,7 @@ TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
 	: QObject(parent)
 	, m_motorCtrl(motorCtrl)
 	, 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)),
@@ -86,6 +87,7 @@ void TwoMotionCaptureCoordinator::getLocBeforeStart()
 	QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
 		[&](std::vector<double> pos) {
 			m_locBeforeStart = pos;
+			std::cout << "start pos: "<< pos[0] <<", " << pos[1] << std::endl;
 			received = true;
 			loop.quit();
 		});
@@ -95,6 +97,11 @@ void TwoMotionCaptureCoordinator::getLocBeforeStart()
 
 	loop.exec();
 
+	std::vector<double> pos;
+	pos.push_back(0);
+	pos.push_back(0);
+	m_locBeforeStart = pos;
+
 	disconnect(conn);
 }
 
@@ -113,7 +120,7 @@ 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;
@@ -195,12 +202,12 @@ 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)
@@ -230,6 +237,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2YStartLoc)
 		{
 			m_isMoving2YStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -238,6 +246,8 @@ 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)
@@ -266,6 +276,8 @@ 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
@@ -302,6 +314,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2XStartLoc)
 		{
 			m_isMoving2XStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -341,9 +354,25 @@ 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;
@@ -387,7 +416,8 @@ 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();
@@ -437,7 +467,7 @@ OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
 		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);
 
@@ -469,11 +499,13 @@ void OneMotionCaptureCoordinator::stopStepMotion()
 	}
 
 	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
 {
 	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::getLocBeforeStart()
@@ -498,6 +530,10 @@ void OneMotionCaptureCoordinator::getLocBeforeStart()
 	loop.exec();
 
 	disconnect(conn);
+
+	std::vector<double> pos;
+	pos.push_back(0);
+	m_locBeforeStart = pos;
 }
 
 void OneMotionCaptureCoordinator::move2LocBeforeStart()
@@ -533,25 +569,32 @@ 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();
-	}
-	move2LocBeforeStart();
+		m_isHypercamStopRecord = false;
 
-	// emit sequenceComplete last: the slot connected to it may delete this object,
-	// so no member access is allowed after this point.
-	emit sequenceComplete(0);
+		// 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 sequenceComplete_cam_stop_before_motorback(0);
+	}
+	else
+	{
+		// emit sequenceComplete last: the slot connected to it may delete this object,
+		// so no member access is allowed after this point.
+		emit sequenceComplete(0);
+	}
 }
 
 void OneMotionCaptureCoordinator::handleCaptureComplete(double index)
@@ -681,3 +724,251 @@ 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，所以使用信号槽连接时需要使用SIGNAL和SLOT宏来指定参数类型，避免编译器无法推断出正确的函数签名。
+	//connect(this, &TwoMotor1PosCoordinator::moveTo, m_motorCtrl, &IrisMultiMotorController::moveTo);//这行代码会报错，因为moveTo有多个重载版本，编译器无法推断出正确的函数签名。
+	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, &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, SIGNAL(moveTo(int, double, double, int)), m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	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;
+}

HPPA/CaptureCoordinator.h

@@ -46,6 +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);
 
@@ -75,6 +77,7 @@ private slots:
 private:
 	void processNextPathLine();
 	void startRecordHsi();
+	void isBack2Origin();
 	void getLocBeforeStart();
 	double getThre(double targetLoc, double actualLoc);
 
@@ -87,6 +90,7 @@ private:
 	mutable QMutex m_dataMutex;
 
 	bool m_isRunning;
+	bool m_isValidCapturing;
 	bool m_isMoving2YTargeLoc;
 	bool m_isMoving2XMin;
 	bool m_isMoving2XMax;
@@ -140,6 +144,7 @@ public slots:
 	void handleCaptureCompleteWhenFrameNumberMeet();
 
 signals:
+	void sequenceComplete_cam_stop_before_motorback(int); 
 	void sequenceComplete(int);
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
@@ -161,6 +166,7 @@ private:
 	mutable QMutex m_dataMutex;
 
 	bool m_isRunning;
+	bool m_isHypercamStopRecord = false;
 
 	std::vector<double> m_locBeforeStart;
 	void getLocBeforeStart();
@@ -207,3 +213,90 @@ 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;
+};

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/DepthCameraWindow.cpp

@@ -14,6 +14,7 @@ DepthCameraWindow::DepthCameraWindow(QWidget* parent)
 	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);
@@ -41,11 +42,21 @@ void DepthCameraWindow::onSelectDataFolder()
 		QString::fromLocal8Bit("选择数据保存路径"),
 		ui.dataFolderLineEdit->text());
 
-	if (!dir.isEmpty())
-	{
-		ui.dataFolderLineEdit->setText(dir);
-		AppSettings::instance().setDepthCameraDataFolder(dir);
-	}
+    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()
@@ -56,6 +67,14 @@ void DepthCameraWindow::openDepthCamera()
     }
 }
 
+void DepthCameraWindow::OpenDepthCamera_getDepthValue()
+{
+    if (!m_DepthCameraOperation->getRecordStatus())
+    {
+        emit OpenDepthCamera_getDepthValueSignal();
+    }
+}
+
 void DepthCameraWindow::onCamOpened()
 {
     ui.openDepthCamera_btn->setEnabled(false);
@@ -83,6 +102,8 @@ DepthCameraOperation::DepthCameraOperation()
     m_pipe = nullptr;
 	m_func = nullptr;
 	record = false;
+
+    m_captureIntervalMilliseconds = 3000;
 }
 
 DepthCameraOperation::~DepthCameraOperation()
@@ -96,6 +117,11 @@ DepthCameraOperation::~DepthCameraOperation()
     }
 }
 
+void DepthCameraOperation::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
+}
+
 void DepthCameraOperation::OpenDepthCamera()
 {
     if (m_pipe)
@@ -142,14 +168,14 @@ void DepthCameraOperation::OpenDepthCamera()
 
     // Drop several frames
     for (int i = 0; i < 15; ++i) {
-        auto lost = m_pipe->waitForFrameset(100);
+        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() + AppSettings::instance().fileName();
+    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)
@@ -160,7 +186,7 @@ void DepthCameraOperation::OpenDepthCamera()
             std::cout << "Start recording..." << std::endl;
 		}
 
-        auto frameSet = m_pipe->waitForFrameset(100);
+        auto frameSet = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
         if (frameSet == nullptr)
         {
             std::cout << "No frames received in 100ms..." << std::endl;
@@ -218,7 +244,7 @@ void DepthCameraOperation::OpenDepthCamera()
         pointCloud->setCreatePointFormat(OB_FORMAT_RGB_POINT);
         std::shared_ptr<ob::Frame> frame = pointCloud->process(frameSet);
 
-        QString plyPath = fileNamePrefix + "_"+ QString::number(frameIndex) + ".ply";
+        QString plyPath = fileNamePrefix + "_PointCloud_"+ QString::number(frameIndex) + ".ply";
         ob::PointCloudHelper::savePointcloudToPly(plyPath.toStdString().c_str(), frame, false, false, 50);
 
         //惯导数据
@@ -262,6 +288,274 @@ void DepthCameraOperation::OpenDepthCamera()
     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;

HPPA/DepthCameraWindow.h

@@ -5,8 +5,10 @@
 #include <QNetworkReply>
 #include <QNetworkAccessManager>
 #include <QImage>
-#include <Qthread>
+#include <QThread>
 #include <QDir>
+#include <QCoreApplication>
+#include <QDateTime>
 //#include <QLabel>
 #include <QFileDialog>
 
@@ -33,6 +35,13 @@ public:
 	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;
@@ -46,13 +55,28 @@ private:
 
 	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();
@@ -68,8 +92,12 @@ public:
 
 	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();
@@ -77,12 +105,12 @@ public Q_SLOTS:
 	void onSelectDataFolder();
 
 signals:
-void openDepthCameraSignal();
-void PlotDepthImageSignal();
-void DepthCamClosedSignal();
+	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 recordTarget(int recordTimes, QString path) = 0;
+    virtual void autoExpose() = 0;
+
+    signals:
+    void sendExposureTimeSignal(int exposureTime);
+
+};
+
+#endif //OCEAN_OPTICS_CALIBRATION_CONSOLE_FIBERSPECTROMETEROPERATIONBASE_H

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 +1,99 @@
+#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()));
+
+    // 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());
+
+    setDataFolder(AppSettings::instance().FiberImagerDataFolder());
+}
+
+FodisWindow::~FodisWindow()
+{
+    m_FiberImagerThread->quit();
+    m_FiberImagerThread->wait();
+    delete m_JinspFiberImagerOperation;
+    m_JinspFiberImagerOperation = nullptr;
+}
+
+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::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_JinspFiberImagerOperation->setCaptureInterval(captureIntervalSeconds);
+}
+
+void FodisWindow::openFiberImager()
+{
+    openFiberImager_expose_record("pos_null");
+}
+
+void FodisWindow::openFiberImager_expose_record(QString posInfo)
+{
+    if (!m_JinspFiberImagerOperation->getRecordStatus())
+    {
+        emit openFiberImagerSignal(posInfo);
+    }
+}
+
+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 +1,56 @@
+#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);
+	void onCamOpened();
+	void closeFiberImager();
+	void onCamClosed();
+
+	void onSelectDataFolder();
+
+signals:
+	void openFiberImagerSignal(QString posInfo);
+	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;
+};

HPPA/GonggaShanRecordCtl.cpp

@@ -0,0 +1,146 @@
+#include "GonggaShanRecordCtl.h"
+
+GonggashanTaskScheduler::GonggashanTaskScheduler(QObject* parent)
+	: QObject(parent)
+	, m_taskState(TaskState::Idle)
+{
+}
+
+GonggashanTaskScheduler::~GonggashanTaskScheduler()
+{
+}
+
+bool GonggashanTaskScheduler::isTaskRunning() const
+{
+	return m_taskState == TaskState::Running;
+}
+
+void GonggashanTaskScheduler::setTaskRunning(bool running)
+{
+	m_taskState = running ? TaskState::Running : TaskState::Idle;
+	Q_EMIT taskStateChanged(m_taskState);
+}
+
+void GonggaShanRecordCtl::logStatus(const QString& message, bool isHearderBlankLine, bool isTailBlankLine)
+{
+	QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss");
+
+	if (isHearderBlankLine)
+	{
+		ui.status_textEdit->append("\n");
+	}
+	ui.status_textEdit->append(QString("[%1] %2").arg(timestamp, message));
+	if (isTailBlankLine)
+	{
+		ui.status_textEdit->append("\n");
+	}
+
+	if (m_logStream.device())
+	{
+		if (isHearderBlankLine)
+		{
+			m_logStream << "\n";
+		}
+		m_logStream << "[" << timestamp << "] " << message << "\n";
+		if (isTailBlankLine)
+		{
+			m_logStream << "\n";
+		}
+
+		m_logStream.flush();
+		m_logFile.flush();
+	}
+}
+
+GonggaShanRecordCtl::GonggaShanRecordCtl(QWidget* parent)
+	: QDialog(parent)
+	, m_taskScheduler(new GonggashanTaskScheduler(this))
+{
+	ui.setupUi(this);
+
+	AppSettings& settings = AppSettings::instance();
+	ui.spinbox_Port->setValue(settings.gonggaShanRecordPort());
+
+	connect(ui.btnListen, &QPushButton::clicked, this, &GonggaShanRecordCtl::startListen);
+	connect(ui.btnDisListen, &QPushButton::clicked, this, &GonggaShanRecordCtl::stopListen);
+	connect(ui.spinbox_Port, QOverload<int>::of(&QSpinBox::valueChanged), [this](int value) {
+		AppSettings::instance().setGonggaShanRecordPort(value);
+	});
+}
+
+GonggaShanRecordCtl::~GonggaShanRecordCtl()
+{
+	if (m_logFile.isOpen()) {
+		m_logStream.flush();
+		m_logFile.close();
+	}
+	tcpServer6005->deleteLater();
+}
+
+void GonggaShanRecordCtl::startListen()
+{
+	if (m_logFile.isOpen()) {
+		m_logStream.flush();
+		m_logFile.close();
+	}
+
+	QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
+	QString logFileName = QString("%1_log.txt").arg(timestamp);
+	m_logFilePath = AppSettings::instance().dataFolder() + QDir::separator() + logFileName;
+	m_logFile.setFileName(m_logFilePath);
+	m_logFile.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text);
+	m_logStream.setDevice(&m_logFile);
+
+	logStatus("Start listen....", true, true);
+
+	MotorParams::TCPConnectionParams tcpConnectionParams6005;
+	tcpConnectionParams6005.port = ui.spinbox_Port->text().toInt();
+	tcpConnectionParams6005.serverIP = "192.168.1.2";//此ip地址没有使用，可以随便填入
+	tcpServer6005 = new MotorParams::CommunicationViaTCP(tcpConnectionParams6005, this);
+
+	connect(tcpServer6005, &MotorParams::CommunicationViaTCP::positionReceived, this, &GonggaShanRecordCtl::startRecord);
+}
+
+void GonggaShanRecordCtl::stopListen()
+{
+	logStatus("Stop listen", true, true);
+
+	disconnect(tcpServer6005, &MotorParams::CommunicationViaTCP::positionReceived, this, &GonggaShanRecordCtl::startRecord);
+
+	tcpServer6005->deleteLater();
+}
+
+void GonggaShanRecordCtl::startRecord(int position)
+{
+	if (m_taskScheduler->isTaskRunning())
+	{
+		logStatus("Data collection has begun....");
+
+		return;
+	}
+
+	QString pos = QString::number(position);
+	logStatus("Reach pos: " + pos, true);
+
+	m_taskScheduler->setTaskRunning(true);
+	emit startRcordSignal("pos_" + pos);
+}
+
+void GonggaShanRecordCtl::onFiberImagerStartExposureSignal()
+{
+	logStatus("FiberImager: start exposure...");
+}
+
+void GonggaShanRecordCtl::onFiberImagerExposureCompleteSignal(int exposureTime)
+{
+	logStatus(QString("FiberImager: exposure finished, %1").arg(exposureTime));
+
+	logStatus("Start recording...");
+}
+
+void GonggaShanRecordCtl::onRcordFinished()
+{
+	m_taskScheduler->setTaskRunning(false);
+
+	logStatus("Record Finished.");
+}

HPPA/GonggaShanRecordCtl.h

@@ -0,0 +1,76 @@
+#pragma once
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <vector>
+#include <QPointer>
+
+#include <QDateTime>
+#include <QFile>
+#include <QTextStream>
+#include <QDir>
+
+#include "ui_gonggashanCtl.h"
+
+#include "CommunicationViaTCP.h"
+#include "AppSettings.h"
+
+class GonggashanTaskScheduler : public QObject
+{
+	Q_OBJECT
+
+public:
+	enum class TaskState
+	{
+		Idle,
+		Running
+	};
+
+	explicit GonggashanTaskScheduler(QObject* parent = nullptr);
+	~GonggashanTaskScheduler();
+
+	bool isTaskRunning() const;
+	void setTaskRunning(bool running);
+
+Q_SIGNALS:
+	void taskStateChanged(TaskState state);
+
+private:
+	TaskState m_taskState;
+};
+
+class GonggaShanRecordCtl : public QDialog
+{
+	Q_OBJECT
+
+public:
+	GonggaShanRecordCtl(QWidget* parent = nullptr);
+	~GonggaShanRecordCtl();
+
+
+public Q_SLOTS:
+	void onFiberImagerStartExposureSignal();
+	void onRcordFinished();
+	void onFiberImagerExposureCompleteSignal(int exposureTime);
+
+Q_SIGNALS:
+	// Emitted when user changes any of the R/G/B wavelength values
+	void startRcordSignal(QString posInfo);
+
+private Q_SLOTS:
+	void startListen();
+	void stopListen();
+
+	void startRecord(int position);
+
+private:
+	void logStatus(const QString& message, bool isHearderBlankLine = false, bool isTailBlankLine = false);
+
+	Ui::gongga_control ui;
+	QPointer<MotorParams::CommunicationViaTCP> tcpServer6005;
+	GonggashanTaskScheduler* m_taskScheduler;
+	QString m_logFilePath;
+	QFile m_logFile;
+	QTextStream m_logStream;
+};

HPPA/HPPA.cpp

@@ -116,6 +116,7 @@ HPPA::HPPA(QWidget* parent)
 	connect(this->ui.mSetting, SIGNAL(triggered()), this, SLOT(settingWindow()));
     connect(this->ui.action_about, SIGNAL(triggered()), this, SLOT(onAbout()));
     connect(this->ui.mActionOneMotorScenario, SIGNAL(triggered()), this, SLOT(createOneMotorScenario()));
+	connect(this->ui.mActionGonggaRotatingPlatformScenario, SIGNAL(triggered()), this, SLOT(createGonggaRotatingPlatformScenario()));
     connect(this->ui.mActionPlantPhenotypeScenario, SIGNAL(triggered()), this, SLOT(createPlantPhenotypeScenario()));
 	connect(this->ui.mAction3DPlantPhenotypeScenario, SIGNAL(triggered()), this, SLOT(create3DPlantPhenotypeScenario()));
 	connect(this->ui.mActionMicroscopicMotionControlScenario, SIGNAL(triggered()), this, SLOT(createMicroscopicMotionControlScenario()));
@@ -454,6 +455,44 @@ HPPA::HPPA(QWidget* parent)
 	m_carousel->addWidget(sa_SingleLensReflexCamera);
 	m_carousel->setContentsMargins(0, 0, 0, 0);
 
+	//---------------------------------------------------------------------
+	QChartView * m_FiberImagerChartView = new QChartView();
+	m_FiberImagerChartView->setRenderHint(QPainter::Antialiasing);
+	m_FiberImagerChartView->setStyleSheet(R"(
+        background: #0D1233;
+	)");
+
+	m_FiberImagerChart = new QChart();
+	m_FiberImagerChart->setBackgroundBrush(QColor("#0D1233"));
+	m_FiberImagerChart->legend()->hide();
+	//m_FiberImagerChart->setTitle("Simple line chart example");
+
+	QValueAxis* axisX_FiberImagerChart = new QValueAxis();
+	QValueAxis* axisY_FiberImagerChart = new QValueAxis();
+	setAxis(axisX, axisY);
+	m_FiberImagerChart->addAxis(axisX_FiberImagerChart, Qt::AlignBottom);
+	m_FiberImagerChart->addAxis(axisY_FiberImagerChart, Qt::AlignLeft);
+	m_FiberImagerChartView->setChart(m_FiberImagerChart);
+
+	QScrollArea* sa_FiberImager = new QScrollArea();
+	sa_FiberImager->setObjectName("sa_FiberImager");
+	sa_FiberImager->setStyleSheet(R"(
+		border: none;
+		background-color: #0D1233;
+	)");
+	QGridLayout* gridLayout_sa_FiberImager = new QGridLayout(sa_FiberImager);
+	gridLayout_sa_FiberImager->setSpacing(6);
+	gridLayout_sa_FiberImager->setObjectName(QString::fromUtf8("gridLayout_sa_FiberImager"));
+	gridLayout_sa_FiberImager->setVerticalSpacing(0);
+	gridLayout_sa_FiberImager->setContentsMargins(0, 0, 0, 0);
+	gridLayout_sa_FiberImager->addWidget(m_FiberImagerChartView);
+
+	m_carousel->addWidget(sa_FiberImager);
+	m_carousel->setContentsMargins(0, 0, 0, 0);
+
+
+
+
 	m_carousel->play();
 
 	gridLayout_carouselContainer->addWidget(m_carousel);
@@ -553,6 +592,20 @@ HPPA::HPPA(QWidget* parent)
         }
 	)");
 
+	m_ImageStretchThread = new QThread(this);
+	m_ImageStretchWorker = new ImageStretchWorker();
+	m_ImageStretchWorker->moveToThread(m_ImageStretchThread);
+	// 注册QPixmap类型用于跨线程信号槽
+	qRegisterMetaType<QPixmap>("QPixmap&");
+	qRegisterMetaType<cv::Mat>("cv::Mat");
+	qRegisterMetaType<cv::Mat>("cv::Mat");
+	connect(m_ImageStretchWorker, &ImageStretchWorker::imageReady,
+		this, &HPPA::onStretchedImageReady, Qt::QueuedConnection);
+	connect(m_ImageStretchWorker, &ImageStretchWorker::processingError,
+		this, &HPPA::onStretchProcessingError, Qt::QueuedConnection);
+	m_ImageStretchThread->start();
+
+
 	//光谱仪操作
 	m_Imager = nullptr;
 	m_RecordThread = nullptr;
@@ -575,6 +628,9 @@ HPPA::HPPA(QWidget* parent)
 
 	initMapTools();
 
+	//定时采集
+	connect(this->ui.mActionTimedDataCollection, SIGNAL(triggered()), this, SLOT(onTimedDataCollection()));
+
 	QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
 	QFile file(strPath);
 	if (file.open(QIODevice::ReadOnly))
@@ -588,6 +644,180 @@ HPPA::HPPA(QWidget* parent)
 	this->showMaximized();
 }
 
+void HPPA::initTimedDataCollection()
+{
+	if (m_tdc)
+	{
+		m_tdc->show();
+		m_tdc->activateWindow();
+		return;
+	}
+
+	m_tdc = new TimedDataCollection(this);
+
+	m_tdc->setWindowFlags(m_tdc->windowFlags() | Qt::Tool);
+	m_tdc->setAttribute(Qt::WA_DeleteOnClose);
+
+	m_tmc->connectMotor(false);
+	m_omc_LiftingPlatform->connectMotor(false);
+
+	// 定时采集控制器 → 相机/马达
+	connect(m_tdc, &TimedDataCollection::hyperCamParm, this, &HPPA::setTimedDataCollectionHyperCamParm);
+	connect(m_tdc, &TimedDataCollection::camParm, this, &HPPA::setTimedDataCollectionCamParm);
+	connect(m_tdc, &TimedDataCollection::motorParm, this, &HPPA::setTimedDataCollectionMotorParm);
+	connect(m_tdc, &TimedDataCollection::startRecordSignal, this, &HPPA::onStartTimedDataCollection);
+
+	connect(m_tdc, &TimedDataCollection::ObtainingDepthInformationSignals, this, &HPPA::onObtainTargetDepthInformation);
+	
+	connect(m_tdc, &TimedDataCollection::switchHalogenLampSignal, m_pc3D, &PowerControl3D::switchHalogenLampPower);
+	connect(m_tdc, &TimedDataCollection::switchD65LampSignal, m_pc3D, &PowerControl3D::switchD65LampPower);
+	connect(m_tdc, &TimedDataCollection::switchSlrSignal, m_pc3D, &PowerControl3D::switchSlrPower);
+
+	// 相机/马达 → 定时采集控制器
+	connect(m_tmc, &TwoMotorControl::sequenceComplete, m_tdc, &TimedDataCollection::subTaskCompleted);
+	connect(m_tmc, &TwoMotorControl::back2OriginSignal_TimedDataCollection, m_tdc, &TimedDataCollection::onBack2Origin);
+
+	//升降台
+	connect(m_tdc, &TimedDataCollection::LiftingPlatformSignals, this, &HPPA::onLiftingPlatform);
+	connect(m_omc_LiftingPlatform, &OneMotorControl_LiftingPlatform::sequenceComplete, m_tdc, &TimedDataCollection::subTaskCompleted);
+	connect(m_omc_LiftingPlatform, &OneMotorControl_LiftingPlatform::back2OriginSignal_TimedDataCollection, m_tdc, &TimedDataCollection::onBack2Origin);
+
+	//自动调焦
+	connect(m_tdc, &TimedDataCollection::AutoFocusSignals, this, &HPPA::onAutoFocus_TimedDataCollection);
+
+	m_tdc->show();
+}
+
+void HPPA::setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName)
+{
+	switch (camType)
+	{
+		case 0:
+		{
+			disconnectImagerAndCleanup();
+			ui.mActionPica_L->setChecked(true);
+			selectingImager(ui.mActionPica_L);
+
+			AppSettings::instance().setFrameRate(f);
+			AppSettings::instance().setIntegrationTime(e);
+			AppSettings::instance().setDataFolder(filePath);
+			AppSettings::instance().setFileName(fileName);
+
+			this->frame_number->setText("100000");
+
+			onconnect();
+			break;
+		}
+		case 1:
+		{
+			disconnectImagerAndCleanup();
+			ui.mActionPica_NIR->setChecked(true);
+			selectingImager(ui.mActionPica_NIR);
+
+			AppSettings::instance().setFrameRate(f);
+			AppSettings::instance().setIntegrationTime(e);
+			AppSettings::instance().setDataFolder(filePath);
+			AppSettings::instance().setFileName(fileName);
+
+			this->frame_number->setText("100000");
+
+			onconnect();
+			break;
+		}
+	}
+}
+
+void HPPA::setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder)
+{
+	switch (camType)
+	{
+		case 2:
+		{
+			m_singleLensReflexCameraWindow->setDataFolder(folder);
+			m_singleLensReflexCameraWindow->setCaptureInterval(captureIntervalSeconds);
+
+			break;
+		}
+		case 3:
+		{
+			m_depthCameraWindow->setDataFolder(folder);
+			m_depthCameraWindow->setCaptureInterval(captureIntervalSeconds);
+
+			break;
+		}
+	}
+
+}
+
+void HPPA::setTimedDataCollectionMotorParm(QString pathLineFilePath)
+{
+	m_tmc->readRecordLineFile(pathLineFilePath);
+	//m_tmc->onConnectMotor();
+	//QThread::msleep(1000);
+}
+
+void HPPA::onStartTimedDataCollection(int camType)
+{
+	switch (camType)
+	{
+		case 0:
+		{
+			onStartRecordStep1();
+			break;
+		}
+		case 1:
+		{
+			onStartRecordStep1();
+			break;
+		}
+		case 2:
+		{
+			m_tmc->run2(m_singleLensReflexCameraWindow);
+			break;
+		}
+		case 3:
+		{
+			m_tmc->run3(m_depthCameraWindow);
+			break;
+		}
+	}
+}
+
+void HPPA::onObtainTargetDepthInformation(SubTask subTaskParams)
+{
+	m_tmc->run4_ObtainTargetDepthInfo(m_depthCameraWindow, subTaskParams.depthAlgorithm, subTaskParams.depthType, subTaskParams.depthInfoX, subTaskParams.depthInfoY, 
+		subTaskParams.averageNumberOfTimes, subTaskParams.percentageOfEffectiveArea, subTaskParams.depthRangePercentage);
+}
+
+void HPPA::onLiftingPlatform(SubTask subTaskParams)
+{
+	m_omc_LiftingPlatform->run();
+}
+
+void HPPA::onAutoFocus_TimedDataCollection(SubTask subTaskParams)
+{
+	m_tmc->setImager(m_Imager);
+	//先使用subTaskParams.autoFocusMotorConfigFilePath替换文件oneMotorConfigFile_focus.cfg
+	m_tmc->run5_AutoFocus(subTaskParams.autoFocusX, subTaskParams.autoFocusY);
+}
+
+void HPPA::onTimedDataCollection()
+{
+	QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();
+	QString checkedScenarioName = checkedScenario->objectName();
+	if (checkedScenarioName == "mAction3DPlantPhenotypeScenario")//计划采集
+	{
+		initTimedDataCollection();
+
+		return;
+	}
+	else if (checkedScenarioName == "mActionPlantPhenotypeScenario")
+	{
+
+	}
+}
+
+
 void HPPA::initMenubarToolbar()
 {
 	//自定义菜单栏和工具栏
@@ -833,6 +1063,11 @@ void HPPA::initControlTabwidget()
 	m_pc->setWindowFlags(Qt::Widget);
 	ui.controlTabWidget->addTab(m_pc, QString::fromLocal8Bit("电源控制"));
 
+	//电源控制3D
+	m_pc3D = new PowerControl3D();
+	m_pc3D->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(m_pc3D, QString::fromLocal8Bit("电源控制3D"));
+
 	//机械臂控制
 	m_rac = new RobotArmControl();
 	connect(m_rac->robotController, SIGNAL(hsiRecordSignal(int)), this, SLOT(recordFromRobotArm(int)));
@@ -844,18 +1079,73 @@ void HPPA::initControlTabwidget()
 	m_omc->setWindowFlags(Qt::Widget);
 	ui.controlTabWidget->addTab(m_omc, QString::fromLocal8Bit("1轴马达控制"));
 
+	//1轴马达控制，上海3D植物表情，白板/调焦纸升降
+	m_omc_LiftingPlatform = new OneMotorControl_LiftingPlatform();
+	m_omc_LiftingPlatform->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(m_omc_LiftingPlatform, QString::fromLocal8Bit("白板/调焦升降台"));
+
 	//2轴马达控制
 	m_tmc = new TwoMotorControl(this);
 	//connect(m_tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
-	connect(m_tmc, SIGNAL(sequenceComplete()), this, SLOT(onsequenceComplete()));
+	connect(m_tmc, &TwoMotorControl::back2OriginSignal, this, &HPPA::onsequenceComplete);
 	m_tmc->setWindowFlags(Qt::Widget);
 	ui.controlTabWidget->addTab(m_tmc, QString::fromLocal8Bit("2轴控制"));
 
+	//贡嘎山定时采集
+	m_gonggaShanRecordCtl = new GonggaShanRecordCtl(this);
+	m_gonggaShanRecordCtl->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(m_gonggaShanRecordCtl, QString::fromLocal8Bit("触发采集"));
+
+	//is11
+	m_fodisWindow = new FodisWindow(this);
+	connect(m_fodisWindow, &FodisWindow::spectalCaptured, this, &HPPA::showFiberImagerSpectral);
+	m_fodisWindow->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(m_fodisWindow, QString::fromLocal8Bit("FODIS"));
+
+	setupGonggashanAutoRecordConnection();
+
+
 	// Connect ImageControl band change to re-render (m_ic created in initControlTabwidget)
 	//connect(m_ic, SIGNAL(bandSelectionChanged(double, double, double)),
 	//	this, SLOT(onBandSelectionChanged(double, double, double)));
 }
 
+void HPPA::setupGonggashanAutoRecordConnection()
+{
+	connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::startRcordSignal, this, &HPPA::onGonggashanRecord);
+
+	connect(m_fodisWindow, &FodisWindow::startExposureSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onFiberImagerStartExposureSignal);
+	connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, this, &HPPA::onStartRecordStep1);
+	connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onFiberImagerExposureCompleteSignal);
+
+	connect(m_omc, &OneMotorControl::sequenceComplete, m_fodisWindow, &FodisWindow::closeFiberImager);
+	connect(m_omc, &OneMotorControl::sequenceComplete, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onRcordFinished);
+}
+
+void HPPA::onGonggashanRecord(QString posInfo)
+{
+	//设置文件名
+	//AppSettings::instance().setFrameRate(f);
+	//AppSettings::instance().setIntegrationTime(e);
+	//AppSettings::instance().setDataFolder(filePath);
+
+	QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
+	//QString fi = AppSettings::instance().fileName() + "_" + dateStr;
+	AppSettings::instance().setFileName(dateStr + "_" + posInfo);
+
+	this->frame_number->setText("100000");
+	
+	//连接马达和光谱仪
+	m_omc->connectMotor(false);
+
+	if (!testImagerVality())
+	{
+		onconnect();
+	}
+	
+	m_fodisWindow->openFiberImager_expose_record(posInfo);
+}
+
 void HPPA::recordFromRobotArm(int fileCounter)
 {
 	if (!testImagerVality())
@@ -1029,6 +1319,14 @@ HPPA::~HPPA()
     {
         s_instance = nullptr;
     }
+
+	m_ImageStretchThread->quit();
+	m_ImageStretchThread->wait(3000);
+	delete m_ImageStretchWorker;
+	m_ImageStretchWorker = nullptr;
+	delete m_ImageStretchThread;
+	m_ImageStretchThread = nullptr;
+
 }
 
 void HPPA::removeLayerByTreeIndex()
@@ -1260,6 +1558,7 @@ void HPPA::createScenarioActionGroup()
 {
 	m_ScenarioActionGroup = new QActionGroup(this);
 	m_ScenarioActionGroup->addAction(ui.mActionOneMotorScenario);
+	m_ScenarioActionGroup->addAction(ui.mActionGonggaRotatingPlatformScenario);
 	m_ScenarioActionGroup->addAction(ui.mActionPlantPhenotypeScenario);
 	m_ScenarioActionGroup->addAction(ui.mAction3DPlantPhenotypeScenario);
 	m_ScenarioActionGroup->addAction(ui.mActionMicroscopicMotionControlScenario);
@@ -1274,6 +1573,11 @@ void HPPA::createScenarioActionGroup()
 		ui.mActionOneMotorScenario->setChecked(true);
 		ui.mActionOneMotorScenario->trigger();
 	}
+	else if (lastSelectedAction == "mActionGonggaRotatingPlatformScenario")
+	{
+		ui.mActionGonggaRotatingPlatformScenario->setChecked(true);
+		ui.mActionGonggaRotatingPlatformScenario->trigger();
+	}
 	else if (lastSelectedAction == "mActionPlantPhenotypeScenario")
 	{
 	 ui.mActionPlantPhenotypeScenario->setChecked(true);
@@ -1331,6 +1635,23 @@ void HPPA::createOneMotorScenario()
 
