add

mapcavas添加功能：镜像和旋转，并保存配置

HPPA/AppSettings.cpp

@@ -8,6 +8,13 @@ const int AppSettings::kDefaultIntegrationTime = 1;
 const int AppSettings::kDefaultGain = 0;
 const QString AppSettings::kDefaultSLRDataFolder = QString();
 const QString AppSettings::kDefaultDepthCameraDataFolder = QString();
+const double AppSettings::kDefaultScanSpeed = 1.0;
+const double AppSettings::kDefaultReturnSpeed = 5.0;
+const int AppSettings::kDefaultGonggaShanRecordPort = 666;
+const AppSettings::HyperimgDisplayMode AppSettings::kDefaultHyperimgDisplayMode = HyperimgDisplayMode::Waterfall;
+const bool AppSettings::kDefaultImageHorizontalMirror = true;
+const bool AppSettings::kDefaultImageVerticalMirror = true;
+const int AppSettings::kDefaultImageRotation = 0;
 
 AppSettings::AppSettings()
 	: m_settings(QSettings::IniFormat, QSettings::UserScope,
@@ -115,3 +122,130 @@ void AppSettings::setFiberImagerDataFolder(const QString& path)
 {
 	m_settings.setValue("General/FiberImagerDataFolder", path);
 }
+
+QString AppSettings::rgbCameraDataFolder() const
+{
+	QString path = m_settings.value("RgbCamera/RgbCameraDataFolder", "D:").toString();
+	if (path.isEmpty())
+	{
+		return QCoreApplication::applicationDirPath() + "/CapturedRgbCameraData/";
+	}
+	return path;
+}
+
+void AppSettings::setRgbCameraDataFolder(const QString& path)
+{
+	m_settings.setValue("RgbCamera/RgbCameraDataFolder", path);
+}
+
+QString AppSettings::rgbCameraFileName() const
+{
+	return m_settings.value("RgbCamera/FileName", "test_rgb_data").toString();
+}
+
+void AppSettings::setRgbCameraFileName(const QString& name)
+{
+	m_settings.setValue("RgbCamera/FileName", name);
+}
+
+QString AppSettings::fodisCameraFileName() const
+{
+	return m_settings.value("FodisCamera/FileName", "test_fodis_data").toString();
+}
+
+void AppSettings::setFodisCameraFileName(const QString& name)
+{
+	m_settings.setValue("FodisCamera/FileName", name);
+}
+
+double AppSettings::scanSpeed() const
+{
+	return m_settings.value("OneMotorControl/ScanSpeed", kDefaultScanSpeed).toDouble();
+}
+
+void AppSettings::setScanSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ScanSpeed", value);
+}
+
+double AppSettings::returnSpeed() const
+{
+	return m_settings.value("OneMotorControl/ReturnSpeed", kDefaultReturnSpeed).toDouble();
+}
+
+void AppSettings::setReturnSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ReturnSpeed", value);
+}
+
+double AppSettings::manualMovementSpeed() const
+{
+	return m_settings.value("OneMotorControl/ManualMovementSpeed", 1).toDouble();
+}
+
+void AppSettings::setManualMovementSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ManualMovementSpeed", value);
+}
+
+bool AppSettings::isReverseMove() const
+{
+	return m_settings.value("OneMotorControl/IsReverseMove", 0).toBool();
+}
+
+void AppSettings::setIsReverseMove(bool value)
+{
+	m_settings.setValue("OneMotorControl/IsReverseMove", value);
+}
+
+int AppSettings::gonggaShanRecordPort() const
+{
+	return m_settings.value("GonggaShanRecordCtl/Port", kDefaultGonggaShanRecordPort).toInt();
+}
+
+void AppSettings::setGonggaShanRecordPort(int value)
+{
+	m_settings.setValue("GonggaShanRecordCtl/Port", value);
+}
+
+AppSettings::HyperimgDisplayMode AppSettings::hyperimgDisplayMode() const
+{
+	return static_cast<HyperimgDisplayMode>(
+		m_settings.value("Display/HyperimgDisplayMode",
+			static_cast<int>(kDefaultHyperimgDisplayMode)).toInt());
+}
+
+void AppSettings::setHyperimgDisplayMode(HyperimgDisplayMode mode)
+{
+	m_settings.setValue("Display/HyperimgDisplayMode", static_cast<int>(mode));
+}
+
+bool AppSettings::imageHorizontalMirror() const
+{
+	return m_settings.value("Display/ImageHorizontalMirror", kDefaultImageHorizontalMirror).toBool();
+}
+
+void AppSettings::setImageHorizontalMirror(bool value)
+{
+	m_settings.setValue("Display/ImageHorizontalMirror", value);
+}
+
+bool AppSettings::imageVerticalMirror() const
+{
+	return m_settings.value("Display/ImageVerticalMirror", kDefaultImageVerticalMirror).toBool();
+}
+
+void AppSettings::setImageVerticalMirror(bool value)
+{
+	m_settings.setValue("Display/ImageVerticalMirror", value);
+}
+
+int AppSettings::imageRotation() const
+{
+	return m_settings.value("Display/ImageRotation", kDefaultImageRotation).toInt();
+}
+
+void AppSettings::setImageRotation(int value)
+{
+	m_settings.setValue("Display/ImageRotation", ((value % 360) + 360) % 360);
+}

HPPA/AppSettings.h

@@ -37,6 +37,54 @@ public:
 
 	QString FiberImagerDataFolder() const;
 	void setFiberImagerDataFolder(const QString& path);
+
+	QString rgbCameraDataFolder() const;
+	void setRgbCameraDataFolder(const QString& path);
+
+	// RGB相机文件名
+	QString rgbCameraFileName() const;
+	void setRgbCameraFileName(const QString& name);
+
+	QString fodisCameraFileName() const;
+	void setFodisCameraFileName(const QString& name);
+
+	// 扫描速度
+	double scanSpeed() const;
+	void setScanSpeed(double value);
+
+	// 返回速度
+	double returnSpeed() const;
+	void setReturnSpeed(double value);
+
+	// 手动移动速度
+	double manualMovementSpeed() const;
+	void setManualMovementSpeed(double value);
+
+	bool isReverseMove() const;
+	void setIsReverseMove(bool value);
+
+	// 贡嘎山记录端口
+	int gonggaShanRecordPort() const;
+	void setGonggaShanRecordPort(int value);
+
+	// 图像显示模式枚举
+	enum class HyperimgDisplayMode { Full, Waterfall };
+
+	// 图像显示模式
+	HyperimgDisplayMode hyperimgDisplayMode() const;
+	void setHyperimgDisplayMode(HyperimgDisplayMode mode);
+
+	// 图像显示变换（左右镜像/上下镜像/旋转），全局生效
+	bool imageHorizontalMirror() const;
+	void setImageHorizontalMirror(bool value);
+
+	bool imageVerticalMirror() const;
+	void setImageVerticalMirror(bool value);
+
+	// 旋转角度，取值 0、90、180、270
+	int imageRotation() const;
+	void setImageRotation(int value);
+
 	// 在此处添加更多参数的 getter/setter ...
 
 private:
@@ -54,4 +102,11 @@ 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;
+	static const HyperimgDisplayMode kDefaultHyperimgDisplayMode;
+	static const bool kDefaultImageHorizontalMirror;
+	static const bool kDefaultImageVerticalMirror;
+	static const int kDefaultImageRotation;
 };

HPPA/CaptureCoordinator.cpp

@@ -1,4 +1,5 @@
 #include "CaptureCoordinator.h"
+#include <algorithm>
 
 TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
 	IrisMultiMotorController* motorCtrl,
@@ -9,10 +10,10 @@ TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
 	, m_isValidCapturing(false)
 {
 	//这些信号槽是按照逻辑顺序的
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
-	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
-		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+	connect(this, qOverload<int, double, double, int>(&TwoMotionCaptureCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(this, qOverload<const std::vector<double>, const std::vector<double>, int>(&TwoMotionCaptureCoordinator::moveTo),
+		m_motorCtrl, qOverload<const std::vector<double>, const std::vector<double>, int>(&IrisMultiMotorController::moveTo));
 	connect(this, &TwoMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
@@ -443,9 +444,9 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 	, m_cameraCtrl(cameraCtrl)
 	, m_isRunning(false)
 {
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
-	connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
+	connect(this, qOverload<int, double, double, int>(&OneMotionCaptureCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(this, &OneMotionCaptureCoordinator::moveSignal, m_motorCtrl, qOverload<int, double, int>(&IrisMultiMotorController::move));
 	connect(this, &OneMotionCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
@@ -458,7 +459,9 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 	connect(this, &OneMotionCaptureCoordinator::stopRecordHSISignal,
 		m_cameraCtrl, &ImagerOperationBase::stop_record);
 	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
-		this, &OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+		this, &OneMotionCaptureCoordinator::handleHyperImagerCaptureComplete);
+	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberNotMeet,
+		this, &OneMotionCaptureCoordinator::handleHyperImagerCaptureComplete);
 }
 
 OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
@@ -467,7 +470,7 @@ 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);
 
@@ -485,7 +488,7 @@ void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathL
 	m_pathLine.timestamp1 = QDateTime::currentDateTime();
 
 	//移动马达并开始采集高光谱
-	emit moveSignal(0, false, m_pathLine.speedRecord, 1000);
+	emit moveSignal(0, m_pathLine.speedRecord, 1000);
 	emit startRecordHSISignal();
 }
 
@@ -497,14 +500,12 @@ void OneMotionCaptureCoordinator::stopStepMotion()
 	{
 		m_cameraCtrl->stop_record();
 	}
-
-	//emit stopMotorSignal(0);
-	move2LocBeforeStart();
 }
 
-void OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
+void OneMotionCaptureCoordinator::handleHyperImagerCaptureComplete()
 {
 	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::getLocBeforeStart()
@@ -568,25 +569,30 @@ bool OneMotionCaptureCoordinator::saveToCsv(const QString& filename)
 
 void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 {
-	if (!m_isRunning) return;
-
 	QMutexLocker locker(&m_dataMutex);
 
-	// 记录位置信息
-	m_pathLine.stopPosition = pos;
-	m_pathLine.timestamp2 = QDateTime::currentDateTime();
-
-	//光谱仪停止采集，马达回到初始位置
-	emit stopRecordHSISignal();
-	if (m_cameraCtrl != nullptr)
+	if (m_isHypercamStopRecord == true)
 	{
-		m_cameraCtrl->stop_record();
-	}
-	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 sequenceCompleteSignal_hyperImagerStopRecord(0);
+	}
+	else
+	{
+		emit sequenceCompleteSignal_motorBack2Origin(0);
+	}
 }
 
 void OneMotionCaptureCoordinator::handleCaptureComplete(double index)
@@ -615,9 +621,9 @@ DarkAndWhiteCaptureCoordinator::DarkAndWhiteCaptureCoordinator(
 	, m_cameraCtrl(cameraCtrl)
 	, m_isRunning(false)
 {
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
-	connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
+	connect(this, qOverload<int, double, double, int>(&DarkAndWhiteCaptureCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(this, &DarkAndWhiteCaptureCoordinator::moveSignal, m_motorCtrl, qOverload<int, double, int>(&IrisMultiMotorController::move));
 	connect(this, &DarkAndWhiteCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
@@ -661,7 +667,7 @@ void DarkAndWhiteCaptureCoordinator::startStepMotion(double speed)
 	getLocBeforeStart();
 
 	//移动马达并开始采集高光谱
-	emit moveSignal(0, false, m_speed, 1000);
+	emit moveSignal(0, m_speed, 1000);
 	emit startRecordHSISignal();
 }
 
@@ -716,3 +722,514 @@ void DarkAndWhiteCaptureCoordinator::handleCaptureComplete(double index)
 {
 	QMutexLocker locker(&m_dataMutex);
 }
+
+
+TwoMotor1PosCoordinator::TwoMotor1PosCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_isMoving2Target(false)
+	, m_isMoving2Origin(false)
+	, m_targetX(0)
+	, m_targetY(0)
+	, m_speedX(0)
+	, m_speedY(0)
+	, m_actualX(0)
+	, m_actualY(0)
+	, m_retryTimesX(0)
+	, m_retryTimesY(0)
+	, m_xReached(false)
+	, m_yReached(false)
+{
+	//因为IrisMultiMotorController::moveTo有多个重载版本，所以使用qOverload来指定参数类型
+	connect(this, qOverload<int, double, double, int>(&TwoMotor1PosCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(this, qOverload<const std::vector<double>, const std::vector<double>, int>(&TwoMotor1PosCoordinator::moveTo),
+		m_motorCtrl, qOverload<const std::vector<double>, const std::vector<double>, int>(&IrisMultiMotorController::moveTo));
+
+	connect(this, &TwoMotor1PosCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &TwoMotor1PosCoordinator::handlePositionReached);
+}
+
+TwoMotor1PosCoordinator::~TwoMotor1PosCoordinator()
+{
+
+}
+
+void TwoMotor1PosCoordinator::moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_isMoving2Target = true;
+	m_isMoving2Origin = false;
+
+	moveToTargetPrivate(xTarget, yTarget, xSpeed, ySpeed);
+}
+
+void TwoMotor1PosCoordinator::back2origin()
+{
+	m_isMoving2Target = false;
+	m_isMoving2Origin = true;
+
+	moveToTargetPrivate(0, 0, m_speedX, m_speedY);
+}
+
+void TwoMotor1PosCoordinator::moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_targetX = xTarget;
+	m_targetY = yTarget;
+	m_speedX = xSpeed;
+	m_speedY = ySpeed;
+
+	m_xReached = false;
+	m_yReached = false;
+	m_retryTimesX = 0;
+	m_retryTimesY = 0;
+
+	std::vector<double> loc = { m_targetX, m_targetY };
+	std::vector<double> speed = { m_speedX, m_speedY };
+
+	std::cout << "TwoMotor1PosCoordinator: moving to (" << m_targetX << ", " << m_targetY << ")" << std::endl;
+	emit moveTo(loc, speed, 1000);
+}
+
+void TwoMotor1PosCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isMoving2Target && !m_isMoving2Origin)
+	{
+		return;
+	}
+
+	double errorRateThreshold = 5;
+	if (motorID == 0)
+	{
+		m_actualX = pos;
+
+		double errorRate = getErrorRate(m_targetX, m_actualX);
+		
+		if (errorRate > errorRateThreshold && m_retryTimesX < m_retryLimit)
+		{
+			m_retryTimesX++;
+			std::cout << "X motor retry " << m_retryTimesX << ", target: " << m_targetX << ", actual: " << m_actualX << std::endl;
+			emit moveTo(0, m_targetX, m_speedX, 1000);
+			return;
+		}
+		m_retryTimesX = 0;
+		m_xReached = true;
+
+		std::cout << "X motor reached: " << m_actualX << std::endl;
+	}
+	else if (motorID == 1)
+	{
+		m_actualY = pos;
+
+		double errorRate = getErrorRate(m_targetY, m_actualY);
+		if (errorRate > errorRateThreshold && m_retryTimesY < m_retryLimit)
+		{
+			m_retryTimesY++;
+			std::cout << "Y motor retry " << m_retryTimesY << ", target: " << m_targetY << ", actual: " << m_actualY << std::endl;
+			emit moveTo(1, m_targetY, m_speedY, 1000);
+			return;
+		}
+		m_retryTimesY = 0;
+		m_yReached = true;
+
+		std::cout << "Y motor reached: " << m_actualY << std::endl;
+	}
+
+	if (checkArrival())
+	{
+		std::cout << "TwoMotor1PosCoordinator: Arrived at (" << m_actualX << ", " << m_actualY << ")" << std::endl;
+
+		if (m_isMoving2Origin)
+		{
+			m_isMoving2Origin = false;
+
+			emit back2OriginSignal();
+		}
+
+		if (m_isMoving2Target)
+		{
+			m_isMoving2Target = false;
+			
+			emit ArrivalSignal(m_actualX, m_actualY);
+		}
+	}
+}
+
+double TwoMotor1PosCoordinator::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}
+
+bool TwoMotor1PosCoordinator::checkArrival()
+{
+	return m_xReached && m_yReached;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------
+
+OneMotionCoordinator::OneMotionCoordinator(IrisMultiMotorController* motorCtrl, QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_targetPosition(0)
+	, m_speed(0)
+	, m_actualPosition(0)
+	, m_isMoving(false)
+	, m_retryTimes(0)
+	, m_reached(false)
+{
+	connect(this, qOverload<int, double, double, int>(&OneMotionCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &OneMotionCoordinator::handlePositionReached);
+}
+
+OneMotionCoordinator::~OneMotionCoordinator()
+{
+}
+
+void OneMotionCoordinator::moveToTarget(double position, double speed)
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_targetPosition = position;
+	m_speed = speed;
+	m_retryTimes = 0;
+	m_reached = false;
+	m_isMoving = true;
+
+	qDebug() << "OneMotionCoordinator: moving to" << position;
+	emit moveTo(0, position, speed, 1000);
+}
+
+void OneMotionCoordinator::handlePositionReached(int motorID, double position)
+{
+	if (!m_isMoving || motorID != 0)
+	{
+		return;
+	}
+
+	QMutexLocker locker(&m_dataMutex);
+	m_actualPosition = position;
+
+	double errorRate = getErrorRate(m_targetPosition, m_actualPosition);
+
+	if (errorRate > 5 && m_retryTimes < m_retryLimit)
+	{
+		m_retryTimes++;
+		qDebug() << "OneMotionCoordinator: retry" << m_retryTimes << ", target:" << m_targetPosition << ", actual:" << m_actualPosition;
+		emit moveTo(0, m_targetPosition, m_speed, 1000);
+		return;
+	}
+
+	m_retryTimes = 0;
+	m_reached = true;
+	m_isMoving = false;
+
+	qDebug() << "OneMotionCoordinator: Arrived at" << m_actualPosition;
+
+	emit sequenceComplete(0);
+	emit ArrivalSignal(m_actualPosition);
+}
+
+double OneMotionCoordinator::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------
+OneMotorMultiPosCoordinator::OneMotorMultiPosCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	ImagerOperationBase* cameraCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_cameraCtrl(cameraCtrl)
+	, m_currentPos(0)
+	, m_isRunning(false)
+	, m_isZeroing(false)
+{
+	//这些信号槽是按照逻辑顺序的
+	connect(this, qOverload<int, double, double, int>(&OneMotorMultiPosCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+
+	connect(this, &OneMotorMultiPosCoordinator::zeroStart,
+		m_motorCtrl, &IrisMultiMotorController::zeroStart);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &OneMotorMultiPosCoordinator::handlePositionReached);
+	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
+	//	this, &OneMotorMultiPosCoordinator::handleError);
+
+	connect(this, &OneMotorMultiPosCoordinator::startAutoExposureSignal,
+		m_cameraCtrl, &ImagerOperationBase::auto_exposure);
+
+	connect(m_cameraCtrl, &ImagerOperationBase::autoExposureSignal,
+		this, &OneMotorMultiPosCoordinator::onAutoExposureFinished);
+	//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
+	//	this, &OneMotorMultiPosCoordinator::handleError);
+}
+
+OneMotorMultiPosCoordinator::~OneMotorMultiPosCoordinator()
+{
+
+}
+
+void OneMotorMultiPosCoordinator::startStepMotion(double speed, std::vector<double> locations)
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	if (locations.empty())
+	{
+		emit sequenceComplete(1);
+
+		return;
+	}
+
+
+	if (m_isRunning)
+	{
+		emit errorOccurred("Sequence already running");
+		return;
+	}
+	m_locations = locations;
+
+	m_counter = 0;
+
+	m_positionData.clear();
+
+	m_speed = speed;
+	m_iStepIntervalRealTime = 1;
+
+	m_isRunning = true;
+	m_isZeroing = true;
+
+	// 先执行归零操作
+	emit zeroStart(0);
+	qDebug() << "OneMotorMultiPosCoordinator::startStepMotion: Zeroing started.";
+}
+
+void OneMotorMultiPosCoordinator::startMotionSequence()
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	m_isZeroing = false;
+	qDebug() << "OneMotorMultiPosCoordinator::startMotionSequence: Zeroing complete. Starting motion sequence.";
+
+	processNextPosition();
+}
+
+void OneMotorMultiPosCoordinator::handleZeroComplete(int motorID, double pos)
+{
+	if (!m_isRunning || !m_isZeroing) return;
+
+	// 归零完成，开始分步运动
+	startMotionSequence();
+}
+
+void OneMotorMultiPosCoordinator::stopStepMotion()
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_isRunning = false;
+	emit sequenceStopped();
+}
+
+QVector<PositionsLogData> OneMotorMultiPosCoordinator::getAllPositionData() const
+{
+	//QMutexLocker locker(&m_dataMutex);
+	return m_positionData;
+}
+
+bool OneMotorMultiPosCoordinator::saveToCsv(const QString& filename)
+{
+	//QMutexLocker locker(&m_dataMutex);
+
+	QFile file(filename);
+	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+	{
+		return false;
+	}
+
+	QTextStream out(&file);
+	out << "Timestamp,targetPosition,ActualPosition,exposureTime\n";
+
+	for (const auto& data : m_positionData)
+	{
+		out << data.timestamp.toString("yyyy-MM-dd HH:mm:ss.zzz") << ","
+			<< QString::number(data.targetPosition, 'f', 4) << ","
+			<< QString::number(data.actualPosition, 'f', 4) << ","
+			<< QString::number(data.exposureTime, 'f', 4) << "\n";
+	}
+
+	file.close();
+	return true;
+}
+
+void OneMotorMultiPosCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isRunning) return;
+
+	// 如果正在等待归零完成，调用归零完成处理
+	if (m_isZeroing)
+	{
+		handleZeroComplete(motorID, pos);
+		return;
+	}
+
+	QMutexLocker locker(&m_dataMutex);
+
+	//验证马达运动位置是否到达指定位置
+	//if (pos != m_currentPos) return;
+
+	// 记录位置信息
+	PositionsLogData data;
+	data.targetPosition = m_currentPos;
+	data.actualPosition = pos;
+	data.timestamp = QDateTime::currentDateTime();
+	data.frameRate = 10;
+	m_positionData.append(data);
+
+	// 开始自动曝光
+	m_cameraCtrl->setFramerate(m_positionData.last().frameRate);
+	emit startAutoExposureSignal();
+}
+
+void OneMotorMultiPosCoordinator::onAutoExposureFinished(double exposureTime)
+{
+	if (!m_isRunning) return;
+
+	QMutexLocker locker(&m_dataMutex);
+
+	// 在保证曝光质量的前提下，尽量提高帧率，帧率下限为10hz
+
+	m_positionData.last().exposureTime = exposureTime;
+
+	std::cout << "第" << m_counter << "次曝光：" << std::endl;
+	std::cout << "目标位置：" << m_positionData.last().targetPosition << std::endl;
+	std::cout << "实际位置：" << m_positionData.last().actualPosition << std::endl;
+	std::cout << "曝光时间：" << m_positionData.last().exposureTime << std::endl;
+
+	// 如果曝光时间过低（< 2ms），基于曝光时间计算新的帧率并重新进行自动曝光
+	if (exposureTime < 2.0) {
+		int currentFrameRate = m_positionData.last().frameRate;
+		
+		// 基于曝光时间计算理论最大帧率：fps = 1000 / exposureTime(ms)
+		// 乘以0.8作为安全系数，确保不会达到极限
+		int newFrameRate = static_cast<int>((1000.0 / exposureTime) * 0.8);
+		
+		// 设置合理的帧率范围：[currentFrameRate + 10, min(200, newFrameRate)]
+		newFrameRate = std::max(currentFrameRate + 10, newFrameRate);
+		newFrameRate = std::min(newFrameRate, 200);
+		
+		m_positionData.last().frameRate = newFrameRate;
+
+		std::cout << "曝光时间过低，基于曝光时间计算新帧率：" << currentFrameRate << " -> " << newFrameRate << std::endl;
+		std::cout << "（曝光时间 " << exposureTime << "ms -> 理论最大帧率 " << (1000.0 / exposureTime) << "fps）" << std::endl;
+
+		m_cameraCtrl->setFramerate(newFrameRate);
+	}
+
+	processNextPosition();
+}
+
+void OneMotorMultiPosCoordinator::handleError(const QString& error)
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_isRunning = false;
+	emit errorOccurred(error);
+}
+
+void OneMotorMultiPosCoordinator::processNextPosition()
+{
+	if (!m_isRunning) return;
+
+	if (m_locations.empty())
+	{
+		m_isRunning = false;
+		emit sequenceComplete(0);
+
+		// 找到曝光时间最大的那组数据
+		double maxExposureTime = 0.0;
+		double maxFrameRate = 10;
+		for (const auto& data : m_positionData) {
+			if (data.exposureTime > maxExposureTime) {
+				maxExposureTime = data.exposureTime;
+				maxFrameRate = data.frameRate;
+			}
+		}
+
+		std::cout << "自动曝光完成，使用最大曝光时间参数：" << std::endl;
+		std::cout << "  曝光时间：" << maxExposureTime << "ms" << std::endl;
+		std::cout << "  帧率：" << maxFrameRate << "Hz" << std::endl;
+
+		emit hyperAutoExposureDoneSignal(maxExposureTime, maxFrameRate);
+		m_cameraCtrl->setIntegrationTime(maxExposureTime);
+		m_cameraCtrl->setFramerate(maxFrameRate);
+
+		return;
+	}
+
+	m_currentPos = m_locations.front();
+	m_locations.erase(m_locations.begin());
+
+	emit moveTo(0, m_currentPos, m_speed, 1000);
+}

