add，计划采集21，上海农科院3D植物表型：

1、实现3种深度计算算法；

HPPA/CaptureCoordinator.cpp

@@ -467,7 +467,7 @@ OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
 		this, &OneMotionCaptureCoordinator::handleMotorStoped);
 }
 
-void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
+void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)//这个函数为啥被调用了2次？
 {
 	QMutexLocker locker(&m_dataMutex);
 
@@ -498,13 +498,14 @@ void OneMotionCaptureCoordinator::stopStepMotion()
 		m_cameraCtrl->stop_record();
 	}
 
-	//emit stopMotorSignal(0);
-	move2LocBeforeStart();
+	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
 {
 	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::getLocBeforeStart()
@@ -568,10 +569,12 @@ bool OneMotionCaptureCoordinator::saveToCsv(const QString& filename)
 
 void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 {
-	if (!m_isRunning) return;
-
 	QMutexLocker locker(&m_dataMutex);
 
+	if (m_isHypercamStopRecord == true)
+	{
+		m_isHypercamStopRecord = false;
+
 		// 记录位置信息
 		m_pathLine.stopPosition = pos;
 		m_pathLine.timestamp2 = QDateTime::currentDateTime();
@@ -584,9 +587,14 @@ void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 		}
 		move2LocBeforeStart();
 
+		emit sequenceComplete_cam_stop_before_motorback(0);
+	}
+	else
+	{
 		// emit sequenceComplete last: the slot connected to it may delete this object,
 		// so no member access is allowed after this point.
 		emit sequenceComplete(0);
+	}
 }
 