 }
 
+void HPPA::createGonggaRotatingPlatformScenario()
+{
+	//在菜单中选择移动平台
+	ui.mAction_1AxisMotor->setChecked(true);
+
+	//右下角控制tab
+	m_tabManager->hideAllTabs();
+
+	m_tabManager->showTab(m_hic);
+	m_tabManager->showTab(m_ic);
+	m_tabManager->showTab(m_fodisWindow);
+	m_tabManager->showTab(m_omc);
+	m_tabManager->showTab(m_gonggaShanRecordCtl);
+
+	m_view3DModelManager->switchScenario(View3DModelManager::ScenarioType::OneMotor);
+}
+
 void HPPA::onCreated3DModelPlantPhenotype()
 {
 	connect(m_tmc, SIGNAL(broadcastLocationSignal(std::vector<double>)), m_view3DModelManager->m_viewPlant, SLOT(setLoc(std::vector<double>)));
@@ -1382,8 +1703,10 @@ void HPPA::create3DPlantPhenotypeScenario()
 	m_tabManager->showTab(m_singleLensReflexCameraWindow);
 	//m_tabManager->showTab(m_rgbCameraControlWindow);
 	m_tabManager->showTab(m_adt);
-	m_tabManager->showTab(m_pc);
+	//m_tabManager->showTab(m_pc);
+	m_tabManager->showTab(m_pc3D);
 	m_tabManager->showTab(m_tmc);
+	m_tabManager->showTab(m_omc_LiftingPlatform);
 
 	m_view3DModelManager->switchScenario(View3DModelManager::ScenarioType::PlantPhenotype);
 
@@ -1523,22 +1846,6 @@ bool HPPA::showResultMessageBox(QString title, QString msg)
 
 void HPPA::onStartRecordStep1()
 {
-	QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();
-	QString checkedScenarioName = checkedScenario->objectName();
-	if (checkedScenarioName == "mAction3DPlantPhenotypeScenario")//计划采集
-	{
-		TimedDataCollection* tmp = new TimedDataCollection();
-		/*m_ic->setWindowFlags(Qt::Widget);*/
-		tmp->show();
-		//tmp->exec();
-
-		return;
-	}
-	else if (checkedScenarioName == "mActionPlantPhenotypeScenario")
-	{
-
-	}
-
 	//判断移动平台
 	QAction* checked = moveplatformActionGroup->checkedAction();
 	if (!checked)
@@ -1576,7 +1883,7 @@ void HPPA::onStartRecordStep1()
 	//判断光谱仪
 	if(!testImagerVality())
 	{
-		showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
+		showMessageBox(QString::fromLocal8Bit("找不到高光谱仪！"));
 
 		return;
 	}
@@ -1743,6 +2050,10 @@ void HPPA::onTabWidgetCurrentChanged(int index)//代码新建一个tab，会调
     //获取绘图控件
     QWidget* currentWidget = m_imageViewerTabWidget->widget(index);
     QList<Mapcavas*> currentImageViewer = currentWidget->findChildren<Mapcavas*>();
+	if (currentImageViewer.size() == 0)
+	{
+		return;
+	}
 
     // Re-apply the current active map tool to the new canvas
     Mapcavas* canvas = currentImageViewer[0];
@@ -1896,6 +2207,37 @@ void HPPA::setAxis(QValueAxis* axisX, QValueAxis* axisY)
 	}
 }
 
+void HPPA::showFiberImagerSpectral(DeviceAttribute attribute, DataFrame dataFrame)
+{
+	try
+	{
+		QLineSeries* series = new QLineSeries();
+
+		const int count = qMin(attribute.iPixels, 4096);
+		for (int i = 0; i < count; ++i)
+		{
+			double wavelength = attribute.fWaveLengthInNM[i];
+			double intensity = dataFrame.lData[i];
+			series->append(wavelength, intensity);
+		}
+
+		series->setPen(QPen(QColor("#FF928A"), 2));
+
+		m_FiberImagerChart->removeAllSeries();
+		m_FiberImagerChart->addSeries(series);
+		m_FiberImagerChart->createDefaultAxes();
+
+		QValueAxis* axisX = qobject_cast<QValueAxis*>(m_FiberImagerChart->axisX());
+		QValueAxis* axisY = qobject_cast<QValueAxis*>(m_FiberImagerChart->axisY());
+
+		setAxis(axisX, axisY);
+	}
+	catch (const std::exception&)
+	{
+		std::cout << "显示光谱有错误！" << std::endl;
+	}
+}
+
 void HPPA::timerEvent(QTimerEvent* event)
 {
 }
@@ -2089,7 +2431,7 @@ void HPPA::disconnectImagerAndCleanup()
 	{
 		m_RecordThread->quit();
 		m_RecordThread->wait(3000);
-		delete m_RecordThread;
+		m_RecordThread->deleteLater();
 		m_RecordThread = nullptr;
 	}
 
@@ -2142,7 +2484,7 @@ void HPPA::onconnect()
 	}
 	else
 	{
-		bool res = showResultMessageBox(QString::fromLocal8Bit("相机连接"), QString::fromLocal8Bit("确定要重连相机吗？"));
+		bool res = showResultMessageBox(QString::fromLocal8Bit("高光谱仪连接"), QString::fromLocal8Bit("确定要重连高光谱仪吗？"));
 		if (res)
 		{
 			disconnectImagerAndCleanup();
@@ -2178,7 +2520,7 @@ void HPPA::onconnect()
 		}
 		else
 		{
-			showMessageBox(QString::fromLocal8Bit("请选择相机类型！"));
+			showMessageBox(QString::fromLocal8Bit("请选择高光谱仪类型！"));
 
 			return;
 		}
@@ -2246,9 +2588,9 @@ void HPPA::onconnect()
 		ui.gain_lineEdit->setValidator(new QRegExpValidator(rx));*/
 
 		//获取相机参数并显示到界面中
-		m_hic->setFrameRate(AppSettings::instance().frameRate());
-		m_hic->setIntegrationTime(AppSettings::instance().integrationTime());
-		m_hic->setGain(AppSettings::instance().gain());
+		onFramerateChanged(AppSettings::instance().frameRate());
+		onIntegrationTimeChanged(AppSettings::instance().integrationTime());
+		onGainChanged(AppSettings::instance().gain());
 	}
 	catch (std::exception const& e)
 	{
@@ -2256,19 +2598,37 @@ void HPPA::onconnect()
 
 		std::cerr << "Error: " << e.what() << std::endl;
 
+		QString errorFilePath = QCoreApplication::applicationDirPath() + "/camerror.txt";
+		QFile file(errorFilePath);
+		if (file.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text))
+		{
+			QTextStream out(&file);
+			out << QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss") << " - std::exception: " << e.what() << "\n";
+			file.close();
+		}
+
 		delete m_Imager;
 		m_Imager = nullptr;
 
-		showMessageBox(QString::fromLocal8Bit("请连接相机！"));
+		showMessageBox(QString::fromLocal8Bit("请连接高光谱仪！"));
 	}
 	catch (int e)//ximea相机异常
 	{
 		ui.action_connect_imager->setIcon(QIcon(":/svg/resources/icons/svg/connect_imager.svg"));
 
+		QString errorFilePath = QCoreApplication::applicationDirPath() + "/camerror.txt";
+		QFile file(errorFilePath);
+		if (file.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text))
+		{
+			QTextStream out(&file);
+			out << QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss") << " - int exception: " << e << "\n";
+			file.close();
+		}
+
 		delete m_Imager;
 		m_Imager = nullptr;
 
-		showMessageBox(QString::fromLocal8Bit("请连接相机！"));
+		showMessageBox(QString::fromLocal8Bit("请连接高光谱仪！"));
 	}
 }
 
@@ -2477,8 +2837,8 @@ void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QSt
 		m_recordFrameCounter->updateFrameCount(static_cast<RasterLayer*>(mapLayer), m_Imager->getFrameCounter());
 	}
 
-	if (ui.mAction3DPlantPhenotypeScenario->isChecked())
-		return;
+	//if (ui.mAction3DPlantPhenotypeScenario->isChecked())
+	//	return;
 
     //return;
     //获取绘图控件
@@ -2486,16 +2846,26 @@ void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QSt
     //QWidget* currentWidget = m_imageViewerTabWidget->widget(fileNumber);
 
     QList<Mapcavas*> currentImageViewer = currentWidget->findChildren<Mapcavas*>();
+	if (currentImageViewer.size() == 0)
+	{
+		return;
+	}
     currentImageViewer[0]->DisplayFrameNumber(m_Imager->getFrameCounter());//界面中显示已经采集的帧数
 
-    //创建需要显示的图像--opencv版本
-    ImageProcessor imageProcessor;
-    //cv::Mat rgbImage(*m_Imager->getRgbImage()->m_matRgbImage, cv::Range(0, m_Imager->getFrameCounter()), cv::Range::all());//2022.3.18重构的
     cv::Mat rgbImage(*m_Imager->getMatRgbImage(), cv::Range(0, m_Imager->getFrameCounter()), cv::Range::all());
-    cv::Mat rgbImageStretched = imageProcessor.CStretch(rgbImage, 0.02);
+	showQuickPreview(fileNumber, filePath, rgbImage);
 
-    //在界面中显示图像
-    currentImageViewer[0]->SetImage(&QPixmap::fromImage(imageProcessor.Mat2QImage(rgbImageStretched)));//绘制图像
+
+	if (m_ImageStretchWorker) {
+		// 深拷贝图像数据，因为原始数据可能在处理完成前被修改
+		cv::Mat rgbImageCopy = rgbImage.clone();
+		QMetaObject::invokeMethod(m_ImageStretchWorker, "processImage",
+			Qt::QueuedConnection,
+			Q_ARG(cv::Mat, rgbImageCopy),
+			Q_ARG(int, fileNumber),
+			Q_ARG(QString, filePath),
+			Q_ARG(float, 0.02f));
+	}
 
 	//20241225
 	//保存拉伸后的rgb
@@ -2514,6 +2884,47 @@ void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QSt
 	//currentImageViewer[0]->SetImage(&QPixmap::fromImage(CuttedImage));//绘制图像
 }
 
+void HPPA::showQuickPreview(int fileNumber, const QString& filePath, const cv::Mat& rgbImage)
+{
+	// 可以显示一个简单缩放的预览图，或者显示"处理中..."的提示
+	// 这里简单地跳过，等待拉伸后的图像
+	// 如果需要快速预览，可以进行简单的缩放显示
+
+	/*
+	QWidget* currentWidget = m_MapLayerStore->widgetForLayer(filePath);
+	if (!currentWidget) return;
+
+	QList<Mapcavas*> currentImageViewer = currentWidget->findChildren<Mapcavas*>();
+	if (currentImageViewer.isEmpty()) return;
+
+	// 显示一个简单的灰度或缩放版本作为预览
+	cv::Mat preview;
+	cv::resize(rgbImage, preview, cv::Size(), 0.25, 0.25); // 缩小到25%
+	// ... 转换并显示
+	*/
+}
+
+void HPPA::onStretchedImageReady(int fileNumber, const QString& filePath, QPixmap& pixmap)
+{
+	QWidget* currentWidget = m_MapLayerStore->widgetForLayer(filePath);
+	if (!currentWidget) return;
+	QList<Mapcavas*> currentImageViewer = currentWidget->findChildren<Mapcavas*>();
+	if (currentImageViewer.size() == 0)
+	{
+		return;
+	}
+	if (currentImageViewer.isEmpty()) return;
+	// 在界面中显示拉伸后的图像
+	currentImageViewer[0]->SetImage(&pixmap);
+}
+// 处理错误的回调
+void HPPA::onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error)
+{
+	qDebug() << "Image stretch error for file" << filePath << ":" << error;
+	// 可以选择显示错误信息或保留之前的图像
+}
+
+
 void HPPA::focusPlotSpectralImg(int state)
 {
     if (!m_Imager) return;
@@ -2523,6 +2934,10 @@ void HPPA::focusPlotSpectralImg(int state)
         //显示影像
         QWidget* currentWidget = m_imageViewerTabWidget->currentWidget();
         QList<Mapcavas*> currentImageViewer = currentWidget->findChildren<Mapcavas*>();
+		if (currentImageViewer.size() == 0)
+		{
+			return;
+		}
         currentImageViewer[0]->DisplayFrameNumber(m_Imager->getFocusFrameCounter());//界面中显示已经采集的帧数
 
 		ImageProcessor imageProcessor;
@@ -2671,7 +3086,8 @@ void HPPA::onLayerCreatedFromFile(const QString& baseName, const QString& filePa
 
 	if (ui.mAction3DPlantPhenotypeScenario->isChecked())
 	{
-		addLayer(baseName, filePath, false, false);
+		//addLayer(baseName, filePath, false, false);
+		addLayer(baseName, filePath, false);
 	}
 	else
 	{
@@ -2705,6 +3121,10 @@ void HPPA::newImage(RasterLayer* ml, RasterImageLayer::RendererType type, LayerT
 	QWidget* mapcavasContainer = onCreateTab(ml->name());
 	RasterImageLayer* rasterImageLayer = new RasterImageLayer(ml, type);
 	QList<Mapcavas*> mapcavas = mapcavasContainer->findChildren<Mapcavas*>();
+	if (mapcavas.size() == 0)
+	{
+		return;
+	}
 	mapcavas[0]->setImageLayer(rasterImageLayer);
 
 	QString title = ml->name();
@@ -2827,3 +3247,185 @@ void HPPA::onBandSelectionChanged(double rWave, double gWave, double bWave)
 
     mapcavas[0]->freshmap();
 }
+
+
+//--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+ImageStretchWorker::ImageStretchWorker(QObject* parent)
+	: QObject(parent)
+{
+}
+
+ImageStretchWorker::~ImageStretchWorker()
+{
+}
+
+void ImageStretchWorker::processImage(const cv::Mat& rgbImage, int fileNumber, const QString& filePath, float ratio)
+{
+	try {
+		if (rgbImage.empty()) {
+			emit processingError(fileNumber, filePath, "Empty image");
+			return;
+		}
+
+		// 执行耗时的拉伸操作
+		cv::Mat rgbImageStretched = CStretch(rgbImage, ratio);
+
+		// 转换为QImage再转为QPixmap
+		QImage qimg = Mat2QImage(rgbImageStretched);
+		QPixmap pixmap = QPixmap::fromImage(qimg);
+
+		emit imageReady(fileNumber, filePath, pixmap);
+	}
+	catch (const std::exception& e) {
+		emit processingError(fileNumber, filePath, QString::fromStdString(e.what()));
+	}
+}
+
+std::vector<cv::Point2f> ImageStretchWorker::CHistogram(const cv::Mat& img)
+{
+	cv::Mat mimg = img.clone();
+	int rows = mimg.rows;
+	int cols = mimg.cols;
+	int maxValue = 65535;
+
+	std::vector<long int> hisnum(maxValue, 0);
+	for (int i = 0; i < rows; ++i)
+	{
+		for (int j = 0; j < cols; ++j)
+		{
+			unsigned short gv = mimg.at<unsigned short>(i, j);
+			if (gv >= maxValue)
+			{
+				++hisnum[0];
+			}
+			else
+			{
+				++hisnum[gv];
+			}
+		}
+	}
+
+	long int pnum = rows * cols;
+	std::vector<cv::Point2f> hisp;
+	hisp.reserve(hisnum.size());
+	for (size_t i = 0; i < hisnum.size(); ++i)
+	{
+		float p = static_cast<float>(hisnum[i]) / pnum;
+		hisp.push_back(cv::Point2f(static_cast<float>(i), p));
+	}
+	return hisp;
+}
+
+uint ImageStretchWorker::MaxRatio(const std::vector<cv::Point2f>& data, float ratio)
+{
+	float maxp = 0;
+	uint outnum = 0;
+	for (int i = static_cast<int>(data.size()) - 1; i >= 0; --i)
+	{
+		maxp += data[i].y;
+		if (maxp >= ratio)
+		{
+			outnum = i;
+			break;
+		}
+	}
+	return outnum;
+}
+
+uint ImageStretchWorker::MinRatio(const std::vector<cv::Point2f>& data, float ratio)
+{
+	float minp = 0;
+	uint outnum = 0;
+	for (size_t i = 0; i < data.size(); ++i)
+	{
+		minp += data[i].y;
+		if (minp >= ratio)
+		{
+			outnum = static_cast<uint>(i);
+			break;
+		}
+	}
+	return outnum;
+}
+
+cv::Mat ImageStretchWorker::CStretchDeal(const cv::Mat& img, uint minnum, uint maxnum)
+{
+	cv::Mat mimg = img.clone();
+	int rows = mimg.rows;
+	int cols = mimg.cols;
+	cv::Mat nimg = cv::Mat::zeros(rows, cols, CV_8U);
+
+	float dertnum = static_cast<float>(maxnum - minnum);
+
+	for (int i = 0; i < rows; ++i)
+	{
+		for (int j = 0; j < cols; ++j)
+		{
+			unsigned short a = mimg.at<unsigned short>(i, j);
+			if (a <= minnum)
+				nimg.at<uchar>(i, j) = 0;
+			else if (a >= maxnum)
+				nimg.at<uchar>(i, j) = 255;
+			else
+				nimg.at<uchar>(i, j) = static_cast<uchar>(255 * (a - minnum) / dertnum);
+		}
+	}
+	return nimg;
+}
+
+cv::Mat ImageStretchWorker::CStretch(const cv::Mat& img, float ratio)
+{
+	cv::Mat mimg = img.clone();
+	cv::Mat bgr[3];
+	cv::split(mimg, bgr);
+
+	std::vector<cv::Point2f> hb = CHistogram(bgr[0]);
+	std::vector<cv::Point2f> hg = CHistogram(bgr[1]);
+	std::vector<cv::Point2f> hr = CHistogram(bgr[2]);
+
+	uint minb = MinRatio(hb, ratio);
+	uint ming = MinRatio(hg, ratio);
+	uint minr = MinRatio(hr, ratio);
+	uint maxb = MaxRatio(hb, ratio);
+	uint maxg = MaxRatio(hg, ratio);
+	uint maxr = MaxRatio(hr, ratio);
+
+	cv::Mat b = CStretchDeal(bgr[0], minb, maxb);
+	cv::Mat g = CStretchDeal(bgr[1], ming, maxg);
+	cv::Mat r = CStretchDeal(bgr[2], minr, maxr);
+
+	cv::Mat newbgr;
+	newbgr.create(img.rows, img.cols, CV_32FC3);
+	cv::Mat nbgr[3] = { b, g, r };
+	cv::merge(nbgr, 3, newbgr);
+	return newbgr;
+}
+
+QImage ImageStretchWorker::Mat2QImage(const cv::Mat& cvImg)
+{
+	QImage qImg;
+	if (cvImg.channels() == 3)
+	{
+		cv::Mat rgbImg;
+		cv::cvtColor(cvImg, rgbImg, cv::COLOR_BGR2RGB);
+		qImg = QImage(rgbImg.data,
+			rgbImg.cols, rgbImg.rows,
+			static_cast<int>(rgbImg.step),
+			QImage::Format_RGB888).copy(); // 使用copy()确保数据独立
+	}
+	else if (cvImg.channels() == 1)
+	{
+		qImg = QImage(cvImg.data,
+			cvImg.cols, cvImg.rows,
+			static_cast<int>(cvImg.step),
+			QImage::Format_Indexed8).copy();
+	}
+	else
+	{
+		qImg = QImage(cvImg.data,
+			cvImg.cols, cvImg.rows,
+			static_cast<int>(cvImg.step),
+			QImage::Format_RGB888).copy();
+	}
+	return qImg;
+}

HPPA/HPPA.h

@@ -13,6 +13,7 @@
 #include <QChart>
 #include <QChartView>
 #include <QValueAxis>
+#include <QPointer>
 #include <QFileDialog>
 
 #include <QNetworkRequest>
@@ -85,6 +86,13 @@
 
 #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
@@ -191,6 +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
@@ -290,9 +318,14 @@ private:
 	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;
 
@@ -318,6 +351,21 @@ private:
 	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 focusPlotSpectralImg(int state);
@@ -374,6 +422,7 @@ public Q_SLOTS:
 		void recordFromRobotArm(int fileCounter);
 
 		void createOneMotorScenario();
+		void createGonggaRotatingPlatformScenario();
 		void createPlantPhenotypeScenario();
 		void create3DPlantPhenotypeScenario();
 		void onCreated3DModelPlantPhenotype();
@@ -395,6 +444,21 @@ 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(QString posInfo);
+
 protected:
 	void closeEvent(QCloseEvent* event) override;
 

HPPA/HPPA.ui

@@ -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">
@@ -132,6 +133,7 @@ color:white;
      <string>应用场景</string>
     </property>
     <addaction name="mActionOneMotorScenario"/>
+    <addaction name="mActionGonggaRotatingPlatformScenario"/>
     <addaction name="mActionPlantPhenotypeScenario"/>
     <addaction name="mActionMicroscopicMotionControlScenario"/>
     <addaction name="mAction3DPlantPhenotypeScenario"/>
@@ -743,6 +745,19 @@ QPushButton:pressed
     <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;C:\Program Files\OrbbecSDK 2.7.6\include;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Header;$(IncludePath)</IncludePath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Header;D:\cpp_project_vs2022\HPPA\JinspSpectralmeterControl;$(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)|$(Platform)' == 'Release|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Header;$(IncludePath)</IncludePath>
+    <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;OrbbecSDK.lib;EDSDK.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;OrbbecSDK.lib;EDSDK.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>
@@ -112,16 +113,22 @@
     <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" />
@@ -138,8 +145,10 @@
     <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" />
@@ -161,6 +170,7 @@
       <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" />
@@ -172,8 +182,11 @@
     <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" />
@@ -189,6 +202,7 @@
     <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" />
@@ -199,6 +213,7 @@
     <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="DepthValueLogger.h" />
     <QtMoc Include="fileOperation.h" />
   </ItemGroup>
   <ItemGroup>
@@ -223,6 +238,11 @@
     <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" />
@@ -237,6 +257,7 @@
     <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" />
@@ -244,6 +265,8 @@
     <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="MultibandRasterRenderer.h" />
     <ClInclude Include="RasterImageLayer.h" />
@@ -254,7 +277,8 @@
     <QtMoc Include="rgbCameraWindow.h" />
     <QtMoc Include="SingleLensReflexCameraWindow.h" />
     <QtMoc Include="TimedDataCollection.h" />
-    <ClInclude Include="TimedDataCollectionDataStructures.h" />
+    <QtMoc Include="TimedDataCollectionDataStructures.h" />
+    <QtMoc Include="TaskTreeModel.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -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>
@@ -139,21 +148,6 @@
     <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>
@@ -175,12 +169,6 @@
     <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>
@@ -226,16 +214,76 @@
     <ClCompile Include="SingleLensReflexCameraWindow.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="LayerTreeImageNode.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="RasterRendererBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="TimedDataCollection.cpp">
+    <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>
@@ -264,18 +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>
@@ -312,21 +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>
@@ -336,9 +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>
@@ -378,10 +402,61 @@
     <QtMoc Include="SingleLensReflexCameraWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="LayerTreeImageNode.h">
+    <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>
@@ -404,9 +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>
@@ -431,18 +503,24 @@
     <ClInclude Include="SinglebandRasterRenderer.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="LayerTreeView.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="AppSettings.h">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="MotorWindowBase.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="TimedDataCollectionDataStructures.h">
+    <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\LayerTree</Filter>
+    </ClInclude>
+    <ClInclude Include="ResononNirImager.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -496,6 +574,15 @@
     <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/ImagerOperationBase.cpp

@@ -221,6 +221,16 @@ 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;

HPPA/JinspFiberImager.cpp

@@ -0,0 +1,348 @@
+//
+// Created by 73505 on 2023/5/7.
+//
+#include <algorithm>
+
+#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::recordTarget(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 posInfo)
+{
+    m_posInfo = posInfo;
+
+    //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
+    m_record = true;
+    while (m_record)
+    {
+        recordTarget(1, AppSettings::instance().FiberImagerDataFolder());
+
+        QThread::msleep(m_captureIntervalMilliseconds);
+    }
+
+    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 recordTarget(int recordTimes, QString path);
+    void autoExpose();
+
+    void OpenFiberImagerAndRecord(QString posInfo);
+
+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/MultibandRasterRenderer.cpp

@@ -2,6 +2,7 @@
 #include "RasterDataProvider.h"
 #include <QDebug>
 #include <algorithm>
+#include <cmath>
 
 MultibandRasterRenderer::MultibandRasterRenderer(RasterDataProvider* provider)
     : RasterRendererBase(provider)
@@ -26,6 +27,96 @@ void MultibandRasterRenderer::stretchTo8bit(const std::vector<float>& in, std::v
     }
 }
 
+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();
@@ -65,11 +156,39 @@ QImage MultibandRasterRenderer::render()
     if (bIdx >= 0) m_provider->readBandAsFloat(bIdx, bbuf);
 
     std::vector<unsigned char> r8, g8, b8;
-    float minV = static_cast<float>(m_params.minValue);
-    float maxV = static_cast<float>(m_params.maxValue);
-    if (!rbuf.empty()) stretchTo8bit(rbuf, r8, minV, maxV);
-    if (!gbuf.empty()) stretchTo8bit(gbuf, g8, minV, maxV);
-    if (!bbuf.empty()) stretchTo8bit(bbuf, b8, minV, maxV);
+
+    // 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) {

HPPA/MultibandRasterRenderer.h

@@ -18,9 +18,22 @@ public:
     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

@@ -16,6 +16,19 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
     connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
 
     connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
+
+    // 从 AppSettings 读取速度参数
+    AppSettings& settings = AppSettings::instance();
+    ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
+
+    // 连接信号，当控件数值变化时保存到 AppSettings
+    connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
+    });
+    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
+    });
 }
 
 OneMotorControl::~OneMotorControl()
@@ -25,13 +38,21 @@ OneMotorControl::~OneMotorControl()
 }
 
 void OneMotorControl::onConnectMotor()
+{
+    connectMotor(true);
+}
+
+void OneMotorControl::connectMotor(bool isNotification)
 {
     if (getMotorsConnectionStatus())
     {
-        QMessageBox msgBox;
-        msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
-        msgBox.exec();
+        if (isNotification)
+        {
+            QMessageBox msgBox;
+            msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+            msgBox.exec();
 
+        }
         return;
     }
 
@@ -202,8 +223,14 @@ void OneMotorControl::record_white()
 
 void OneMotorControl::run()
 {
+    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
+    {
+        onSequenceComplete(0);
+    }
+
     qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
     m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+    m_coordinator->setObjectName("testOneMotionCaptureCoordinator");
     connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
     connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
 
@@ -240,3 +267,278 @@ 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()));
+
+    // 从 AppSettings 读取速度参数
+    AppSettings& settings = AppSettings::instance();
+    ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
+
+    // 连接信号，当控件数值变化时保存到 AppSettings
+    connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
+        });
+    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
+        });
+}
+
+OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
+{
+    m_motorThread.quit();
+    m_motorThread.wait();
+}
+
+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, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+        disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+        disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+        disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+        disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+        disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+        disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+        disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+        m_motorThread.quit();
+        m_motorThread.wait();
+        m_multiAxisController = nullptr;
+    }
+
+    try
+    {
+        FileOperation* fileOperation = new FileOperation();
+        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, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+
+    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+
+    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+
+    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+
+    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+
+    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+    m_motorThread.start();
+    emit testConnectivitySignal(0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::display_x_loc(std::vector<double> loc)
+{
+    double tmp = round(loc[0] * 100) / 100;
+    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+
+    emit broadcastLocationSignal(loc);
+}
+
+void OneMotorControl_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.speed_lineEdit->text().toDouble();
+    emit rangeMeasurement(0, s0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMove2Loc()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+    double l = ui.move2loc_lineEdit->text().toDouble();
+
+    emit move2LocSignal(0, l, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorRight()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, false, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorLeft()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, true, s, 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.speed_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

@@ -1,6 +1,7 @@
 #pragma once
 #include <QThread>
 #include <QMessageBox>
+#include <QPointer>
 
 #include "ui_oneMotorControl.h"
 
@@ -8,6 +9,9 @@
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
 #include "MotorWindowBase.h"
+#include "AppSettings.h"
+
+#include "DepthValueLogger.h"
 
 class OneMotorControl : public QDialog, public MotorWindowBase
 {
@@ -27,6 +31,8 @@ public:
 
     bool getMotorsConnectionStatus();
 
+    void connectMotor(bool isNotification);
+
 public Q_SLOTS:
     void onConnectMotor();
 
@@ -65,7 +71,7 @@ private:
     QThread m_motorThread;
     IrisMultiMotorController* m_multiAxisController = nullptr;
 
-    OneMotionCaptureCoordinator* m_coordinator = nullptr;
+    QPointer<OneMotionCaptureCoordinator> m_coordinator;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
@@ -73,3 +79,62 @@ private:
 
     bool m_xMotorConnectionStatus = false;
 };
+
+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, bool, double, int);
+    void move2LocSignal(int, double, double, int);
+    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
+    void stopSignal(int);
+
+    void rangeMeasurement(int, double, int);
+    void zeroStartSignal(int);
+    void testConnectivitySignal(int, int);
+
+    void start(OneMotionCapturePathLine);
+    void stopStepMotionSignal();
+
+    void sequenceComplete(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;
+};

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/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/SingleLensReflexCameraWindow.cpp

@@ -6,6 +6,124 @@
 // 全局变量用于回调函数访问
 static SingleLensReflexCameraOperation* g_cameraOperation = nullptr;
 