HPPA/CaptureCoordinator.h

@@ -141,13 +141,14 @@ public slots:
 	void startStepMotion(OneMotionCapturePathLine pathLine);
 	void stopStepMotion();
 
-	void handleCaptureCompleteWhenFrameNumberMeet();
+	void handleHyperImagerCaptureComplete();
 
 signals:
-	void sequenceComplete(int);
+	void sequenceCompleteSignal_hyperImagerStopRecord(int);
+	void sequenceCompleteSignal_motorBack2Origin(int);
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
-	void moveSignal(int, bool, double, int);
+	void moveSignal(int, double, int);
 	void stopMotorSignal(int axis);
 
 	void startRecordHSISignal();
@@ -165,6 +166,7 @@ private:
 	mutable QMutex m_dataMutex;
 
 	bool m_isRunning;
+	bool m_isHypercamStopRecord = false;
 
 	std::vector<double> m_locBeforeStart;
 	void getLocBeforeStart();
@@ -188,7 +190,7 @@ public slots:
 signals:
 	void sequenceComplete(int);
 	void moveTo(int, double, double, int);
-	void moveSignal(int, bool, double, int);
+	void moveSignal(int, double, int);
 	void stopMotorSignal(int axis);
 
 	void startRecordHSISignal();
@@ -211,3 +213,162 @@ private:
 	void getLocBeforeStart();
 	void move2LocBeforeStart();
 };
+
+
+class TwoMotor1PosCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	TwoMotor1PosCoordinator(IrisMultiMotorController* motorCtrl,
+		QObject* parent = nullptr);
+	~TwoMotor1PosCoordinator();
+
+public slots:
+	void moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	void back2origin();
+
+signals:
+	void ArrivalSignal(double xPos, double yPos);
+	void back2OriginSignal();
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void moveTo(const std::vector<double>, const std::vector<double>, int);
+	void stopMotorSignal(int axis);
+
+private slots:
+	void handlePositionReached(int motorID, double pos);
+
+private:
+	void moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	double getErrorRate(double targetLoc, double actualLoc);
+	bool checkArrival();
+	void move2Origin();
+
+	IrisMultiMotorController* m_motorCtrl;
+	mutable QMutex m_dataMutex;
+
+	bool m_isMoving2Target;
+	bool m_isMoving2Origin;
+
+	double m_targetX;
+	double m_targetY;
+	double m_speedX;
+	double m_speedY;
+
+	double m_actualX;
+	double m_actualY;
+
+	int m_retryLimit = 3;
+	int m_retryTimesX;
+	int m_retryTimesY;
+
+	bool m_xReached;
+	bool m_yReached;
+};
+
+class OneMotionCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	OneMotionCoordinator(IrisMultiMotorController* motorCtrl, QObject* parent = nullptr);
+	~OneMotionCoordinator();
+
+public slots:
+	void moveToTarget(double position, double speed);
+
+signals:
+	void sequenceComplete(int status);
+	void ArrivalSignal(double position);
+	void moveTo(int, double, double, int);
+
+private slots:
+	void handlePositionReached(int motorID, double position);
+
+private:
+	bool checkArrival();
+	double getErrorRate(double targetLoc, double actualLoc);
+
+	IrisMultiMotorController* m_motorCtrl;
+	mutable QMutex m_dataMutex;
+
+	double m_targetPosition;
+	double m_speed;
+	double m_actualPosition;
+	bool m_isMoving;
+
+	int m_retryLimit = 3;
+	int m_retryTimes;
+	bool m_reached;
+};
+
+
+
+// 数据记录结构体
+struct PositionsLogData
+{
+	double targetPosition;    // 目标位置
+	double actualPosition; // 实际马达位置
+	double frameRate;        // 帧率
+	double exposureTime;    //
+	QDateTime timestamp;   // 时间戳
+
+	PositionsLogData(double target = 0, double actual = 0.0, double exposure = 0.0, double frameRate = 10.0)
+		: targetPosition(target), actualPosition(actual), frameRate(frameRate),
+		exposureTime(exposure ), timestamp(QDateTime::currentDateTime()) {
+	}
+};
+
+// 协调控制器
+class OneMotorMultiPosCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	OneMotorMultiPosCoordinator(IrisMultiMotorController* motorCtrl,
+		ImagerOperationBase* cameraCtrl,
+		QObject* parent = nullptr);
+	~OneMotorMultiPosCoordinator();
+
+	QVector<PositionsLogData> getAllPositionData() const;
+	bool saveToCsv(const QString& filename);
+
+public slots:
+	void startStepMotion(double speed, std::vector<double> locations);
+	void stopStepMotion();
+
+signals:
+	void progressChanged(int progress);
+	void sequenceComplete(int status);
+	void sequenceStopped();
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void startAutoExposureSignal();
+	void zeroStart(int motorID);
+
+	void hyperAutoExposureDoneSignal(double exposureTime, double frameRate);
+
+private slots:
+	void handlePositionReached(int motorID, double pos);
+	void onAutoExposureFinished(double exposureTime);
+	void handleError(const QString& error);
+	void handleZeroComplete(int motorID, double pos);
+
+private:
+	void processNextPosition();
+	void startMotionSequence();
+
+	IrisMultiMotorController* m_motorCtrl;
+	ImagerOperationBase* m_cameraCtrl;
+	QVector<PositionsLogData> m_positionData;
+	mutable QMutex m_dataMutex;
+
+	double m_currentPos;
+	bool m_isRunning;
+	double m_speed;
+
+	int m_iStepInterval;
+	int m_iStepIntervalRealTime;
+	int m_counter;
+	bool m_isZeroing;
+
+	std::vector<double> m_locations;
+};

HPPA/CommunicationViaTCP.cpp

@@ -32,6 +32,7 @@ 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();
 }
@@ -49,6 +50,32 @@ void CommunicationViaTCP::onTcpSocketDisconnected()
 	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()) {

HPPA/CommunicationViaTCP.h

@@ -37,9 +37,11 @@ namespace MotorParams {
 
     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);
@@ -66,6 +67,14 @@ void DepthCameraWindow::openDepthCamera()
     }
 }
 
+void DepthCameraWindow::OpenDepthCamera_getDepthValue()
+{
+    if (!m_DepthCameraOperation->getRecordStatus())
+    {
+        emit OpenDepthCamera_getDepthValueSignal();
+    }
+}
+
 void DepthCameraWindow::onCamOpened()
 {
     ui.openDepthCamera_btn->setEnabled(false);
@@ -279,6 +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>
 
@@ -35,6 +37,11 @@ public:
 
 	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;
@@ -50,13 +57,26 @@ private:
 
 	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();
@@ -77,6 +97,7 @@ public:
 
 public Q_SLOTS:
 	void openDepthCamera();
+	void OpenDepthCamera_getDepthValue();
 	void onCamOpened();
 	void closeDepthCamera();
 	void onCamClosed();
@@ -84,12 +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

@@ -50,7 +50,7 @@ private:
 
 public slots:
     virtual void recordDark(QString path) = 0;
-    virtual void recordTarget(int recordTimes, QString path) = 0;
+    virtual void recordTarget2csv(int recordTimes, QString path) = 0;
     virtual void autoExpose() = 0;
 
     signals:

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

@@ -1,4 +1,4 @@
-#include "FodisWindow.h"
+#include "FodisWindow.h"
 #include "JinspFiberImagerConfig.h"
 
 FodisWindow::FodisWindow(QWidget* parent)
@@ -9,6 +9,8 @@ FodisWindow::FodisWindow(QWidget* parent)
     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();
 
@@ -25,10 +27,9 @@ FodisWindow::FodisWindow(QWidget* parent)
 
     connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
 
-    // <20><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>ݱ<EFBFBD><DDB1><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD> AppSettings <20>ָ<EFBFBD><D6B8><EFBFBD>ʹ<EFBFBD><CAB9>Ĭ<EFBFBD>ϣ<EFBFBD>
-    ui.dataFolderLineEdit->setText(AppSettings::instance().depthCameraDataFolder());
+    connect(ui.fileNameLineEdit, &QLineEdit::textChanged, this, &FodisWindow::onFileNameChanged);
 
-    setDataFolder(AppSettings::instance().FiberImagerDataFolder());
+    loadSettings();
 }
 
 FodisWindow::~FodisWindow()
@@ -39,10 +40,16 @@ FodisWindow::~FodisWindow()
     m_JinspFiberImagerOperation = nullptr;
 }
 
+void FodisWindow::loadSettings()
+{
+    ui.dataFolderLineEdit->setText(AppSettings::instance().FiberImagerDataFolder());
+    ui.fileNameLineEdit->setText(AppSettings::instance().fodisCameraFileName());
+}
+
 void FodisWindow::onSelectDataFolder()
 {
     QString dir = QFileDialog::getExistingDirectory(this,
-        QString::fromLocal8Bit("ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݱ<EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD>"),
+        QString::fromLocal8Bit("选择数据保存路径"),
         ui.dataFolderLineEdit->text());
 
     setDataFolder(dir);
@@ -57,6 +64,17 @@ void FodisWindow::setDataFolder(QString dir)
     }
 }
 
+void FodisWindow::setFileName(QString name)
+{
+    ui.fileNameLineEdit->setText(name);
+    AppSettings::instance().setFodisCameraFileName(name);
+}
+
+void FodisWindow::onFileNameChanged(const QString& text)
+{
+    AppSettings::instance().setFodisCameraFileName(text);
+}
+
 void FodisWindow::setCaptureInterval(int captureIntervalSeconds)
 {
     m_JinspFiberImagerOperation->setCaptureInterval(captureIntervalSeconds);
@@ -64,9 +82,27 @@ void FodisWindow::setCaptureInterval(int captureIntervalSeconds)
 
 void FodisWindow::openFiberImager()
 {
+    openFiberImager_expose_record("pos_null");
+}
+
+void FodisWindow::openFiberImager_expose_record(QString posInfo, QString dataFolder)
+{
+    setDataFolder(dataFolder);
+    setFileName(posInfo);
+
     if (!m_JinspFiberImagerOperation->getRecordStatus())
     {
-        emit openFiberImagerSignal();
+        QString folder = AppSettings::instance().FiberImagerDataFolder();
+        QDir dir(folder);
+        if (!dir.exists())
+        {
+            dir.mkpath(".");
+        }
+        QString eventPrefix = posInfo.isEmpty() ? "default" : posInfo;
+        QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
+        QString m_qstrFullFileName = folder + QDir::separator() + dateStr + "_" + eventPrefix + "_fodis_data.dat";
+
+        emit openFiberImagerSignal(m_qstrFullFileName);
     }
 }
 
@@ -75,7 +111,7 @@ void FodisWindow::onCamOpened()
     ui.open_btn->setEnabled(false);
     ui.close_btn->setEnabled(true);
 
-    ui.open_btn->setText(QString::fromLocal8Bit("<EFBFBD>Ѵ<EFBFBD><EFBFBD><EFBFBD>"));
+    ui.open_btn->setText(QString::fromLocal8Bit("已打开"));
 }
 
 void FodisWindow::closeFiberImager()
@@ -88,5 +124,5 @@ void FodisWindow::onCamClosed()
     ui.open_btn->setEnabled(true);
     ui.close_btn->setEnabled(false);
 
-    ui.open_btn->setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>   <EFBFBD><EFBFBD>"));
+    ui.open_btn->setText(QString::fromLocal8Bit("打   开"));
 }

HPPA/FodisWindow.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QDialog>
 #include <QNetworkRequest>
@@ -31,22 +31,30 @@ public:
 
 public Q_SLOTS:
 	void openFiberImager();
+	void openFiberImager_expose_record(QString posInfo, QString dataFolder = "");
 	void onCamOpened();
 	void closeFiberImager();
 	void onCamClosed();
 
 	void onSelectDataFolder();
+	void onFileNameChanged(const QString& text);
+	void setFileName(QString name);
 
 signals:
-	void openFiberImagerSignal();
+	void openFiberImagerSignal(QString filePath);
 	void PlotSpectralSignal();
 	void FiberImagerClosedSignal();
 
 	void spectalCaptured(DeviceAttribute attribute, DataFrame dataFrame);
 
+	void startExposureSignal();
+	void exposureCompleteSignal(int exposureTime);
+
 private:
 	Ui::FodisWindow ui;
 	QThread* m_FiberImagerThread;
 
 	JinspFiberImager* m_JinspFiberImagerOperation;
+
+	void loadSettings();
 };

HPPA/GonggaShanRecordCtl.h

@@ -1,12 +1,119 @@
-#pragma once
+#pragma once
 #include <QDialog>
 #include <QNetworkRequest>
 #include <QNetworkReply>
 #include <QNetworkAccessManager>
 #include <vector>
+#include <QPointer>
+
+#include <QDateTime>
+#include <QFile>
+#include <QTextStream>
+#include <QDir>
+#include <QStateMachine>
+#include <QSignalTransition>
+#include <QFinalState>
+#include <QTimer>
+#include <QSerialPort>
+#include <QElapsedTimer>
 
 #include "ui_gonggashanCtl.h"
 
+#include "CommunicationViaTCP.h"
+#include "AppSettings.h"
+
+class GsbGpsParse;
+class GsbGpsReader;
+
+// ============ 执行阶段枚举 ============
+enum class GonggaShanExecPhase {
+    Idle,            // 空闲
+    Preparation,     // 准备阶段
+    HyperExposure,   // 高光谱传感器曝光
+    FiberExposure,   // 光纤光谱仪曝光
+    GpsAcquisition,  // 获取GPS位置
+    MotorCalc,       // 计算马达速度
+    DataCollection,  // 开始采集：高光谱、FODIS、rgb相机
+    Completed        // 完成
+};
+
+// ============ 任务执行器 ============
+class GonggashanTaskExecutor : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit GonggashanTaskExecutor(QObject* parent = nullptr);
+    ~GonggashanTaskExecutor();
+
+    bool isRunning() const { return m_machine && m_machine->isRunning() && !m_machine->configuration().isEmpty(); }
+
+public slots:
+    void start(const QString& posInfo);
+    void stop();
+
+    void onHyperExposureComplete(double exposureTime, double frameRate);
+    void onFiberExposureComplete(double exposureTime);
+    void onGpsAcquired(double latitude, double longitude, double altitude);
+    void onMotorSpeedCalculated(double rotationSpeed);
+    void onRcordComplete();
+
+signals:
+    void hyperAutoExposureSignal_gonggashan();
+    void fiberExposureRecordSignal(QString posInfo, QString dataFolder);
+    void gpsAcquisitionSignal();
+    void motorSpeedSignal(double speed);
+    void startCollectionSignal(const QString& posInfo, const QString& gpsData, double m_motorRotationSpeed, QString dataFolder);
+
+    void calculateMotorSpeedSignal(double hyperFrameRate);
+
+    void finished(bool success);
+    void errorOccurred(const QString& error);
+
+    // ---- 以下为状态机内部信号，供 transition 使用 ----
+    void taskStartRequested(const QString& posInfo);
+    void preparationComplete();
+    void hyperExposureDone();
+    void fiberExposureDone();
+    void gpsAcquisitionDone();
+    void motorSpeedDone();
+    void dataCollectionDone();
+    void stopRequested();
+
+protected:
+    virtual bool preparationImpl();
+    virtual bool hyperExposureImpl(int exposureTime);
+    virtual bool fiberExposureImpl(int exposureTime);
+    virtual bool gpsAcquisitionImpl(double lat, double lon, double alt);
+    virtual bool motorCalcImpl();
+
+private slots:
+    void onFinalStateEntered();
+
+private:
+    void buildStateMachine();
+    QState* currentState() const;
+    void leavePhase(QState* state);
+
+    QString m_posInfo;
+    QString m_gpsData;
+    double m_motorRotationSpeed = 0.0;
+    double m_hyperExposureTime = 0;
+    double m_hyperFrameRate = 0;
+    double m_fiberExposureTime = 0;
+    bool m_stopRequested = false;
+    QString m_todayDataFolder;  // 当天日期的数据保存文件夹
+
+    // Qt State Machine
+    QStateMachine* m_machine = nullptr;
+    QState* m_hyperExposureState = nullptr;
+    QState* m_fiberExposureState = nullptr;
+    QState* m_gpsAcquisitionState = nullptr;
+    QState* m_motorCalcState = nullptr;
+    QState* m_dataCollectionState = nullptr;
+    QFinalState* m_finalState = nullptr;
+};
+
 class GonggaShanRecordCtl : public QDialog
 {
 	Q_OBJECT
@@ -15,20 +122,229 @@ public:
 	GonggaShanRecordCtl(QWidget* parent = nullptr);
 	~GonggaShanRecordCtl();
 
+    void recordHsiFinished();
 
 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 startRcordHsiSignal();
-	void stopRcordHsiSignal();
+    void gpsAcquisitionDoneSignal_gonggashan(double lat, double lon, double alt);
 
-	void startRcordFodisSignal();
+    void calculateMotorSpeedDoneSignal_gonggashan(double rotationSpeed);
+
+    void hyperAutoExposureSignal_gonggashan();
+    void hyperAutoExposureDoneSignal_gonggashan(double exposureTime, double frameRate);
+
+    void fiberExposureRecordSignal_gonggashan(QString posInfo, QString dataFolder);
+    void fiberExposureDoneSignal_gonggashan(double exposureTime);
+
+	void startRcordSignal_gonggashan(const QString& posInfo, const QString& gpsData, double m_motorRotationSpeed, QString dataFolder);
+    void recordFinishedSignal_gonggashan();
 
 private Q_SLOTS:
 	void startListen();
 	void stopListen();
 
