add，深度相机：

1、采集惯导数据并写入文件；
2、轮播看板添加深度图像；
3、植物表型场景控制深度相机看板；

fix：
优化调焦时，图像像素的填充方式；

.gitignore

@@ -5,6 +5,9 @@ gdal202.dll
 *.rej
 HPPA类图.drawio
 HPPA - 副本.ui
+icon
+ignore_*
+resources
 
 ## Ignore Visual Studio temporary files, build results, and
 ## files generated by popular Visual Studio add-ons.

HPPA/AppSettings.cpp

@@ -0,0 +1,35 @@
+#include "AppSettings.h"
+
+const QString AppSettings::kDefaultDataFolder = QStringLiteral("C:\\HPPA_image");
+const QString AppSettings::kDefaultFileName = QStringLiteral("test_image");
+
+AppSettings::AppSettings()
+	: m_settings(QSettings::IniFormat, QSettings::UserScope,
+		QStringLiteral("IRIS"), QStringLiteral("HPPA"))
+{
+}
+
+AppSettings& AppSettings::instance()
+{
+	static AppSettings s;
+	return s;
+}
+
+QString AppSettings::dataFolder() const
+{
+	return m_settings.value("General/DataFolder", kDefaultDataFolder).toString();
+}
+
+void AppSettings::setDataFolder(const QString& path)
+{
+	m_settings.setValue("General/DataFolder", path);
+}
+
+QString AppSettings::fileName() const
+{
+	return m_settings.value("General/FileName", kDefaultFileName).toString();
+}
+void AppSettings::setFileName(const QString& path)
+{
+	m_settings.setValue("General/FileName", path);
+}

HPPA/AppSettings.h

@@ -0,0 +1,29 @@
+#pragma once
+
+#include <QSettings>
+#include <QString>
+
+class AppSettings
+{
+public:
+	static AppSettings& instance();
+
+	// 数据路径
+	QString dataFolder() const;
+	void setDataFolder(const QString& path);
+
+	QString fileName() const;
+	void setFileName(const QString& path);
+	// 在此处添加更多参数的 getter/setter ...
+
+private:
+	AppSettings();
+	AppSettings(const AppSettings&) = delete;
+	AppSettings& operator=(const AppSettings&) = delete;
+
+	QSettings m_settings;
+
+	// 默认值
+	static const QString kDefaultDataFolder;
+	static const QString kDefaultFileName;
+};

HPPA/AspectRatioLabel.cpp

@@ -0,0 +1,28 @@
+#include "stdafx.h"
+#include "AspectRatioLabel.h"
+
+AspectRatioLabel::AspectRatioLabel(QWidget* parent)
+	: QLabel(parent)
+{
+	setAlignment(Qt::AlignCenter);
+}
+
+void AspectRatioLabel::setOriginalPixmap(const QPixmap& pixmap)
+{
+	m_originalPixmap = pixmap;
+	updateScaledPixmap();
+}
+
+void AspectRatioLabel::resizeEvent(QResizeEvent* event)
+{
+	QLabel::resizeEvent(event);
+	updateScaledPixmap();
+}
+
+void AspectRatioLabel::updateScaledPixmap()
+{
+	if (m_originalPixmap.isNull())
+		return;
+
+	setPixmap(m_originalPixmap.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
+}

HPPA/AspectRatioLabel.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <QLabel>
+#include <QPixmap>
+#include <QResizeEvent>
+
+class AspectRatioLabel : public QLabel
+{
+	Q_OBJECT
+
+public:
+	explicit AspectRatioLabel(QWidget* parent = nullptr);
+
+	void setOriginalPixmap(const QPixmap& pixmap);
+
+protected:
+	void resizeEvent(QResizeEvent* event) override;
+
+private:
+	void updateScaledPixmap();
+	QPixmap m_originalPixmap;
+};

HPPA/CaptureCoordinator.cpp

@@ -97,7 +97,6 @@ void TwoMotionCaptureCoordinator::stop()
 	std::cout << "The user manually stops the collection! " << std::endl;
 	savePathLinesToCsv();
 	
-	emit sequenceComplete(1);
 	emit finishRecordLineNumSignal(m_numCurrentPathLine);
 	//emit stopRecordHSISignal(m_numCurrentPathLine);
 	if (m_cameraCtrl != nullptr)
@@ -106,6 +105,8 @@ void TwoMotionCaptureCoordinator::stop()
 	}
 
 	move2LocBeforeStart();
+
+	emit sequenceComplete(1);
 }
 
 void TwoMotionCaptureCoordinator::getLocBeforeStart()
@@ -471,7 +472,8 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 
 OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
 {
-
+	disconnect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &OneMotionCaptureCoordinator::handleMotorStoped);
 }
 
 void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
@@ -585,6 +587,10 @@ void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 		m_cameraCtrl->stop_record();
 	}
 	move2LocBeforeStart();
+
+	// 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)

HPPA/Carousel.cpp

@@ -0,0 +1,285 @@
+#include "Carousel.h"
+#include <QContextMenuEvent>
+#include <QDebug>
+
+MyCarousel::MyCarousel(QWidget* parent)
+    : QWidget(parent),
+    m_stackedWidget(new QStackedWidget(this)),
+    m_bottomButtonOverlay(nullptr),
+    m_bottomButtonLayout(nullptr),
+    m_bottomButtonGroup(nullptr),
+    m_currentIndex(0),
+    m_isPlaying(false),
+    m_isLocked(false),
+    m_lockedIndex(-1),
+    m_playInterval(2000),
+    m_intervalButtonSize(40)
+{
+    QVBoxLayout* layout = new QVBoxLayout(this);
+    layout->addWidget(m_stackedWidget);
+    layout->setContentsMargins(0, 0, 0, 0);
+
+    m_autoPlayerTimer = new QTimer(this);
+    connect(m_autoPlayerTimer, &QTimer::timeout,
+        this, &MyCarousel::slideRight);
+
+    m_nomalQSS= R"(
+            QPushButton
+            {
+                background-color: #FFFFFF;
+                border-radius: 5px;
+                border: 1px solid #FFFFFF;
+            }
+            QPushButton:checked
+            {
+                background-color: #08F8E8;
+                border-radius: 5px;
+                border: 1px solid #08F8E8;
+            }
+            QPushButton:hover
+            {
+                background-color: red;
+                border-radius: 5px;
+                border: 1px solid red;
+            }
+            /*QPushButton:!checked {
+                background-color: #FFFFFF;
+                border-radius: 5px;
+                border: 1px solid #FFFFFF;
+            }*/
+	)";
+
+    m_lockedQSS = R"(
+            QPushButton
+            {
+                background-color: #FFFFFF;
+                border-radius: 5px;
+                border: 1px solid #FFFFFF;
+            }
+            QPushButton:checked
+            {
+                background-color: #08F8E8;
+                border-radius: 5px;
+                border: 1px solid #08F8E8;
+            }
+            QPushButton:hover
+            {
+                background-color: red;
+                border-radius: 5px;
+                border: 1px solid red;
+            }
+	)";
+}
+
+void MyCarousel::addWidget(QWidget* w)
+{
+    m_widgets.append(w);
+    m_stackedWidget->addWidget(w);
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::play()
+{
+    if (m_widgets.isEmpty())
+        return;
+
+    m_isPlaying = true;
+
+    // 创建底部按钮
+    m_bottomButtonLayout = new QHBoxLayout();
+    m_bottomButtonGroup = new QButtonGroup(this);
+    m_bottomButtons.clear();
+
+    for (int i = 0; i < m_widgets.size(); ++i) {
+        QPushButton* btn = new QPushButton(this);
+        btn->setCheckable(true);
+        btn->setFixedSize(m_intervalButtonSize, 3);
+        btn->setStyleSheet(m_nomalQSS);
+        btn->setFixedHeight(10);
+        btn->setFixedWidth(10);
+
+        m_bottomButtonLayout->addWidget(btn);
+        m_bottomButtonGroup->addButton(btn, i);
+        m_bottomButtons.append(btn);
+
+        connect(btn, &QPushButton::clicked, this, [this, i]() {
+            onButtonClicked(i);
+            });
+    }
+
+    m_bottomButtonOverlay = new QWidget(this);
+    m_bottomButtonOverlay->setLayout(m_bottomButtonLayout);
+    m_bottomButtonOverlay->setAttribute(Qt::WA_TranslucentBackground);
+    m_bottomButtonOverlay->show();
+
+    m_autoPlayerTimer->setInterval(m_playInterval);
+    m_autoPlayerTimer->start();
+
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::contextMenuEvent(QContextMenuEvent* event)
+{
+    showContextMenu(event->globalPos());
+}
+
+void MyCarousel::showContextMenu(const QPoint& pos)
+{
+    QMenu menu(this);
+    menu.setStyleSheet(R"(
+        QMenu {
+            background-color: #2a5dec;
+            color: white;
+        }
+        QMenu::item:selected {
+            background-color: #1a4ddc;
+        }
+        QMenu::separator {
+            height: 1px;
+            background: white;
+        }
+    )");
+
+    QAction* startAct = menu.addAction(QString::fromLocal8Bit("开始轮播"));
+    QAction* stopAct = menu.addAction(QString::fromLocal8Bit("停止轮播"));
+
+    menu.addSeparator();
+    QAction* incAct = menu.addAction("+1");
+    QAction* decAct = menu.addAction("-1");
+
+    if (!m_isLocked)
+        startAct->setEnabled(false);
+
+    if (m_isLocked)
+        stopAct->setEnabled(false);
+
+    QAction* act = menu.exec(pos);
+
+    if (act == startAct)
+        startAutoPlay();
+    else if (act == stopAct)
+        stopAutoPlay();
+    else if (act == incAct) {
+        m_playInterval += 1000;
+        m_autoPlayerTimer->setInterval(m_playInterval);
+    }
+    else if (act == decAct) {
+        if (m_playInterval > 1)
+            m_playInterval -= 1000;
+        m_autoPlayerTimer->setInterval(m_playInterval);
+    }
+}
+
+void MyCarousel::startAutoPlay()
+{
+    updateButtonState(m_currentIndex);
+}
+
+void MyCarousel::stopAutoPlay()
+{
+    updateButtonState(m_currentIndex);
+}
+
+void MyCarousel::onButtonClicked(int index)
+{
+    updateButtonState(index);
+    gotoWidget(index);
+}
+
+void MyCarousel::updateButtonState(int index)
+{
+    if (m_isLocked)
+    {
+        if (index == m_lockedIndex) {
+            // 解锁
+            m_isLocked = false;
+            m_lockedIndex = -1;
+
+            if (m_isPlaying)
+                m_autoPlayerTimer->start();
+
+            restoreButtonStyle(index);
+        }
+        else {
+            // 切换锁定
+            restoreButtonStyle(m_lockedIndex);
+            setButtonLocked(index);
+            m_lockedIndex = index;
+        }
+    }
+    else {
+        // 初次锁定
+        m_isLocked = true;
+        m_lockedIndex = index;
+        m_autoPlayerTimer->stop();
+        setButtonLocked(index);
+    }
+}
+
+void MyCarousel::setButtonLocked(int index)
+{
+    QPushButton* btn = m_bottomButtons[index];
+    btn->setText("");
+    btn->setStyleSheet(m_lockedQSS);
+}
+
+void MyCarousel::restoreButtonStyle(int index)
+{
+    if (index < 0)
+        return;
+
+    QPushButton* btn = m_bottomButtons[index];
+    btn->setText("");
+    btn->setStyleSheet(m_nomalQSS);
+}
+
+void MyCarousel::slideLeft()
+{
+    if (m_widgets.isEmpty() || m_isLocked || !m_isPlaying)
+        return;
+
+    m_currentIndex = (m_currentIndex - 1 + m_widgets.size()) % m_widgets.size();
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::slideRight()
+{
+    if (m_widgets.isEmpty() || m_isLocked || !m_isPlaying)
+        return;
+
+    m_currentIndex = (m_currentIndex + 1) % m_widgets.size();
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::gotoWidget(int index)
+{
+    m_currentIndex = index;
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::updateStackedWidgetVisibility()
+{
+    if (m_widgets.isEmpty())
+        return;
+
+    m_stackedWidget->setCurrentIndex(m_currentIndex);
+
+    if (!m_isLocked) {
+        for (int i = 0; i < m_bottomButtons.size(); ++i)
+            m_bottomButtons[i]->setChecked(i == m_currentIndex);
+    }
+}
+
+void MyCarousel::resizeEvent(QResizeEvent*)
+{
+    if (!m_bottomButtonOverlay)
+        return;
+
+    int count = m_widgets.size();
+    int totalWidth = m_intervalButtonSize * count + 10 * (count - 1);
+
+    int x = (width() - totalWidth) / 2;
+    int y = height() - m_intervalButtonSize;
+
+    m_bottomButtonOverlay->setGeometry(x, y, totalWidth, m_intervalButtonSize);
+}

HPPA/Carousel.h

@@ -0,0 +1,66 @@
+#pragma once
+
+#include <QWidget>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QButtonGroup>
+#include <QTimer>
+#include <QMenu>
+
+class MyCarousel : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit MyCarousel(QWidget* parent = nullptr);
+
+    void addWidget(QWidget* w);
+    void play();
+    void gotoWidget(int index);
+
+protected:
+    void contextMenuEvent(QContextMenuEvent* event) override;
+    void resizeEvent(QResizeEvent* event) override;
+
+private slots:
+    void slideLeft();
+    void slideRight();
+    void onButtonClicked(int index);
+
+private:
+    // UI
+    QStackedWidget* m_stackedWidget;
+    QWidget* m_bottomButtonOverlay;
+    QHBoxLayout* m_bottomButtonLayout;
+    QButtonGroup* m_bottomButtonGroup;
+
+    QVector<QWidget*> m_widgets;
+    QVector<QPushButton*> m_bottomButtons;
+    QString m_nomalQSS;
+    QString m_lockedQSS;
+
+    // 状态值
+    int m_currentIndex;
+    bool m_isPlaying;
+    bool m_isLocked;
+    int m_lockedIndex;
+
+    // 参数
+    int m_playInterval;
+    int m_intervalButtonSize;
+
+    QTimer* m_autoPlayerTimer;
+
+private:
+    void updateStackedWidgetVisibility();
+    void updateButtonState(int index);
+
+    void setButtonLocked(int index);
+    void restoreButtonStyle(int index);
+
+    void showContextMenu(const QPoint& pos);
+
+    void startAutoPlay();
+    void stopAutoPlay();
+};

HPPA/Corning410Imager.cpp

@@ -1,8 +1,8 @@
-#include "Corning410Imager.h"
+#include "Corning410Imager.h"
 
 Corning410Imager::Corning410Imager()
 {
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+	//配置文件：如果没有，就创建配置文件
 	string CfgFile = getPathofEXE() + "\\corning410.cfg";
 	m_configfile.setConfigfilePath(CfgFile);
 	if (!m_configfile.isConfigfileExist())
@@ -18,7 +18,7 @@ Corning410Imager::~Corning410Imager()
 {
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 		free(dark);
 		free(white);
@@ -70,7 +70,7 @@ void Corning410Imager::connectImager(const char* camera_sn)
 {
 	m_imager.connect();
 
-	//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD>
+	//读取配置文件参数，并为相机设置参数
 	bool ret, ret1, ret2;
 
 	int spatialBin;
@@ -82,8 +82,8 @@ void Corning410Imager::connectImager(const char* camera_sn)
 		bool haha = m_imager.setSpectralBin(spectralBin);
 		bool haha2 = m_imager.setSpatialBin(spatialBin);
 
-		std::cout << "spectralBin<EFBFBD><EFBFBD>" << spectralBin << std::endl;
-		std::cout << "spatialBin<EFBFBD><EFBFBD>" << spatialBin << std::endl;
+		std::cout << "spectralBin：" << spectralBin << std::endl;
+		std::cout << "spatialBin：" << spatialBin << std::endl;
 	}
 
 	float gain, offset;

HPPA/Corning410Imager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <string>
 #include <opencv2/core/core.hpp> 
 

HPPA/CustomDockWidgetBase.cpp

@@ -0,0 +1,204 @@
+#include "CustomDockWidgetBase.h"
+
+CustomDockWidgetBase::CustomDockWidgetBase(QMainWindow* parent)
+    : QDockWidget(parent),
+    m_mainWindow(parent),
+    m_isMaximized(false)
+{
+    initialize();
+}
+
+CustomDockWidgetBase::CustomDockWidgetBase(QString title, QMainWindow* parent)
+    : QDockWidget(title, parent),
+    m_mainWindow(parent),
+    m_isMaximized(false)
+{
+    initialize();
+    setTile(title);
+}
+
+void CustomDockWidgetBase::initialize()
+{
+    QWidget* titleBar_Background = new QWidget(this);
+    titleBar_Background->setObjectName("titleBar_Background");
+    QGridLayout* layout_titleBar_Background = new QGridLayout(titleBar_Background);
+    layout_titleBar_Background->setContentsMargins(0, 0, 0, 0);
+    titleBar_Background->setStyleSheet(R"(
+        QWidget #titleBar_Background{
+			background: #040125;
+        }
+	)");
+
+    QWidget* titleBar = new QWidget(titleBar_Background);
+    titleBar->setObjectName("titleBar");
+    QHBoxLayout* layout = new QHBoxLayout(titleBar);
+    titleBar->setFixedHeight(30);
+
+    title_label = new QLabel(titleBar);
+
+    layout->setContentsMargins(10, 0, 10, 0);
+    layout->addWidget(title_label);
+    layout->addStretch();
+
+    m_maxButton = new QToolButton(titleBar);
+    m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+
+    layout->addWidget(m_maxButton);
+
+    titleBar->setStyleSheet(R"(
+        QWidget #titleBar{
+			background: #0E1C4C;
+			/*border: 4px solid #2c586b;*/
+			/*padding-top: 10px;
+			padding-bottom: 10px;*/
+
+			border-top: 1px solid #2c586b;
+			border-left: 1px solid #2c586b;
+			border-right: 1px solid #2c586b;
+			border-bottom: none;  /* 取消底部边框 */
+			
+			border-top-left-radius: 5px;
+			border-top-right-radius: 5px;
+        }
+	)");
+    title_label->setStyleSheet("color: white;");
+    m_maxButton->setStyleSheet("");
+
+    layout_titleBar_Background->addWidget(titleBar);
+
+    setTitleBarWidget(titleBar_Background);
+    setFeatures(QDockWidget::DockWidgetClosable);
+    connect(m_maxButton, &QToolButton::clicked, this, &CustomDockWidgetBase::toggleMaximize);
+}
+
+void CustomDockWidgetBase::setTile(QString title)
+{
+    title_label->setText(title);
+}
+
+void CustomDockWidgetBase::hideMaxButton()
+{
+    m_maxButton->hide();
+}
+
+void CustomDockWidgetBase::toggleMaximize()
+{
+    if (!m_isMaximized)
+    {
+        m_hiddenDocks.clear();
+        m_originalSizes.clear();
+
+        m_savedState = m_mainWindow->saveState();
+
+        const QList<QDockWidget*> docks = m_mainWindow->findChildren<QDockWidget*>();
+        for (QDockWidget* dock : docks)
+        {
+            m_originalSizes[dock] = dock->size();
+            if (dock != this && dock->isVisible())
+            {
+                dock->hide();
+                m_hiddenDocks.append(dock);
+            }
+        }
+
+        m_isMaximized = true;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarNormalButton));
+    }
+    else
+    {
+        for (QDockWidget* dock : m_hiddenDocks)
+        {
+            dock->show();
+        }
+
+        if (!m_savedState.isEmpty())
+        {
+            m_mainWindow->restoreState(m_savedState);
+            m_savedState.clear();
+        }
+
+        QList<QDockWidget*> docks;
+        QList<int> widths, heights;
+        for (auto it = m_originalSizes.begin(); it != m_originalSizes.end(); ++it)
+        {
+            docks.append(it.key());
+            widths.append(it.value().width());
+            heights.append(it.value().height());
+        }
+
+        m_mainWindow->resizeDocks(docks, widths, Qt::Horizontal);
+        m_mainWindow->resizeDocks(docks, heights, Qt::Vertical);
+
+        m_isMaximized = false;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+    }
+}
+
+
+CustomDockWidgetHideAbove::CustomDockWidgetHideAbove(QString title, QMainWindow* parent)
+    :CustomDockWidgetBase(title, parent)
+{
+
+}
+CustomDockWidgetHideAbove::CustomDockWidgetHideAbove(QMainWindow* parent)
+    :CustomDockWidgetBase(parent)
+{
+
+}
+
+void CustomDockWidgetHideAbove::toggleMaximize()
+{
+    if (!m_isMaximized)
+    {
+        m_hiddenDocks.clear();
+        m_originalSizes.clear();
+
+        m_savedState = m_mainWindow->saveState();
+
+        const QList<QDockWidget*> docks = m_mainWindow->findChildren<QDockWidget*>();
+        for (QDockWidget* dock : docks)
+        {
+            m_originalSizes[dock] = dock->size();
+            if (dock->objectName().contains("mDockCarousel") && dock->isVisible())
+            {
+                dock->hide();
+                m_hiddenDocks.append(dock);
+            }
+        }
+
+        m_isMaximized = true;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarNormalButton));
+    }
+    else
+    {
+        for (QDockWidget* dock : m_hiddenDocks)
+        {
+            dock->show();
+        }
+
+        if (!m_savedState.isEmpty())
+        {
+            m_mainWindow->restoreState(m_savedState);
+            m_savedState.clear();
+        }
+
+        //QList<QDockWidget*> docks;
+        //QList<int> widths, heights;
+        //for (auto it = m_originalSizes.begin(); it != m_originalSizes.end(); ++it)
+        //{
+        //    docks.append(it.key());
+        //    widths.append(it.value().width());
+        //    heights.append(it.value().height());
+        //}
+
+        //m_mainWindow->resizeDocks(docks, widths, Qt::Horizontal);
+        //m_mainWindow->resizeDocks(docks, heights, Qt::Vertical);
+
+        m_isMaximized = false;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+    }
+}

HPPA/CustomDockWidgetBase.h

@@ -0,0 +1,53 @@
+#pragma once
+#include <QDockWidget>
+#include <QToolButton>
+#include <QStyle>
+#include <QHBoxLayout>
+#include <QMainWindow>
+#include <QMap>
+#include <QSize>
+#include <QLabel>
+
+class CustomDockWidgetBase :
+    public QDockWidget
+{
+    Q_OBJECT
+public:
+    explicit CustomDockWidgetBase(QString title, QMainWindow* parent = nullptr);
+    explicit CustomDockWidgetBase(QMainWindow* parent = nullptr);
+    void setTile(QString title);
+    void hideMaxButton();
+
+public slots:
+    virtual void toggleMaximize();
+
+signals:
+    void maximizeStateChanged(bool isMaximized);
+
+protected:
+    QMainWindow* m_mainWindow = nullptr;
+    QToolButton* m_maxButton = nullptr;
+    bool m_isMaximized = false;
+
+    QList<QDockWidget*> m_hiddenDocks;
+    QByteArray m_savedState;
+    QMap<QDockWidget*, QSize> m_originalSizes;
+
+    QLabel* title_label;
+    void initialize();
+};
+
+class CustomDockWidgetHideAbove :
+    public CustomDockWidgetBase
+{
+    Q_OBJECT
+public:
+    explicit CustomDockWidgetHideAbove(QString title, QMainWindow* parent = nullptr);
+    explicit CustomDockWidgetHideAbove(QMainWindow* parent = nullptr);
+
+private slots:
+    void toggleMaximize();
+
+private:
+
+};

