add，计划采集11：

1、完善定时采集流程信息统计：时间；
2、添加状态：跳过；

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();
 		});
@@ -113,7 +115,7 @@ void TwoMotionCaptureCoordinator::move2LocBeforeStart()
 	speed.push_back(tmp.speedTargetYPosition);
 	emit moveTo(m_locBeforeStart, speed, 1000);
 
-	m_isRunning = false;
+	m_isValidCapturing = false;
 
 	m_isMoving2XMin = false;
 	m_isMoving2XMax = false;
@@ -195,12 +197,12 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 
 	//QMutexLocker locker(&m_dataMutex);
 
-	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
-
 	if (motorID == 1)//y马达
 	{
 		if (m_isMoving2YTargeLoc)
 		{
+			PathLine& tmp = m_pathLines[m_numCurrentPathLine];
+
 			double threshold = getThre(tmp.targetYPosition, pos);
 
 			if (threshold > 5)
@@ -230,6 +232,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2YStartLoc)
 		{
 			m_isMoving2YStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -238,6 +241,8 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 	{
 		if (m_isMoving2XMin)
 		{
+			PathLine& tmp = m_pathLines[m_numCurrentPathLine];
+
 			double threshold = getThre(tmp.targetXMinPosition, pos);
 
 			if (threshold > 5)
@@ -266,6 +271,8 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 
 		if (m_isMoving2XMax)
 		{
+			PathLine& tmp = m_pathLines[m_numCurrentPathLine];
+
 			double threshold = getThre(tmp.targetXMaxPosition, pos);
 			
 			if (threshold > 5 && !m_isImagerFrameNumberMeet)//马达没到准确位置 && 【非】光谱仪因帧数限制主动停止采集
@@ -302,6 +309,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2XStartLoc)
 		{
 			m_isMoving2XStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -341,9 +349,25 @@ void TwoMotionCaptureCoordinator::startRecordHsi()
 		emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000);
 
 		emit startRecordHSISignal(m_numCurrentPathLine);
+		emit startRecordLineNumSignal(m_numCurrentPathLine);
 	}
 }
 
+void TwoMotionCaptureCoordinator::isBack2Origin()
+{
+	if (!m_isRunning) return;
+
+	//QMutexLocker locker(&m_dataMutex);
+
+	if (!m_isMoving2XStartLoc && !m_isMoving2YStartLoc)
+	{
+		m_isRunning = false;
+
+		emit back2OriginSignal();
+	}
+
+}
+
 void TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
 {
 	m_isImagerFrameNumberMeet = true;
@@ -387,7 +411,8 @@ void TwoMotionCaptureCoordinator::processNextPathLine()
 	}
 
 	std::cout << "\nNew path line: " << m_numCurrentPathLine << std::endl;
-	emit startRecordLineNumSignal(m_numCurrentPathLine);
+	emit gotoRecordLineNumSignal(m_numCurrentPathLine);
+	m_isValidCapturing = true;
 
 	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
 	tmp.timestamp1 = QDateTime::currentDateTime();

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;

HPPA/CommunicationInterfaceBase.cpp

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

HPPA/CommunicationInterfaceBase.h

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

HPPA/CommunicationViaTCP.cpp

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

HPPA/CommunicationViaTCP.h

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

HPPA/DepthCameraWindow.cpp

@@ -41,6 +41,11 @@ void DepthCameraWindow::onSelectDataFolder()
 		QString::fromLocal8Bit("选择数据保存路径"),
 		ui.dataFolderLineEdit->text());
 
+    setDataFolder(dir);
+}
+
+void DepthCameraWindow::setDataFolder(QString dir)
+{
     if (!dir.isEmpty())
     {
         ui.dataFolderLineEdit->setText(dir);
@@ -48,6 +53,11 @@ void DepthCameraWindow::onSelectDataFolder()
     }
 }
 
+void DepthCameraWindow::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_DepthCameraOperation->setCaptureInterval(captureIntervalSeconds);
+}
+
 void DepthCameraWindow::openDepthCamera()
 {
     if (!m_DepthCameraOperation->getRecordStatus())
@@ -83,6 +93,8 @@ DepthCameraOperation::DepthCameraOperation()
     m_pipe = nullptr;
 	m_func = nullptr;
 	record = false;
+
+    m_captureIntervalMilliseconds = 3000;
 }
 