+	void startRecord(int position);
+
+	// GonggashanTaskExecutor 反馈槽
+	void onTaskExecutorFinished(bool success);
+
+    void onGpsAcquisition();
+    void onCalculateMotorSpeed(double hyperFrameRate);
+
 private:
+	void logStatus(const QString& message, bool isHearderBlankLine = false, bool isTailBlankLine = false);
+
 	Ui::gongga_control ui;
+	QPointer<MotorParams::CommunicationViaTCP> tcpServer6005;
+	GonggashanTaskExecutor* m_taskExecutor;  // 新增
+	QString m_logFilePath;
+	QFile m_logFile;
+	QTextStream m_logStream;
+
+	// GPS 串口读取器
+	GsbGpsReader* m_gpsReader = nullptr;
+};
+
+// ============ USB GPS NMEA-0183 解析器 (G6301, COM17) ============
+class GsbGpsParse : public QObject
+{
+    Q_OBJECT
+
+public:
+    // GPS数据有效性状态
+    enum class GpsStatus {
+        Invalid,       // 无效或未定位
+        Valid,         // 有效定位
+        Differential   // 差分定位
+    };
+
+    // GPS解析数据结构
+    struct GpsData {
+        QString rawNmea;          // 原始NMEA语句
+        QString utcTime;          // UTC时间 (HHMMSS.SSS)
+        QString utcDate;          // UTC日期 (DDMMYY)
+        double latitude = 0.0;    // 纬度 (十进制度)
+        double longitude = 0.0;   // 经度 (十进制度)
+        double altitude = 0.0;    // 高程 (米)
+        int satelliteCount = 0;   // 卫星数目
+        GpsStatus status = GpsStatus::Invalid;  // 定位状态
+        bool isValid = false;     // 综合有效性
+        bool hasGga = false;      // 是否已收到GPGGA语句
+        bool hasRmc = false;      // 是否已收到GPRMC语句
+    };
+
+    explicit GsbGpsParse(QObject* parent = nullptr);
+    ~GsbGpsParse() = default;
+
+    // 设置最小卫星数目要求 (默认4颗)
+    void setMinSatelliteCount(int count) { m_minSatelliteCount = count; }
+    int minSatelliteCount() const { return m_minSatelliteCount; }
+
+    // 解析单条NMEA语句
+    bool parseNmeaSentence(const QString& sentence);
+
+    // 获取当前解析的GPS数据
+    const GpsData& gpsData() const { return m_gpsData; }
+
+    // 检查GPS数据是否有效
+    bool isGpsDataValid() const;
+
+    // 格式化输出
+    QString toDisplayString() const;
+
+    // 获取状态描述
+    QString statusDescription() const;
+
+signals:
+    void gpsDataUpdated(const GpsData& data);
+    void gpsStatusChanged(bool isValid);
+
+private:
+    // 解析 $GPGGA - GPS定位数据
+    bool parseGpgga(const QStringList& fields);
+
+    // 解析 $GPRMC - 推荐最小定位数据
+    bool parseGprmc(const QStringList& fields);
+
+    // NMEA校验
+    bool validateNmeaChecksum(const QString& sentence);
+
+    // 转换纬度格式 (DDMM.MMMM -> DD.DDDDD)
+    double convertLatitude(const QString& degMin, const QString& direction);
+
+    // 转换经度格式 (DDDMM.MMMM -> DDD.DDDDD)
+    double convertLongitude(const QString& degMin, const QString& direction);
+
+    // 检查数据有效性
+    void validateData();
+
+    GpsData m_gpsData;
+    int m_minSatelliteCount = 4;  // 默认要求至少4颗卫星
+    QString m_pendingTime;
+    QString m_pendingDate;
+};
+
+// ============ USB GPS 串口读取器 (G6301, COM17) ============
+class GsbGpsReader : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit GsbGpsReader(QObject* parent = nullptr);
+    ~GsbGpsReader();
+
+    // 打开指定串口
+    bool openPort(const QString& portName, qint32 baudRate = 4800);
+
+    // 关闭串口
+    void closePort();
+
+    // 串口是否打开
+    bool isPortOpen() const;
+
+    // 获取GPS解析器（用于设置参数如最小卫星数）
+    GsbGpsParse* gpsParser() { return &m_parser; }
+    const GsbGpsParse* gpsParser() const { return &m_parser; }
+
+    // 获取GPS数据
+    GsbGpsParse::GpsData currentGpsData() const;
+
+    // 等待有效GPS数据 (带超时)
+    bool waitForValidData(int timeoutMs = 30000);
+
+signals:
+    void gpsDataReady(const GsbGpsParse::GpsData& data);
+    void portOpened();
+    void portClosed();
+    void portError(const QString& error);
+
+private slots:
+    void onReadyRead();
+
+private:
+    GsbGpsParse m_parser;
+    QSerialPort* m_serialPort;
+};
+
+// ============ 帧率与旋转速度计算器 ============
+class FramerateRotateSpeedCal : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit FramerateRotateSpeedCal(QObject* parent = nullptr);
+    ~FramerateRotateSpeedCal() = default;
+
+    // 设置参数
+    void setAltitude(double altitude) { m_altitude = altitude; }
+    void setVerticalFov(double fovDegrees) { m_verticalFov = fovDegrees; }
+    void setVerticalPixels(int pixels) { m_verticalPixels = pixels; }
+    void setFramerate(double framerate) { m_framerate = framerate; }
+
+    // 获取参数
+    double altitude() const { return m_altitude; }
+    double verticalFov() const { return m_verticalFov; }
+    int verticalPixels() const { return m_verticalPixels; }
+    double framerate() const { return m_framerate; }
+
+    // 计算垂直航向分辨率（地面分辨率）
+    // 基于高度、视场角和像素个数
+    // 公式: resolution = 2 * altitude * tan(FOV/2) / pixels
+    double calculateVerticalGroundResolution();
+
+    // 计算速度
+    // 基于帧率和垂直航向分辨率
+    // 公式: speed = framerate * ground_resolution
+    double calculateSpeed();
+
+    // 计算旋转速度
+    // 基于高度和计算出的速度
+    // 公式: rotation_speed = speed / (2 * PI * altitude)
+    double calculateRotationSpeed();
+
+    // 一站式计算：设置参数后一次性计算所有结果
+    double calculate(double altitude, double verticalFov, int verticalPixels, double framerate);
+
+    // 获取计算结果
+    double groundResolution() const { return m_groundResolution; }
+    double speed() const { return m_speed; }
+    double rotationSpeed() const { return m_rotationSpeedDegPerSec; }
+
+signals:
+    void calculationCompleted(double groundResolution, double speed, double rotationSpeed);
+
+private:
+	double m_pi = 3.14159265358979323846; // 圆周率
+    double m_altitude = 0.0;           // 高度（米）
+    double m_verticalFov = 0.0;        // 垂直视场角（度）
+    int m_verticalPixels = 0;          // 垂直方向像素个数
+    double m_framerate = 0.0;          // 帧率（Hz）
+
+    double m_groundResolution = 0.0;   // 垂直航向分辨率（米/像素）
+    double m_speed = 0.0;              // 速度（米/秒）
+    double m_rotationSpeedDegPerSec = 0.0;      // 旋转速度（度/秒）
 };

HPPA/HPPA.cpp

@@ -659,6 +659,7 @@ void HPPA::initTimedDataCollection()
 	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);
@@ -666,6 +667,8 @@ void HPPA::initTimedDataCollection()
 	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);
@@ -674,6 +677,14 @@ void HPPA::initTimedDataCollection()
 	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();
 }
 
@@ -772,6 +783,24 @@ void HPPA::onStartTimedDataCollection(int camType)
 	}
 }
 
+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();
@@ -930,6 +959,9 @@ void HPPA::initMenubarToolbar()
 
 	ui.mActionPan->setIcon(QIcon(":/svg/resources/icons/svg/pan.svg"));
 	ui.mActionSpectral->setIcon(QIcon(":/svg/resources/icons/svg/spectral.svg"));
+	ui.mActionRotation90->setIcon(QIcon(":/svg/resources/icons/svg/rotate90.svg"));
+	ui.mActionVerticalMirror->setIcon(QIcon(":/svg/resources/icons/svg/VerticalMirror.svg"));
+	ui.mActionHorizontalMirror->setIcon(QIcon(":/svg/resources/icons/svg/HorizontalMirror.svg"));
 
 	connect(ui.mActionPan, &QAction::toggled, this, [=](bool checked) {
 		if (checked)
@@ -945,6 +977,34 @@ void HPPA::initMenubarToolbar()
 		 ui.mActionSpectral->setIcon(QIcon(":/svg/resources/icons/svg/spectral.svg"));
 		});
 
+	connect(ui.mActionRotation90, &QAction::triggered, this, [=](bool) {
+		QWidget* currentWidget = m_imageViewerTabWidget->currentWidget();
+		if (!currentWidget) return;
+
+		QList<Mapcavas*> canvases = currentWidget->findChildren<Mapcavas*>();
+		if (canvases.isEmpty()) return;
+
+		canvases[0]->rotateImage90();
+		});
+	connect(ui.mActionVerticalMirror, &QAction::triggered, this, [=](bool) {
+		QWidget* currentWidget = m_imageViewerTabWidget->currentWidget();
+		if (!currentWidget) return;
+
+		QList<Mapcavas*> canvases = currentWidget->findChildren<Mapcavas*>();
+		if (canvases.isEmpty()) return;
+
+		canvases[0]->toggleVerticalMirror();
+		});
+	connect(ui.mActionHorizontalMirror, &QAction::triggered, this, [=](bool) {
+		QWidget* currentWidget = m_imageViewerTabWidget->currentWidget();
+		if (!currentWidget) return;
+
+		QList<Mapcavas*> canvases = currentWidget->findChildren<Mapcavas*>();
+		if (canvases.isEmpty()) return;
+
+		canvases[0]->toggleHorizontalMirror();
+		});
+
 	// 使用样式表设置透明背景
 	toolBar->setStyleSheet(R"(
 		QToolBar {
@@ -1050,6 +1110,11 @@ 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)));
@@ -1057,16 +1122,18 @@ void HPPA::initControlTabwidget()
 	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"));
 
-	//
-	m_gonggaShanRecordCtl = new GonggaShanRecordCtl(this);
-	m_gonggaShanRecordCtl->setWindowFlags(Qt::Widget);
-	ui.controlTabWidget->addTab(m_gonggaShanRecordCtl, QString::fromLocal8Bit("触发采集"));
+	setupGonggashanAutoRecordConnection();
 
 
 	// Connect ImageControl band change to re-render (m_ic created in initControlTabwidget)
@@ -1074,6 +1141,81 @@ void HPPA::initControlTabwidget()
 	//	this, SLOT(onBandSelectionChanged(double, double, double)));
 }
 
+void HPPA::setupGonggashanAutoRecordConnection()
+{
+	connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::hyperAutoExposureSignal_gonggashan, this, &HPPA::onGonggashanHyperAutoExposure);
+	connect(m_omc, &OneMotorControl::hyperAutoExposureDoneSignal_gonggashan, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::hyperAutoExposureDoneSignal_gonggashan);
+
+	connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::fiberExposureRecordSignal_gonggashan, this, &HPPA::onGonggashanFiberAutoExposureRecord);
+	connect(m_fodisWindow, &FodisWindow::startExposureSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onFiberImagerStartExposureSignal);
+	connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onFiberImagerExposureCompleteSignal);
+	connect(m_fodisWindow, &FodisWindow::exposureCompleteSignal, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::fiberExposureDoneSignal_gonggashan);
+
+	connect(m_gonggaShanRecordCtl, &GonggaShanRecordCtl::startRcordSignal_gonggashan, this, &HPPA::onGonggashanRecord);
+	connect(m_omc, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord, this, &HPPA::onSequenceCompleteStopRecord);
+	//connect(m_omc, &OneMotorControl::sequenceComplete_motorBack2Origin, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::);
+}
+
+void HPPA::onSequenceCompleteStopRecord()
+{
+	if (m_ScenarioActionGroup->checkedAction() != ui.mActionGonggaRotatingPlatformScenario)
+	{
+		return;
+	}
+
+	m_rgbCameraControlWindow->toggleTakePhoto();
+	m_fodisWindow->closeFiberImager();
+	m_gonggaShanRecordCtl->recordHsiFinished();
+}
+
+void HPPA::onGonggashanHyperAutoExposure()
+{
+	//连接马达和光谱仪
+	m_omc->connectMotor(false);
+
+	if (!testImagerVality())
+	{
+		onconnect();
+	}
+
+	m_omc->setImager(m_Imager);
+	m_omc->multiPosHyperAutoExposure();
+}
+
+void HPPA::onGonggashanFiberAutoExposureRecord(QString posInfo, QString dataFolder)
+{
+	//设置数据存储路径和文件名
+	m_fodisWindow->openFiberImager_expose_record(posInfo, dataFolder);
+}
+
+void HPPA::onGonggashanRecord(const QString& posInfo, const QString& gpsData, double motorRotationSpeed, QString dataFolder)
+{
+	//设置文件名
+	//AppSettings::instance().setFrameRate(f);
+	//AppSettings::instance().setIntegrationTime(e);
+	AppSettings::instance().setDataFolder(dataFolder);
+
+	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);
+	m_omc->setScanSpeed(motorRotationSpeed);
+
+	if (!testImagerVality())
+	{
+		onconnect();
+	}
+
+	onStartRecordStep1();
+
+	//采集rgb图像
+	m_rgbCameraControlWindow->toggleTakePhoto();
+}
+
 void HPPA::recordFromRobotArm(int fileCounter)
 {
 	if (!testImagerVality())
@@ -1573,6 +1715,7 @@ void HPPA::createGonggaRotatingPlatformScenario()
 
 	m_tabManager->showTab(m_hic);
 	m_tabManager->showTab(m_ic);
+	m_tabManager->showTab(m_rgbCameraControlWindow);
 	m_tabManager->showTab(m_fodisWindow);
 	m_tabManager->showTab(m_omc);
 	m_tabManager->showTab(m_gonggaShanRecordCtl);
@@ -1634,6 +1777,7 @@ void HPPA::create3DPlantPhenotypeScenario()
 	//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);
 
@@ -1943,7 +2087,10 @@ QWidget* HPPA::onCreateTab(QString tabName)
     QWidget* tabTmp = new QWidget();
 
     QGridLayout* GridLayout = new QGridLayout();
-    GridLayout->addWidget(new Mapcavas(tabTmp));
+
+	Mapcavas* canvas = new Mapcavas(tabTmp);
+	canvas->updateDisplayMode();
+    GridLayout->addWidget(canvas);
 
     tabTmp->setLayout(GridLayout);
 
@@ -1977,6 +2124,10 @@ 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];
@@ -2354,7 +2505,7 @@ void HPPA::disconnectImagerAndCleanup()
 	{
 		m_RecordThread->quit();
 		m_RecordThread->wait(3000);
-		delete m_RecordThread;
+		m_RecordThread->deleteLater();
 		m_RecordThread = nullptr;
 	}
 
@@ -2491,7 +2642,7 @@ void HPPA::onconnect()
 		connect(m_Imager, SIGNAL(RecordDarlFinishSignal()), this, SLOT(recordDarkFinish()));
 
 		// Connect LayerFileCreated from imager to HPPA slot
-		connect(m_Imager, SIGNAL(LayerFileCreated(QString,QString,int)), this, SLOT(onLayerCreatedFromFile(QString,QString,int)));
+		connect(m_Imager, SIGNAL(LayerFileCreated(QString,QString,int, QString)), this, SLOT(onLayerCreatedFromFile(QString,QString,int, QString)));
 
 		connect(this->ui.actionOpenDirectory, SIGNAL(triggered()), this, SLOT(onActionOpenDirectory()));
 
@@ -2521,6 +2672,15 @@ 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;
 
@@ -2530,6 +2690,15 @@ void HPPA::onconnect()
 	{
 		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;
 
@@ -2751,6 +2920,10 @@ 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
 
     cv::Mat rgbImage(*m_Imager->getMatRgbImage(), cv::Range(0, m_Imager->getFrameCounter()), cv::Range::all());
@@ -2810,6 +2983,10 @@ void HPPA::onStretchedImageReady(int fileNumber, const QString& filePath, QPixma
 	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);
@@ -2831,6 +3008,10 @@ 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;
@@ -2973,22 +3154,22 @@ void WorkerThread3::run()
 	emit AutoFocusFinishedSignal();
 }
 
-void HPPA::onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex)
+void HPPA::onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex, const QString& hyperimagerTppe)
 {
     if (!m_LayerTreeModel || !m_RasterGroup) return;
 
 	if (ui.mAction3DPlantPhenotypeScenario->isChecked())
 	{
 		//addLayer(baseName, filePath, false, false);
-		addLayer(baseName, filePath, false);
+		addLayer(baseName, filePath, false, true, hyperimagerTppe);
 	}
 	else
 	{
-		addLayer(baseName, filePath, false);
+		addLayer(baseName, filePath, false, true, hyperimagerTppe);
 	}
 }
 
-void HPPA::addLayer(const QString& baseName, const QString& filePath,bool refresh, bool isAddImage)
+void HPPA::addLayer(const QString& baseName, const QString& filePath,bool refresh, bool isAddImage, const QString& hyperimagerTppe)
 {
 	// Create MapLayer first and attach it to a LayerTreeLayerNode
 	RasterLayer* ml = new RasterLayer(baseName, filePath);
@@ -3005,15 +3186,46 @@ void HPPA::addLayer(const QString& baseName, const QString& filePath,bool refres
 
 	if (isAddImage)
 	{
-		newImage(ml, RasterImageLayer::RendererType::Multiband, node, refresh);
+		newImage(ml, RasterImageLayer::RendererType::Multiband, node, refresh, hyperimagerTppe);
 	}
 }
 
-void HPPA::newImage(RasterLayer* ml, RasterImageLayer::RendererType type, LayerTreeNode* parent, bool refresh)
+void HPPA::newImage(RasterLayer* ml, RasterImageLayer::RendererType type, LayerTreeNode* parent, bool refresh, const QString& hyperimagerTppe)
 {
 	QWidget* mapcavasContainer = onCreateTab(ml->name());
-	RasterImageLayer* rasterImageLayer = new RasterImageLayer(ml, type);
+	RasterImageLayer* rasterImageLayer;
+
+	//当边采集边显示时，需要修改rasterImageLayer默认渲染波段
+	if (hyperimagerTppe== "visibleLight")
+	{
+		rasterImageLayer = new RasterImageLayer(ml, type, false);
+
+		auto params = rasterImageLayer->multibandParams();
+		params.rWave = 665;
+		params.gWave = 560;
+		params.bWave = 490;
+		rasterImageLayer->setMultibandParams(params);
+	}
+	else if (hyperimagerTppe == "nearInfrared")
+	{
+		rasterImageLayer = new RasterImageLayer(ml, type, false);
+
+		auto params = rasterImageLayer->multibandParams();
+		params.rWave = 1500;
+		params.gWave = 1300;
+		params.bWave = 1100;
+		rasterImageLayer->setMultibandParams(params);
+	}
+	else//当打开影像文件时，rasterImageLayer默认渲染波段由头文件决定
+	{
+		rasterImageLayer = new RasterImageLayer(ml, type, true);
+	}
+
 	QList<Mapcavas*> mapcavas = mapcavasContainer->findChildren<Mapcavas*>();
+	if (mapcavas.size() == 0)
+	{
+		return;
+	}
 	mapcavas[0]->setImageLayer(rasterImageLayer);
 
 	QString title = ml->name();

HPPA/HPPA.h

@@ -321,6 +321,7 @@ private:
 	PowerControl3D* m_pc3D;
 	RobotArmControl* m_rac;
 	OneMotorControl* m_omc;
+	OneMotorControl_LiftingPlatform* m_omc_LiftingPlatform;
 	TwoMotorControl* m_tmc;
 	FodisWindow* m_fodisWindow;
 	GonggaShanRecordCtl* m_gonggaShanRecordCtl;
@@ -362,6 +363,9 @@ private:
 	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);
@@ -426,9 +430,9 @@ public Q_SLOTS:
 		void createMicroscopicMotionControlScenario();
 		void onCreated3DModelOneMotor();
 
-		void addLayer(const QString& baseName, const QString& filePath, bool refresh, bool isAddImage = true);
-		void newImage(RasterLayer* ml, RasterImageLayer::RendererType, LayerTreeNode* parent, bool refresh=true);
-		void onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex);
+		void addLayer(const QString& baseName, const QString& filePath, bool refresh, bool isAddImage = true, const QString& hyperimagerTppe="");
+		void newImage(RasterLayer* ml, RasterImageLayer::RendererType, LayerTreeNode* parent, bool refresh=true, const QString& hyperimagerTppe="");
+		void onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex, const QString& hyperimagerTppe);
 		void removeLayerByTreeIndex();
 		void removeLayerByNode(LayerTreeNode* node);
 		void showColorImageByTreeIndex();
@@ -446,10 +450,19 @@ public Q_SLOTS:
 		void setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder);
 		void setTimedDataCollectionMotorParm(QString pathLineFilePath);
 		void onStartTimedDataCollection(int camType);
+		void onObtainTargetDepthInformation(SubTask subTaskParams);
+		void onLiftingPlatform(SubTask subTaskParams);
+		void onAutoFocus_TimedDataCollection(SubTask subTaskParams);
 
 		void onStretchedImageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
 		void onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error);
 
+		void onGonggashanRecord(const QString& posInfo, const QString& gpsData, double motorRotationSpeed, QString dataFolder);
+		void onGonggashanHyperAutoExposure();
+		void onGonggashanFiberAutoExposureRecord(QString posInfo, QString dataFolder);
+
+		void onSequenceCompleteStopRecord();
+
 protected:
 	void closeEvent(QCloseEvent* event) override;
 

HPPA/HPPA.qrc

@@ -32,6 +32,9 @@
         <file>resources/icons/svg/tree_tri_down.svg</file>
         <file>resources/icons/svg/tree_tri_right.svg</file>
         <file>resources/icons/svg/mIconRaster.svg</file>
+        <file>resources/icons/svg/HorizontalMirror.svg</file>
+        <file>resources/icons/svg/rotate90.svg</file>
+        <file>resources/icons/svg/VerticalMirror.svg</file>
     </qresource>
     <qresource prefix="/png">
         <file>resources/icons/png/Spectral_Insight_27.png</file>

HPPA/HPPA.ui

@@ -203,6 +203,9 @@ QToolBar QToolButton:hover {
    <addaction name="actionOpenDirectory"/>
    <addaction name="mActionPan"/>
    <addaction name="mActionSpectral"/>
+   <addaction name="mActionVerticalMirror"/>
+   <addaction name="mActionHorizontalMirror"/>
+   <addaction name="mActionRotation90"/>
   </widget>
   <widget class="QStatusBar" name="statusBar">
    <property name="styleSheet">
@@ -758,6 +761,27 @@ QPushButton:pressed
     <string>贡嘎山旋转平台</string>
    </property>
   </action>
+  <action name="mActionVerticalMirror">
+   <property name="text">
+    <string>上下镜像</string>
+   </property>
+  </action>
+  <action name="mActionHorizontalMirror">
+   <property name="text">
+    <string>左右镜像</string>
+   </property>
+   <property name="toolTip">
+    <string>左右镜像</string>
+   </property>
+  </action>
+  <action name="mActionRotation90">
+   <property name="text">
+    <string>旋转90度</string>
+   </property>
+   <property name="toolTip">
+    <string>旋转90度</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>

HPPA/HPPA.vcxproj

@@ -60,7 +60,7 @@
     <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;$(LibraryPath)</LibraryPath>
     <TargetName>Spectral Insight</TargetName>
   </PropertyGroup>
@@ -71,11 +71,12 @@
     </Link>
     <ClCompile>
       <PreprocessorDefinitions>%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <LanguageStandard>stdcpp14</LanguageStandard>
     </ClCompile>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(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>
@@ -159,6 +160,7 @@
     <ClCompile Include="recordFrameCounter.cpp" />
     <ClCompile Include="resononImager.cpp" />
     <ClCompile Include="ResononNirImager.cpp" />
+    <ClCompile Include="RgbCameraCaptureCoordinator.cpp" />
     <ClCompile Include="RgbCameraOperation.cpp" />
     <ClCompile Include="rgbCameraWindow.cpp" />
     <ClCompile Include="RobotArmControl.cpp" />
@@ -185,6 +187,7 @@
     <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" />
@@ -211,6 +214,7 @@
     <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="DepthValueLogger.h" />
     <QtMoc Include="fileOperation.h" />
   </ItemGroup>
   <ItemGroup>
@@ -286,6 +290,7 @@
     <ClInclude Include="ResononNirImager.h" />
     <ClInclude Include="resource.h" />
     <ClInclude Include="stdafx.h" />
+    <QtMoc Include="RgbCameraCaptureCoordinator.h" />
     <QtMoc Include="RgbCameraOperation.h" />
     <QtMoc Include="resononImager.h" />
     <QtMoc Include="QMotorDoubleSlider.h" />