 void OneMotionCaptureCoordinator::handleCaptureComplete(double index)
@@ -716,3 +724,251 @@ void DarkAndWhiteCaptureCoordinator::handleCaptureComplete(double index)
 {
 	QMutexLocker locker(&m_dataMutex);
 }
+
+
+TwoMotor1PosCoordinator::TwoMotor1PosCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_isMoving2Target(false)
+	, m_isMoving2Origin(false)
+	, m_targetX(0)
+	, m_targetY(0)
+	, m_speedX(0)
+	, m_speedY(0)
+	, m_actualX(0)
+	, m_actualY(0)
+	, m_retryTimesX(0)
+	, m_retryTimesY(0)
+	, m_xReached(false)
+	, m_yReached(false)
+{
+	//因为IrisMultiMotorController::moveTo有多个重载版本，所以使用信号槽连接时需要使用SIGNAL和SLOT宏来指定参数类型，避免编译器无法推断出正确的函数签名。
+	//connect(this, &TwoMotor1PosCoordinator::moveTo, m_motorCtrl, &IrisMultiMotorController::moveTo);//这行代码会报错，因为moveTo有多个重载版本，编译器无法推断出正确的函数签名。
+	connect(this, SIGNAL(moveTo(int, double, double, int)), m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)), m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+
+
+	connect(this, &TwoMotor1PosCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &TwoMotor1PosCoordinator::handlePositionReached);
+}
+
+TwoMotor1PosCoordinator::~TwoMotor1PosCoordinator()
+{
+
+}
+
+void TwoMotor1PosCoordinator::moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_isMoving2Target = true;
+	m_isMoving2Origin = false;
+
+	moveToTargetPrivate(xTarget, yTarget, xSpeed, ySpeed);
+}
+
+void TwoMotor1PosCoordinator::back2origin()
+{
+	m_isMoving2Target = false;
+	m_isMoving2Origin = true;
+
+	moveToTargetPrivate(0, 0, m_speedX, m_speedY);
+}
+
+void TwoMotor1PosCoordinator::moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_targetX = xTarget;
+	m_targetY = yTarget;
+	m_speedX = xSpeed;
+	m_speedY = ySpeed;
+
+	m_xReached = false;
+	m_yReached = false;
+	m_retryTimesX = 0;
+	m_retryTimesY = 0;
+
+	std::vector<double> loc = { m_targetX, m_targetY };
+	std::vector<double> speed = { m_speedX, m_speedY };
+
+	std::cout << "TwoMotor1PosCoordinator: moving to (" << m_targetX << ", " << m_targetY << ")" << std::endl;
+	emit moveTo(loc, speed, 1000);
+}
+
+void TwoMotor1PosCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isMoving2Target && !m_isMoving2Origin)
+	{
+		return;
+	}
+
+	double errorRateThreshold = 5;
+	if (motorID == 0)
+	{
+		m_actualX = pos;
+
+		double errorRate = getErrorRate(m_targetX, m_actualX);
+		
+		if (errorRate > errorRateThreshold && m_retryTimesX < m_retryLimit)
+		{
+			m_retryTimesX++;
+			std::cout << "X motor retry " << m_retryTimesX << ", target: " << m_targetX << ", actual: " << m_actualX << std::endl;
+			emit moveTo(0, m_targetX, m_speedX, 1000);
+			return;
+		}
+		m_retryTimesX = 0;
+		m_xReached = true;
+
+		std::cout << "X motor reached: " << m_actualX << std::endl;
+	}
+	else if (motorID == 1)
+	{
+		m_actualY = pos;
+
+		double errorRate = getErrorRate(m_targetY, m_actualY);
+		if (errorRate > errorRateThreshold && m_retryTimesY < m_retryLimit)
+		{
+			m_retryTimesY++;
+			std::cout << "Y motor retry " << m_retryTimesY << ", target: " << m_targetY << ", actual: " << m_actualY << std::endl;
+			emit moveTo(1, m_targetY, m_speedY, 1000);
+			return;
+		}
+		m_retryTimesY = 0;
+		m_yReached = true;
+
+		std::cout << "Y motor reached: " << m_actualY << std::endl;
+	}
+
+	if (checkArrival())
+	{
+		std::cout << "TwoMotor1PosCoordinator: Arrived at (" << m_actualX << ", " << m_actualY << ")" << std::endl;
+
+		if (m_isMoving2Origin)
+		{
+			m_isMoving2Origin = false;
+
+			emit back2OriginSignal();
+		}
+
+		if (m_isMoving2Target)
+		{
+			m_isMoving2Target = false;
+			
+			emit ArrivalSignal(m_actualX, m_actualY);
+		}
+	}
+}
+
+double TwoMotor1PosCoordinator::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}
+
+bool TwoMotor1PosCoordinator::checkArrival()
+{
+	return m_xReached && m_yReached;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------
+
+OneMotionCoordinator::OneMotionCoordinator(IrisMultiMotorController* motorCtrl, QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_targetPosition(0)
+	, m_speed(0)
+	, m_actualPosition(0)
+	, m_isMoving(false)
+	, m_retryTimes(0)
+	, m_reached(false)
+{
+	connect(this, SIGNAL(moveTo(int, double, double, int)), m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &OneMotionCoordinator::handlePositionReached);
+}
+
+OneMotionCoordinator::~OneMotionCoordinator()
+{
+}
+
+void OneMotionCoordinator::moveToTarget(double position, double speed)
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_targetPosition = position;
+	m_speed = speed;
+	m_retryTimes = 0;
+	m_reached = false;
+	m_isMoving = true;
+
+	qDebug() << "OneMotionCoordinator: moving to" << position;
+	emit moveTo(0, position, speed, 1000);
+}
+
+void OneMotionCoordinator::handlePositionReached(int motorID, double position)
+{
+	if (!m_isMoving || motorID != 0)
+	{
+		return;
+	}
+
+	QMutexLocker locker(&m_dataMutex);
+	m_actualPosition = position;
+
+	double errorRate = getErrorRate(m_targetPosition, m_actualPosition);
+
+	if (errorRate > 5 && m_retryTimes < m_retryLimit)
+	{
+		m_retryTimes++;
+		qDebug() << "OneMotionCoordinator: retry" << m_retryTimes << ", target:" << m_targetPosition << ", actual:" << m_actualPosition;
+		emit moveTo(0, m_targetPosition, m_speed, 1000);
+		return;
+	}
+
+	m_retryTimes = 0;
+	m_reached = true;
+	m_isMoving = false;
+
+	qDebug() << "OneMotionCoordinator: Arrived at" << m_actualPosition;
+
+	emit sequenceComplete(0);
+	emit ArrivalSignal(m_actualPosition);
+}
+
+double OneMotionCoordinator::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}

HPPA/CaptureCoordinator.h

@@ -144,6 +144,7 @@ public slots:
 	void handleCaptureCompleteWhenFrameNumberMeet();
 
 signals:
+	void sequenceComplete_cam_stop_before_motorback(int); 
 	void sequenceComplete(int);
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
@@ -165,6 +166,7 @@ private:
 	mutable QMutex m_dataMutex;
 
 	bool m_isRunning;
+	bool m_isHypercamStopRecord = false;
 