+// 将Canon EDSDK错误码转换为中文描述
+QString getEDSDKErrorMessage(EdsError err)
+{
+    switch (err)
+    {
+    case EDS_ERR_OK:
+        return QString::fromLocal8Bit("操作成功，错误码：%1").arg(err);
+    case EDS_ERR_UNIMPLEMENTED:
+        return QString::fromLocal8Bit("功能未实现，错误码：%1").arg(err);
+    case EDS_ERR_INTERNAL_ERROR:
+        return QString::fromLocal8Bit("内部错误，错误码：%1").arg(err);
+    case EDS_ERR_MEM_ALLOC_FAILED:
+        return QString::fromLocal8Bit("内存分配失败，错误码：%1").arg(err);
+    case EDS_ERR_MEM_FREE_FAILED:
+        return QString::fromLocal8Bit("内存释放失败，错误码：%1").arg(err);
+    case EDS_ERR_OPERATION_CANCELLED:
+        return QString::fromLocal8Bit("操作已取消，错误码：%1").arg(err);
+    case EDS_ERR_INCOMPATIBLE_VERSION:
+        return QString::fromLocal8Bit("版本不兼容，错误码：%1").arg(err);
+    case EDS_ERR_NOT_SUPPORTED:
+        return QString::fromLocal8Bit("不支持该操作，错误码：%1").arg(err);
+    case EDS_ERR_UNEXPECTED_EXCEPTION:
+        return QString::fromLocal8Bit("意外异常，错误码：%1").arg(err);
+    case EDS_ERR_PROTECTION_VIOLATION:
+        return QString::fromLocal8Bit("保护违规，错误码：%1").arg(err);
+    case EDS_ERR_MISSING_SUBCOMPONENT:
+        return QString::fromLocal8Bit("缺少子组件，错误码：%1").arg(err);
+    case EDS_ERR_SELECTION_UNAVAILABLE:
+        return QString::fromLocal8Bit("选择不可用，错误码：%1").arg(err);
+    case EDS_ERR_FILE_IO_ERROR:
+        return QString::fromLocal8Bit("文件IO错误，错误码：%1").arg(err);
+    case EDS_ERR_FILE_NOT_FOUND:
+        return QString::fromLocal8Bit("文件未找到，错误码：%1").arg(err);
+    case EDS_ERR_FILE_OPEN_ERROR:
+        return QString::fromLocal8Bit("文件打开失败，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_NOT_FOUND:
+        return QString::fromLocal8Bit("设备未找到，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_BUSY:
+        return QString::fromLocal8Bit("设备忙，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_INVALID:
+        return QString::fromLocal8Bit("设备无效，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_MEMORY_FULL:
+        return QString::fromLocal8Bit("设备内存已满，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_INTERNAL_ERROR:
+        return QString::fromLocal8Bit("设备内部错误，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_NO_DISK:
+        return QString::fromLocal8Bit("设备无存储介质，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_DISK_ERROR:
+        return QString::fromLocal8Bit("设备磁盘错误，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_CF_GATE_CHANGED:
+        return QString::fromLocal8Bit("CF卡仓已改变，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_DIAL_CHANGED:
+        return QString::fromLocal8Bit("拨盘已改变，错误码：%1").arg(err);
+    case EDS_ERR_DEVICE_NOT_INSTALLED:
+        return QString::fromLocal8Bit("设备未安装，错误码：%1").arg(err);
+    case EDS_ERR_SESSION_NOT_OPEN:
+        return QString::fromLocal8Bit("会话未打开，错误码：%1").arg(err);
+    case EDS_ERR_INVALID_TRANSACTIONID:
+        return QString::fromLocal8Bit("无效的事务ID，错误码：%1").arg(err);
+    case EDS_ERR_INCOMPLETE_TRANSFER:
+        return QString::fromLocal8Bit("传输不完整，错误码：%1").arg(err);
+    case EDS_ERR_INVALID_STRAGEID:
+        return QString::fromLocal8Bit("无效的存储ID，错误码：%1").arg(err);
+    case EDS_ERR_DEVICEPROP_NOT_SUPPORTED:
+        return QString::fromLocal8Bit("设备属性不支持，错误码：%1").arg(err);
+    case EDS_ERR_INVALID_OBJECTFORMATCODE:
+        return QString::fromLocal8Bit("无效的对象格式代码，错误码：%1").arg(err);
+    case EDS_ERR_SELF_TEST_FAILED:
+        return QString::fromLocal8Bit("自检失败，错误码：%1").arg(err);
+    case EDS_ERR_UNKNOWN_VENDOR_CODE:
+        return QString::fromLocal8Bit("未知的厂商代码，错误码：%1").arg(err);
+    case EDS_ERR_CAPTURE_ALREADY_TERMINATED:
+        return QString::fromLocal8Bit("拍摄已终止，错误码：%1").arg(err);
+    case EDS_ERR_PTP_DEVICE_BUSY:
+        return QString::fromLocal8Bit("PTP设备忙，错误码：%1").arg(err);
+    case EDS_ERR_UNKNOWN_COMMAND:
+        return QString::fromLocal8Bit("未知命令，错误码：%1").arg(err);
+    case EDS_ERR_OPERATION_REFUSED:
+        return QString::fromLocal8Bit("操作被拒绝，错误码：%1").arg(err);
+    case EDS_ERR_LENS_COVER_CLOSE:
+        return QString::fromLocal8Bit("镜头盖未关闭，错误码：%1").arg(err);
+    case EDS_ERR_LOW_BATTERY:
+        return QString::fromLocal8Bit("电池电量低，错误码：%1").arg(err);
+    case EDS_ERR_OBJECT_NOTREADY:
+        return QString::fromLocal8Bit("对象未就绪，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_AF_NG:
+        return QString::fromLocal8Bit("自动对焦失败，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_MIRROR_UP_NG:
+        return QString::fromLocal8Bit("反光镜升起失败，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_SENSOR_CLEANING_NG:
+        return QString::fromLocal8Bit("传感器清洁失败，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_SILENCE_NG:
+        return QString::fromLocal8Bit("静音拍摄失败，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_NO_CARD_NG:
+        return QString::fromLocal8Bit("未检测到存储卡，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_CARD_NG:
+        return QString::fromLocal8Bit("存储卡错误，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_CARD_PROTECT_NG:
+        return QString::fromLocal8Bit("存储卡被保护，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_MOVIE_CROP_NG:
+        return QString::fromLocal8Bit("短片裁切模式不支持，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_STROBO_CHARGE_NG:
+        return QString::fromLocal8Bit("闪光灯充电失败，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_NO_LENS_NG:
+        return QString::fromLocal8Bit("未安装镜头，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_SPECIAL_MOVIE_MODE_NG:
+        return QString::fromLocal8Bit("特殊短片模式不支持，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_LV_REL_PROHIBIT_MODE_NG:
+        return QString::fromLocal8Bit("实时显示释放被禁止，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_MOVIE_MODE_NG:
+        return QString::fromLocal8Bit("短片模式下不支持，错误码：%1").arg(err);
+    case EDS_ERR_TAKE_PICTURE_RETRUCTED_LENS_NG:
+        return QString::fromLocal8Bit("伸缩镜头不支持，错误码：%1").arg(err);
+    default:
+        return QString::fromLocal8Bit("未知错误: 0x%1").arg(err, 8, 16, QChar('0'));
+    }
+}
+
 SingleLensReflexCameraWindow::SingleLensReflexCameraWindow(QWidget* parent)
     : QDialog(parent)
     , m_isCapturing(false)
@@ -28,6 +146,8 @@ SingleLensReflexCameraWindow::SingleLensReflexCameraWindow(QWidget* parent)
     connect(ui.stopTakePhoto_btn, &QPushButton::clicked, this, &SingleLensReflexCameraWindow::stopTakePhoto);
     connect(this, &SingleLensReflexCameraWindow::stopTakePhotoSignal, m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::stopTakePhoto);
 
+    connect(this, &SingleLensReflexCameraWindow::OpenAndTakePhotoSLRCameraSignal, m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::OpenAndTakePhotoSLRCamera);
+
     connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::CamOpenedSignal, this, &SingleLensReflexCameraWindow::onCamOpened);
     connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::CamClosedSignal, this, &SingleLensReflexCameraWindow::onCamClosed);
 
@@ -75,12 +195,31 @@ SingleLensReflexCameraWindow::~SingleLensReflexCameraWindow()
     m_SingleLensReflexCameraOperation = nullptr;
 }
 
+void SingleLensReflexCameraWindow::onStartTimedDataCollection(int lineNum)
+{
+    if (lineNum == 0)
+    {
+        OpenAndTakePhotoSLRCamera();
+    }
+}
+
+void SingleLensReflexCameraWindow::onStopTimedDataCollection()
+{
+    stopTakePhoto();
+    closeSLRCamera();
+}
+
 void SingleLensReflexCameraWindow::onSelectDataFolder()
 {
     QString dir = QFileDialog::getExistingDirectory(this,
         QString::fromLocal8Bit("选择数据保存路径"),
         ui.dataFolderLineEdit->text());
 
+    setDataFolder(dir);
+}
+
+void SingleLensReflexCameraWindow::setDataFolder(QString dir)
+{
     if (!dir.isEmpty())
     {
         ui.dataFolderLineEdit->setText(dir);
@@ -92,6 +231,11 @@ void SingleLensReflexCameraWindow::onSelectDataFolder()
     }
 }
 
+void SingleLensReflexCameraWindow::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_SingleLensReflexCameraOperation->setCaptureInterval(captureIntervalSeconds);
+}
+
 void SingleLensReflexCameraWindow::openSLRCamera()
 {
     if (!m_SingleLensReflexCameraOperation->getRecordStatus())
@@ -108,6 +252,11 @@ void SingleLensReflexCameraWindow::takePhoto()
     }
 }
 
+void SingleLensReflexCameraWindow::OpenAndTakePhotoSLRCamera()
+{
+    emit OpenAndTakePhotoSLRCameraSignal();
+}
+
 void SingleLensReflexCameraWindow::stopTakePhoto()
 {
     if (m_SingleLensReflexCameraOperation->getRecordStatus())
@@ -161,7 +310,7 @@ void SingleLensReflexCameraWindow::onImageCaptured(const QString& filePath)
 
 void SingleLensReflexCameraWindow::onError(const QString& errorMsg)
 {
-    QMessageBox::warning(this, QString::fromLocal8Bit("相机错误"), errorMsg);
+    QMessageBox::warning(this, QString::fromLocal8Bit("单反相机错误"), errorMsg);
 }
 
 void SingleLensReflexCameraWindow::onStartCapture()
@@ -200,6 +349,7 @@ SingleLensReflexCameraOperation::SingleLensReflexCameraOperation()
     m_isSessionOpen = false;
     m_isLiveViewActive = false;
     m_imageCounter = 0;
+    m_captureIntervalMilliseconds = 3000;
 
     // 设置保存路径（从 AppSettings 获取，如果为空则使用默认的 CapturedImages 目录）
     m_savePath = AppSettings::instance().slrDataFolder();
@@ -732,7 +882,7 @@ void SingleLensReflexCameraOperation::OpenSLRCamera()
     err = initializeSDK();
     if (err != EDS_ERR_OK)
     {
-        emit ErrorSignal(QString::fromLocal8Bit("初始化SDK失败，错误码: %1").arg(err));
+        emit ErrorSignal(QString::fromLocal8Bit("初始化SDK失败: %1").arg(getEDSDKErrorMessage(err)));
         return;
     }
 
@@ -741,7 +891,7 @@ void SingleLensReflexCameraOperation::OpenSLRCamera()
     if (err != EDS_ERR_OK)
     {
         terminateSDK();
-        emit ErrorSignal(QString::fromLocal8Bit("打开相机失败，错误码: %1").arg(err));
+        emit ErrorSignal(QString::fromLocal8Bit("打开相机失败: %1").arg(getEDSDKErrorMessage(err)));
         return;
     }
 
@@ -751,7 +901,7 @@ void SingleLensReflexCameraOperation::OpenSLRCamera()
     {
         closeCamera();
         terminateSDK();
-        emit ErrorSignal(QString::fromLocal8Bit("设置保存位置失败，错误码: %1").arg(err));
+        emit ErrorSignal(QString::fromLocal8Bit("设置保存位置失败: %1").arg(getEDSDKErrorMessage(err)));
         return;
     }
 
@@ -780,13 +930,76 @@ void SingleLensReflexCameraOperation::takePhoto()
     // 启动拍照定时器（每3秒拍一张）
     if (m_captureTimer && !m_captureTimer->isActive())
     {
-        m_captureTimer->start(3000);
-        std::cout << "capture timer started (1 photo 3 second)" << std::endl;
+        m_captureTimer->start(m_captureIntervalMilliseconds);
+        //std::cout << "capture timer started (1 photo 3 second)" << std::endl;
 
         emit CaptureStartedSignal();
     }
 }
 
+void SingleLensReflexCameraOperation::OpenAndTakePhotoSLRCamera()
+{
+    std::cout << "SingleLensReflexCameraOperation::OpenSLRCamera, 打开单反相机" << std::endl;
+
+    EdsError err = EDS_ERR_OK;
+
+    // 初始化SDK
+    err = initializeSDK();
+    if (err != EDS_ERR_OK)
+    {
+        emit ErrorSignal(QString::fromLocal8Bit("初始化SDK失败: %1").arg(getEDSDKErrorMessage(err)));
+        return;
+    }
+
+    // 打开相机
+    err = openCamera();
+    if (err != EDS_ERR_OK)
+    {
+        terminateSDK();
+        emit ErrorSignal(QString::fromLocal8Bit("打开相机失败: %1").arg(getEDSDKErrorMessage(err)));
+        return;
+    }
+
+    // 设置保存到PC
+    err = setupSaveToHost();
+    if (err != EDS_ERR_OK)
+    {
+        closeCamera();
+        terminateSDK();
+        emit ErrorSignal(QString::fromLocal8Bit("设置保存位置失败: %1").arg(getEDSDKErrorMessage(err)));
+        return;
+    }
+
+    // 启动实时取景
+    err = startLiveView();
+    if (err != EDS_ERR_OK)
+    {
+        std::cout << "Warning: Failed to start live view, error: " << err << std::endl;
+        // 实时取景启动失败不是致命错误，继续执行
+    }
+
+    m_isRecord = true;
+
+    // 启动实时取景定时器（约30fps）
+    if (m_liveViewTimer && !m_liveViewTimer->isActive()) {
+        m_liveViewTimer->start(33); // 约30fps
+    }
+
+    m_captureTimer->start(m_captureIntervalMilliseconds);
+    //std::cout << "capture timer started (1 photo 3 second)" << std::endl;
+
+    emit CaptureStartedSignal();
+
+    emit CamOpenedSignal();
+
+    std::cout << "Camera opened, live view started." << std::endl;
+}
+
+void SingleLensReflexCameraOperation::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
+}
+
 void SingleLensReflexCameraOperation::stopTakePhoto()
 {
     if (m_captureTimer && m_captureTimer->isActive())
@@ -839,7 +1052,7 @@ void SingleLensReflexCameraOperation::onCaptureTimer()
         // 如果是设备忙，不发送错误信号，等待下次重试
         if (err != EDS_ERR_DEVICE_BUSY)
         {
-            emit ErrorSignal(QString::fromLocal8Bit("拍照失败，错误码: %1").arg(err));
+            emit ErrorSignal(QString::fromLocal8Bit("拍照失败: %1").arg(getEDSDKErrorMessage(err)));
         }
     }
 

HPPA/SingleLensReflexCameraWindow.h

@@ -46,6 +46,8 @@ public:
     // 获取当前实时取景图像
     QImage getCurrentLiveViewImage();
 
+    void setCaptureInterval(int captureIntervalSeconds);
+
 private:
     cv::Mat frame;
     func m_func;
@@ -62,6 +64,7 @@ private:
     
     QString m_savePath;
     int m_imageCounter;
+    int m_captureIntervalMilliseconds;
     QMutex m_mutex;
     QMutex m_liveViewMutex;
     
@@ -91,6 +94,7 @@ private:
 public slots:
     void OpenSLRCamera();
     void takePhoto();
+    void OpenAndTakePhotoSLRCamera();
     void stopTakePhoto();
     void OpenSLRCamera_callback();
     void CloseSLRCamera();
@@ -127,12 +131,15 @@ public:
     ~SingleLensReflexCameraWindow();
 
     SingleLensReflexCameraOperation* m_SingleLensReflexCameraOperation;
+    void setDataFolder(QString dir);
+    void setCaptureInterval(int captureIntervalSeconds);
 
 public Q_SLOTS:
     void onSelectDataFolder();
 
     void openSLRCamera();
     void takePhoto();
+    void OpenAndTakePhotoSLRCamera();
     void stopTakePhoto();
     void onCamOpened();
     void closeSLRCamera();
@@ -148,9 +155,13 @@ public Q_SLOTS:
     void onCaptureStarted();
     void onCaptureStopped();
 
+    void onStartTimedDataCollection(int lineNum);
+    void onStopTimedDataCollection();
+
 signals:
     void openSLRCameraSignal();
     void takePhotoSignal();
+    void OpenAndTakePhotoSLRCameraSignal();
     void stopTakePhotoSignal();
     void closeSLRCameraSignal();
     void PlotSLRImageSignal();

HPPA/TaskTreeModel.cpp

@@ -0,0 +1,661 @@
+#include "TaskTreeModel.h"
+#include <QBrush>
+#include <QFont>
+#include <QIcon>
+
+// ==================== TaskTreeNode 实现 ====================
+
+TaskTreeNode::TaskTreeNode(TaskTreeNode* parent)
+    : m_parent(parent)
+{
+}
+
+TaskTreeNode::~TaskTreeNode()
+{
+    qDeleteAll(m_children);
+    m_children.clear();
+}
+
+void TaskTreeNode::appendChild(TaskTreeNode* child)
+{
+    m_children.append(child);
+}
+
+void TaskTreeNode::removeChild(int index)
+{
+    if (index < 0 || index >= m_children.size())
+        return;
+    delete m_children.takeAt(index);
+}
+
+TaskTreeNode* TaskTreeNode::child(int row)
+{
+    if (row < 0 || row >= m_children.size())
+        return nullptr;
+    return m_children.at(row);
+}
+
+int TaskTreeNode::childCount() const
+{
+    return m_children.size();
+}
+
+int TaskTreeNode::row() const
+{
+    if (m_parent) {
+        return m_parent->m_children.indexOf(const_cast<TaskTreeNode*>(this));
+    }
+    return 0;
+}
+
+TaskTreeNode* TaskTreeNode::parentNode()
+{
+    return m_parent;
+}
+
+// ==================== TaskTreeModel 实现 ====================
+
+TaskTreeModel::TaskTreeModel(QObject* parent)
+    : QAbstractItemModel(parent)
+    , m_rootNode(new TaskTreeNode())
+    , m_countdownTimer(new QTimer(this))
+{
+    m_rootNode->nodeType = TreeNodeType::Root;
+    m_countdownTimer->setInterval(1000);
+    connect(m_countdownTimer, &QTimer::timeout, this, &TaskTreeModel::onCountdownTimerTimeout);
+}
+
+TaskTreeModel::~TaskTreeModel()
+{
+    m_countdownTimer->stop();
+    delete m_rootNode;
+}
+
+QModelIndex TaskTreeModel::index(int row, int column, const QModelIndex& parent) const
+{
+    if (!hasIndex(row, column, parent))
+        return QModelIndex();
+
+    TaskTreeNode* parentNode;
+    if (!parent.isValid())
+        parentNode = m_rootNode;
+    else
+        parentNode = static_cast<TaskTreeNode*>(parent.internalPointer());
+
+    TaskTreeNode* childNode = parentNode->child(row);
+    if (childNode)
+        return createIndex(row, column, childNode);
+
+    return QModelIndex();
+}
+
+QModelIndex TaskTreeModel::parent(const QModelIndex& index) const
+{
+    if (!index.isValid())
+        return QModelIndex();
+
+    TaskTreeNode* childNode = static_cast<TaskTreeNode*>(index.internalPointer());
+    TaskTreeNode* parentNode = childNode->parentNode();
+
+    if (parentNode == m_rootNode)
+        return QModelIndex();
+
+    return createIndex(parentNode->row(), 0, parentNode);
+}
+
+int TaskTreeModel::rowCount(const QModelIndex& parent) const
+{
+    TaskTreeNode* parentNode;
+    if (!parent.isValid())
+        parentNode = m_rootNode;
+    else
+        parentNode = static_cast<TaskTreeNode*>(parent.internalPointer());
+
+    return parentNode->childCount();
+}
+
+int TaskTreeModel::columnCount(const QModelIndex& parent) const
+{
+    Q_UNUSED(parent)
+        return ColumnCount;
+}
+
+QVariant TaskTreeModel::data(const QModelIndex& index, int role) const
+{
+    if (!index.isValid())
+        return QVariant();
+
+    TaskTreeNode* node = static_cast<TaskTreeNode*>(index.internalPointer());
+
+    if (role == Qt::DisplayRole) {
+        if (node->nodeType == TreeNodeType::Task && node->taskData) {
+            const TimedTask& task = *node->taskData;
+            switch (index.column()) {
+                case ColName:
+                    return QString::fromLocal8Bit("定时任务 %1").arg(task.id);
+                case ColScheduledTime:
+                    return task.scheduledTime.toString("yyyy-MM-dd HH:mm:ss");
+                case ColCountdown: {
+                    if (task.status == TaskStatus::Finished || task.status == TaskStatus::Running)
+                    {
+                        return QString::fromLocal8Bit("0");
+                    }
+                    qint64 seconds = QDateTime::currentDateTime().secsTo(task.scheduledTime);
+                    if (seconds < 0)
+                    {
+                        return QString::fromLocal8Bit("已超时");
+                    }
+                    return formatCountdown(seconds);
+                }
+                case ColStartTime:
+                    return task.startTime.isValid() ?
+                        task.startTime.toString("HH:mm:ss") : "-";
+                case ColEndTime:
+                    return task.endTime.isValid() ?
+                        task.endTime.toString("HH:mm:ss") : "-";
+                case ColDuration:
+                    return formatDuration(task.durationMinutes);
+                case ColEstimatedDuration:
+                    return formatDuration(task.estimatedDurationMinutes);
+                case ColStatus:
+                    return statusToString(task.status);
+                case ColProgress: {
+                    int finished = 0;
+                    for (const auto& sub : task.subTasks) {
+                        if (sub.status == TaskStatus::Finished) finished++;
+                    }
+                    return QString("%1/%2").arg(finished).arg(task.subTasks.size());
+                }
+                case ColPath:
+                    return task.savePath;
+            }
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            const SubTask& subTask = *node->subTaskData;
+            switch (index.column()) {
+                case ColName:
+                    return subTaskTypeToString(subTask.type);
+                case ColScheduledTime:
+                    return "-";
+                case ColCountdown:
+                    return "-";
+                case ColStartTime:
+                    return subTask.startTime.isValid() ?
+                        subTask.startTime.toString("HH:mm:ss") : "-";
+                case ColEndTime:
+                    return subTask.endTime.isValid() ?
+                        subTask.endTime.toString("HH:mm:ss") : "-";
+                case ColDuration:
+                    return formatDuration(subTask.durationMinutes);
+                case ColEstimatedDuration:
+                    return formatDuration(subTask.estimatedDurationMinutes);
+                case ColStatus:
+                    return statusToString(subTask.status);
+                case ColProgress:
+                    return "-";
+                case ColPath:
+                    return "-";
+            }
+        }
+    }
+    else if (role == Qt::BackgroundRole) {
+        TaskStatus status = TaskStatus::Waiting;
+        if (node->nodeType == TreeNodeType::Task && node->taskData) {
+            status = node->taskData->status;
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            status = node->subTaskData->status;
+        }
+        return QBrush(statusColor(status));
+    }
+    else if (role == Qt::ForegroundRole) {
+        TaskStatus status = TaskStatus::Waiting;
+        if (node->nodeType == TreeNodeType::Task && node->taskData) {
+            status = node->taskData->status;
+            return QBrush(QColor("#E2EDFF")); // 深绿色文字
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            status = node->subTaskData->status;
+            return QBrush(QColor("#E2EDFF")); // 深绿色文字
+        }
+        if (status == TaskStatus::Running) {
+            return QBrush(QColor("#E2EDFF")); // 深绿色文字
+        }
+        return QBrush(QColor("#E2EDFF")); // 深绿色文字
+    }
+    else if (role == Qt::FontRole) {
+        QFont font;
+        if (node->nodeType == TreeNodeType::Task) {
+            font.setBold(true);
+            if (node->taskData && node->taskData->status == TaskStatus::Running) {
+                font.setItalic(true);
+            }
+        }
+        else if (node->nodeType == TreeNodeType::SubTask) {
+            if (node->subTaskData && node->subTaskData->status == TaskStatus::Running) {
+                font.setBold(true);
+            }
+        }
+        return font;
+    }
+    else if (role == Qt::DecorationRole && index.column() == ColName) {
+        if (node->nodeType == TreeNodeType::Task) {
+            // 可以返回任务图标
+            // return QIcon(":/icons/task.png");
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            // 根据子任务类型返回不同图标
+            switch (node->subTaskData->type) {
+            case SubTaskType::HyperSpectual400_1000nm:
+            case SubTaskType::HyperSpectual1000_1700nm:
+                // return QIcon(":/icons/hyperspectral.png");
+                break;
+            case SubTaskType::SingleLensReflex:
+                // return QIcon(":/icons/camera.png");
+                break;
+            case SubTaskType::DepthCamera:
+                // return QIcon(":/icons/depth.png");
+                break;
+            }
+        }
+    }
+    else if (role == Qt::TextAlignmentRole) {
+        if (index.column() == ColName || index.column() == ColPath) {
+            return static_cast<int>(Qt::AlignLeft | Qt::AlignVCenter);
+        }
+        return Qt::AlignCenter;
+    }
+    else if (role == Qt::ToolTipRole) {
+        if (node->nodeType == TreeNodeType::Task && node->taskData) {
+            return QString::fromLocal8Bit("任务ID: %1\n保存路径: %2\n预热时间: %3 分钟")
+                .arg(node->taskData->id)
+                .arg(node->taskData->savePath)
+                .arg(node->taskData->HalogenLampPreheatingTime_Minute);
+        }
+        else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+            QString tip = QString::fromLocal8Bit("类型: %1\n路径文件: %2")
+                .arg(subTaskTypeToString(node->subTaskData->type))
+                .arg(node->subTaskData->pathLineFilePath);
+
+            if (node->subTaskData->type == SubTaskType::HyperSpectual400_1000nm ||
+                node->subTaskData->type == SubTaskType::HyperSpectual1000_1700nm) {
+                tip += QString::fromLocal8Bit("\n帧率: %1\n曝光时间: %2")
+                    .arg(node->subTaskData->frameRate)
+                    .arg(node->subTaskData->exposureTime);
+            }
+            return tip;
+        }
+    }
+
+    return QVariant();
+}
+
+QVariant TaskTreeModel::headerData(int section, Qt::Orientation orientation, int role) const
+{
+    if (orientation != Qt::Horizontal || role != Qt::DisplayRole)
+        return QVariant();
+
+    switch (section) {
+    case ColName:          return QString::fromLocal8Bit("名称");
+    case ColScheduledTime: return QString::fromLocal8Bit("计划时间");
+    case ColCountdown:     return QString::fromLocal8Bit("倒计时");
+    case ColStartTime:     return QString::fromLocal8Bit("开始时间");
+    case ColEndTime:       return QString::fromLocal8Bit("结束时间");
+    case ColDuration:      return QString::fromLocal8Bit("耗时");
+    case ColEstimatedDuration:      return QString::fromLocal8Bit("预测耗时");
+    case ColStatus:        return QString::fromLocal8Bit("状态");
+    case ColProgress:      return QString::fromLocal8Bit("进度");
+    case ColPath:          return QString::fromLocal8Bit("路径");
+    }
+    return QVariant();
+}
+
+Qt::ItemFlags TaskTreeModel::flags(const QModelIndex& index) const
+{
+    if (!index.isValid())
+        return Qt::NoItemFlags;
+
+    return Qt::ItemIsEnabled | Qt::ItemIsSelectable;
+}
+
+void TaskTreeModel::setTasks(const QVector<TimedTask>& tasks)
+{
+    m_countdownTimer->stop();
+
+    beginResetModel();
+
+    m_tasks = tasks;
+    clearTree();
+    setupModelData();
+
+    endResetModel();
+
+    m_countdownTimer->start();
+}
+
+void TaskTreeModel::setupModelData()
+{
+    for (int i = 0; i < m_tasks.size(); ++i) {
+        TimedTask& task = m_tasks[i];
+
+        // 创建任务节点
+        TaskTreeNode* taskNode = new TaskTreeNode(m_rootNode);
+        taskNode->nodeType = TreeNodeType::Task;
+        taskNode->taskId = task.id;
+        taskNode->taskData = &task;
+        m_rootNode->appendChild(taskNode);
+
+        // 为每个子任务创建节点
+        for (int j = 0; j < task.subTasks.size(); ++j) {
+            SubTask& subTask = task.subTasks[j];
+
+            TaskTreeNode* subTaskNode = new TaskTreeNode(taskNode);
+            subTaskNode->nodeType = TreeNodeType::SubTask;
+            subTaskNode->taskId = task.id;
+            subTaskNode->subTaskIndex = j;
+            subTaskNode->subTaskData = &subTask;
+            taskNode->appendChild(subTaskNode);
+        }
+    }
+}
+
+void TaskTreeModel::clearTree()
+{
+    // 删除所有子节点
+    while (m_rootNode->childCount() > 0) {
+        //delete m_rootNode->child(0);
+        m_rootNode->removeChild(0);
+    }
+}
+
+void TaskTreeModel::updateTask(const TimedTask& task)
+{
+    int dataIndex = findTaskDataIndex(task.id);
+    if (dataIndex < 0) return;
+
+    // 更新数据
+    m_tasks[dataIndex] = task;
+
+    // 重新设置指针（因为数据被复制了）
+    TaskTreeNode* taskNode = findTaskNode(task.id);
+    if (taskNode) {
+        taskNode->taskData = &m_tasks[dataIndex];
+
+        // 更新子任务指针
+        for (int i = 0; i < taskNode->childCount() && i < m_tasks[dataIndex].subTasks.size(); ++i) {
+            TaskTreeNode* subNode = taskNode->child(i);
+            if (subNode) {
+                subNode->subTaskData = &m_tasks[dataIndex].subTasks[i];
+            }
+        }
+    }
+
+    // 通知视图更新任务行
+    QModelIndex taskIndex = getTaskIndex(task.id);
+    if (taskIndex.isValid()) {
+        QModelIndex topLeft = index(taskIndex.row(), 0, taskIndex.parent());
+        QModelIndex bottomRight = index(taskIndex.row(), ColumnCount - 1, taskIndex.parent());
+        emit dataChanged(topLeft, bottomRight);
+
+        // 更新所有子任务行
+        int subCount = rowCount(taskIndex);
+        if (subCount > 0) {
+            QModelIndex subTopLeft = index(0, 0, taskIndex);
+            QModelIndex subBottomRight = index(subCount - 1, ColumnCount - 1, taskIndex);
+            emit dataChanged(subTopLeft, subBottomRight);
+        }
+    }
+
+    emit taskUpdated(task.id);
+}
+
+void TaskTreeModel::updateSubTask(int taskId, int subTaskIndex, const SubTask& subTask)
+{
+    int dataIndex = findTaskDataIndex(taskId);
+    if (dataIndex < 0 || subTaskIndex >= m_tasks[dataIndex].subTasks.size())
+        return;
+
+    m_tasks[dataIndex].subTasks[subTaskIndex] = subTask;
+
+    // 重新设置指针
+    TaskTreeNode* subNode = findSubTaskNode(taskId, subTaskIndex);
+    if (subNode) {
+        subNode->subTaskData = &m_tasks[dataIndex].subTasks[subTaskIndex];
+    }
+
+    QModelIndex subTaskModelIndex = getSubTaskIndex(taskId, subTaskIndex);
+    if (subTaskModelIndex.isValid()) {
+        QModelIndex topLeft = index(subTaskModelIndex.row(), 0, subTaskModelIndex.parent());
+        QModelIndex bottomRight = index(subTaskModelIndex.row(), ColumnCount - 1, subTaskModelIndex.parent());
+        emit dataChanged(topLeft, bottomRight);
+    }
+
+    // 同时更新父任务的进度显示
+    QModelIndex taskIndex = getTaskIndex(taskId);
+    if (taskIndex.isValid()) {
+        QModelIndex progressIndex = index(taskIndex.row(), ColProgress, taskIndex.parent());
+        emit dataChanged(progressIndex, progressIndex);
+    }
+
+    emit subTaskUpdated(taskId, subTaskIndex);
+}
+
+void TaskTreeModel::setTaskAndSubtaskStatus(int taskId, TaskStatus status)
+{
+    int dataIndex = findTaskDataIndex(taskId);
+    if (dataIndex < 0) return;
+
+    updateTaskStatus(taskId, status);
+
+    for (size_t i = 0; i < m_tasks[dataIndex].subTaskCount(); i++)
+    {
+        updateSubTaskStatus(taskId, i, status);
+    }
+}
+
+void TaskTreeModel::updateTaskStatus(int taskId, TaskStatus status)
+{
+    int dataIndex = findTaskDataIndex(taskId);
+    if (dataIndex < 0) return;
+
+    m_tasks[dataIndex].status = status;
+
+    QModelIndex taskIndex = getTaskIndex(taskId);
+    if (taskIndex.isValid()) {
+        QModelIndex topLeft = index(taskIndex.row(), 0, taskIndex.parent());
+        QModelIndex bottomRight = index(taskIndex.row(), ColumnCount - 1, taskIndex.parent());
+        emit dataChanged(topLeft, bottomRight);
+    }
+}
+
+void TaskTreeModel::updateSubTaskStatusAndProgress(int taskId, int subTaskIndex, TaskStatus status)
+{
+    updateSubTaskStatus(taskId, subTaskIndex, status);
+    updateProgress(taskId);
+}
+
+void TaskTreeModel::updateSubTaskStatus(int taskId, int subTaskIndex, TaskStatus status)
+{
+    int dataIndex = findTaskDataIndex(taskId);
+    if (dataIndex < 0 || subTaskIndex >= m_tasks[dataIndex].subTasks.size())
+        return;
+
+    SubTask& subTask = m_tasks[dataIndex].subTasks[subTaskIndex];
+    subTask.status = status;
+
+    QModelIndex subTaskModelIndex = getSubTaskIndex(taskId, subTaskIndex);
+    if (subTaskModelIndex.isValid()) {
+        QModelIndex topLeft = index(subTaskModelIndex.row(), 0, subTaskModelIndex.parent());
+        QModelIndex bottomRight = index(subTaskModelIndex.row(), ColumnCount - 1, subTaskModelIndex.parent());
+        emit dataChanged(topLeft, bottomRight);
+    }
+}
+
+void TaskTreeModel::updateProgress(int taskId)
+{
+    // 更新父任务进度
+    QModelIndex taskIndex = getTaskIndex(taskId);
+    if (taskIndex.isValid()) {
+        QModelIndex progressIndex = index(taskIndex.row(), ColProgress, taskIndex.parent());
+        emit dataChanged(progressIndex, progressIndex);
+    }
+}
+
+TimedTask* TaskTreeModel::getTask(int taskId)
+{
+    int idx = findTaskDataIndex(taskId);
+    if (idx >= 0) {
+        return &m_tasks[idx];
+    }
+    return nullptr;
+}
+
+SubTask* TaskTreeModel::getSubTask(int taskId, int subTaskIndex)
+{
+    TimedTask* task = getTask(taskId);
+    if (task && subTaskIndex >= 0 && subTaskIndex < task->subTasks.size()) {
+        return &task->subTasks[subTaskIndex];
+    }
+    return nullptr;
+}
+
+QModelIndex TaskTreeModel::getTaskIndex(int taskId) const
+{
+    for (int i = 0; i < m_rootNode->childCount(); ++i) {
+        TaskTreeNode* node = m_rootNode->child(i);
+        if (node && node->taskId == taskId) {
+            return createIndex(i, 0, node);
+        }
+    }
+    return QModelIndex();
+}
+
+QModelIndex TaskTreeModel::getSubTaskIndex(int taskId, int subTaskIndex) const
+{
+    TaskTreeNode* taskNode = findTaskNode(taskId);
+    if (taskNode && subTaskIndex < taskNode->childCount()) {
+        TaskTreeNode* subNode = taskNode->child(subTaskIndex);
+        if (subNode) {
+            return createIndex(subTaskIndex, 0, subNode);
+        }
+    }
+    return QModelIndex();
+}
+
+TaskTreeNode* TaskTreeModel::findTaskNode(int taskId) const
+{
+    for (int i = 0; i < m_rootNode->childCount(); ++i) {
+        TaskTreeNode* node = m_rootNode->child(i);
+        if (node && node->taskId == taskId) {
+            return node;
+        }
+    }
+    return nullptr;
+}
+
+TaskTreeNode* TaskTreeModel::findSubTaskNode(int taskId, int subTaskIndex) const
+{
+    TaskTreeNode* taskNode = findTaskNode(taskId);
+    if (taskNode && subTaskIndex < taskNode->childCount()) {
+        return taskNode->child(subTaskIndex);
+    }
+    return nullptr;
+}
+
+int TaskTreeModel::findTaskDataIndex(int taskId) const
+{
+    for (int i = 0; i < m_tasks.size(); ++i) {
+        if (m_tasks[i].id == taskId) {
+            return i;
+        }
+    }
+    return -1;
+}
+
+QString TaskTreeModel::statusToString(TaskStatus status) const
+{
+    switch (status) {
+    case TaskStatus::default:  return QString::fromLocal8Bit("未调度");
+    case TaskStatus::Waiting:  return QString::fromLocal8Bit("等待中");
+    case TaskStatus::Running:  return QString::fromLocal8Bit("运行中");
+    case TaskStatus::Finished: return QString::fromLocal8Bit("已完成");
+    case TaskStatus::Skiped:   return QString::fromLocal8Bit("已跳过");
+    case TaskStatus::Timeout:   return QString::fromLocal8Bit("超时");
+    }
+    return "";
+}
+
+QString TaskTreeModel::subTaskTypeToString(SubTaskType type) const
+{
+    switch (type)
+    {
+        case SubTaskType::HyperSpectual400_1000nm:           return QString::fromLocal8Bit("高光谱 400-1000nm");
+        case SubTaskType::HyperSpectual1000_1700nm:          return QString::fromLocal8Bit("高光谱 1000-1700nm");
+        case SubTaskType::SingleLensReflex:                  return QString::fromLocal8Bit("单反相机");
+        case SubTaskType::DepthCamera:                       return QString::fromLocal8Bit("深度相机");
+        case SubTaskType::ObtainingDepthInformation:         return QString::fromLocal8Bit("探测深度信息");
+        case SubTaskType::AutoFocus:                         return QString::fromLocal8Bit("自动调焦");
+        case SubTaskType::LiftingPlatform:                   return QString::fromLocal8Bit("升降平台");
+    }
+    return QString::fromLocal8Bit("未知类型");
+}
+
+QString TaskTreeModel::formatDuration(double minutes) const
+{
+    if (minutes <= 0) return "-";
+
+    int hours = static_cast<int>(minutes) / 60;
+    int mins = static_cast<int>(minutes) % 60;
+    int secs = static_cast<int>((minutes - static_cast<int>(minutes)) * 60);
+
+    if (hours > 0) {
+        return QString::fromLocal8Bit(("%1时%2分%3秒")).arg(hours).arg(mins).arg(secs);
+    }
+    else if (mins > 0) {
+        return QString::fromLocal8Bit(("%1分%2秒")).arg(mins).arg(secs);
+    }
+    else {
+        return QString::fromLocal8Bit(("%1秒")).arg(secs);
+    }
+}
+
+QColor TaskTreeModel::statusColor(TaskStatus status) const
+{
+    switch (status) {
+    case TaskStatus::Waiting:  return QColor("#121945"); // 浅黄
+    case TaskStatus::Running:  return QColor("#121945"); // 浅绿
+    case TaskStatus::Finished: return QColor("#121945"); // 浅蓝
+    case TaskStatus::Skiped:   return QColor("#121945"); // 浅灰
+    }
+    return QColor("#121945");
+}
+
+QString TaskTreeModel::formatCountdown(qint64 seconds) const
+{
+    if (seconds < 0) {
+        return QString::fromLocal8Bit("已超时");
+    }
+
+    int hours = static_cast<int>(seconds) / 3600;
+    int mins = (static_cast<int>(seconds) % 3600) / 60;
+    int secs = static_cast<int>(seconds) % 60;
+
+    return QString("%1:%2:%3")
+        .arg(hours, 2, 10, QChar('0'))
+        .arg(mins, 2, 10, QChar('0'))
+        .arg(secs, 2, 10, QChar('0'));
+}
+
+void TaskTreeModel::onCountdownTimerTimeout()
+{
+    for (int i = 0; i < m_tasks.size(); ++i)
+    {
+        const TimedTask& task = m_tasks[i];
+        QModelIndex taskIndex = getTaskIndex(task.id);
+        if (taskIndex.isValid())
+        {
+            QModelIndex countdownIndex = index(taskIndex.row(), ColCountdown, taskIndex.parent());
+            emit dataChanged(countdownIndex, countdownIndex);
+        }
+    }
+}