HPPA/DepthCamera.ui

@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DepthCameraClass</class>
+ <widget class="QDialog" name="DepthCameraClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>416</width>
+    <height>219</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>DepthCamera</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	/*border-top: 12px solid transparent;
+    border-right: 0px solid transparent;
+    border-bottom: 0px solid transparent;
+    border-left: 0px solid transparent;*/
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="1">
+      <widget class="QPushButton" name="closeDepthCamera_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>关   闭</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="0">
+      <widget class="QPushButton" name="openDepthCamera_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>打   开</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <spacer name="verticalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/DepthCameraWindow.cpp

@@ -0,0 +1,323 @@
+#include "DepthCameraWindow.h"
+
+DepthCameraWindow::DepthCameraWindow(QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	m_DepthCameraThread = new QThread();
+	m_DepthCameraOperation = new DepthCameraOperation();
+	m_DepthCameraOperation->moveToThread(m_DepthCameraThread);
+	m_DepthCameraThread->start();
+
+    connect(ui.openDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::openDepthCamera);
+    connect(ui.closeDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::closeDepthCamera);
+
+    connect(this, &DepthCameraWindow::openDepthCameraSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera);
+
+    connect(m_DepthCameraOperation, &DepthCameraOperation::CamOpenedSignal, this, &DepthCameraWindow::onCamOpened);
+    connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::onCamClosed);
+
+    connect(m_DepthCameraOperation, &DepthCameraOperation::PlotSignal, this, &DepthCameraWindow::PlotDepthImageSignal);
+    connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::DepthCamClosedSignal);
+}
+
+DepthCameraWindow::~DepthCameraWindow()
+{
+    m_DepthCameraThread->quit();
+    m_DepthCameraThread->wait();
+    delete m_DepthCameraOperation;
+    m_DepthCameraOperation = nullptr;
+}
+
+void DepthCameraWindow::openDepthCamera()
+{
+    if (!m_DepthCameraOperation->getRecordStatus())
+    {
+        emit openDepthCameraSignal();
+    }
+}
+
+void DepthCameraWindow::onCamOpened()
+{
+    ui.openDepthCamera_btn->setEnabled(false);
+	ui.closeDepthCamera_btn->setEnabled(true);
+
+    ui.openDepthCamera_btn->setText(QString::fromLocal8Bit("已打开"));
+}
+
+void DepthCameraWindow::closeDepthCamera()
+{
+    m_DepthCameraOperation->CloseDepthCamera();
+}
+
+void DepthCameraWindow::onCamClosed()
+{
+    ui.openDepthCamera_btn->setEnabled(true);
+    ui.closeDepthCamera_btn->setEnabled(false);
+
+    ui.openDepthCamera_btn->setText(QString::fromLocal8Bit("打   开"));
+}
+
+//-------------------------------------------------------------------------------------------------------------------------------
+DepthCameraOperation::DepthCameraOperation()
+{
+    m_pipe = nullptr;
+	m_func = nullptr;
+	record = false;
+}
+
+DepthCameraOperation::~DepthCameraOperation()
+{
+    if (m_pipe) 
+    {
+		m_pipe->stop();
+
+        delete m_pipe;
+        m_pipe = nullptr;
+    }
+}
+
+void DepthCameraOperation::OpenDepthCamera()
+{
+    if (m_pipe)
+    {
+        return;
+    }
+    m_pipe = new ob::Pipeline();
+
+    std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
+
+    // Get device from pipeline.
+    auto device = m_pipe->getDevice();
+    auto devInfo = device->getDeviceInfo();
+    auto pid = devInfo->getPid();
+    auto vid = devInfo->getVid();
+
+    //// Get sensorList from device.
+    //auto sensorList = device->getSensorList();
+
+    //for (uint32_t index = 0; index < sensorList->getCount(); index++) {
+    //    // Query all supported infrared sensor type and enable the infrared stream.
+    //    // For dual infrared device, enable the left and right infrared streams.
+    //    // For single infrared device, enable the infrared stream.
+    //    OBSensorType sensorType = sensorList->getSensorType(index);
+    //    std::cout << "Supported Sensor type: " << sensorType << std::endl;
+
+    //    // Enable the stream for the sensor type.
+    //    config->enableStream(sensorType);
+    //}
+
+    config->enableVideoStream(OB_STREAM_DEPTH, 640, 480, 15, OB_FORMAT_Y16);
+    config->enableVideoStream(OB_STREAM_COLOR, 640, 480, 15, OB_FORMAT_YUYV);
+    config->enableAccelStream();
+    config->enableGyroStream();
+    config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
+    config->setAlignMode(ALIGN_D2C_HW_MODE);
+
+    m_pipe->enableFrameSync();
+
+    // Create a format converter filter.
+    auto formatConverter = std::make_shared<ob::FormatConvertFilter>();
+
+    m_pipe->start(config);
+
+    // Drop several frames
+    for (int i = 0; i < 15; ++i) {
+        auto lost = m_pipe->waitForFrameset(100);
+    }
+
+    auto pointCloud = std::make_shared<ob::PointCloudFilter>();
+
+    int frameIndex = 0;
+    record = true;
+    QString fileNamePrefix = AppSettings::instance().dataFolder() + QDir::separator() + AppSettings::instance().fileName();
+	QString imuFilePath = fileNamePrefix + "_IMU.txt";
+	std::ofstream imuFile(imuFilePath.toStdString(), std::ios::out | std::ios::trunc);
+    while (record)
+    {
+        if(frameIndex==0)
+        {
+            emit CamOpenedSignal();
+            std::cout << "Start recording..." << std::endl;
+		}
+
+        auto frameSet = m_pipe->waitForFrameset(100);
+        if (frameSet == nullptr)
+        {
+            std::cout << "No frames received in 100ms..." << std::endl;
+            continue;
+        }
+
+        std::cout << "DepthCamera frameIndex："<< frameIndex << std::endl;
+
+		// 彩色和深度图像
+        auto depthFrame = frameSet->getFrame(OB_FRAME_DEPTH)->as<ob::DepthFrame>();
+        auto colorFrame = frameSet->getFrame(OB_FRAME_COLOR)->as<ob::ColorFrame>();
+
+        // Convert the color frame to RGB format.
+        if (colorFrame->format() != OB_FORMAT_RGB) {
+            if (colorFrame->format() == OB_FORMAT_MJPG) {
+                formatConverter->setFormatConvertType(FORMAT_MJPG_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_UYVY) {
+                formatConverter->setFormatConvertType(FORMAT_UYVY_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_YUYV) {
+                formatConverter->setFormatConvertType(FORMAT_YUYV_TO_RGB);
+            }
+            else {
+                std::cout << "Color format is not support!" << std::endl;
+                continue;
+            }
+            colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+        }
+        // Processed the color frames to BGR format, use OpenCV to save to disk.
+        formatConverter->setFormatConvertType(FORMAT_RGB_TO_BGR);
+        colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+
+        saveDepthFrame(depthFrame, frameIndex, fileNamePrefix.toStdString());
+        saveColorFrame(colorFrame, frameIndex, fileNamePrefix.toStdString());
+
+        cv::Mat colorMat(colorFrame->height(), colorFrame->width(), CV_8UC3, colorFrame->data());
+        cv::Mat rgbMat;
+        cv::cvtColor(colorMat, rgbMat, cv::COLOR_BGR2RGB);
+        m_colorImage = QImage(rgbMat.data, rgbMat.cols, rgbMat.rows, static_cast<int>(rgbMat.step), QImage::Format_RGB888).copy();
+
+        cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
+        cv::Mat depthMat8U;
+        depthMat.convertTo(depthMat8U, CV_8UC1, 255.0 / 4096.0);
+        cv::Mat depthColorMap;
+        cv::applyColorMap(depthMat8U, depthColorMap, cv::COLORMAP_JET);
+        cv::Mat depthRgbMat;
+        cv::cvtColor(depthColorMap, depthRgbMat, cv::COLOR_BGR2RGB);
+        m_depthImage = QImage(depthRgbMat.data, depthRgbMat.cols, depthRgbMat.rows, static_cast<int>(depthRgbMat.step), QImage::Format_RGB888).copy();
+        //m_depthImage = QImage(depthMat.data, depthMat.cols, depthMat.rows, static_cast<int>(depthMat.step), QImage::Format_Grayscale16).copy();
+
+        emit PlotSignal();
+
+        //点云
+        pointCloud->setCreatePointFormat(OB_FORMAT_RGB_POINT);
+        std::shared_ptr<ob::Frame> frame = pointCloud->process(frameSet);
+
+        QString plyPath = fileNamePrefix + "_"+ QString::number(frameIndex) + ".ply";
+        ob::PointCloudHelper::savePointcloudToPly(plyPath.toStdString().c_str(), frame, false, false, 50);
+
+        //惯导数据
+        auto accelFrameRaw = frameSet->getFrame(OB_FRAME_ACCEL);
+        auto accelFrame = accelFrameRaw->as<ob::AccelFrame>();
+        auto accelIndex = accelFrame->getIndex();
+        auto accelTimeStampUs = accelFrame->getTimeStampUs();
+        auto accelTemperature = accelFrame->getTemperature();
+        auto accelType = accelFrame->getType();
+        //if (frameIndex % 50 == 0) 
+        //{  // print information every 50 frames.
+        //    auto accelValue = accelFrame->getValue();
+        //    printImuValue(accelValue, accelIndex, accelTimeStampUs, accelTemperature, accelType, "m/s^2");
+        //}
+        //auto accelValue = accelFrame->getValue();
+        //printImuValue(accelValue, accelIndex, accelTimeStampUs, accelTemperature, accelType, "m/s^2");
+
+        auto gyroFrameRaw = frameSet->getFrame(OB_FRAME_GYRO);
+        auto gyroFrame = gyroFrameRaw->as<ob::GyroFrame>();
+        auto gyroIndex = gyroFrame->getIndex();
+        auto gyroTimeStampUs = gyroFrame->getTimeStampUs();
+        auto gyroTemperature = gyroFrame->getTemperature();
+        auto gyroType = gyroFrame->getType();
+        //if (frameIndex % 50 == 0) {  // print information every 50 frames.
+        //    auto gyroValue = gyroFrame->getValue();
+        //    printImuValue(gyroValue, gyroIndex, gyroTimeStampUs, gyroTemperature, gyroType, "rad/s");
+        //}
+        //auto gyroValue = gyroFrame->getValue();
+        //printImuValue(gyroValue, gyroIndex, gyroTimeStampUs, gyroTemperature, gyroType, "rad/s");
+
+        saveImuData(imuFile, accelFrame, gyroFrame);
+
+        frameIndex++;
+    }
+
+    imuFile.close();
+
+    m_pipe->stop();
+
+    delete m_pipe;
+    m_pipe = nullptr;
+}
+
+void DepthCameraOperation::saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
+{
+    std::vector<int> params;
+    params.push_back(cv::IMWRITE_PNG_COMPRESSION);
+    params.push_back(0);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
+    std::string depthName = fileNamePrefix_ + "_Depth_" + std::to_string(depthFrame->width()) + "x" + std::to_string(depthFrame->height()) + "_" + std::to_string(frameIndex) + "_"
+        + std::to_string(depthFrame->timeStamp()) + "ms.png";
+    cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
+    cv::imwrite(depthName, depthMat, params);
+    //std::cout << "Depth saved:" << depthName << std::endl;
+}
+
+void DepthCameraOperation::saveColorFrame(const std::shared_ptr<ob::ColorFrame> colorFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
+{
+    std::vector<int> params;
+    params.push_back(cv::IMWRITE_PNG_COMPRESSION);
+    params.push_back(0);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
+    std::string colorName = fileNamePrefix_ + "_Color_" + std::to_string(colorFrame->width()) + "x" + std::to_string(colorFrame->height()) + "_" + std::to_string(frameIndex) + "_"
+        + std::to_string(colorFrame->timeStamp()) + "ms.png";
+    cv::Mat depthMat(colorFrame->height(), colorFrame->width(), CV_8UC3, colorFrame->data());
+    cv::imwrite(colorName, depthMat, params);
+    //std::cout << "Color saved:" << colorName << std::endl;
+}
+
+void DepthCameraOperation::printImuValue(OBFloat3D obFloat3d, uint64_t index, uint64_t timeStampUs, float temperature, OBFrameType type, const std::string& unitStr)
+{
+    std::cout << "frame index: " << index << std::endl;
+    auto typeStr = ob::TypeHelper::convertOBFrameTypeToString(type);
+    std::cout << typeStr << " Frame: \n\r{\n\r"
+        << "  tsp = " << timeStampUs << "\n\r"
+        << "  temperature = " << temperature << "\n\r"
+        << "  " << typeStr << ".x = " << obFloat3d.x << unitStr << "\n\r"
+        << "  " << typeStr << ".y = " << obFloat3d.y << unitStr << "\n\r"
+        << "  " << typeStr << ".z = " << obFloat3d.z << unitStr << "\n\r"
+        << "}\n\r" << std::endl;
+}
+
+void DepthCameraOperation::saveImuData(std::ofstream& imuFile, const std::shared_ptr<ob::AccelFrame>& accelFrame, const std::shared_ptr<ob::GyroFrame>& gyroFrame)
+{
+    if (!imuFile.is_open())
+        return;
+
+    auto accelValue = accelFrame->getValue();
+    auto gyroValue = gyroFrame->getValue();
+
+    // position (acceleration): ax, ay, az
+    // attitude (angular velocity): gx, gy, gz
+    imuFile << accelFrame->getIndex() << ","
+            << accelFrame->getTimeStampUs() << ","
+            << accelValue.x << "," << accelValue.y << "," << accelValue.z << ","
+            << gyroFrame->getIndex() << ","
+            << gyroFrame->getTimeStampUs() << ","
+            << gyroValue.x << "," << gyroValue.y << "," << gyroValue.z << "\n";
+}
+
+void DepthCameraOperation::OpenDepthCamera_callback()
+{
+
+}
+
+void DepthCameraOperation::setCallback(void(*func)())
+{
+	m_func = func;
+}
+
+void DepthCameraOperation::CloseDepthCamera()
+{
+	std::cout << "DepthCameraOperation::CloseDepthCamera，关闭深度相机" << std::endl;
+    
+    record = false;
+
+	emit CamClosedSignal();
+}

HPPA/DepthCameraWindow.h

@@ -0,0 +1,84 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <QImage>
+#include <Qthread>
+#include <QDir>
+
+#include <iostream>
+#include "ui_DepthCamera.h"
+#include "AppSettings.h"
+
+#include <fstream>
+#include <opencv2/opencv.hpp>
+#include <libobsensor/ObSensor.hpp>
+#include "libobsensor/hpp/Utils.hpp"
+typedef void(*func)();
+
+class DepthCameraOperation :public QObject
+{
+	Q_OBJECT
+
+public:
+	DepthCameraOperation();
+	~DepthCameraOperation();
+
+	QImage m_colorImage;
+	QImage m_depthImage;
+	void setCallback(void(*func)());
+	bool getRecordStatus() const { return record; }
+
+private:
+	ob::Pipeline* m_pipe;
+	cv::Mat frame;
+
+	func m_func;
+
+	void saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
+	void saveColorFrame(const std::shared_ptr<ob::ColorFrame> colorFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
+	void printImuValue(OBFloat3D obFloat3d, uint64_t index, uint64_t timeStampUs, float temperature, OBFrameType type, const std::string& unitStr);
+	void saveImuData(std::ofstream& imuFile, const std::shared_ptr<ob::AccelFrame>& accelFrame, const std::shared_ptr<ob::GyroFrame>& gyroFrame);
+
+	bool record;
+
+public slots:
+	void OpenDepthCamera();
+	void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
+	void CloseDepthCamera();
+
+signals:
+	void PlotSignal();
+
+	void CamOpenedSignal();
+	void CamClosedSignal();
+};
+
+class DepthCameraWindow : public QDialog
+{
+	Q_OBJECT
+
+public:
+	DepthCameraWindow(QWidget* parent = nullptr);
+	~DepthCameraWindow();
+
+	DepthCameraOperation* m_DepthCameraOperation;
+
+public Q_SLOTS:
+	void openDepthCamera();
+	void onCamOpened();
+	void closeDepthCamera();
+	void onCamClosed();
+
+signals:
+void openDepthCameraSignal();
+void PlotDepthImageSignal();
+void DepthCamClosedSignal();
+
+private:
+	Ui::DepthCameraClass ui;
+	QThread* m_DepthCameraThread;
+	
+};

HPPA/FileNameLineEdit.cpp

@@ -0,0 +1,46 @@
+#include "FileNameLineEdit.h"
+
+FileNameLineEdit::FileNameLineEdit(QWidget* parent)
+	: QLineEdit(parent)
+{
+	setText(AppSettings::instance().fileName());
+	connect(this, &QLineEdit::textChanged, this, &FileNameLineEdit::onTextChanged);
+}
+
+void FileNameLineEdit::keyPressEvent(QKeyEvent* event)
+{
+	if (event->key() == Qt::Key_Space)
+	{
+		event->ignore();
+		return;
+	}
+	QLineEdit::keyPressEvent(event);
+}
+
+void FileNameLineEdit::inputMethodEvent(QInputMethodEvent* event)
+{
+	QString commitString = event->commitString();
+	if (commitString.contains(' '))
+	{
+		commitString.remove(' ');
+		QInputMethodEvent filtered(event->preeditString(), event->attributes());
+		filtered.setCommitString(commitString);
+		QLineEdit::inputMethodEvent(&filtered);
+		return;
+	}
+	QLineEdit::inputMethodEvent(event);
+}
+
+void FileNameLineEdit::onTextChanged(const QString& text)
+{
+	QString cleaned = text;
+	if (cleaned.contains(' '))
+	{
+		int pos = cursorPosition();
+		cleaned.remove(' ');
+		setText(cleaned);
+		setCursorPosition(qMin(pos, cleaned.length()));
+		return;
+	}
+	AppSettings::instance().setFileName(cleaned);
+}

HPPA/FileNameLineEdit.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include <QLineEdit>
+#include <QKeyEvent>
+#include "AppSettings.h"
+
+class FileNameLineEdit : public QLineEdit
+{
+	Q_OBJECT
+
+public:
+	explicit FileNameLineEdit(QWidget* parent = nullptr);
+
+protected:
+	void keyPressEvent(QKeyEvent* event) override;
+
+	void inputMethodEvent(QInputMethodEvent* event) override;
+
+private slots:
+	void onTextChanged(const QString& text);
+};