HPPA/HPPA.vcxproj.filters

@@ -21,6 +21,24 @@
       <UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
       <Extensions>ts</Extensions>
     </Filter>
+    <Filter Include="Header Files\TimedDataCollection">
+      <UniqueIdentifier>{3777a3c2-8d8a-4414-b6c9-ac20640f7b2e}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\TimedDataCollection">
+      <UniqueIdentifier>{ea004f0d-34de-4b29-8ce2-57dd8aa01c03}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\LayerTree">
+      <UniqueIdentifier>{25329ee3-f78c-4dd9-9170-e64ccb4ccd9e}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Header Files\LayerTree">
+      <UniqueIdentifier>{18072152-2a29-4ad8-be97-d097af97eeec}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Header Files\hyperImagerCtl">
+      <UniqueIdentifier>{b3f08410-c140-42db-bcfd-24efba860cfb}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\hyperImagerCtl">
+      <UniqueIdentifier>{205ec088-0286-42ca-862c-2870928a46f5}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="HPPA.qrc">
@@ -70,9 +88,6 @@
     <ClCompile Include="QMotorDoubleSlider.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="resononImager.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="RgbCameraOperation.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -88,12 +103,6 @@
     <ClCompile Include="path_tc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="ResononNirImager.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="ImagerOperationBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="utility_tc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -139,21 +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>
@@ -226,18 +214,9 @@
     <ClCompile Include="SingleLensReflexCameraWindow.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="LayerTreeImageNode.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="RasterRendererBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="TimedDataCollection.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="TimedDataCollectionDataStructures.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="CommunicationViaTCP.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -247,9 +226,6 @@
     <ClCompile Include="PowerControl3D.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="TaskTreeModel.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="PathLine.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -265,6 +241,51 @@
     <ClCompile Include="GonggaShanRecordCtl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="TaskTreeModel.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollection.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollectionDataStructures.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTree.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeGroupNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeImageNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeLayerNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeModel.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeView.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeViewMenuProvider.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="ImagerOperationBase.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="resononImager.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="ResononNirImager.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="DepthValueLogger.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -291,18 +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>
@@ -339,21 +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>
@@ -363,9 +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>
@@ -405,15 +402,6 @@
     <QtMoc Include="SingleLensReflexCameraWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="LayerTreeImageNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="TimedDataCollection.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="TimedDataCollectionDataStructures.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="CommunicationViaTCP.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -423,9 +411,6 @@
     <QtMoc Include="PowerControl3D.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="TaskTreeModel.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="FodisWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -435,6 +420,45 @@
     <QtMoc Include="GonggaShanRecordCtl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="TimedDataCollection.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="TaskTreeModel.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="TimedDataCollectionDataStructures.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTree.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeGroupNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeImageNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeLayerNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeModel.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeViewMenuProvider.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="ImagerOperationBase.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </QtMoc>
+    <QtMoc Include="resononImager.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </QtMoc>
+    <QtMoc Include="DepthValueLogger.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -455,9 +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>
@@ -482,9 +503,6 @@
     <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>
@@ -497,6 +515,12 @@
     <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">

HPPA/ImageViewer.cpp

@@ -36,7 +36,7 @@ Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
     ft.setPointSize(14);
     m_framNumberLabel->setFont(ft);
 	m_framNumberLabel->setText("0");
-
+    m_framNumberLabel->setVisible(false);
 
     m_GraphicsPixmapItemHandle = nullptr;
 
@@ -48,6 +48,9 @@ Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
     setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setFrameShape(QFrame::NoFrame);
+
+    loadSettings();
+    //addSceneCoordinateSystem();
 }
 
 Mapcavas::~Mapcavas()
@@ -55,6 +58,99 @@ Mapcavas::~Mapcavas()
 
 }
 
+void Mapcavas::loadSettings()
+{
+    updateDisplayMode();
+
+    //更新控制图像变换的变量m_imageTransformState
+    AppSettings& settings = AppSettings::instance();
+    m_imageTransformState.horizontalMirror = settings.imageHorizontalMirror();
+    m_imageTransformState.verticalMirror = settings.imageVerticalMirror();
+    m_imageTransformState.rotation = settings.imageRotation();
+}
+
+void Mapcavas::applyImageTransform()
+{
+    if (m_GraphicsPixmapItemHandle == nullptr)
+        return;
+
+    const double sx = m_imageTransformState.horizontalMirror ? -1.0 : 1.0;
+    const double sy = m_imageTransformState.verticalMirror ? -1.0 : 1.0;
+    const QPointF center = m_GraphicsPixmapItemHandle->boundingRect().center();
+
+    QTransform transform_all;
+    transform_all.translate(center.x(), center.y());// 围绕图片中心变换
+    transform_all.scale(sx, sy);
+    transform_all.rotate(m_imageTransformState.rotation);
+    transform_all.translate(-center.x(), -center.y());
+
+    // setTransform 是替换而非叠加，因此可对已显示的图像重复调用
+    m_GraphicsPixmapItemHandle->setTransform(transform_all);
+
+    //QPointF itemOrigin(0, 0);
+    //QPointF sceneOrigin = m_GraphicsPixmapItemHandle->mapToScene(itemOrigin);
+    //QPointF sceneOrigin2 = m_GraphicsPixmapItemHandle->scenePos();
+
+    // 变换后重新定位十字叉，使其始终跟随同一个图像像素
+    repositionCrosshair();
+}
+
+void Mapcavas::repositionCrosshair()
+{
+    if (!m_hLine || !m_vLine || !m_GraphicsPixmapItemHandle)
+        return;
+
+    const QPointF scenePt = m_GraphicsPixmapItemHandle->mapToScene(m_crosshairItemPos);
+    m_hLine->setPos(scenePt);
+    m_vLine->setPos(scenePt);
+}
+
+void Mapcavas::refreshImageTransform()
+{
+    if (!HasImage())
+        return;
+
+    applyImageTransform();
+
+    if (m_displayMode == AppSettings::HyperimgDisplayMode::Full)
+    {
+        ensureSceneVisible();
+    }
+    else if (m_displayMode == AppSettings::HyperimgDisplayMode::Waterfall)
+    {
+        ensureWaterfallVisible();
+    }
+}
+
+void Mapcavas::rotateImage90()
+{
+    AppSettings& settings = AppSettings::instance();
+    settings.setImageRotation(settings.imageRotation() + 90);
+    loadSettings();
+    refreshImageTransform();
+}
+
+void Mapcavas::toggleHorizontalMirror()
+{
+    AppSettings& settings = AppSettings::instance();
+    settings.setImageHorizontalMirror(!settings.imageHorizontalMirror());
+    loadSettings();
+    refreshImageTransform();
+}
+
+void Mapcavas::toggleVerticalMirror()
+{
+    AppSettings& settings = AppSettings::instance();
+    settings.setImageVerticalMirror(!settings.imageVerticalMirror());
+    loadSettings();
+    refreshImageTransform();
+}
+
+void Mapcavas::updateDisplayMode()
+{
+    m_displayMode = AppSettings::instance().hyperimgDisplayMode();
+}
+
 void Mapcavas::DisplayFrameNumber(int frameNumber)
 {
     m_framNumberLabel->setText(QString::number(frameNumber));
@@ -71,7 +167,13 @@ void Mapcavas::SetImage(QPixmap *image)
     {
         m_GraphicsPixmapItemHandle->setPixmap(*image);
     }
-    ensureSceneVisible();
+
+    refreshImageTransform();
+}
+
+QGraphicsPixmapItem* Mapcavas::pixmapItemHandle()
+{
+	return m_GraphicsPixmapItemHandle;
 }
 
 void Mapcavas::ensureSceneVisible()
@@ -91,6 +193,92 @@ void Mapcavas::ensureSceneVisible()
     centerOn(scene_rect.center());
 }
 
+void Mapcavas::ensureWaterfallVisible()
+{
+    if (!HasImage())
+        return;
+
+    resetTransform();
+
+    QGraphicsPixmapItem* item = m_GraphicsPixmapItemHandle;
+    const QRectF item_rect = item->boundingRect();
+    if (item_rect.isEmpty())
+        return;
+
+    // 图像已经应用了 m_imageTransformState 的镜像/旋转，这里以场景中的实际位置为准
+    const QRectF scene_rect = item->sceneBoundingRect();
+
+    qreal view_width = viewport()->rect().width();
+    qreal view_height = viewport()->rect().height();
+    if (view_width <= 0.0 || view_height <= 0.0)
+        return;
+    if (scene_rect.width() <= 0.0 || scene_rect.height() <= 0.0)
+        return;
+
+    // 图像坐标中：x 为扫描线空间轴(固定)，y 为采集帧数(不断增长)，最新一帧位于 y 最大处。
+    // 经过镜像/旋转后，增长轴可能竖直(0°/180°)或水平(90°/270°)。
+    const QPointF growth_dir = item->mapToScene(QPointF(0.0, 1.0))
+                             - item->mapToScene(QPointF(0.0, 0.0));
+    const bool growth_vertical = qAbs(growth_dir.y()) >= qAbs(growth_dir.x());
+
+    // 最新一帧(图像底边中心)在场景中的位置，用于判断应该贴哪条边
+    const QPointF newest_scene = item->mapToScene(
+        QPointF(item_rect.width() / 2.0, item_rect.height()));
+
+    if (growth_vertical)
+    {
+        // 竖直瀑布：空间轴横向铺满视图宽度，最新一帧固定在上/下边缘
+        const double x_scale = view_width / scene_rect.width();
+        scale(x_scale, x_scale);
+        m_scale *= x_scale;
+
+        // 计算缩放后的图片可见高度
+        qreal scaled_height = scene_rect.height() * x_scale;
+
+        qreal center_y;
+        if (scaled_height <= view_height)
+        {
+            center_y = scene_rect.center().y();
+        }
+        else
+        {
+            qreal half_view_height = view_height / 2.0 / x_scale;
+            if (newest_scene.y() >= scene_rect.center().y())
+                center_y = scene_rect.bottom() - half_view_height;  // 最新帧在下方，贴底
+            else
+                center_y = scene_rect.top() + half_view_height;     // 最新帧在上方，贴顶
+        }
+
+        centerOn(scene_rect.center().x(), center_y);
+    }
+    else
+    {
+        // 水平瀑布：空间轴竖向铺满视图高度，最新一帧固定在左/右边缘
+        const double y_scale = view_height / scene_rect.height();
+        scale(y_scale, y_scale);
+        m_scale *= y_scale;
+
+        // 计算缩放后的图片可见宽度
+        qreal scaled_width = scene_rect.width() * y_scale;
+
+        qreal center_x;
+        if (scaled_width <= view_width)
+        {
+            center_x = scene_rect.center().x();
+        }
+        else
+        {
+            qreal half_view_width = view_width / 2.0 / y_scale;
+            if (newest_scene.x() >= scene_rect.center().x())
+                center_x = scene_rect.right() - half_view_width;    // 最新帧在右侧，贴右
+            else
+                center_x = scene_rect.left() + half_view_width;     // 最新帧在左侧，贴左
+        }
+
+        centerOn(center_x, scene_rect.center().y());
+    }
+}
+
 bool Mapcavas::HasImage()
 {
     if (m_GraphicsPixmapItemHandle == nullptr)
@@ -111,21 +299,32 @@ void Mapcavas::updateCrosshair(double sceneX, double sceneY)
     if (!m_hLine)
     {
         m_hLine = m_qtGraphicsScene->addLine(0, 0, 0, 0, pen);
+        m_hLine->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
         m_hLine->setZValue(1e9);
     }
     if (!m_vLine)
     {
         m_vLine = m_qtGraphicsScene->addLine(0, 0, 0, 0, pen);
+        m_vLine->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
         m_vLine->setZValue(1e9);
     }
 
     m_hLine->setPen(pen);
     m_vLine->setPen(pen);
 
-    m_hLine->setLine(sceneX - m_CrosshairHalfLen, sceneY,
-        sceneX + m_CrosshairHalfLen, sceneY);
-    m_vLine->setLine(sceneX, sceneY - m_CrosshairHalfLen,
-        sceneX, sceneY + m_CrosshairHalfLen);
+    // 设置 ItemIgnoresTransformations 后，图元的原点依旧按场景坐标定位，
+    // 但局部坐标不再受视图缩放影响（1 单位 = 1 屏幕像素）。
+    // 这里把锚点记录在图像(图元)坐标系中，再据此定位十字叉：
+    // 这样点击某个像素后，无论滚轮缩放还是镜像/旋转图像，十字叉都锚定在该像素上。
+    const QPointF scenePt(sceneX + 0.5, sceneY + 0.5);
+    m_crosshairItemPos = m_GraphicsPixmapItemHandle->mapFromScene(scenePt);
+
+    repositionCrosshair();
+
+    m_hLine->setLine(-m_CrosshairHalfLen, 0.0,
+        m_CrosshairHalfLen, 0.0);
+    m_vLine->setLine(0.0, -m_CrosshairHalfLen,
+        0.0, m_CrosshairHalfLen);
 }
 
 void Mapcavas::removeCrosshair()
@@ -144,6 +343,7 @@ void Mapcavas::removeCrosshair()
         delete m_vLine;
         m_vLine = nullptr;
     }
+    m_crosshairItemPos = QPointF();
 }
 
 
@@ -323,3 +523,91 @@ MapTool* Mapcavas::mapTool() const
 {
     return m_mapTool;
 }
+
+void Mapcavas::addSceneCoordinateSystem()
+{
+    const double length = 200.0;
+    const double arrowSize = 10.0;
+
+    // 坐标系作为参考叠加层，需要始终绘制在图像和其他图元之上；
+    // 十字叉使用更大的 Z 值(1e9)，因此这里取一个略小的值。
+    const double zOrder = 1e8;
+
+    // X 轴
+    QPen xPen(Qt::red);
+    xPen.setWidth(2);
+
+    QGraphicsLineItem* xAxis = m_qtGraphicsScene->addLine(
+        0, 0,
+        length, 0,
+        xPen
+    );
+    xAxis->setZValue(zOrder);
+
+    // X 箭头
+    QPolygonF xArrow;
+    xArrow << QPointF(length, 0)
+        << QPointF(length - arrowSize, -arrowSize / 2)
+        << QPointF(length - arrowSize, arrowSize / 2);
+
+    QGraphicsPolygonItem* xArrowItem = m_qtGraphicsScene->addPolygon(
+        xArrow,
+        xPen,
+        QBrush(Qt::red)
+    );
+    xArrowItem->setZValue(zOrder);
+
+
+    // Y 轴
+    QPen yPen(Qt::green);
+    yPen.setWidth(2);
+
+    QGraphicsLineItem* yAxis = m_qtGraphicsScene->addLine(
+        0, 0,
+        0, length,
+        yPen
+    );
+    yAxis->setZValue(zOrder);
+
+    // Y 箭头
+    QPolygonF yArrow;
+    yArrow << QPointF(0, length)
+        << QPointF(-arrowSize / 2, length - arrowSize)
+        << QPointF(arrowSize / 2, length - arrowSize);
+
+    QGraphicsPolygonItem* yArrowItem = m_qtGraphicsScene->addPolygon(
+        yArrow,
+        yPen,
+        QBrush(Qt::green)
+    );
+    yArrowItem->setZValue(zOrder);
+
+
+    // 原点
+    QGraphicsEllipseItem* originItem = m_qtGraphicsScene->addEllipse(
+        -4, -4,
+        8, 8,
+        QPen(Qt::blue),
+        QBrush(Qt::blue)
+    );
+    originItem->setZValue(zOrder);
+
+
+    // X 标签
+    QGraphicsTextItem* xText = m_qtGraphicsScene->addText("X");
+    xText->setDefaultTextColor(Qt::red);
+    xText->setPos(length + 5, -15);
+    xText->setZValue(zOrder);
+
+    // Y 标签
+    QGraphicsTextItem* yText = m_qtGraphicsScene->addText("Y");
+    yText->setDefaultTextColor(Qt::green);
+    yText->setPos(5, length + 5);
+    yText->setZValue(zOrder);
+
+    // 原点标签
+    QGraphicsTextItem* originText = m_qtGraphicsScene->addText("(0, 0)");
+    originText->setDefaultTextColor(Qt::blue);
+    originText->setPos(5, 5);
+    originText->setZValue(zOrder);
+}

HPPA/ImageViewer.h

@@ -4,6 +4,7 @@
 #include "QGraphicsView"
 #include "qlabel.h"
 #include <QVector>
+#include "AppSettings.h"
 
 class RasterImageLayer;
 
@@ -19,7 +20,7 @@ public:
 
 
 	void DisplayFrameNumber(int frameNumber);
-
+	void updateDisplayMode();
 
 	void mousePressEvent(QMouseEvent *event);
 	void mouseMoveEvent(QMouseEvent *event);
@@ -29,6 +30,7 @@ public:
 	void SetImage(QPixmap *image);
 	bool HasImage();
 	void ensureSceneVisible();
+	void ensureWaterfallVisible();
 
 	void updateCrosshair(double sceneX, double sceneY);
 	void removeCrosshair();
@@ -59,6 +61,16 @@ public:
 	void unsetMapTool(MapTool* tool);
 	MapTool* mapTool() const;
 
+	QGraphicsPixmapItem* pixmapItemHandle();
+
+	// 图像显示变换（左右镜像/上下镜像/旋转），状态保存在 AppSettings 中全局生效
+	void rotateImage90();
+	void toggleHorizontalMirror();
+	void toggleVerticalMirror();
+
+	// 把当前的镜像/旋转重新应用到已经显示的图像，并按显示模式重新适配视图
+	void refreshImageTransform();
+
 protected:
 	QGraphicsScene *m_qtGraphicsScene;
 private:
@@ -77,7 +89,23 @@ private:
 	double m_CrosshairHalfLen = 10.0;
 	QGraphicsLineItem* m_hLine = nullptr;  // horizontal line
 	QGraphicsLineItem* m_vLine = nullptr;  // vertical line
+	QPointF m_crosshairItemPos;            // 十字叉锚点，保存在图像(图元)坐标系
 
+	AppSettings::HyperimgDisplayMode m_displayMode;
+
+	struct ImageTransformState
+	{
+		bool horizontalMirror = true;
+		bool verticalMirror = true;
+		int rotation = 90*3;  // 0、90、180、270
+	};
+	ImageTransformState m_imageTransformState;
+
+	void applyImageTransform();
+	void repositionCrosshair();
+	void loadSettings();
+
+	void addSceneCoordinateSystem();
 
 signals:
 	void leftMouseButtonPressed(int, int, QVector<double>, QVector<double>);

HPPA/ImagerOperationBase.cpp

@@ -68,11 +68,12 @@ double ImagerOperationBase::auto_exposure()
 
 	imagerStopCollect();
 
-	emit autoExposureSignal();
+	double exposureTime = getIntegrationTime();
+	emit autoExposureSignal(exposureTime);
 
-	//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
+	//std::cout << "自动曝光：" << exposureTime << std::endl;
 
-	return getIntegrationTime();
+	return exposureTime;
 }
 
 void ImagerOperationBase::focus()
@@ -221,6 +222,16 @@ 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;
@@ -241,7 +252,7 @@ void ImagerOperationBase::start_record()
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
 	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
 	QString filePath = QString::fromStdString(m_FileName2Save2);
-	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter);
+	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter, "visibleLight");
 
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
@@ -303,7 +314,7 @@ void ImagerOperationBase::start_record()
 		fprintf(hTimesFile, "%ll\n", timeOs);
 
 		//将rgb波段提取出来，以便在界面中显示
-		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
+		m_RgbImage->FillRgbImage(buffer, 121, 79, 40);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
 		//std::cout << "第" << m_iFrameCounter << "帧写了" << x << "个unsigned short。" << std::endl;
 

HPPA/ImagerOperationBase.h

@@ -117,11 +117,11 @@ signals:
 
 
     void testImagerStatus();//表示可以测试相机连接状态：是否连接，并反映到界面上
-    void autoExposureSignal();
+    void autoExposureSignal(double exposureTime);
 
     // 新增：当一组影像文件（.bil/.hdr）写入完成后发出（会从采集线程发出，Qt 会做 queued connection）
     void ImageFileSaved(const QString& path, int fileIndex);
 
     // 修改：不再直接发送 MapLayer*，而是发送文件名与文件路径，UI 层负责创建 MapLayer 对象并管理生命周期
-    void LayerFileCreated(const QString& baseName, const QString& filePath, int fileIndex);
+    void LayerFileCreated(const QString& baseName, const QString& filePath, int fileIndex, const QString& hyperimagerTppe);
 };

HPPA/JinspFiberImager.cpp

@@ -1,7 +1,9 @@
 //
 // Created by 73505 on 2023/5/7.
 //
-
+#include <algorithm>
+#include <QFile> 
+#include <QDir> 
 #include "JinspFiberImager.h"
 
 JinspFiberImager::JinspFiberImager(bool bIsUSBMode, std::string ucPortNumber, std::string strDeviceName)
@@ -12,7 +14,7 @@ JinspFiberImager::JinspFiberImager(bool bIsUSBMode, std::string ucPortNumber, st
 
     m_record = false;
 
-    m_captureIntervalMilliseconds = 5 * 1000;
+    m_captureIntervalMilliseconds = 1 * 1000;
 
     qRegisterMetaType<DeviceAttribute>("DeviceAttribute");
     qRegisterMetaType<DataFrame>("DataFrame");
@@ -131,7 +133,7 @@ void JinspFiberImager::recordDark(QString path)
     outfile.close();
 }
 
-void JinspFiberImager::recordTarget(int recordTimes, QString path)
+void JinspFiberImager::recordTarget2csv(int recordTimes, QString path)
 {
     //获取设备信息
     DeviceAttribute attribute;
@@ -171,7 +173,7 @@ void JinspFiberImager::recordTarget(int recordTimes, QString path)
     //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) + "_integratingSphereSpectral_dn.csv";
+    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++)
@@ -188,73 +190,110 @@ void JinspFiberImager::recordTarget(int recordTimes, QString path)
 
 void JinspFiberImager::autoExpose()
 {
-//    float fPredictedExposureTime;
-//    m_FiberSpectrometer->PerformAutoExposure(0.6,0.9,fPredictedExposureTime);
+    int allowMaxExposure = 6000;
 
-    //tc
     DeviceAttribute attribute;
     getDeviceAttribute(attribute);
 
-    int iterations = 0;//记录自动曝光已经迭代的次数
-    int maxIterations = 10;//允许最大的迭代次数
+    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 thresholdValue = m_MaxValueOfFiberSpectrometer * 0.8;//最佳线性区间为80%
-    ZZ_U16 range = 10000;
+    ZZ_U32 thresholdLow = targetMin;
+    ZZ_U32 thresholdHigh = targetMax;
 
-    //设置初始曝光时间
-    int exposureTimeInMS = 200;
-    setExposureTime(exposureTimeInMS);
+    // 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);
 
-//    int exposureTime;
-//    m_FiberSpectrometer->GetExposureTime(exposureTime);
-
-    emit sendExposureTimeSignal(exposureTimeInMS);
-
-    DataFrame integratingSphereData_tmp;
-    ZZ_S32 maxValue;
-    while (true)
+    // 探测阶段：快速逼近目标区间
+    if (maxValue > 0)
     {
-        if (iterations > maxIterations)//是否超过允许的最大迭代次数
+        // 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;
         }
 
-        singleShot(integratingSphereData_tmp);
-        maxValue = GetMaxValue(integratingSphereData_tmp.lData, attribute.iPixels);
+        // 获取当前曝光时间
+        m_FiberSpectrometer->GetExposureTime(exposureTime);
 
-        if (maxValue < thresholdValue && maxValue < (thresholdValue - range))//曝光时间过小
+        if (maxValue < thresholdLow)
         {
-            double scale = 1 + ((double)(thresholdValue - maxValue) / (double)thresholdValue);
-
-            int exposureTime;
-            m_FiberSpectrometer->GetExposureTime(exposureTime);
-            m_FiberSpectrometer->SetExposureTime(exposureTime * scale);
-
-            emit sendExposureTimeSignal(exposureTime);
-
-            std::cout << "自动曝光-----------" << "最大值为" << maxValue << std::endl;
-        }
-        else if (maxValue > thresholdValue)//曝光时间过大
+            // 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
         {
-            double scale = 1 - ((double)(maxValue - thresholdValue) / (double)thresholdValue);
-
-            int exposureTime;
-            m_FiberSpectrometer->GetExposureTime(exposureTime);
-            m_FiberSpectrometer->SetExposureTime(exposureTime * scale);
-
-            emit sendExposureTimeSignal(exposureTime);
-
-            std::cout << "自动曝光++++++++++++" << "最大值为" << maxValue << std::endl;
-        }
-        else//找到最佳曝光时间，跳出while循环
-        {
-            break;
+            // 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++;
     }
 