HPPA/TaskTreeModel.h

@@ -0,0 +1,118 @@
+#pragma once
+
+#include <QAbstractItemModel>
+#include <QModelIndex>
+#include <QVariant>
+#include <QTimer>
+#include "TimedDataCollectionDataStructures.h"
+
+// 树节点类型
+enum class TreeNodeType {
+    Root,
+    Task,
+    SubTask
+};
+
+// 树节点数据
+class TaskTreeNode
+{
+public:
+    explicit TaskTreeNode(TaskTreeNode* parent = nullptr);
+    ~TaskTreeNode();
+
+    void appendChild(TaskTreeNode* child);
+    void removeChild(int index);
+    TaskTreeNode* child(int row);
+    int childCount() const;
+    int row() const;
+    TaskTreeNode* parentNode();
+
+    TreeNodeType nodeType = TreeNodeType::Root;
+    int taskId = -1;           // 任务ID
+    int subTaskIndex = -1;     // 子任务索引（仅子任务节点有效）
+
+    // 直接存储数据指针，方便更新
+    TimedTask* taskData = nullptr;
+    SubTask* subTaskData = nullptr;
+
+private:
+    QVector<TaskTreeNode*> m_children;
+    TaskTreeNode* m_parent;
+};
+
+// 树形模型
+class TaskTreeModel : public QAbstractItemModel
+{
+    Q_OBJECT
+
+public:
+    enum Column {
+        ColName = 0,           // 任务名称/子任务类型
+        ColScheduledTime,      // 计划时间
+        ColCountdown,          // 倒计时
+        ColStartTime,          // 开始时间
+        ColEndTime,            // 结束时间
+        ColDuration,           // 耗时
+        ColEstimatedDuration,  // 预测耗时
+        ColStatus,             // 状态
+        ColProgress,           // 进度（仅任务有效）
+        ColPath,               // 路径
+        ColumnCount
+    };
+
+    explicit TaskTreeModel(QObject* parent = nullptr);
+    ~TaskTreeModel();
+
+    // QAbstractItemModel 接口实现
+    QModelIndex index(int row, int column, const QModelIndex& parent = QModelIndex()) const override;
+    QModelIndex parent(const QModelIndex& index) const override;
+    int rowCount(const QModelIndex& parent = QModelIndex()) const override;
+    int columnCount(const QModelIndex& parent = QModelIndex()) const override;
+    QVariant data(const QModelIndex& index, int role = Qt::DisplayRole) const override;
+    QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
+    Qt::ItemFlags flags(const QModelIndex& index) const override;
+
+    // 数据操作
+    void setTasks(const QVector<TimedTask>& tasks);
+    void updateTask(const TimedTask& task);
+    void updateSubTask(int taskId, int subTaskIndex, const SubTask& subTask);
+    void updateTaskStatus(int taskId, TaskStatus status);
+    void setTaskAndSubtaskStatus(int taskId, TaskStatus status);
+    void updateSubTaskStatusAndProgress(int taskId, int subTaskIndex, TaskStatus status);
+    void updateSubTaskStatus(int taskId, int subTaskIndex, TaskStatus status);
+    void updateProgress(int taskId);
+
+    // 获取数据
+    QVector<TimedTask>& tasks() { return m_tasks; }
+    const QVector<TimedTask>& tasks() const { return m_tasks; }
+    TimedTask* getTask(int taskId);
+    SubTask* getSubTask(int taskId, int subTaskIndex);
+
+    // 获取模型索引
+    QModelIndex getTaskIndex(int taskId) const;
+    QModelIndex getSubTaskIndex(int taskId, int subTaskIndex) const;
+
+signals:
+    void taskUpdated(int taskId);
+    void subTaskUpdated(int taskId, int subTaskIndex);
+
+private slots:
+    void onCountdownTimerTimeout();
+
+private:
+    void setupModelData();
+    void clearTree();
+    TaskTreeNode* findTaskNode(int taskId) const;
+    TaskTreeNode* findSubTaskNode(int taskId, int subTaskIndex) const;
+    int findTaskDataIndex(int taskId) const;
+
+    QString statusToString(TaskStatus status) const;
+    QString subTaskTypeToString(SubTaskType type) const;
+    QString formatDuration(double minutes) const;
+    QColor statusColor(TaskStatus status) const;
+    QString formatCountdown(qint64 seconds) const;
+
+    TaskTreeNode* m_rootNode;
+    QVector<TimedTask> m_tasks;
+    QTimer* m_countdownTimer;
+};

HPPA/TimedDataCollection.cpp

@@ -1,120 +1,518 @@
 #include "TimedDataCollection.h"
-#include <QDateTime>
-#include <QDebug>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QMessageBox>
+#include <QGroupBox>
+#include <QSplitter>
 
 TimedDataCollection::TimedDataCollection(QWidget* parent)
-	: QDialog(parent)
+    : QDialog(parent)
 {
-	ui.setupUi(this);
+    ui.setupUi(this);
 
-	ui.treeWidget->setDragEnabled(true);                  // 启用拖拽
-	ui.treeWidget->setAcceptDrops(true);                  // 接受拖放
-	ui.treeWidget->setDropIndicatorShown(true);           // 显示插入位置指示线
-	ui.treeWidget->setDragDropMode(QAbstractItemView::InternalMove); // 内部移动
+    setupUI();
 
-	//writeRead();
-	readTimedTaskFromFile("D:/0tmp/3Dtest/task.json");
+    // 初始化调度器
+    m_scheduler = new TaskScheduler(this);
 
-	connect(ui.run_btn, SIGNAL(clicked()), this, SLOT(run()));
+    setupConnections();
 
-	connect(ui.run_btn, &QPushButton::clicked, this, &TimedDataCollection::run);
+    // 连接按钮信号
+    connect(ui.start_btn, &QPushButton::clicked, this, &TimedDataCollection::startScheduler);
+    connect(ui.stop_btn, &QPushButton::clicked, this, &TimedDataCollection::stopScheduler);
+
+    connect(ui.expandAll_btn, &QPushButton::clicked, ui.taskTreeView, &QTreeView::expandAll);
+    connect(ui.collapseAll_btn, &QPushButton::clicked, ui.taskTreeView, &QTreeView::collapseAll);
+
+    connect(ui.taskFileSelect_btn, &QPushButton::clicked, this, &TimedDataCollection::onSelectTaskFile);
+
+    // 树视图交互信号
+    connect(ui.taskTreeView, &QTreeView::clicked,
+        this, &TimedDataCollection::onTreeItemClicked);
+    connect(ui.taskTreeView, &QTreeView::doubleClicked,
+        this, &TimedDataCollection::onTreeItemDoubleClicked);
+    connect(ui.taskTreeView->selectionModel(), &QItemSelectionModel::selectionChanged,
+        this, &TimedDataCollection::onTreeSelectionChanged);
+}
+
+void TimedDataCollection::setupUI()
+{
+    // 设置窗口大小
+    //resize(1200, 600);
+    //setWindowTitle("定时数据采集系统");
+
+    // 创建任务树形模型
+    m_taskModel = new TaskTreeModel(this);
+
+    // 创建树形视图
+    ui.taskTreeView->setModel(m_taskModel);
+
+    // 配置树形视图
+    ui.taskTreeView->setSelectionBehavior(QAbstractItemView::SelectRows);
+    ui.taskTreeView->setSelectionMode(QAbstractItemView::SingleSelection);
+    ui.taskTreeView->setAlternatingRowColors(true);
+    ui.taskTreeView->setAnimated(true);
+    ui.taskTreeView->setExpandsOnDoubleClick(true);
+    ui.taskTreeView->setEditTriggers(QAbstractItemView::NoEditTriggers);
+    ui.taskTreeView->setUniformRowHeights(true);
+    ui.taskTreeView->setIndentation(25);
+
+    // 配置表头
+    QHeaderView* header = ui.taskTreeView->header();
+    header->setStretchLastSection(true);
+    header->setSectionResizeMode(QHeaderView::Interactive);
+    header->setDefaultAlignment(Qt::AlignCenter);
+
+    // 设置列宽
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColName, 200);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColScheduledTime, 150);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColCountdown, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColStartTime, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColEndTime, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColDuration, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColEstimatedDuration, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColStatus, 100);
+    ui.taskTreeView->setColumnWidth(TaskTreeModel::ColProgress, 80);
+
+    // 创建状态标签
+    ui.statusLabel->setStyleSheet(
+        "QLabel {"
+        "  background-color: #3856B8;"
+        "  border: 1px solid #2f6bff;"
+        "  border-radius: 4px;"
+        "  padding: 8px;"
+        "  font-size: 12px;"
+        "}"
+    );
+}
+
+void TimedDataCollection::setupConnections()
+{
+    // 调度器信号连接
+    connect(m_scheduler, &TaskScheduler::taskStarted,
+        this, &TimedDataCollection::onTaskStarted);
+    connect(m_scheduler, &TaskScheduler::taskFinished,
+        this, &TimedDataCollection::onTaskFinished);
+    connect(m_scheduler, &TaskScheduler::subTaskStarted,
+        this, &TimedDataCollection::onSubTaskStarted);
+    connect(m_scheduler, &TaskScheduler::subTaskFinished,
+        this, &TimedDataCollection::onSubTaskFinished);
+    connect(m_scheduler, &TaskScheduler::taskDataChanged,
+        this, &TimedDataCollection::onTaskDataChanged);
+    connect(m_scheduler, &TaskScheduler::errorOccurred,
+        this, &TimedDataCollection::onErrorOccurred);
+
+    // 采集相关信号透传
+    connect(m_scheduler, &TaskScheduler::hyperCamParm,
+        this, &TimedDataCollection::hyperCamParm);
+    connect(m_scheduler, &TaskScheduler::camParm,
+        this, &TimedDataCollection::camParm);
+    connect(m_scheduler, &TaskScheduler::motorParm,
+        this, &TimedDataCollection::motorParm);
+    connect(m_scheduler, &TaskScheduler::startRecordSignal,
+        this, &TimedDataCollection::startRecordSignal);
+
+    connect(m_scheduler, &TaskScheduler::ObtainingDepthInformationSignals, this, &TimedDataCollection::ObtainingDepthInformationSignals);
+    connect(m_scheduler, &TaskScheduler::LiftingPlatformSignals, this, &TimedDataCollection::LiftingPlatformSignals);
+    connect(m_scheduler, &TaskScheduler::AutoFocusSignals, this, &TimedDataCollection::AutoFocusSignals);
+
+    connect(m_scheduler, &TaskScheduler::switchHalogenLampSignal,
+        this, &TimedDataCollection::switchHalogenLampSignal);
+    connect(m_scheduler, &TaskScheduler::switchD65LampSignal,
+        this, &TimedDataCollection::switchD65LampSignal);
+    connect(m_scheduler, &TaskScheduler::switchSlrSignal,
+        this, &TimedDataCollection::switchSlrSignal);
+
+    connect(this, &TimedDataCollection::sequenceCompleteSignal,
+        m_scheduler, &TaskScheduler::sequenceCompleteSignal);
+    connect(this, &TimedDataCollection::Back2OriginSignal,
+        m_scheduler, &TaskScheduler::Back2OriginSignal);
 }
 
 TimedDataCollection::~TimedDataCollection()
 {
+    if (m_scheduler) {
+        m_scheduler->stop();
+    }
 }
 
-void TimedDataCollection::run()
+void TimedDataCollection::onSelectTaskFile()
 {
+    if (m_scheduler->isRunning())
+    {
+        return;
+    }
 
+    QString filePath = QFileDialog::getOpenFileName(this,
+        tr("Select Task File"),
+        QString(),
+        tr("JSON Files (*.json);;All Files (*)"));
+
+    if (filePath.isEmpty()) {
+        return;
+    }
+
+    ui.taskFileSelect_lineEdit->setText(filePath);
+    readTimedTaskFromFile(filePath);
+}
+
+// ==================== 任务状态更新槽实现 ====================
+
+void TimedDataCollection::onTaskStarted(int taskId)
+{
+    m_currentTaskId = taskId;
+    m_currentSubTaskIndex = -1;
+
+    // 展开当前运行的任务
+    expandRunningTask();
+
+    updateStatusBar();
+    emit taskStarted(taskId);
+}
+
+void TimedDataCollection::onTaskFinished(int taskId, bool success)
+{
+    if (m_currentTaskId == taskId) {
+        m_currentTaskId = -1;
+        m_currentSubTaskIndex = -1;
+    }
+
+    updateStatusBar();
+    emit taskFinished(taskId, success);
+}
+
+void TimedDataCollection::onSubTaskStarted(int taskId, int subTaskIndex)
+{
+    m_currentSubTaskIndex = subTaskIndex;
+
+    m_taskModel->updateProgress(taskId);
+
+    // 滚动到当前子任务
+    QModelIndex subTaskIndex_model = m_taskModel->getSubTaskIndex(taskId, subTaskIndex);
+    if (subTaskIndex_model.isValid()) {
+        ui.taskTreeView->scrollTo(subTaskIndex_model);
+        ui.taskTreeView->setCurrentIndex(subTaskIndex_model);
+    }
+
+    updateStatusBar();
+    emit subTaskStarted(taskId, subTaskIndex);
+}
+
+void TimedDataCollection::onSubTaskFinished(int taskId, int subTaskIndex)
+{
+    m_taskModel->updateSubTaskStatusAndProgress(taskId, subTaskIndex, TaskStatus::Finished);
+
+    updateStatusBar();
+    emit subTaskFinished(taskId, subTaskIndex);
+}
+
+void TimedDataCollection::onTaskDataChanged(const TimedTask& task)
+{
+    // 核心：从 TaskExecutor 同步回来的完整任务数据
+    m_taskModel->updateTask(task);
+
+    updateStatusBar();
+}
+
+void TimedDataCollection::onErrorOccurred(const QString& error)
+{
+    ui.statusLabel->setText(QString::fromLocal8Bit("错误: %1").arg(error));
+    ui.statusLabel->setStyleSheet(
+        "QLabel {"
+        "  background-color: #3856B8;"
+        "  border: 1px solid #2f6bff;"
+        "  border-radius: 4px;"
+        "  padding: 8px;"
+        "  color: #e6eeff;"
+        "}"
+    );
+
+    QMessageBox::warning(this, "错误", error);
+    emit errorOccurred(error);
+}
+
+void TimedDataCollection::onTreeItemClicked(const QModelIndex& index)
+{
+    if (!index.isValid()) return;
+
+    TaskTreeNode* node = static_cast<TaskTreeNode*>(index.internalPointer());
+    if (!node) return;
+
+    QString info;
+    if (node->nodeType == TreeNodeType::Task && node->taskData) {
+        info = QString::fromLocal8Bit("选中任务 %1 - 状态: %2")
+            .arg(node->taskData->id)
+            .arg(node->taskData->status == TaskStatus::Running ? "运行中" :
+                node->taskData->status == TaskStatus::Finished ? "已完成" : "等待中");
+    }
+    else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+        info = QString::fromLocal8Bit("选中子任务 - 类型: %1")
+            .arg(m_taskModel->data(m_taskModel->index(index.row(),
+                TaskTreeModel::ColName, index.parent())).toString());
+    }
+
+    // 可以更新状态栏或其他UI
+}
+
+void TimedDataCollection::onTreeItemDoubleClicked(const QModelIndex& index)
+{
+    if (!index.isValid()) return;
+
+    TaskTreeNode* node = static_cast<TaskTreeNode*>(index.internalPointer());
+    if (!node) return;
+
+    if (node->nodeType == TreeNodeType::Task && node->taskData) {
+        const TimedTask& task = *node->taskData;
+        QString details = QString::fromLocal8Bit(
+            "【任务详情】\n\n"
+            "任务ID: %1\n"
+            "计划时间: %2\n"
+            "开始时间: %3\n"
+            "结束时间: %4\n"
+            "耗时: %5 分钟\n"
+            "状态: %6\n"
+            "子任务数: %7\n"
+            "保存路径: %8\n"
+            "卤素灯预热时间: %9 分钟"
+        ).arg(task.id)
+            .arg(task.scheduledTime.toString("yyyy-MM-dd HH:mm:ss"))
+            .arg(task.startTime.isValid() ? task.startTime.toString("yyyy-MM-dd HH:mm:ss") : "-")
+            .arg(task.endTime.isValid() ? task.endTime.toString("yyyy-MM-dd HH:mm:ss") : "-")
+            .arg(task.durationMinutes, 0, 'f', 2)
+            .arg(static_cast<int>(task.status))
+            .arg(task.subTasks.size())
+            .arg(task.savePath)
+            .arg(task.HalogenLampPreheatingTime_Minute);
+
+        QMessageBox::information(this, QString::fromLocal8Bit("任务详情"), details);
+    }
+    else if (node->nodeType == TreeNodeType::SubTask && node->subTaskData) {
+        const SubTask& subTask = *node->subTaskData;
+        QString typeStr;
+        switch (subTask.type) {
+        case SubTaskType::HyperSpectual400_1000nm:  typeStr = QString::fromLocal8Bit("高光谱 400-1000nm"); break;
+        case SubTaskType::HyperSpectual1000_1700nm: typeStr = QString::fromLocal8Bit("高光谱 1000-1700nm"); break;
+        case SubTaskType::SingleLensReflex:         typeStr = QString::fromLocal8Bit("单反相机"); break;
+        case SubTaskType::DepthCamera:              typeStr = QString::fromLocal8Bit("深度相机"); break;
+        }
+
+        QString details = QString::fromLocal8Bit(
+            "【子任务详情】\n\n"
+            "类型: %1\n"
+            "开始时间: %2\n"
+            "结束时间: %3\n"
+            "耗时: %4 分钟\n"
+            "路径文件: %5\n"
+            "状态: %6"
+        ).arg(typeStr)
+            .arg(subTask.startTime.isValid() ? subTask.startTime.toString("yyyy-MM-dd HH:mm:ss") : "-")
+            .arg(subTask.endTime.isValid() ? subTask.endTime.toString("yyyy-MM-dd HH:mm:ss") : "-")
+            .arg(subTask.durationMinutes, 0, 'f', 2)
+            .arg(subTask.pathLineFilePath)
+            .arg(static_cast<int>(subTask.status));
+
+        if (subTask.type == SubTaskType::HyperSpectual400_1000nm ||
+            subTask.type == SubTaskType::HyperSpectual1000_1700nm) {
+            details += QString::fromLocal8Bit("\n帧率: %1\n曝光时间: %2")
+                .arg(subTask.frameRate)
+                .arg(subTask.exposureTime);
+        }
+
+        QMessageBox::information(this, QString::fromLocal8Bit("子任务详情"), details);
+    }
+}
+
+void TimedDataCollection::onTreeSelectionChanged()
+{
+    // 可以根据选择更新其他UI组件
+}
+
+void TimedDataCollection::updateStatusBar()
+{
+    QString statusText;
+    QString styleSheet;
+
+    if (m_currentTaskId > 0) {
+        TimedTask* task = m_taskModel->getTask(m_currentTaskId);
+        if (task) {
+            int finished = 0;
+            for (const auto& sub : task->subTasks) {
+                if (sub.status == TaskStatus::Finished) finished++;
+            }
+
+            statusText = QString::fromLocal8Bit("▶ 正在执行任务 %1 | 子任务进度: %2/%3")
+                .arg(m_currentTaskId)
+                .arg(finished)
+                .arg(task->subTasks.size());
+
+            if (m_currentSubTaskIndex >= 0 && m_currentSubTaskIndex < task->subTasks.size()) {
+                QString subTypeStr;
+                switch (task->subTasks[m_currentSubTaskIndex].type) {
+                case SubTaskType::HyperSpectual400_1000nm:  subTypeStr = QString::fromLocal8Bit("高光谱400-1000nm"); break;
+                case SubTaskType::HyperSpectual1000_1700nm: subTypeStr = QString::fromLocal8Bit("高光谱1000-1700nm"); break;
+                case SubTaskType::SingleLensReflex:         subTypeStr = QString::fromLocal8Bit("单反相机"); break;
+                case SubTaskType::DepthCamera:              subTypeStr = QString::fromLocal8Bit("深度相机"); break;
+                }
+                statusText += QString::fromLocal8Bit(" | 当前: %1").arg(subTypeStr);
+            }
+
+            styleSheet =
+                "QLabel {"
+                "  background-color: #3856B8;"
+                "  border: 1px solid #2f6bff;"
+                "  border-radius: 4px;"
+                "  padding: 8px;"
+                "  color: #e6eeff;"
+                "  font-weight: bold;"
+                "}";
+        }
+    }
+    else {
+        // 统计任务状态
+        int waiting = 0, running = 0, finished = 0;
+        for (const auto& task : m_taskModel->tasks()) {
+            switch (task.status) {
+            case TaskStatus::Waiting: waiting++; break;
+            case TaskStatus::Running: running++; break;
+            case TaskStatus::Finished: finished++; break;
+            default: break;
+            }
+        }
+
+        statusText = QString::fromLocal8Bit("任务统计 | 等待: %1 | 运行中: %2 | 已完成: %3 | 总计: %4")
+            .arg(waiting).arg(running).arg(finished)
+            .arg(m_taskModel->tasks().size());
+
+        styleSheet =
+            "QLabel {"
+            "  background-color: #3856B8;"
+            "  border: 1px solid #2f6bff;"
+            "  border-radius: 4px;"
+            "  padding: 8px;"
+            "}";
+    }
+
+    ui.statusLabel->setText(statusText);
+    ui.statusLabel->setStyleSheet(styleSheet);
+}
+
+void TimedDataCollection::expandRunningTask()
+{
+    if (m_currentTaskId > 0) {
+        QModelIndex taskIndex = m_taskModel->getTaskIndex(m_currentTaskId);
+        if (taskIndex.isValid()) {
+            ui.taskTreeView->expand(taskIndex);
+            ui.taskTreeView->scrollTo(taskIndex);
+            ui.taskTreeView->setCurrentIndex(taskIndex);
+        }
+    }
 }
 
 void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
 {
-	// 从文件读取
-	if (TimedDataCollectionDataStructuresReaderWriter::loadTasksFromFile(filePath, m_loadedTasks)) {
-		qDebug() << "Tasks loaded successfully, count:" << m_loadedTasks.size();
-		for (const auto& t : m_loadedTasks) {
-			qDebug() << "  Task ID:" << t.id << "SubTasks:" << t.subTasks.size();
-		}
-	}
-	else {
-		qDebug() << "Failed to load tasks from:" << filePath;
-	}
+    QVector<TimedTask> loadedTasks;
+    if (TimedDataCollectionDataStructuresReaderWriter::loadTasksFromFile(filePath, loadedTasks)) {
+        qDebug() << "Tasks loaded successfully, count:" << loadedTasks.size();
 
-	int a = 1;
+        // 预测耗时：计算每个子任务和整个任务的预计耗时
+        for (int i = 0; i < loadedTasks.size(); ++i)
+        {
+            double totalEstimatedMinutes = 0.0;
+            for (int j = 0; j < loadedTasks[i].subTasks.size(); ++j)
+            {
+                loadedTasks[i].subTasks[j].durationMinutes = 0.0; // 初始化实际耗时为0
+                QString pathLineFilePath = loadedTasks[i].subTasks[j].pathLineFilePath;
+                if (!pathLineFilePath.isEmpty())
+                {
+                    double estimatedMinutes = PathLineManager::calculateTimeFromFile(pathLineFilePath);
+                    loadedTasks[i].subTasks[j].estimatedDurationMinutes = estimatedMinutes;
+                    totalEstimatedMinutes += loadedTasks[i].subTasks[j].estimatedDurationMinutes;
+                }
+            }
+            double slrTimeMinute = 135 / 60;
+            loadedTasks[i].estimatedDurationMinutes = totalEstimatedMinutes + loadedTasks[i].HalogenLampPreheatingTime_Minute + slrTimeMinute;
+			loadedTasks[i].durationMinutes = 0.0; // 初始化实际耗时为0
+        }
+
+        m_taskModel->setTasks(loadedTasks);
+        ui.taskTreeView->expandAll(); // 默认展开所有任务
+
+        // 更新调度器
+        if (m_scheduler)
+        {
+            m_scheduler->loadTasks(loadedTasks);
+        }
+
+        updateStatusBar();
+    }
+    else {
+        qDebug() << "Failed to load tasks from:" << filePath;
+        QMessageBox::warning(this, "加载失败",
+            QString("无法从文件加载任务:\n%1").arg(filePath));
+    }
 }
 
-void TimedDataCollection::writeRead()
+void TimedDataCollection::startScheduler()
 {
-	// 创建2个定时任务测试
-	QVector<TimedTask> tasks;
+    if (m_scheduler)
+    {
+        if (m_scheduler->isRunning())
+        {
+            return;
+        }
 
-	for (int i = 0; i < 2; ++i) {
-		TimedTask task;
-		task.id = i + 1;
-		task.scheduledTime = QDateTime::currentDateTime().addDays(i + 1);
-		task.savePath = QString("D:/0tmp/data");
-		task.status = TaskStatus::Waiting;
+        for (size_t i = 0; i < m_taskModel->tasks().size(); i++)
+        {
+            m_taskModel->setTaskAndSubtaskStatus(m_taskModel->tasks()[i].id, TaskStatus::Waiting);
+        }
 
-		// 创建4种子任务
-		QVector<SubTaskType> types = {
-			SubTaskType::HyperSpectual400_1000nm,
-			SubTaskType::HyperSpectual1000_1700nm,
-			SubTaskType::SingleLensReflex,
-			SubTaskType::DepthCamera
-		};
+        m_scheduler->loadTasks(m_taskModel->tasks());
+        m_scheduler->start();
 