 	std::vector<double> m_locBeforeStart;
 	void getLocBeforeStart();
@@ -211,3 +213,90 @@ private:
 	void getLocBeforeStart();
 	void move2LocBeforeStart();
 };
+
+
+class TwoMotor1PosCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	TwoMotor1PosCoordinator(IrisMultiMotorController* motorCtrl,
+		QObject* parent = nullptr);
+	~TwoMotor1PosCoordinator();
+
+public slots:
+	void moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	void back2origin();
+
+signals:
+	void ArrivalSignal(double xPos, double yPos);
+	void back2OriginSignal();
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void moveTo(const std::vector<double>, const std::vector<double>, int);
+	void stopMotorSignal(int axis);
+
+private slots:
+	void handlePositionReached(int motorID, double pos);
+
+private:
+	void moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	double getErrorRate(double targetLoc, double actualLoc);
+	bool checkArrival();
+	void move2Origin();
+
+	IrisMultiMotorController* m_motorCtrl;
+	mutable QMutex m_dataMutex;
+
+	bool m_isMoving2Target;
+	bool m_isMoving2Origin;
+
+	double m_targetX;
+	double m_targetY;
+	double m_speedX;
+	double m_speedY;
+
+	double m_actualX;
+	double m_actualY;
+
+	int m_retryLimit = 3;
+	int m_retryTimesX;
+	int m_retryTimesY;
+
+	bool m_xReached;
+	bool m_yReached;
+};
+
+class OneMotionCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	OneMotionCoordinator(IrisMultiMotorController* motorCtrl, QObject* parent = nullptr);
+	~OneMotionCoordinator();
+
+public slots:
+	void moveToTarget(double position, double speed);
+
+signals:
+	void sequenceComplete(int status);
+	void ArrivalSignal(double position);
+	void moveTo(int, double, double, int);
+
+private slots:
+	void handlePositionReached(int motorID, double position);
+
+private:
+	bool checkArrival();
+	double getErrorRate(double targetLoc, double actualLoc);
+
+	IrisMultiMotorController* m_motorCtrl;
+	mutable QMutex m_dataMutex;
+
+	double m_targetPosition;
+	double m_speed;
+	double m_actualPosition;
+	bool m_isMoving;
+
+	int m_retryLimit = 3;
+	int m_retryTimes;
+	bool m_reached;
+};

HPPA/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/FocusDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>650</width>
-    <height>530</height>
+    <width>582</width>
+    <height>465</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -279,13 +279,28 @@ QRadioButton
             <item row="0" column="1">
              <widget class="QGroupBox" name="groupBox">
               <property name="title">
-               <string>连接调焦模块</string>
+               <string>连接调焦线性平台</string>
               </property>
               <layout class="QGridLayout" name="gridLayout_7">
-               <item row="2" column="0" colspan="2">
-                <widget class="QPushButton" name="connectMotor_btn">
+               <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>连接线性平台</string>
+                  <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>
@@ -296,7 +311,7 @@ QRadioButton
                  </property>
                  <property name="sizeHint" stdset="0">
                   <size>
-                   <width>107</width>
+                   <width>40</width>
                    <height>20</height>
                   </size>
                  </property>
@@ -359,22 +374,72 @@ QRadioButton
                  </widget>
                 </widget>
                </item>
-               <item row="0" column="0">
-                <widget class="QRadioButton" name="is_new_version_radioButton">
+               <item row="2" column="0" colspan="2">
+                <widget class="QPushButton" name="connectMotor_btn">
                  <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>
+                  <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>
@@ -446,7 +511,7 @@ QRadioButton
                   </size>
                  </property>
                  <property name="text">
-                  <string>10</string>
+                  <string>0</string>
                  </property>
                  <property name="alignment">
                   <set>Qt::AlignCenter</set>
@@ -462,7 +527,7 @@ QRadioButton
                   </size>
                  </property>
                  <property name="text">
-                  <string>10</string>
+                  <string>1</string>
                  </property>
                  <property name="alignment">
                   <set>Qt::AlignCenter</set>
@@ -518,7 +583,7 @@ QRadioButton
                   </size>
                  </property>
                  <property name="text">
-                  <string>10</string>
+                  <string>1</string>
                  </property>
                  <property name="alignment">
                   <set>Qt::AlignCenter</set>

HPPA/FodisWindow.cpp

@@ -1,4 +1,4 @@
-#include "FodisWindow.h"
+#include "FodisWindow.h"
 #include "JinspFiberImagerConfig.h"
 
 FodisWindow::FodisWindow(QWidget* parent)
@@ -27,7 +27,7 @@ FodisWindow::FodisWindow(QWidget* parent)
 
     connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
 
-    // <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݱ<EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD><EFBFBD> AppSettings <EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>Ĭ<EFBFBD>ϣ<EFBFBD>
+    // 初始化数据保存路径显示（从 AppSettings 恢复或使用默认）
     ui.dataFolderLineEdit->setText(AppSettings::instance().depthCameraDataFolder());
 
     setDataFolder(AppSettings::instance().FiberImagerDataFolder());
@@ -44,7 +44,7 @@ FodisWindow::~FodisWindow()
 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);
@@ -65,10 +65,15 @@ void FodisWindow::setCaptureInterval(int captureIntervalSeconds)
 }
 
 void FodisWindow::openFiberImager()
+{
+    openFiberImager_expose_record("pos_null");
+}
+
+void FodisWindow::openFiberImager_expose_record(QString posInfo)
 {
     if (!m_JinspFiberImagerOperation->getRecordStatus())
     {
-        emit openFiberImagerSignal();
+        emit openFiberImagerSignal(posInfo);
     }
 }
 