 DepthCameraOperation::~DepthCameraOperation()
@@ -96,6 +108,11 @@ DepthCameraOperation::~DepthCameraOperation()
     }
 }
 
+void DepthCameraOperation::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
+}
+
 void DepthCameraOperation::OpenDepthCamera()
 {
     if (m_pipe)
@@ -142,14 +159,14 @@ 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 +177,7 @@ 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 +235,7 @@ 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

HPPA/DepthCameraWindow.h

@@ -33,6 +33,8 @@ public:
 	void setCallback(void(*func)());
 	bool getRecordStatus() const { return record; }
 
+	void setCaptureInterval(int captureIntervalSeconds);
+
 private:
 	ob::Pipeline* m_pipe;
 	cv::Mat frame;
@@ -46,6 +48,8 @@ private:
 
 	bool record;
 
+	int m_captureIntervalMilliseconds;
+
 public slots:
 	void OpenDepthCamera();
 	void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
@@ -68,6 +72,9 @@ public:
 
 	DepthCameraOperation* m_DepthCameraOperation;
 
+	void setDataFolder(QString dir);
+	void setCaptureInterval(int captureIntervalSeconds);
+
 public Q_SLOTS:
 	void openDepthCamera();
 	void onCamOpened();

HPPA/HPPA.cpp

@@ -575,6 +575,9 @@ HPPA::HPPA(QWidget* parent)
 
 	initMapTools();
 
+	//定时采集
+	initTimedDataCollection();
+
 	QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
 	QFile file(strPath);
 	if (file.open(QIODevice::ReadOnly))
@@ -588,6 +591,143 @@ HPPA::HPPA(QWidget* parent)
 	this->showMaximized();
 }
 
+void HPPA::initTimedDataCollection()
+{
+	connect(this->ui.mActionTimedDataCollection, SIGNAL(triggered()), this, SLOT(onTimedDataCollection()));
+	mTimedDataCollectionWindow = new TimedDataCollection();
+
+	// 定时采集控制器 → 相机/马达
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::hyperCamParm, this, &HPPA::setTimedDataCollectionHyperCamParm);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::camParm, this, &HPPA::setTimedDataCollectionCamParm);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::motorParm, this, &HPPA::setTimedDataCollectionMotorParm);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::startRecordSignal, this, &HPPA::onStartTimedDataCollection);
+
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::switchHalogenLampSignal, m_pc3D, &PowerControl3D::switchHalogenLampPower);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::switchD65LampSignal, m_pc3D, &PowerControl3D::switchD65LampPower);
+	connect(mTimedDataCollectionWindow, &TimedDataCollection::switchSlrSignal, m_pc3D, &PowerControl3D::switchSlrPower);
+
+	// 相机/马达 → 定时采集控制器
+	connect(m_tmc, &TwoMotorControl::sequenceComplete, mTimedDataCollectionWindow, &TimedDataCollection::subTaskCompleted);
+	connect(m_tmc, &TwoMotorControl::back2OriginSignal_TimedDataCollection, mTimedDataCollectionWindow, &TimedDataCollection::onBack2Origin);
+}
+
+void HPPA::setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName)
+{
+	switch (camType)
+	{
+		case 0:
+		{
+			disconnectImagerAndCleanup();
+			ui.mActionPica_L->setChecked(true);
+
+			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);
+
+			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:
+		{
+			//唤醒单反相机
+			m_pc3D->slrPowerDown();
+			m_pc3D->slrPowerOn();
+
+			m_singleLensReflexCameraWindow->setDataFolder(folder);
+			m_singleLensReflexCameraWindow->setCaptureInterval(captureIntervalSeconds);
+
+			break;
+		}
+		case 3:
+		{
+			m_pc3D->d65LampPowerOn();
+
+			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::onTimedDataCollection()
+{
+	QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();
+	QString checkedScenarioName = checkedScenario->objectName();
+	if (checkedScenarioName == "mAction3DPlantPhenotypeScenario")//计划采集
+	{
+		mTimedDataCollectionWindow->show();
+		//mTimedDataCollectionWindow->exec();
+
+		return;
+	}
+	else if (checkedScenarioName == "mActionPlantPhenotypeScenario")
+	{
+
+	}
+}
+
+
 void HPPA::initMenubarToolbar()
 {
 	//自定义菜单栏和工具栏
@@ -833,6 +973,11 @@ 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)));
@@ -847,7 +992,7 @@ void HPPA::initControlTabwidget()
 	//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"));
 