-    int a = 2;
+    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)
@@ -280,7 +319,7 @@ void JinspFiberImager::setCaptureInterval(int captureIntervalSeconds)
     m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
 }
 
-void JinspFiberImager::OpenFiberImagerAndRecord()
+void JinspFiberImager::OpenFiberImagerAndRecord(QString filePath)
 {
     //连接光谱仪
     QString SN;
@@ -290,16 +329,30 @@ void JinspFiberImager::OpenFiberImagerAndRecord()
     connectFiberSpectrometer(SN, pixelCount, wavelengthInfo);
 
     //曝光
+    emit startExposureSignal();
     autoExpose();
+    emit exposureCompleteSignal(m_iExposureTime);
 
     //采集
+    QFile qfData(filePath);
+    bool bRes = qfData.open(QFile::WriteOnly | QIODevice::Append);
+    if (!bRes)
+    {
+        printf("WriteData QFile open Failed");
+        return;
+    }
+
     m_record = true;
+    DataFrame data;
     while (m_record)
     {
-        recordTarget(1, AppSettings::instance().FiberImagerDataFolder());
+        singleShot(data);
+        qfData.write((char*)&data, sizeof(DataFrame));
+        qfData.flush();
 
         QThread::msleep(m_captureIntervalMilliseconds);
     }
+    qfData.close();
 
     std::cout << "close.........." << std::endl;
     m_FiberSpectrometer->Close();

HPPA/JinspFiberImager.h

@@ -53,16 +53,23 @@ private:
     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 recordTarget2csv(int recordTimes, QString path);
     void autoExpose();
 
-    void OpenFiberImagerAndRecord();
+    void OpenFiberImagerAndRecord(QString filePath);
 
 signals:
     void sendExposureTimeSignal(int exposureTime);
     void spectalCaptured(DeviceAttribute attribute, DataFrame dataFrame);
+
+    void exposureCompleteSignal(int exposureTime);
+    void startExposureSignal();
 };

HPPA/MapToolSpectral.cpp

@@ -37,21 +37,35 @@ void MapToolSpectral::canvasMousePressEvent(QMouseEvent* e)
     if (!canvas())
         return;
 
-    const QPointF scenePt = canvas()->mapToScene(e->pos());
-    const int x = static_cast<int>(std::floor(scenePt.x()));
-    const int y = static_cast<int>(std::floor(scenePt.y()));
+    //获取图像元素
+    QGraphicsPixmapItem* item = canvas()->pixmapItemHandle();
+    QPointF scenePos = item->pos();
+    QPointF scenePos2 = item->scenePos();
+
+    if (item==nullptr)
+    {
+        return;
+    }
+
+    QPointF scenePt = canvas()->mapToScene(e->pos());
+    int x_scenePt = static_cast<int>(std::floor(scenePt.x()));
+    int y_scenePt = static_cast<int>(std::floor(scenePt.y()));
+
+    QPointF itemPt = item->mapFromScene(scenePt);
+    int x_itemPt = static_cast<int>(std::floor(itemPt.x()));
+    int y_itemPt = static_cast<int>(std::floor(itemPt.y()));
 
     auto* imageLayer = canvas()->imageLayer();
     RasterLayer* rl = imageLayer ? imageLayer->layer() : nullptr;
-    if (rl && rl->isValidPixel(x, y))
+    if (rl && rl->isValidPixel(x_itemPt, y_itemPt))
     {
-        canvas()->updateCrosshair(x + 0.5, y + 0.5);
+        canvas()->updateCrosshair(x_scenePt + 0.5, y_scenePt + 0.5);
 
         QVector<double> wavelengths;
         QVector<double> spectrum;
-        if (rl->readPixelSpectrum(x, y, wavelengths, spectrum))
+        if (rl->readPixelSpectrum(x_itemPt, y_itemPt, wavelengths, spectrum))
         {
-            emit spectralClicked(x, y, wavelengths, spectrum);
+            emit spectralClicked(x_itemPt, y_itemPt, wavelengths, spectrum);
         }
     }
 }

HPPA/OneMotorControl.cpp

@@ -16,6 +16,22 @@ 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()));
+
+    // 连接信号，当控件数值变化时保存到 AppSettings
+    connect(ui.scanSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.scanSpeed_lineEdit->text().toDouble());
+    });
+    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
+    });
+    connect(ui.manualMovementSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setManualMovementSpeed(ui.manualMovementSpeed_lineEdit->text().toDouble());
+    });
+    connect(ui.reverseMove_radioButton, &QRadioButton::toggled, [this](bool checked) {
+        AppSettings::instance().setIsReverseMove(checked);
+    });
+
+    loadSettings();
 }
 
 OneMotorControl::~OneMotorControl()
@@ -24,27 +40,49 @@ OneMotorControl::~OneMotorControl()
     m_motorThread.wait();
 }
 
+void OneMotorControl::loadSettings()
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(AppSettings::instance().scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(AppSettings::instance().returnSpeed()));
+    ui.manualMovementSpeed_lineEdit->setText(QString::number(AppSettings::instance().manualMovementSpeed()));
+
+    ui.reverseMove_radioButton->setChecked(AppSettings::instance().isReverseMove());
+}
+
 void OneMotorControl::onConnectMotor()
+{
+    connectMotor(true);
+}
+
+void OneMotorControl::setScanSpeed(double speed)
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(speed));
+}
+
+void OneMotorControl::connectMotor(bool isNotification)
 {
     if (getMotorsConnectionStatus())
     {
-        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;
     }
 
     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>)));
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl::display_x_loc);
+        disconnect(this, &OneMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+        disconnect(this, qOverload<int, double, double, int>(&OneMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+        disconnect(this, &OneMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
+        disconnect(this, &OneMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
+        disconnect(this, &OneMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
+        disconnect(this, &OneMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl::display_motors_connectivity);
 
         m_motorThread.quit();
         m_motorThread.wait();
@@ -68,20 +106,20 @@ void OneMotorControl::onConnectMotor()
 	}
 
     m_multiAxisController->moveToThread(&m_motorThread);
-    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+    connect(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::deleteLater);
 
-    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl::display_x_loc);
 
-    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
-    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
-    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+    connect(this, &OneMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+    connect(this, qOverload<int, double, double, int>(&OneMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+    connect(this, &OneMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
 
-    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+    connect(this, &OneMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
 
-    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+    connect(this, &OneMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
 
-    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>)));
+    connect(this, &OneMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl::display_motors_connectivity);
 
     m_motorThread.start();
     emit testConnectivitySignal(0, 1000);
@@ -90,7 +128,7 @@ void OneMotorControl::onConnectMotor()
 void OneMotorControl::display_x_loc(std::vector<double> loc)
 {
     double tmp = round(loc[0] * 100) / 100;
-    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+    this->ui.realTimeLoc_label->setText(QString::number(tmp));
 
     emit broadcastLocationSignal(loc);
 }
@@ -140,13 +178,13 @@ void OneMotorControl::zeroStart()
 
 void OneMotorControl::onx_rangeMeasurement()
 {
-    double s0 = ui.speed_lineEdit->text().toDouble();
+    double s0 = ui.manualMovementSpeed_lineEdit->text().toDouble();
     emit rangeMeasurement(0, s0, 1000);
 }
 
 void OneMotorControl::onxMove2Loc()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
     double l = ui.move2loc_lineEdit->text().toDouble();
 
     emit move2LocSignal(0, l, s, 1000);
@@ -154,16 +192,16 @@ void OneMotorControl::onxMove2Loc()
 
 void OneMotorControl::onxMotorRight()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, false, s, 1000);
+    emit moveSignal(0, abs(s), 1000);
 }
 
 void OneMotorControl::onxMotorLeft()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, true, s, 1000);
+    emit moveSignal(0, abs(s)*-1, 1000);
 }
 
 void OneMotorControl::onxMotorStop()
@@ -178,7 +216,11 @@ void OneMotorControl::setImager(ImagerOperationBase* imager)
 
 void OneMotorControl::record_dark()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.scanSpeed_lineEdit->text().toDouble();
+    if (ui.reverseMove_radioButton->isChecked())
+    {
+        s = s * -1;
+    }
 
     if (m_darkCaptureCoordinator == nullptr)
     {
@@ -190,7 +232,11 @@ void OneMotorControl::record_dark()
 
 void OneMotorControl::record_white()
 {
-    double s = ui.speed_lineEdit->text().toDouble();
+    double s = ui.scanSpeed_lineEdit->text().toDouble();
+    if (ui.reverseMove_radioButton->isChecked())
+    {
+        s = s * -1;
+    }
 
     if (m_whiteCaptureCoordinator == nullptr)
     {
@@ -202,15 +248,31 @@ 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_motorBack2Origin(0);
+    }
+
     qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
     m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
-    connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
-    connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
+    m_coordinator->setObjectName("testOneMotionCaptureCoordinator");
 
-    connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
+    connect(this, &OneMotorControl::start, m_coordinator, &OneMotionCaptureCoordinator::startStepMotion);
+    connect(this, &OneMotorControl::stopStepMotionSignal, m_coordinator, &OneMotionCaptureCoordinator::stopStepMotion);
+
+    connect(m_coordinator, &OneMotionCaptureCoordinator::sequenceCompleteSignal_hyperImagerStopRecord,
+        this, &OneMotorControl::sequenceCompleteSignal_hyperImagerStopRecord);
+    connect(m_coordinator, &OneMotionCaptureCoordinator::sequenceCompleteSignal_motorBack2Origin, 
+        this, &OneMotorControl::onSequenceComplete_motorBack2Origin);
 
     OneMotionCapturePathLine tmp;
-    tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
+
+    double s = ui.scanSpeed_lineEdit->text().toDouble();
+    if (ui.reverseMove_radioButton->isChecked())
+    {
+        s = s * -1;
+    }
+    tmp.speedRecord = s;
     tmp.speedBack = ui.return_speed_lineEdit->text().toDouble();
 
     emit start(tmp);
@@ -221,13 +283,37 @@ void OneMotorControl::stop()
     emit stopStepMotionSignal();
 }
 
-void OneMotorControl::onSequenceComplete(int state)
+void OneMotorControl::multiPosHyperAutoExposure()
 {
-    emit sequenceComplete();
+    //所有该自动曝光的位置
+    std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
+    double maxPos = maxRangeLocations[0];
 
-    disconnect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
-    disconnect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
-    disconnect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
+    std::vector<double> locations;
+	locations.push_back(maxPos * 0.2);
+    locations.push_back(maxPos * 0.5);
+    locations.push_back(maxPos * 0.8);
+
+	//创建协调器，并连接信号槽
+    m_coordinator_gonggashan_autoexpose = new OneMotorMultiPosCoordinator(m_multiAxisController, m_Imager);
+
+    //connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator_gonggashan_autoexpose, SLOT(stopStepMotion()));
+    connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::sequenceComplete, this, &OneMotorControl::onSequenceComplete_gonggashan_autoexpose);
+    connect(m_coordinator_gonggashan_autoexpose, &OneMotorMultiPosCoordinator::hyperAutoExposureDoneSignal, this, &OneMotorControl::hyperAutoExposureDoneSignal_gonggashan);
+    
+    m_coordinator_gonggashan_autoexpose->startStepMotion(ui.manualMovementSpeed_lineEdit->text().toDouble(), locations);
+}
+
+void OneMotorControl::onSequenceComplete_gonggashan_autoexpose(int state)
+{
+    emit multiPosAutoexposeSequenceCompleteSignal();
+
+    m_coordinator_gonggashan_autoexpose->deleteLater();
+}
+
+void OneMotorControl::onSequenceComplete_motorBack2Origin(int state)
+{
+    emit sequenceComplete_motorBack2Origin();
 
     // Use deleteLater() instead of delete: this slot may have been called directly
     // from OneMotionCaptureCoordinator's call stack (direct connection), so deleting
@@ -240,3 +326,285 @@ bool OneMotorControl::getMotorsConnectionStatus()
 {
     return m_xMotorConnectionStatus;
 }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+OneMotorControl_LiftingPlatform::OneMotorControl_LiftingPlatform(QWidget* parent) : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
+
+    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
+
+    // 连接信号，当控件数值变化时保存到 AppSettings
+    connect(ui.scanSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.scanSpeed_lineEdit->text().toDouble());
+        });
+    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
+        });
+    connect(ui.manualMovementSpeed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setManualMovementSpeed(ui.manualMovementSpeed_lineEdit->text().toDouble());
+        });
+
+    loadSettings();
+}
+
+OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
+{
+    m_motorThread.quit();
+    m_motorThread.wait();
+}
+
+void OneMotorControl_LiftingPlatform::loadSettings()
+{
+    ui.scanSpeed_lineEdit->setText(QString::number(AppSettings::instance().scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(AppSettings::instance().returnSpeed()));
+    ui.manualMovementSpeed_lineEdit->setText(QString::number(AppSettings::instance().manualMovementSpeed()));
+}
+
+void OneMotorControl_LiftingPlatform::onConnectMotor()
+{
+    connectMotor(true);
+}
+
+void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
+{
+    if (getMotorsConnectionStatus())
+    {
+        if (isNotification)
+        {
+            QMessageBox msgBox;
+            msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+            msgBox.exec();
+
+        }
+        return;
+    }
+
+    if (m_multiAxisController != nullptr)
+    {
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl_LiftingPlatform::display_x_loc);
+        disconnect(this, &OneMotorControl_LiftingPlatform::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+        disconnect(this, qOverload<int, double, double, int>(&OneMotorControl_LiftingPlatform::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+        disconnect(this, &OneMotorControl_LiftingPlatform::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
+        disconnect(this, &OneMotorControl_LiftingPlatform::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
+        disconnect(this, &OneMotorControl_LiftingPlatform::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
+        disconnect(this, &OneMotorControl_LiftingPlatform::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+        disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl_LiftingPlatform::display_motors_connectivity);
+
+        m_motorThread.quit();
+        m_motorThread.wait();
+        m_multiAxisController = nullptr;
+    }
+
+    try
+    {
+        FileOperation* fileOperation = new FileOperation();
+        string directory = fileOperation->getDirectoryOfExe();
+        QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_LiftingPlatform.cfg";
+
+        m_multiAxisController = new IrisMultiMotorController(configFilePath);
+    }
+    catch (std::exception const& e)
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
+        msgBox.exec();
+        return;
+    }
+
+    m_multiAxisController->moveToThread(&m_motorThread);
+    connect(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::deleteLater);
+
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &OneMotorControl_LiftingPlatform::display_x_loc);
+
+    connect(this, &OneMotorControl_LiftingPlatform::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+    connect(this, qOverload<int, double, double, int>(&OneMotorControl_LiftingPlatform::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+    connect(this, &OneMotorControl_LiftingPlatform::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
+
+    connect(this, &OneMotorControl_LiftingPlatform::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
+
+    connect(this, &OneMotorControl_LiftingPlatform::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
+
+    connect(this, &OneMotorControl_LiftingPlatform::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &OneMotorControl_LiftingPlatform::display_motors_connectivity);
+
+    m_motorThread.start();
+    emit testConnectivitySignal(0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::display_x_loc(std::vector<double> loc)
+{
+    double tmp = round(loc[0] * 100) / 100;
+    this->ui.realTimeLoc_label->setText(QString::number(tmp));
+
+    emit broadcastLocationSignal(loc);
+}
+
+void OneMotorControl_LiftingPlatform::display_motors_connectivity(std::vector<int> connectivity)
+{
+    //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+    if (connectivity[0])
+    {
+        m_xMotorConnectionStatus = true;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
+    }
+    else
+    {
+        m_xMotorConnectionStatus = false;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
+    }
+
+    if (getMotorsConnectionStatus())
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
+    }
+    else
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
+    }
+}
+
+void OneMotorControl_LiftingPlatform::zeroStart()
+{
+    zeroStartSignal(0);
+}
+
+void OneMotorControl_LiftingPlatform::onx_rangeMeasurement()
+{
+    double s0 = ui.manualMovementSpeed_lineEdit->text().toDouble();
+    emit rangeMeasurement(0, s0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMove2Loc()
+{
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
+    double l = ui.move2loc_lineEdit->text().toDouble();
+
+    emit move2LocSignal(0, l, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorRight()
+{
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, abs(s), 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorLeft()
+{
+    double s = ui.manualMovementSpeed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, abs(s)*-1, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorStop()
+{
+    emit stopSignal(0);
+}
+
+void OneMotorControl_LiftingPlatform::run()
+{
+	m_coordinator = new OneMotionCoordinator(m_multiAxisController,this);
+    connect(m_coordinator, &OneMotionCoordinator::sequenceComplete, this, &OneMotorControl_LiftingPlatform::sequenceComplete);
+    connect(m_coordinator, &OneMotionCoordinator::ArrivalSignal, this, &OneMotorControl_LiftingPlatform::onBack2Origin);
+
+    double plantDepthValue = DepthValueLogger::instance().readLatestPlantDepthValue();
+    double liftingPlatformDepthValue = DepthValueLogger::instance().readLatestLiftingPlatformDepthValue();
+	double targetDepth = liftingPlatformDepthValue - plantDepthValue;
+
+    if (targetDepth < 0)
+    {
+        return;
+    }
+
+    m_coordinator->moveToTarget(targetDepth, ui.manualMovementSpeed_lineEdit->text().toDouble());
+}
+
+void OneMotorControl_LiftingPlatform::stop()
+{
+    emit stopStepMotionSignal();
+}
+
+void OneMotorControl_LiftingPlatform::onBack2Origin(double pos)
+{
+    emit back2OriginSignal_TimedDataCollection();
+
+    m_coordinator->deleteLater();
+    m_coordinator = nullptr;
+}
+
+bool OneMotorControl_LiftingPlatform::getMotorsConnectionStatus()
+{
+    return m_xMotorConnectionStatus;
+}

HPPA/OneMotorControl.h

@@ -1,6 +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
 {
@@ -22,11 +26,17 @@ public:
     void run();
     void stop();
 
+    void multiPosHyperAutoExposure();
+
     void record_dark();
     void record_white();
 
     bool getMotorsConnectionStatus();
 
+    void connectMotor(bool isNotification);
+
+    void setScanSpeed(double speed);
+
 public Q_SLOTS:
     void onConnectMotor();
 
@@ -40,10 +50,11 @@ public Q_SLOTS:
     void onxMotorLeft();
     void onxMotorStop();
 
-    void onSequenceComplete(int state);
+    void onSequenceComplete_motorBack2Origin(int state);
+    void onSequenceComplete_gonggashan_autoexpose(int state);
 
 signals:
-    void moveSignal(int, bool, double, int);
+    void moveSignal(int, double, int);
     void move2LocSignal(int, double, double, int);
     void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
     void stopSignal(int);
@@ -56,20 +67,92 @@ signals:
     void stopStepMotionSignal();
 
     void sequenceComplete();
+    void sequenceComplete_motorBack2Origin();
 
     void broadcastLocationSignal(std::vector<double>);
 
+    void hyperAutoExposureDoneSignal_gonggashan(double exposureTime, double frameRate);
+
+    void multiPosAutoexposeSequenceCompleteSignal();
+
+    void sequenceCompleteSignal_hyperImagerStopRecord(int);
+
 private:
     Ui::OneMotorControl_UI ui;
 
     QThread m_motorThread;
     IrisMultiMotorController* m_multiAxisController = nullptr;
 
-    OneMotionCaptureCoordinator* m_coordinator = nullptr;
+    QPointer<OneMotionCaptureCoordinator> m_coordinator;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
 
     bool m_xMotorConnectionStatus = false;
+
+    QPointer<OneMotorMultiPosCoordinator> m_coordinator_gonggashan_autoexpose;
+
+    void loadSettings();
+};
+
+class OneMotorControl_LiftingPlatform : public QDialog, public MotorWindowBase
+{
+    Q_OBJECT
+
+public:
+    OneMotorControl_LiftingPlatform(QWidget* parent = nullptr);
+    ~OneMotorControl_LiftingPlatform();
+
+    void run();
+    void stop();
+
+    bool getMotorsConnectionStatus();
+
+    void connectMotor(bool isNotification);
+
+public Q_SLOTS:
+    void onConnectMotor();
+
+    void display_x_loc(std::vector<double> loc);
+    void display_motors_connectivity(std::vector<int> connectivity);
+    void onxMove2Loc();
+    void zeroStart();
+    void onx_rangeMeasurement();
+
+    void onxMotorRight();
+    void onxMotorLeft();
+    void onxMotorStop();
+
+    void onBack2Origin(double pos);
+
+signals:
+    void moveSignal(int, double, int);
+    void move2LocSignal(int, double, double, int);
+    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
+    void stopSignal(int);
+
+    void rangeMeasurement(int, double, int);
+    void zeroStartSignal(int);
+    void testConnectivitySignal(int, int);
+
+    void start(OneMotionCapturePathLine);
+    void stopStepMotionSignal();
+
+    void sequenceComplete(int status);
+    void back2OriginSignal_TimedDataCollection();
+
+    void broadcastLocationSignal(std::vector<double>);
+
+
+private:
+    Ui::OneMotorControl_UI ui;
+
+    QThread m_motorThread;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
+
+    QPointer<OneMotionCoordinator> m_coordinator;
+
+    bool m_xMotorConnectionStatus = false;
+    void loadSettings();
 };

HPPA/RasterImageLayer.cpp

@@ -5,11 +5,39 @@
 #include "MultibandRasterRenderer.h"
 #include "SinglebandRasterRenderer.h"
 
-RasterImageLayer::RasterImageLayer(RasterLayer* layer, RendererType type)
+RasterImageLayer::RasterImageLayer(RasterLayer* layer, RendererType type, bool initRenderParamsFromFile)
     : m_layer(layer)
     , m_rendererType(type)
     , m_rendererInitialized(false)
 {
+    if (initRenderParamsFromFile)
+    {
+        // 此处根据头文件（打开影像文件）修改默认渲染波段，只对打开文件的情况下有效；
+        // 当边采集边显示时（initRenderParamsFromFile设置为false），应该在实例化RasterImageLayer后调用setMultibandParams设置默认渲染波段
+        try
+        {
+            if (!m_layer) return;
+
+            std::vector<double> wavelengths = m_layer->bandWavelengths();
+            if (wavelengths.empty()) return;
+
+            std::sort(wavelengths.begin(), wavelengths.end());
+            double m_minWave = wavelengths.front();
+            double m_maxWave = wavelengths.back();
+
+            if (m_minWave > 800 && m_maxWave > 1600)
+            {
+                m_multibandParams.rWave = 1500;
+                m_multibandParams.gWave = 1300;
+                m_multibandParams.bWave = 1100;
+            }
+        }
+        catch (const std::exception&)
+        {
+
+        }
+
+    }
 }
 
 void RasterImageLayer::ensureRenderer()

HPPA/RasterImageLayer.h

@@ -19,7 +19,7 @@ public:
         Singleband
     };
 