@@ -77,7 +82,7 @@ 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()
@@ -90,5 +95,5 @@ 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>
@@ -31,6 +31,7 @@ public:
 
 public Q_SLOTS:
 	void openFiberImager();
+	void openFiberImager_expose_record(QString posInfo);
 	void onCamOpened();
 	void closeFiberImager();
 	void onCamClosed();
@@ -38,7 +39,7 @@ public Q_SLOTS:
 	void onSelectDataFolder();
 
 signals:
-	void openFiberImagerSignal();
+	void openFiberImagerSignal(QString posInfo);
 	void PlotSpectralSignal();
 	void FiberImagerClosedSignal();
 

HPPA/GonggaShanRecordCtl.cpp

@@ -21,13 +21,32 @@ void GonggashanTaskScheduler::setTaskRunning(bool running)
 	Q_EMIT taskStateChanged(m_taskState);
 }
 
-void GonggaShanRecordCtl::logStatus(const QString& message)
+void GonggaShanRecordCtl::logStatus(const QString& message, bool isHearderBlankLine, bool isTailBlankLine)
 {
 	QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss");
-	ui.status_textEdit->append(QString("[%1] %2").arg(timestamp, message));
 
-	if (m_logStream.device()) {
+	if (isHearderBlankLine)
+	{
+		ui.status_textEdit->append("\n");
+	}
+	ui.status_textEdit->append(QString("[%1] %2").arg(timestamp, message));
+	if (isTailBlankLine)
+	{
+		ui.status_textEdit->append("\n");
+	}
+
+	if (m_logStream.device())
+	{
+		if (isHearderBlankLine)
+		{
+			m_logStream << "\n";
+		}
 		m_logStream << "[" << timestamp << "] " << message << "\n";
+		if (isTailBlankLine)
+		{
+			m_logStream << "\n";
+		}
+
 		m_logStream.flush();
 		m_logFile.flush();
 	}
@@ -66,13 +85,13 @@ void GonggaShanRecordCtl::startListen()
 	}
 
 	QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
-	QString logFileName = QString("log%1.txt").arg(timestamp);
+	QString logFileName = QString("%1_log.txt").arg(timestamp);
 	m_logFilePath = AppSettings::instance().dataFolder() + QDir::separator() + logFileName;
 	m_logFile.setFileName(m_logFilePath);
 	m_logFile.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text);
 	m_logStream.setDevice(&m_logFile);
 
-	logStatus("Start listen....");
+	logStatus("Start listen....", true, true);
 
 	MotorParams::TCPConnectionParams tcpConnectionParams6005;
 	tcpConnectionParams6005.port = ui.spinbox_Port->text().toInt();
@@ -84,7 +103,7 @@ void GonggaShanRecordCtl::startListen()
 
 void GonggaShanRecordCtl::stopListen()
 {
-	logStatus("Stop listen");
+	logStatus("Stop listen", true, true);
 
 	disconnect(tcpServer6005, &MotorParams::CommunicationViaTCP::positionReceived, this, &GonggaShanRecordCtl::startRecord);
 
@@ -100,10 +119,11 @@ void GonggaShanRecordCtl::startRecord(int position)
 		return;
 	}
 
-	logStatus("Reach pos: " + QString::number(position));
+	QString pos = QString::number(position);
+	logStatus("Reach pos: " + pos, true);
 
 	m_taskScheduler->setTaskRunning(true);
-	emit startRcordSignal();
+	emit startRcordSignal("pos_" + pos);
 }
 
 void GonggaShanRecordCtl::onFiberImagerStartExposureSignal()

HPPA/GonggaShanRecordCtl.h

@@ -56,7 +56,7 @@ public Q_SLOTS:
 
 Q_SIGNALS:
 	// Emitted when user changes any of the R/G/B wavelength values
-	void startRcordSignal();
+	void startRcordSignal(QString posInfo);
 
 private Q_SLOTS:
 	void startListen();
@@ -65,7 +65,7 @@ private Q_SLOTS:
 	void startRecord(int position);
 
 private:
-	void logStatus(const QString& message);
+	void logStatus(const QString& message, bool isHearderBlankLine = false, bool isTailBlankLine = false);
 
 	Ui::gongga_control ui;
 	QPointer<MotorParams::CommunicationViaTCP> tcpServer6005;

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();
@@ -1050,6 +1079,11 @@ 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)));
@@ -1088,7 +1122,7 @@ void HPPA::setupGonggashanAutoRecordConnection()
 	connect(m_omc, &OneMotorControl::sequenceComplete, m_gonggaShanRecordCtl, &GonggaShanRecordCtl::onRcordFinished);
 }
 
-void HPPA::onGonggashanRecord()
+void HPPA::onGonggashanRecord(QString posInfo)
 {
 	//设置文件名
 	//AppSettings::instance().setFrameRate(f);
@@ -1097,7 +1131,7 @@ void HPPA::onGonggashanRecord()
 