HPPA/FocusDialog.ui

@@ -6,25 +6,299 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>632</width>
-    <height>444</height>
+    <width>557</width>
+    <height>432</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>调焦</string>
   </property>
-  <property name="windowIcon">
-   <iconset resource="HPPA.qrc">
-    <normaloff>:/HPPA/HPPA.ico</normaloff>:/HPPA/HPPA.ico</iconset>
+  <property name="styleSheet">
+   <string notr="true">QLineEdit {
+    background-color: #142D7F;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    min-width: 70px;
+    min-height: 20px;
+    font-size: 13px;
+}
+
+QGroupBox
+{
+	border: 12px solid transparent;
+	/*border-top: 12px solid transparent;
+    border-right: 0px solid transparent;
+    border-bottom: 0px solid transparent;
+    border-left: 0px solid transparent;*/
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 10pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 8px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}
+
+QLabel {
+    color: rgb(255, 255, 255);
+}
+
+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>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_6">
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>10</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QWidget" name="contentWidget" native="true">
+     <property name="styleSheet">
+      <string notr="true">QWidget #contentWidget
+{
+	background: #040125;
+	/*border-radius: 8px 8px 8px 8px;*/
+	border: 1px solid #2f6bff;
+}</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_7">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="spacing">
+       <number>10</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QWidget" name="titlebarWidget" native="true">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">QWidget #titlebarWidget
+{
+	background: #0E1C4C;
+	border: 1px solid #2f6bff;
+}
+</string>
+        </property>
+        <layout class="QGridLayout" name="gridLayout_5">
+         <item row="0" column="0">
+          <widget class="QLabel" name="iconLabel">
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QLabel" name="label_7">
+           <property name="text">
+            <string>调焦</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="2">
+          <spacer name="horizontalSpacer_3">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>505</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="0" column="3">
+          <widget class="QPushButton" name="closeBtn">
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset resource="HPPA.qrc">
+             <normaloff>:/svg/resources/icons/svg/close.svg</normaloff>:/svg/resources/icons/svg/close.svg</iconset>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QWidget" name="widget" native="true">
+        <layout class="QGridLayout" name="gridLayout_2">
+         <property name="leftMargin">
+          <number>10</number>
+         </property>
+         <property name="topMargin">
+          <number>10</number>
+         </property>
+         <property name="rightMargin">
+          <number>10</number>
+         </property>
+         <property name="bottomMargin">
+          <number>10</number>
+         </property>
+         <property name="spacing">
+          <number>10</number>
          </property>
-  <layout class="QGridLayout" name="gridLayout_4">
          <item row="0" column="0" rowspan="2">
-    <widget class="QGroupBox" name="connectFocusModule_groupBox">
-     <property name="title">
-      <string>连接调焦模块</string>
+          <widget class="QWidget" name="connectFocusModule_widget" native="true">
+           <property name="styleSheet">
+            <string notr="true">QWidget #connectFocusModule_widget
+{
+	background: #121945;
+	border-radius: 5px 5px 5px 5px;
+}
+
+QRadioButton
+{
+	color: #E2EDFF;
+}</string>
            </property>
            <layout class="QGridLayout" name="gridLayout">
+            <property name="leftMargin">
+             <number>9</number>
+            </property>
+            <property name="topMargin">
+             <number>9</number>
+            </property>
+            <property name="rightMargin">
+             <number>9</number>
+            </property>
+            <property name="bottomMargin">
+             <number>9</number>
+            </property>
             <item row="0" column="0">
+             <widget class="QLabel" name="label">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="text">
+               <string>连接调焦模块</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
              <widget class="QLabel" name="label_2">
               <property name="enabled">
                <bool>true</bool>
@@ -37,31 +311,44 @@
               </property>
              </widget>
             </item>
-      <item row="0" column="1">
+            <item row="1" column="1">
              <widget class="QComboBox" name="motorPort_comboBox"/>
             </item>
-      <item row="1" column="0">
+            <item row="2" column="0">
              <widget class="QRadioButton" name="ultrasound_radioButton">
               <property name="text">
                <string>超声</string>
               </property>
              </widget>
             </item>
-      <item row="1" column="1">
+            <item row="2" column="1">
              <widget class="QComboBox" name="ultrasoundPort_comboBox">
               <property name="enabled">
                <bool>false</bool>
               </property>
              </widget>
             </item>
-      <item row="2" column="0" colspan="2">
+            <item row="3" column="0">
              <widget class="QRadioButton" name="is_new_version_radioButton">
               <property name="text">
                <string>新版</string>
               </property>
              </widget>
             </item>
-      <item row="3" column="0" colspan="2">
+            <item row="3" column="1">
+             <spacer name="horizontalSpacer_2">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>107</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item row="4" column="0" colspan="2">
              <widget class="QPushButton" name="connectMotor_btn">
               <property name="text">
                <string>连接线性平台</string>
@@ -71,35 +358,63 @@
            </layout>
           </widget>
          </item>
-   <item row="1" column="1">
-    <widget class="QGroupBox" name="controlFocus_groupBox">
-     <property name="title">
-      <string>调焦</string>
+         <item row="0" column="1">
+          <widget class="QWidget" name="controlMotor_widget" native="true">
+           <property name="styleSheet">
+            <string notr="true">QWidget #controlMotor_widget
+{
+	background: #121945;
+	border-radius: 5px 5px 5px 5px;
+}</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_3">
-      <item row="0" column="0">
-       <widget class="QLabel" name="label_3">
-        <property name="enabled">
-         <bool>true</bool>
+            <item row="2" column="0">
+             <widget class="QPushButton" name="moveto_btn">
+              <property name="text">
+               <string>移动至</string>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="0">
+             <widget class="QPushButton" name="logicZero_btn">
+              <property name="text">
+               <string>LogicZero</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1" colspan="2">
+             <widget class="QLineEdit" name="move2_lineEdit">
+              <property name="minimumSize">
+               <size>
+                <width>88</width>
+                <height>30</height>
+               </size>
               </property>
               <property name="text">
-         <string>采样率</string>
+               <string>10</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
               </property>
              </widget>
             </item>
-      <item row="0" column="1">
-       <widget class="QLineEdit" name="sample_ratio_lineEdit">
+            <item row="3" column="0">
+             <widget class="QPushButton" name="add_btn">
+              <property name="text">
+               <string>+</string>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="1" colspan="2">
+             <widget class="QLineEdit" name="subtractStepSize_lineEdit">
               <property name="minimumSize">
                <size>
-          <width>0</width>
-          <height>0</height>
+                <width>88</width>
+                <height>30</height>
                </size>
               </property>
               <property name="text">
-         <string>20</string>
+               <string>10</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -107,67 +422,53 @@
              </widget>
             </item>
             <item row="1" column="0">
-       <widget class="QProgressBar" name="autoFocusProgress_progressBar">
-        <property name="value">
-         <number>24</number>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QPushButton" name="autoFocus_btn">
-        <property name="text">
-         <string>自动调焦</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <spacer name="horizontalSpacer">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>171</width>
-          <height>20</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item row="2" column="1">
-       <widget class="QPushButton" name="manualFocus_btn">
-        <property name="text">
-         <string>手动调焦</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="0" column="1">
-    <widget class="QGroupBox" name="controlMotor_groupBox">
-     <property name="title">
-      <string>调整线性平台</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_2">
-      <item row="0" column="0">
              <widget class="QPushButton" name="updateCurrentLocation_btn">
               <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+               <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
                 <horstretch>0</horstretch>
                 <verstretch>0</verstretch>
                </sizepolicy>
               </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>34</height>
+               </size>
+              </property>
               <property name="text">
                <string>更新实时位置</string>
               </property>
              </widget>
             </item>
-      <item row="0" column="1" colspan="2">
+            <item row="3" column="1" colspan="2">
+             <widget class="QLineEdit" name="addStepSize_lineEdit">
+              <property name="minimumSize">
+               <size>
+                <width>88</width>
+                <height>30</height>
+               </size>
+              </property>
+              <property name="text">
+               <string>10</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="2">
+             <widget class="QPushButton" name="rangeMeasurement_btn">
+              <property name="text">
+               <string>量程测量</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1" colspan="2">
              <widget class="QLineEdit" name="currentLocation_lineEdit">
               <property name="minimumSize">
                <size>
-          <width>0</width>
-          <height>0</height>
+                <width>88</width>
+                <height>30</height>
                </size>
               </property>
               <property name="text">
@@ -181,23 +482,82 @@
               </property>
              </widget>
             </item>
-      <item row="1" column="0">
-       <widget class="QPushButton" name="moveto_btn">
+            <item row="4" column="0">
+             <widget class="QPushButton" name="subtract_btn">
               <property name="text">
-         <string>移动至</string>
+               <string>-</string>
               </property>
              </widget>
             </item>
-      <item row="1" column="1" colspan="2">
-       <widget class="QLineEdit" name="move2_lineEdit">
+            <item row="5" column="1">
+             <widget class="QPushButton" name="max_btn">
+              <property name="text">
+               <string>max</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_5">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="text">
+               <string>调整线性平台</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QWidget" name="controlFocus_widget" native="true">
+           <property name="styleSheet">
+            <string notr="true">QWidget #controlFocus_widget
+{
+	background: #121945;
+	border-radius: 5px 5px 5px 5px;
+}</string>
+           </property>
+           <layout class="QGridLayout" name="gridLayout_4">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label_4">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="text">
+               <string>调焦</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QLabel" name="label_3">
+              <property name="enabled">
+               <bool>true</bool>
+              </property>
+              <property name="text">
+               <string>采样率</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QLineEdit" name="sample_ratio_lineEdit">
               <property name="minimumSize">
                <size>
-          <width>0</width>
-          <height>0</height>
+                <width>88</width>
+                <height>30</height>
                </size>
               </property>
               <property name="text">
-         <string>10</string>
+               <string>20</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignCenter</set>
@@ -205,70 +565,57 @@
              </widget>
             </item>
             <item row="2" column="0">
-       <widget class="QPushButton" name="add_btn">
-        <property name="text">
-         <string>+</string>
+             <widget class="QProgressBar" name="autoFocusProgress_progressBar">
+              <property name="styleSheet">
+               <string notr="true">QProgressBar {
+        border: 2px solid #08FACE;       /* 边框颜色和宽度 */
+        border-radius: 8px;           /* 圆角 */
+        background-color: #eee;       /* 未完成部分颜色 */
+        text-align: center;           /* 百分比文本居中 */
+        height: 13px;                 /* 高度 */
+    }
+
+    QProgressBar::chunk {
+        background-color: #08FACE;                          /* 渐变色进度块 */
+        border-radius: 8px;             /* 保持和整体圆角一致 */
+    }</string>
+              </property>
+              <property name="value">
+               <number>24</number>
               </property>
              </widget>
             </item>
-      <item row="2" column="1" colspan="2">
-       <widget class="QLineEdit" name="addStepSize_lineEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
+            <item row="2" column="1">
+             <widget class="QPushButton" name="autoFocus_btn">
               <property name="text">
-         <string>10</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
+               <string>自动调焦</string>
               </property>
              </widget>
             </item>
             <item row="3" column="0">
-       <widget class="QPushButton" name="subtract_btn">
-        <property name="text">
-         <string>-</string>
+             <spacer name="horizontalSpacer">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
               </property>
-       </widget>
-      </item>
-      <item row="3" column="1" colspan="2">
-       <widget class="QLineEdit" name="subtractStepSize_lineEdit">
-        <property name="minimumSize">
+              <property name="sizeHint" stdset="0">
                <size>
-          <width>0</width>
-          <height>0</height>
+                <width>171</width>
+                <height>20</height>
                </size>
               </property>
+             </spacer>
+            </item>
+            <item row="3" column="1">
+             <widget class="QPushButton" name="manualFocus_btn">
               <property name="text">
-         <string>10</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignCenter</set>
+               <string>手动调焦</string>
               </property>
              </widget>
             </item>
-      <item row="4" column="0">
-       <widget class="QPushButton" name="logicZero_btn">
-        <property name="text">
-         <string>LogicZero</string>
-        </property>
+           </layout>
           </widget>
          </item>
-      <item row="4" column="1">
-       <widget class="QPushButton" name="max_btn">
-        <property name="text">
-         <string>max</string>
-        </property>
-       </widget>
-      </item>
-      <item row="4" column="2">
-       <widget class="QPushButton" name="rangeMeasurement_btn">
-        <property name="text">
-         <string>量程测量</string>
-        </property>
+        </layout>
        </widget>
       </item>
      </layout>

HPPA/HPPA - 副本 (2).ui

@@ -0,0 +1,861 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HPPAClass</class>
+ <widget class="QMainWindow" name="HPPAClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1486</width>
+    <height>898</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Spectral Insight</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="HPPA.qrc">
+    <normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</iconset>
+  </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <widget class="QWidget" name="centralWidget"/>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1486</width>
+     <height>30</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>-1</pointsize>
+    </font>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QMenuBar{
+background:#F0F0F0;
+color:rgb(0,0,0);
+font-size:14px;
+padding:1px;
+border:1px solid rgb(165,171,184);
+}
+
+QMenuBar::item{
+background:#F0F0F0;
+width:30px;
+height:15px;
+}
+
+QMenuBar::item:selected{
+background:rgb(185,196,221);
+}
+
+QMenu{
+background:rgb(255,255,255);
+color:rgb(0,0,0);
+border:1px solid rgb(165,171,184);
+}
+
+QMenu::item:selected{
+background:rgb(69,123,255);
+color:white;
+}
+</string>
+   </property>
+   <widget class="QMenu" name="file">
+    <property name="title">
+     <string>文件</string>
+    </property>
+    <addaction name="mActionOpenImg"/>
+    <addaction name="separator"/>
+    <addaction name="mSetting"/>
+    <addaction name="action_exit"/>
+   </widget>
+   <widget class="QMenu" name="menuspectrometer">
+    <property name="title">
+     <string>光谱仪</string>
+    </property>
+    <widget class="QMenu" name="menu">
+     <property name="font">
+      <font>
+       <family>宋体</family>
+      </font>
+     </property>
+     <property name="title">
+      <string>选择相机类型</string>
+     </property>
+     <addaction name="mActionPica_L"/>
+     <addaction name="mActionPica_NIR"/>
+     <addaction name="mActionPika_XC2"/>
+     <addaction name="separator"/>
+     <addaction name="mActionCorning_410"/>
+    </widget>
+    <addaction name="menu"/>
+    <addaction name="action_connect_imager"/>
+    <addaction name="separator"/>
+    <addaction name="action_auto_exposure"/>
+    <addaction name="action_focus"/>
+    <addaction name="action_dark"/>
+    <addaction name="action_reference"/>
+    <addaction name="separator"/>
+    <addaction name="action_start_recording"/>
+    <addaction name="separator"/>
+    <addaction name="actionOpenDirectory"/>
+   </widget>
+   <widget class="QMenu" name="menuhelp">
+    <property name="title">
+     <string>帮助</string>
+    </property>
+    <addaction name="action_about"/>
+   </widget>
+   <widget class="QMenu" name="mWindowsMenu">
+    <property name="title">
+     <string>窗口</string>
+    </property>
+   </widget>
+   <widget class="QMenu" name="menu_2">
+    <property name="title">
+     <string>扫描平台</string>
+    </property>
+    <addaction name="mAction_is_no_motor"/>
+    <addaction name="mAction_1AxisMotor"/>
+    <addaction name="mAction_2AxisMotor_new"/>
+    <addaction name="separator"/>
+    <addaction name="mAction_RobotArm"/>
+   </widget>
+   <widget class="QMenu" name="mMenuScenario">
+    <property name="title">
+     <string>应用场景</string>
+    </property>
+    <addaction name="mActionOneMotorScenario"/>
+    <addaction name="mActionPlantPhenotypeScenario"/>
+   </widget>
+   <widget class="QMenu" name="menu_4">
+    <property name="title">
+     <string>数据处理</string>
+    </property>
+    <addaction name="action_4"/>
+    <addaction name="action_5"/>
+    <addaction name="action_13"/>
+   </widget>
+   <addaction name="file"/>
+   <addaction name="menuspectrometer"/>
+   <addaction name="mMenuScenario"/>
+   <addaction name="menu_4"/>
+   <addaction name="menu_2"/>
+   <addaction name="mWindowsMenu"/>
+   <addaction name="menuhelp"/>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <property name="sizePolicy">
+    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+     <horstretch>0</horstretch>
+     <verstretch>0</verstretch>
+    </sizepolicy>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+     <pointsize>2</pointsize>
+    </font>
+   </property>
+   <property name="windowTitle">
+    <string>相机控制</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar{
+	
+	background-color: #f5f5f5;
+	color:rgb(0,0,0);
+}
+QToolBar QToolButton {
+    background: #f5f5f5;               /* 按钮背景颜色 */
+	font-size:15px;
+    border-radius: 3px;             /* 按钮圆角 */
+    padding: 4px;                   /* 按钮内边距 */
+}
+QToolBar QToolButton:hover {
+    background: rgb(185,196,221);            /* 按钮悬停背景颜色 */
+    color: white;                   /* 按钮悬停文字颜色 */
+}
+</string>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+   <addaction name="action_connect_imager"/>
+   <addaction name="action_auto_exposure"/>
+   <addaction name="action_focus"/>
+   <addaction name="action_dark"/>
+   <addaction name="action_reference"/>
+   <addaction name="action_start_recording"/>
+   <addaction name="actionOpenDirectory"/>
+   <addaction name="mActionPan"/>
+   <addaction name="mActionSpectral"/>
+  </widget>
+  <widget class="QStatusBar" name="statusBar">
+   <property name="styleSheet">
+    <string notr="true">QStatusBar
+{
+	background-color: #0D1233;
+	color: white;
+}
+
+QStatusBar::item
+{
+    border: none;
+}</string>
+   </property>
+  </widget>
+  <widget class="CustomDockWidgetBase" name="mDockWidgetSimulator">
+   <property name="styleSheet">
+    <string notr="true"/>
+   </property>
+   <property name="features">
+    <set>QDockWidget::AllDockWidgetFeatures</set>
+   </property>
+   <property name="windowTitle">
+    <string>3D模型</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>1</number>
+   </attribute>
+   <widget class="QWidget" name="dockWidgetContents_2">
+    <layout class="QGridLayout" name="gridLayout_7">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
+      <number>0</number>
+     </property>
+     <property name="verticalSpacing">
+      <number>0</number>
+     </property>
+    </layout>
+   </widget>
+  </widget>
+  <widget class="CustomDockWidgetHideAbove" name="mDockWidgetSpectrometer">
+   <property name="styleSheet">
+    <string notr="true"/>
+   </property>
+   <property name="windowTitle">
+    <string>控制</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>2</number>
+   </attribute>
+   <widget class="QWidget" name="controlContents">
+    <property name="styleSheet">
+     <string notr="true">QWidget #controlContents
+{
+	background-color: #0E1C4C;
+	
+	border-top: 1px solid #2c586b;
+	border-left: 1px solid #2c586b;
+	border-right: 1px solid #2c586b;
+	border-bottom: 1px solid #2c586b;
+	
+	border-top-left-radius: 0px;
+	border-top-right-radius: 0px;
+	border-bottom-left-radius: 10px;
+	border-bottom-right-radius: 10px;
+}
+</string>
+    </property>
+    <layout class="QGridLayout" name="gridLayout_5">
+     <property name="leftMargin">
+      <number>2</number>
+     </property>
+     <property name="topMargin">
+      <number>2</number>
+     </property>
+     <property name="rightMargin">
+      <number>2</number>
+     </property>
+     <property name="bottomMargin">
+      <number>2</number>
+     </property>
+     <property name="horizontalSpacing">
+      <number>6</number>
+     </property>
+     <item row="0" column="0">
+      <widget class="QTabWidget" name="controlTabWidget">
+       <property name="styleSheet">
+        <string notr="true">QTabBar::tab {
+	background: #0E1C4C;
+	color: white;
+	padding: 6px 12px;
+	border: none;
+	border-top: 1px solid #27376C;
+	height: 41;
+}
+
+QTabBar::tab:selected {
+	background: #0D1233;
+	color: white;
+	border: none;
+}
+
+/*QTabBar::tab:hover {
+	background: #141A45;
+}*/
+
+QTabWidget::pane {
+	border: none;
+	border-top: 1px solid #27376C;
+	background: #0D1233;
+	top: -1px;
+}
+</string>
+       </property>
+       <property name="tabPosition">
+        <enum>QTabWidget::South</enum>
+       </property>
+       <property name="tabShape">
+        <enum>QTabWidget::Rounded</enum>
+       </property>
+       <property name="currentIndex">
+        <number>0</number>
+       </property>
+       <property name="elideMode">
+        <enum>Qt::ElideNone</enum>
+       </property>
+       <widget class="QWidget" name="rgbCameraWidget">
+        <property name="styleSheet">
+         <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+        </property>
+        <attribute name="title">
+         <string>rgb相机</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_4" rowstretch="2,4,2" columnstretch="1,3,1">
+         <item row="0" column="1">
+          <spacer name="verticalSpacer">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>174</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="1" column="0">
+          <spacer name="horizontalSpacer">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>115</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="1" column="1">
+          <layout class="QGridLayout" name="gridLayout_3" columnstretch="1,1">
+           <property name="spacing">
+            <number>20</number>
+           </property>
+           <item row="1" column="0">
+            <widget class="QPushButton" name="take_video_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>录制视频</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="1">
+            <widget class="QPushButton" name="take_photo_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>拍照</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="1">
+            <widget class="QPushButton" name="close_rgb_camera_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>关闭</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="0">
+            <widget class="QPushButton" name="open_rgb_camera_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>打开</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item row="1" column="2">
+          <spacer name="horizontalSpacer_2">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>115</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="2" column="1">
+          <spacer name="verticalSpacer_2">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>173</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </widget>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+  </widget>
+  <widget class="QToolBar" name="toolBar">
+   <property name="minimumSize">
+    <size>
+     <width>20</width>
+     <height>0</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>LeftToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QToolBar" name="toolBar_2">
+   <property name="minimumSize">
+    <size>
+     <width>20</width>
+     <height>0</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar_2</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>RightToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QToolBar" name="toolBar_3">
+   <property name="minimumSize">
+    <size>
+     <width>0</width>
+     <height>20</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar_3</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>BottomToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <action name="action_exit">
+   <property name="text">
+    <string>退出</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>Adobe Devanagari</family>
+    </font>
+   </property>
+  </action>
+  <action name="action_open">
+   <property name="text">
+    <string>open</string>
+   </property>
+   <property name="iconText">
+    <string>open</string>
+   </property>
+  </action>
+  <action name="actionpreference">
+   <property name="text">
+    <string>preference...</string>
+   </property>
+  </action>
+  <action name="action_start_recording">
+   <property name="text">
+    <string>采集</string>
+   </property>
+  </action>
+  <action name="action_focus">
+   <property name="text">
+    <string>调焦</string>
+   </property>
+  </action>
+  <action name="action_auto_exposure">
+   <property name="text">
+    <string>曝光</string>
+   </property>
+  </action>
+  <action name="action_dark">
+   <property name="text">
+    <string>暗电流</string>
+   </property>
+  </action>
+  <action name="action_reference">
+   <property name="text">
+    <string>白板</string>
+   </property>
+  </action>
+  <action name="action_connect_imager">
+   <property name="text">
+    <string>连接相机</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="actionOpenDirectory">
+   <property name="text">
+    <string>打开文件夹</string>
+   </property>
+  </action>
+  <action name="mActionPica_L">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pika L</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="mActionCorning_410">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Corning 410</string>
+   </property>
+  </action>
+  <action name="mActionPika_XC2">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pika XC2</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="action_about">
+   <property name="text">
+    <string>关于</string>
+   </property>
+  </action>
+  <action name="mActionPica_NIR">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pika NIR</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="actionpanel">
+   <property name="text">
+    <string>面板</string>
+   </property>
+  </action>
+  <action name="action">
+   <property name="text">
+    <string>工具栏</string>
+   </property>
+  </action>
+  <action name="action_2">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>马达</string>
+   </property>
+  </action>
+  <action name="mAction_is_no_motor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>无</string>
+   </property>
+  </action>
+  <action name="mAction_2AxisMotor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>2 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mAction_RobotArm">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>机械臂</string>
+   </property>
+  </action>
+  <action name="mAction_1AxisMotor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>1 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mActionOneMotorScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>室内1轴线性平台</string>
+   </property>
+  </action>
+  <action name="action_4">
+   <property name="text">
+    <string>辐亮度</string>
+   </property>
+  </action>
+  <action name="action_5">
+   <property name="text">
+    <string>反射率</string>
+   </property>
+  </action>
+  <action name="action_6">
+   <property name="text">
+    <string>机械臂</string>
+   </property>
+  </action>
+  <action name="action_7">
+   <property name="text">
+    <string>显微镜</string>
+   </property>
+  </action>
+  <action name="action_8">
+   <property name="text">
+    <string>三脚架（旋转平台）</string>
+   </property>
+  </action>
+  <action name="mActionOpenImg">
+   <property name="text">
+    <string>打开影像</string>
+   </property>
+  </action>
+  <action name="action_10">
+   <property name="text">
+    <string>关闭影像</string>
+   </property>
+  </action>
+  <action name="mSetting">
+   <property name="text">
+    <string>设置</string>
+   </property>
+  </action>
+  <action name="action_13">
+   <property name="text">
+    <string>拼接</string>
+   </property>
+  </action>
+  <action name="mActionPlantPhenotypeScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>植物表型</string>
+   </property>
+  </action>
+  <action name="action2">
+   <property name="text">
+    <string>2轴旋转平台</string>
+   </property>
+  </action>
+  <action name="mAction_2AxisMotor_new">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>2 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mActionPan">
+   <property name="text">
+    <string>漫游</string>
+   </property>
+  </action>
+  <action name="mActionSpectral">
+   <property name="text">
+    <string>光谱</string>
+   </property>
+  </action>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+  <customwidget>
+   <class>CustomDockWidgetBase</class>
+   <extends>QDockWidget</extends>
+   <header>customdockwidgetbase.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>CustomDockWidgetHideAbove</class>
+   <extends>QDockWidget</extends>
+   <header>CustomDockWidgetBase.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="HPPA.qrc"/>
+ </resources>
+ <connections/>
+</ui>

HPPA/HPPA.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <cstdio>
 #include <iostream>
@@ -12,11 +12,14 @@
 #include <QLineSeries>
 #include <QChart>
 #include <QChartView>
+#include <QValueAxis>
 #include <QFileDialog>
 
 #include <QNetworkRequest>
 #include <QNetworkReply>
 #include <QNetworkAccessManager>
+#include <QVector>
+#include <QItemSelection>
 
 #include "ui_HPPA.h"
 #include "resononImager.h"
@@ -35,6 +38,7 @@
 #include "RobotArmControl.h"
 #include "OneMotorControl.h"
 #include "TwoMotorControl.h"
+#include "imageControl.h"
 
 #include "hppaConfigFile.h"
 #include "path_tc.h"
@@ -42,9 +46,43 @@
 #include "ResononNirImager.h"
 #include "Corning410Imager.h"
 