@@ -1382,7 +1527,8 @@ 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_view3DModelManager->switchScenario(View3DModelManager::ScenarioType::PlantPhenotype);
@@ -1523,22 +1669,6 @@ 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)

HPPA/HPPA.h

@@ -85,6 +85,8 @@
 
 #include "TimedDataCollection.h"
 
+#include "PowerControl3D.h"
+
 #define PI 3.1415926
 
 QT_CHARTS_USE_NAMESPACE//QChartView 使用 需要加宏， 否则无法使用
@@ -290,6 +292,7 @@ private:
 	SingleLensReflexCameraWindow* m_singleLensReflexCameraWindow;
 	adjustTable* m_adt;
 	PowerControl* m_pc;
+	PowerControl3D* m_pc3D;
 	RobotArmControl* m_rac;
 	OneMotorControl* m_omc;
 	TwoMotorControl* m_tmc;
@@ -318,6 +321,9 @@ private:
 	bool showResultMessageBox(QString title, QString msg);
 	void disconnectImagerAndCleanup();
 
+	TimedDataCollection* mTimedDataCollectionWindow;
+	void initTimedDataCollection();
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
 	void focusPlotSpectralImg(int state);
@@ -395,6 +401,12 @@ public Q_SLOTS:
 
 		void onMapToolPanTriggered();
 		void onMapToolSpectralTriggered();
+
+		void onTimedDataCollection();
+		void setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+		void setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder);
+		void setTimedDataCollectionMotorParm(QString pathLineFilePath);
+		void onStartTimedDataCollection(int camType);
 protected:
 	void closeEvent(QCloseEvent* event) override;
 

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">
@@ -743,6 +744,11 @@ 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>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>

HPPA/HPPA.vcxproj

@@ -112,6 +112,8 @@
     <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" />
@@ -140,6 +142,7 @@
     <ClCompile Include="OneMotorControl.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" />
@@ -189,6 +192,7 @@
     <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" />
@@ -223,6 +227,8 @@
     <ClInclude Include="AppSettings.h" />
     <QtMoc Include="FileNameLineEdit.h" />
     <QtMoc Include="DepthCameraWindow.h" />
+    <QtMoc Include="CommunicationViaTCP.h" />
+    <QtMoc Include="CommunicationInterfaceBase.h" />
     <ClInclude Include="imager_base.h" />
     <ClInclude Include="irisximeaimager.h" />
     <QtMoc Include="OneMotorControl.h" />
@@ -244,6 +250,7 @@
     <QtMoc Include="MapToolSpectral.h" />
     <QtMoc Include="MapTools.h" />
     <ClInclude Include="MotorWindowBase.h" />
+    <QtMoc Include="PowerControl3D.h" />
     <ClInclude Include="RasterDataProvider.h" />
     <ClInclude Include="MultibandRasterRenderer.h" />
     <ClInclude Include="RasterImageLayer.h" />
@@ -254,7 +261,7 @@
     <QtMoc Include="rgbCameraWindow.h" />
     <QtMoc Include="SingleLensReflexCameraWindow.h" />
     <QtMoc Include="TimedDataCollection.h" />
-    <ClInclude Include="TimedDataCollectionDataStructures.h" />
+    <QtMoc Include="TimedDataCollectionDataStructures.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -238,6 +238,15 @@
     <ClCompile Include="TimedDataCollectionDataStructures.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="CommunicationViaTCP.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="CommunicationInterfaceBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PowerControl3D.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -384,6 +393,18 @@
     <QtMoc Include="TimedDataCollection.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="TimedDataCollectionDataStructures.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="CommunicationViaTCP.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="CommunicationInterfaceBase.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="PowerControl3D.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -440,9 +461,6 @@
     <ClInclude Include="MotorWindowBase.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="TimedDataCollectionDataStructures.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -496,6 +514,9 @@
     <QtUic Include="TimedDataCollection_ui.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="PowerControl3D.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />

HPPA/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

@@ -28,6 +28,8 @@ 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 +77,31 @@ 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 +113,11 @@ void SingleLensReflexCameraWindow::onSelectDataFolder()
     }
 }
 
+void SingleLensReflexCameraWindow::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_SingleLensReflexCameraOperation->setCaptureInterval(captureIntervalSeconds);
+}
+
 void SingleLensReflexCameraWindow::openSLRCamera()
 {
     if (!m_SingleLensReflexCameraOperation->getRecordStatus())
@@ -108,6 +134,11 @@ void SingleLensReflexCameraWindow::takePhoto()
     }
 }
 
+void SingleLensReflexCameraWindow::OpenAndTakePhotoSLRCamera()
+{
+    emit OpenAndTakePhotoSLRCameraSignal();
+}
+
 void SingleLensReflexCameraWindow::stopTakePhoto()
 {
     if (m_SingleLensReflexCameraOperation->getRecordStatus())
@@ -200,6 +231,7 @@ 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();
@@ -780,13 +812,76 @@ 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，错误码: %1").arg(err));
+        return;
+    }
+
+    // 打开相机
+    err = openCamera();
+    if (err != EDS_ERR_OK)
+    {
+        terminateSDK();
+        emit ErrorSignal(QString::fromLocal8Bit("打开相机失败，错误码: %1").arg(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，错误码: %1").arg(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())

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/TimedDataCollection.cpp

@@ -4,6 +4,7 @@
 
 TimedDataCollection::TimedDataCollection(QWidget* parent)
 	: QDialog(parent)
+	, m_scheduler(nullptr)
 {
 	ui.setupUi(this);
 
@@ -12,21 +13,69 @@ TimedDataCollection::TimedDataCollection(QWidget* parent)
 	ui.treeWidget->setDropIndicatorShown(true);           // 显示插入位置指示线
 	ui.treeWidget->setDragDropMode(QAbstractItemView::InternalMove); // 内部移动
 
+	// 初始化调度器
+	m_scheduler = new TaskScheduler(this);
+
+	// 连接调度器信号
+	connect(m_scheduler, &TaskScheduler::taskStarted, this, &TimedDataCollection::taskStarted);
+	connect(m_scheduler, &TaskScheduler::taskFinished, this, &TimedDataCollection::taskFinished);
+	connect(m_scheduler, &TaskScheduler::subTaskStarted, this, &TimedDataCollection::subTaskStarted);
+	connect(m_scheduler, &TaskScheduler::subTaskFinished, this, &TimedDataCollection::subTaskFinished);
+	connect(m_scheduler, &TaskScheduler::errorOccurred, this, &TimedDataCollection::errorOccurred);
+
+	// 采集相关信号透传
+	connect(m_scheduler, &TaskScheduler::hyperCamParm, this, &TimedDataCollection::hyperCamParm);
+	connect(m_scheduler, &TaskScheduler::camParm, this, &TimedDataCollection::camParm);
+	connect(m_scheduler, &TaskScheduler::motorParm, this, &TimedDataCollection::motorParm);
+	connect(m_scheduler, &TaskScheduler::startRecordSignal, this, &TimedDataCollection::startRecordSignal);
+
+	connect(m_scheduler, &TaskScheduler::switchHalogenLampSignal, this, &TimedDataCollection::switchHalogenLampSignal);
+	connect(m_scheduler, &TaskScheduler::switchD65LampSignal, this, &TimedDataCollection::switchD65LampSignal);
+	connect(m_scheduler, &TaskScheduler::switchSlrSignal, this, &TimedDataCollection::switchSlrSignal);
+
+	connect(this, &TimedDataCollection::sequenceCompleteSignal, m_scheduler, &TaskScheduler::sequenceCompleteSignal);
+	connect(this, &TimedDataCollection::Back2OriginSignal, m_scheduler, &TaskScheduler::Back2OriginSignal);
+
 	//writeRead();
 	readTimedTaskFromFile("D:/0tmp/3Dtest/task.json");
 