 	QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
 	//QString fi = AppSettings::instance().fileName() + "_" + dateStr;
-	AppSettings::instance().setFileName(dateStr);
+	AppSettings::instance().setFileName(dateStr + "_" + posInfo);
 
 	this->frame_number->setText("100000");
 	
@@ -1109,7 +1143,7 @@ void HPPA::onGonggashanRecord()
 		onconnect();
 	}
 	
-	m_fodisWindow->openFiberImager();
+	m_fodisWindow->openFiberImager_expose_record(posInfo);
 }
 
 void HPPA::recordFromRobotArm(int fileCounter)
@@ -1672,6 +1706,7 @@ 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);
 
@@ -2396,7 +2431,7 @@ void HPPA::disconnectImagerAndCleanup()
 	{
 		m_RecordThread->quit();
 		m_RecordThread->wait(3000);
-		delete m_RecordThread;
+		m_RecordThread->deleteLater();
 		m_RecordThread = nullptr;
 	}
 
@@ -2563,6 +2598,15 @@ 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;
 
@@ -2572,6 +2616,15 @@ 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;
 

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;
@@ -363,7 +364,7 @@ private:
 	void showFiberImagerSpectral(DeviceAttribute attribute, DataFrame dataFrame);
 
 	void setupGonggashanAutoRecordConnection();
-	void onGonggashanRecord();
+	
 
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
@@ -449,10 +450,15 @@ 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(QString posInfo);
+
 protected:
 	void closeEvent(QCloseEvent* event) override;
 

HPPA/HPPA.vcxproj

@@ -186,6 +186,7 @@
     <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" />
@@ -212,6 +213,7 @@
     <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="DepthValueLogger.h" />
     <QtMoc Include="fileOperation.h" />
   </ItemGroup>
   <ItemGroup>

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/ImagerOperationBase.cpp

@@ -221,6 +221,16 @@ void ImagerOperationBase::record_white()
 
 void ImagerOperationBase::start_record()
 {
+	QObject* obj = sender();
+	if (obj)
+	{
+		qDebug() << "ImagerOperationBase::start_record, sender name:" << obj->objectName();
+	}
+	else
+	{
+		qDebug() << "ImagerOperationBase::start_record, sender is null";
+	}
+	 
     using namespace std;
 
     //std::cout << "------------------------------------------------------" << std::endl;

HPPA/JinspFiberImager.cpp

@@ -172,7 +172,7 @@ 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++)
@@ -318,8 +318,10 @@ void JinspFiberImager::setCaptureInterval(int captureIntervalSeconds)
     m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
 }
 
-void JinspFiberImager::OpenFiberImagerAndRecord()
+void JinspFiberImager::OpenFiberImagerAndRecord(QString posInfo)
 {
+    m_posInfo = posInfo;
+
     //连接光谱仪
     QString SN;
     QString pixelCount;

HPPA/JinspFiberImager.h

@@ -55,6 +55,8 @@ private:
 
     int m_iExposureTime;
 
+    QString m_posInfo;
+
 //	ZZ_U32 m_MaxValueOfFiberSpectrometer;
 
 public slots:
@@ -62,7 +64,7 @@ public slots:
     void recordTarget(int recordTimes, QString path);
     void autoExpose();
 
-    void OpenFiberImagerAndRecord();
+    void OpenFiberImagerAndRecord(QString posInfo);
 
 signals:
     void sendExposureTimeSignal(int exposureTime);

HPPA/OneMotorControl.cpp

@@ -223,8 +223,14 @@ void OneMotorControl::record_white()
 
 void OneMotorControl::run()
 {
+    if (m_coordinator)//当高光谱相机停止采集后，马达还未回到原点时，上次任务的m_coordinator还没有被销毁
+    {
+        onSequenceComplete(0);
+    }
+
     qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
     m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+    m_coordinator->setObjectName("testOneMotionCaptureCoordinator");
     connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
     connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
 