+#include "CustomDockWidgetBase.h"
+#include "Carousel.h"
+
+#include "View3D.h"
+#include "TabManager.h"
+
+#include "View3DModelManager.h"
+
+#include "LayerTreeModel.h"
+#include "LayerTree.h"
+#include "MapLayer.h"
+#include "MapLayerStore.h"
+
+#include "LayerTreeView.h"
+#include "LayerTreeViewMenuProvider.h"
+
+#include "MapTool.h"
+#include "MapToolPan.h"
+#include "MapToolSpectral.h"
+#include "MapTools.h"
+
+#include "AspectRatioLabel.h"
+
+#include "HyperImagerControl.h"
+
+#include "recordFrameCounter.h"
+
+#include "setWindow.h"
+#include "AppSettings.h"
+#include "FileNameLineEdit.h"
+
+#include "rgbCameraWindow.h"
+#include "DepthCameraWindow.h"
+
 #define PI 3.1415926
 
-QT_CHARTS_USE_NAMESPACE//QChartView ʹ<EFBFBD><EFBFBD> <20><>Ҫ<EFBFBD>Ӻ꣬ <20><><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD>ʹ<EFBFBD><CAB9>
+QT_CHARTS_USE_NAMESPACE//QChartView 使用 需要加宏， 否则无法使用
 
 class WorkerThread : public QThread
 {
@@ -71,11 +109,11 @@ public:
 	//			//double x = m_Imager->m_ResononImager.get_framerate();
 	//			int x = m_Imager->m_ResononImager.get_band_count();
 
-	//			std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>slopeΪ<EFBFBD><EFBFBD>" << x << std::endl;
+	//			std::cout << "相机连接正常！slope为：" << x << std::endl;
 	//		}
 	//		catch (std::runtime_error *e)//CException *e
 	//		{
-	//			std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӣ<EFBFBD>" << e->what() << std::endl;
+	//			std::cout << "相机断开连接！" << e->what() << std::endl;
 	//		}
 	//		Sleep(1000);
 	//	}
@@ -123,6 +161,31 @@ signals:
 	void threadSignal(QString s);
 };
 
+class WidgetWithBackgroundPicture : public QWidget
+{
+	Q_OBJECT
+
+public:
+	explicit WidgetWithBackgroundPicture(QWidget* parent = nullptr)
+		: QWidget(parent),
+		m_pixmap(":/png/resources/icons/png/titile_bar_bgp.png")  // 使用资源或绝对路径
+	{
+		// 可选：设置初始大小
+		resize(800, 600);
+	}
+
+protected:
+	void paintEvent(QPaintEvent* event) override
+	{
+		QPainter painter(this);
+		QPixmap scaled = m_pixmap.scaled(size(), Qt::KeepAspectRatioByExpanding, Qt::SmoothTransformation);
+		painter.drawPixmap(rect(), scaled);
+	}
+
+private:
+	QPixmap m_pixmap;
+};
+
 class HPPA : public QMainWindow
 {
 	Q_OBJECT
@@ -131,20 +194,26 @@ public:
 	HPPA(QWidget *parent = Q_NULLPTR);
 	~HPPA();
 
-	void CalculateIntegratioinTimeRange();//ͨ<><CDA8>֡<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>䷶Χ<E4B7B6><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>slider<65><72><EFBFBD><EFBFBD>ֵ
+	static HPPA* instance();
+	LayerTreeNode* rasterGroupNode() const;
 
-	WorkerThread * m_TestImagerStausThread;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD>
+	WorkerThread * m_TestImagerStausThread;//检测相机连接状态的线程
 
 private:
+	static HPPA* s_instance;
 	Ui::HPPAClass ui;
+	QTabWidget* m_imageViewerTabWidget;
 
 	QMenu* mPanelMenu = nullptr;
 	QMenu* mToolbarMenu = nullptr;
 
+	void initMenubarToolbar();
 	void initPanelToolbar();
+	void initControlTabwidget();
+	QWidget* tmp(QWidget* a);
 
 	QLineEdit * frame_number;
-	QLineEdit * m_FilenameLineEdit;
+	FileNameLineEdit * m_FilenameLineEdit;
 	QLabel * xmotor_state_label1;
 	QLabel * ymotor_state_label1;
 
@@ -152,82 +221,129 @@ private:
 
 	ImagerOperationBase* m_Imager;//
 
-	int m_RecordState;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD>ȡ2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1 <20><> <20><><EFBFBD>ڲɼ<DAB2><C9BC><EFBFBD>0 <20><> ֹͣ<CDA3>ɼ<EFBFBD>
+	int m_RecordState;//用来控制相机采集流程，取2的余数，1 → 正在采集，0 → 停止采集
 
-	QThread * m_RecordThread;//Ӱ<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD>߳<EFBFBD>
-	QThread * m_RgbCameraThread;//rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡͼ<C8A1><CDBC><EFBFBD>߳<EFBFBD>
-	QThread * m_CopyFileThread;//Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD>
+	QThread * m_RecordThread;//影像采集线程
+	
+	QThread * m_CopyFileThread;//影像文件复制线程
 	FileOperation * m_FileOperation;
 
 	QChartView * m_chartView;
+	QChart* m_chart;
 
 	//QLineSeries *series;
 	//QChart *chart;
 
-	QString operateWidget;//<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀؼ<EFBFBD><EFBFBD><EFBFBD>
+	QString operateWidget;//当前操作的控件名
 	
-	//ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-	double widthScale;//QGraphicsView<EFBFBD><EFBFBD>viewport<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>widthScale = rect.width() / maxDistance;
-	double heightScale;//QGraphicsView<EFBFBD><EFBFBD>viewport<EFBFBD>ߺ<EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>heightScale = rect.height() / maxDistance;
+	//模拟相机位置
+	double widthScale;//QGraphicsView的viewport宽和真实距离比例：widthScale = rect.width() / maxDistance;
+	double heightScale;//QGraphicsView的viewport高和真实距离比例：heightScale = rect.height() / maxDistance;
 	void setImagerSimulationPos(double x, double y);//ui.graphicsView->imager->setPos(x, y);
 
-	//<EFBFBD>ɼ<EFBFBD><EFBFBD>߹滮
-	int m_numberOfRecording;//<EFBFBD><EFBFBD>ʾui.recordLine_tableWidget<EFBFBD>еĵڼ<EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD>ڲɼ<DAB2><C9BC>ڼ<EFBFBD><DABC><EFBFBD><EFBFBD><EFBFBD>
+	//采集线规划
+	int m_numberOfRecording;//表示ui.recordLine_tableWidget中的第几行 → 正在采集第几条线
 
 	//
-	int m_TabWidgetCurrentIndex;//<EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD>ѡ<EFBFBD><EFBFBD>TabWidget<EFBFBD>ı<EFBFBD>ǩʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD>仯<EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab index
-	RgbCameraOperation *m_RgbCamera;
+	int m_TabWidgetCurrentIndex;//当手动选择TabWidget的标签时，记录变化后的tab index
+	
 
 	void getRequest(QString str);
 
 	QActionGroup* mImagerGroup = nullptr;
 	void createActionGroups();
 	void selectingImager(QAction* selectedAction);
+	void updateImagerPicture(const QString& actionName);
+
 	QActionGroup* moveplatformActionGroup = nullptr;
 	void createMoveplatformActionGroup();
 	void selectingMoveplatform(QAction* selectedAction);
-	RobotArmControl* rac;
 
-	OneMotorControl* omc;
-	QDockWidget* dock_omc;
+	QActionGroup* m_ScenarioActionGroup = nullptr;
+	void createScenarioActionGroup();
+	void selectScenario(QAction* selectedAction);
+
 	
-	TwoMotorControl* tmc;
-	QDockWidget* dock_tmc;
 	
 	FILE* m_hTimesFile;
 
+	CustomDockWidgetBase* m_dock_carousel;
+
+	MyCarousel* m_carousel;
+	QLabel* m_cam_label;
+	QLabel* m_depthCamera_label;
+	QPushButton* m_open_rgb_camera_btn;
+	QPushButton* m_close_rgb_camera_btn;
+
+	TabManager* m_tabManager;
+
+	HyperImagerControl* m_hic;
+	rgbCameraWindow* m_rgbCameraControlWindow;
+	ImageControl* m_ic;
+	DepthCameraWindow* m_depthCameraWindow;
+	adjustTable* m_adt;
+	PowerControl* m_pc;
+	RobotArmControl* m_rac;
+	OneMotorControl* m_omc;
+	TwoMotorControl* m_tmc;
+
+	View3DModelManager* m_view3DModelManager;
+
+	LayerTreeView* m_layerTreeView;
+	LayerTree* m_LayerTree = nullptr;
+	LayerTreeModel* m_LayerTreeModel = nullptr;
+	LayerTreeNode* m_RasterGroup = nullptr; // 指向 "Raster" 分组，便于后续添加 layer
+
+	MapLayerStore* m_MapLayerStore = nullptr;
+
+	// Map tools
+	MapTools* m_mapTools = nullptr;
+	QActionGroup* m_mapToolActionGroup = nullptr;
+	void initMapTools();
+	void setMapTool();
+
+	QWidget* m_focusTab=nullptr;
+
+	recordFrameCounter* m_recordFrameCounter = nullptr;
+
+	bool testImagerVality();
+	void showMessageBox(QString msg, QString title= QString::fromLocal8Bit("提示"));
+	bool showResultMessageBox(QString title, QString msg);
+	void disconnectImagerAndCleanup();
+
 public Q_SLOTS:
-	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber);
-	void PlotSpectral(int state);
+	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
+	void focusPlotSpectralImg(int state);
 	void onRecordFinishedSignal_WhenFrameNumberMeet();
 	void onRecordFinishedSignal_WhenFrameNumberNotMeet();
 	void onsequenceComplete();
 
 	void onExit();
-	void onconnect();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	void testImagerStatus();//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
+	void onOpenImg();
+	void onconnect();//连接相机
+	void testImagerStatus();//获取相机状态：连接是否正常
+	void autoExposureFinished();
 	void onAutoExposure();
 	void onFocus1();
 	void onFocus2(int command);
+	void onFocusWindowClosed();
 	void onAbout();
+	void settingWindow();
 	void onDark();
 	void recordDarkFinish();
 	void onReference();
 	void recordWhiteFinish();
 	void onStartRecordStep1();
-	void onCreateTab(int trackNumber);
+	QWidget* onCreateTab(QString tabName);
 	void onTabWidgetCurrentChanged(int index);
 	void onActionOpenDirectory();
 
-	void OnFramerateLineeditEditingFinished();//
-	void OnFramerateSliderChanged(double framerate);//
+	void onFramerateChanged(double framerate);
+	void onIntegrationTimeChanged(double integrationTime);
+	void onGainChanged(double gain);
 
-	void OnIntegratioinTimeEditingFinished();//
-	void OnIntegratioinTimeSliderChanged(double IntegratioinTime);//
-	void OnGainEditingFinished();//
-	void OnGainSliderChanged(double Gain);//
-
-	void onLeftMouseButtonPressed(int x, int y);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
+	void onLeftMouseButtonPressed(int x, int y, QVector<double> wavelengths, QVector<double> spectrum);//点击影像像元显示光谱
+	void setAxis(QValueAxis* axisX, QValueAxis* axisY);
 
 
 		void timerEvent(QTimerEvent *event);
@@ -236,8 +352,10 @@ public Q_SLOTS:
 		void OnSendLogToCallClass(QString str);
 
 		void onPlotRgbImage();
-	void onCloseRgbCamera();
+		void onPlotDepthImage();
+		
 		void onClearLabel();
+		void onClearDepthLabel();
 
 		void onCopyFinished();
 
@@ -246,6 +364,23 @@ public Q_SLOTS:
 		void recordFromRobotArm(int fileCounter);
 
 		void createOneMotorScenario();
+		void createPlantPhenotypeScenario();
+		void onCreated3DModelPlantPhenotype();
+		void onCreated3DModelOneMotor();
+
+		void addLayer(const QString& baseName, const QString& filePath, bool refresh);
+		void onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex);
+		void removeLayerByTreeIndex();
+		void removeAllLayersInRasterGroup();
+
+		void onLayerTreeSelectionChanged(const QItemSelection& selected, const QItemSelection& deselected);
+		void onBandSelectionChanged(double rWave, double gWave, double bWave);
+
+		void onMapToolPanTriggered();
+		void onMapToolSpectralTriggered();
+protected:
+	void closeEvent(QCloseEvent* event) override;
+
 signals:
 	void StartFocusSignal();
 	void StartRecordSignal();
@@ -253,5 +388,6 @@ signals:
 
 	void RecordWhiteSignal();
 	void RecordDarlSignal();
-};
 
+	void updateRecordingFileInfoSignal(const QString& filePath, const QString& baseName, int frameNumber);
+};

HPPA/HPPA.qrc

@@ -1,5 +1,53 @@
 <RCC>
-    <qresource prefix="/HPPA">
-        <file>HPPA.ico</file>
+    <qresource prefix="/svg">
+        <file>resources/icons/svg/arrow_down.svg</file>
+        <file>resources/icons/svg/arrow_up.svg</file>
+        <file>resources/icons/svg/close.svg</file>
+        <file>resources/icons/svg/connect_imager.svg</file>
+        <file>resources/icons/svg/connect_imager_done.svg</file>
+        <file>resources/icons/svg/connect_imager_ing.svg</file>
+        <file>resources/icons/svg/dark.svg</file>
+        <file>resources/icons/svg/dark_done.svg</file>
+        <file>resources/icons/svg/dark_ing.svg</file>
+        <file>resources/icons/svg/exposure.svg</file>
+        <file>resources/icons/svg/exposure_done.svg</file>
+        <file>resources/icons/svg/exposure_ing.svg</file>
+        <file>resources/icons/svg/focus.svg</file>
+        <file>resources/icons/svg/focus_done.svg</file>
+        <file>resources/icons/svg/focus_ing.svg</file>
+        <file>resources/icons/svg/openDirectory.svg</file>
+        <file>resources/icons/svg/openDirectory_done.svg</file>
+        <file>resources/icons/svg/pan.svg</file>
+        <file>resources/icons/svg/pan_done.svg</file>
+        <file>resources/icons/svg/record.svg</file>
+        <file>resources/icons/svg/record_done.svg</file>
+        <file>resources/icons/svg/record_ing.svg</file>
+        <file>resources/icons/svg/reference.svg</file>
+        <file>resources/icons/svg/reference_done.svg</file>
+        <file>resources/icons/svg/reference_ing.svg</file>
+        <file>resources/icons/svg/software_icon.svg</file>
+        <file>resources/icons/svg/software_icon_small.svg</file>
+        <file>resources/icons/svg/spectral.svg</file>
+        <file>resources/icons/svg/spectral_done.svg</file>
+        <file>resources/icons/svg/tree_tri_down.svg</file>
+        <file>resources/icons/svg/tree_tri_right.svg</file>
+        <file>resources/icons/svg/mIconRaster.svg</file>
+    </qresource>
+    <qresource prefix="/png">
+        <file>resources/icons/png/Spectral_Insight_27.png</file>
+        <file>resources/icons/png/Spectral_Insight_54.png</file>
+        <file>resources/icons/png/Spectral_Insight_170.png</file>
+        <file>resources/icons/png/Spectral_Insight_340.png</file>
+        <file>resources/icons/png/titile_bar_bgp.png</file>
+        <file>resources/icons/png/titile_bar_bgp2x.png</file>
+    </qresource>
+    <qresource prefix="/imagerPicture">
+        <file>resources/icons/imagerPicture/corning410.png</file>
+        <file>resources/icons/imagerPicture/IR.png</file>
+        <file>resources/icons/imagerPicture/L.png</file>
+        <file>resources/icons/imagerPicture/XC2.png</file>
+    </qresource>
+    <qresource prefix="/ico">
+        <file>resources/icons/ico/Spectral_Insight_128.ico</file>
     </qresource>
 </RCC>

HPPA/HPPA.ui

@@ -6,85 +6,27 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1194</width>
-    <height>834</height>
+    <width>1486</width>
+    <height>898</height>
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Hyper Plant Phenotypic Analysis</string>
+   <string>Spectral Insight</string>
   </property>
   <property name="windowIcon">
    <iconset resource="HPPA.qrc">
-    <normaloff>:/HPPA/HPPA.ico</normaloff>:/HPPA/HPPA.ico</iconset>
+    <normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</iconset>
   </property>
   <property name="styleSheet">
    <string notr="true"/>
   </property>
-  <widget class="QWidget" name="centralWidget">
-   <layout class="QGridLayout" name="gridLayout">
-    <property name="leftMargin">
-     <number>0</number>
-    </property>
-    <property name="topMargin">
-     <number>0</number>
-    </property>
-    <property name="rightMargin">
-     <number>0</number>
-    </property>
-    <property name="bottomMargin">
-     <number>0</number>
-    </property>
-    <property name="spacing">
-     <number>0</number>
-    </property>
-    <item row="0" column="0">
-     <widget class="QTabWidget" name="ImageViewerTabWidget">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-        <horstretch>5</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="currentIndex">
-       <number>0</number>
-      </property>
-      <widget class="QWidget" name="tab_4">
-       <attribute name="title">
-        <string>Tab 1</string>
-       </attribute>
-       <layout class="QGridLayout" name="gridLayout_5">
-        <property name="leftMargin">
-         <number>0</number>
-        </property>
-        <property name="topMargin">
-         <number>0</number>
-        </property>
-        <property name="rightMargin">
-         <number>0</number>
-        </property>
-        <property name="bottomMargin">
-         <number>0</number>
-        </property>
-        <property name="spacing">
-         <number>0</number>
-        </property>
-       </layout>
-      </widget>
-      <widget class="QWidget" name="tab_5">
-       <attribute name="title">
-        <string>Tab 2</string>
-       </attribute>
-      </widget>
-     </widget>
-    </item>
-   </layout>
-  </widget>
+  <widget class="QWidget" name="centralWidget"/>
   <widget class="QMenuBar" name="menuBar">
    <property name="geometry">
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1194</width>
+     <width>1486</width>
      <height>30</height>
     </rect>
    </property>
@@ -128,10 +70,9 @@ color:white;
     <property name="title">
      <string>文件</string>
     </property>
-    <addaction name="action_9"/>
-    <addaction name="action_10"/>
+    <addaction name="mActionOpenImg"/>
     <addaction name="separator"/>
-    <addaction name="action_11"/>
+    <addaction name="mSetting"/>
     <addaction name="action_exit"/>
    </widget>
    <widget class="QMenu" name="menuspectrometer">
@@ -191,11 +132,7 @@ color:white;
      <string>应用场景</string>
     </property>
     <addaction name="mActionOneMotorScenario"/>
-    <addaction name="action_8"/>
-    <addaction name="action2"/>
-    <addaction name="action_7"/>
-    <addaction name="action_3"/>
-    <addaction name="action_6"/>
+    <addaction name="mActionPlantPhenotypeScenario"/>
    </widget>
    <widget class="QMenu" name="menu_4">
     <property name="title">
@@ -260,138 +197,32 @@ QToolBar QToolButton:hover {
    <addaction name="action_reference"/>
    <addaction name="action_start_recording"/>
    <addaction name="actionOpenDirectory"/>
+   <addaction name="mActionPan"/>
+   <addaction name="mActionSpectral"/>
   </widget>
   <widget class="QStatusBar" name="statusBar">
    <property name="styleSheet">
-    <string notr="true">QStatusBar {
-    
-	background-color: rgb(255, 255, 255);
-    color: white;                   /* 文字颜色 */
-    border-top: 1px solid #ccc;     /* 顶部边框 */
-    padding: 5px;                   /* 内边距 */
-}
-</string>
-   </property>
-  </widget>
-  <widget class="QDockWidget" name="mDockWidgetRGBCamera">
-   <property name="styleSheet">
-    <string notr="true">/* 标题设置 */
-QDockWidget::title {
-    text-align: left;
-	background-color: rgb(240, 240, 240);
-    /*padding-left: 35px;*/
-}</string>
-   </property>
-   <property name="windowTitle">
-    <string>RGB 相机</string>
-   </property>
-   <attribute name="dockWidgetArea">
-    <number>1</number>
-   </attribute>
-   <widget class="QWidget" name="dockWidgetContents">
-    <layout class="QGridLayout" name="gridLayout_2">
-     <property name="leftMargin">
-      <number>0</number>
-     </property>
-     <property name="topMargin">
-      <number>0</number>
-     </property>
-     <property name="rightMargin">
-      <number>0</number>
-     </property>
-     <property name="bottomMargin">
-      <number>0</number>
-     </property>
-     <property name="spacing">
-      <number>0</number>
-     </property>
-     <item row="0" column="0">
-      <widget class="QGroupBox" name="groupBox_4">
-       <property name="mouseTracking">
-        <bool>false</bool>
-       </property>
-       <property name="styleSheet">
-        <string notr="true">QGroupBox {
-    /* border: 2px solid #3498db;      边框颜色 */
-    border-radius: 5px;             /* 圆角 */
-    padding: 10px;                  /* 内边距 */
-	background-color: rgb(255, 255, 255);
+    <string notr="true">QStatusBar
+{
+	background-color: #0D1233;
+	color: white;
 }
 