-    RasterImageLayer(RasterLayer* layer, RendererType type);
+    RasterImageLayer(RasterLayer* layer, RendererType type, bool initRenderParamsFromFile);
     ~RasterImageLayer();
 
     void ensureRenderer();

HPPA/ResononNirImager.cpp

@@ -104,20 +104,25 @@ void ResononNirImager::setSpectraBin(int new_spectral_bin)
 double ResononNirImager::auto_exposure()
 {
 	//第一步：先设置曝光时间为在当前帧率情况下最大
-	double x = 1 / getFramerate() * 1000;//获取最大毫秒曝光时间
+	double f = getFramerate();
+	double x = 1 / f * 1000;//获取最大毫秒曝光时间
+	std::cout << f << "hz帧率下，最大曝光时间为" << x << std::endl;
+
 	reConnectImage();
 	setIntegrationTime(x);
 
 	//第二步：通过循环寻找最佳曝光时间
 	imagerStartCollect();
 
+	double tmpTime;
 	while (true)
 	{
 		getFrame(buffer);
-		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
+		if (GetMaxValue(buffer, m_FrameSize) >= 16383)
 		{
-			setIntegrationTime(getIntegrationTime() * 0.8);
-			std::cout << "自动曝光-----------" << std::endl;
+			tmpTime = getIntegrationTime() * 0.8;
+			setIntegrationTime(tmpTime);
+			std::cout << "自动曝光-----------：" << tmpTime << std::endl;
 		}
 		else
 		{
@@ -128,9 +133,28 @@ double ResononNirImager::auto_exposure()
 	reConnectImage();
 	//imagerStopCollect();
 
-	//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
+	double exposureTime = getIntegrationTime();
+	emit autoExposureSignal(exposureTime);
 
-	return getIntegrationTime();
+	//std::cout << "自动曝光：" << exposureTime << std::endl;
+
+	return exposureTime;
+}
+
+unsigned short ResononNirImager::GetMaxValue(unsigned short* dark, int number)
+{
+	unsigned int max = 0;
+	for (size_t i = 0; i < number; i++)
+	{
+		if (dark[i] > 16383) continue;//IR L为14位
+
+		if (dark[i] > max)
+		{
+			max = dark[i];
+		}
+	}
+	std::cout << "本帧最大值为" << max << std::endl;
+	return max;
 }
 
 double ResononNirImager::getWavelengthAtBand(int band)
@@ -290,7 +314,7 @@ void ResononNirImager::start_record()
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
 	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
 	QString filePath = QString::fromStdString(m_FileName2Save2);
-	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter);
+	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter, "nearInfrared");
 
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
@@ -352,7 +376,8 @@ void ResononNirImager::start_record()
 		fprintf(hTimesFile, "%ll\n", timeOs);
 
 		//将rgb波段提取出来，以便在界面中显示
-		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
+		//需要修改函数m_RgbImage->FillRgbImage，接收参数：提取rgb的偏移，参数由相机类型、单帧大小、波长范围等确定
+		m_RgbImage->FillRgbImage(buffer, 172, 112, 52);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
 		//std::cout << "第" << m_iFrameCounter << "帧写了" << x << "个unsigned short。" << std::endl;
 
@@ -408,7 +433,7 @@ void ResononNirImager::WriteHdr()
 	outfile << "ENVI\n";
 	outfile << "interleave = bil\n";
 	outfile << "data type = 12\n";
-	outfile << "bit depth = 12\n";
+	outfile << "bit depth = 14\n";
 	outfile << "byte order = 0\n";
 	outfile << "samples = " << getSampleCount() << "\n";
 	outfile << "bands = " << getBandCount() << "\n";

HPPA/ResononNirImager.h

@@ -38,6 +38,8 @@ public:
 	void WriteHdr();
 
 protected:
+	unsigned short GetMaxValue(unsigned short* dark, int number);
+
 private:
 	void reConnectImage();
 

HPPA/RgbCameraCaptureCoordinator.cpp

@@ -0,0 +1,246 @@
+#include "stdafx.h"
+#include "RgbCameraCaptureCoordinator.h"
+#include "RgbCameraOperation.h"
+#include "AppSettings.h"
+
+RgbCameraCaptureCoordinator::RgbCameraCaptureCoordinator(RgbCameraOperation* rgbCamera, QObject* parent)
+    : QObject(parent)
+    , m_rgbCamera(rgbCamera)
+    , m_captureMode(None)
+    , m_isCapturing(false)
+    , m_isCameraOpened(false)
+    , m_pendingOpenCamera(false)
+    , m_pendingMode(None)
+{
+    if (m_rgbCamera)
+    {
+        connect(m_rgbCamera, &RgbCameraOperation::CamOpenedSignal,
+                this, &RgbCameraCaptureCoordinator::onCameraOpened);
+        connect(m_rgbCamera, &RgbCameraOperation::CamClosedSignal,
+                this, &RgbCameraCaptureCoordinator::onCameraClosed);
+        connect(m_rgbCamera, &RgbCameraOperation::VideoRecordingStartedSignal,
+                this, &RgbCameraCaptureCoordinator::onVideoRecordingStarted);
+        connect(m_rgbCamera, &RgbCameraOperation::VideoRecordingStoppedSignal,
+                this, &RgbCameraCaptureCoordinator::onVideoRecordingStopped);
+
+        connect(this, &RgbCameraCaptureCoordinator::openCameraSignal,
+                m_rgbCamera, &RgbCameraOperation::OpenCamera, Qt::QueuedConnection);
+        connect(this, &RgbCameraCaptureCoordinator::closeCameraSignal,
+                m_rgbCamera, &RgbCameraOperation::CloseCamera, Qt::QueuedConnection);
+        connect(this, &RgbCameraCaptureCoordinator::startVideoRecordingSignal,
+                m_rgbCamera, &RgbCameraOperation::startVideoRecording, Qt::QueuedConnection);
+        connect(this, &RgbCameraCaptureCoordinator::stopVideoRecordingSignal,
+                m_rgbCamera, &RgbCameraOperation::stopVideoRecording, Qt::QueuedConnection);
+        connect(this, &RgbCameraCaptureCoordinator::startPhotoSaveTimerSignal,
+                m_rgbCamera, &RgbCameraOperation::startPhotoSaveTimer, Qt::QueuedConnection);
+        connect(this, &RgbCameraCaptureCoordinator::stopPhotoSaveTimerSignal,
+                m_rgbCamera, &RgbCameraOperation::stopPhotoSaveTimer, Qt::QueuedConnection);
+    }
+}
+
+RgbCameraCaptureCoordinator::~RgbCameraCaptureCoordinator()
+{
+    cleanup();
+}
+
+void RgbCameraCaptureCoordinator::startVideoCapture()
+{
+    QMutexLocker locker(&m_dataMutex);
+    
+    if (m_isCapturing)
+    {
+        if (m_captureMode == Video)
+        {
+            //emit errorOccurred(QStringLiteral("视频正在采集中"));
+            return;
+        }
+        else
+        {
+            //emit errorOccurred(QStringLiteral("正在执行其他采集操作"));
+            return;
+        }
+    }
+    
+    m_pendingOpenCamera = true;
+    m_pendingMode = Video;
+    
+    openCamera();
+}
+
+void RgbCameraCaptureCoordinator::stopVideoCapture()
+{
+    QMutexLocker locker(&m_dataMutex);
+    
+    if (m_captureMode != Video || !m_isCapturing)
+    {
+        //emit errorOccurred(QStringLiteral("视频未在采集中"));
+        return;
+    }
+    
+    if (m_rgbCamera)
+    {
+        emit stopVideoRecordingSignal();
+        closeCamera();
+    }
+}
+
+void RgbCameraCaptureCoordinator::startPhotoCapture()
+{
+    QMutexLocker locker(&m_dataMutex);
+    
+    if (m_isCapturing)
+    {
+        if (m_captureMode == Photo)
+        {
+            //emit errorOccurred(QStringLiteral("照片正在采集中"));
+            return;
+        }
+        else
+        {
+            //emit errorOccurred(QStringLiteral("正在执行其他采集操作"));
+            return;
+        }
+    }
+    
+    m_pendingOpenCamera = true;
+    m_pendingMode = Photo;
+    
+    openCamera();
+}
+
+void RgbCameraCaptureCoordinator::stopPhotoCapture()
+{
+    QMutexLocker locker(&m_dataMutex);
+
+    if (m_captureMode != Photo || !m_isCapturing)
+    {
+        return;
+    }
+
+    emit stopPhotoSaveTimerSignal();
+    emit captureStopped(Photo);
+    closeCamera();
+}
+
+void RgbCameraCaptureCoordinator::openCamera()
+{
+    if (!m_rgbCamera)
+    {
+        emit cameraOpenFailed(QStringLiteral("RGB相机对象未初始化"));
+        return;
+    }
+    
+    if (m_isCameraOpened)
+    {
+        onCameraOpened();
+        return;
+    }
+    
+    emit openCameraSignal();
+}
+
+void RgbCameraCaptureCoordinator::closeCamera()
+{
+    if (!m_rgbCamera)
+    {
+        return;
+    }
+    
+    if (m_isCameraOpened)
+    {
+        emit closeCameraSignal();
+    }
+    else
+    {
+        m_isCameraOpened = false;
+        m_isCapturing = false;
+        m_captureMode = None;
+    }
+}
+
+void RgbCameraCaptureCoordinator::cleanup()
+{
+    QMutexLocker locker(&m_dataMutex);
+    
+    if (m_rgbCamera && m_isCapturing)
+    {
+        if (m_captureMode == Video)
+        {
+            emit stopVideoRecordingSignal();
+        }
+    }
+
+    closeCamera();
+}
+
+void RgbCameraCaptureCoordinator::onCameraOpened()
+{
+    //QMutexLocker locker(&m_dataMutex);
+    
+    m_isCameraOpened = true;
+    emit cameraOpened();
+    
+	qDebug() << "Camera opened. Pending open camera: " << m_pendingOpenCamera << ", Pending mode: " << m_pendingMode;
+    if (!m_pendingOpenCamera)
+    {
+        return;
+    }
+    qDebug() << "Camera opened. Pending open camera: --------------------------------------------";
+    
+    m_pendingOpenCamera = false;
+    CaptureMode mode = m_pendingMode;
+    m_pendingMode = None;
+    
+    m_captureMode = mode;
+    m_isCapturing = true;
+    
+    if (mode == Video)
+    {
+        emit startVideoRecordingSignal();
+    }
+    else if (mode == Photo)
+    {
+        emit captureStarted(Photo);
+        emit startPhotoSaveTimerSignal();
+    }
+}
+
+void RgbCameraCaptureCoordinator::onCameraClosed()
+{
+    QMutexLocker locker(&m_dataMutex);
+    
+    m_isCameraOpened = false;
+    
+    CaptureMode previousMode = m_captureMode;
+    
+    if (m_isCapturing)
+    {
+        emit captureStopped(previousMode);
+    }
+    
+    m_isCapturing = false;
+    m_captureMode = None;
+    
+    emit cameraClosed();
+}
+
+void RgbCameraCaptureCoordinator::onVideoRecordingStarted()
+{
+    QMutexLocker locker(&m_dataMutex);
+    
+    emit captureStarted(Video);
+}
+
+void RgbCameraCaptureCoordinator::onVideoRecordingStopped()
+{
+    QMutexLocker locker(&m_dataMutex);
+
+    emit captureStopped(Video);
+
+    emit stopVideoRecordingSignal();
+    closeCamera();
+}
+
+void RgbCameraCaptureCoordinator::onPhotoCaptured()
+{
+}

HPPA/RgbCameraCaptureCoordinator.h

@@ -0,0 +1,69 @@
+#pragma once
+
+#include <QObject>
+#include <QTimer>
+#include <QMutex>
+
+class RgbCameraOperation;
+
+class RgbCameraCaptureCoordinator : public QObject
+{
+    Q_OBJECT
+
+public:
+    enum CaptureMode { None = 0, Video, Photo };
+    Q_ENUM(CaptureMode)
+
+    explicit RgbCameraCaptureCoordinator(RgbCameraOperation* rgbCamera, QObject* parent = nullptr);
+    ~RgbCameraCaptureCoordinator();
+
+    // 视频采集控制
+    Q_INVOKABLE void startVideoCapture();
+    Q_INVOKABLE void stopVideoCapture();
+
+    // 照片采集控制
+    Q_INVOKABLE void startPhotoCapture();
+    Q_INVOKABLE void stopPhotoCapture();
+
+    // 状态查询
+    CaptureMode getCurrentMode() const { return m_captureMode; }
+    bool isCapturing() const { return m_isCapturing; }
+    bool isCameraOpened() const { return m_isCameraOpened; }
+
+Q_SIGNALS:
+    void captureStarted(CaptureMode mode);
+    void captureStopped(CaptureMode mode);
+    void cameraOpened();
+    void cameraClosed();
+    void cameraOpenFailed(const QString& error);
+    void errorOccurred(const QString& error);
+    void photoCaptured(const QString& filePath);
+
+    void openCameraSignal();
+    void closeCameraSignal();
+    void startVideoRecordingSignal();
+    void stopVideoRecordingSignal();
+    void startPhotoSaveTimerSignal();
+    void stopPhotoSaveTimerSignal();
+
+public Q_SLOTS:
+    void openCamera();
+    void closeCamera();
+
+private Q_SLOTS:
+    void onCameraOpened();
+    void onCameraClosed();
+    void onVideoRecordingStarted();
+    void onVideoRecordingStopped();
+    void onPhotoCaptured();
+    void cleanup();
+
+private:
+    RgbCameraOperation* m_rgbCamera;
+    CaptureMode m_captureMode;
+    bool m_isCapturing;
+    bool m_isCameraOpened;
+    bool m_pendingOpenCamera;//指示相机是否是带目的的打开：带目的打开true（打开就要录像+m_pendingMode），还是手动打开（false，不带目的）
+    CaptureMode m_pendingMode;
+    mutable QMutex m_dataMutex;
+};

HPPA/RgbCameraOperation.cpp

@@ -1,15 +1,55 @@
 #include "stdafx.h"
 #include "RgbCameraOperation.h"
+#include "AppSettings.h"
 
 RgbCameraOperation::RgbCameraOperation()
 {
 	cam = nullptr;
 	m_ImageProcessor = new ImageProcessor();
 	m_func = nullptr;
+	m_videoWriter = nullptr;
+	m_isRecording = false;
+	
+	m_captureTimer = new QTimer(this);
+	connect(m_captureTimer, &QTimer::timeout, this, &RgbCameraOperation::onCaptureFrame);
+
+	m_photoSaveTimer = new QTimer(this);
+	m_photoSaveTimer->setSingleShot(false);
+	connect(m_photoSaveTimer, &QTimer::timeout, this, &RgbCameraOperation::onPhotoSaveTimeout);
 }
 
 RgbCameraOperation::~RgbCameraOperation()
 {
+	if (m_photoSaveTimer != nullptr)
+	{
+		m_photoSaveTimer->stop();
+		//delete m_photoSaveTimer;
+		m_photoSaveTimer = nullptr;
+	}
+
+	if (m_captureTimer != nullptr)
+	{
+		m_captureTimer->stop();
+		//delete m_captureTimer;
+		m_captureTimer = nullptr;
+	}
+
+	if (m_videoWriter != nullptr)
+	{
+		if (m_isRecording)
+		{
+			m_videoWriter->release();
+		}
+		delete m_videoWriter;
+		m_videoWriter = nullptr;
+	}
+
+	if (cam != nullptr)
+	{
+		cam->release();
+		delete cam;
+		cam = nullptr;
+	}
 }
 
 void RgbCameraOperation::OpenCamera()
@@ -17,21 +57,80 @@ void RgbCameraOperation::OpenCamera()
 	std::cout << "打开摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	cam = new cv::VideoCapture(0);
 
+	// 设置摄像头分辨率为最高可用分辨率
+	int width = 640;//1920
+	int height = 480;//1080
+	cam->set(cv::CAP_PROP_FRAME_WIDTH, width);
+	cam->set(cv::CAP_PROP_FRAME_HEIGHT, height);
+
+	// 验证实际设置的分辨率
+	double actualWidth = cam->get(cv::CAP_PROP_FRAME_WIDTH);
+	double actualHeight = cam->get(cv::CAP_PROP_FRAME_HEIGHT);
+	std::cout << "摄像头分辨率设置为: " << actualWidth << "x" << actualHeight << std::endl;
+
 	record = true;
 
-	while (record)
-	{
-		//std::cout << "采集影像+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
-		cam->read(frame);
-		m_qImage = m_ImageProcessor->Mat2QImage(frame);
+	// 使用定时器定期获取图像，不再阻塞线程
+	m_captureTimer->start(33);  // ~30fps
+	m_frameCounter = 0;
+}
 
-		emit PlotSignal();
+void RgbCameraOperation::onCaptureFrame()
+{
+	if (!record || cam == nullptr || !cam->isOpened())
+	{
+		return;
 	}
 
-	cam->release();
+	cam->read(frame);
+	m_frameCounter++;
+	if (m_frameCounter == 1)
+	{
+		emit CamOpenedSignal();
+	}
 
-	emit CamOpenedSignal();
+	// 保存视频逻辑：如果正在录制，将当前帧写入视频
+	if (m_isRecording && m_videoWriter != nullptr && !frame.empty())
+	{
+		m_videoWriter->write(frame);
+	}
 
+	m_qImage = m_ImageProcessor->Mat2QImage(frame.clone());
+	emit PlotSignal();
+}
+
+void RgbCameraOperation::onPhotoSaveTimeout()
+{
+	if (m_qImage.isNull())
+	{
+		std::cerr << "保存图片失败：当前没有可用的图像数据" << std::endl;
+		return;
+	}
+
+	QString timestamp = QDateTime::currentDateTime().toString("yyyyMMdd_HHmmss_zzz");
+	QString prefix = AppSettings::instance().rgbCameraFileName();
+	QString fileName = QString("%1_rgb_%2.jpg").arg(prefix).arg(timestamp);
+	QString fullPath = AppSettings::instance().rgbCameraDataFolder() + QDir::separator() + fileName;
+
+	if (m_qImage.save(fullPath, "JPG", 95))
+	{
+		std::cout << "图片已保存: " << fullPath.toStdString() << std::endl;
+		emit photoSavedSignal(fullPath);
+	}
+	else
+	{
+		std::cerr << "保存图片失败: " << fullPath.toStdString() << std::endl;
+	}
+}
+
+void RgbCameraOperation::startPhotoSaveTimer()
+{
+	m_photoSaveTimer->start(2000);  // 每2秒保存一张照片
+}
+
+void RgbCameraOperation::stopPhotoSaveTimer()
+{
+	m_photoSaveTimer->stop();
 }
 
 void RgbCameraOperation::OpenCamera_callback()
@@ -66,5 +165,117 @@ void RgbCameraOperation::CloseCamera()
 
 	record = false;
 
+	// 停止定时器
+	m_captureTimer->stop();
+	m_photoSaveTimer->stop();
+
+	// 停止视频录制
+	if (m_isRecording)
+	{
+		stopVideoRecording();
+	}
+
+	// 释放摄像头
+	if (cam != nullptr)
+	{
+		cam->release();
+		//delete cam;
+		cam = nullptr;
+	}
+
 	emit CamClosedSignal();
 }
+
+void RgbCameraOperation::saveImage()
+{
+	if (m_qImage.isNull())
+	{
+		std::cerr << "保存图片失败：当前没有可用的图像数据" << std::endl;
+		return;
+	}
+
+	// 生成带时间戳的文件名
+	QString timestamp = QDateTime::currentDateTime().toString("yyyyMMdd_HHmmss_zzz");
+	QString prefix = AppSettings::instance().rgbCameraFileName();
+	QString fileName = QString("%1_rgb_%2.jpg").arg(prefix).arg(timestamp);
+	QString fullPath = AppSettings::instance().rgbCameraDataFolder() + QDir::separator() + fileName;
+
+	// 保存为 JPG 格式
+	if (m_qImage.save(fullPath, "JPG", 95))
+	{
+		std::cout << "图片已保存: " << fullPath.toStdString() << std::endl;
+	}
+	else
+	{
+		std::cerr << "保存图片失败: " << fullPath.toStdString() << std::endl;
+	}
+}
+
+void RgbCameraOperation::startVideoRecording()
+{
+	if (m_isRecording)
+	{
+		std::cout << "视频已经在录制中" << std::endl;
+		return;
+	}
+
+	if (frame.empty())
+	{
+		std::cerr << "开始录制失败：当前没有可用的帧数据" << std::endl;
+		return;
+	}
+
+	// 释放旧的 VideoWriter
+	if (m_videoWriter != nullptr)
+	{
+		delete m_videoWriter;
+		m_videoWriter = nullptr;
+	}
+
+	// 生成带时间戳的视频文件名
+	QString timestamp = QDateTime::currentDateTime().toString("yyyyMMdd_HHmmss");
+	QString prefix = AppSettings::instance().rgbCameraFileName();
+	QString fileName = QString("%1_video_%2.avi").arg(prefix).arg(timestamp);
+	QString fullPath = AppSettings::instance().rgbCameraDataFolder() + QDir::separator() + fileName;
+
+	// 获取视频编码器和帧大小
+	int fourcc = cv::VideoWriter::fourcc('M', 'J', 'P', 'G');  // Motion-JPEG 编码器
+	cv::Size frameSize = frame.size();
+
+	// 创建 VideoWriter
+	m_videoWriter = new cv::VideoWriter(fullPath.toStdString(), fourcc, 30.0, frameSize);
+
+	if (!m_videoWriter->isOpened())
+	{
+		std::cerr << "创建视频写入器失败: " << fullPath.toStdString() << std::endl;
+		delete m_videoWriter;
+		m_videoWriter = nullptr;
+		return;
+	}
+
+	m_isRecording = true;
+	std::cout << "开始录制视频: " << fullPath.toStdString() << std::endl;
+
+	emit VideoRecordingStartedSignal();
+}
+
+void RgbCameraOperation::stopVideoRecording()
+{
+	if (!m_isRecording)
+	{
+		std::cout << "视频没有在录制" << std::endl;
+		return;
+	}
+
+	if (m_videoWriter != nullptr)
+	{
+		m_videoWriter->release();
+		//delete m_videoWriter;
+		m_videoWriter = nullptr;
+	}
+
+	m_isRecording = false;
+	std::cout << "停止录制视频" << std::endl;
+
+	emit VideoRecordingStoppedSignal();
+}

HPPA/RgbCameraOperation.h

@@ -4,6 +4,9 @@
 
 #include <QObject>
 #include <QTimer>
+#include <QDir>
+#include <QDateTime>
+#include <QCoreApplication>
 #include <opencv2/opencv.hpp>
 #include <QImage>
 
@@ -24,6 +27,12 @@ public:
 	QImage m_qImage;
 	void setCallback(void(*func)());
 
+	// 保存图片和视频的公共接口
+	void saveImage();                           // 保存当前帧为图片
+	void startVideoRecording();                 // 开始视频录制
+	void stopVideoRecording();                  // 停止视频录制
+	bool isRecording() const { return m_isRecording; }  // 获取录制状态
+
 private:
 	cv::Mat frame;
 	cv::VideoCapture *cam;
@@ -34,15 +43,33 @@ private:
 
 	bool record;
 