@@ -261,3 +267,278 @@ bool OneMotorControl::getMotorsConnectionStatus()
 {
     return m_xMotorConnectionStatus;
 }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+OneMotorControl_LiftingPlatform::OneMotorControl_LiftingPlatform(QWidget* parent) : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
+
+    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
+
+    // 从 AppSettings 读取速度参数
+    AppSettings& settings = AppSettings::instance();
+    ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
+
+    // 连接信号，当控件数值变化时保存到 AppSettings
+    connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
+        });
+    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
+        });
+}
+
+OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
+{
+    m_motorThread.quit();
+    m_motorThread.wait();
+}
+
+void OneMotorControl_LiftingPlatform::onConnectMotor()
+{
+    connectMotor(true);
+}
+
+void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
+{
+    if (getMotorsConnectionStatus())
+    {
+        if (isNotification)
+        {
+            QMessageBox msgBox;
+            msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+            msgBox.exec();
+
+        }
+        return;
+    }
+
+    if (m_multiAxisController != nullptr)
+    {
+        disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+        disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+        disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+        disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+        disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+        disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+        disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+        disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+        m_motorThread.quit();
+        m_motorThread.wait();
+        m_multiAxisController = nullptr;
+    }
+
+    try
+    {
+        FileOperation* fileOperation = new FileOperation();
+        string directory = fileOperation->getDirectoryOfExe();
+        QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_LiftingPlatform.cfg";
+
+        m_multiAxisController = new IrisMultiMotorController(configFilePath);
+    }
+    catch (std::exception const& e)
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
+        msgBox.exec();
+        return;
+    }
+
+    m_multiAxisController->moveToThread(&m_motorThread);
+    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+
+    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+
+    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+
+    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+
+    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+
+    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+    m_motorThread.start();
+    emit testConnectivitySignal(0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::display_x_loc(std::vector<double> loc)
+{
+    double tmp = round(loc[0] * 100) / 100;
+    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+
+    emit broadcastLocationSignal(loc);
+}
+
+void OneMotorControl_LiftingPlatform::display_motors_connectivity(std::vector<int> connectivity)
+{
+    //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+    if (connectivity[0])
+    {
+        m_xMotorConnectionStatus = true;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
+    }
+    else
+    {
+        m_xMotorConnectionStatus = false;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
+    }
+
+    if (getMotorsConnectionStatus())
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
+    }
+    else
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
+    }
+}
+
+void OneMotorControl_LiftingPlatform::zeroStart()
+{
+    zeroStartSignal(0);
+}
+
+void OneMotorControl_LiftingPlatform::onx_rangeMeasurement()
+{
+    double s0 = ui.speed_lineEdit->text().toDouble();
+    emit rangeMeasurement(0, s0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMove2Loc()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+    double l = ui.move2loc_lineEdit->text().toDouble();
+
+    emit move2LocSignal(0, l, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorRight()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, false, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorLeft()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, true, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorStop()
+{
+    emit stopSignal(0);
+}
+
+void OneMotorControl_LiftingPlatform::run()
+{
+	m_coordinator = new OneMotionCoordinator(m_multiAxisController,this);
+    connect(m_coordinator, &OneMotionCoordinator::sequenceComplete, this, &OneMotorControl_LiftingPlatform::sequenceComplete);
+    connect(m_coordinator, &OneMotionCoordinator::ArrivalSignal, this, &OneMotorControl_LiftingPlatform::onBack2Origin);
+
+    double plantDepthValue = DepthValueLogger::instance().readLatestPlantDepthValue();
+    double liftingPlatformDepthValue = DepthValueLogger::instance().readLatestLiftingPlatformDepthValue();
+	double targetDepth = liftingPlatformDepthValue - plantDepthValue;
+
+    if (targetDepth < 0)
+    {
+        return;
+    }
+
+    m_coordinator->moveToTarget(targetDepth, ui.speed_lineEdit->text().toDouble());
+}
+
+void OneMotorControl_LiftingPlatform::stop()
+{
+    emit stopStepMotionSignal();
+}
+
+void OneMotorControl_LiftingPlatform::onBack2Origin(double pos)
+{
+    emit back2OriginSignal_TimedDataCollection();
+
+    m_coordinator->deleteLater();
+    m_coordinator = nullptr;
+}
+
+bool OneMotorControl_LiftingPlatform::getMotorsConnectionStatus()
+{
+    return m_xMotorConnectionStatus;
+}

HPPA/OneMotorControl.h

@@ -1,6 +1,7 @@
 #pragma once
 #include <QThread>
 #include <QMessageBox>
+#include <QPointer>
 
 #include "ui_oneMotorControl.h"
 
@@ -10,6 +11,8 @@
 #include "MotorWindowBase.h"
 #include "AppSettings.h"
 
+#include "DepthValueLogger.h"
+
 class OneMotorControl : public QDialog, public MotorWindowBase
 {
     Q_OBJECT
@@ -68,7 +71,7 @@ private:
     QThread m_motorThread;
     IrisMultiMotorController* m_multiAxisController = nullptr;
 
-    OneMotionCaptureCoordinator* m_coordinator = nullptr;
+    QPointer<OneMotionCaptureCoordinator> m_coordinator;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
@@ -76,3 +79,62 @@ private:
 