-QGroupBox:title {
-    subcontrol-position: top left;  /* 标题位置 */
-    padding: 0 10px;                /* 标题内边距 */
-    font-weight: bold;              /* 标题字体加粗 */
-    color: #3498db;                 /* 标题文字颜色 */
-}
-</string>
-       </property>
-       <property name="title">
-        <string/>
-       </property>
-       <layout class="QGridLayout" name="gridLayout_3">
-        <property name="leftMargin">
-         <number>0</number>
-        </property>
-        <property name="topMargin">
-         <number>0</number>
-        </property>
-        <property name="rightMargin">
-         <number>0</number>
-        </property>
-        <property name="bottomMargin">
-         <number>0</number>
-        </property>
-        <item row="1" column="1">
-         <widget class="QPushButton" name="close_rgb_camera_btn">
-          <property name="text">
-           <string>关闭</string>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="0">
-         <widget class="QPushButton" name="open_rgb_camera_btn">
-          <property name="text">
-           <string>打开</string>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="0" colspan="2">
-         <widget class="QLabel" name="cam_label">
-          <property name="frameShape">
-           <enum>QFrame::NoFrame</enum>
-          </property>
-          <property name="frameShadow">
-           <enum>QFrame::Plain</enum>
-          </property>
-          <property name="text">
-           <string>摄像头关闭！</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignCenter</set>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </widget>
-     </item>
-    </layout>
-   </widget>
-  </widget>
-  <widget class="QDockWidget" name="mDockWidgetSimulator">
-   <property name="styleSheet">
-    <string notr="true">/* 标题设置 */
-QDockWidget::title {
-    text-align: left;
-	background-color: rgb(240, 240, 240);
-    /*padding-left: 35px;*/
+QStatusBar::item
+{
+    border: none;
 }</string>
    </property>
+  </widget>
+  <widget class="CustomDockWidgetBase" name="mDockWidgetSimulator">
+   <property name="styleSheet">
+    <string notr="true"/>
+   </property>
    <property name="features">
     <set>QDockWidget::AllDockWidgetFeatures</set>
    </property>
    <property name="windowTitle">
-    <string>线性平台位置模拟</string>
+    <string>3D模型</string>
    </property>
    <attribute name="dockWidgetArea">
     <number>1</number>
@@ -413,317 +244,228 @@ QDockWidget::title {
      <property name="verticalSpacing">
       <number>0</number>
      </property>
-     <item row="0" column="0">
-      <widget class="ImagerPositionSimulation" name="graphicsView">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="frameShape">
-        <enum>QFrame::NoFrame</enum>
-       </property>
-       <property name="frameShadow">
-        <enum>QFrame::Raised</enum>
-       </property>
-      </widget>
-     </item>
     </layout>
    </widget>
   </widget>
-  <widget class="QDockWidget" name="mDockWidgetSpectralViewer">
+  <widget class="CustomDockWidgetHideAbove" name="mDockWidgetSpectrometer">
    <property name="styleSheet">
-    <string notr="true">/* 标题设置 */
-QDockWidget::title {
-    text-align: left;
-	background-color: rgb(240, 240, 240);
-    /*padding-left: 35px;*/
-}</string>
+    <string notr="true"/>
    </property>
    <property name="windowTitle">
-    <string>光谱曲线</string>
+    <string>控制</string>
    </property>
    <attribute name="dockWidgetArea">
     <number>2</number>
    </attribute>
-   <widget class="QWidget" name="dockWidgetContents_3">
-    <layout class="QGridLayout" name="gridLayout_10">
-     <property name="leftMargin">
-      <number>0</number>
-     </property>
-     <property name="topMargin">
-      <number>0</number>
-     </property>
-     <property name="rightMargin">
-      <number>0</number>
-     </property>
-     <property name="bottomMargin">
-      <number>0</number>
-     </property>
-     <property name="spacing">
-      <number>0</number>
-     </property>
-    </layout>
-   </widget>
-  </widget>
-  <widget class="QDockWidget" name="mDockWidgetSpectrometer">
+   <widget class="QWidget" name="controlContents">
     <property name="styleSheet">
-    <string notr="true">/* 标题设置 */
-QDockWidget::title {
-    text-align: left;
-	background-color: rgb(240, 240, 240);
-    /*padding-left: 35px;*/
-}</string>
+     <string notr="true">QWidget #controlContents
+{
+	background-color: #0E1C4C;
+	
+	border-top: 1px solid #2c586b;
+	border-left: 1px solid #2c586b;
+	border-right: 1px solid #2c586b;
+	border-bottom: 1px solid #2c586b;
+	
+	border-top-left-radius: 0px;
+	border-top-right-radius: 0px;
+	border-bottom-left-radius: 10px;
+	border-bottom-right-radius: 10px;
+}
+</string>
     </property>
-   <property name="windowTitle">
-    <string>光谱仪</string>
-   </property>
-   <attribute name="dockWidgetArea">
-    <number>2</number>
-   </attribute>
-   <widget class="QWidget" name="dockWidgetContents_4">
-    <layout class="QGridLayout" name="gridLayout_13">
+    <layout class="QGridLayout" name="gridLayout_5">
      <property name="leftMargin">
-      <number>9</number>
+      <number>2</number>
      </property>
      <property name="topMargin">
-      <number>9</number>
+      <number>2</number>
      </property>
      <property name="rightMargin">
-      <number>9</number>
+      <number>2</number>
      </property>
      <property name="bottomMargin">
-      <number>9</number>
+      <number>2</number>
      </property>
-     <property name="spacing">
+     <property name="horizontalSpacing">
       <number>6</number>
      </property>
-     <item row="1" column="0">
-      <layout class="QHBoxLayout" name="horizontalLayout_11">
-       <item>
-        <spacer name="horizontalSpacer_16">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
+     <item row="0" column="0">
+      <widget class="QTabWidget" name="controlTabWidget">
+       <property name="styleSheet">
+        <string notr="true">QTabBar::tab {
+	background: #0E1C4C;
+	color: white;
+	padding: 6px 12px;
+	border: none;
+	border-top: 1px solid #27376C;
+	height: 41;
+}
+
+QTabBar::tab:selected {
+	background: #0D1233;
+	color: white;
+	border: none;
+}
+
+/*QTabBar::tab:hover {
+	background: #141A45;
+}*/
+
+QTabWidget::pane {
+	border: none;
+	border-top: 1px solid #27376C;
+	background: #0D1233;
+	top: -1px;
+}
+</string>
        </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Fixed</enum>
+       <property name="tabPosition">
+        <enum>QTabWidget::South</enum>
        </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>100</width>
-           <height>20</height>
-          </size>
+       <property name="tabShape">
+        <enum>QTabWidget::Rounded</enum>
        </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QDoubleSlider" name="FramerateSlider">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
+       <property name="currentIndex">
+        <number>0</number>
        </property>
+       <property name="elideMode">
+        <enum>Qt::ElideNone</enum>
+       </property>
+       <widget class="QWidget" name="rgbCameraWidget">
+        <property name="styleSheet">
+         <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+        </property>
+        <attribute name="title">
+         <string>rgb相机</string>
+        </attribute>
+       </widget>
       </widget>
      </item>
     </layout>
-     </item>
-     <item row="0" column="0">
-      <layout class="QHBoxLayout" name="horizontalLayout_10">
-       <item>
-        <widget class="QLabel" name="label">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
+   </widget>
+  </widget>
+  <widget class="QToolBar" name="toolBar">
+   <property name="minimumSize">
+    <size>
+     <width>20</width>
+     <height>0</height>
+    </size>
    </property>
+   <property name="windowTitle">
+    <string>toolBar</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>LeftToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QToolBar" name="toolBar_2">
+   <property name="minimumSize">
+    <size>
+     <width>20</width>
+     <height>0</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar_2</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>RightToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QToolBar" name="toolBar_3">
    <property name="minimumSize">
     <size>
      <width>0</width>
-           <height>0</height>
-          </size>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>100</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="text">
-          <string>帧率</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLineEdit" name="framerate_lineEdit">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">background-color: rgb(255, 255, 255);</string>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item row="2" column="0">
-      <layout class="QHBoxLayout" name="horizontalLayout_12">
-       <item>
-        <widget class="QLabel" name="label_2">
-         <property name="maximumSize">
-          <size>
-           <width>100</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="text">
-          <string>积分时间</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLineEdit" name="integratioin_time_lineEdit">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">background-color: rgb(255, 255, 255);</string>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item row="3" column="0">
-      <layout class="QHBoxLayout" name="horizontalLayout_13">
-       <item>
-        <spacer name="horizontalSpacer_17">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Fixed</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>100</width>
      <height>20</height>
     </size>
    </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QDoubleSlider" name="IntegratioinTimeSlider">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item row="4" column="0">
-      <layout class="QHBoxLayout" name="horizontalLayout_14">
-       <item>
-        <widget class="QLabel" name="label_3">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>100</width>
-           <height>0</height>
-          </size>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>100</width>
-           <height>16777215</height>
-          </size>
-         </property>
-         <property name="text">
-          <string>gain</string>
-         </property>
-         <property name="alignment">
-          <set>Qt::AlignCenter</set>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLineEdit" name="gain_lineEdit">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
+   <property name="windowTitle">
+    <string>toolBar_3</string>
    </property>
    <property name="styleSheet">
-          <string notr="true">background-color: rgb(255, 255, 255);</string>
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
    </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item row="5" column="0">
-      <layout class="QHBoxLayout" name="horizontalLayout_15">
-       <item>
-        <spacer name="horizontalSpacer_18">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
+   <property name="movable">
+    <bool>false</bool>
    </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Fixed</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>100</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QDoubleSlider" name="GainSlider">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-     <item row="6" column="0">
-      <spacer name="verticalSpacer_2">
-       <property name="orientation">
-        <enum>Qt::Vertical</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>20</width>
-         <height>123</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </widget>
+   <attribute name="toolBarArea">
+    <enum>BottomToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
   </widget>
   <action name="action_exit">
    <property name="text">
@@ -900,6 +642,9 @@ QDockWidget::title {
    </property>
   </action>
   <action name="mActionOneMotorScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="text">
     <string>室内1轴线性平台</string>
    </property>
@@ -929,7 +674,7 @@ QDockWidget::title {
     <string>三脚架（旋转平台）</string>
    </property>
   </action>
-  <action name="action_9">
+  <action name="mActionOpenImg">
    <property name="text">
     <string>打开影像</string>
    </property>
@@ -939,7 +684,7 @@ QDockWidget::title {
     <string>关闭影像</string>
    </property>
   </action>
-  <action name="action_11">
+  <action name="mSetting">
    <property name="text">
     <string>设置</string>
    </property>
@@ -949,7 +694,10 @@ QDockWidget::title {
     <string>拼接</string>
    </property>
   </action>
-  <action name="action_3">
+  <action name="mActionPlantPhenotypeScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
    <property name="text">
     <string>植物表型</string>
    </property>
@@ -967,18 +715,30 @@ QDockWidget::title {
     <string>2 轴线性马达</string>
    </property>
   </action>
+  <action name="mActionPan">
+   <property name="text">
+    <string>漫游</string>
+   </property>
+  </action>
+  <action name="mActionSpectral">
+   <property name="text">
+    <string>光谱</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>
   <customwidget>
-   <class>QDoubleSlider</class>
-   <extends>QSlider</extends>
-   <header>qdoubleslider.h</header>
+   <class>CustomDockWidgetBase</class>
+   <extends>QDockWidget</extends>
+   <header>customdockwidgetbase.h</header>
+   <container>1</container>
   </customwidget>
   <customwidget>
-   <class>ImagerPositionSimulation</class>
-   <extends>QGraphicsView</extends>
-   <header location="global">imagerpositionsimulation.h</header>
+   <class>CustomDockWidgetHideAbove</class>
+   <extends>QDockWidget</extends>
+   <header>CustomDockWidgetBase.h</header>
+   <container>1</container>
   </customwidget>
  </customwidgets>
  <resources>

HPPA/HPPA.vcxproj

@@ -14,16 +14,16 @@
     <ProjectGuid>{E7886664-B69E-4781-BCBE-804574FB4033}</ProjectGuid>
     <Keyword>QtVS_v304</Keyword>
     <QtMsBuild Condition="'$(QtMsBuild)'=='' OR !Exists('$(QtMsBuild)\qt.targets')">$(MSBuildProjectDirectory)\QtMsBuild</QtMsBuild>
-    <WindowsTargetPlatformVersion>10.0.22000.0</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="Configuration">
     <ConfigurationType>Application</ConfigurationType>
-    <PlatformToolset>v141</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <UseOfMfc>false</UseOfMfc>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
@@ -32,12 +32,12 @@
   </ImportGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="QtSettings">
     <QtInstall>5.13.2_msvc2017_64</QtInstall>
-    <QtModules>core;network;gui;widgets;serialport;websockets;charts</QtModules>
+    <QtModules>core;network;gui;svg;widgets;serialport;websockets;3dcore;3danimation;3dextras;3dinput;3dlogic;3drender;3dquick;charts</QtModules>
     <QtBuildConfig>debug</QtBuildConfig>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="QtSettings">
-    <QtInstall>5.9_msvc2017_64</QtInstall>
-    <QtModules>core;network;gui;widgets;serialport;websockets;charts</QtModules>
+    <QtInstall>5.13.2_msvc2017_64</QtInstall>
+    <QtModules>core;network;gui;svg;widgets;serialport;websockets;3dcore;3danimation;3dextras;3dinput;3dlogic;3drender;3dquick;charts</QtModules>
     <QtBuildConfig>release</QtBuildConfig>
   </PropertyGroup>
   <Target Name="QtMsBuildNotFound" BeforeTargets="CustomBuild;ClCompile" Condition="!Exists('$(QtMsBuild)\qt.targets') or !Exists('$(QtMsBuild)\qt.props')">
@@ -55,16 +55,18 @@
   </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;C:\Program Files\OrbbecSDK 2.7.6\lib;$(LibraryPath)</LibraryPath>
+    <TargetName>Spectral Insight</TargetName>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
     <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
     <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
+    <TargetName>Spectral Insight</TargetName>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;OrbbecSDK.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
     <ClCompile>
@@ -106,30 +108,62 @@
   <ItemGroup>
     <ClCompile Include="aboutWindow.cpp" />
     <ClCompile Include="adjustTable.cpp" />
+    <ClCompile Include="AppSettings.cpp" />
+    <ClCompile Include="AspectRatioLabel.cpp" />
     <ClCompile Include="CaptureCoordinator.cpp" />
+    <ClCompile Include="Carousel.cpp" />
     <ClCompile Include="Corning410Imager.cpp" />
+    <ClCompile Include="CustomDockWidgetBase.cpp" />
+    <ClCompile Include="DepthCameraWindow.cpp" />
+    <ClCompile Include="FileNameLineEdit.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
+    <ClCompile Include="HyperImagerControl.cpp" />
+    <ClCompile Include="imageControl.cpp" />
     <ClCompile Include="ImagerOperationBase.cpp" />
     <ClCompile Include="imager_base.cpp" />
     <ClCompile Include="irisximeaimager.cpp" />
+    <ClCompile Include="LayerTree.cpp" />
+    <ClCompile Include="LayerTreeGroupNode.cpp" />
+    <ClCompile Include="LayerTreeLayerNode.cpp" />
+    <ClCompile Include="LayerTreeModel.cpp" />
+    <ClCompile Include="LayerTreeNode.cpp" />
+    <ClCompile Include="LayerTreeView.cpp" />
+    <ClCompile Include="LayerTreeViewMenuProvider.cpp" />
+    <ClCompile Include="MapLayer.cpp" />
+    <ClCompile Include="MapLayerStore.cpp" />
+    <ClCompile Include="MapTool.cpp" />
+    <ClCompile Include="MapToolPan.cpp" />
+    <ClCompile Include="MapTools.cpp" />
+    <ClCompile Include="MapToolSpectral.cpp" />
+    <ClCompile Include="MotorWindowBase.cpp" />
     <ClCompile Include="OneMotorControl.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
     <ClCompile Include="QDoubleSlider.cpp" />
     <ClCompile Include="QMotorDoubleSlider.cpp" />
+    <ClCompile Include="RasterDataProvider.cpp" />
+    <ClCompile Include="RasterLayer.cpp" />
+    <ClCompile Include="RasterRenderer.cpp" />
+    <ClCompile Include="recordFrameCounter.cpp" />
     <ClCompile Include="resononImager.cpp" />
     <ClCompile Include="ResononNirImager.cpp" />
     <ClCompile Include="RgbCameraOperation.cpp" />
+    <ClCompile Include="rgbCameraWindow.cpp" />
     <ClCompile Include="RobotArmControl.cpp" />
+    <ClCompile Include="setWindow.cpp" />
     <ClCompile Include="stdafx.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
+    <ClCompile Include="TabManager.cpp" />
     <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
+    <ClCompile Include="View3D.cpp" />
+    <ClCompile Include="View3DModelManager.cpp" />
     <QtRcc Include="HPPA.qrc" />
     <QtUic Include="about.ui" />
     <QtUic Include="adjustTable.ui" />
+    <QtUic Include="DepthCamera.ui" />
     <QtUic Include="FocusDialog.ui" />
     <QtUic Include="HPPA.ui" />
     <QtMoc Include="HPPA.h" />
@@ -143,12 +177,16 @@
     <ClCompile Include="imagerSimulatioin.cpp" />
     <ClCompile Include="ImageViewer.cpp" />
     <ClCompile Include="main.cpp" />
+    <QtUic Include="hyperImagerControl.ui" />
+    <QtUic Include="imgControl.ui" />
     <QtUic Include="oneMotorControl.ui" />
     <QtUic Include="PathPlan.ui" />
     <QtUic Include="PowerControl.ui" />
     <QtUic Include="RadianceConversion.ui" />
     <QtUic Include="ReflectanceConversion.ui" />
+    <QtUic Include="rgbCamera.ui" />
     <QtUic Include="RobotArmControl.ui" />
+    <QtUic Include="set.ui" />
     <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
@@ -161,15 +199,46 @@
     <QtMoc Include="image2display.h" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="View3DModelManager.h" />
+    <QtMoc Include="View3D.h" />
     <QtMoc Include="adjustTable.h" />
     <QtMoc Include="PowerControl.h" />
     <QtMoc Include="RobotArmControl.h" />
     <QtMoc Include="Corning410Imager.h" />
     <QtMoc Include="CaptureCoordinator.h" />
+    <QtMoc Include="CustomDockWidgetBase.h" />
+    <QtMoc Include="Carousel.h" />
+    <QtMoc Include="imageControl.h" />
+    <QtMoc Include="AspectRatioLabel.h" />
+    <QtMoc Include="HyperImagerControl.h" />
+    <ClInclude Include="AppSettings.h" />
+    <QtMoc Include="FileNameLineEdit.h" />
+    <QtMoc Include="DepthCameraWindow.h" />
     <ClInclude Include="imager_base.h" />
     <ClInclude Include="irisximeaimager.h" />
     <QtMoc Include="OneMotorControl.h" />
     <QtMoc Include="TwoMotorControl.h" />
+    <QtMoc Include="TabManager.h" />
+    <QtMoc Include="LayerTreeModel.h" />
+    <QtMoc Include="LayerTreeNode.h" />
+    <QtMoc Include="LayerTree.h" />
+    <QtMoc Include="LayerTreeGroupNode.h" />
+    <QtMoc Include="LayerTreeLayerNode.h" />
+    <QtMoc Include="MapLayer.h" />
+    <QtMoc Include="RasterLayer.h" />
+    <QtMoc Include="MapLayerStore.h" />
+    <ClInclude Include="LayerTreeView.h" />
+    <QtMoc Include="LayerTreeViewMenuProvider.h" />
+    <QtMoc Include="MapTool.h" />
+    <QtMoc Include="MapToolPan.h" />
+    <QtMoc Include="MapToolSpectral.h" />
+    <QtMoc Include="MapTools.h" />
+    <ClInclude Include="MotorWindowBase.h" />
+    <ClInclude Include="RasterDataProvider.h" />
+    <ClInclude Include="RasterRenderer.h" />
+    <QtMoc Include="recordFrameCounter.h" />
+    <QtMoc Include="setWindow.h" />
+    <QtMoc Include="rgbCameraWindow.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />
@@ -195,7 +264,7 @@
     <ResourceCompile Include="HPPA.rc" />
   </ItemGroup>
   <ItemGroup>
-    <Image Include="HPPA.ico" />
+    <Image Include="resources\icons\ico\Spectral_Insight_128.ico" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Condition="Exists('$(QtMsBuild)\qt.targets')">

HPPA/HPPA.vcxproj.filters

@@ -21,15 +21,6 @@
       <UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
       <Extensions>ts</Extensions>
     </Filter>
-    <Filter Include="Header Files\motor">
-      <UniqueIdentifier>{eadfac5f-f4f9-49e2-9f99-0849bf074cf8}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Source Files\motor">
-      <UniqueIdentifier>{4672856c-86fb-46e3-94ff-0a296dcc6111}</UniqueIdentifier>
-    </Filter>
-    <Filter Include="Header Files\focus">
-      <UniqueIdentifier>{f2bfb93e-9ef8-4fdd-a776-db93b81af553}</UniqueIdentifier>
-    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="HPPA.qrc">
@@ -133,6 +124,99 @@
     <ClCompile Include="TwoMotorControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="CustomDockWidgetBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Carousel.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="View3D.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TabManager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="View3DModelManager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeNode.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeModel.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTree.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeGroupNode.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeLayerNode.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapLayer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RasterLayer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RasterDataProvider.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RasterRenderer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapLayerStore.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeView.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeViewMenuProvider.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="imageControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapTool.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapToolPan.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapToolSpectral.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MapTools.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="AspectRatioLabel.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="HyperImagerControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="recordFrameCounter.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="setWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="AppSettings.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="FileNameLineEdit.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MotorWindowBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="rgbCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="DepthCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -192,6 +276,84 @@
     <QtMoc Include="CaptureCoordinator.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="CustomDockWidgetBase.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="Carousel.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="View3D.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="TabManager.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <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>
+    <QtMoc Include="RasterLayer.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <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>
+    <QtMoc Include="MapToolSpectral.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="MapToolPan.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="MapTool.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="MapTools.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="AspectRatioLabel.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="HyperImagerControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="recordFrameCounter.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="setWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="FileNameLineEdit.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="rgbCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="DepthCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -224,6 +386,21 @@
     <ClInclude Include="irisximeaimager.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="RasterDataProvider.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RasterRenderer.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="LayerTreeView.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="AppSettings.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MotorWindowBase.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -256,6 +433,21 @@
     <QtUic Include="twoMotorControl.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="imgControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="hyperImagerControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="set.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="rgbCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="DepthCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />
@@ -266,7 +458,7 @@
     </ResourceCompile>
   </ItemGroup>
   <ItemGroup>
-    <Image Include="HPPA.ico">
+    <Image Include="resources\icons\ico\Spectral_Insight_128.ico">
       <Filter>Resource Files</Filter>
     </Image>
   </ItemGroup>