-	connect(ui.run_btn, SIGNAL(clicked()), this, SLOT(run()));
+	// 加载任务到调度器
+	m_scheduler->loadTasks(m_loadedTasks);
 
-	connect(ui.run_btn, &QPushButton::clicked, this, &TimedDataCollection::run);
+	connect(ui.run_btn, &QPushButton::clicked, this, &TimedDataCollection::startScheduler);
+
+	startScheduler();
 }
 
 TimedDataCollection::~TimedDataCollection()
 {
+	if (m_scheduler) {
+		m_scheduler->stop();
+	}
 }
 
-void TimedDataCollection::run()
+void TimedDataCollection::subTaskCompleted(int status)
 {
+	emit sequenceCompleteSignal(status);
+}
 
+void TimedDataCollection::onBack2Origin()
+{
+	emit Back2OriginSignal();
+}
+
+void TimedDataCollection::startScheduler()
+{
+	if (m_scheduler) {
+		m_scheduler->start();
+	}
+}
+
+void TimedDataCollection::stopScheduler()
+{
+	if (m_scheduler) {
+		m_scheduler->stop();
+	}
 }
 
 void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
@@ -70,8 +119,8 @@ void TimedDataCollection::writeRead()
 			subTask.type = types[j];
 			subTask.startTime = task.scheduledTime.addSecs(j * 3600);
 			subTask.endTime = subTask.startTime.addSecs(1800);
-			subTask.durationSeconds = 1800;
-			subTask.estimatedDurationSeconds = 1800;
+			subTask.durationMinutes = 1800;
+			subTask.estimatedDurationMinutes = 1800;
 			subTask.pathLineFilePath = QString("D:/0tmp/3Dtest/pathLine/%1.RecordLine3").arg(j);
 			subTask.status = TaskStatus::Waiting;
 

HPPA/TimedDataCollection.h

@@ -19,7 +19,32 @@ public:
 	void readTimedTaskFromFile(const QString& filePath);
 
 public Q_SLOTS:
-	void run();
+	void startScheduler();
+	void stopScheduler();
+	void subTaskCompleted(int status);
+	void onBack2Origin();
+
+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);
+
+	// 采集相关信号 (透传 TaskScheduler)
+	void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+	void camParm(int camType, int captureIntervalSeconds, QString folder);
+	void motorParm(QString pathLineFilePath);
+	void startRecordSignal(int camType);
+
+	void switchHalogenLampSignal(int state);
+	void switchD65LampSignal(int state);
+	void switchSlrSignal(int state);
+
+	// 马达反馈的信号
+	void sequenceCompleteSignal(int status);
+	void Back2OriginSignal();
 
 private:
 	Ui::TimedDataCollection_ui ui;
@@ -27,4 +52,5 @@ private:
 	void writeRead();
 
 	QVector<TimedTask> m_loadedTasks;
+	TaskScheduler* m_scheduler;
 };

HPPA/TimedDataCollectionDataStructures.cpp

@@ -1,4 +1,4 @@
-#include "TimedDataCollectionDataStructures.h"
+#include "TimedDataCollectionDataStructures.h"
 #include <QJsonDocument>
 #include <QJsonObject>
 #include <QJsonArray>
@@ -121,8 +121,8 @@ 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;
@@ -137,14 +137,14 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObj
     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.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();
     return true;
 }
 
@@ -157,9 +157,10 @@ 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["savePath"] = task.savePath;
     obj["status"] = taskStatusToString(task.status);
+    obj["HalogenLampPreheatingTime_Minute"] = task.HalogenLampPreheatingTime_Minute;
 