     bool m_xMotorConnectionStatus = false;
 };
+
+class OneMotorControl_LiftingPlatform : public QDialog, public MotorWindowBase
+{
+    Q_OBJECT
+
+public:
+    OneMotorControl_LiftingPlatform(QWidget* parent = nullptr);
+    ~OneMotorControl_LiftingPlatform();
+
+    void run();
+    void stop();
+
+    bool getMotorsConnectionStatus();
+
+    void connectMotor(bool isNotification);
+
+public Q_SLOTS:
+    void onConnectMotor();
+
+    void display_x_loc(std::vector<double> loc);
+    void display_motors_connectivity(std::vector<int> connectivity);
+    void onxMove2Loc();
+    void zeroStart();
+    void onx_rangeMeasurement();
+
+    void onxMotorRight();
+    void onxMotorLeft();
+    void onxMotorStop();
+
+    void onBack2Origin(double pos);
+
+signals:
+    void moveSignal(int, bool, double, int);
+    void move2LocSignal(int, double, double, int);
+    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
+    void stopSignal(int);
+
+    void rangeMeasurement(int, double, int);
+    void zeroStartSignal(int);
+    void testConnectivitySignal(int, int);
+
+    void start(OneMotionCapturePathLine);
+    void stopStepMotionSignal();
+
+    void sequenceComplete(int status);
+    void back2OriginSignal_TimedDataCollection();
+
+    void broadcastLocationSignal(std::vector<double>);
+
+private:
+    Ui::OneMotorControl_UI ui;
+
+    QThread m_motorThread;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
+
+    QPointer<OneMotionCoordinator> m_coordinator;
+
+    bool m_xMotorConnectionStatus = false;
+};

HPPA/TaskTreeModel.cpp

@@ -587,13 +587,17 @@ QString TaskTreeModel::statusToString(TaskStatus status) const
 
 QString TaskTreeModel::subTaskTypeToString(SubTaskType type) const
 {
-    switch (type) {
+    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;
 }
 
@@ -235,15 +283,10 @@ void TaskExecutor::execute(const TimedTask& task)
 
     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 switchHalogenLampSignal(0);
+    }
+    if (currentTaskType != SubTaskType::SingleLensReflex &&
+        currentTaskType != SubTaskType::DepthCamera &&
+        currentTaskType != SubTaskType::ObtainingDepthInformation)
     {
         emit switchD65LampSignal(0);
-            break;
     }
-        case SubTaskType::DepthCamera:
+}
+
+void TaskExecutor::ensurePostTaskLighting()
+{
+    SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
+    if (currentTaskType == SubTaskType::SingleLensReflex ||
+        currentTaskType == SubTaskType::DepthCamera ||
+        currentTaskType == SubTaskType::ObtainingDepthInformation)
     {
         emit switchD65LampSignal(0);
-            break;
-        }
     }
 
-    // 判断下一次的任务是否为高光谱任务，如果不是关闭卤素灯
     int nestSubTaskIndex = m_currentSubTaskIndex + 1;
     if (nestSubTaskIndex >= m_task.subTasks.size())
     {
@@ -340,21 +401,13 @@ void TaskExecutor::onSequenceComplete(int status)
         emit switchHalogenLampSignal(0);
         return;
     }
-    switch (m_task.subTasks[nestSubTaskIndex].type)
-    {
-        case SubTaskType::SingleLensReflex:
+    // 判断下一次的任务是否为高光谱任务，如果不是就关闭卤素灯
+    SubTaskType nestTaskType = m_task.subTasks[nestSubTaskIndex].type;
+    if (nestTaskType != SubTaskType::HyperSpectual400_1000nm &&
+        nestTaskType != SubTaskType::HyperSpectual1000_1700nm)
     {
         emit switchHalogenLampSignal(0);
-            break;
     }
-        case SubTaskType::DepthCamera:
-        {
-            emit switchHalogenLampSignal(0);
-            break;
-        }
-    }
-
-    emit taskUpdated(m_task);
 }
 
 void TaskExecutor::onBack2Origin()
@@ -373,12 +426,12 @@ void TaskExecutor::onBack2Origin()
     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
         {
@@ -434,53 +487,117 @@ void TaskExecutor::executeNextSubTask()
 
     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);
@@ -657,6 +774,10 @@ void TaskScheduler::executeTask(TimedTask& task)
     connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
         this, &TaskScheduler::startRecordSignal);
 
+    connect(m_currentExecutor, &TaskExecutor::ObtainingDepthInformationSignals, this, &TaskScheduler::ObtainingDepthInformationSignals);
+    connect(m_currentExecutor, &TaskExecutor::LiftingPlatformSignals, this, &TaskScheduler::LiftingPlatformSignals);
+    connect(m_currentExecutor, &TaskExecutor::AutoFocusSignals, this, &TaskScheduler::AutoFocusSignals);
+
     connect(m_currentExecutor, &TaskExecutor::switchHalogenLampSignal, this, &TaskScheduler::switchHalogenLampSignal);
     connect(m_currentExecutor, &TaskExecutor::switchD65LampSignal, this, &TaskScheduler::switchD65LampSignal);
     connect(m_currentExecutor, &TaskExecutor::switchSlrSignal, this, &TaskScheduler::switchSlrSignal);
@@ -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 +210,78 @@ 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->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())

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
@@ -82,7 +86,12 @@ 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();
 
@@ -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：3.1.1</string>
+             <string>版本：3.1.3</string>
             </property>
            </widget>
           </item>