HPPA/HyperImagerControl.cpp

@@ -0,0 +1,195 @@
+#include "HyperImagerControl.h"
+
+HyperImagerControl::HyperImagerControl(QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	connect(ui.framerate_spinBox, &QDoubleSpinBox::editingFinished, this, &HyperImagerControl::onFramerateSpinBoxEditingFinished);
+	connect(ui.FramerateSlider, &QDoubleSlider::valueChanged, this, &HyperImagerControl::onFramerateSliderChanged);
+	connect(ui.FramerateSlider, &QDoubleSlider::sliderReleased, this, &HyperImagerControl::onFramerateSliderReleased);
+
+	connect(ui.integratioin_time_spinBox, &QDoubleSpinBox::editingFinished, this, &HyperImagerControl::onIntegrationTimeSpinBoxEditingFinished);
+	connect(ui.IntegratioinTimeSlider, &QDoubleSlider::valueChanged, this, &HyperImagerControl::onIntegrationTimeSliderChanged);
+	connect(ui.IntegratioinTimeSlider, &QDoubleSlider::sliderReleased, this, &HyperImagerControl::onIntegrationTimeSliderReleased);
+
+	connect(ui.gain_spinBox, &QDoubleSpinBox::editingFinished, this, &HyperImagerControl::onGainSpinBoxEditingFinished);
+	connect(ui.GainSlider, &QSlider::valueChanged, this, &HyperImagerControl::onGainSliderChanged);
+	connect(ui.GainSlider, &QSlider::sliderReleased, this, &HyperImagerControl::onGainSliderReleased);
+
+	ui.GainSlider->setMaximum(12);
+	ui.GainSlider->setMinimum(0);
+
+	ui.gain_spinBox->setMaximum(12);
+	ui.gain_spinBox->setMinimum(0);
+
+	ui.widget_3->setStyleSheet(R"(
+		QDoubleSpinBox {
+			border: 1px solid #999;
+			border-radius: 4px;
+			padding: 2px 20px 2px 6px;  /* 右侧留空间给按钮 */
+			background: #0e1c4c;
+			selection-background-color: #0078d7;
+			font-size: 12px;
+			color:#ACCDFF ;
+		}
+
+		QDoubleSpinBox::up-button {
+			subcontrol-origin: border;
+			subcontrol-position: top right;
+			width: 16px;
+			border-left: 1px solid #ccc;
+		}
+
+		QDoubleSpinBox::down-button {
+			subcontrol-origin: border;
+			subcontrol-position: bottom right;
+			width: 16px;
+			border-left: 1px solid #ccc;
+		}
+
+		QDoubleSpinBox::up-arrow {
+			image: url(:/svg/resources/icons/svg/arrow_up.svg);
+			width: 10px;
+			height: 10px;
+		}
+
+		QDoubleSpinBox::down-arrow {
+			image: url(:/svg/resources/icons/svg/arrow_down.svg);
+			width: 10px;
+			height: 10px;
+		}
+
+		QDoubleSpinBox::up-button:hover,
+		QDoubleSpinBox::down-button:hover {
+			background: #e6f2ff;
+		}
+
+		QDoubleSpinBox::up-button:pressed,
+		QDoubleSpinBox::down-button:pressed {
+			background: #cce4ff;
+		}
+	)");
+
+}
+
+HyperImagerControl::~HyperImagerControl()
+{
+}
+
+void HyperImagerControl::setFrameRate(double frameRate)
+{
+	ui.framerate_spinBox->setValue(frameRate);
+	ui.FramerateSlider->setValue(frameRate);
+
+	updateIntegrationTimeRange(frameRate);
+}
+
+void HyperImagerControl::setIntegrationTime(double integrationTime)
+{
+	ui.integratioin_time_spinBox->setValue(integrationTime);
+	ui.IntegratioinTimeSlider->setValue(integrationTime);
+
+	updateFramerateRange(integrationTime);
+}
+
+void HyperImagerControl::setGain(double gain)
+{
+	ui.gain_spinBox->setValue(gain);
+	ui.GainSlider->setValue(gain);
+}
+
+void HyperImagerControl::onFramerateSpinBoxEditingFinished()
+{
+	double framerate = ui.framerate_spinBox->value();
+	ui.FramerateSlider->setValue(framerate);
+	emit framerateChanged(framerate);
+}
+
+void HyperImagerControl::onFramerateSliderChanged(double framerate)
+{
+	ui.framerate_spinBox->blockSignals(true);
+	ui.framerate_spinBox->setValue(framerate);
+	ui.framerate_spinBox->blockSignals(false);
+}
+
+void HyperImagerControl::onFramerateSliderReleased()
+{
+	double framerate = ui.framerate_spinBox->value();
+	emit framerateChanged(framerate);
+}
+
+void HyperImagerControl::onIntegrationTimeSpinBoxEditingFinished()
+{
+	double integrationTime = ui.integratioin_time_spinBox->value();
+	ui.IntegratioinTimeSlider->setValue(integrationTime);
+	emit integrationTimeChanged(integrationTime);
+}
+
+void HyperImagerControl::onIntegrationTimeSliderChanged(double integrationTime)
+{
+	ui.integratioin_time_spinBox->blockSignals(true);
+	ui.integratioin_time_spinBox->setValue(integrationTime);
+	ui.integratioin_time_spinBox->blockSignals(false);
+}
+
+void HyperImagerControl::onIntegrationTimeSliderReleased()
+{
+	double integrationTime = ui.integratioin_time_spinBox->value();
+	emit integrationTimeChanged(integrationTime);
+}
+
+void HyperImagerControl::onGainSpinBoxEditingFinished()
+{
+	double gain = ui.gain_spinBox->value();
+	ui.GainSlider->setValue(gain);
+	emit gainChanged(gain);
+}
+
+void HyperImagerControl::onGainSliderChanged(double gain)
+{
+	ui.gain_spinBox->blockSignals(true);
+	ui.gain_spinBox->setValue(gain);
+	ui.gain_spinBox->blockSignals(false);
+}
+
+void HyperImagerControl::onGainSliderReleased()
+{
+	double gain = ui.gain_spinBox->value();
+	emit gainChanged(gain);
+}
+
+void HyperImagerControl::updateIntegrationTimeRange(double frameRate)
+{
+	double maxIntegrationTime = 1.0 / frameRate * 1000.0; // 毫秒
+
+	ui.IntegratioinTimeSlider->blockSignals(true);
+	ui.IntegratioinTimeSlider->setMaximum(maxIntegrationTime);
+	ui.IntegratioinTimeSlider->setMinimum(1);
+	ui.IntegratioinTimeSlider->blockSignals(false);
+
+	ui.integratioin_time_spinBox->blockSignals(true);
+	ui.integratioin_time_spinBox->setMaximum(maxIntegrationTime);
+	ui.integratioin_time_spinBox->setMinimum(1);
+	ui.integratioin_time_spinBox->blockSignals(false);
+}
+
+void HyperImagerControl::updateFramerateRange(double integrationTime)
+{
+	double maxFramerate = 1.0 / (integrationTime / 1000.0); // 积分时间(毫秒)转帧率
+
+	if(maxFramerate > m_frameRateLimit)
+	{
+		maxFramerate = m_frameRateLimit;
+	}
+
+	ui.FramerateSlider->blockSignals(true);
+	ui.FramerateSlider->setMaximum(maxFramerate);
+	ui.FramerateSlider->setMinimum(1);
+	ui.FramerateSlider->blockSignals(false);
+
+	ui.framerate_spinBox->blockSignals(true);
+	ui.framerate_spinBox->setMaximum(maxFramerate);
+	ui.framerate_spinBox->setMinimum(1);
+	ui.framerate_spinBox->blockSignals(false);
+}

HPPA/HyperImagerControl.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <QDialog>
+
+#include "ui_hyperImagerControl.h"
+
+#include "AspectRatioLabel.h"
+
+class QDoubleSlider;
+
+class HyperImagerControl : public QDialog
+{
+	Q_OBJECT
+
+public:
+	HyperImagerControl(QWidget* parent = nullptr);
+	~HyperImagerControl();
+
+	AspectRatioLabel* imagerPictureLabel() const { return ui.imagerPictureLabel; }
+
+	void setFrameRate(double frameRate);
+	void setIntegrationTime(double integrationTime);
+	void setGain(double gain);
+
+signals:
+	void framerateChanged(double framerate);
+	void integrationTimeChanged(double integrationTime);
+	void gainChanged(double gain);
+
+private Q_SLOTS:
+	void onFramerateSpinBoxEditingFinished();
+	void onFramerateSliderChanged(double framerate);
+	void onFramerateSliderReleased();
+	void onIntegrationTimeSpinBoxEditingFinished();
+	void onIntegrationTimeSliderChanged(double integrationTime);
+	void onIntegrationTimeSliderReleased();
+	void onGainSpinBoxEditingFinished();
+	void onGainSliderChanged(double gain);
+	void onGainSliderReleased();
+
+private:
+	void updateIntegrationTimeRange(double frameRate);
+	void updateFramerateRange(double integrationTime);
+	double m_frameRateLimit = 150;//相机的最大帧率限制为250fps
+
+	Ui::HyperImagerControl ui;
+};

HPPA/ImageReaderWriter.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 
 #include "ImageReaderWriter.h"
@@ -11,11 +11,11 @@ ImageReaderWriter::ImageReaderWriter(const char * fileName)
 	m_poDataset = (GDALDataset *)GDALOpen(fileName, GA_ReadOnly);
 	if (m_poDataset == NULL)
 	{
-		std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>" << std::endl;
+		std::cout << "打开影像失败！" << std::endl;
 		return;
 	}
 
-	//<EFBFBD><EFBFBD>ȡӰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+	//获取影像信息
 	m_DataType = m_poDataset->GetRasterBand(1)->GetRasterDataType();
 	m_iBands = m_poDataset->GetRasterCount();
 	m_iXCount = m_poDataset->GetRasterXSize();
@@ -47,11 +47,11 @@ float * ImageReaderWriter::ReadImage(int nXOff, int nYOff, int nXSize, int nYSiz
 		float *pDataBuffer = (float*)CPLMalloc(sizeof(float)*(1)*(1)*(m_iBands));
 		memset(pDataBuffer, 0, 1 * 1 * m_iBands * sizeof(float));
 
-		CPLErr status = m_poDataset->RasterIO(GF_Read, nXOff, nYOff, nXSize, nYSize, pDataBuffer, xBuff, yBuff, GDT_Float32, m_iBands, NULL, 0, 0, 0); //<EFBFBD>ȸߺ<EFBFBD><EFBFBD><EFBFBD>
+		CPLErr status = m_poDataset->RasterIO(GF_Read, nXOff, nYOff, nXSize, nYSize, pDataBuffer, xBuff, yBuff, GDT_Float32, m_iBands, NULL, 0, 0, 0); //先高后宽
 
 		if (status != CE_None)
 		{
-			std::cout << "<EFBFBD><EFBFBD>ȡӰ<EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>" << std::endl;
+			std::cout << "读取影像失败！" << std::endl;
 			return 0;
 		}
 

HPPA/ImageReaderWriter.h

@@ -1,4 +1,4 @@
-#ifndef IMAGE_READER_WRITER
+#ifndef IMAGE_READER_WRITER
 #define IMAGE_READER_WRITER
 #include "stdafx.h"
 #include "gdal_priv.h"

HPPA/ImageViewer.cpp

@@ -1,24 +1,26 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
+#include <cmath>
 
 #include <QWheelEvent>
 #include <QPoint>
 
 #include "ImageViewer.h"
+#include "RasterLayer.h"
+#include "MapTool.h"
 
 
 #define VIEW_CENTER viewport()->rect().center()
 #define VIEW_WIDTH  viewport()->rect().width()
 #define VIEW_HEIGHT viewport()->rect().height()
 
-
-ImageViewer::ImageViewer(QWidget* pParent) :QGraphicsView(pParent)
+Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
 {
     setRenderHint(QPainter::Antialiasing);
     setRenderHint(QPainter::SmoothPixmapTransform);
     setDragMode(QGraphicsView::ScrollHandDrag);
 
-	// <20>ؼ<EFBFBD><D8BC>㣺<EFBFBD><E3A3BA>ʹ<EFBFBD><CAB9> Qt Ĭ<>ϵ<EFBFBD> anchor<6F><72><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD><EFBFBD>
+    // 使用 Qt 默认 anchor 行为以外的配置
     setTransformationAnchor(QGraphicsView::NoAnchor);
     setResizeAnchor(QGraphicsView::NoAnchor);
 
@@ -43,24 +45,23 @@ ImageViewer::ImageViewer(QWidget* pParent) :QGraphicsView(pParent)
     m_translateSpeed = 1.0;
     m_bMouseTranslate = false;
 
-
     setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setFrameShape(QFrame::NoFrame);
 }
 
-ImageViewer::~ImageViewer()
+Mapcavas::~Mapcavas()
 {
 
 }
 
-void ImageViewer::DisplayFrameNumber(int frameNumber)
+void Mapcavas::DisplayFrameNumber(int frameNumber)
 {
     m_framNumberLabel->setText(QString::number(frameNumber));
     m_framNumberLabel->adjustSize();
 }
 
-void ImageViewer::SetImage(QPixmap *image)
+void Mapcavas::SetImage(QPixmap *image)
 {
     if (!HasImage())
     {
@@ -73,7 +74,7 @@ void ImageViewer::SetImage(QPixmap *image)
     ensureSceneVisible();
 }
 
-void ImageViewer::ensureSceneVisible()
+void Mapcavas::ensureSceneVisible()
 {
     resetTransform();
 
@@ -90,7 +91,7 @@ void ImageViewer::ensureSceneVisible()
     centerOn(scene_rect.center());
 }
 
-bool ImageViewer::HasImage()
+bool Mapcavas::HasImage()
 {
     if (m_GraphicsPixmapItemHandle == nullptr)
     {
@@ -102,38 +103,57 @@ bool ImageViewer::HasImage()
     }
 }
 
-void ImageViewer::wheelEvent(QWheelEvent *event)
+void Mapcavas::updateCrosshair(double sceneX, double sceneY)
 {
-	//qDebug() << "---------------+++++++++++++++++++++++++++++++++++++++++++++++++++ ";
-	//if (true)//HasImage()
-	//{
-	//	//Χ<><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>https://blog.csdn.net/GoForwardToStep/article/details/77035287?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.channel_param
-	//	// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>view<65><77>λ<EFBFBD><CEBB>;
-	//	QPointF cursorPoint = event->pos();
-	//	// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>scene<6E><65>λ<EFBFBD><CEBB>;
-	//	QPointF scenePos = this->mapToScene(QPoint(cursorPoint.x(), cursorPoint.y()));
+    QPen pen(Qt::red, 2.0);
+    pen.setCosmetic(true);  // constant screen-width regardless of zoom
 
-	//	// <20><>ȡview<65>Ŀ<EFBFBD><C4BF><EFBFBD>;
-	//	qreal viewWidth = this->viewport()->width();
-	//	qreal viewHeight = this->viewport()->height();
+    if (!m_hLine)
+    {
+        m_hLine = m_qtGraphicsScene->addLine(0, 0, 0, 0, pen);
+        m_hLine->setZValue(1e9);
+    }
+    if (!m_vLine)
+    {
+        m_vLine = m_qtGraphicsScene->addLine(0, 0, 0, 0, pen);
+        m_vLine->setZValue(1e9);
+    }
 
-	//	// <20><>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD>൱<EFBFBD><E0B5B1>view<65><77>С<EFBFBD>ĺ<EFBFBD><C4BA>ݱ<EFBFBD><DDB1><EFBFBD>;
-	//	qreal hScale = cursorPoint.x() / viewWidth;
-	//	qreal vScale = cursorPoint.y() / viewHeight;
+    m_hLine->setPen(pen);
+    m_vLine->setPen(pen);
+
+    m_hLine->setLine(sceneX - m_CrosshairHalfLen, sceneY,
+        sceneX + m_CrosshairHalfLen, sceneY);
+    m_vLine->setLine(sceneX, sceneY - m_CrosshairHalfLen,
+        sceneX, sceneY + m_CrosshairHalfLen);
+}
+
+void Mapcavas::removeCrosshair()
+{
+    if (m_hLine)
+    {
+        if (m_hLine->scene())
+            m_hLine->scene()->removeItem(m_hLine);
+        delete m_hLine;
+        m_hLine = nullptr;
+    }
+    if (m_vLine)
+    {
+        if (m_vLine->scene())
+            m_vLine->scene()->removeItem(m_vLine);
+        delete m_vLine;
+        m_vLine = nullptr;
+    }
+}
 
 
-	//	// <20><><EFBFBD>ֵĹ<D6B5><C4B9><EFBFBD><EFBFBD><EFBFBD>
-	//	QPoint scrollAmount = event->angleDelta();
-	//	// <20><>ֵ<EFBFBD><D6B5>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6>ʹ<EFBFBD><CAB9><EFBFBD>߷Ŵ<DFB7><C5B4><EFBFBD>ֵ<EFBFBD><D6B5>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С
-	//	scrollAmount.y() > 0 ? zoomIn() : zoomOut();
-
-
-	//	// <20><>scene<6E><65><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD>Ŵ<EFBFBD><C5B4><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>;
-	//	QPointF viewPoint = this->matrix().map(scenePos);
-	//	// ͨ<><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>view<65>Ŵ<EFBFBD><C5B4><EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>չʾscene<6E><65>λ<EFBFBD><CEBB>;
-	//	horizontalScrollBar()->setValue(int(viewPoint.x() - viewWidth * hScale));
-	//	verticalScrollBar()->setValue(int(viewPoint.y() - viewHeight * vScale));
-	//}
+void Mapcavas::wheelEvent(QWheelEvent *event)
+{
+    // Always let the tool have a chance first
+    if (m_mapTool)
+    {
+        m_mapTool->canvasWheelEvent(event);
+    }
 
     if (HasImage())
     {
@@ -147,68 +167,71 @@ void ImageViewer::wheelEvent(QWheelEvent *event)
         QPointF delta = newPos - oldPos;
         translate(delta.x(), delta.y());
     }
-
-	//QGraphicsView::wheelEvent(event);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 }
 
-void ImageViewer::scaling(qreal scaleFactor)
+void Mapcavas::scaling(qreal scaleFactor)
 {
-	//qDebug() << this->sceneRect();
     scale(scaleFactor, scaleFactor);
 }
 
-void ImageViewer::mousePressEvent(QMouseEvent *event)
+void Mapcavas::mousePressEvent(QMouseEvent *event)
 {
-	if (event->button()==Qt::LeftButton)
+    if (m_mapTool)
     {
-		m_bMouseTranslate = true;
-		m_lastMousePos = event->pos();
-
-		//qDebug() << mapToScene(m_lastMousePos);
-
-		emit leftMouseButtonPressed(mapToScene(m_lastMousePos).x(), mapToScene(m_lastMousePos).y());
+        m_mapTool->canvasMousePressEvent(event);
+        QGraphicsView::mousePressEvent(event);
+        return;
     }
-	
-
-	//If you do not perform all the necessary work in your implementation of the virtual function, you may need to call the base class's implementation.
     QGraphicsView::mousePressEvent(event);
 }
 
-void ImageViewer::mouseMoveEvent(QMouseEvent *event)
+void Mapcavas::mouseMoveEvent(QMouseEvent *event)
 {
-	if (m_bMouseTranslate){
-		QPointF mouseDelta = mapToScene(event->pos()) - mapToScene(m_lastMousePos);
-		translate(mouseDelta.x(),mouseDelta.y());
+    if (m_mapTool)
+    {
+        m_mapTool->canvasMouseMoveEvent(event);
+        QGraphicsView::mousePressEvent(event);
+        return;
     }
 
-	m_lastMousePos = event->pos();
     QGraphicsView::mousePressEvent(event);
 }
 
-void ImageViewer::mouseReleaseEvent(QMouseEvent *event)
+void Mapcavas::mouseReleaseEvent(QMouseEvent *event)
 {
-	m_bMouseTranslate = false;
+    if (m_mapTool)
+    {
+        m_mapTool->canvasMouseReleaseEvent(event);
+        QGraphicsView::mouseReleaseEvent(event);
+        return;
+    }
+
     QGraphicsView::mouseReleaseEvent(event);
 }
 
-void ImageViewer::mouseDoubleClickEvent(QMouseEvent *event)
+void Mapcavas::mouseDoubleClickEvent(QMouseEvent *event)
 {
+    if (m_mapTool)
+    {
+        m_mapTool->canvasMouseDoubleClickEvent(event);
+        return;
+    }
+
     QGraphicsView::mouseDoubleClickEvent(event);
 }
 
-void ImageViewer::zoomIn()
+void Mapcavas::zoomIn()
 {
     zoom(1 + m_zoomDelta);
 }
 
-void ImageViewer::zoomOut()
+void Mapcavas::zoomOut()
 {
     zoom(1 - m_zoomDelta);
 }
 
-void ImageViewer::zoom(float scaleFactor)
+void Mapcavas::zoom(float scaleFactor)
 {
-	// <20><>ֹ<EFBFBD><D6B9>С<EFBFBD><D0A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
     qreal factor = transform().scale(scaleFactor, scaleFactor).mapRect(QRectF(0, 0, 1, 1)).width();
     if (factor < 0.07 || factor > 100)
         return;
@@ -217,28 +240,99 @@ void ImageViewer::zoom(float scaleFactor)
     m_scale *= scaleFactor;
 }
 
-void ImageViewer::setTranslateSpeed(qreal speed)
+void Mapcavas::setTranslateSpeed(qreal speed)
 {
-	// <20><><EFBFBD><EFBFBD><EFBFBD>ٶȷ<D9B6>Χ
     Q_ASSERT_X(speed >= 0.0 && speed <= 2.0,
         "InteractiveView::setTranslateSpeed", "Speed should be in range [0.0, 2.0].");
     m_translateSpeed = speed;
 }
 
-qreal ImageViewer::translateSpeed() const
+qreal Mapcavas::translateSpeed() const
 {
     return m_translateSpeed;
 }
 
-void ImageViewer::setZoomDelta(qreal delta)
+void Mapcavas::setZoomDelta(qreal delta)
 {
-	// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ
     Q_ASSERT_X(delta >= 0.0 && delta <= 1.0,
         "InteractiveView::setZoomDelta", "Delta should be in range [0.0, 1.0].");
     m_zoomDelta = delta;
 }
 
-qreal ImageViewer::zoomDelta() const
+qreal Mapcavas::zoomDelta() const
 {
     return m_zoomDelta;
 }
+
+// new: set associated raster layer
+void Mapcavas::setLayers(RasterLayer* layer)
+{
+    m_rasterLayer = layer;
+}
+
+RasterLayer* Mapcavas::rasterLayer() const
+{
+    return m_rasterLayer;
+}
+
+// new: refresh the map by rendering using the RasterLayer's render method
+void Mapcavas::freshmap()
+{
+    if (!m_rasterLayer) return;
+
+    RasterLayer::RenderParams params = m_rasterLayer->currentRenderParams();
+    QImage img = m_rasterLayer->render(params);
+    if (img.isNull()) return;
+
+    QPixmap pm = QPixmap::fromImage(img);
+    SetImage(&pm);
+}
+
+void Mapcavas::freshmap(const RasterLayer::RenderParams& params)
+{
+    if (!m_rasterLayer) return;
+
+    QImage img = m_rasterLayer->render(params);
+    if (img.isNull()) return;
+
+    QPixmap pm = QPixmap::fromImage(img);
+    SetImage(&pm);
+}
+
+// MapTool management
+void Mapcavas::setMapTool(MapTool* tool)
+{
+    if (m_mapTool)
+    {
+        m_mapTool->deactivate();
+    }
+
+    m_mapTool = tool;
+
+    if (m_mapTool)
+    {
+        // Disable built-in drag mode so the tool controls everything
+        setDragMode(QGraphicsView::NoDrag);
+        m_mapTool->activate();
+    }
+    else
+    {
+        // Restore legacy drag mode when no tool
+        setDragMode(QGraphicsView::ScrollHandDrag);
+    }
+}
+
+void Mapcavas::unsetMapTool(MapTool* tool)
+{
+    if (m_mapTool && m_mapTool == tool)
+    {
+        m_mapTool->deactivate();
+        m_mapTool = nullptr;
+        setDragMode(QGraphicsView::ScrollHandDrag);
+    }
+}
+
+MapTool* Mapcavas::mapTool() const
+{
+    return m_mapTool;
+}

HPPA/ImageViewer.h

@@ -1,15 +1,20 @@
-#ifndef IMAGE_VIEWER
-#define IMAGE_VIEWER
+#ifndef MAPCAVAS_H
+#define MAPCAVAS_H
 