     QJsonArray subTasksArray;
     for (const auto& subTask : task.subTasks) {
@@ -176,9 +177,10 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
     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.durationMinutes = json["durationMinutes"].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 +196,420 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonO
 
     return true;
 }
+
+// ==================== TaskExecutor 实现 ====================
+
+TaskExecutor::TaskExecutor(QObject* parent)
+    : QObject(parent)
+    , m_currentSubTaskIndex(0)
+    , 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_currentSubTaskIndex = 0;
+    m_isRunning = true;
+
+    qDebug() << "TaskExecutor: Starting task" << task.id;
+
+    // 打开卤素灯预热
+    emit switchHalogenLampSignal(1);
+    printMsgAndTime("open HalogenLamp");
+
+    makeFolder(m_task.savePath);
+
+    // 开始执行第一个子任务
+    double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
+    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;
+
+        emit subTaskFinished(m_currentSubTaskIndex, subTask.type, (status == 0));
+    }
+
+    // 
+    switch (m_task.subTasks[m_currentSubTaskIndex].type)
+    {
+        case SubTaskType::SingleLensReflex:
+        {
+            emit switchD65LampSignal(0);
+            emit switchSlrSignal(0);
+            break;
+        }
+        case SubTaskType::DepthCamera:
+        {
+            emit switchD65LampSignal(0);
+            break;
+        }
+    }
+
+    // 判断下一次的任务是否为高光谱任务，如果不是关闭卤素灯
+    int nestSubTaskIndex = m_currentSubTaskIndex + 1;
+    if (nestSubTaskIndex >= m_task.subTasks.size())
+    {
+        emit switchHalogenLampSignal(0);
+        return;
+    }
+    switch (m_task.subTasks[nestSubTaskIndex].type)
+    {
+        case SubTaskType::SingleLensReflex:
+        {
+            emit switchHalogenLampSignal(0);
+            break;
+        }
+        case SubTaskType::DepthCamera:
+        {
+            emit switchHalogenLampSignal(0);
+            break;
+        }
+    }
+}
+
+void TaskExecutor::onBack2Origin()
+{
+    // 检查是否还有更多子任务
+    m_currentSubTaskIndex++;
+    if (m_currentSubTaskIndex < m_task.subTasks.size()) {
+        // 执行下一个子任务
+        if(m_task.subTasks[m_currentSubTaskIndex].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;
+        qDebug() << "TaskExecutor: task time consuming(Minutes): " << m_task.durationMinutes;
+
+        m_isRunning = false;
+        qDebug() << "TaskExecutor: All subtasks completed";
+        emit finished(true);
+    }
+}
+
+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()
+{
+    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();
+
+    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);
+    
+    emit motorParm(subTask.pathLineFilePath);
+
+    int camType;
+    switch (subTask.type)
+    {
+        case SubTaskType::HyperSpectual400_1000nm:
+        {
+            camType = 0;
+            emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("L"), "test");
+            
+            break;
+        }
+        case SubTaskType::HyperSpectual1000_1700nm:
+        {
+            camType = 1;
+            emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, makeSubTaskDataFolder("NIR"), "test");
+
+            break;
+        }
+        case SubTaskType::SingleLensReflex:
+        {
+            camType = 2;
+            emit camParm(camType, 3, makeSubTaskDataFolder("SLR"));
+
+            emit switchD65LampSignal(1);
+
+            
+            emit switchSlrSignal(1);
+
+            break;
+        }
+        case SubTaskType::DepthCamera:
+        {
+            camType = 3;
+            emit camParm(camType, 3, makeSubTaskDataFolder("DepthCamera"));
+
+            emit switchD65LampSignal(1);
+
+            break;
+        }
+    }
+
+    emit startRecordSignal(camType);
+}
+
+// ==================== 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()
+{
+    QDateTime now = QDateTime::currentDateTime();
+
+    for (auto& task : m_tasks) {
+        if (task.status != TaskStatus::Waiting) continue;
+
+        // 超过计划时间1分钟以上，认为任务已过时，跳过
+        if (task.scheduledTime.addSecs(60) < now) {
+            std::cerr << "TaskScheduler::checkTasks，任务已过时，跳过:" << task.id << std::endl;
+            task.status = TaskStatus::Finished;
+            continue;
+        }
+
+        if (task.scheduledTime > now) continue;
+
+        // 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::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);
+
+    // 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

@@ -4,6 +4,9 @@
 #include <QString>
 #include <QVector>
 #include <QMetaType>
+#include <QTimer>
+
+#include "CaptureCoordinator.h"
 
 // ==================== 枚举定义 ====================
 
@@ -11,7 +14,8 @@
 enum class TaskStatus {
     Waiting,    // 等待
     Running,   // 运行中
-    Finished   // 结束
+    Finished,   // 结束
+    Skiped      //跳过
 };
 