-		for (int j = 0; j < types.size(); ++j) {
-			SubTask subTask;
-			subTask.type = types[j];
-			subTask.startTime = task.scheduledTime.addSecs(j * 3600);
-			subTask.endTime = subTask.startTime.addSecs(1800);
-			subTask.durationSeconds = 1800;
-			subTask.estimatedDurationSeconds = 1800;
-			subTask.pathLineFilePath = QString("D:/0tmp/3Dtest/pathLine/%1.RecordLine3").arg(j);
-			subTask.status = TaskStatus::Waiting;
-
-			// 根据类型设置特有属性
-			if (subTask.type == SubTaskType::HyperSpectual400_1000nm ||
-				subTask.type == SubTaskType::HyperSpectual1000_1700nm) {
-				subTask.frameRate = 30.0;
-				subTask.exposureTime = 1;
-			}
-			if (subTask.type == SubTaskType::HyperSpectual1000_1700nm) {
-				subTask.defaultRenderBand = 1200;
-			}
-			if (subTask.type == SubTaskType::SingleLensReflex ||
-				subTask.type == SubTaskType::DepthCamera) {
-				subTask.captureIntervalSeconds = 5;
-			}
-
-			task.subTasks.append(subTask);
-		}
-
-		tasks.append(task);
-	}
-
-	// 保存到文件
-	QString filePath = "D:/0tmp/3Dtest/task.json";
-	if (TimedDataCollectionDataStructuresReaderWriter::saveTasksToFile(filePath, tasks)) {
-		qDebug() << "Tasks saved to:" << filePath;
-	}
-	else {
-		qDebug() << "Failed to save tasks to:" << filePath;
-	}
-
-	// 从文件读取
-	QVector<TimedTask> loadedTasks;
-	if (TimedDataCollectionDataStructuresReaderWriter::loadTasksFromFile(filePath, loadedTasks)) {
-		qDebug() << "Tasks loaded successfully, count:" << loadedTasks.size();
-		for (const auto& t : loadedTasks) {
-			qDebug() << "  Task ID:" << t.id << "SubTasks:" << t.subTasks.size();
-		}
-	}
-	else {
-		qDebug() << "Failed to load tasks from:" << filePath;
-	}
-
-	int a = 1;
+        ui.statusLabel->setText(QString::fromLocal8Bit("调度器已启动，等待任务执行..."));
+        ui.statusLabel->setStyleSheet(
+            "QLabel {"
+            "  background-color: #3856B8;"
+            "  border: 1px solid #2f6bff;"
+            "  border-radius: 4px;"
+            "  padding: 8px;"
+            "  color: #e6eeff;"
+            "}");
+    }
+}
+
+void TimedDataCollection::stopScheduler()
+{
+    if (m_scheduler) {
+
+        for (size_t i = 0; i < m_taskModel->tasks().size(); i++)
+        {
+            m_taskModel->setTaskAndSubtaskStatus(m_taskModel->tasks()[i].id, TaskStatus::default);
+        }
+
+        m_scheduler->stop();
+
+        m_currentTaskId = -1;
+        m_currentSubTaskIndex = -1;
+
+        ui.statusLabel->setText(QString::fromLocal8Bit("调度器已停止"));
+        ui.statusLabel->setStyleSheet(
+            "QLabel {"
+            "  background-color: #3856B8;"
+            "  border: 1px solid #2f6bff;"
+            "  border-radius: 4px;"
+            "  padding: 8px;"
+            "  color: #e6eeff;"
+            "}");
+    }
+}
+
+void TimedDataCollection::subTaskCompleted(int status)
+{
+    emit sequenceCompleteSignal(status);
+}
+
+void TimedDataCollection::onBack2Origin()
+{
+    emit Back2OriginSignal();
 }

HPPA/TimedDataCollection.h

@@ -1,30 +1,81 @@
 #pragma once
 
 #include <QDialog>
-#include <QNetworkRequest>
-#include <QNetworkReply>
-#include <QNetworkAccessManager>
-
+#include <QTreeView>
+#include <QHeaderView>
+#include <QLabel>
+#include <QFileDialog>
 #include "ui_TimedDataCollection_ui.h"
 #include "TimedDataCollectionDataStructures.h"
+#include "TaskTreeModel.h"
+#include "PathLine.h"
 
 class TimedDataCollection : public QDialog
 {
-	Q_OBJECT
+    Q_OBJECT
 
 public:
-	TimedDataCollection(QWidget* parent = nullptr);
-	~TimedDataCollection();
+    TimedDataCollection(QWidget* parent = nullptr);
+    ~TimedDataCollection();
 
-	void readTimedTaskFromFile(const QString& filePath);
+    void readTimedTaskFromFile(const QString& filePath);
 
 public Q_SLOTS:
-	void run();
+    void startScheduler();
+    void stopScheduler();
+    void subTaskCompleted(int status);
+    void onBack2Origin();
+
+private Q_SLOTS:
+    // 任务状态更新槽
+    void onTaskStarted(int taskId);
+    void onTaskFinished(int taskId, bool success);
+    void onSubTaskStarted(int taskId, int subTaskIndex);
+    void onSubTaskFinished(int taskId, int subTaskIndex);
+    void onTaskDataChanged(const TimedTask& task);
+    void onErrorOccurred(const QString& error);
+
+    // 树视图交互
+    void onTreeItemClicked(const QModelIndex& index);
+    void onTreeItemDoubleClicked(const QModelIndex& index);
+    void onTreeSelectionChanged();
+
+Q_SIGNALS:
+    void taskStarted(int taskId);
+    void taskFinished(int taskId, bool success);
+    void subTaskStarted(int taskId, int subTaskIndex);
+    void subTaskFinished(int taskId, int subTaskIndex);
+    void errorOccurred(const QString& error);
+
+    void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+    void camParm(int camType, int captureIntervalSeconds, QString folder);
+    void motorParm(QString pathLineFilePath);
+    void startRecordSignal(int camType);
+
+    void ObtainingDepthInformationSignals(SubTask info);
+    void LiftingPlatformSignals(SubTask info);
+    void AutoFocusSignals(SubTask info);
+
+    void switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
+    void sequenceCompleteSignal(int status);
+    void Back2OriginSignal();
 
 private:
-	Ui::TimedDataCollection_ui ui;
+    void setupUI();
+    void setupConnections();
+    void updateStatusBar();
+    void expandRunningTask();
 
-	void writeRead();
+    void onSelectTaskFile();
 
-	QVector<TimedTask> m_loadedTasks;
+    Ui::TimedDataCollection_ui ui;
+
+    TaskTreeModel* m_taskModel;       // 任务树形模型
+    TaskScheduler* m_scheduler;
+
+    int m_currentTaskId = -1;
+    int m_currentSubTaskIndex = -1;
 };

HPPA/TimedDataCollectionDataStructures.cpp

@@ -1,10 +1,13 @@
-#include "TimedDataCollectionDataStructures.h"
+#include "TimedDataCollectionDataStructures.h"
 #include <QJsonDocument>
 #include <QJsonObject>
 #include <QJsonArray>
 #include <QFile>
+#include <QFileInfo>
+#include <QDir>
 #include <QTextStream>
 #include <QDebug>
+#include <algorithm>
 
 // ==================== 公共接口实现 ====================
 
@@ -88,9 +91,9 @@ QString TimedDataCollectionDataStructuresReaderWriter::taskStatusToString(TaskSt
 
 TaskStatus TimedDataCollectionDataStructuresReaderWriter::stringToTaskStatus(const QString& str)
 {
-    if (str == "Running") return TaskStatus::Running;
-    if (str == "Finished") return TaskStatus::Finished;
-    return TaskStatus::Waiting;
+    //if (str == "Running") return TaskStatus::Running;
+    //if (str == "Finished") return TaskStatus::Finished;
+    return TaskStatus::default;
 }
 
 QString TimedDataCollectionDataStructuresReaderWriter::subTaskTypeToString(SubTaskType type)
@@ -110,9 +113,31 @@ SubTaskType TimedDataCollectionDataStructuresReaderWriter::stringToSubTaskType(c
     if (str == "HyperSpectual1000_1700nm") return SubTaskType::HyperSpectual1000_1700nm;
     if (str == "SingleLensReflex") return SubTaskType::SingleLensReflex;
     if (str == "DepthCamera") return SubTaskType::DepthCamera;
+
+    if (str == "ObtainingDepthInformation") return SubTaskType::ObtainingDepthInformation;
+    if (str == "AutoFocus") return SubTaskType::AutoFocus;
+    if (str == "LiftingPlatform") return SubTaskType::LiftingPlatform;
+
     return SubTaskType::SingleLensReflex;
 }
 
+QString TimedDataCollectionDataStructuresReaderWriter::hyperImagerTypeToString(HyperImagerType type)
+{
+    switch (type) {
+    case HyperImagerType::Pika_L: return "Pika_L";
+    case HyperImagerType::Pika_NIR: return "Pika_NIR";
+    default: return "Unknown";
+    }
+}
+
+HyperImagerType TimedDataCollectionDataStructuresReaderWriter::stringToHyperImagerType(const QString& str)
+{
+    if (str == "Pika_L") return HyperImagerType::Pika_L;
+    if (str == "Pika_NIR") return HyperImagerType::Pika_NIR;
+
+    return HyperImagerType::Pika_L;
+}
+
 // ==================== SubTask序列化 ====================
 
 QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const SubTask& subTask)
@@ -121,30 +146,56 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const S
     obj["type"] = subTaskTypeToString(subTask.type);
     obj["startTime"] = subTask.startTime.toString(Qt::ISODate);
     obj["endTime"] = subTask.endTime.toString(Qt::ISODate);
-    obj["durationSeconds"] = subTask.durationSeconds;
-    obj["estimatedDurationSeconds"] = subTask.estimatedDurationSeconds;
+    obj["durationMinutes"] = subTask.durationMinutes;
+    obj["estimatedDurationMinutes"] = subTask.estimatedDurationMinutes;
     obj["pathLineFilePath"] = subTask.pathLineFilePath;
     obj["status"] = taskStatusToString(subTask.status);
     obj["frameRate"] = subTask.frameRate;
     obj["exposureTime"] = subTask.exposureTime;
     obj["defaultRenderBand"] = subTask.defaultRenderBand;
     obj["captureIntervalSeconds"] = subTask.captureIntervalSeconds;
+
+    obj["autoFocusHyperImagerType"] = hyperImagerTypeToString(subTask.autoFocusHyperImagerType);
+    obj["autoFocusMotorConfigFilePath"] = subTask.autoFocusMotorConfigFilePath;
+    obj["autoFocusX"] = subTask.autoFocusX;
+    obj["autoFocusY"] = subTask.autoFocusY;
+
+	obj["depthAlgorithm"] = subTask.depthAlgorithm;
+    obj["depthInfoX"] = subTask.depthInfoX;
+    obj["depthInfoY"] = subTask.depthInfoY;
+    obj["averageNumberOfTimes"] = subTask.averageNumberOfTimes;
+    obj["percentageOfEffectiveArea"] = subTask.percentageOfEffectiveArea;
+    obj["depthType"] = subTask.depthType;
+    obj["depthRangePercentage"] = subTask.depthRangePercentage;
     return obj;
 }
 
 bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObject& json, SubTask& subTask)
 {
     subTask.type = stringToSubTaskType(json["type"].toString());
-    subTask.startTime = QDateTime::fromString(json["startTime"].toString(), Qt::ISODate);
-    subTask.endTime = QDateTime::fromString(json["endTime"].toString(), Qt::ISODate);
-    subTask.durationSeconds = json["durationSeconds"].toInt();
-    subTask.estimatedDurationSeconds = json["estimatedDurationSeconds"].toInt();
+    subTask.startTime = QDateTime::fromString(QString(), Qt::ISODate);
+    subTask.endTime = QDateTime::fromString(QString(), Qt::ISODate);
+    subTask.durationMinutes = json["durationMinutes"].toDouble();
+    subTask.estimatedDurationMinutes = json["estimatedDurationMinutes"].toDouble();
     subTask.pathLineFilePath = json["pathLineFilePath"].toString();
     subTask.status = stringToTaskStatus(json["status"].toString());
     subTask.frameRate = json["frameRate"].toDouble();
     subTask.exposureTime = json["exposureTime"].toDouble();
     subTask.defaultRenderBand = json["defaultRenderBand"].toInt();
-    subTask.captureIntervalSeconds = json["captureIntervalSeconds"].toInt();
+    subTask.captureIntervalSeconds = json["captureIntervalSeconds"].toDouble();
+
+	subTask.autoFocusHyperImagerType = stringToHyperImagerType(json["autoFocusHyperImagerType"].toString());
+    subTask.autoFocusMotorConfigFilePath = json["autoFocusMotorConfigFilePath"].toString();
+    subTask.autoFocusX = json["autoFocusX"].toDouble();
+    subTask.autoFocusY = json["autoFocusY"].toDouble();
+
+    subTask.depthAlgorithm = json["depthAlgorithm"].toInt();
+    subTask.depthInfoX = json["depthInfoX"].toDouble();
+    subTask.depthInfoY = json["depthInfoY"].toDouble();
+    subTask.averageNumberOfTimes = json["averageNumberOfTimes"].toInt();
+    subTask.percentageOfEffectiveArea = json["percentageOfEffectiveArea"].toDouble();
+    subTask.depthType = json["depthType"].toInt();
+    subTask.depthRangePercentage = json["depthRangePercentage"].toDouble();
     return true;
 }
 
@@ -157,9 +208,11 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::timedTaskToJson(const
     obj["scheduledTime"] = task.scheduledTime.toString(Qt::ISODate);
     obj["startTime"] = task.startTime.toString(Qt::ISODate);
     obj["endTime"] = task.endTime.toString(Qt::ISODate);
-    obj["durationSeconds"] = task.durationSeconds;
+    obj["durationMinutes"] = task.durationMinutes;
+    obj["estimatedDurationMinutes"] = task.estimatedDurationMinutes;
     obj["savePath"] = task.savePath;
     obj["status"] = taskStatusToString(task.status);
+    obj["HalogenLampPreheatingTime_Minute"] = task.HalogenLampPreheatingTime_Minute;
 
     QJsonArray subTasksArray;
     for (const auto& subTask : task.subTasks) {
@@ -174,11 +227,13 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
 {
     task.id = json["id"].toInt();
     task.scheduledTime = QDateTime::fromString(json["scheduledTime"].toString(), Qt::ISODate);
-    task.startTime = QDateTime::fromString(json["startTime"].toString(), Qt::ISODate);
-    task.endTime = QDateTime::fromString(json["endTime"].toString(), Qt::ISODate);
-    task.durationSeconds = json["durationSeconds"].toInt();
+    task.startTime = QDateTime::fromString(QString(), Qt::ISODate);
+    task.endTime = QDateTime::fromString(QString(), Qt::ISODate);
+    task.durationMinutes = json["durationMinutes"].toDouble();
+    task.estimatedDurationMinutes = json["estimatedDurationMinutes"].toDouble();
     task.savePath = json["savePath"].toString();
     task.status = stringToTaskStatus(json["status"].toString());
+    task.HalogenLampPreheatingTime_Minute = json["HalogenLampPreheatingTime_Minute"].toDouble();
 
     QJsonArray subTasksArray = json["subTasks"].toArray();
     task.subTasks.clear();
@@ -194,3 +249,576 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
 
     return true;
 }
+
+// ==================== TaskExecutor 实现 ====================
+
+TaskExecutor::TaskExecutor(QObject* parent)
+    : QObject(parent)
+    , m_currentSubTaskIndex(-1)
+    , m_isRunning(false)
+{
+}
+
+TaskExecutor::~TaskExecutor()
+{
+    stop();
+}
+
+void TaskExecutor::execute(const TimedTask& task)
+{
+    if (m_isRunning) {
+        qWarning() << "TaskExecutor: Already running, ignoring execute request";
+        return;
+    }
+
+    m_task = task;
+    m_task.startTime = QDateTime::currentDateTime();
+    m_task.status = TaskStatus::Running;
+
+    emit taskUpdated(m_task);
+
+
+    m_currentSubTaskIndex = -1;
+    m_isRunning = true;
+
+    qDebug() << "TaskExecutor: Starting task" << task.id;
+
+    makeFolder(m_task.savePath);
+
+    double sleepTimeSecond = 1;
+    QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::executeNextSubTask);
+}
+
+void TaskExecutor::printMsgAndTime(QString msg)
+{
+    QDateTime now = QDateTime::currentDateTime();
+    QString timeString = now.toString("yyyy-MM-dd hh:mm:ss.zzz");
+    qDebug() << msg + " time:" << timeString;
+}
+
+void TaskExecutor::stop()
+{
+    if (!m_isRunning) return;
+
+    qDebug() << "TaskExecutor: Stopping task" << m_task.id;
+
+    m_isRunning = false;
+    emit finished(false);
+}
+
+void TaskExecutor::makeFolder(QString savePath)
+{
+    QDir dir(savePath);
+    if (!dir.exists()) {
+        if (dir.mkpath(".")) {
+            qDebug() << "TaskExecutor: Created data folder:" << savePath;
+        }
+        else {
+            qWarning() << "TaskExecutor: Failed to create data folder:" << savePath;
+        }
+    }
+    else {
+        qDebug() << "TaskExecutor: Data folder already exists:" << savePath;
+    }
+}
+
+QString TaskExecutor::makeSubTaskDataFolder(QString suffix)
+{
+    QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
+    QString folderPath = m_task.savePath + QDir::separator() + dateStr + "_" + suffix;
+    makeFolder(folderPath);
+
+    return folderPath;
+}
+
+void TaskExecutor::onSequenceComplete(int status)
+{
+    if (!m_isRunning) return;
+
+    qDebug() << "TaskExecutor: Sequence complete, status:" << status;
+
+    // 更新当前子任务状态
+    if (m_currentSubTaskIndex < m_task.subTasks.size()) {
+        SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
+        subTask.status = (status == 0) ? TaskStatus::Finished : TaskStatus::Waiting;
+
+        subTask.endTime = QDateTime::currentDateTime();
+        subTask.durationMinutes = (double)subTask.startTime.secsTo(subTask.endTime) / 60;
+        qDebug() << "TaskExecutor: subtask " << m_currentSubTaskIndex << " time consuming(Minutes): " << subTask.durationMinutes;
+
+        // 拷贝subTask.pathLineFilePath到m_currentFolder
+        if (!subTask.pathLineFilePath.isEmpty() && QFile::exists(subTask.pathLineFilePath)) {
+            QFileInfo fileInfo(subTask.pathLineFilePath);
+            QString destPath = m_currentFolder + QDir::separator() + fileInfo.fileName();
+            if (QFile::copy(subTask.pathLineFilePath, destPath)) {
+                qDebug() << "TaskExecutor: Copied path line file to" << destPath;
+            }
+            else {
+                qDebug() << "TaskExecutor: Failed to copy path line file from" << subTask.pathLineFilePath << "to" << destPath;
+            }
+        }
+
+        emit subTaskFinished(m_currentSubTaskIndex, subTask.type, (status == 0));
+        emit taskUpdated(m_task);
+    }
+    //当前任务已经完成，正确关闭灯光或者电源
+    ensurePostTaskLighting();
+
+    emit taskUpdated(m_task);
+}
+
+void TaskExecutor::ensurePreTaskLighting()
+{
+    SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
+    if (currentTaskType != SubTaskType::HyperSpectual400_1000nm &&
+        currentTaskType != SubTaskType::HyperSpectual1000_1700nm)
+    {
+        emit switchHalogenLampSignal(0);
+    }
+    if (currentTaskType != SubTaskType::SingleLensReflex &&
+        currentTaskType != SubTaskType::DepthCamera &&
+        currentTaskType != SubTaskType::ObtainingDepthInformation)
+    {
+        emit switchD65LampSignal(0);
+    }
+}
+
+void TaskExecutor::ensurePostTaskLighting()
+{
+    SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
+    if (currentTaskType == SubTaskType::SingleLensReflex ||
+        currentTaskType == SubTaskType::DepthCamera ||
+        currentTaskType == SubTaskType::ObtainingDepthInformation)
+    {
+        emit switchD65LampSignal(0);
+    }
+
+    int nestSubTaskIndex = m_currentSubTaskIndex + 1;
+    if (nestSubTaskIndex >= m_task.subTasks.size())
+    {
+        emit switchD65LampSignal(0);
+        emit switchSlrSignal(0);
+        emit switchHalogenLampSignal(0);
+        return;
+    }
+    // 判断下一次的任务是否为高光谱任务，如果不是就关闭卤素灯
+    SubTaskType nestTaskType = m_task.subTasks[nestSubTaskIndex].type;
+    if (nestTaskType != SubTaskType::HyperSpectual400_1000nm &&
+        nestTaskType != SubTaskType::HyperSpectual1000_1700nm)
+    {
+        emit switchHalogenLampSignal(0);
+    }
+}
+
+void TaskExecutor::onBack2Origin()
+{
+    // 关闭单反电源
+    switch (m_task.subTasks[m_currentSubTaskIndex].type)
+    {
+    case SubTaskType::SingleLensReflex:
+    {
+        emit switchSlrSignal(0);
+        break;
+    }
+    }
+
+    // 检查是否还有更多子任务
+    int nestSubTaskIndex = m_currentSubTaskIndex + 1;
+    if (nestSubTaskIndex < m_task.subTasks.size()) {
+        // 执行下一个子任务
+        if (m_task.subTasks[nestSubTaskIndex].type == SubTaskType::SingleLensReflex)
+        {
+            printMsgAndTime("Slr task，for weak up，please wait 135 seconds!");
+            emit switchSlrSignal(0);
+
+            QTimer::singleShot(135 * 1000, this, &TaskExecutor::executeNextSubTask);
+        }
+        else
+        {
+            QTimer::singleShot(1000, this, &TaskExecutor::executeNextSubTask);
+        }
+    }
+    else {
+        // 所有子任务完成
+        m_task.endTime = QDateTime::currentDateTime();
+        m_task.durationMinutes = (double)m_task.startTime.secsTo(m_task.endTime) / 60;
+        m_task.status = TaskStatus::Finished;
+        qDebug() << "TaskExecutor: task time consuming(Minutes): " << m_task.durationMinutes;
+
+        m_isRunning = false;
+        qDebug() << "TaskExecutor: All subtasks completed";
+        emit finished(true);
+    }
+
+    emit taskUpdated(m_task);
+}
+
+void TaskExecutor::onError(const QString& error)
+{
+    if (!m_isRunning) return;
+
+    qWarning() << "TaskExecutor: Error occurred:" << error;
+    m_isRunning = false;
+    emit errorOccurred(error);
+    emit finished(false);
+}
+
+void TaskExecutor::executeNextSubTask()
+{
+    m_currentSubTaskIndex++;
+
+    if (!m_isRunning || m_currentSubTaskIndex >= m_task.subTasks.size())
+    {
+        return;
+    }
+
+    SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
+    subTask.status = TaskStatus::Running;
+    subTask.startTime = QDateTime::currentDateTime();
+
+    emit taskUpdated(m_task);
+
+    QString tmp = "TaskExecutor: Starting subtask" + QString::number(m_currentSubTaskIndex) + "type:" + static_cast<int>(subTask.type);
+    printMsgAndTime(tmp);
+    //printMsgAndTime("excute " + QString::number(m_currentSubTaskIndex) + " subTask: ");
+
+    //qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex 
+    //         << "type:" << static_cast<int>(subTask.type);
+
+    emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
+
+    switch (subTask.type)
+    {
+        case SubTaskType::ObtainingDepthInformation:
+        {
+            //（1）移动到指定位置并通过深度相机获取深度信息（2）调整升降板高度（白板+调焦板）（3）回到零位(0,0)
+            emit switchD65LampSignal(1);
+            emit ObtainingDepthInformationSignals(subTask);
+            break;
+        }
+        case SubTaskType::AutoFocus:
+        {
+            switch (subTask.autoFocusHyperImagerType)
+            {
+                case HyperImagerType::Pika_L:
+                    m_camType = 0;
+                    m_currentFolder = makeSubTaskDataFolder("L");
+                    emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
+
+                    break;
+                case HyperImagerType::Pika_NIR:
+                    m_camType = 1;
+                    m_currentFolder = makeSubTaskDataFolder("NIR");
+                    emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
+
+                    break;
+                default:
+                    break;
+            }
+            emit switchHalogenLampSignal(1);
+
+            //执行自动调焦任务
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitAutoFocusSignal);
+            break;
+        }
+        case SubTaskType::LiftingPlatform:
+        {
+		    //执行升降平台任务
+            emit LiftingPlatformSignals(subTask);
+            break;
+        }
+        case SubTaskType::HyperSpectual400_1000nm:
+        {
+            m_camType = 0;
+            m_currentFolder = makeSubTaskDataFolder("L");
+            emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
+
+            emit motorParm(subTask.pathLineFilePath);
+
+            // 打开卤素灯预热
+            emit switchHalogenLampSignal(1);
+            printMsgAndTime("open HalogenLamp");
+            double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
+            QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::emitRecordSignal);
+
+            break;
+        }
+        case SubTaskType::HyperSpectual1000_1700nm:
+        {
+            m_camType = 1;
+            m_currentFolder = makeSubTaskDataFolder("NIR");
+            emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
+
+            emit motorParm(subTask.pathLineFilePath);
+
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
+            break;
+        }
+        case SubTaskType::SingleLensReflex:
+        {
+            m_camType = 2;
+            m_currentFolder = makeSubTaskDataFolder("SLR");
+            emit camParm(m_camType, 3, m_currentFolder);
+
+            emit motorParm(subTask.pathLineFilePath);
+
+            emit switchD65LampSignal(1);
+
+            emit switchSlrSignal(1);
+
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
+            break;
+        }
+        case SubTaskType::DepthCamera:
+        {
+            m_camType = 3;
+            m_currentFolder = makeSubTaskDataFolder("DepthCamera");
+            emit camParm(m_camType, 3, m_currentFolder);
+
+            emit motorParm(subTask.pathLineFilePath);
+
+            emit switchD65LampSignal(1);
+
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
+            break;
+        }
+    }
+    ensurePreTaskLighting();
+}
+
+void TaskExecutor::emitRecordSignal()
+{
+    emit startRecordSignal(m_camType);
+}
+
+void TaskExecutor::emitAutoFocusSignal()
+{
+    SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
+    emit AutoFocusSignals(subTask);
+}
+
+// ==================== TaskScheduler 实现 ====================
+
+TaskScheduler::TaskScheduler(QObject* parent)
+    : QObject(parent)
+    , m_timer(nullptr)
+    , m_currentExecutor(nullptr)
+    , m_currentTaskId(-1)
+{
+}
+
+TaskScheduler::~TaskScheduler()
+{
+    stop();
+}
+
+void TaskScheduler::loadTasks(const QVector<TimedTask>& tasks)
+{
+    m_tasks = tasks;
+    qDebug() << "TaskScheduler: Loaded" << tasks.size() << "tasks";
+}
+
+void TaskScheduler::start()
+{
+    if (m_timer) {
+        qDebug() << "TaskScheduler: Already running";
+        return;
+    }
+
+    qDebug() << "TaskScheduler: Starting";
+
+    m_timer = new QTimer(this);
+    connect(m_timer, &QTimer::timeout, this, &TaskScheduler::checkTasks);
+    m_timer->start(1000); // 每秒检查一次
+
+    emit schedulerStateChanged(true);
+}
+
+void TaskScheduler::stop()
+{
+    if (m_timer) {
+        m_timer->stop();
+        delete m_timer;
+        m_timer = nullptr;
+    }
+
+    if (m_currentExecutor) {
+        m_currentExecutor->stop();
+        m_currentExecutor->deleteLater();
+        m_currentExecutor = nullptr;
+    }
+
+    qDebug() << "TaskScheduler: Stopped";
+    emit schedulerStateChanged(false);
+}
+
+void TaskScheduler::checkTasks()
+{
+    // 检查是否所有任务都不需要执行
+    bool allTasksDone = std::all_of(m_tasks.begin(), m_tasks.end(),
+        [](const TimedTask& task) {
+            return task.status != TaskStatus::Waiting;
+        });
+
+    if (allTasksDone)
+    {
+        std::cerr << "TaskScheduler::checkTasks，没有任务等待执行，停止调度器" << std::endl;
+        stop();
+    }
+
+    QDateTime now = QDateTime::currentDateTime();
+
+    if (m_currentTaskId >= 0)//有任务正在执行
+    {
+        return;
+    }
+
+    for (auto& task : m_tasks)
+    {
+        if (task.status != TaskStatus::Waiting) continue;
+
+        // 超过计划时间threSecs，认为任务已过时，跳过
+        qint64 threSecs = 30;
+        if (task.scheduledTime.addSecs(threSecs) < now)
+        {
+            std::cerr << "TaskScheduler::checkTasks，任务已过时，跳过:" << task.id << std::endl;
+            task.status = TaskStatus::Timeout;
+            for (size_t i = 0; i < task.subTaskCount(); i++)
+            {
+                task.subTasks[i].status = TaskStatus::Timeout;
+            }
+
+            emit taskDataChanged(task);
+            continue;
+        }
+
+        if (task.scheduledTime > now) continue;
+
+        qint64 fireThreSecs = 5;
+        if (task.scheduledTime.addSecs(-1 * fireThreSecs) < now && task.scheduledTime.addSecs(fireThreSecs) > now)// 到达计划时间，启动任务
+        {
+            std::cerr << "TaskScheduler::checkTasks，到达计划时间，启动任务" << std::endl;
+            executeTask(task);
+            break; // 一次只执行一个任务
+        }
+    }
+}
+
+void TaskScheduler::onTaskFinished(bool success)
+{
+    if (m_currentTaskId > 0) {
+        TaskStatus status = success ? TaskStatus::Finished : TaskStatus::Waiting;
+        updateTaskStatus(m_currentTaskId, status);
+        emit taskFinished(m_currentTaskId, success);
+    }
+
+    // 清理执行器
+    if (m_currentExecutor) {
+        m_currentExecutor->deleteLater();
+        m_currentExecutor = nullptr;
+    }
+    m_currentTaskId = -1;
+}
+
+void TaskScheduler::onSubTaskStarted(int subTaskIndex, SubTaskType type)
+{
+    if (m_currentTaskId > 0) {
+        emit subTaskStarted(m_currentTaskId, subTaskIndex);
+    }
+}
+
+void TaskScheduler::onSubTaskFinished(int subTaskIndex, SubTaskType type, bool success)
+{
+    if (m_currentTaskId > 0) {
+        emit subTaskFinished(m_currentTaskId, subTaskIndex);
+    }
+}
+
+void TaskScheduler::onExecutorError(const QString& error)
+{
+    emitError(error);
+}
+
+void TaskScheduler::executeTask(TimedTask& task)
+{
+    qDebug() << "TaskScheduler: Executing task" << task.id;
+
+    //updateTaskStatus(task.id, TaskStatus::Running);
+    m_currentTaskId = task.id;
+
+    //emit taskStarted(task.id);
+
+    // 创建任务执行器
+    m_currentExecutor = new TaskExecutor(this);
+
+    // 连接信号
+    connect(m_currentExecutor, &TaskExecutor::finished,
+        this, &TaskScheduler::onTaskFinished);
+    connect(m_currentExecutor, &TaskExecutor::subTaskStarted,
+        this, &TaskScheduler::onSubTaskStarted);
+    connect(m_currentExecutor, &TaskExecutor::subTaskFinished,
+        this, &TaskScheduler::onSubTaskFinished);
+    connect(m_currentExecutor, &TaskExecutor::errorOccurred,
+        this, &TaskScheduler::onExecutorError);
+
+    // 采集相关信号透传
+    connect(m_currentExecutor, &TaskExecutor::hyperCamParm,
+        this, &TaskScheduler::hyperCamParm);
+    connect(m_currentExecutor, &TaskExecutor::camParm,
+        this, &TaskScheduler::camParm);
+    connect(m_currentExecutor, &TaskExecutor::motorParm,
+        this, &TaskScheduler::motorParm);
+    connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
+        this, &TaskScheduler::startRecordSignal);
+
+    connect(m_currentExecutor, &TaskExecutor::ObtainingDepthInformationSignals, this, &TaskScheduler::ObtainingDepthInformationSignals);
+    connect(m_currentExecutor, &TaskExecutor::LiftingPlatformSignals, this, &TaskScheduler::LiftingPlatformSignals);
+    connect(m_currentExecutor, &TaskExecutor::AutoFocusSignals, this, &TaskScheduler::AutoFocusSignals);
+
+    connect(m_currentExecutor, &TaskExecutor::switchHalogenLampSignal, this, &TaskScheduler::switchHalogenLampSignal);
+    connect(m_currentExecutor, &TaskExecutor::switchD65LampSignal, this, &TaskScheduler::switchD65LampSignal);
+    connect(m_currentExecutor, &TaskExecutor::switchSlrSignal, this, &TaskScheduler::switchSlrSignal);
+
+    connect(this, &TaskScheduler::sequenceCompleteSignal, m_currentExecutor, &TaskExecutor::onSequenceComplete);
+    connect(this, &TaskScheduler::Back2OriginSignal, m_currentExecutor, &TaskExecutor::onBack2Origin);
+
+    connect(m_currentExecutor, &TaskExecutor::taskUpdated,
+        this, [this](const TimedTask& updatedTask) {
+            for (int i = 0; i < m_tasks.size(); ++i) {
+                if (m_tasks[i].id == updatedTask.id) {
+                    m_tasks[i] = updatedTask;
+                    break;
+                }
+            }
+            emit taskDataChanged(updatedTask);
+        });
+
+
+    // 开始执行
+    m_currentExecutor->execute(task);
+}
+
+void TaskScheduler::updateTaskStatus(int taskId, TaskStatus status)
+{
+    for (auto& task : m_tasks) {
+        if (task.id == taskId) {
+            task.status = status;
+            if (status == TaskStatus::Running) {
+                task.startTime = QDateTime::currentDateTime();
+            }
+            else if (status == TaskStatus::Finished) {
+                task.endTime = QDateTime::currentDateTime();
+            }
+            break;
+        }
+    }
+}
+
+void TaskScheduler::emitError(const QString& error)
+{
+    qWarning() << "TaskScheduler: Error:" << error;
+    emit errorOccurred(error);
+}