 #include "QGraphicsView"
 #include "qlabel.h"
-class ImageViewer :public QGraphicsView
+#include <QVector>
+#include "RasterLayer.h"
+
+class MapTool;
+
+class Mapcavas : public QGraphicsView
 {
 	Q_OBJECT
 
 public:
-	ImageViewer(QWidget* pParent = NULL);
-	~ImageViewer();
+	Mapcavas(QWidget* pParent = NULL);
+	~Mapcavas();
 
 	
 	void DisplayFrameNumber(int frameNumber);
@@ -24,35 +29,57 @@ public:
 	bool HasImage();
 	void ensureSceneVisible();
 
+	void updateCrosshair(double sceneX, double sceneY);
+	void removeCrosshair();
+
 	void wheelEvent(QWheelEvent *event) Q_DECL_OVERRIDE;
 	void scaling(qreal scaleFactor);
 
-	void zoomIn();  // <EFBFBD>Ŵ<EFBFBD>
-	void zoomOut();  // <EFBFBD><EFBFBD>С
-	void zoom(float scaleFactor); // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> - scaleFactor<EFBFBD><EFBFBD><EFBFBD>ŵı<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void zoomIn();  // 放大
+	void zoomOut();  // 缩小
+	void zoom(float scaleFactor); // 缩放 - scaleFactor缩放的比例因子
 
-	// ƽ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
+	// 平移速度
 	void setTranslateSpeed(qreal speed);
 	qreal translateSpeed() const;
 
-	// <EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// 缩放的增量
 	void setZoomDelta(qreal delta);
 	qreal zoomDelta() const;
+
+	// new: set raster layer and refresh map
+	void setLayers(RasterLayer* layer);
+	void freshmap();
+	void freshmap(const RasterLayer::RenderParams& params);
+
+	RasterLayer* rasterLayer() const;
+
+	// MapTool management
+	void setMapTool(MapTool* tool);
+	void unsetMapTool(MapTool* tool);
+	MapTool* mapTool() const;
+
 protected:
 	QGraphicsScene *m_qtGraphicsScene;
 private:
 	QGraphicsPixmapItem *m_GraphicsPixmapItemHandle;
-	QLabel *m_framNumberLabel;//<EFBFBD><EFBFBD>ʾʵʱ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
+	QLabel *m_framNumberLabel;//显示实时采集到的帧数
 
+	RasterLayer* m_rasterLayer = nullptr; // associated raster layer
+	MapTool* m_mapTool = nullptr;         // current active map tool
 
-	qreal m_translateSpeed;  // ƽ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
-	qreal m_zoomDelta;  // <EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	bool m_bMouseTranslate;  // ƽ<EFBFBD>Ʊ<EFBFBD>ʶ
-	QPoint m_lastMousePos;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD>λ<EFBFBD><EFBFBD>
-	qreal m_scale;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+	qreal m_translateSpeed;  // 平移速度
+	qreal m_zoomDelta;  // 缩放的增量
+	bool m_bMouseTranslate;  // 平移标识
+	QPoint m_lastMousePos;  // 鼠标最后按下的位置
+	qreal m_scale;  // 缩放值
+
+	double m_CrosshairHalfLen = 10.0;
+	QGraphicsLineItem* m_hLine = nullptr;  // horizontal line
+	QGraphicsLineItem* m_vLine = nullptr;  // vertical line
 
 
 signals:
-	void leftMouseButtonPressed(int, int);
+	void leftMouseButtonPressed(int, int, QVector<double>, QVector<double>);
 };
 #endif

HPPA/ImagerOperationBase.cpp

@@ -1,4 +1,5 @@
-#include "ImagerOperationBase.h"
+#include "ImagerOperationBase.h"
+#include <QDir>
 
 ImagerOperationBase::ImagerOperationBase()
 {
@@ -44,11 +45,11 @@ void ImagerOperationBase::connect_imager(int frameNumber)
 
 double ImagerOperationBase::auto_exposure()
 {
-	//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	double x = 1 / getFramerate() * 1000;//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第一步：先设置曝光时间为在当前帧率情况下最大
+	double x = 1 / getFramerate() * 1000;//获取最大毫秒曝光时间
 	setIntegrationTime(x);
 
-	//<EFBFBD>ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD>Ѱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第二步：通过循环寻找最佳曝光时间
 	imagerStartCollect();
 
 	while (true)
@@ -57,7 +58,7 @@ double ImagerOperationBase::auto_exposure()
 		if (GetMaxValue(buffer, m_FrameSize) >= 4094)
 		{
 			setIntegrationTime(getIntegrationTime() * 0.95);
-			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+			std::cout << "自动曝光-----------" << std::endl;
 		}
 		else
 		{
@@ -67,7 +68,9 @@ double ImagerOperationBase::auto_exposure()
 
 	imagerStopCollect();
 
-	//std::cout << "<22>Զ<EFBFBD><D4B6>ع⣺" << getIntegrationTime() << std::endl;
+	emit autoExposureSignal();
+
+	//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
 
 	return getIntegrationTime();
 }
@@ -77,7 +80,7 @@ void ImagerOperationBase::focus()
 	m_iFocusFramesNumber = 0;
 
 	m_iFocusFrameCounter = 1;
-	//std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-----------" << std::endl;
+	//std::cout << "调焦-----------" << std::endl;
 
 	double tmpFrmerate = getFramerate();
 	double tmpIntegrationTime = getIntegrationTime();
@@ -85,7 +88,7 @@ void ImagerOperationBase::focus()
 
 	setFramerate(5);
 	auto_exposure();
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
+	std::cout << "调焦获得的曝光时间为：" << getIntegrationTime() << std::endl;
 
 	int iWidth, iHeight;
 	GetFrameSize(iWidth, iHeight);
@@ -97,7 +100,7 @@ void ImagerOperationBase::focus()
 	m_bFocusControlState = true;
 	while (m_bFocusControlState)
 	{
-		////<EFBFBD><EFBFBD>֡ƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		////多帧平均，减弱单帧跳动
 		//memset((void*)buffer, 0, m_FrameSize * sizeof(unsigned short));
 		//int fn = 5;
 		//for (int i = 0; i < fn; i++)
@@ -121,7 +124,7 @@ void ImagerOperationBase::focus()
 
 		double focusIndex = calcFocusIndexSobelPrivate(buffer);
 		emit FocusIndexSobelSignal(focusIndex);
-		std::cout << "focusIndex<EFBFBD><EFBFBD>" << focusIndex << std::endl;
+		std::cout << "focusIndex：" << focusIndex << std::endl;
 
 		emit SpectralSignal(1);
 
@@ -138,7 +141,7 @@ void ImagerOperationBase::focus()
 
 void ImagerOperationBase::record_dark()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集暗电流！！！！！！！！！" << std::endl;
 	imagerStartCollect();
 	
 	unsigned int* dark_tmp = new unsigned int[m_FrameSize];
@@ -170,7 +173,7 @@ void ImagerOperationBase::record_dark()
 
 void ImagerOperationBase::record_white()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集白板！！！！！！！！！" << std::endl;
 	imagerStartCollect();
 
 	unsigned int* white_tmp = new unsigned int[m_FrameSize];
@@ -195,7 +198,7 @@ void ImagerOperationBase::record_white()
 	
 	imagerStopCollect();
 
-	//<EFBFBD>װ<EFBFBD><EFBFBD>۰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//白板扣暗电流
 	if (m_HasDark)
 	{
 		for (size_t i = 0; i < m_FrameSize; i++)
@@ -223,17 +226,23 @@ void ImagerOperationBase::start_record()
     //std::cout << "------------------------------------------------------" << std::endl;
 
 	m_iFrameCounter = 0;
-	m_RgbImage->m_iFrameCounter = 0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>0<EFBFBD><EFBFBD>
+	m_RgbImage->m_iFrameCounter = 0;//设置填充rgb图像的第0行
 	m_bRecordControlState = true;
 
-	//<EFBFBD>ж<EFBFBD><EFBFBD>ڴ<EFBFBD>buffer<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//判断内存buffer是否正常分配
 	if (buffer == 0)
 	{
 		std::cerr << "Error: memory could not be allocated for datacube";
 		exit(EXIT_FAILURE);
 	}
 
+	// 在开始采集时仅发出文件信息，UI 层自行创建 MapLayer 并管理生命周期
+	// prepare file name that will be used for saving
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
+	QString filePath = QString::fromStdString(m_FileName2Save2);
+	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter);
+
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
 	size_t x;
@@ -242,6 +251,7 @@ void ImagerOperationBase::start_record()
 	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
 	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
 
+
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
@@ -249,8 +259,9 @@ void ImagerOperationBase::start_record()
 
 		getFrame(buffer);
 		long long timeOs = getNanosecondsSinceMidnight();
+		//qDebug() << "time ns-------------------: " << timeOs;
 		
-		//<EFBFBD><EFBFBD>ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<EFBFBD><EFBFBD>dark<EFBFBD><EFBFBD><EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<EFBFBD><EFBFBD>buffer-dark=65535
+		//减去暗电流，应为buffer和dark都是unsigned short，所以当dark>buffer时，buffer-dark=65535
 		if (m_HasDark)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
@@ -268,12 +279,12 @@ void ImagerOperationBase::start_record()
 		}
 
 
-		//ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		//转反射率
 		if (m_HasWhite)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
 			{
-				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				//处理除数（白板）为0的情况
 				if (white[i] != 0)
 				{
 					pixelValueTmp = buffer[i];
@@ -289,17 +300,17 @@ void ImagerOperationBase::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
-		fprintf(hTimesFile, "%d\n", timeOs);
+		fprintf(hTimesFile, "%ll\n", timeOs);
 
-		//<EFBFBD><EFBFBD>rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+		//将rgb波段提取出来，以便在界面中显示
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
-		//std::cout << "<EFBFBD><EFBFBD>" << m_iFrameCounter << "֡д<EFBFBD><EFBFBD>" << x << "<EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD>" << std::endl;
+		//std::cout << "第" << m_iFrameCounter << "帧写了" << x << "个unsigned short。" << std::endl;
 
-		//ÿ<EFBFBD><EFBFBD>1s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
+		//每隔1s进行一次界面图形绘制
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
-			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter);
+			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter, filePath);
 		}
 
 		if (m_iFrameCounter >= m_iFrameNumber)
@@ -310,12 +321,17 @@ void ImagerOperationBase::start_record()
 	}
 	imagerStopCollect();
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//在最后一次画图前需要进行一次拉伸
 	//m_RgbImage
-	emit PlotSignal(m_FileSavedCounter, -1);//<2F><>1<EFBFBD><31><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ<EFBFBD><C8AB>2<EFBFBD><32>ʹ<EFBFBD>û<EFBFBD>е<EFBFBD>۲ɼ<DBB2>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>俪ʼ<E4BFAA>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ᵼ<EFBFBD><E1B5BC><EFBFBD>ϴβɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4>źŵ<C5BA><C5B5>õIJۺ<C4B2><DBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>˼<EFBFBD><CBBC>ݣ<EFBFBD>ע<EFBFBD>͵<EFBFBD>
+	emit PlotSignal(m_FileSavedCounter, -1, filePath);//采集完成后进行一次画图，以防采集帧数不是帧率的倍数时，画图不全
 
 	m_bRecordControlState = false;
 	WriteHdr();
+
+	// 发射 ImageFileSaved 信号，通知 UI 层把该文件加入图层管理器
+	// m_FileName2Save2 保存了本次写入的 .bil 文件名（例如 "tmp_image_0.bil"）
+	emit ImageFileSaved(QString::fromStdString(m_FileName2Save2), m_FileSavedCounter);
+
 	m_FileSavedCounter++;
 
 	if (m_iFrameCounter >= m_iFrameNumber)
@@ -344,6 +360,14 @@ void ImagerOperationBase::setFileName2Save(string FileName)
 	m_FileSavedCounter = 0;
 }
 
+void ImagerOperationBase::updateRecordingFileInfo(const QString& filePath, const QString& baseName, int frameNumber)
+{
+	m_FileName2Save = (filePath + QDir::separator() + baseName).toStdString();
+	m_FileSavedCounter = 0;
+
+	setFrameNumber(frameNumber);
+}
+
 void ImagerOperationBase::setFocusControlState(bool FocusControlState)
 {
 	m_bFocusControlState = FocusControlState;
@@ -384,7 +408,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 	unsigned short* psData;
 	psData = (unsigned short*)pvData;
 
-	cv::Mat gray(iHeight, iWidth, CV_16UC1, psData);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD>gray.data<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD>psDataһ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	cv::Mat gray(iHeight, iWidth, CV_16UC1, psData);//经验证，gray.data的数据和psData一样；
 	/*string rgbFilePathNoStrech = "E:\\hppa\\delete\\focusImg_";
 	string tmp1 = std::to_string(m_iFocusFramesNumber);
 	string tmp2 = ".png";*/
@@ -394,7 +418,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 	//cv::imwrite(rgbFilePathNoStrech, gray);
 	m_iFocusFramesNumber++;
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>
+	//进行滤波
 	//cv::Mat outputImage;
 	//cv::Size kernelSize(5, 5);
 	//double sigmaX = 1.5;
@@ -404,7 +428,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 
 	cv::Mat gradX, gradY, absGradX, absGradY;
 
-	cv::Sobel(outputImage, gradX, CV_32F, 1, 0);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16S<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>cv::magnitude<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	cv::Sobel(outputImage, gradX, CV_32F, 1, 0);//如果参数为CV_16S，则函数cv::magnitude报错
 	cv::Sobel(outputImage, gradY, CV_32F, 0, 1);
 	cv::convertScaleAbs(gradX, absGradX);
 	cv::convertScaleAbs(gradY, absGradY);
@@ -413,7 +437,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 
 	cv::Mat magnitude, direction;
 	cv::magnitude(gradX, gradY, magnitude);//
-	cv::phase(gradX, gradY, direction, true);  // true<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD>ؽǶȶ<EFBFBD><EFBFBD>ǻ<EFBFBD><EFBFBD><EFBFBD>
+	cv::phase(gradX, gradY, direction, true);  // true表示返回角度而非弧度
 
 
 	return cv::mean(magnitude)[0];
@@ -466,23 +490,23 @@ int ImagerOperationBase::getFocusFrameCounter() const
 
 void ImagerOperationBase::set_buffer()
 {
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//如果
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 	}
 
 	m_FrameSize = getBandCount() * getSampleCount();
-	//std::cout << "m_FrameSize<EFBFBD><EFBFBD>СΪ" << m_FrameSize << std::endl;
+	//std::cout << "m_FrameSize大小为" << m_FrameSize << std::endl;
 
 	buffer = new unsigned short[m_FrameSize];
 	dark = new unsigned short[m_FrameSize];
 	white = new unsigned short[m_FrameSize];
 
-	std::cout << "buffer<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << buffer << std::endl;
-	std::cout << "dark<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << dark << std::endl;
-	std::cout << "white<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << white << std::endl;
+	std::cout << "buffer内存地址" << buffer << std::endl;
+	std::cout << "dark内存地址" << dark << std::endl;
+	std::cout << "white内存地址" << white << std::endl;
 }
 
 void ImagerOperationBase::WriteHdr()
@@ -527,6 +551,6 @@ unsigned short ImagerOperationBase::GetMaxValue(unsigned short* dark, int number
 			max = dark[i];
 		}
 	}
-	//std::cout << "<EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵΪ" << max << std::endl;
+	//std::cout << "本帧最大值为" << max << std::endl;
 	return max;
 }

HPPA/ImagerOperationBase.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QObject>
 #include <QString>
 
@@ -9,6 +9,8 @@
 #include "ImagerOperationBase.h"
 #include "utility_tc.h"
 
+class MapLayer; // forward declaration
+
 class ImagerOperationBase :public QObject
 {
     Q_OBJECT
@@ -47,7 +49,7 @@ public:
     int getFrameCounter() const;
     int getFocusFrameCounter() const;
 
-    unsigned short* buffer;//<EFBFBD>洢<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>д<EFBFBD>뵽Ӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    unsigned short* buffer;//存储采集到的影像的中间变量，下一步写入到硬盘中
     void set_buffer();
     void setFileName2Save(string FileName);
 
@@ -58,25 +60,25 @@ public:
     
 
 protected:
-    CImage* m_RgbImage;//<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD>
-    bool m_bRecordControlState;//<EFBFBD>ɼ<EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    int m_iFrameCounter;//<EFBFBD><EFBFBD>¼<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
-    int m_iFocusFrameCounter;//<EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
-    int m_FrameSize;//<EFBFBD><EFBFBD>ʾһ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><EFBFBD>ٸ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>m_FrameSize = m_imager.get_band_count()*m_imager.get_sample_count();
-    int m_iFrameNumber;//<EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
+    CImage* m_RgbImage;//显示的rgb图像
+    bool m_bRecordControlState;//采集状态；可用于执行停止采集操作
+    int m_iFrameCounter;//记录采集的帧数
+    int m_iFocusFrameCounter;//记录调焦时采集的帧数
+    int m_FrameSize;//表示一帧代表有多少个数值：m_FrameSize = m_imager.get_band_count()*m_imager.get_sample_count();
+    int m_iFrameNumber;//需要采集的总帧数
 
-    //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    string m_FileName2Save;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>
+    //以下两个参数用于给保存的影像文件命名
+    string m_FileName2Save;//保存的影像文件名
     string m_FileName2Save2;
-    int m_FileSavedCounter;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+    int m_FileSavedCounter;//保存了几个影像文件
 
-    bool m_HasDark;//<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD>˰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
-    bool m_HasWhite;//<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD>˰װ<EFBFBD>֮<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
+    bool m_HasDark;//当采集了暗电流之后，设置为true
+    bool m_HasWhite;//当采集了白板之后，设置为true
 
-    unsigned short* dark;//<EFBFBD>洢<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    unsigned short* white;//<EFBFBD>洢<EFBFBD>װ<EFBFBD>
+    unsigned short* dark;//存储暗电流
+    unsigned short* white;//存储白板
 
-    bool m_bFocusControlState;//<EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    bool m_bFocusControlState;//控制调焦结束
 
     
 
@@ -90,7 +92,7 @@ private:
     double calcFocusIndexSobelPrivate(void* pvData);
 
 public slots:
-    virtual void connect_imager(int frameNumber);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٻ<EFBFBD><EFBFBD><EFBFBD>
+    virtual void connect_imager(int frameNumber);//连接相机、开辟缓存
     virtual double auto_exposure();
     virtual void focus();
     virtual void start_record();
@@ -99,11 +101,14 @@ public slots:
     virtual void record_white();
 
     void getFocusIndexSobel();
+
+	void updateRecordingFileInfo(const QString& filePath, const QString& baseName, int frameNumber);
+
 signals:
-    void PlotSignal(int, int);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD>źţ<C5BA><C5A3><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD><DABC><EFBFBD>Ӱ<EFBFBD>񣻵ڶ<F1A3BBB5><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>-1<><31><EFBFBD><EFBFBD><EFBFBD>˴βɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
-    void RecordFinishedSignal_WhenFrameNumberMeet();//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>m_iFrameNumber<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    void RecordFinishedSignal_WhenFrameNumberNotMeet();//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>m_iFrameNumber<EFBFBD><EFBFBD>û<EFBFBD>вɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD><EFBFBD><EFBFBD>;ֹͣ<EFBFBD>ɼ<EFBFBD>
-    void SpectralSignal(int);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><EFBFBD>ף<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>
+    void PlotSignal(int, int, QString);//绘制影像信号，第一个参数：第几个影像；第二个参数：采集到的帧数，-1代表此次采集的最后一次绘制
+    void RecordFinishedSignal_WhenFrameNumberMeet();//采集完成信号：需要采集的总帧数（m_iFrameNumber）采集完成
+    void RecordFinishedSignal_WhenFrameNumberNotMeet();//采集完成信号：需要采集的总帧数（m_iFrameNumber）没有采集完成，中途停止采集
+    void SpectralSignal(int);//发射1代表正在调焦，绘制光谱，发射0表示调焦完成；
 
     void RecordWhiteFinishSignal();
     void RecordDarlFinishSignal();
@@ -111,5 +116,12 @@ signals:
     void FocusIndexSobelSignal(double);
 
 
-    void testImagerStatus();//<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD>Բ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    void testImagerStatus();//表示可以测试相机连接状态：是否连接，并反映到界面上
+    void autoExposureSignal();
+
+    // 新增：当一组影像文件（.bil/.hdr）写入完成后发出（会从采集线程发出，Qt 会做 queued connection）
+    void ImageFileSaved(const QString& path, int fileIndex);
+
+    // 修改：不再直接发送 MapLayer*，而是发送文件名与文件路径，UI 层负责创建 MapLayer 对象并管理生命周期
+    void LayerFileCreated(const QString& baseName, const QString& filePath, int fileIndex);
 };

HPPA/ImagerPositionSimulation.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 
 #include "ImagerPositionSimulation.h"
 
@@ -61,7 +61,7 @@ void ImagerPositionSimulation::mouseReleaseEvent(QMouseEvent *event)
 {
 	QPoint viewPos = event->pos();
 
-	////<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	////输出类型
 	//const type_info &x = typeid(imager);
 	//qDebug() << "---------------type_info: " << x.name() << x.raw_name() << x.hash_code();
 

HPPA/ImagerPositionSimulation.h

@@ -1,4 +1,4 @@
-#ifndef IMAGER_POSITION_SIMULATION
+#ifndef IMAGER_POSITION_SIMULATION
 #define IMAGER_POSITION_SIMULATION
 #include <QGraphicsView>
 #include <QGraphicsScene>
@@ -16,7 +16,7 @@ public:
 
 	void drawX();
 
-	void setSceneRect();//<EFBFBD><EFBFBD>QGraphicsView<EFBFBD><EFBFBD>viewport<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪsceneRect
+	void setSceneRect();//将QGraphicsView的viewport设置为sceneRect
 
 	QRectF sceneRect();
 

HPPA/LayerTree.cpp

@@ -0,0 +1,47 @@
+#include "LayerTree.h"
+
+LayerTree::LayerTree(QObject* parent)
+    : LayerTreeGroup("__root__", parent)
+{
+    setVisible(Qt::Checked);
+}
+
+LayerTree::~LayerTree()
+{
+}
+
+void LayerTree::setChildrenVisible(LayerTreeNode* n, Qt::CheckState state)
+{
+    if (!n) return;
+    const auto& cs = n->children();
+    for (LayerTreeNode* c : cs) {
+        c->setVisible(state);
+        setChildrenVisible(c, state);
+    }
+}
+
+void LayerTree::updateParentVisibleFromChildren(LayerTreeNode* p)
+{
+    if (!p) return;
+    if (p->childCount() == 0) return;
+
+    int checked = 0, unchecked = 0, partial = 0;
+    const auto& cs = p->children();
+    for (LayerTreeNode* c : cs) {
+        auto s = c->visible();
+        if (s == Qt::Checked) checked++;
+        else if (s == Qt::Unchecked) unchecked++;
+        else partial++;
+    }
+
+    Qt::CheckState newState;
+    if (partial > 0) newState = Qt::PartiallyChecked;
+    else if (checked > 0 && unchecked == 0) newState = Qt::Checked;
+    else if (unchecked > 0 && checked == 0) newState = Qt::Unchecked;
+    else newState = Qt::PartiallyChecked;
+
+    if (p->visible() != newState) {
+        p->setVisible(newState);
+        updateParentVisibleFromChildren(p->parentNode());
+    }
+}