+	// 保存图片和视频相关
+	cv::VideoWriter* m_videoWriter;
+	bool m_isRecording;
+	int m_frameCounter;
+
+	// 定时器获取图像
+	QTimer* m_captureTimer;
+	// 定时器保存照片
+	QTimer* m_photoSaveTimer;
+
+private slots:
+	void onCaptureFrame();
+	void onPhotoSaveTimeout();
+	
+Q_SIGNALS:
+	void PlotSignal();
+	void CamOpenedSignal();
+	void CamClosedSignal();
+	void VideoRecordingStartedSignal();    // 录制开始信号
+	void VideoRecordingStoppedSignal();    // 录制停止信号
+	void photoSavedSignal(const QString& filePath);  // 照片保存成功信号
+
 public slots:
 	void OpenCamera();
 	void OpenCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
 	void CloseCamera();
-
-signals:
-	void PlotSignal();
-
-	void CamOpenedSignal();
-	void CamClosedSignal();
+	void startPhotoSaveTimer();
+	void stopPhotoSaveTimer();
 };
 #endif // !RGBCAMERAOPERATION_H

HPPA/TaskTreeModel.cpp

@@ -131,70 +131,70 @@ QVariant TaskTreeModel::data(const QModelIndex& index, int role) const
         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");
+                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);
                 }
-                qint64 seconds = QDateTime::currentDateTime().secsTo(task.scheduledTime);
-                if (seconds < 0)
-                {
-                    return QString::fromLocal8Bit("已超时");
+                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());
                 }
-                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;
+                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 "-";
+                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 "-";
             }
         }
     }
@@ -587,13 +587,17 @@ QString TaskTreeModel::statusToString(TaskStatus status) const
 
 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");
+    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 "未知类型";
+    return QString::fromLocal8Bit("未知类型");
 }
 
 QString TaskTreeModel::formatDuration(double minutes) const

HPPA/TimedDataCollection.cpp

@@ -112,6 +112,10 @@ void TimedDataCollection::setupConnections()
     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,
@@ -416,6 +420,7 @@ void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
             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())
                 {
@@ -426,6 +431,7 @@ void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
             }
             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);

HPPA/TimedDataCollection.h

@@ -52,6 +52,10 @@ Q_SIGNALS:
     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);

HPPA/TimedDataCollectionDataStructures.cpp

@@ -113,9 +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)
@@ -132,6 +154,19 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const S
     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;
 }
 
@@ -148,6 +183,19 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObj
     subTask.exposureTime = json["exposureTime"].toDouble();
     subTask.defaultRenderBand = json["defaultRenderBand"].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;
 }
 
@@ -229,21 +277,16 @@ void TaskExecutor::execute(const TimedTask& task)
 
     emit taskUpdated(m_task);
 
-    
+
     m_currentSubTaskIndex = -1;
     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);
+    double sleepTimeSecond = 1;
+    QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::executeNextSubTask);
 }
 
 void TaskExecutor::printMsgAndTime(QString msg)
@@ -269,10 +312,12 @@ void TaskExecutor::makeFolder(QString savePath)
     if (!dir.exists()) {
         if (dir.mkpath(".")) {
             qDebug() << "TaskExecutor: Created data folder:" << savePath;
-        } else {
+        }
+        else {
             qWarning() << "TaskExecutor: Failed to create data folder:" << savePath;
         }
-    } else {
+    }
+    else {
         qDebug() << "TaskExecutor: Data folder already exists:" << savePath;
     }
 }
@@ -299,7 +344,7 @@ void TaskExecutor::onSequenceComplete(int status)
 
         subTask.endTime = QDateTime::currentDateTime();
         subTask.durationMinutes = (double)subTask.startTime.secsTo(subTask.endTime) / 60;
-        qDebug() << "TaskExecutor: subtask "<< m_currentSubTaskIndex<< " time consuming(Minutes): "<< subTask.durationMinutes;
+        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)) {
@@ -307,7 +352,8 @@ void TaskExecutor::onSequenceComplete(int status)
             QString destPath = m_currentFolder + QDir::separator() + fileInfo.fileName();
             if (QFile::copy(subTask.pathLineFilePath, destPath)) {
                 qDebug() << "TaskExecutor: Copied path line file to" << destPath;
-            } else {
+            }
+            else {
                 qDebug() << "TaskExecutor: Failed to copy path line file from" << subTask.pathLineFilePath << "to" << destPath;
             }
         }
@@ -315,23 +361,38 @@ void TaskExecutor::onSequenceComplete(int status)
         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();
 
-    // 
-    switch (m_task.subTasks[m_currentSubTaskIndex].type)
+    emit taskUpdated(m_task);
+}
+
+void TaskExecutor::ensurePreTaskLighting()
+{
+    SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
+    if (currentTaskType != SubTaskType::HyperSpectual400_1000nm &&
+        currentTaskType != SubTaskType::HyperSpectual1000_1700nm)
     {
-        case SubTaskType::SingleLensReflex:
-        {
-            emit switchD65LampSignal(0);
-            break;
-        }
-        case SubTaskType::DepthCamera:
-        {
-            emit switchD65LampSignal(0);
-            break;
-        }
+        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);
     }
 
-    // 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())
     {
@@ -340,21 +401,13 @@ void TaskExecutor::onSequenceComplete(int status)
         emit switchHalogenLampSignal(0);
         return;
     }
-    switch (m_task.subTasks[nestSubTaskIndex].type)
+    // 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)
     {
-        case SubTaskType::SingleLensReflex:
-        {
-            emit switchHalogenLampSignal(0);
-            break;
-        }
-        case SubTaskType::DepthCamera:
-        {
-            emit switchHalogenLampSignal(0);
-            break;
-        }
+        emit switchHalogenLampSignal(0);
     }
-
-    emit taskUpdated(m_task);
 }
 
 void TaskExecutor::onBack2Origin()
@@ -362,23 +415,23 @@ void TaskExecutor::onBack2Origin()
     // 关闭单反电源
     switch (m_task.subTasks[m_currentSubTaskIndex].type)
     {
-        case SubTaskType::SingleLensReflex:
-        {
-            emit switchSlrSignal(0);
-            break;
-        }
+    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)
+        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);
+            QTimer::singleShot(135 * 1000, this, &TaskExecutor::executeNextSubTask);
         }
         else
         {
@@ -433,54 +486,118 @@ void TaskExecutor::executeNextSubTask()
     //         << "type:" << static_cast<int>(subTask.type);
 
     emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
-    
-    emit motorParm(subTask.pathLineFilePath);
 
-    int camType;
     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:
         {
-            camType = 0;
+            m_camType = 0;
             m_currentFolder = makeSubTaskDataFolder("L");
-            emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "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:
         {
-            camType = 1;
+            m_camType = 1;
             m_currentFolder = makeSubTaskDataFolder("NIR");
-            emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "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:
         {
-            camType = 2;
+            m_camType = 2;
             m_currentFolder = makeSubTaskDataFolder("SLR");
-            emit camParm(camType, 3, m_currentFolder);
+            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:
         {
-            camType = 3;
+            m_camType = 3;
             m_currentFolder = makeSubTaskDataFolder("DepthCamera");
-            emit camParm(camType, 3, m_currentFolder);
+            emit camParm(m_camType, 3, m_currentFolder);
+
+            emit motorParm(subTask.pathLineFilePath);
 
             emit switchD65LampSignal(1);
 
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
             break;
         }
     }
+    ensurePreTaskLighting();
+}
 
-    emit startRecordSignal(camType);
+void TaskExecutor::emitRecordSignal()
+{
+    emit startRecordSignal(m_camType);
+}
+
+void TaskExecutor::emitAutoFocusSignal()
+{
+    SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
+    emit AutoFocusSignals(subTask);
 }
 
 // ==================== TaskScheduler 实现 ====================
@@ -581,7 +698,7 @@ void TaskScheduler::checkTasks()
         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
+        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);
@@ -639,23 +756,27 @@ void TaskScheduler::executeTask(TimedTask& task)
 
     // 连接信号
     connect(m_currentExecutor, &TaskExecutor::finished,
-            this, &TaskScheduler::onTaskFinished);
+        this, &TaskScheduler::onTaskFinished);
     connect(m_currentExecutor, &TaskExecutor::subTaskStarted,
-            this, &TaskScheduler::onSubTaskStarted);
+        this, &TaskScheduler::onSubTaskStarted);
     connect(m_currentExecutor, &TaskExecutor::subTaskFinished,
-            this, &TaskScheduler::onSubTaskFinished);
+        this, &TaskScheduler::onSubTaskFinished);
     connect(m_currentExecutor, &TaskExecutor::errorOccurred,
-            this, &TaskScheduler::onExecutorError);
+        this, &TaskScheduler::onExecutorError);
 
     // 采集相关信号透传
     connect(m_currentExecutor, &TaskExecutor::hyperCamParm,
-            this, &TaskScheduler::hyperCamParm);
+        this, &TaskScheduler::hyperCamParm);
     connect(m_currentExecutor, &TaskExecutor::camParm,
-            this, &TaskScheduler::camParm);
+        this, &TaskScheduler::camParm);
     connect(m_currentExecutor, &TaskExecutor::motorParm,
-            this, &TaskScheduler::motorParm);
+        this, &TaskScheduler::motorParm);
     connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
-            this, &TaskScheduler::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);
@@ -687,7 +808,8 @@ void TaskScheduler::updateTaskStatus(int taskId, TaskStatus status)
             task.status = status;
             if (status == TaskStatus::Running) {
                 task.startTime = QDateTime::currentDateTime();
-            } else if (status == TaskStatus::Finished) {
+            }
+            else if (status == TaskStatus::Finished) {
                 task.endTime = QDateTime::currentDateTime();
             }
             break;

HPPA/TimedDataCollectionDataStructures.h

@@ -25,7 +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 ====================
@@ -46,6 +53,21 @@ 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 ====================
@@ -109,6 +131,9 @@ 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 ====================
@@ -151,6 +176,10 @@ signals:
     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);
@@ -160,15 +189,22 @@ public slots:
     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 ====================
@@ -214,6 +250,10 @@ signals:
     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);

HPPA/TwoMotorControl.cpp

@@ -210,6 +210,79 @@ void TwoMotorControl::onBack2Origin2()
 	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->setIsDisplaysAutofocusResultViaPopup(false);
+	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())
@@ -233,7 +306,7 @@ void TwoMotorControl::run()
 	connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
 	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
 
-	connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
+	connect(this, SIGNAL(stopSignal_CaptureCoordinator()), 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(int)));
@@ -279,7 +352,7 @@ void TwoMotorControl::stop_record()
 
 void TwoMotorControl::stop()
 {
-	emit stopSignal();
+	emit stopSignal_CaptureCoordinator();
 }
 
 TwoMotorControl::~TwoMotorControl()
@@ -312,14 +385,14 @@ void TwoMotorControl::connectMotor(bool isNotification)
 
 	if (m_multiAxisController != nullptr)
 	{
-		disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(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>)));
+		disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &TwoMotorControl::displayRealTimeLoc);
+		disconnect(this, &TwoMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+		disconnect(this, qOverload<int, double, double, int>(&TwoMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+		disconnect(this, &TwoMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
+		disconnect(this, &TwoMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
+		disconnect(this, &TwoMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
+		disconnect(this, &TwoMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+		disconnect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &TwoMotorControl::display_motors_connectivity);
 
 		m_motorThread.quit();
 		m_motorThread.wait();
@@ -343,20 +416,20 @@ void TwoMotorControl::connectMotor(bool isNotification)
     }
 
     m_multiAxisController->moveToThread(&m_motorThread);
-    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+    connect(&m_motorThread, &QThread::finished, m_multiAxisController, &QObject::deleteLater);
 
-    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastLocationSignal, this, &TwoMotorControl::displayRealTimeLoc);
 
-    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, &TwoMotorControl::moveSignal, m_multiAxisController, qOverload<int, double, int>(&IrisMultiMotorController::move));
+    connect(this, qOverload<int, double, double, int>(&TwoMotorControl::move2LocSignal), m_multiAxisController, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+    connect(this, &TwoMotorControl::stopSignal, m_multiAxisController, &IrisMultiMotorController::stop);
 
-    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+    connect(this, &TwoMotorControl::zeroStartSignal, m_multiAxisController, &IrisMultiMotorController::zeroStart);
 
-    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+    connect(this, &TwoMotorControl::rangeMeasurement, m_multiAxisController, &IrisMultiMotorController::rangeMeasurement);
 
-    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>)));
+    connect(this, &TwoMotorControl::testConnectivitySignal, m_multiAxisController, &IrisMultiMotorController::testConnectivity);
+    connect(m_multiAxisController, &IrisMultiMotorController::broadcastConnectivity, this, &TwoMotorControl::display_motors_connectivity);
 
     m_motorThread.start();
     emit testConnectivitySignal(0, 1000);
@@ -470,14 +543,14 @@ void TwoMotorControl::onxMotorRight()
 {
     double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, false, s, 1000);
+    emit moveSignal(0, abs(s), 1000);
 }
 
 void TwoMotorControl::onxMotorLeft()
 {
     double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
 
-    emit moveSignal(0, true, s, 1000);
+    emit moveSignal(0, abs(s)*-1, 1000);
 }
 
 void TwoMotorControl::onxMotorStop()
@@ -489,14 +562,14 @@ void TwoMotorControl::onyMotorforward()
 {
     double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
 
-    emit moveSignal(1, false, s, 1000);
+    emit moveSignal(1, abs(s), 1000);
 }
 
 void TwoMotorControl::onyMotorbackward()
 {
     double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
 
-    emit moveSignal(1, true, s, 1000);
+    emit moveSignal(1, abs(s)*-1, 1000);
 }
 
 void TwoMotorControl::onyMotorStop()

HPPA/TwoMotorControl.h

@@ -15,6 +15,10 @@
 
 #include "PathLine.h" 
 
+#include "DepthValueLogger.h"
+
+#include "focusWindow.h"
+
 #define PI 3.1415926
 
 class TwoMotorControl : public QDialog, public MotorWindowBase
@@ -82,12 +86,17 @@ public Q_SLOTS:
 
     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();
 
 signals:
-    void moveSignal(int, bool, double, int);
+    void moveSignal(int, double, int);
     void move2LocSignal(int, double, double, int);
     void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
     void stopSignal(int);
@@ -97,7 +106,7 @@ signals:
     void testConnectivitySignal(int, int);
 
     void start(QVector<PathLine>);
-    void stopSignal();
+    void stopSignal_CaptureCoordinator();
 
     void startLineNumSignal(int lineNum);
     void sequenceComplete(int status);//所有采集线正常运行完成
@@ -111,10 +120,16 @@ private:
     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：3.1.0</string>
+             <string>版本：3.1.4</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 +634,76 @@ 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！";
+
+			if (m_isDisplaysAutofocusResultViaPopup)
+			{
+				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！";
+			
+			if (m_isDisplaysAutofocusResultViaPopup)
+			{
+				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);
+	}
+
+	m_isDisplaysAutofocusResultViaPopup = true;
+}
+
+void focusWindow::setIsDisplaysAutofocusResultViaPopup(bool isDisplaysAutofocusResultViaPopup)
+{
+	m_isDisplaysAutofocusResultViaPopup = isDisplaysAutofocusResultViaPopup;
+}
+
+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)
@@ -677,18 +856,22 @@ 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, qOverload<int, double, double, int>(&MotionCaptureCoordinator::moveTo),
+		m_motorCtrl, qOverload<int, double, double, int>(&IrisMultiMotorController::moveTo));
+
+	connect(this, &MotionCaptureCoordinator::zeroStart,
+		m_motorCtrl, &IrisMultiMotorController::zeroStart);
 
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
 		this, &MotionCaptureCoordinator::handlePositionReached);
 	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
 	//	this, &MotionCaptureCoordinator::handleError);
 
-	connect(this, SIGNAL(getFocusIndexSobel()),
-		m_cameraCtrl, SLOT(getFocusIndexSobel()));
+	connect(this, &MotionCaptureCoordinator::getFocusIndexSobel,
+		m_cameraCtrl, &ImagerOperationBase::getFocusIndexSobel);
 
 	connect(m_cameraCtrl, &ImagerOperationBase::FocusIndexSobelSignal,
 		this, &MotionCaptureCoordinator::handleCaptureComplete);
@@ -718,15 +901,37 @@ 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 +974,13 @@ 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
@@ -105,6 +111,8 @@ public:
 
 	ImagerOperationBase* m_Imager;
 
+	void setIsDisplaysAutofocusResultViaPopup(bool isDisplaysAutofocusResultViaPopup);
+
 protected:
 	bool eventFilter(QObject *obj, QEvent *event) override;
 
@@ -123,19 +131,30 @@ 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);
+
+	bool m_isDisplaysAutofocusResultViaPopup = true;
 
 public Q_SLOTS:
 	void onConnectMotor();
@@ -158,6 +177,8 @@ 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 +187,12 @@ 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

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>857</width>
-    <height>477</height>
+    <width>438</width>
+    <height>330</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -83,7 +83,7 @@ QPushButton:pressed
      </property>
     </spacer>
    </item>
-   <item row="1" column="1">
+   <item row="1" column="1" colspan="2">
     <layout class="QGridLayout" name="gridLayout">
      <item row="0" column="1">
       <widget class="QPushButton" name="close_btn">
@@ -113,33 +113,7 @@ QPushButton:pressed
      </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">
+   <item row="2" column="1" colspan="2">
     <layout class="QHBoxLayout" name="horizontalLayout_2">
      <item>
       <widget class="QLabel" name="label">
@@ -184,7 +158,71 @@ QPushButton:pressed
      </item>
     </layout>
    </item>
-   <item row="4" column="1">
+   <item row="3" 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="3" column="1" colspan="2">
+    <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <item>
+      <widget class="QLabel" name="label_2">
+       <property name="styleSheet">
+        <string notr="true">QLabel {
+    color: rgb(255, 255, 255);
+}</string>
+       </property>
+       <property name="text">
+        <string>文件名</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="fileNameLineEdit">
+       <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>test</string>
+       </property>
+       <property name="readOnly">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="3" column="3">
+    <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="4" column="2">
     <spacer name="verticalSpacer_3">
      <property name="orientation">
       <enum>Qt::Vertical</enum>

HPPA/gonggashanCtl.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>535</width>
-    <height>229</height>
+    <width>572</width>
+    <height>384</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -24,6 +24,14 @@
 	color: #ACCDFF;
 }
 
+QSpinBox
+{
+	font: 10pt &quot;新宋体&quot;;
+	background-color: #142D7F;
+	color: white;
+    border: none;
+}
+
 QPushButton
 {
 	/*width: 172px;
@@ -66,58 +74,9 @@ QPushButton:pressed
 QLabel {
     color: rgb(255, 255, 255);
 }
-
-QSlider::groove:horizontal {
-    height: 10px;
-    background: #1e2a44;
-    border-radius: 3px;
-}
-
-/* 已滑过：渐变蓝 */
-QSlider::sub-page:horizontal {
-    background: qlineargradient(
-        x1:0, y1:0, x2:1, y2:0,
-        stop:0   #1f4fff,
-        stop:0.5 #2f6bff,
-        stop:1   #5fa0ff
-    );
-    border-radius: 3px;
-}
-
-/* 未滑过 */
-QSlider::add-page:horizontal {
-	height: 10px;
-    background: #2a3550;
-    border-radius: 3px;
-}
-
-/* ===== 滑块按钮 ===== */
-QSlider::handle:horizontal {
-    width: 15px;
-    height: 10px;
-
-    /* 蓝色实心 */
-    background: #2f6bff;
-
-    /* 白色外圈 */
-    border: 2px solid #ffffff;
-    border-radius: 5px;
-
-    /* 垂直居中 */
-    margin: -5px 0;
-}
-
-/* 悬停 */
-QSlider::handle:horizontal:hover {
-    background: #4d8dff;
-}
-
-/* 按下 */
-QSlider::handle:horizontal:pressed {
-    background: #1f4fff;
-}</string>
+</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
+  <layout class="QVBoxLayout" name="verticalLayout" stretch="1,1,3">
    <item>
     <widget class="QGroupBox" name="groupAdjustments">
      <property name="styleSheet">
@@ -135,46 +94,30 @@ QSlider::handle:horizontal:pressed {
       <property name="horizontalSpacing">
        <number>16</number>
       </property>
-      <item row="1" column="4">
-       <spacer name="horizontalSpacer">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
+      <item row="0" column="3">
+       <widget class="QSpinBox" name="spinbox_Port">
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
         </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>40</width>
-          <height>20</height>
-         </size>
+        <property name="maximum">
+         <number>65535</number>
         </property>
-       </spacer>
+        <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_4">
-        <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_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">
        <spacer name="horizontalSpacer_3">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
@@ -187,48 +130,18 @@ QSlider::handle:horizontal:pressed {
         </property>
        </spacer>
       </item>
-      <item row="0" column="3">
-       <widget class="QLineEdit" name="lineEdit_IP">
-        <property name="text">
-         <string>192.168.1.2</string>
+      <item row="0" column="4">
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
         </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
         </property>
-       </widget>
-      </item>
-      <item row="0" column="1">
-       <widget class="QLabel" name="labelIP">
-        <property name="text">
-         <string>ip</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="1" 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="1" 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>
+       </spacer>
       </item>
      </layout>
     </widget>
@@ -280,6 +193,68 @@ QSlider::handle:horizontal:pressed {
      </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/>

HPPA/image2display.cpp

@@ -64,7 +64,7 @@ void CImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumbe
 	//std::cout << "rgb影像内存地址为：" << m_QRgbImage << std::endl;
 }
 
-void CImage::FillRgbImage(unsigned short *datacube)
+void CImage::FillRgbImage(unsigned short *datacube, int rBandNumber, int gBandNumber, int bBandNumber)
 {
 	//uchar==unsigned char，内存大小：1个字节，范围为0-255
 	//uchar * imagebits24 = m_QRgbImage->bits();
@@ -78,9 +78,9 @@ void CImage::FillRgbImage(unsigned short *datacube)
 		//std::cout << "rgb图像写入数据帧数：" << j << std::endl;
 
 		//取值：一帧影像中，从左到右的rgb像元值
-		r = *(datacube + 121 * m_iSampleNumber + j);
-		g = *(datacube + 79 * m_iSampleNumber + j);
-		b = *(datacube + 40 * m_iSampleNumber + j);
+		r = *(datacube + rBandNumber * m_iSampleNumber + j);
+		g = *(datacube + gBandNumber * m_iSampleNumber + j);
+		b = *(datacube + bBandNumber * m_iSampleNumber + j);
 
 		//将像元值赋值到cv::Mat中，操作像元值：https://zhuanlan.zhihu.com/p/51842288
 		//int dataType = m_matRgbImage->type();//当数据类型为CV_16UC3时，返回18