HPPA/TimedDataCollectionDataStructures.h

@@ -4,14 +4,20 @@
 #include <QString>
 #include <QVector>
 #include <QMetaType>
+#include <QTimer>
+
+#include "CaptureCoordinator.h"
 
 // ==================== 枚举定义 ====================
 
 // 任务状态
 enum class TaskStatus {
+    default,    //未调度
     Waiting,    // 等待
     Running,   // 运行中
-    Finished   // 结束
+    Finished,   // 结束
+    Skiped,      //跳过
+    Timeout      //超时
 };
 
 // 子任务类型
@@ -19,7 +25,14 @@ enum class SubTaskType {
     HyperSpectual400_1000nm,  // 400nm-1000nm高光谱相机
     HyperSpectual1000_1700nm, // 1000nm-1700nm高光谱相机
     SingleLensReflex,          // 单反相机
-    DepthCamera                // 深度相机
+    DepthCamera,                // 深度相机采集任务
+    ObtainingDepthInformation,  //通过深度相机获取被测物体的深度信息
+	AutoFocus,                  // 自动对焦
+    LiftingPlatform             // 升降平台
+};
+enum class HyperImagerType {
+    Pika_L,
+    Pika_NIR
 };
 
 // ==================== 统一子任务封装 ====================
@@ -30,8 +43,8 @@ struct SubTask {
     // 共享属性
     QDateTime startTime;
     QDateTime endTime;
-    int durationSeconds = 0;
-    int estimatedDurationSeconds = 0;
+    double durationMinutes = 0;
+    double estimatedDurationMinutes = 0;
     QString pathLineFilePath;
     TaskStatus status = TaskStatus::Waiting;
 
@@ -40,25 +53,42 @@ struct SubTask {
     double exposureTime = 0.0;        // 高光谱相机用
     int defaultRenderBand = 550;     // 1000-1700nm高光谱用
     int captureIntervalSeconds = 5;  // 单反/深度相机用
+
+    //任务ObtainingDepthInformation所需的x和y坐标
+	int depthAlgorithm = 0;//0:深度图像的范围（percentageOfEffectiveArea）平均，1:深度范围（depthRangePercentage）的百分比，2:通过彩色图像分割植被区域的深度图像，然后平均
+	int depthType = 0;//0表示植被深度，1表示白板/调焦版深度
+	double depthInfoX = 0.0;
+	double depthInfoY = 0.0;
+	int averageNumberOfTimes = 1; //任务ObtainingDepthInformation所需的平均次数
+	double percentageOfEffectiveArea = 50.0; //深度图像的有效范围百分比
+	double depthRangePercentage = 80.0; //深度范围的百分比
+
+    //高光谱自动调焦
+	HyperImagerType autoFocusHyperImagerType;//取值范围：L、NIR
+    QString autoFocusMotorConfigFilePath;//马达配置文件
+    double autoFocusX = 0.0;
+	double autoFocusY = 0.0;
 };
 
 // ==================== 定时任务 ====================
 
 struct TimedTask {
-    int id = 0;                                  // 任务ID
-    QDateTime scheduledTime;                     // 计划时间
-    QDateTime startTime;                         // 开始时间
-    QDateTime endTime;                           // 结束时间
-    int durationSeconds = 0;                     // 耗时（秒）
-    QString savePath;                             // 数据保存路径
-    QVector<SubTask> subTasks;                    // 子任务列表
-    TaskStatus status = TaskStatus::Waiting;     // 状态
+    int id = 0;
+    QDateTime scheduledTime;
+    QDateTime startTime;
+    QDateTime endTime;
+    double durationMinutes = 0;
+    double estimatedDurationMinutes = 0;
+    QString savePath;
+    QVector<SubTask> subTasks;
+    TaskStatus status = TaskStatus::Waiting;
+    double HalogenLampPreheatingTime_Minute;
 
     // 计算所有子任务的预计总时间
     int totalEstimatedDuration() const {
         int total = 0;
         for (const auto& subTask : subTasks) {
-            total += subTask.estimatedDurationSeconds;
+            total += subTask.estimatedDurationMinutes;
         }
         return total;
     }
@@ -101,4 +131,151 @@ private:
 
     static QString subTaskTypeToString(SubTaskType type);
     static SubTaskType stringToSubTaskType(const QString& str);
+
+    static QString hyperImagerTypeToString(HyperImagerType type);
+    static HyperImagerType stringToHyperImagerType(const QString& str);
+};
+
+// ==================== 任务执行器 ====================
+
+class TaskExecutor : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit TaskExecutor(QObject* parent = nullptr);
+    ~TaskExecutor();
+
+    // 执行任务
+    void execute(const TimedTask& task);
+    void makeFolder(QString savePath);
+    QString makeSubTaskDataFolder(QString suffix);
+
+    // 获取当前执行的子任务索引
+    int currentSubTaskIndex() const { return m_currentSubTaskIndex; }
+
+    // 获取正在执行的任务
+    const TimedTask& currentTask() const { return m_task; }
+
+    // 是否正在执行
+    bool isRunning() const { return m_isRunning; }
+
+    // 停止执行
+    void stop();
+
+signals:
+    void finished(bool success);                           // 任务完成
+    void taskUpdated(const TimedTask& task);  // 确保有这个信号
+    void subTaskStarted(int subTaskIndex, SubTaskType type); // 子任务开始
+    void subTaskFinished(int subTaskIndex, SubTaskType type, bool success); // 子任务完成
+    void errorOccurred(const QString& error);               // 错误发生
+
+    // 采集相关信号
+    void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+    void camParm(int camType, int captureIntervalSeconds, QString folder);
+    void motorParm(QString pathLineFilePath);
+    void startRecordSignal(int camType);
+
+    void ObtainingDepthInformationSignals(SubTask info);
+    void LiftingPlatformSignals(SubTask info);
+    void AutoFocusSignals(SubTask info);
+
+    void switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
+public slots:
+    void onSequenceComplete(int status);
+    void onBack2Origin();
+    void onError(const QString& error);
+
+    void emitRecordSignal();
+    void emitAutoFocusSignal();
+
+private:
+    QString m_currentFolder;
+    void executeNextSubTask();
+    void ensurePreTaskLighting();
+    void ensurePostTaskLighting();
+
+    void printMsgAndTime(QString msg);
+
+    TimedTask m_task;
+    int m_currentSubTaskIndex;
+    bool m_isRunning;
+
+    int m_camType;
+};
+
+// ==================== 任务调度器 ====================
+
+class TaskScheduler : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit TaskScheduler(QObject* parent = nullptr);
+    ~TaskScheduler();
+
+    // 加载任务列表
+    void loadTasks(const QVector<TimedTask>& tasks);
+
+    // 获取任务列表
+    QVector<TimedTask> tasks() const { return m_tasks; }
+
+    // 开始调度
+    void start();
+
+    // 停止调度
+    void stop();
+
+    // 是否正在运行
+    bool isRunning() const { return m_timer != nullptr && m_timer->isActive(); }
+
+signals:
+    void taskStarted(int taskId);                          // 任务开始
+    void taskFinished(int taskId, bool success);            // 任务完成
+    void taskDataChanged(const TimedTask& task);
+
+    void schedulerStateChanged(bool running);                // 调度器状态变化
+
+    // 子任务的信号
+    void subTaskStarted(int taskId, int subTaskIndex);      // 子任务开始
+    void subTaskFinished(int taskId, int subTaskIndex);     // 子任务完成
+    void errorOccurred(const QString& error);               // 错误发生
+
+    // 采集相关信号 (透传 TaskExecutor)
+    void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+    void camParm(int camType, int captureIntervalSeconds, QString folder);
+    void motorParm(QString pathLineFilePath);
+    void startRecordSignal(int camType);
+
+    void ObtainingDepthInformationSignals(SubTask info);
+    void LiftingPlatformSignals(SubTask info);
+    void AutoFocusSignals(SubTask info);
+
+    void switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
+    // 马达反馈的信号
+    void sequenceCompleteSignal(int status);
+    void Back2OriginSignal();
+
+private slots:
+    void checkTasks();                                     // 检查任务是否该启动
+    void onTaskFinished(bool success);
+    void onSubTaskStarted(int subTaskIndex, SubTaskType type);
+    void onSubTaskFinished(int subTaskIndex, SubTaskType type, bool success);
+    void onExecutorError(const QString& error);
+
+private:
+    void executeTask(TimedTask& task);
+    void updateTaskStatus(int taskId, TaskStatus status);
+    void emitError(const QString& error);
+
+    QTimer* m_timer;
+    QVector<TimedTask> m_tasks;
+    TaskExecutor* m_currentExecutor;
+    int m_currentTaskId;
 };

HPPA/TimedDataCollection_ui.ui

@@ -6,314 +6,203 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>970</width>
-    <height>456</height>
+    <width>1299</width>
+    <height>658</height>
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Dialog</string>
+   <string>定时采集</string>
   </property>
-  <widget class="QTreeWidget" name="treeWidget">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>9</y>
-     <width>491</width>
-     <height>281</height>
-    </rect>
+  <property name="styleSheet">
+   <string notr="true">QWidget #contentWidget
+{
+	background: #192770;
+	/*border-radius: 8px 8px 8px 8px;*/
+	border: 1px solid #2f6bff;
+}
+
+QLineEdit {
+    background-color: #3856B8;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    min-width: 70px;
+    min-height: 20px;
+    font-size: 13px;
+}
+
+QLabel
+{
+	background: #243A82;
+    color: rgb(255, 255, 255);
+	border: 1px solid #2f6bff;
+    border-radius: 6px;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 10pt &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 8px;
+    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">
+   <property name="leftMargin">
+    <number>0</number>
    </property>
-   <property name="allColumnsShowFocus">
-    <bool>false</bool>
+   <property name="topMargin">
+    <number>0</number>
    </property>
-   <attribute name="headerVisible">
-    <bool>true</bool>
-   </attribute>
-   <column>
-    <property name="text">
-     <string>任务</string>
-    </property>
-   </column>
-   <column>
-    <property name="text">
-     <string>计划时间</string>
-    </property>
-   </column>
-   <column>
-    <property name="text">
-     <string>开始时间</string>
-    </property>
-   </column>
-   <column>
-    <property name="text">
-     <string>结束时间</string>
-    </property>
-   </column>
-   <column>
-    <property name="text">
-     <string>耗时</string>
-    </property>
-   </column>
-   <column>
-    <property name="text">
-     <string>状态</string>
-    </property>
-   </column>
-   <item>
-    <property name="text">
-     <string>1</string>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <item>
-     <property name="text">
-      <string>a</string>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-     <property name="text">
-      <string/>
-     </property>
-    </item>
-    <item>
-     <property name="text">
-      <string>b</string>
-     </property>
-    </item>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>0</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QWidget" name="contentWidget" native="true">
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="0" colspan="3">
+       <widget class="QTreeView" name="taskTreeView">
+        <property name="styleSheet">
+         <string notr="true">QTreeView
+{
+    background-color: #121945;
+	border: 0px solid #444;
+}
+
+QHeaderView::section
+{
+    background-color: #121945;
+    color: #ACCDFF;
+
+    padding: 6px;
+}
+
+QScrollBar:vertical {
+    background: #0b1440;
+    width: 10px;
+    border: 1px solid #1f2a5a;
+}
+
+QScrollBar:horizontal {
+    background: #0b1440;
+    height: 10px;
+    border: 1px solid #1f2a5a;
+}
+
+QScrollBar::handle:vertical,
+QScrollBar::handle:horizontal {
+    background: #3a5bd6;
+    border-radius: 4px;
+    min-height: 20px;
+    min-width: 20px;
+}
+
+QScrollBar::handle:vertical:hover,
+QScrollBar::handle:horizontal:hover {
+    background: #4f73ff;
+}
+</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLineEdit" name="taskFileSelect_lineEdit">
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QPushButton" name="taskFileSelect_btn">
+        <property name="text">
+         <string>...</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QPushButton" name="start_btn">
+        <property name="text">
+         <string>开始调度</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QPushButton" name="expandAll_btn">
+        <property name="text">
+         <string>展开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QPushButton" name="stop_btn">
+        <property name="text">
+         <string>停止调度</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="2">
+       <widget class="QPushButton" name="collapseAll_btn">
+        <property name="text">
+         <string>折叠</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="0" colspan="3">
+       <widget class="QLabel" name="statusLabel">
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>任务统计</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
    </item>
-   <item>
-    <property name="text">
-     <string>2</string>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <item>
-     <property name="text">
-      <string>a</string>
-     </property>
-    </item>
-    <item>
-     <property name="text">
-      <string>b</string>
-     </property>
-    </item>
-   </item>
-   <item>
-    <property name="text">
-     <string>3</string>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <item>
-     <property name="text">
-      <string>a</string>
-     </property>
-    </item>
-    <item>
-     <property name="text">
-      <string>b</string>
-     </property>
-    </item>
-   </item>
-   <item>
-    <property name="text">
-     <string>4</string>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <item>
-     <property name="text">
-      <string>a</string>
-     </property>
-    </item>
-    <item>
-     <property name="text">
-      <string>b</string>
-     </property>
-    </item>
-   </item>
-   <item>
-    <property name="text">
-     <string>5</string>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <item>
-     <property name="text">
-      <string>a</string>
-     </property>
-    </item>
-    <item>
-     <property name="text">
-      <string>b</string>
-     </property>
-    </item>
-   </item>
-  </widget>
-  <widget class="QPushButton" name="addToptask_btn">
-   <property name="geometry">
-    <rect>
-     <x>40</x>
-     <y>310</y>
-     <width>101</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>添加总计划任务</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="addSubtask_btn">
-   <property name="geometry">
-    <rect>
-     <x>40</x>
-     <y>370</y>
-     <width>101</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>添加子任务</string>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="comboBox">
-   <property name="geometry">
-    <rect>
-     <x>170</x>
-     <y>370</y>
-     <width>69</width>
-     <height>22</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="delSubtask_btn">
-   <property name="geometry">
-    <rect>
-     <x>40</x>
-     <y>410</y>
-     <width>101</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>删除子任务</string>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="delToptask_btn">
-   <property name="geometry">
-    <rect>
-     <x>40</x>
-     <y>340</y>
-     <width>101</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>删除总计划任务</string>
-   </property>
-  </widget>
-  <widget class="QStackedWidget" name="stackedWidget">
-   <property name="geometry">
-    <rect>
-     <x>520</x>
-     <y>20</y>
-     <width>381</width>
-     <height>261</height>
-    </rect>
-   </property>
-   <property name="currentIndex">
-    <number>1</number>
-   </property>
-   <widget class="QWidget" name="page"/>
-   <widget class="QWidget" name="page_2"/>
-  </widget>
-  <widget class="QPushButton" name="run_btn">
-   <property name="geometry">
-    <rect>
-     <x>850</x>
-     <y>420</y>
-     <width>101</width>
-     <height>23</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>运行</string>
-   </property>
-  </widget>
+  </layout>
  </widget>
  <resources/>
  <connections/>

HPPA/TwoMotorControl.cpp

@@ -103,6 +103,185 @@ void TwoMotorControl::record_white()
 	m_whiteCaptureCoordinator->startStepMotion(s);
 }
 
+void TwoMotorControl::run2(SingleLensReflexCameraWindow* window)
+{
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	if (rowCount == 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
+
+		emit sequenceComplete(0);
+		return;
+	}
+
+	m_coordinator_TimedDataCollection = new TwoMotionCaptureCoordinator(m_multiAxisController);
+	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator_TimedDataCollection, SLOT(start(QVector<PathLine>)));
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, this, &TwoMotorControl::receiveStartRecordLineNum);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::finishRecordLineNumSignal, this, &TwoMotorControl::receiveFinishRecordLineNum);
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, window, &SingleLensReflexCameraWindow::onStartTimedDataCollection);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, window, &SingleLensReflexCameraWindow::onStopTimedDataCollection);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, this, &TwoMotorControl::sequenceComplete);
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin2);
+
+	QVector<PathLine> pathLines;
+	//int columnCount = ui.recordLine_tableWidget->columnCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		PathLine tmp;
+
+		tmp.targetYPosition = ui.recordLine_tableWidget->item(i, 0)->text().toDouble();
+		tmp.speedTargetYPosition = ui.recordLine_tableWidget->item(i, 1)->text().toDouble();
+		tmp.targetXMinPosition = ui.recordLine_tableWidget->item(i, 2)->text().toDouble();
+		tmp.speedTargetXMinPosition = ui.recordLine_tableWidget->item(i, 3)->text().toDouble();
+		tmp.targetXMaxPosition = ui.recordLine_tableWidget->item(i, 4)->text().toDouble();
+		tmp.speedTargetXMaxPosition = ui.recordLine_tableWidget->item(i, 5)->text().toDouble();
+
+		pathLines.append(tmp);
+	}
+
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
+		}
+	}
+
+	emit start(pathLines);
+}
+
+void TwoMotorControl::run3(DepthCameraWindow* window)
+{
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	if (rowCount == 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
+
+		emit sequenceComplete(0);
+		return;
+	}
+
+	m_coordinator_TimedDataCollection = new TwoMotionCaptureCoordinator(m_multiAxisController);
+	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator_TimedDataCollection, SLOT(start(QVector<PathLine>)));
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, this, &TwoMotorControl::receiveStartRecordLineNum);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::finishRecordLineNumSignal, this, &TwoMotorControl::receiveFinishRecordLineNum);
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, window, &DepthCameraWindow::openDepthCamera);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, window, &DepthCameraWindow::closeDepthCamera);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, this, &TwoMotorControl::sequenceComplete);
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin2);
+
+	QVector<PathLine> pathLines;
+	//int columnCount = ui.recordLine_tableWidget->columnCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		PathLine tmp;
+
+		tmp.targetYPosition = ui.recordLine_tableWidget->item(i, 0)->text().toDouble();
+		tmp.speedTargetYPosition = ui.recordLine_tableWidget->item(i, 1)->text().toDouble();
+		tmp.targetXMinPosition = ui.recordLine_tableWidget->item(i, 2)->text().toDouble();
+		tmp.speedTargetXMinPosition = ui.recordLine_tableWidget->item(i, 3)->text().toDouble();
+		tmp.targetXMaxPosition = ui.recordLine_tableWidget->item(i, 4)->text().toDouble();
+		tmp.speedTargetXMaxPosition = ui.recordLine_tableWidget->item(i, 5)->text().toDouble();
+
+		pathLines.append(tmp);
+	}
+
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
+		}
+	}
+
+	emit start(pathLines);
+}
+
+void TwoMotorControl::onBack2Origin2()
+{
+	m_coordinator_TimedDataCollection->deleteLater();
+	m_coordinator_TimedDataCollection = nullptr;
+	emit back2OriginSignal_TimedDataCollection();
+}
+
+void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthAlgorithm,int depthType, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea, double depthRangePercentage)
+{
+	m_depthType = depthType;
+
+	window->m_DepthCameraOperation->setDepthAlgorithm(depthAlgorithm);
+	window->m_DepthCameraOperation->setAverageNumberOfTimes(averageNumberOfTimes);
+	window->m_DepthCameraOperation->setPercentageOfEffectiveArea(percentageOfEffectiveArea);
+	window->m_DepthCameraOperation->setDepthRangePercentage(depthRangePercentage);
+
+	m_ObtainTargetDepthInfoCoordinator = new TwoMotor1PosCoordinator(m_multiAxisController);
+	connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, window, &DepthCameraWindow::OpenDepthCamera_getDepthValue);
+
+	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2origin);
+	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::sequenceComplete, Qt::UniqueConnection);//关灯
+	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::saveDepthValue, Qt::UniqueConnection);
+
+	connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin3);
+
+	double xmotor_move_speed = ui.xmotor_move_speed_lineEdit->text().toDouble();
+	double ymotor_move_speed = ui.ymotor_move_speed_lineEdit->text().toDouble();
+
+	m_ObtainTargetDepthInfoCoordinator->moveToTarget(depthInfoX, depthInfoY, xmotor_move_speed, ymotor_move_speed);
+}
+
+void TwoMotorControl::run5_AutoFocus(double autoFocusX, double autoFocusY)
+{
+	m_focusWindow = new focusWindow(this, m_Imager);
+	m_focusWindow->onConnectMotor();
+	m_focusWindow->show();
+
+	//自动调焦的协调器添加功能：先归零
+	m_autoFocusCoordinator = new TwoMotor1PosCoordinator(m_multiAxisController);
+	connect(m_autoFocusCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, m_focusWindow, &focusWindow::onAutoFocus);
+	connect(m_focusWindow, &focusWindow::AutoFocusFinishedSignal, m_autoFocusCoordinator, &TwoMotor1PosCoordinator::back2origin);
+	connect(m_focusWindow, &focusWindow::AutoFocusFinishedSignal, this, &TwoMotorControl::sequenceComplete, Qt::UniqueConnection);
+	connect(m_autoFocusCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin4);
+
+
+	double xmotor_move_speed = ui.xmotor_move_speed_lineEdit->text().toDouble();
+	double ymotor_move_speed = ui.ymotor_move_speed_lineEdit->text().toDouble();
+	m_autoFocusCoordinator->moveToTarget(autoFocusX, autoFocusY, xmotor_move_speed, ymotor_move_speed);
+}
+
+void TwoMotorControl::saveDepthValue(double depthValue)
+{
+	if (m_depthType == 0)//0表示植被深度，1表示白板/调焦版深度
+	{
+		DepthValueLogger::instance().appendPlantDepthValue(depthValue);
+	}
+	else if (m_depthType == 1)
+	{
+		DepthValueLogger::instance().appendLiftingPlatformDepthValue(depthValue);
+	}
+}
+
+void TwoMotorControl::onBack2Origin3()
+{
+	m_ObtainTargetDepthInfoCoordinator->deleteLater();
+	m_ObtainTargetDepthInfoCoordinator = nullptr;
+	emit back2OriginSignal_TimedDataCollection();
+}
+
+void TwoMotorControl::onBack2Origin4()
+{
+	m_focusWindow->deleteLater();
+	m_focusWindow = nullptr;
+
+	m_autoFocusCoordinator->deleteLater();
+	m_autoFocusCoordinator = nullptr;
+	emit back2OriginSignal_TimedDataCollection();
+}
+
 void TwoMotorControl::run()
 {
 	if (getState())
@@ -116,7 +295,7 @@ void TwoMotorControl::run()
 	{
 		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
 
-		emit sequenceComplete();
+		emit sequenceComplete(0);
 		return;
 	}
 
@@ -129,7 +308,8 @@ void TwoMotorControl::run()
 	connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
 	connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
 	connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
-	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
+	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
+	connect(m_coordinator, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin);
 
 	connect(m_coordinator, &TwoMotionCaptureCoordinator::startRecordHSISignal, m_Imager, &ImagerOperationBase::start_record);
 	connect(m_coordinator, &TwoMotionCaptureCoordinator::stopRecordHSISignal, this, &TwoMotorControl::stop_record);
@@ -184,12 +364,21 @@ TwoMotorControl::~TwoMotorControl()
 }
 
 void TwoMotorControl::onConnectMotor()
+{
+	connectMotor(true);
+}
+
+void TwoMotorControl::connectMotor(bool isNotification)
 {
 	if (getMotorsConnectionStatus())
 	{
-		QMessageBox msgBox;
-		msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
-		msgBox.exec();
+		if (isNotification)
+		{
+			QMessageBox msgBox;
+			msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+			msgBox.exec();
+		}
+		
 		return;
 	}
 
@@ -263,16 +452,22 @@ void TwoMotorControl::receiveFinishRecordLineNum(int lineNum)
 	}
 }
 
-void TwoMotorControl::onSequenceComplete()
+void TwoMotorControl::onSequenceComplete(int status)
 {
 	isWritePosFile = false;
 	fclose(m_posFileHandle);
 
+	emit sequenceComplete(status);
+}
+
+void TwoMotorControl::onBack2Origin()
+{
 	m_coordinatorThread.quit();
 	m_coordinatorThread.wait();
 	m_coordinator = nullptr;
 
-	emit sequenceComplete();
+	emit back2OriginSignal();
+	emit back2OriginSignal_TimedDataCollection();
 }
 
 bool TwoMotorControl::getMotorsConnectionStatus()
@@ -430,51 +625,15 @@ void TwoMotorControl::on_rangeMeasurement()
 
 void TwoMotorControl::onAddRecordLine_btn()
 {
-	//准备数据：获取y马达的当前位置，获取x马达的当前位置和最大位置
+	// 准备数据：获取y马达的当前位置，获取x马达的当前位置和最大位置
 	double currentPosOfYmotor = 15;
-
 	double currentPosOfXmotor = 0;
 	double maxRangeOfXmotor = 50;
 
-	//获取选中行的索引
-	int currentRow = ui.recordLine_tableWidget->currentRow();
-	std::cout << "currentRow：" << currentRow << std::endl;
-
-	QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
-	QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(1, 10, 2));
-	QTableWidgetItem* Item3 = new QTableWidgetItem(QString::number(currentPosOfXmotor, 10, 2));
-	QTableWidgetItem* Item4 = new QTableWidgetItem(QString::number(1, 10, 2));
-	QTableWidgetItem* Item5 = new QTableWidgetItem(QString::number(maxRangeOfXmotor, 10, 2));
-	QTableWidgetItem* Item6 = new QTableWidgetItem(QString::number(1, 10, 2));
-	Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item6->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	if (currentRow == -1)//当没有选中行时
-	{
-		int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. 从1开始的
-		ui.recordLine_tableWidget->insertRow(RowCount);//增加一行，形参是从0开始的
-
-		ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
-		ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
-		ui.recordLine_tableWidget->setItem(RowCount, 2, Item3);
-		ui.recordLine_tableWidget->setItem(RowCount, 3, Item4);
-		ui.recordLine_tableWidget->setItem(RowCount, 4, Item5);
-		ui.recordLine_tableWidget->setItem(RowCount, 5, Item6);
-	}
-	else
-	{
-		ui.recordLine_tableWidget->insertRow(currentRow + 1);//增加一行，形参是从0开始的
-
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 2, Item3);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 3, Item4);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 4, Item5);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 5, Item6);
-	}
+	PathLineManager::addRecordLine(ui.recordLine_tableWidget,
+		currentPosOfYmotor, 1.0,
+		currentPosOfXmotor, 1.0,
+		maxRangeOfXmotor, 1.0);
 }
 
 void TwoMotorControl::onRemoveRecordLine_btn()
@@ -495,103 +654,40 @@ void TwoMotorControl::onDeleteRecordLine_btn()
 
 void TwoMotorControl::onSaveRecordLine2File_btn()
 {
-	//确保采集线存在
+	// 确保采集线存在
 	if (ui.recordLine_tableWidget->rowCount() <= 0)
 	{
-		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请先生成轨迹！"));
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"),
+			QString::fromLocal8Bit("请先生成轨迹！"));
 		return;
 	}
-
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
-
 	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine3 File"),
 		QString::fromStdString(directory),
 		tr("RecordLineFile3 (*.RecordLine3)"));
-
 	if (RecordLineFilePath.isEmpty())
 	{
 		return;
 	}
-
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
-
-	double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
-	fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	//double data[number];
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			data[i * ui.recordLine_tableWidget->columnCount() + j] = ui.recordLine_tableWidget->item(i, j)->text().toDouble();
-		}
-	}
-
-	fwrite(data, sizeof(double), number, RecordLineFileHandle);
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	//QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("保存成功！"));
+	PathLineManager::saveToFile(RecordLineFilePath, ui.recordLine_tableWidget);
 }
 
 void TwoMotorControl::onReadRecordLineFile_btn()
 {
-	//打开文件
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
-
 	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine3 File"),
 		QString::fromStdString(directory),
 		tr("RecordLineFile (*.RecordLine3)"));
-
 	if (RecordLineFilePath.isEmpty())
 	{
 		return;
 	}
 
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
-	double number;
-
-	//读取数据
-	fread(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	for (size_t i = 0; i < number; i++)
-	{
-		fread(data + i, sizeof(double), 1, RecordLineFileHandle);
-		//std::cout << *(data + i) << std::endl;
-	}
-
-	//向tableWidget添加采集线
-	//（1）去掉tableWidget中所有的行
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-	//（2）添加行（采集线）
-	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
-	for (size_t i = 0; i < RecordLineCount; i++)
-	{
-		ui.recordLine_tableWidget->insertRow(0);
-
-	}
-	//（3）向tableWidget填充数据
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
-			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, j, tmp);
-		}
-	}
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	//QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("读取成功！"));
+	readRecordLineFile(RecordLineFilePath);
+}
+void TwoMotorControl::readRecordLineFile(QString RecordLineFilePath)
+{
+	PathLineManager::readFromFile(RecordLineFilePath, ui.recordLine_tableWidget);
 }

HPPA/TwoMotorControl.h

@@ -10,6 +10,15 @@
 #include "CaptureCoordinator.h"
 #include "MotorWindowBase.h"
 
+#include "SingleLensReflexCameraWindow.h"
+#include "DepthCameraWindow.h"
+
+#include "PathLine.h" 
+
+#include "DepthValueLogger.h"
+
+#include "focusWindow.h"
+
 #define PI 3.1415926
 
 class TwoMotorControl : public QDialog, public MotorWindowBase
@@ -27,6 +36,10 @@ public:
     void record_white();
 
     bool getMotorsConnectionStatus();
+
+    void readRecordLineFile(QString RecordLineFilePath);
+
+    void connectMotor(bool isNotification);
     
 private:
     ImagerOperationBase* m_Imager;
@@ -68,7 +81,17 @@ public Q_SLOTS:
     void stop();
     void receiveStartRecordLineNum(int lineNum);
     void receiveFinishRecordLineNum(int lineNum);
-    void onSequenceComplete();
+    void onSequenceComplete(int status);
+    void onBack2Origin();
+
+    void run2(SingleLensReflexCameraWindow* w);
+    void run3(DepthCameraWindow* window);
+    void run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthAlgorithm, int depthType, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea, double depthRangePercentage);
+    void run5_AutoFocus(double autoFocusX, double autoFocusY);
+    void onBack2Origin2();
+    void saveDepthValue(double depthValue);
+    void onBack2Origin3();
+    void onBack2Origin4();
 
     void stop_record();
 
@@ -86,7 +109,9 @@ signals:
     void stopSignal();
 
     void startLineNumSignal(int lineNum);
-    void sequenceComplete();//所有采集线正常运行完成
+    void sequenceComplete(int status);//所有采集线正常运行完成
+    void back2OriginSignal();
+    void back2OriginSignal_TimedDataCollection();
 
     void broadcastLocationSignal(std::vector<double>);
 
@@ -94,10 +119,17 @@ private:
     Ui::twoMotorControl_UI ui;
     QThread m_coordinatorThread;
     TwoMotionCaptureCoordinator* m_coordinator = nullptr;
+    TwoMotionCaptureCoordinator* m_coordinator_TimedDataCollection = nullptr;
+    TwoMotor1PosCoordinator* m_ObtainTargetDepthInfoCoordinator = nullptr;
+    TwoMotor1PosCoordinator* m_autoFocusCoordinator = nullptr;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
 
     QThread m_motorThread;
     IrisMultiMotorController* m_multiAxisController = nullptr;
+
+    int m_depthType;
+    
+    focusWindow* m_focusWindow = nullptr;
 };