HPPA/focusWindow.cpp

@@ -78,6 +78,40 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 	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()
 {
 	printf("destroy focusWindow-------------------------\n");
@@ -163,33 +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
 	{
@@ -260,6 +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;
@@ -342,7 +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
 	{
@@ -516,30 +649,48 @@ void focusWindow::moveAfterAutoFocus(int motorID, double location)
 
 	std::cout << "\n已经到达位置：" << location  << std::endl;
 
-	double tmp = abs(location - m_goodPos) / m_goodPos * 100;
-	if (tmp < 5)
+	double errorRate = getErrorRate(m_goodPos, location);
+	if (errorRate < 5|| m_moveRetryCount > MAX_MOVE_RETRY)
 	{
 		m_isMoveAfterAutoFocus = false;
+		m_moveRetryCount = 0;
 		if (!m_isAutoFocusSuccess)
 		{
-			QMessageBox msgBox;
-			msgBox.setText(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
-			msgBox.exec();
+			qDebug() << "纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！";
+			//showMessageBox(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
 		}
 		else
 		{
-			QMessageBox msgBox;
-			msgBox.setText(QString::fromLocal8Bit("自动调焦成功！"));
-			msgBox.exec();
+			qDebug() << "自动调焦成功！";
+			//showMessageBox(QString::fromLocal8Bit("自动调焦成功！"));
 		}
+		emit AutoFocusFinishedSignal(0);
 	}
 	else
 	{
+		m_moveRetryCount++;
+		qDebug() << "自动调焦后目标马达位置，重试次数：" << m_moveRetryCount;
 		//移动马达到最佳位置
 		emit move2LocSignal(0, (double)m_goodPos, m_dSpeed, 1000);
 	}
 }
 
+double focusWindow::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}
+
 void focusWindow::getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init)
 {
 	auto minmax_element = std::minmax_element(index.begin(), index.end());
@@ -690,11 +841,15 @@ MotionCaptureCoordinator::MotionCaptureCoordinator(
 	, m_currentPos(0)
 	, m_endPos(0)
 	, m_isRunning(false)
+	, m_isZeroing(false)
 {
 	//这些信号槽是按照逻辑顺序的
 	connect(this, SIGNAL(moveTo(int, double, double, int)),
 		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
 
+	connect(this, &MotionCaptureCoordinator::zeroStart,
+		m_motorCtrl, &IrisMultiMotorController::zeroStart);
+
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
 		this, &MotionCaptureCoordinator::handlePositionReached);
 	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
@@ -731,15 +886,37 @@ void MotionCaptureCoordinator::startStepMotion(double speed, int stepInterval, d
 	m_speed = speed;
 	m_iStepInterval = stepInterval;
 	m_iStepIntervalRealTime = 1;
-	m_currentPos = startPos;
+	m_startPos = startPos;
 	m_endPos = endPos;
 	m_posInternal = (endPos - startPos) / stepInterval;
 
 	m_isRunning = true;
+	m_isZeroing = true;
+
+	// 先执行归零操作
+	emit zeroStart(0);
+	qDebug() << "MotionCaptureCoordinator::startStepMotion: Zeroing started.";
+}
+
+void MotionCaptureCoordinator::startMotionSequence()
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	m_currentPos = m_startPos;
+	m_isZeroing = false;
+	qDebug() << "MotionCaptureCoordinator::startMotionSequence: Zeroing complete. Starting motion sequence.";
 
 	processNextPosition();
 }
 
+void MotionCaptureCoordinator::handleZeroComplete(int motorID, double pos)
+{
+	if (!m_isRunning || !m_isZeroing) return;
+
+	// 归零完成，开始分步运动
+	startMotionSequence();
+}
+
 void MotionCaptureCoordinator::stopStepMotion()
 {
 	QMutexLocker locker(&m_dataMutex);
@@ -782,6 +959,13 @@ void MotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 {
 	if (!m_isRunning) return;
 
+	// 如果正在等待归零完成，调用归零完成处理
+	if (m_isZeroing)
+	{
+		handleZeroComplete(motorID, pos);
+		return;
+	}
+
 	QMutexLocker locker(&m_dataMutex);
 
 	//验证马达运动位置是否到达指定位置

HPPA/focusWindow.h

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

HPPA/gonggashanCtl.ui

@@ -32,14 +32,6 @@ QSpinBox
     border: none;
 }
 
-QTextEdit
-{
-	font: 10pt "新宋体";
-	background-color: #142D7F;
-	color: white;
-    border: none;
-}
-
 QPushButton
 {
 	/*width: 172px;
@@ -82,56 +74,7 @@ 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" stretch="1,1,3">
    <item>
@@ -257,7 +200,57 @@ QSlider::handle:horizontal:pressed {
      </property>
      <layout class="QGridLayout" name="gridLayout_3">
       <item row="0" column="0">
-       <widget class="QTextEdit" name="status_textEdit"/>
+       <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>