HPPA/image2display.h

@@ -21,7 +21,7 @@ public:
 	CImage(QWidget* pParent = NULL);
 	//~CImage();
 	void SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumber);
-	void FillRgbImage(unsigned short *datacube);
+	void FillRgbImage(unsigned short *datacube, int rBandNumber, int gBandNumber, int bBandNumber);
 	void FillFocusGrayImage(unsigned short *datacube);
 	void FillFocusGrayQImage(unsigned short * datacube);
 

HPPA/imageProcessor.cpp

@@ -109,7 +109,7 @@ QImage ImageProcessor::Mat2QImage(cv::Mat cvImg)//https://www.cnblogs.com/annt/p
 			QImage::Format_RGB888);
 	}
 
-	return qImg;
+	return qImg.copy();  // 返回独立数据副本，避免cvImg被覆盖导致QImage数据失效
 }
 
 cv::Mat ImageProcessor::CStretchDeal(const cv::Mat img, const uint minnum, const uint maxnum)

HPPA/oneMotorControl.ui

@@ -56,7 +56,11 @@ QLabel
 	color: #ACCDFF;
 	background-color: transparent;
 }
-
+QRadioButton
+{
+	color: #ACCDFF;
+	background-color: transparent;
+}
 
 
 
@@ -80,7 +84,7 @@ QLineEdit:focus {
     background-color: #23345c;
 }</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_2" rowstretch="1,3,1" columnstretch="1,3,1">
+  <layout class="QGridLayout" name="gridLayout_4">
    <item row="0" column="1">
     <spacer name="verticalSpacer">
      <property name="orientation">
@@ -112,75 +116,8 @@ QLineEdit:focus {
      <property name="spacing">
       <number>10</number>
      </property>
-     <item row="0" column="0">
-      <widget class="QLabel" name="label">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>实时位置</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="1">
-      <widget class="QLineEdit" name="realTimeLoc_lineEdit">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>88</width>
-         <height>30</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>0</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
-     <item row="0" column="2">
-      <widget class="QPushButton" name="connect_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>连接</string>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="0">
-      <widget class="QLabel" name="label_6">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>运行速度</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
      <item row="1" column="1">
-      <widget class="QLineEdit" name="speed_lineEdit">
+      <widget class="QLineEdit" name="scanSpeed_lineEdit">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
          <horstretch>0</horstretch>
@@ -210,7 +147,33 @@ QLineEdit:focus {
        </property>
       </widget>
      </item>
-     <item row="1" column="2">
+     <item row="4" column="2">
+      <widget class="QPushButton" name="move2loc_pushButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>移动至</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="2">
+      <widget class="QPushButton" name="rangeMeasurement_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>量程测量</string>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="2">
       <widget class="QPushButton" name="zero_start_btn">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
@@ -223,8 +186,56 @@ QLineEdit:focus {
        </property>
       </widget>
      </item>
-     <item row="2" column="0">
-      <widget class="QLabel" name="label_3">
+     <item row="5" column="1">
+      <widget class="QPushButton" name="left_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>←0</string>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="2">
+      <widget class="QPushButton" name="right_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>→</string>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="1">
+      <widget class="QLineEdit" name="move2loc_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_7">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
          <horstretch>0</horstretch>
@@ -232,7 +243,99 @@ QLineEdit:focus {
         </sizepolicy>
        </property>
        <property name="text">
-        <string>返回速度</string>
+        <string>扫描速度</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QPushButton" name="connect_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>连接</string>
+       </property>
+      </widget>
+     </item>
+     <item row="6" column="1">
+      <widget class="QWidget" name="widget" native="true">
+       <layout class="QGridLayout" name="gridLayout_3">
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_4">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="text">
+           <string>实时位置：</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QLabel" name="realTimeLoc_label">
+          <property name="text">
+           <string>null</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QLineEdit" name="manualMovementSpeed_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>0.1</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="0">
+      <widget class="QLabel" name="label_6">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>手动速度</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
@@ -261,113 +364,60 @@ QLineEdit:focus {
        </property>
       </widget>
      </item>
-     <item row="2" column="2">
-      <widget class="QPushButton" name="rangeMeasurement_btn">
+     <item row="2" column="0">
+      <widget class="QLabel" name="label_3">
        <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
          <horstretch>0</horstretch>
          <verstretch>0</verstretch>
         </sizepolicy>
        </property>
        <property name="text">
-        <string>量程测量</string>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="1">
-      <widget class="QLineEdit" name="move2loc_lineEdit">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>88</width>
-         <height>30</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>0</string>
+        <string>返回速度</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
-     <item row="3" column="2">
-      <widget class="QPushButton" name="move2loc_pushButton">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>移动至</string>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="1">
-      <widget class="QPushButton" name="left_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>←0</string>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="2">
-      <widget class="QPushButton" name="right_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>→</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="2">
-      <layout class="QHBoxLayout" name="horizontalLayout">
-       <item>
-        <widget class="QLabel" name="label_2">
-         <property name="text">
-          <string>状态</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="motor_state_label">
-         <property name="maximumSize">
-          <size>
-           <width>8</width>
-           <height>8</height>
-          </size>
-         </property>
-         <property name="sizeIncrement">
-          <size>
-           <width>8</width>
-           <height>8</height>
-          </size>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">background-color: red;
+     <item row="6" column="2">
+      <widget class="QWidget" name="widget_2" native="true">
+       <layout class="QGridLayout" name="gridLayout_2">
+        <item row="0" column="0">
+         <widget class="QRadioButton" name="reverseMove_radioButton">
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>反转</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QLabel" name="motor_state_label">
+          <property name="maximumSize">
+           <size>
+            <width>8</width>
+            <height>8</height>
+           </size>
+          </property>
+          <property name="sizeIncrement">
+           <size>
+            <width>8</width>
+            <height>8</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">background-color: red;
 border-radius: 4px;</string>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-        </widget>
-       </item>
-      </layout>
+          </property>
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </widget>
      </item>
     </layout>
    </item>

HPPA/rgbCamera.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>416</width>
-    <height>219</height>
+    <width>489</width>
+    <height>329</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -70,18 +70,50 @@ QPushButton:pressed
 }</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 row="2" 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>D:\</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="1" column="0">
     <spacer name="horizontalSpacer">
@@ -96,6 +128,19 @@ QPushButton:pressed
      </property>
     </spacer>
    </item>
+   <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="0">
@@ -165,7 +210,7 @@ QPushButton:pressed
      </property>
     </spacer>
    </item>
-   <item row="2" column="1">
+   <item row="4" column="1">
     <spacer name="verticalSpacer_3">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
@@ -178,6 +223,44 @@ QPushButton:pressed
      </property>
     </spacer>
    </item>
+   <item row="3" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <item>
+      <widget class="QLabel" name="label_2">
+       <property name="styleSheet">
+        <string notr="true">QLabel {
+    color: rgb(255, 255, 255);
+}</string>
+       </property>
+       <property name="text">
+        <string>文件名</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="fileNameLineEdit">
+       <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>test</string>
+       </property>
+       <property name="readOnly">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
   </layout>
  </widget>
  <layoutdefault spacing="6" margin="11"/>

HPPA/rgbCameraWindow.cpp

@@ -1,8 +1,11 @@
-#include "rgbCameraWindow.h"
-#include <Qthread>
+#include "rgbCameraWindow.h"
+#include <QThread>
+#include <QFileDialog>
+#include "AppSettings.h"
 
 rgbCameraWindow::rgbCameraWindow(QWidget* parent)
 	: QDialog(parent)
+	, m_captureCoordinator(nullptr)
 {
 	ui.setupUi(this);
 
@@ -11,22 +14,190 @@ rgbCameraWindow::rgbCameraWindow(QWidget* parent)
 	m_RgbCamera->moveToThread(m_RgbCameraThread);
 	m_RgbCameraThread->start();
 
-	connect(ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera()));//ʹ<><CAB9><EFBFBD>ź<EFBFBD>֪ͨ<CDA8><D6AA><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD>Ƶ <20><> <20>ɹ<EFBFBD><C9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǽ<EFBFBD><C7BD>濨<EFBFBD><E6BFA8>
 	connect(m_RgbCamera, SIGNAL(PlotSignal()), this, SIGNAL(PlotRgbImageSignal()));
 
-	//m_RgbCamera->setCallback(onPlotRgbImage);
-	//connect(this->ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera_callback()));//ʹ<>ûص<C3BB><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3><CCA3>ϵ<EFBFBD><CFB5><EFBFBD>Ƶ <20><> ʧ<><CAA7>
-
-	connect(ui.close_rgb_camera_btn, SIGNAL(clicked()), this, SLOT(onCloseRgbCamera()));//<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
+	connect(ui.open_rgb_camera_btn, &QPushButton::clicked,
+		this, [this]() { if (m_captureCoordinator) m_captureCoordinator->openCamera(); });
 	connect(m_RgbCamera, SIGNAL(CamClosedSignal()), this, SIGNAL(CamClosedSignal()));
+
+	connect(ui.close_rgb_camera_btn, &QPushButton::clicked,
+		this, [this]() { if (m_captureCoordinator) m_captureCoordinator->closeCamera(); });
+
+	connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
+
+	connect(this->ui.take_video_btn, &QPushButton::clicked,
+		this, [this]() {
+			if (m_captureCoordinator)
+			{
+				if (!m_captureCoordinator->isCapturing())
+					m_captureCoordinator->startVideoCapture();
+				else if (m_captureCoordinator->getCurrentMode() == RgbCameraCaptureCoordinator::Video)
+					m_captureCoordinator->stopVideoCapture();
+			}
+		});
+	connect(this->ui.take_photo_btn, &QPushButton::clicked,
+		this, [this]() {
+			if (m_captureCoordinator)
+			{
+				if (!m_captureCoordinator->isCapturing())
+					m_captureCoordinator->startPhotoCapture();
+				else if (m_captureCoordinator->getCurrentMode() == RgbCameraCaptureCoordinator::Photo)
+					m_captureCoordinator->stopPhotoCapture();
+			}
+		});
+
+	connect(ui.fileNameLineEdit, &QLineEdit::textChanged, this, &rgbCameraWindow::onFileNameChanged);
+
+	setupCaptureCoordinator();
+
+	loadSettings();
 }
 
 rgbCameraWindow::~rgbCameraWindow()
 {
+	delete m_captureCoordinator;
+	m_captureCoordinator = nullptr;
+
+	m_RgbCameraThread->quit();
+	m_RgbCameraThread->wait();
+	delete m_RgbCamera;
+	delete m_RgbCameraThread;
 }
 
-void rgbCameraWindow::onCloseRgbCamera()
+void rgbCameraWindow::toggleTakePhoto()
 {
-	//std::cout << "<22>ر<EFBFBD><D8B1><EFBFBD>Ƶ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
-	m_RgbCamera->CloseCamera();
+	emit ui.take_photo_btn->clicked();
+}
+
+void rgbCameraWindow::setupCaptureCoordinator()
+{
+	m_captureCoordinator = new RgbCameraCaptureCoordinator(m_RgbCamera, this);
+
+	connect(m_captureCoordinator, &RgbCameraCaptureCoordinator::captureStarted,
+		this, &rgbCameraWindow::onCaptureStarted);
+	connect(m_captureCoordinator, &RgbCameraCaptureCoordinator::captureStopped,
+		this, &rgbCameraWindow::onCaptureStopped);
+	connect(m_captureCoordinator, &RgbCameraCaptureCoordinator::cameraOpened,
+		this, &rgbCameraWindow::onCameraOpened);
+	connect(m_captureCoordinator, &RgbCameraCaptureCoordinator::cameraClosed,
+		this, &rgbCameraWindow::onCameraClosed);
+	connect(m_captureCoordinator, &RgbCameraCaptureCoordinator::cameraOpenFailed,
+		this, &rgbCameraWindow::onCameraOpenFailed);
+	connect(m_captureCoordinator, &RgbCameraCaptureCoordinator::photoCaptured,
+		this, &rgbCameraWindow::onPhotoCaptured);
+	connect(m_RgbCamera, &RgbCameraOperation::photoSavedSignal,
+		this, &rgbCameraWindow::onPhotoSaved);
+}
+
+void rgbCameraWindow::startVideoCapture()
+{
+	if (m_captureCoordinator)
+	{
+		m_captureCoordinator->startVideoCapture();
+	}
+}
+
+void rgbCameraWindow::stopVideoCapture()
+{
+	if (m_captureCoordinator)
+	{
+		m_captureCoordinator->stopVideoCapture();
+	}
+}
+
+void rgbCameraWindow::startPhotoCapture()
+{
+	if (m_captureCoordinator)
+	{
+		m_captureCoordinator->startPhotoCapture();
+	}
+}
+
+void rgbCameraWindow::stopPhotoCapture()
+{
+	if (m_captureCoordinator)
+	{
+		m_captureCoordinator->stopPhotoCapture();
+	}
+}
+
+void rgbCameraWindow::onCaptureStarted(RgbCameraCaptureCoordinator::CaptureMode mode)
+{
+	if (mode == RgbCameraCaptureCoordinator::Video)
+	{
+		ui.take_video_btn->setText(QString::fromLocal8Bit("停止录制"));
+	}
+	else if (mode == RgbCameraCaptureCoordinator::Photo)
+	{
+		ui.take_photo_btn->setText(QString::fromLocal8Bit("采集中..."));
+	}
+}
+
+void rgbCameraWindow::onCaptureStopped(RgbCameraCaptureCoordinator::CaptureMode mode)
+{
+	if (mode == RgbCameraCaptureCoordinator::Video)
+	{
+		ui.take_video_btn->setText(QString::fromLocal8Bit("录制视频"));
+	}
+	else if (mode == RgbCameraCaptureCoordinator::Photo)
+	{
+		ui.take_photo_btn->setText(QString::fromLocal8Bit("拍照"));
+	}
+}
+
+void rgbCameraWindow::onCameraOpened()
+{
+}
+
+void rgbCameraWindow::onCameraClosed()
+{
+}
+
+void rgbCameraWindow::onCameraOpenFailed(const QString& error)
+{
+	//QMessageBox::warning(this, QString::fromLocal8Bit("相机打开失败"), error);
+}
+
+void rgbCameraWindow::onPhotoCaptured(const QString& filePath)
+{
+}
+
+void rgbCameraWindow::onPhotoSaved(const QString& filePath)
+{
+	// 可在此更新界面，例如显示已保存的照片数量
+	std::cout << "照片已保存: " << filePath.toStdString() << std::endl;
+}
+
+void rgbCameraWindow::loadSettings()
+{
+	QString folder = AppSettings::instance().rgbCameraDataFolder();
+	setDataFolder(folder);
+	setFileName(AppSettings::instance().rgbCameraFileName());
+}
+
+void rgbCameraWindow::onSelectDataFolder()
+{
+	QString dir = QFileDialog::getExistingDirectory(this,
+		QString::fromLocal8Bit("选择数据保存路径"),
+		ui.dataFolderLineEdit->text());
+
+	setDataFolder(dir);
+}
+
+void rgbCameraWindow::setDataFolder(QString dir)
+{
+	if (!dir.isEmpty())
+	{
+		ui.dataFolderLineEdit->setText(dir);
+	}
+}
+
+void rgbCameraWindow::setFileName(QString name)
+{
+	ui.fileNameLineEdit->setText(name);
+}
+
+void rgbCameraWindow::onFileNameChanged(const QString& text)
+{
+	AppSettings::instance().setRgbCameraFileName(text);
 }

HPPA/rgbCameraWindow.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QDialog>
 #include <QNetworkRequest>
@@ -8,6 +8,7 @@
 #include "ui_rgbCamera.h"
 
 #include "RgbCameraOperation.h"
+#include "RgbCameraCaptureCoordinator.h"
 
 class rgbCameraWindow : public QDialog
 {
@@ -19,16 +20,43 @@ public:
 
 	RgbCameraOperation* m_RgbCamera;
 
-public Q_SLOTS:
-	void onCloseRgbCamera();
+	// 视频采集控制
+	void startVideoCapture();
+	void stopVideoCapture();
 
-signals:
+	// 照片采集控制
+	void startPhotoCapture();
+	void stopPhotoCapture();
+
+public Q_SLOTS:
+	void onSelectDataFolder();
+	void onFileNameChanged(const QString& text);
+
+	void toggleTakePhoto();
+
+Q_SIGNALS:
 	void PlotRgbImageSignal();
 	void CamClosedSignal();
 
+private Q_SLOTS:
+	// 协调器信号处理
+	void onCaptureStarted(RgbCameraCaptureCoordinator::CaptureMode mode);
+	void onCaptureStopped(RgbCameraCaptureCoordinator::CaptureMode mode);
+	void onCameraOpened();
+	void onCameraClosed();
+	void onCameraOpenFailed(const QString& error);
+	void onPhotoCaptured(const QString& filePath);
+	void onPhotoSaved(const QString& filePath);
+
 private:
 	Ui::rgbCameraClass ui;
 
-	
-	QThread* m_RgbCameraThread;//rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡͼ<C8A1><CDBC><EFBFBD>߳<EFBFBD>
+	QThread* m_RgbCameraThread;//rgb相机获取图像线程
+	RgbCameraCaptureCoordinator* m_captureCoordinator;
+
+	void setDataFolder(QString dir);
+	void setFileName(QString name);
+	void loadSettings();
+	void saveSettings();
+	void setupCaptureCoordinator();
 };

HPPA/set.ui

@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>641</width>
-    <height>320</height>
+    <width>651</width>
+    <height>319</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -52,6 +52,9 @@ QLineEdit {
     min-height: 20px;
     font-size: 13px;
 }
+QLineEdit:hover {
+    border: 1px solid #409eff;
+}
 
 QLabel {
     color: rgb(255, 255, 255);
@@ -234,10 +237,44 @@ QPushButton:pressed
       </item>
       <item row="1" column="0">
        <widget class="QWidget" name="widget" native="true">
-        <layout class="QGridLayout" name="gridLayout_2" rowstretch="3,2">
-         <item row="0" column="0">
-          <widget class="QWidget" name="widget_2" native="true">
-           <layout class="QGridLayout" name="gridLayout_3">
+        <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;
+}</string>
+        </property>
+        <layout class="QGridLayout" name="gridLayout_3">
+         <item row="2" column="0">
+          <spacer name="horizontalSpacer">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>580</width>
+             <height>26</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="2" column="1">
+          <widget class="QPushButton" name="confirmBtn">
+           <property name="text">
+            <string>确认</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0" colspan="2">
+          <widget class="QGroupBox" name="groupBox_2">
+           <property name="title">
+            <string>保存</string>
+           </property>
+           <layout class="QGridLayout" name="gridLayout_2">
             <item row="0" column="0">
              <widget class="QLabel" name="label">
               <property name="text">
@@ -247,6 +284,9 @@ QPushButton:pressed
             </item>
             <item row="0" column="1">
              <widget class="QLineEdit" name="dataFolderLineEdit">
+              <property name="text">
+               <string/>
+              </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
@@ -262,26 +302,73 @@ QPushButton:pressed
            </layout>
           </widget>
          </item>
-         <item row="1" column="0">
-          <widget class="QWidget" name="widget_3" native="true">
-           <layout class="QGridLayout" name="gridLayout_4" columnstretch="5,2">
+         <item row="1" column="0" colspan="2">
+          <widget class="QGroupBox" name="groupBox">
+           <property name="title">
+            <string>显示</string>
+           </property>
+           <layout class="QGridLayout" name="gridLayout_5">
             <item row="0" column="0">
-             <spacer name="horizontalSpacer">
-              <property name="orientation">
-               <enum>Qt::Horizontal</enum>
+             <widget class="QLabel" name="label_2">
+              <property name="text">
+               <string>图像显示</string>
               </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>411</width>
-                <height>20</height>
-               </size>
+              <property name="alignment">
+               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
               </property>
-             </spacer>
+             </widget>
             </item>
             <item row="0" column="1">
-             <widget class="QPushButton" name="confirmBtn">
-              <property name="text">
-               <string>确认</string>
+             <widget class="QComboBox" name="hyperimgDisplayMode_comboBox">
+              <property name="styleSheet">
+               <string notr="true">QComboBox {
+	color: white;
+    background-color: #142D7F;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    min-height: 20px;
+}
+
+QComboBox:hover {
+    border: 1px solid #409eff;
+}
+
+QComboBox:focus {
+    border: 1px solid #409eff;
+}
+
+QComboBox::drop-down {
+    subcontrol-origin: padding;
+    subcontrol-position: top right;
+    width: 25px;
+
+    border-left: 1px solid #2f6bff;
+}
+
+QComboBox::down-arrow {
+    image: url(:/images/arrow_down.png);
+    width: 10px;
+    height: 10px;
+}
+
+QComboBox QAbstractItemView {
+	color: white;
+    background-color: #142D7F;
+    border: 1px solid #2f6bff;
+    selection-background-color: #409eff;
+    selection-color: white;
+    outline: none;
+}
+
+QComboBox QAbstractItemView::item {
+    min-height: 30px;
+    padding: 4px 8px;
+}
+
+QComboBox QAbstractItemView::item:hover {
+    background-color: #e6f7ff;
+}</string>
               </property>
              </widget>
             </item>

HPPA/setWindow.cpp

@@ -10,6 +10,10 @@ setWindow::setWindow(QWidget* parent)
 
 	setWindowFlags(Qt::FramelessWindowHint);
 
+	//顺序不能更改，和AppSettings::HyperimgDisplayMode一致
+	ui.hyperimgDisplayMode_comboBox->addItem(QString::fromLocal8Bit("全图"));
+	ui.hyperimgDisplayMode_comboBox->addItem(QString::fromLocal8Bit("瀑布流"));
+
 	connect(this->ui.closeBtn, SIGNAL(released()), this, SLOT(onExit()));
 	connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
 	connect(this->ui.confirmBtn, SIGNAL(clicked()), this, SLOT(onExit()));
@@ -24,11 +28,18 @@ setWindow::~setWindow()
 void setWindow::loadSettings()
 {
 	ui.dataFolderLineEdit->setText(AppSettings::instance().dataFolder());
+
+	ui.hyperimgDisplayMode_comboBox->setCurrentIndex(
+		static_cast<int>(AppSettings::instance().hyperimgDisplayMode()));
 }
 
 void setWindow::saveSettings()
 {
 	AppSettings::instance().setDataFolder(ui.dataFolderLineEdit->text());
+	AppSettings::instance().setHyperimgDisplayMode(
+		ui.hyperimgDisplayMode_comboBox->currentIndex() == 0
+		? AppSettings::HyperimgDisplayMode::Full
+		: AppSettings::HyperimgDisplayMode::Waterfall);
 }
 
 void setWindow::onSelectDataFolder()

JinspSpectralmeterControl/JinspSpectralmeterControl.vcxproj

@@ -37,7 +37,7 @@
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="QtSettings">
     <QtInstall>5.13.2_msvc2017_64</QtInstall>
-    <QtModules>core</QtModules>
+    <QtModules>core;serialport</QtModules>
     <QtBuildConfig>release</QtBuildConfig>
   </PropertyGroup>
   <Target Name="QtMsBuildNotFound" BeforeTargets="CustomBuild;ClCompile" Condition="!Exists('$(QtMsBuild)\qt.targets') or !Exists('$(QtMsBuild)\qt.props')">
@@ -58,6 +58,7 @@
     <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>