HPPA/about.ui

@@ -288,7 +288,7 @@ QPushButton:pressed
 }</string>
             </property>
             <property name="text">
-             <string>版本：3.0.2</string>
+             <string>版本：3.1.3</string>
             </property>
            </widget>
           </item>

HPPA/focusWindow.cpp

@@ -53,6 +53,10 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 	connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
 	connect(this->ui.closeBtn, SIGNAL(released()), this, SLOT(onExit()));
 
+	connect(this->ui.is_new_version_radioButton, &QRadioButton::toggled, this, [this](bool checked) {
+		ui.stackedWidget_connetcParm->setCurrentIndex(checked ? 0 : 1);
+	});
+
 	//查找可用串口，并显示
 	foreach(const QSerialPortInfo &info, QSerialPortInfo::availablePorts())
 	{
@@ -72,7 +76,40 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 	ui.autoFocusProgress_progressBar->reset();
 
 	m_dSpeed = 1.0;
+}
 
+void focusWindow::showMessageBox(QString msg, QString title)
+{
+	QMessageBox msgBox(this);
+	msgBox.setWindowTitle(title);
+	msgBox.setText(msg);
+	msgBox.setStyleSheet(R"(
+			QMessageBox {
+				background-color: #0D1233;
+			}
+			QMessageBox QLabel {
+				color: #ACCDFF;
+				font-size: 14px;
+			}
+			QPushButton {
+				background-color: #142D7F;
+				color: #e6eeff;
+				border: 1px solid #2f6bff;
+				border-radius: 6px;
+				padding: 6px 20px;
+				min-width: 60px;
+				font-size: 13px;
+			}
+			QPushButton:hover {
+				border: 1px solid #4d8dff;
+				background-color: red;
+			}
+			QPushButton:pressed {
+				background-color: #23345c;
+			}
+		)");
+
+	msgBox.exec();
 }
 
 focusWindow::~focusWindow()
@@ -160,33 +197,7 @@ void focusWindow::onConnectMotor()
 {
 	if (ui.is_new_version_radioButton->isChecked())
 	{
-		FileOperation* fileOperation = new FileOperation();
-		string directory = fileOperation->getDirectoryOfExe();
-		QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
-
-		m_multiAxisController = new IrisMultiMotorController(configFilePath);
-		m_multiAxisController->moveToThread(&m_motorThread);
-		connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
-		connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
-		connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
-		connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
-		connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
-		connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
-		connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
-		connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
-		m_motorThread.start();
-		
-		//归零
-		//emit zeroStartSignal(0);
-
-		//自动调焦逻辑
-		m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
-		m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
-		connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
-		connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
-		connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
-		connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
-		m_MotionCaptureCoordinatorThread.start();
+		connectMotor(true);
 	}
 	else
 	{
@@ -257,6 +268,131 @@ void focusWindow::onConnectMotor()
 	disableBeforeConnect(false);
 }
 
+void focusWindow::connectMotor(bool isNotification)//需要修改这个函数
+{
+	if (getMotorsConnectionStatus())
+	{
+		if (isNotification)
+		{
+			showMessageBox(QString::fromLocal8Bit("马达已连接！"));
+		}
+		return;
+	}
+
+	if (m_multiAxisController)
+	{
+		disconnect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+		disconnect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
+		disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+		disconnect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+		disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+		disconnect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
+		disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+		disconnect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
+		disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+		m_motorThread.quit();
+		m_motorThread.wait();
+		m_multiAxisController->deleteLater();
+	}
+
+	if (m_coordinator)
+	{
+		disconnect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+		disconnect(this, SIGNAL(startStepMotionSignal(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
+		disconnect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
+		disconnect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
+
+		m_MotionCaptureCoordinatorThread.quit();
+		m_MotionCaptureCoordinatorThread.wait();
+		m_coordinator->deleteLater();
+	}
+
+	try
+	{
+		FileOperation* fileOperation = new FileOperation();
+		string directory = fileOperation->getDirectoryOfExe();
+		QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
+
+		m_multiAxisController = new IrisMultiMotorController(configFilePath);
+	}
+	catch (std::exception const& e)
+	{
+		showMessageBox(QString::fromLocal8Bit("请连接马达！"));
+		return;
+	}
+
+	m_multiAxisController->moveToThread(&m_motorThread);
+	connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+	connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
+	connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+	connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+	connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
+	connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+	connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
+	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);
+
+	//归零
+	//emit zeroStartSignal(0);
+
+	//自动调焦逻辑
+	m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
+	m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
+	connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+	connect(this, SIGNAL(startStepMotionSignal(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
+	connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
+	connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
+	m_MotionCaptureCoordinatorThread.start();
+
+}
+
+void focusWindow::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.connectMotor_btn->setText(QString::fromLocal8Bit("已连接"));
+	}
+	else
+	{
+		this->ui.connectMotor_btn->setText(QString::fromLocal8Bit("重新连接"));
+	}
+}
+
+bool focusWindow::getMotorsConnectionStatus()
+{
+	return m_xMotorConnectionStatus;
+}
+
 void focusWindow::display_x_loc(std::vector<double> loc)
 {
 	double tmp = round(loc[0] * 100) / 100;
@@ -339,7 +475,7 @@ void focusWindow::onAutoFocus()
 		//获取马达最大位置
 		std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
 		double maxPos = maxRangeLocations[0];
-		emit startStepMotion(m_dSpeed, m_iStepSize, 0, maxPos);
+		emit startStepMotionSignal(m_dSpeed, m_iStepSize, 0, maxPos);
 	}
 	else
 	{
@@ -498,33 +634,61 @@ void focusWindow::onAutoFocusFinished()
 
 void focusWindow::moveAfterAutoFocus(int motorID, double location)
 {
+	//QObject* obj = sender();
+
+	//if (obj == m_multiAxisController)
+	//{
+	//	qDebug() << "sender is m_multiAxisController.";
+	//}
+
 	if (!m_isMoveAfterAutoFocus)
 	{
+		//std::cout << "focusWindow::moveAfterAutoFocus" << std::endl;
 		return;
 	}
 
 	std::cout << "\n已经到达位置：" << location  << std::endl;
 
-	//移动马达到最佳位置
-	emit move2LocSignal(0, (double)m_goodPos, m_dSpeed, 1000);
-
-	double tmp = abs(location - m_goodPos) / m_goodPos * 100;
-	if (tmp<5)
+	double errorRate = getErrorRate(m_goodPos, location);
+	if (errorRate < 5|| m_moveRetryCount > MAX_MOVE_RETRY)
 	{
+		m_isMoveAfterAutoFocus = false;
+		m_moveRetryCount = 0;
 		if (!m_isAutoFocusSuccess)
 		{
-			QMessageBox msgBox;
-			msgBox.setText(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
-			msgBox.exec();
+			qDebug() << "纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！";
+			//showMessageBox(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
 		}
 		else
 		{
-			QMessageBox msgBox;
-			msgBox.setText(QString::fromLocal8Bit("自动调焦成功！"));
-			msgBox.exec();
+			qDebug() << "自动调焦成功！";
+			//showMessageBox(QString::fromLocal8Bit("自动调焦成功！"));
 		}
-		m_isMoveAfterAutoFocus = false;
+		emit AutoFocusFinishedSignal(0);
 	}
+	else
+	{
+		m_moveRetryCount++;
+		qDebug() << "自动调焦后目标马达位置，重试次数：" << m_moveRetryCount;
+		//移动马达到最佳位置
+		emit move2LocSignal(0, (double)m_goodPos, m_dSpeed, 1000);
+	}
+}
+
+double focusWindow::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;
 }
 
 void focusWindow::getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init)
@@ -677,11 +841,15 @@ MotionCaptureCoordinator::MotionCaptureCoordinator(
 	, m_currentPos(0)
 	, m_endPos(0)
 	, m_isRunning(false)
+	, m_isZeroing(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, &MotionCaptureCoordinator::zeroStart,
+		m_motorCtrl, &IrisMultiMotorController::zeroStart);
+
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
 		this, &MotionCaptureCoordinator::handlePositionReached);
 	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
@@ -718,15 +886,37 @@ void MotionCaptureCoordinator::startStepMotion(double speed, int stepInterval, d
 	m_speed = speed;
 	m_iStepInterval = stepInterval;
 	m_iStepIntervalRealTime = 1;
-	m_currentPos = startPos;
+	m_startPos = startPos;
 	m_endPos = endPos;
 	m_posInternal = (endPos - startPos) / stepInterval;
 
 	m_isRunning = true;
+	m_isZeroing = true;
+
+	// 先执行归零操作
+	emit zeroStart(0);
+	qDebug() << "MotionCaptureCoordinator::startStepMotion: Zeroing started.";
+}
+
+void MotionCaptureCoordinator::startMotionSequence()
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	m_currentPos = m_startPos;
+	m_isZeroing = false;
+	qDebug() << "MotionCaptureCoordinator::startMotionSequence: Zeroing complete. Starting motion sequence.";
 
 	processNextPosition();
 }
 
+void MotionCaptureCoordinator::handleZeroComplete(int motorID, double pos)
+{
+	if (!m_isRunning || !m_isZeroing) return;
+
+	// 归零完成，开始分步运动
+	startMotionSequence();
+}
+
 void MotionCaptureCoordinator::stopStepMotion()
 {
 	QMutexLocker locker(&m_dataMutex);
@@ -769,6 +959,13 @@ void MotionCaptureCoordinator::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

HPPA/focusWindow.h

@@ -18,6 +18,7 @@
 #include <QtSerialPort/QSerialPortInfo>
 #include <QDateTime>
 #include <QMutex>
+#include <QPointer>
 
 #include "ui_FocusDialog.h"
 #include "AbstractPortMiscDefines.h"
@@ -69,14 +70,17 @@ signals:
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
 	void getFocusIndexSobel();
+	void zeroStart(int motorID);
 
 private slots:
 	void handlePositionReached(int motorID, double pos);
 	void handleCaptureComplete(double index);
 	void handleError(const QString& error);
+	void handleZeroComplete(int motorID, double pos);
 
 private:
 	void processNextPosition();
+	void startMotionSequence();
 
 	IrisMultiMotorController* m_motorCtrl;
 	ImagerOperationBase* m_cameraCtrl;
@@ -85,6 +89,7 @@ private:
 
 	double m_posInternal;
 	double m_currentPos;
+	double m_startPos;
 	double m_endPos;
 	bool m_isRunning;
 	double m_speed;
@@ -92,6 +97,7 @@ private:
 	int m_iStepInterval;
 	int m_iStepIntervalRealTime;
 	int m_counter;
+	bool m_isZeroing;
 };
 
 class focusWindow:public QDialog
@@ -123,19 +129,28 @@ private:
 	void disableBeforeConnect(bool disable);
 
 	QThread m_motorThread;
-	IrisMultiMotorController* m_multiAxisController;
+	QPointer<IrisMultiMotorController> m_multiAxisController;
 	double m_dSpeed;
 
 	QThread m_MotionCaptureCoordinatorThread;
-	MotionCaptureCoordinator* m_coordinator;
+	QPointer<MotionCaptureCoordinator> m_coordinator;
 
 	int m_iStepSize;
 	double m_goodPos;
 	bool m_isAutoFocusSuccess;
 	bool m_isMoveAfterAutoFocus = false;
+	int m_moveRetryCount = 0;
+	static constexpr int MAX_MOVE_RETRY = 3;
 	void getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init);
 	void gaussian_fit(const std::vector<double>& x_data, const std::vector<double>& y_data, double& a, double& mu, double& sigma, double& c);
 
+	bool m_xMotorConnectionStatus = false;
+	bool getMotorsConnectionStatus();
+	void connectMotor(bool isNotification);
+
+	void showMessageBox(QString msg, QString title = QString::fromLocal8Bit("提示"));
+	
+	double getErrorRate(double targetLoc, double actualLoc);
 
 public Q_SLOTS:
 	void onConnectMotor();
@@ -158,6 +173,8 @@ public Q_SLOTS:
 
 	void onExit();
 
+	void display_motors_connectivity(std::vector<int> connectivity);
+
 signals:
 	void StartManualFocusSignal(int);//1：开始调焦；0：停止调焦；
 
@@ -166,9 +183,12 @@ signals:
 	void rmoveSignal(int, double, double, int);
 	void rangeMeasurementSignal(int, double, int);
 	void zeroStartSignal(int);
+	void testConnectivitySignal(int, int);
 
-	void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
+	void startStepMotionSignal(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);
 	void closeSignal();
+
+	void AutoFocusFinishedSignal(int status);
 };
 
 class WorkerThread2 : public QThread

HPPA/fodis.ui

@@ -0,0 +1,205 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>FodisWindow</class>
+ <widget class="QDialog" name="FodisWindow">
+  <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>FodisWindow</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="close_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>关   闭</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="0">
+      <widget class="QPushButton" name="open_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>采   集</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/gonggashanCtl.ui

@@ -0,0 +1,262 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>gongga_control</class>
+ <widget class="QWidget" name="gongga_control">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>572</width>
+    <height>384</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>贡嘎山触发采集</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;
+}
+
+QSpinBox
+{
+	font: 10pt &quot;新宋体&quot;;
+	background-color: #142D7F;
+	color: white;
+    border: none;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 10pt &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 8px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}
+
+QLabel {
+    color: rgb(255, 255, 255);
+}
+</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout" stretch="1,1,3">
+   <item>
+    <widget class="QGroupBox" name="groupAdjustments">
+     <property name="styleSheet">
+      <string notr="true">QLabel
+{
+	color: #ACCDFF;
+	font-size: 14px;
+	font: 9pt &quot;Adobe Devanagari&quot;;
+}</string>
+     </property>
+     <property name="title">
+      <string>通讯参数</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="horizontalSpacing">
+       <number>16</number>
+      </property>
+      <item row="0" column="3">
+       <widget class="QSpinBox" name="spinbox_Port">
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+        <property name="maximum">
+         <number>65535</number>
+        </property>
+        <property name="value">
+         <number>666</number>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="labelPort">
+        <property name="text">
+         <string>端口</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <spacer name="horizontalSpacer_3">
+        <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="0" column="4">
+       <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>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupPresets">
+     <property name="title">
+      <string>采集</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="0" column="0">
+       <widget class="QPushButton" name="btnListen">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>开始监听</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="btnDisListen">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>停止监听</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>系统状态</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <item row="0" column="0">
+       <widget class="QTextEdit" name="status_textEdit">
+        <property name="styleSheet">
+         <string notr="true">QTextEdit
+{
+	font: 10pt &quot;新宋体&quot;;
+	background-color: #142D7F;
+	color: white;
+    border: none;
+}
+
+QScrollBar:vertical {
+    background: #0E1C4C;
+    width: 12px;
+}
+
+QScrollBar::handle:vertical {
+    background: #4B60A6;
+    border-radius: 6px;
+    min-height: 20px;
+}
+
+QScrollBar::add-line:vertical, QScrollBar::sub-line:vertical {
+    height: 0px;
+}
+
+QScrollBar:horizontal {
+    background: #0E1C4C;
+    height: 12px;
+}
+
+QScrollBar::handle:horizontal {
+    background: #4B60A6;
+    border-radius: 6px;
+    min-width: 20px;
+}
+
+QScrollBar::add-line:horizontal, QScrollBar::sub-line:horizontal {
+    width: 0px;
+}</string>
+        </property>
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+        <property name="html">
+         <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'新宋体'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

JinspSpectralmeterControl/IrisFiberSpectrometerBase.h

@@ -0,0 +1,43 @@
+#include "QObject"
+#include <string>
+#include "ZZ_Types.h"
+#pragma once
+using namespace ZZ_MISCDEF;
+using namespace ZZ_MISCDEF::IRIS::FS; 
+
+class CIrisFSBase:public QObject
+{
+public:
+	//CIrisFSBase();
+	//virtual ~CIrisFSBase()= 0;
+public:
+	//<2F><>ʼ<EFBFBD><CABC><EFBFBD>豸
+	//<2F>˴<EFBFBD>stringΪָ<CEAA><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĸ<EFBFBD>ocean<61><6E><EFBFBD><EFBFBD><EFBFBD>ǵIJ<C7B5><C4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>c/c++<2B><>׼<EFBFBD><D7BC><EFBFBD><EFBFBD>
+	//0Ϊ<30>޴<EFBFBD><DEB4>󣬲<EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD>뷵<EFBFBD>ز<EFBFBD>ֵͬ
+	virtual int Initialize(bool bIsUSBMode,std::string ucPortNumber,std::string strDeviceName) = 0;
+
+	//<2F>ر<EFBFBD><D8B1>豸
+	virtual void Close() = 0;
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݲɼ<DDB2>
+	virtual int SingleShot(DataFrame &dfData) = 0;
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>
+	virtual int SetExposureTime(int iExposureTimeInMS) = 0;
+
+	//<2F><>ȡ<EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	virtual int GetExposureTime(int &iExposureTimeInMS) = 0;
+
+	//<2F><><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>¶<EFBFBD>
+	virtual int SetDeviceTemperature(float fTemperature) = 0;
+
+	//<2F><>ȡ<EFBFBD>¶<EFBFBD><C2B6><EFBFBD><EFBFBD><EFBFBD>
+	virtual int GetDeviceTemperature(float &fTemperature) = 0;
+
+	//<2F><>ȡ<EFBFBD>豸<EFBFBD><E8B1B8>Ϣ
+	virtual int GetDeviceInfo(DeviceInfo &Info) = 0;
+
+	//<2F><>ȡ<EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	virtual int GetDeviceAttribute(DeviceAttribute &Attr) = 0;
+	
+};

JinspSpectralmeterControl/JinspSpectralmeterControl.cpp

@@ -0,0 +1,578 @@
+#include "JinspSpectralmeterControl.h"
+
+JinspSpectralmeterControl::JinspSpectralmeterControl(QObject* parent /*= nullptr*/)
+{
+	m_pSerialPort = new QSerialPort;
+	m_iBaudRate = 921600;
+}
+
+JinspSpectralmeterControl::~JinspSpectralmeterControl()
+{
+	delete m_pSerialPort;
+}
+
+int JinspSpectralmeterControl::Initialize(bool bIsUSBMode, std::string ucPortNumber, std::string strDeviceName)
+{
+	QString qstrPortName = QString::fromStdString(ucPortNumber);
+	m_pSerialPort->setPortName(qstrPortName);
+	m_pSerialPort->setReadBufferSize(512);
+
+	bool bRes = m_pSerialPort->setBaudRate(m_iBaudRate);
+	if (!bRes)
+	{
+		//qDebug() << "Err:setBaudRate Failed.Exit Code:1";
+		//std::cout << "Err.setBaudRate Failed" << std::endl;
+		printf("Err:setBaudRate Failed.Exit Code:1");
+		return 1;
+	}
+
+	bRes = m_pSerialPort->open(QIODevice::ReadWrite);
+	if (!bRes)
+	{
+		//qDebug() << "Err:open Failed.Exit Code:2";
+		//std::cout << "Err.open Failed" << std::endl;
+		printf("Err:open Failed.Exit Code:2");
+		return 2;
+	}
+
+
+	// 	int testi;
+	// 	GetDeviceAttribute(m_daDeviceAttr);
+	// 	GetExposureTime(testi);
+	// 	SetExposureTime(10000);
+	// 	DataFrame test;
+	// 	SingleShot(test);
+
+	GetDeviceInfo(m_diDeviceInfo);
+	//GetExposureTime_Init();
+
+	std::string::size_type szPostion = m_diDeviceInfo.strSN.find(strDeviceName);
+	if (szPostion == std::string::npos)
+	{
+		printf("Err:FS serial number not match.Exit Code:3");
+		//qDebug() << "Err:FS serial number not match.Exit Code:3";
+		//return 3;
+	}
+	else
+	{
+		return 0;
+	}
+	return 0;
+}
+
+void JinspSpectralmeterControl::Close()
+{
+	m_pSerialPort->close();
+}
+
+int JinspSpectralmeterControl::SingleShot(DataFrame& dfData)
+{
+	SendData_CMD03((char*)GET_ALL_DN, sizeof(GET_ALL_DN));
+	RecvData_CMD03(dfData);
+
+	GetExposureTime(m_iExposureTime);
+	dfData.usExposureTimeInMS = (unsigned short)m_iExposureTime;
+	return 0;
+}
+
+int JinspSpectralmeterControl::SetExposureTime(int iExposureTimeInMS)
+{
+	QByteArray qbaRecv;
+	qbaRecv.clear();
+
+	unsigned char pucExposureTime[2];
+	pucExposureTime[0] = iExposureTimeInMS / 256;
+	pucExposureTime[1] = iExposureTimeInMS % 256;
+	SendData_CMD06((char*)SET_INTEGRAL_TIME, sizeof(SET_INTEGRAL_TIME), (char*)pucExposureTime, 2);
+	//SendData_CMD03((char *)GET_INTEGRAL_TIME, sizeof(GET_INTEGRAL_TIME));
+	int iRes = RecvData_CMD06(qbaRecv);
+	return iRes;
+}
+
+int JinspSpectralmeterControl::GetExposureTime(int& iExposureTimeInMS)
+{
+	QByteArray qbaRecv;
+	qbaRecv.clear();
+	SendData_CMD03((char*)GET_INTEGRAL_TIME, sizeof(GET_INTEGRAL_TIME));
+	int iRes = RecvData_CMD03(qbaRecv);
+
+	iExposureTimeInMS = qbaRecv[0] * 256 + static_cast<unsigned char>(qbaRecv[1]);
+	return iRes;
+}
+
+int JinspSpectralmeterControl::GetDeviceInfo(DeviceInfo& Info)
+{
+	Info.strPN = "IS11";
+	Info.strSN = "NULL";
+	return 0;
+}
+
+int JinspSpectralmeterControl::GetDeviceAttribute(DeviceAttribute& Attr)
+{
+	QByteArray qbaRecv;
+	qbaRecv.clear();
+	float fCoef[4];
+	unsigned short usTempCoef[8];
+
+	Attr.iPixels = 2048;
+	Attr.iMinIntegrationTimeInMS = 1;
+	Attr.iMaxIntegrationTimeInMS = 60000;
+
+	SendData_CMD03((char*)GET_WAVELENTH_COEFF, sizeof(GET_WAVELENTH_COEFF));
+	RecvData_CMD03(qbaRecv);
+
+	//memcpy(fTempCoef,qbaRecv,16);
+	memcpy(usTempCoef, qbaRecv, 16);
+
+	for (int i = 0; i < 8; i++)
+	{
+		usTempCoef[i] = qToBigEndian(usTempCoef[i]);
+	}
+
+	//float *pfTemp = (float*)usTempCoef;
+	memcpy(fCoef, usTempCoef, 16);
+
+	//Conv_LTB((char*)fTempCoef,16);
+
+	for (int i = 0; i <= 2048; i++)
+	{
+		Attr.fWaveLengthInNM[i] = fCoef[0] * i * i * i + fCoef[1] * i * i + fCoef[2] * i + fCoef[3];
+		//setem.WavelenthStr = setem.WavelenthStr + String(setem.wavelenthlist[i - 1]).c_str() + ",";
+	}
+	return 0;
+}
+
+int JinspSpectralmeterControl::SetDeviceTemperature(float fTemperature)
+{
+	return 0;
+}
+
+int JinspSpectralmeterControl::GetDeviceTemperature(float& fTemperature)
+{
+	fTemperature = -1000;
+	return 0;
+}
+
+int JinspSpectralmeterControl::PerformAutoExposure(float fMinScaleFactor, float fMaxScaleFactor, float& fPredictedExposureTime)
+{
+	return 0;
+}
+
+// unsigned short JinspSpectralmeterControl::crc16(const uint8_t *pbdata, size_t sz)
+// {
+// 	uint16_t i, j, tmp, CRC16;
+// 
+// 	CRC16 = 0xFFFF; // CRC<52>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ʼֵ
+// 	for (i = 0; i < sz; i++)
+// 	{
+// 		CRC16 ^= pbdata[i];
+// 		for (j = 0; j < 8; j++)
+// 		{
+// 			tmp = (uint16_t)(CRC16 & 0x0001);
+// 			CRC16 >>= 1;
+// 			if (tmp == 1)
+// 			{
+// 				CRC16 ^= 0xa001; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
+// 			}
+// 		}
+// 	}
+// 	return CRC16;
+// }
+
+unsigned short JinspSpectralmeterControl::CalCRC16(const uint8_t* pbData, size_t szLength)
+{
+	uint16_t usCRC16 = CRC16_INIT;
+	for (size_t i = 0; i < szLength; i++)
+	{
+		usCRC16 ^= pbData[i];
+		for (size_t j = 0; j < 8; j++)
+		{
+			if ((usCRC16 & 0x0001) != 0)
+			{
+				usCRC16 = (usCRC16 >> 1) ^ CRC16_POLYNOMIAL;
+			}
+			else
+			{
+				usCRC16 = usCRC16 >> 1;
+			}
+		}
+	}
+	return usCRC16;
+}
+
+void JinspSpectralmeterControl::Conv_LTB(char* pcData, int iLength)
+{
+	char* TempData = new char[iLength];
+	memcpy(TempData, pcData, iLength);
+
+	for (int i = 0; i < iLength / 2; i++)
+	{
+		pcData[2 * i] = TempData[2 * i + 1];
+		pcData[2 * i + 1] = TempData[2 * i];
+		/* code */
+	}
+	delete[] TempData;
+}
+
+int JinspSpectralmeterControl::SendData_CMD03(char* pcCMD, size_t szCMDLength)
+{
+	QString    qstrSend, qstrCRC16;
+	QByteArray qbaSend;
+	qbaSend.clear();
+
+	//char *pctest=new char[szCMDLength+2];
+	//memcpy(pctest, pcCMD, szCMDLength);
+	//ushort ustest = crc16((unsigned char*)pcCMD,szCMDLength);
+	//qstrCRC16= QString::fromLatin1((const char*)usCRC16, (int)sizeof(uint16_t));
+	//memcpy(pctest+ szCMDLength,&usCRC16, 2);
+	//int iReturn = m_pSerialPort->write(pctest,szCMDLength+2);
+	//delete[] pctest;
+	uint16_t usCRC16 = CalCRC16((unsigned char*)pcCMD, szCMDLength);
+	qstrSend = QString::fromLatin1((const char*)pcCMD, (int)szCMDLength);
+	const char* pucSend = (char*)&usCRC16;
+
+	qbaSend.append(qstrSend);
+	qbaSend.append(pucSend, (int)sizeof(uint16_t));
+
+	int iReturn = m_pSerialPort->write(qbaSend);
+
+	return iReturn;
+}
+
+int JinspSpectralmeterControl::RecvData_CMD03(QByteArray& qbaRecv)
+{
+	int iRetryCount = 0;
+	QByteArray qbaOriRecv, qbaTemp;
+	qbaOriRecv.clear();
+	qbaTemp.clear();
+
+	///read all once
+	Read_IS11(qbaTemp);
+	qbaOriRecv.append(qbaTemp);
+	while (qbaOriRecv.size() < 2 || ParseHdr(qbaOriRecv, 3) == 1)
+	{
+		m_pSerialPort->waitForReadyRead(1000);
+		Read_IS11(qbaTemp);
+		qbaOriRecv.append(qbaTemp);
+		iRetryCount++;
+		if (iRetryCount > 100)
+		{
+			qDebug() << "Recv Hdr Err.out of retry time.RecvData_CMD03";
+			return 1;
+		}
+	}
+
+	iRetryCount = 0;
+	while (qbaOriRecv.size() < qbaOriRecv[2] + 5)
+	{
+		m_pSerialPort->waitForReadyRead(1000);
+		Read_IS11(qbaTemp);
+		qbaOriRecv.append(qbaTemp);
+		iRetryCount++;
+		if (iRetryCount > 66)
+		{
+			qDebug() << "Recv Data Err.out of retry time";
+			return 2;
+		}
+	}
+
+	if (qbaOriRecv.size() != qbaOriRecv[2] + 5)
+	{
+		/// can be handled but dont want to
+		qDebug() << "Wrong Recv data size.RecvData_CMD03_QBA";
+		return 3;
+	}
+
+	unsigned short usCRCC = CalCRC16((unsigned char*)qbaOriRecv.data(), qbaOriRecv.size() - 2);
+	char* pc = (char*)&usCRCC;
+	if ((pc[0] == qbaOriRecv[qbaOriRecv.size() - 1] && pc[1] == qbaOriRecv[qbaOriRecv.size() - 2]) ||
+		(pc[0] == qbaOriRecv[qbaOriRecv.size() - 2] && pc[1] == qbaOriRecv[qbaOriRecv.size() - 1]))
+	{
+		qbaRecv = qbaOriRecv.mid(3, qbaOriRecv.length() - 5);
+	}
+	else
+	{
+		///error crc
+		qDebug() << "Recv data crc16 Err." << pc[1] << pc[0];
+		return 4;
+	}
+
+
+	/*while (ParseHdr(qbaOriRecv, 3)==1)
+	{
+		m_pSerialPort->waitForReadyRead(100);
+		Read_IS11(qbaTemp);
+		qbaOriRecv.append(qbaTemp);
+	}*/
+
+	return 0;
+}
+
+int JinspSpectralmeterControl::RecvData_CMD03(DataFrame& dfData)
+{
+	int iRecvDataLength = 0;
+	int iRetryCount = 0;
+	QByteArray qbaOriRecv, qbaTemp;
+	qbaOriRecv.clear();
+	qbaTemp.clear();
+
+	///read all once
+	Read_IS11(qbaTemp);
+	qbaOriRecv.append(qbaTemp);
+	while (qbaOriRecv.size() < 4 || ParseHdr(qbaOriRecv, 3) == 1)
+	{
+		m_pSerialPort->waitForReadyRead(1000);
+		Read_IS11(qbaTemp);
+		qbaOriRecv.append(qbaTemp);
+		iRetryCount++;
+		if (iRetryCount > 66)
+		{
+			qDebug() << "Recv Hdr Err.out of retry time";
+			return 1;
+		}
+	}
+
+	int length = qbaOriRecv[2] * 256 + qbaOriRecv[3];
+	iRetryCount = 0;
+	while (qbaOriRecv.size() < length + 4)
+	{
+		m_pSerialPort->waitForReadyRead(1000);
+		Read_IS11(qbaTemp);
+		qbaOriRecv.append(qbaTemp);
+		iRetryCount++;
+		if (iRetryCount > 66)
+		{
+			qDebug() << "Recv Data Err.out of retry time";
+			return 2;
+		}
+	}
+
+	if (qbaOriRecv.size() != length + 4)
+	{
+		/// can be handled but dont want to
+		qDebug() << "Wrong Recv data size.RecvData_CMD03_DF";
+		return 3;
+	}
+
+	QByteArray qbaData;
+	qbaData = qbaOriRecv.right(length);
+
+	int iDataSizeInPixel = qbaData.size() / 2;
+	unsigned short* pusData = new unsigned short[iDataSizeInPixel];
+
+	memcpy(pusData, qbaData, iDataSizeInPixel * 2);
+	for (size_t i = 0; i < iDataSizeInPixel; i++)
+	{
+		dfData.lData[i] = qToBigEndian(pusData[i]);
+		//qDebug() << dfData.lData[i];
+
+	}
+	///it seems the manufacture not enable crc16 check for this function
+// 	unsigned short usCRCC = CalCRC16((unsigned char *)qbaOriRecv.data(), qbaOriRecv.size() - 2);
+// 	char *pc = (char *)&usCRCC;
+// 	if ((pc[0] == qbaOriRecv[qbaOriRecv.size() - 1] && pc[1] == qbaOriRecv[qbaOriRecv.size() - 2]) ||
+// 		(pc[0] == qbaOriRecv[qbaOriRecv.size() - 2] && pc[1] == qbaOriRecv[qbaOriRecv.size() - 1]))
+// 	{
+// 		//qbaRecv = qbaOriRecv.mid(3, qbaOriRecv.length() - 5);
+// 		//dataframe process here
+// 
+// 	}
+// 	else
+// 	{
+// 		///error crc
+// 		qDebug() << "Recv data crc16 Err." << pc[1] << pc[0];
+// 		return 4;
+// 	}
+
+	return 0;
+}
+
+
+//int JinspSpectralmeterControl::RecvData_CMD03(float& fWavelength)
+//{
+//	int iRetryCount = 0;
+//	QByteArray qbaOriRecv, qbaTemp,qbaRecv;
+//	qbaOriRecv.clear();
+//	qbaTemp.clear();
+//	qbaRecv.clear();
+//
+//	///read all once
+//	Read_IS11(qbaTemp);
+//	qbaOriRecv.append(qbaTemp);
+//	while (qbaOriRecv.size() < 2 || ParseHdr(qbaOriRecv, 3) == 1)
+//	{
+//		m_pSerialPort->waitForReadyRead(100);
+//		Read_IS11(qbaTemp);
+//		qbaOriRecv.append(qbaTemp);
+//		iRetryCount++;
+//		if (iRetryCount > 20)
+//		{
+//			qDebug() << "Recv Hdr Err.out of retry time";
+//			return 1;
+//		}
+//	}
+//
+//	iRetryCount = 0;
+//	while (qbaOriRecv.size() < qbaOriRecv[2] + 5)
+//	{
+//		m_pSerialPort->waitForReadyRead(100);
+//		Read_IS11(qbaTemp);
+//		qbaOriRecv.append(qbaTemp);
+//		iRetryCount++;
+//		if (iRetryCount > 20)
+//		{
+//			qDebug() << "Recv Data Err.out of retry time";
+//			return 2;
+//		}
+//	}
+//
+//	if (qbaOriRecv.size() != qbaOriRecv[2] + 5)
+//	{
+//		/// can be handled but dont want to
+//		qDebug() << "Wrong Recv data size.";
+//		return 3;
+//	}
+//
+//	unsigned short usCRCC = CalCRC16((unsigned char *)qbaOriRecv.data(), qbaOriRecv.size() - 2);
+//	char *pc = (char *)&usCRCC;
+//	if ((pc[0] == qbaOriRecv[qbaOriRecv.size() - 1] && pc[1] == qbaOriRecv[qbaOriRecv.size() - 2]) ||
+//		(pc[0] == qbaOriRecv[qbaOriRecv.size() - 2] && pc[1] == qbaOriRecv[qbaOriRecv.size() - 1]))
+//	{
+//		qbaRecv = qbaOriRecv.mid(3, qbaOriRecv.length() - 5);
+//	}
+//	else
+//	{
+//		///error crc
+//		qDebug() << "Recv data crc16 Err." << pc[1] << pc[0];
+//		return 4;
+//	}
+//
+//	fWavelength = qbaRecv.toFloat();
+//	return 0;
+//}
+
+int JinspSpectralmeterControl::SendData_CMD06(char* pcCMD, size_t szCMDLength, char* pcValue, size_t szValueLenth)
+{
+	// 	QString    qstrSend, qstrSend1, qstrCRC16;///QByteArray append<6E><64><EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD><EFBFBD>ֽ<EFBFBD>
+	// 	QByteArray qbaSend;
+	// 	qbaSend.clear();
+	// 
+	// 	qstrSend = QString::fromLatin1(pcCMD,  (int)szCMDLength);
+	// 	qbaSend.append(qstrSend);
+	// 
+	// 	qstrSend1.clear();
+	// 	qstrSend1 = QString::fromLatin1(pcValue,(int)szValueLenth);
+	// 	qbaSend.append(qstrSend1);
+
+	QByteArray qbaSend;
+	qbaSend.append(pcCMD, szCMDLength);
+	qbaSend.append(pcValue, szValueLenth);
+
+	unsigned short usCRC16 = CalCRC16((unsigned char*)qbaSend.data(), qbaSend.size());
+	const char* pucSend = (char*)&usCRC16;
+	qbaSend.append(pucSend, (int)sizeof(unsigned short));
+
+	int iReturn = m_pSerialPort->write(qbaSend);
+
+	return 0;
+
+}
+
+int JinspSpectralmeterControl::RecvData_CMD06(QByteArray& qbaRecv)
+{
+	int iRetryCount = 0;
+	QByteArray qbaOriRecv, qbaTemp;
+	qbaOriRecv.clear();
+	qbaTemp.clear();
+
+	Read_IS11(qbaTemp);
+	qbaOriRecv.append(qbaTemp);
+	while (qbaOriRecv.size() < 2 || ParseHdr(qbaOriRecv, 6) == 1)
+	{
+		m_pSerialPort->waitForReadyRead(1000);
+		Read_IS11(qbaTemp);
+		qbaOriRecv.append(qbaTemp);
+		iRetryCount++;
+		if (iRetryCount > 100)
+		{
+			qDebug() << "Recv Hdr Err.out of retry time.RecvData_CMD06";
+			return 1;
+		}
+	}
+
+	iRetryCount = 0;
+	while (qbaOriRecv.size() < 8)
+	{
+		m_pSerialPort->waitForReadyRead(1000);
+		Read_IS11(qbaTemp);
+		qbaOriRecv.append(qbaTemp);
+		iRetryCount++;
+		if (iRetryCount > 66)
+		{
+			qDebug() << "Recv Data Err.out of retry time";
+			return 2;
+		}
+	}
+
+	if (qbaOriRecv.size() != 8)
+	{
+		/// can be handled but dont want to
+		qDebug() << "Wrong Recv data size.RecvData_CMD06";
+		return 3;
+	}
+
+	unsigned short usCRCC = CalCRC16((unsigned char*)qbaOriRecv.data(), qbaOriRecv.size() - 2);
+	char* pc = (char*)&usCRCC;
+	if ((pc[0] == qbaOriRecv[qbaOriRecv.size() - 1] && pc[1] == qbaOriRecv[qbaOriRecv.size() - 2]) ||
+		(pc[0] == qbaOriRecv[qbaOriRecv.size() - 2] && pc[1] == qbaOriRecv[qbaOriRecv.size() - 1]))
+	{
+		qbaRecv = qbaOriRecv.mid(2, 4);
+	}
+	else
+	{
+		///error crc
+		qDebug() << "Recv data crc16 Err." << pc[1] << pc[0];
+		return 4;
+	}
+
+	return 0;
+}
+
+int JinspSpectralmeterControl::ParseHdr(QByteArray& qbaData, char cHdrType)
+{
+	QByteArray qbaTemp(qbaData);
+	while ((qbaTemp[0] != (char)0x01) && (qbaTemp[1] != cHdrType))
+	{
+		qbaTemp.remove(0, 1);
+		if (qbaTemp.size() <= 2)
+		{
+			return 1;
+		}
+	}
+
+	if (qbaTemp != qbaData)
+	{
+		///warning some communication error may happened.
+		qbaData = qbaTemp;
+		return 1000;
+	}
+
+	return 0;
+}
+
+int JinspSpectralmeterControl::Write_IS11(char* pcCMD, size_t szCMDLength)
+{
+	QString    qstrSend;
+	QByteArray qbaSend;
+	qbaSend.clear();
+
+	qstrSend = QString::fromLatin1((const char*)pcCMD, (int)szCMDLength);
+	return (int)m_pSerialPort->write(qbaSend);
+}
+
+int JinspSpectralmeterControl::Read_IS11(QByteArray& qbaRecv)
+{
+	//m_pSerialPort->waitForReadyRead(100);
+	qbaRecv = m_pSerialPort->readAll();
+	return qbaRecv.size();
+}