 // 子任务类型
@@ -30,8 +34,8 @@ 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;
 
@@ -49,16 +53,17 @@ struct TimedTask {
     QDateTime scheduledTime;                     // 计划时间
     QDateTime startTime;                         // 开始时间
     QDateTime endTime;                           // 结束时间
-    int durationSeconds = 0;                     // 耗时（秒）
+    double durationMinutes = 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
+    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;
     }
@@ -102,3 +107,129 @@ private:
     static QString subTaskTypeToString(SubTaskType type);
     static SubTaskType stringToSubTaskType(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 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 switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
+public slots:
+    void onSequenceComplete(int status);
+    void onBack2Origin();
+    void onError(const QString& error);
+
+private:
+    void executeNextSubTask();
+
+    void printMsgAndTime(QString msg);
+
+    TimedTask m_task;
+    int m_currentSubTaskIndex;
+    bool m_isRunning;
+};
+
+// ==================== 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 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 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

@@ -6,22 +6,19 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>970</width>
-    <height>456</height>
+    <width>1160</width>
+    <height>576</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Dialog</string>
   </property>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="0" column="0" colspan="3">
+    <widget class="QWidget" name="widget" native="true">
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="0">
        <widget class="QTreeWidget" name="treeWidget">
-   <property name="geometry">
-    <rect>
-     <x>9</x>
-     <y>9</y>
-     <width>491</width>
-     <height>281</height>
-    </rect>
-   </property>
         <property name="allColumnsShowFocus">
          <bool>false</bool>
         </property>
@@ -224,96 +221,58 @@
          </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>
+      </item>
+      <item row="0" column="1">
        <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>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QPushButton" name="addToptask_btn">
+     <property name="text">
+      <string>添加总计划任务</string>
      </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QPushButton" name="delToptask_btn">
+     <property name="text">
+      <string>删除总计划任务</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <widget class="QPushButton" name="addSubtask_btn">
+     <property name="text">
+      <string>添加子任务</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="1">
+    <widget class="QComboBox" name="comboBox"/>
+   </item>
+   <item row="4" column="0">
+    <widget class="QPushButton" name="delSubtask_btn">
+     <property name="text">
+      <string>删除子任务</string>
+     </property>
+    </widget>
+   </item>
+   <item row="4" column="2">
+    <widget class="QPushButton" name="run_btn">
      <property name="text">
       <string>运行</string>
      </property>
     </widget>
+   </item>
+  </layout>
  </widget>
  <resources/>
  <connections/>

HPPA/TwoMotorControl.cpp

@@ -103,6 +103,113 @@ 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::run()
 {
 	if (getState())
@@ -116,7 +223,7 @@ 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 +236,8 @@ 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);
@@ -263,16 +371,22 @@ 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()
@@ -551,7 +665,10 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 	{
 		return;
 	}
-
+	readRecordLineFile(RecordLineFilePath);
+}
+void TwoMotorControl::readRecordLineFile(QString RecordLineFilePath)
+{
 	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
 	double number;
 

HPPA/TwoMotorControl.h

@@ -10,6 +10,9 @@
 #include "CaptureCoordinator.h"
 #include "MotorWindowBase.h"
 
+#include "SingleLensReflexCameraWindow.h"
+#include "DepthCameraWindow.h"
+
 #define PI 3.1415926
 
 class TwoMotorControl : public QDialog, public MotorWindowBase
@@ -28,6 +31,8 @@ public:
 
     bool getMotorsConnectionStatus();
 
+    void readRecordLineFile(QString RecordLineFilePath);
+    
 private:
     ImagerOperationBase* m_Imager;
     bool getState();
@@ -68,7 +73,12 @@ 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 onBack2Origin2();
 
     void stop_record();
 
@@ -86,7 +96,9 @@ 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>);
 
@@ -94,6 +106,7 @@ private:
     Ui::twoMotorControl_UI ui;
     QThread m_coordinatorThread;
     TwoMotionCaptureCoordinator* m_coordinator = nullptr;
+    TwoMotionCaptureCoordinator* m_coordinator_TimedDataCollection = nullptr;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;