JinspSpectralmeterControl/JinspSpectralmeterControl.h

@@ -0,0 +1,132 @@
+#pragma once
+
+#include "jinspspectralmetercontrol_global.h"
+
+#include "IrisFiberSpectrometerBase.h"
+#include <QtSerialPort/QSerialPort>
+
+#include <QDebug>
+#include <QtEndian>
+#include "ZZ_Math.h"
+
+#define CRC16_INIT         0xFFFF
+#define CRC16_POLYNOMIAL   0xa001
+
+const uint8_t GET_ADDRESS[] = { 0x01,0x03,0x00,0x01,0x00,0x01 };
+const uint8_t GET_BANDRATE[] = { 0x01,0x03,0x00,0x02,0x00,0x01 };
+const uint8_t GET_INTEGRAL_TIME[] = { 0x01,0x03,0x00,0x06,0x00,0x01 };
+const uint8_t GET_AVERAGE_NUMBER[] = { 0x01,0x03,0x00,0x07,0x00,0x01 };
+const uint8_t GET_WAVELENTH_AT_BAND[] = { 0x01,0x03,0x00,0x10,0x00,0x02 };
+const uint8_t GET_VALUE_AT_BAND[] = { 0x01,0x03,0x00,0x30,0x00,0x02 };
+const uint8_t GET_SETTING_OF_LAMP[] = { 0x01,0x03,0x00,0x04,0x00,0x01 };
+const uint8_t GET_WAVELENTH_COEFF[] = { 0x01,0x03,0x00,0x20,0x00,0x08 };
+const uint8_t GET_ALL_DN[] = { 0x01,0x03,0x01,0x00,0x10,0x00 };
+const uint8_t GET_SERIAL_NUMBER[] = { 0x01,0x03,0x00,0x40,0x00,0x00 };
+const uint8_t GET_PRODUCT_NAME[] = { 0x01,0x03,0x00,0x50,0x00,0x00 };
+
+const uint8_t SET_ADDRESS[] = { 0x01,0x06,0x00,0x01 };
+const uint8_t SET_BandRATE[] = { 0x01,0x06,0x00,0x02 };
+const uint8_t SET_INTEGRAL_TIME[] = { 0x01,0x06,0x00,0x06 };
+const uint8_t SET_AVERAGE_NUMBER[] = { 0x01,0x06,0x00,0x07 };
+const uint8_t SET_WORK_MODE[] = { 0x01,0x06,0x00,0x01 };
+
+const uint8_t SET_WAVELENTH_COEFF[] = { 0x01,0x10,0x00,0x20,0x00,0x08,0x16 };
+
+class JINSPSPECTRALMETERCONTROL_EXPORT JinspSpectralmeterControl :public CIrisFSBase
+{
+	Q_OBJECT
+public:
+	JinspSpectralmeterControl(QObject* parent = nullptr);
+	virtual ~JinspSpectralmeterControl();
+public:
+	//do not call
+	//int ReInit();
+	//<2F><><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD>
+	//int SetBaudRate(int iBaud);
+	//<2F><>ʼ<EFBFBD><CABC><EFBFBD>豸
+	int Initialize(bool bIsUSBMode, std::string ucPortNumber, std::string strDeviceName);
+
+	//<2F>ر<EFBFBD><D8B1>豸
+	void Close();
+
+	//<2F><><EFBFBD>β<EFBFBD><CEB2>Բɼ<D4B2> <20><><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//int SingleShot(int& iPixels);
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݲɼ<DDB2>
+	int SingleShot(DataFrame& dfData);
+
+	//<2F><><EFBFBD>ΰ<EFBFBD><CEB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>
+	//int SingleShotDark(ATPDataFrame &dfData);
+
+	//int SingleShotDeducted(ATPDataFrame &dfData);
+	//<2F><><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1>
+	int SetExposureTime(int iExposureTimeInMS);
+
+	//<2F><>ȡ<EFBFBD>ع<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	int GetExposureTime(int& iExposureTimeInMS);
+
+	//int GetWaveLength(float *pfWaveLength);
+
+	//<2F><>ȡ<EFBFBD>豸<EFBFBD><E8B1B8>Ϣ
+	int GetDeviceInfo(DeviceInfo& Info);
+
+	//<2F><>ȡ<EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	int GetDeviceAttribute(DeviceAttribute& Attr);
+
+	//int GetDeviceListInfo(); //use type name to enum
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD>¶<EFBFBD>
+	int SetDeviceTemperature(float fTemperature);
+
+	//<2F><>ȡ<EFBFBD>¶<EFBFBD>
+	int GetDeviceTemperature(float& fTemperature);
+
+	//<2F>Զ<EFBFBD><D4B6>ع<EFBFBD>
+	int PerformAutoExposure(float fMinScaleFactor, float fMaxScaleFactor, float& fPredictedExposureTime);
+
+#ifdef _DEBUG
+public:
+#else // 
+private:
+#endif
+	//port
+	int m_iBaudRate;
+	QSerialPort* m_pSerialPort;
+
+	//ATP
+	DeviceInfo m_diDeviceInfo;
+	DeviceAttribute m_daDeviceAttr;
+
+	//Attr
+	int m_iExposureTime;
+
+#ifdef _DEBUG
+public:
+#else //  
+private:
+#endif
+	//unsigned short crc16(const uint8_t *pbdata, size_t sz);
+	unsigned short CalCRC16(const uint8_t* pbData, size_t szLength);
+	void Conv_LTB(char* pcData, int iLength);
+
+	int Write_IS11(char* pcCMD, size_t szCMDLength);
+	int Read_IS11(QByteArray& qbaRecv);
+
+
+
+	int SendData_CMD03(char* pcCMD, size_t szCMDLength);
+	int RecvData_CMD03(QByteArray& qbaRecv);
+	int RecvData_CMD03(DataFrame& dfData);
+	//int RecvData_CMD03(float& fWavelength);
+	//int RecvData_CMD03(DeviceAttribute& Attr);
+
+	int SendData_CMD06(char* pcCMD, size_t szCMDLength, char* pcValue, size_t szValueLenth);
+	int RecvData_CMD06(QByteArray& qbaRecv);
+
+	int SendData_CMD10(char* pcCMD, size_t szCMDLength);
+	int RecvData_CMD10(QByteArray& qbaRecv);
+
+	int ParseHdr(QByteArray& qbaData, char cHdrType);
+
+
+};

JinspSpectralmeterControl/JinspSpectralmeterControl.vcxproj

@@ -0,0 +1,103 @@
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+    <WindowsTargetPlatformVersion Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">10.0.26100.0</WindowsTargetPlatformVersion>
+    <QtMsBuild Condition="'$(QtMsBuild)'=='' OR !Exists('$(QtMsBuild)\qt.targets')">$(MSBuildProjectDirectory)\QtMsBuild</QtMsBuild>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="Configuration">
+    <ConfigurationType>DynamicLibrary</ConfigurationType>
+    <PlatformToolset>v143</PlatformToolset>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Condition="Exists('$(QtMsBuild)\qt_defaults.props')">
+    <Import Project="$(QtMsBuild)\qt_defaults.props" />
+  </ImportGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="QtSettings">
+    <QtInstall>5.13.2_msvc2017_64</QtInstall>
+    <QtModules>core;serialport</QtModules>
+    <QtBuildConfig>debug</QtBuildConfig>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="QtSettings">
+    <QtInstall>5.13.2_msvc2017_64</QtInstall>
+    <QtModules>core;serialport</QtModules>
+    <QtBuildConfig>release</QtBuildConfig>
+  </PropertyGroup>
+  <Target Name="QtMsBuildNotFound" BeforeTargets="CustomBuild;ClCompile" Condition="!Exists('$(QtMsBuild)\qt.targets') or !Exists('$(QtMsBuild)\qt.props')">
+    <Message Importance="High" Text="QtMsBuild: could not locate qt.targets, qt.props; project may not build correctly." />
+  </Target>
+  <ImportGroup Label="ExtensionSettings" />
+  <ImportGroup Label="Shared" />
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+    <Import Project="$(QtMsBuild)\Qt.props" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+    <Import Project="$(QtMsBuild)\Qt.props" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
+    <IncludePath>D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
+    <IncludePath>D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="Configuration">
+    <ClCompile>
+      <TreatWChar_tAsBuiltInType>true</TreatWChar_tAsBuiltInType>
+      <MultiProcessorCompilation>true</MultiProcessorCompilation>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+      <Optimization>Disabled</Optimization>
+      <PreprocessorDefinitions>JINSPSPECTRALMETERCONTROL_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="Configuration">
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+      <MultiProcessorCompilation>true</MultiProcessorCompilation>
+      <DebugInformationFormat>None</DebugInformationFormat>
+      <Optimization>MaxSpeed</Optimization>
+      <PreprocessorDefinitions>JINSPSPECTRALMETERCONTROL_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+    </ClCompile>
+    <Link>
+      <SubSystem>Windows</SubSystem>
+      <GenerateDebugInformation>false</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClInclude Include="IrisFiberSpectrometerBase.h" />
+    <ClInclude Include="ZZ_Math.h" />
+    <ClInclude Include="ZZ_Types.h" />
+    <ClInclude Include="jinspspectralmetercontrol_global.h" />
+    <QtMoc Include="JinspSpectralmeterControl.h" />
+    <ClCompile Include="JinspSpectralmeterControl.cpp" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Condition="Exists('$(QtMsBuild)\qt.targets')">
+    <Import Project="$(QtMsBuild)\qt.targets" />
+  </ImportGroup>
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

JinspSpectralmeterControl/JinspSpectralmeterControl.vcxproj.filters

@@ -0,0 +1,45 @@
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+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>qml;cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>qrc;rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+    <Filter Include="Form Files">
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+      <Extensions>ui</Extensions>
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+      <Extensions>ts</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="jinspspectralmetercontrol_global.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <QtMoc Include="JinspSpectralmeterControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <ClCompile Include="JinspSpectralmeterControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClInclude Include="IrisFiberSpectrometerBase.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="ZZ_Math.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="ZZ_Types.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>

JinspSpectralmeterControl/ZZ_Math.h

@@ -0,0 +1,121 @@
+#include <utility>
+#include <vector>
+#//#include "Dense"
+#include "Eigen/Dense"
+#include <unsupported/Eigen/Splines>
+#pragma once
+
+namespace ZZ_MATH
+{
+	template<typename T>
+	void MinHeapify(T*arry, int size, int element)
+	{
+		int lchild = element * 2 + 1, rchild = lchild + 1;
+		while (rchild < size)
+		{
+			if (arry[element] <= arry[lchild] && arry[element] <= arry[rchild])
+			{
+				return;
+			}
+			if (arry[lchild] <= arry[rchild])
+			{
+				std::swap(arry[element], arry[lchild]);
+				element = lchild;
+			}
+			else
+			{
+				std::swap(arry[element], arry[rchild]);
+				element = rchild;
+			}
+			lchild = element * 2 + 1;
+			rchild = lchild + 1;
+		}
+		if (lchild < size&&arry[lchild] < arry[element])
+		{
+			std::swap(arry[lchild], arry[element]);
+		}
+		return;
+	}
+
+	template<typename T>
+	void MaxHeapify(T*arry, int size, int element)
+	{
+		int lchild = element * 2 + 1, rchild = lchild + 1;
+		while (rchild < size)
+		{
+			if (arry[element] >= arry[lchild] && arry[element] >= arry[rchild])
+			{
+				return;
+			}
+			if (arry[lchild] >= arry[rchild])
+			{
+				std::swap(arry[element], arry[lchild]);
+				element = lchild;
+			}
+			else
+			{
+				std::swap(arry[element], arry[rchild]);
+				element = rchild;
+			}
+			lchild = element * 2 + 1;
+			rchild = lchild + 1;
+		}
+		if (lchild<size&&arry[lchild]>arry[element])
+		{
+			std::swap(arry[lchild], arry[element]);
+		}
+		return;
+	}
+
+
+	template<typename T>
+	void HeapSort(T*arry, int size)
+	{
+		int i;
+		for (i = size - 1; i >= 0; i--)
+		{
+			MinHeapify(arry, size, i);
+		}
+		while (size > 0)
+		{
+			std::swap(arry[size - 1], arry[0]);
+
+			size--;
+			MinHeapify(arry, size, 0);
+		}
+		return;
+	}
+
+	namespace PolyFit
+	{
+		void   Eigen_Polyfit(const std::vector<double> &xv, const std::vector<double> &yv, std::vector<double> &coeff, int order);
+		double Eigen_Polyeval(std::vector<double> coeffs, double x);
+	};
+
+	namespace SplineFit
+	{
+		using namespace Eigen;
+		VectorXd Eigen_Normalize(const VectorXd &x);
+		void   Test(std::vector<double> const &x_vec, std::vector<double> const &y_vec);// do not call
+
+
+		class SplineInterpolation 
+		{
+		public:
+			SplineInterpolation(Eigen::VectorXd const &x_vec,Eigen::VectorXd const &y_vec);
+			double operator()(double x) const;
+		
+		private:
+			double x_min;
+			double x_max;
+
+			double scaled_value(double x) const;
+			Eigen::RowVectorXd scaled_values(Eigen::VectorXd const &x_vec) const;
+	
+			Eigen::Spline<double, 1> spline_;
+		};
+	};
+};
+
+
+

JinspSpectralmeterControl/ZZ_Types.h

@@ -0,0 +1,358 @@
+//////////////////////////////////////////////////////////////////////////
+//<2F><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5><EFBFBD>ļ<EFBFBD>
+//////////////////////////////////////////////////////////////////////////
+#pragma once
+
+#include <string>
+#include <QTime>
+
+#define MAX_DEVICENUMBER_FS 2
+#define MAX_LINEARSHUTTER_POSITION 12
+#define ZZ_Enum2String(x) #x
+
+#pragma pack(1)//<2F>ṹ<EFBFBD>尴<EFBFBD><E5B0B4>1<EFBFBD>ֽڶ<D6BD><DAB6><EFBFBD><EFBFBD>洢
+
+namespace ZZ_MISCDEF
+{
+    typedef unsigned char       ZZ_U8;
+    typedef unsigned short int  ZZ_U16;
+    typedef unsigned int   ZZ_U32;
+    typedef int            ZZ_S32;
+
+
+    namespace IRIS
+    {
+        //Fiber Spectrometer
+        namespace FS
+        {
+            typedef struct tagDataFrame
+            {
+                ZZ_U32    usExposureTimeInMS;
+                ZZ_S32    lData[4096];
+                float     fTemperature = 0;
+                double    dTimes = 0;
+            }DataFrame;
+
+            typedef struct coeffs//tc<74><63><EFBFBD><EFBFBD>-----------------------
+            {
+                ZZ_U32    coeffsCounter;
+                double    coeffs[100];
+            }coeffsFrame;
+
+            typedef struct tagDeviceInfo
+            {
+                std::string strPN;
+                std::string strSN;
+            }DeviceInfo;
+
+            typedef struct tagDeviceAttribute
+            {
+                int   iPixels;
+                int   iMaxIntegrationTimeInMS;
+                int   iMinIntegrationTimeInMS;
+                float fWaveLengthInNM[4096];
+
+            }DeviceAttribute;
+
+// 			inline DataFrame GetIndex(DataFrame dfDark, DataFrame dfSignal)
+// 			{
+//
+// 			}
+        }
+
+        enum DeviceModel
+        {
+            OSIFAlpha=0,
+            OSIFBeta,
+            ISIF,
+            IS1,
+            IS2
+        };
+
+
+
+        inline std::string GetDeviceModelName(int iModel)
+        {
+            switch (iModel)
+            {
+                case DeviceModel::OSIFAlpha:   return "OSIFAlpha"; break;
+                case DeviceModel::OSIFBeta:    return "OSIFBeta"; break;
+                case DeviceModel::ISIF:        return "ISIF"; break;
+                case DeviceModel::IS1:         return "IS1"; break;
+                case DeviceModel::IS2:         return "IS2"; break;
+                default: return "error"; break;
+            }
+        }
+
+        inline int GetIndex(std::string strDeviceModelName)
+        {
+            if (strDeviceModelName == "OSIFAlpha")
+            {
+                return DeviceModel::OSIFAlpha;
+            }
+            else if (strDeviceModelName == "OSIFBeta")
+            {
+                return DeviceModel::OSIFBeta;
+            }
+            else if (strDeviceModelName == "ISIF")
+            {
+                return DeviceModel::ISIF;
+            }
+            else if (strDeviceModelName == "IS1")
+            {
+                return DeviceModel::IS1;
+            }
+            else if (strDeviceModelName == "IS2")
+            {
+                return DeviceModel::IS2;
+            }
+            else
+            {
+                return -1;
+            }
+        }
+
+    };
+
+    //ATP????<3F><>???
+    namespace ATP
+    {
+        const int MAX_SPECTRUM_SIZE = 4096;
+
+        const int GET_MODULECIRCUIT_TEMP = 0x01;
+        const int GET_PN_NUMBER = 0x03;
+        const int GET_SN_NUMBER = 0x04;
+        const int GET_MANUFACTURE_DATA = 0x06;
+        const int GET_MANUFACTURE_INFO = 0x09;
+        const int GET_PIXEL_LENGTH = 0x0a;
+        const int GET_TEC_TEMP = 0x13;
+        const int SET_TEC_TEMP = 0x12;
+        const int GET_OPTICS_TEMP = 0x35;
+        const int GET_CIRCUITBOARD_TEMP = 0x36;
+        const int SET_INTEGRATION_TIME = 0x14;
+        const int GET_INTEGRATION_TIME = 0x41;
+        const int GET_MAX_INTEGRATION_TIME = 0x42;
+        const int GET_MIN_INTEGRATION_TIME = 0x43;
+        const int ASYNC_COLLECT_DARK = 0x23;
+        const int ASYNC_START_COLLECTION = 0x16;
+        const int ASYNC_READ_DATA = 0x17;
+        const int SET_AVERAGE_NUMBER = 0x28;
+        const int SYNC_GET_DATA = 0x1e;
+        const int SYNC_GET_DARK = 0x2f;
+        const int EXTERNAL_TRIGGER_ENABLE = 0x1f;
+        const int SET_XENON_LAMP_DELAY_TIME = 0x24;
+        const int GET_WAVELENGTH_CALIBRATION_COEF = 0x55;
+        const int GET_STAT_LAMPOUT = 0x60;
+        const int SET_GPIO = 0x61;
+        //const int SYNCHRONIZATION_GET_DARK = 0x23
+
+        //////////////////////////////////////////////////////////////////////////device
+        enum Model
+        {
+            ATP1010 = 0,
+            ATP6500
+        };
+
+        //???????<3F><>??
+        typedef struct tagATPDataFrame
+        {
+            unsigned short usExposureTime;
+            ZZ_U16    usData[4096];
+            float  fTemperature;
+            double dTimes = 0;
+        }ATPDataFrame;
+
+        //?<3F><><EFBFBD><EFBFBD>??????<3F><>??
+        typedef struct tagATPDeviceInfo
+        {
+            std::string strPN;
+            std::string strSN;
+        }ATPDeviceInfo;
+
+        //?<3F><><EFBFBD><EFBFBD>????<3F><>?<3F><>??
+        typedef struct tagATPDeviceAttribute
+        {
+            int iPixels;
+            int iMaxIntegrationTime;
+            int iMinIntegrationTime;
+            float  fWaveLength[4096];
+
+        }ATPDeviceAttribute;
+        //////////////////////////////////////////////////////////////////////////config file
+
+
+
+    }
+
+    //????????
+    namespace ZZ_RUNPARAMS
+    {
+        typedef struct tagErrorInfo
+        {
+            int iDataTransferErr     = -1000;
+            float fTecTempErr        = -1000;
+            int iShutterErr          = -1000;
+            float fChassisTempErr    = -1000;
+        }ErrInfo;
+
+        typedef struct tagFiberSpecContext
+        {
+            ZZ_U8         ucDeviceNumber;
+            ZZ_U8         ucDeviceModel[MAX_DEVICENUMBER_FS];
+            std::string   strInterface[MAX_DEVICENUMBER_FS];
+            std::string   strSN[MAX_DEVICENUMBER_FS];
+            long          lDepth[MAX_DEVICENUMBER_FS];
+            float         fMinFactor[MAX_DEVICENUMBER_FS];
+            float         fMaxFactor[MAX_DEVICENUMBER_FS];
+            ZZ_U16        usPixels[MAX_DEVICENUMBER_FS];
+            float         fWavelength[MAX_DEVICENUMBER_FS][4096];
+        }FSContext;
+
+        typedef struct tagLinearShutterContext
+        {
+            std::string   strInterface;
+            ZZ_U8         ucProtocolType;
+            ZZ_U8         ucCmdID;
+        }LSContext;
+
+        typedef struct tagAcquisitionTimeSettings
+        {
+            QTime  qtStartTime;
+            QTime  qtStopTime;
+            QTime  qtInterval;
+        }AcqTimeSettings;
+
+        typedef struct tagAcquisitionPositionSettings
+        {
+            int iTotalPosition;
+            int iPosition[MAX_LINEARSHUTTER_POSITION];
+        }AcqPosSettings;
+
+        typedef struct tagRunTimeGrabberParams
+        {
+            LSContext       lscParam;
+            FSContext       fscParams;
+            AcqTimeSettings atsParams;
+            AcqPosSettings  apsParams;
+        }RunTimeGrabberParams;
+
+        typedef struct tagATPCalibrationSettings
+        {
+            //Up0 Down1,2,3
+            QString qsISIF_CalibrationFilePath[4];
+            QString qsIS1_CalibrationFilePath[4];
+        }ATPCalibrationSettings;
+    }
+
+    //?????????????<3F><>??
+    namespace ZZ_DATAFILE
+    {
+        typedef struct tagEnvironmentalContext
+        {
+            QString qstrUTCDateTime;
+            QString qstrLocation;
+            QString qstrGPS_Longtitude;
+            QString qstrGPS_Latitude;
+            QString qstrGPS_Altitude;
+            QString qstrGPS_North;
+            QString qstrCaseTemperature;
+            QString qstrCaseHumidity;
+            QString qstrDEV_SN;
+        }EContext;
+
+        typedef struct tagManmadeEnviromentalContext
+        {
+            QString qstrOriFileName;
+            QString qstrInstallationTime;
+            QString qstrISIFCalibrationTime;
+            QString qstrIS1CalibrationTime;
+            QString qstrNameOfMaintenanceStaff;
+            QString qstrPhoneNumberOfMaintenanceStaff;
+            QString qstrDownloadUserID;
+            QString qstrDownlaodAddress;
+            QString qstrHTTPServer;
+        }MEContext;
+
+
+        typedef struct tagIS1Information
+        {
+            QString qstrSN_ATP;
+            QString qstrSN_IRIS;
+
+            QString qstrCalFile_U0;
+            QString qstrCalFile_D1;
+            QString qstrCalFile_D2;
+            QString qstrCalFile_D3;
+
+            int iPixelCount;
+
+            int iExposureTimeInMS_U0;
+            int iExposureTimeInMS_D1;
+            int iExposureTimeInMS_D2;
+            int iExposureTimeInMS_D3;
+
+            float fTemperature_U0;
+            float fTemperature_D1;
+            float fTemperature_D2;
+            float fTemperature_D3;
+        }IS1Info;
+
+        typedef struct tagISIFInformation
+        {
+            QString qstrSN_ATP;
+            QString qstrSN_IRIS;
+
+            QString qstrCalFile_U0;
+            QString qstrCalFile_D1;
+            QString qstrCalFile_D2;
+            QString qstrCalFile_D3;
+
+            int iPixelCount;
+
+            int iExposureTimeInMS_U0;
+            int iExposureTimeInMS_D1;
+            int iExposureTimeInMS_D2;
+            int iExposureTimeInMS_D3;
+
+            float fTemperature_U0;
+            float fTemperature_D1;
+            float fTemperature_D2;
+            float fTemperature_D3;
+        }ISIFInfo;
+
+        typedef struct tagATPDataHeader
+        {
+
+
+        }ATPDataHeader;
+
+        typedef struct tagCalibrationFrame
+        {
+            ZZ_U32 uiExposureTimeInMS;
+            float  fTemperature;
+            int    iPixels;
+            float  fWaveLength[4096] = { 0 };
+            double dCal_Gain[4096]   = { 0 };
+            double dCal_Offset[4096] = { 0 };
+        }CalFrame;
+
+        typedef struct tagCalDataFrame
+        {
+            ZZ_U32    usExposureTimeInMS;
+            float     fTemperature = 0;
+            int       iPixels;
+            float     fData[4096];
+            QString   qstrGrabDate;
+        }CalDataFrame;
+    }
+
+    //misc detector
+    namespace MISC_DETECTOR
+    {
+        typedef struct tagHumitureDeviceInfo
+        {
+            QString qstrInterfaceName;
+        }HumitureDeviceInfo;
+    }
+};
+#pragma pack()//<2F>ָ<EFBFBD>Ĭ<EFBFBD><C4AC><EFBFBD>ڴ<EFBFBD><DAB4><EFBFBD><EFBFBD>루<EFBFBD><EBA3A8><EFBFBD><EFBFBD>8<EFBFBD>ֽڣ<D6BD>

JinspSpectralmeterControl/jinspspectralmetercontrol_global.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include <QtCore/qglobal.h>
+
+#ifndef BUILD_STATIC
+# if defined(JINSPSPECTRALMETERCONTROL_LIB)
+#  define JINSPSPECTRALMETERCONTROL_EXPORT Q_DECL_EXPORT
+# else
+#  define JINSPSPECTRALMETERCONTROL_EXPORT Q_DECL_IMPORT
+# endif
+#else
+# define JINSPSPECTRALMETERCONTROL_EXPORT
+#endif