HPPA/LayerTree.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#include "LayerTreeGroupNode.h"
+
+/**
+ * LayerTree：图层树根节点
+ * - 继承自 LayerTreeGroup，本身就是树的根节点
+ * - 提供可见性级联与父节点三态更新的静态工具
+ *
+ * 注意：beginInsertRows/endInsertRows 等 Qt Model 变更通知应由 Model 驱动调用，
+ * LayerTree 只负责维护数据结构正确性。
+ */
+class LayerTree : public LayerTreeGroup
+{
+    Q_OBJECT
+public:
+    explicit LayerTree(QObject* parent = nullptr);
+    ~LayerTree() override;
+
+    LayerTree(const LayerTree&) = delete;
+    LayerTree& operator=(const LayerTree&) = delete;
+
+    // 可见性逻辑（供 Model 调用）
+    static void setChildrenVisible(LayerTreeNode* n, Qt::CheckState state);
+    static void updateParentVisibleFromChildren(LayerTreeNode* parent);
+};

HPPA/LayerTreeGroupNode.cpp

@@ -0,0 +1,103 @@
+#include "LayerTreeGroupNode.h"
+#include "LayerTreeLayerNode.h"
+
+LayerTreeGroup::LayerTreeGroup(const QString& name, QObject* parent)
+    : LayerTreeNode(name, parent)
+{
+}
+
+LayerTreeGroup* LayerTreeGroup::insertGroup(int index, const QString& name)
+{
+    auto* group = new LayerTreeGroup(name);
+    insertChildNode(index, group);
+    return group;
+}
+
+LayerTreeGroup* LayerTreeGroup::addGroup(const QString& name)
+{
+    return insertGroup(childCount(), name);
+}
+
+LayerTreeLayer* LayerTreeGroup::insertLayer(int index, LayerTreeLayer* layer)
+{
+    if (!layer) return nullptr;
+    insertChildNode(index, layer);
+    return layer;
+}
+
+LayerTreeLayer* LayerTreeGroup::addLayer(LayerTreeLayer* layer)
+{
+    return insertLayer(childCount(), layer);
+}
+
+void LayerTreeGroup::insertChildNode(int index, LayerTreeNode* node)
+{
+    insertChild(index, node);
+}
+
+void LayerTreeGroup::addChildNode(LayerTreeNode* node)
+{
+    appendChild(node);
+}
+
+LayerTreeNode* LayerTreeGroup::removeChildNode(LayerTreeNode* node)
+{
+    if (!node) return nullptr;
+    int row = -1;
+    for (int i = 0; i < childCount(); ++i)
+    {
+        if (childAt(i) == node)
+        {
+            row = i;
+            break;
+        }
+    }
+    if (row < 0) return nullptr;
+    removeChild(row, 1, false);
+    return node;
+}
+
+LayerTreeLayer* LayerTreeGroup::findLayer(const QString& name) const
+{
+    const auto layers = findLayers();
+    for (auto* l : layers)
+    {
+        if (l->name() == name)
+            return l;
+    }
+    return nullptr;
+}
+
+QList<LayerTreeLayer*> LayerTreeGroup::findLayers() const
+{
+    QList<LayerTreeLayer*> result;
+    for (int i = 0; i < childCount(); ++i)
+    {
+        LayerTreeNode* child = childAt(i);
+        if (LayerTreeNode::isLayer(child))
+        {
+            result.append(static_cast<LayerTreeLayer*>(child));
+        }
+        else if (LayerTreeNode::isGroup(child))
+        {
+            result.append(static_cast<LayerTreeGroup*>(child)->findLayers());
+        }
+    }
+    return result;
+}
+
+QList<LayerTreeGroup*> LayerTreeGroup::findGroups() const
+{
+    QList<LayerTreeGroup*> result;
+    for (int i = 0; i < childCount(); ++i)
+    {
+        LayerTreeNode* child = childAt(i);
+        if (LayerTreeNode::isGroup(child))
+        {
+            auto* g = static_cast<LayerTreeGroup*>(child);
+            result.append(g);
+            result.append(g->findGroups());
+        }
+    }
+    return result;
+}

HPPA/LayerTreeGroupNode.h

@@ -0,0 +1,44 @@
+#pragma once
+#include "LayerTreeNode.h"
+
+class LayerTreeLayer;
+
+/**
+ * LayerTreeGroup：图层组节点
+ * - 基类为 LayerTreeNode
+ * - 提供插入图层节点（LayerTreeLayer）或图层组（LayerTreeGroup）的便利方法
+ */
+class LayerTreeGroup : public LayerTreeNode
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeGroup(const QString& name = QString(),
+                            QObject* parent = nullptr);
+
+    Type type() const override { return Type::Group; }
+
+    // 便利方法：插入子组
+    LayerTreeGroup* insertGroup(int index, const QString& name);
+    LayerTreeGroup* addGroup(const QString& name);
+
+    // 便利方法：插入图层节点
+    LayerTreeLayer* insertLayer(int index, LayerTreeLayer* layer);
+    LayerTreeLayer* addLayer(LayerTreeLayer* layer);
+
+    // 插入任意节点
+    void insertChildNode(int index, LayerTreeNode* node);
+    void addChildNode(LayerTreeNode* node);
+
+    // 移除子节点（不 delete，返回被移除节点）
+    LayerTreeNode* removeChildNode(LayerTreeNode* node);
+
+    // 查找
+    LayerTreeLayer* findLayer(const QString& name) const;
+    QList<LayerTreeLayer*> findLayers() const;
+    QList<LayerTreeGroup*> findGroups() const;
+
+    // 以后可扩展：collapsed / groupOpacity 等
+};
+
+// 保持向后兼容
+using LayerTreeGroupNode = LayerTreeGroup;

HPPA/LayerTreeLayerNode.cpp

@@ -0,0 +1,22 @@
+#include "LayerTreeLayerNode.h"
+
+LayerTreeLayer::LayerTreeLayer(MapLayer* layer, QObject* parent)
+    : LayerTreeNode(layer ? layer->name() : QString(), parent), m_layer(layer)
+{
+}
+
+LayerTreeNode::Type LayerTreeLayer::type() const
+{ 
+    return Type::Layer; 
+}
+
+// 持有一个 MapLayer 指针（不拥有）
+void LayerTreeLayer::setMapLayer(MapLayer* layer) 
+{ 
+    m_layer = layer; 
+}
+
+MapLayer* LayerTreeLayer::mapLayer() const 
+{ 
+    return m_layer; 
+}

HPPA/LayerTreeLayerNode.h

@@ -0,0 +1,28 @@
+#pragma once
+#include "LayerTreeNode.h"
+#include "MapLayer.h"
+
+/**
+ * LayerTreeLayer：图层节点
+ * - 基类为 LayerTreeNode
+ * - 持有一个 MapLayer 指针（不拥有）
+ */
+class LayerTreeLayer : public LayerTreeNode
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeLayer(MapLayer* layer, QObject* parent = nullptr);
+
+    Type type() const override;
+
+    void setMapLayer(MapLayer* layer);
+    MapLayer* mapLayer() const;
+
+private:
+    MapLayer* m_layer = nullptr;
+
+    // 可扩展：layerId / pointer / legendItems 等
+};
+
+// 保持向后兼容
+using LayerTreeLayerNode = LayerTreeLayer;

HPPA/LayerTreeModel.cpp

@@ -0,0 +1,183 @@
+#include "LayerTreeModel.h"
+#include "LayerTreeGroupNode.h"
+#include "LayerTreeLayerNode.h"
+
+#include <QtGlobal>
+
+LayerTreeModel::LayerTreeModel(LayerTree* tree, QObject* parent, bool cascadeCheck)
+    : QAbstractItemModel(parent),
+    m_tree(tree),
+    m_cascadeCheck(cascadeCheck)
+{
+    Q_ASSERT(m_tree && "LayerTreeModel requires a valid LayerTree*");
+}
+
+QModelIndex LayerTreeModel::index(int row, int column, const QModelIndex& parent) const
+{
+    if (column != 0 || row < 0) return {};
+
+    LayerTreeNode* parentNode = nodeFromIndex(parent);
+    if (!parentNode) return {};
+
+    LayerTreeNode* child = parentNode->childAt(row);
+    if (!child) return {};
+
+    return createIndex(row, column, child);
+}
+
+QModelIndex LayerTreeModel::parent(const QModelIndex& child) const
+{
+    LayerTreeNode* node = nodeFromIndex(child);
+    if (!node || node == m_tree) return {};
+
+    LayerTreeNode* p = node->parentNode();
+    if (!p || p == m_tree) return {};
+
+    return createIndex(p->rowInParent(), 0, p);
+}
+
+int LayerTreeModel::rowCount(const QModelIndex& parent) const
+{
+    LayerTreeNode* p = nodeFromIndex(parent);
+    return p ? p->childCount() : 0;
+}
+
+int LayerTreeModel::columnCount(const QModelIndex&) const
+{
+    return 1;
+}
+
+QVariant LayerTreeModel::data(const QModelIndex& index, int role) const
+{
+    LayerTreeNode* n = nodeFromIndex(index);
+    if (!n || n == m_tree) return {};
+
+    switch (role) {
+    case Qt::DisplayRole:
+        return n->name();
+
+    case Qt::DecorationRole:
+    {
+        auto* tmp = nodeFromIndex(index);
+        if (LayerTreeNode::isGroup(tmp))
+            return QIcon();
+        else if (LayerTreeNode::isLayer(tmp))
+        {
+            QString basePath = QCoreApplication::applicationDirPath();
+            return QIcon(":/svg/resources/icons/svg/mIconRaster.svg");
+        }
+    }
+
+    //case Qt::CheckStateRole:
+    //    return static_cast<int>(n->visible());
+
+    case Qt::ToolTipRole:
+        return (n->type() == LayerTreeNode::Type::Group) ? "Group" : "Layer";
+
+    default:
+        return {};
+    }
+}
+
+bool LayerTreeModel::setData(const QModelIndex& index, const QVariant& value, int role)
+{
+    LayerTreeNode* n = nodeFromIndex(index);
+    if (!n || n == m_tree) return false;
+
+    if (role == Qt::CheckStateRole) {
+        auto newState = static_cast<Qt::CheckState>(value.toInt());
+        if (n->visible() == newState) return true;
+
+        n->setVisible(newState);
+
+        // 1) 父 -> 子 级联
+        if (m_cascadeCheck) {
+            LayerTree::setChildrenVisible(n, newState);
+        }
+
+        // 2) 子 -> 父 更新 PartiallyChecked
+        LayerTree::updateParentVisibleFromChildren(n->parentNode());
+
+        // 简化：整体刷新（你后续可替换为精准 dataChanged）
+        emit layoutChanged();
+        return true;
+    }
+
+    return false;
+}
+
+Qt::ItemFlags LayerTreeModel::flags(const QModelIndex& index) const
+{
+    if (!index.isValid()) return Qt::NoItemFlags;
+
+    LayerTreeNode* n = nodeFromIndex(index);
+    if (!n || n == m_tree) return Qt::NoItemFlags;
+
+    return Qt::ItemIsEnabled | Qt::ItemIsSelectable | Qt::ItemIsUserCheckable;
+}
+
+LayerTreeNode* LayerTreeModel::root() const
+{
+    return m_tree;
+}
+
+LayerTreeNode* LayerTreeModel::addGroup(LayerTreeNode* parent, const QString& name, const QIcon& icon)
+{
+    if (!parent) parent = m_tree;
+
+    const int row = parent->childCount();
+    beginInsertRows(indexFromNode(parent), row, row);
+    LayerTreeNode* g = m_tree->addGroup(name);
+    endInsertRows();
+
+    return g;
+}
+
+LayerTreeNode* LayerTreeModel::addLayer(LayerTreeNode* parent, LayerTreeLayer* layerNode, const QIcon& icon)
+{
+    if (!parent) parent = m_tree;
+    if (!layerNode) return nullptr;
+
+    const int row = parent->childCount();
+    beginInsertRows(indexFromNode(parent), row, row);
+    parent->insertChild(row, layerNode);
+    endInsertRows();
+
+    return layerNode;
+}
+
+void LayerTreeModel::setCascadeCheckEnabled(bool enabled)
+{
+    m_cascadeCheck = enabled;
+}
+
+bool LayerTreeModel::cascadeCheckEnabled() const
+{
+    return m_cascadeCheck;
+}
+
+// 新增实现：移除子节点并在 model 上发出 begin/endRemoveRows
+LayerTreeNode* LayerTreeModel::removeNode(LayerTreeNode* parent, int row)
+{
+    if (!parent) parent = m_tree;
+    if (row < 0 || row >= parent->childCount()) return nullptr;
+
+    LayerTreeNode* removed = parent->childAt(row);
+    beginRemoveRows(indexFromNode(parent), row, row);
+    parent->removeChild(row, 1, false);
+    endRemoveRows();
+
+    return removed;
+}
+
+LayerTreeNode* LayerTreeModel::nodeFromIndex(const QModelIndex& index) const
+{
+    if (!index.isValid()) return m_tree;
+    return static_cast<LayerTreeNode*>(index.internalPointer());
+}
+
+QModelIndex LayerTreeModel::indexFromNode(LayerTreeNode* n) const
+{
+    if (!n || n == m_tree) return {};
+    return createIndex(n->rowInParent(), 0, n);
+}

HPPA/LayerTreeModel.h

@@ -0,0 +1,52 @@
+#pragma once
+#include <QCoreApplication>
+#include <QAbstractItemModel>
+#include "LayerTree.h"
+
+class LayerTreeLayer; // forward declare
+
+/**
+ * LayerTreeModel：Qt 适配层（不再管理树）
+ * - 1 列：名称（带图标）+ checkbox
+ * - 勾选可见性（可选级联勾选）
+ */
+class LayerTreeModel : public QAbstractItemModel
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeModel(LayerTree* tree,
+        QObject* parent = nullptr,
+        bool cascadeCheck = true);
+    ~LayerTreeModel() override = default;
+
+    // QAbstractItemModel 必须接口
+    QModelIndex index(int row, int column,
+        const QModelIndex& parent = QModelIndex()) const override;
+    QModelIndex parent(const QModelIndex& child) const override;
+    int rowCount(const QModelIndex& parent = QModelIndex()) const override;
+    int columnCount(const QModelIndex& parent = QModelIndex()) const override;
+
+    QVariant data(const QModelIndex& index, int role) const override;
+    bool setData(const QModelIndex& index, const QVariant& value, int role) override;
+    Qt::ItemFlags flags(const QModelIndex& index) const override;
+
+    // 对外 API：构建树（内部会正确调用 begin/endInsertRows）
+    LayerTreeNode* root() const;
+
+    LayerTreeNode* addGroup(LayerTreeNode* parent, const QString& name, const QIcon& icon = QIcon());
+    LayerTreeNode* addLayer(LayerTreeNode* parent, LayerTreeLayer* layerNode, const QIcon& icon = QIcon());
+
+    void setCascadeCheckEnabled(bool enabled);
+    bool cascadeCheckEnabled() const;
+
+    // 新增：从父节点移除子节点（包装 LayerTree::removeNode 并发出 model 通知）
+    LayerTreeNode* removeNode(LayerTreeNode* parent, int row);
+
+private:
+    LayerTree* m_tree = nullptr;    // not owned
+    bool m_cascadeCheck = true;
+
+private:
+    LayerTreeNode* nodeFromIndex(const QModelIndex& index) const;
+    QModelIndex indexFromNode(LayerTreeNode* n) const;
+};

HPPA/LayerTreeNode.cpp

@@ -0,0 +1,135 @@
+#include "LayerTreeNode.h"
+
+#include <QtGlobal>
+
+LayerTreeNode::LayerTreeNode(const QString& name, QObject* parent)
+    : QObject(parent), m_name(name)
+{
+}
+
+LayerTreeNode::~LayerTreeNode()
+{
+    qDeleteAll(m_children);
+    m_children.clear();
+}
+
+QString LayerTreeNode::name() const 
+{
+    return m_name; 
+}
+
+void LayerTreeNode::setName(const QString& name) 
+{
+    if (m_name != name)
+    {
+        m_name = name;
+        emit nameChanged(this, name);
+    }
+}
+
+QIcon LayerTreeNode::icon() const 
+{ 
+    return m_icon; 
+}
+
+void LayerTreeNode::setIcon(const QIcon& icon) 
+{ 
+    m_icon = icon; 
+}
+
+Qt::CheckState LayerTreeNode::visible() const 
+{ 
+    return m_visible;
+}
+
+void LayerTreeNode::setVisible(Qt::CheckState s) 
+{ 
+    m_visible = s;
+}
+
+LayerTreeNode* LayerTreeNode::parentNode() const 
+{ 
+    return m_parentNode; 
+}
+
+void LayerTreeNode::setParentNode(LayerTreeNode* p)
+{
+    m_parentNode = p;
+    // 让 QObject 的 parent 也跟随（便于 Qt 对象层次管理，且不会影响我们手动 delete children）
+    if (p) this->setParent(p);
+    else this->setParent(nullptr);
+}
+
+int LayerTreeNode::rowInParent() const
+{
+    if (!m_parentNode) return 0;
+
+    const auto& siblings = m_parentNode->m_children;
+    for (int i = 0; i < siblings.size(); ++i) 
+    {
+        if (siblings[i] == this) return i;
+    }
+
+    return 0;
+}
+
+int LayerTreeNode::childCount() const 
+{ 
+    return m_children.size(); 
+}
+
+LayerTreeNode* LayerTreeNode::childAt(int row) const
+{
+    if (row < 0 || row >= m_children.size()) return nullptr;
+    return m_children[row];
+}
+
+const QVector<LayerTreeNode*>& LayerTreeNode::children() const 
+{ 
+    return m_children; 
+}
+
+void LayerTreeNode::appendChild(LayerTreeNode* child)
+{
+    insertChild(m_children.size(), child);
+}
+
+void LayerTreeNode::insertChild(int row, LayerTreeNode* child)
+{
+    if (!child) return;
+
+    if (row < 0 || row > m_children.size())
+        row = m_children.size();
+
+    emit willAddChildren(this, row, row);
+    child->setParentNode(this);
+    m_children.insert(row, child);
+    emit addedChildren(this, row, row);
+}
+
+void LayerTreeNode::removeChild(int from, int count, bool destroy)
+{
+    if (from < 0 || count <= 0 || from + count > m_children.size()) return;
+
+    emit willRemoveChildren(this, from, from + count - 1);
+
+    QVector<LayerTreeNode*> removed;
+    removed.reserve(count);
+    for (int i = 0; i < count; ++i)
+    {
+        removed.append(m_children.at(from));
+        m_children.removeAt(from);
+    }
+
+    for (LayerTreeNode* node : removed)
+    {
+        node->setParentNode(nullptr);
+    }
+
+    emit removedChildren(this, from, from + count - 1);
+
+    if (destroy)
+    {
+        qDeleteAll(removed);
+    }
+}

HPPA/LayerTreeNode.h

@@ -0,0 +1,91 @@
+#pragma once
+
+#include <QObject>
+#include <QVector>
+#include <QIcon>
+#include <QString>
+
+/**
+ * LayerTreeNode：节点基类（抽象）
+ * - 仅包含通用属性：名称/图标/可见性/父子关系
+ * - Group / Layer 节点通过继承实现
+ * - 提供插入/删除节点的信号通知
+ *
+ * 说明：
+ * - 这里同时维护"树父指针"（m_parentNode）与 QObject parent（可选）
+ * - children 由节点自己持有并负责释放（析构时 delete children）
+ */
+class LayerTreeNode : public QObject
+{
+    Q_OBJECT
+public:
+    enum class Type { Group, Layer };
+
+    explicit LayerTreeNode(const QString& name,
+        QObject* parent = nullptr);
+    ~LayerTreeNode() override;
+
+    LayerTreeNode(const LayerTreeNode&) = delete;
+    LayerTreeNode& operator=(const LayerTreeNode&) = delete;
+
+    virtual Type type() const = 0;
+
+    // ---- properties ----
+    QString name() const;
+    void setName(const QString& name);
+
+    QIcon icon() const;
+    void setIcon(const QIcon& icon);
+
+    Qt::CheckState visible() const;
+    void setVisible(Qt::CheckState s);
+
+    // ---- tree relations ----
+    LayerTreeNode* parentNode() const;
+    int rowInParent() const;
+
+    int childCount() const;
+    LayerTreeNode* childAt(int row) const;
+    const QVector<LayerTreeNode*>& children() const;
+
+    // ---- structure mutation (used by LayerTree / Model) ----
+    void appendChild(LayerTreeNode* child);
+    void insertChild(int row, LayerTreeNode* child);
+
+    // 基于 QgsLayerTreeNode::removeChildrenPrivate 改进
+    // from: 起始索引, count: 移除数量, destroy: true 则 delete 被移除节点
+    void removeChild(int from, int count, bool destroy = true);
+
+    // ---- static type helpers ----
+    static inline bool isLayer(LayerTreeNode* node)
+    {
+        return node && node->type() == LayerTreeNode::Type::Layer;
+    }
+
+    static inline bool isGroup(LayerTreeNode* node)
+    {
+        return node && node->type() == LayerTreeNode::Type::Group;
+    }
+
+signals:
+    // 在插入子节点之前/之后发出
+    void willAddChildren(LayerTreeNode* node, int indexFrom, int indexTo);
+    void addedChildren(LayerTreeNode* node, int indexFrom, int indexTo);
+
+    // 在移除子节点之前/之后发出
+    void willRemoveChildren(LayerTreeNode* node, int indexFrom, int indexTo);
+    void removedChildren(LayerTreeNode* node, int indexFrom, int indexTo);
+
+    void nameChanged(LayerTreeNode* node, const QString& name);
+
+protected:
+    void setParentNode(LayerTreeNode* p);
+
+private:
+    QString m_name;
+    QIcon m_icon;
+    Qt::CheckState m_visible = Qt::Checked;
+
+    LayerTreeNode* m_parentNode = nullptr;
+    QVector<LayerTreeNode*> m_children;
+};

HPPA/LayerTreeView.cpp

@@ -0,0 +1,52 @@
+#include "LayerTreeView.h"
+#include "LayerTreeViewMenuProvider.h"
+#include <QContextMenuEvent>
+#include <QMenu>
+
+LayerTreeView::LayerTreeView(QWidget* parent)
+    : QTreeView(parent), m_menuProvider(nullptr)
+{
+}
+
+LayerTreeView::~LayerTreeView()
+{
+    delete m_menuProvider;
+}
+
+void LayerTreeView::setMenuProvider(LayerTreeViewMenuProvider* provider)
+{
+    m_menuProvider = provider;
+}
+
+void LayerTreeView::contextMenuEvent(QContextMenuEvent* event)
+{
+    if (!m_menuProvider)
+        return;
+    
+    const QModelIndex idx = indexAt(event->pos());
+    if (idx.isValid())
+        setCurrentIndex(idx);
+    else
+        setCurrentIndex(QModelIndex());
+
+    QMenu* menu = m_menuProvider->createContextMenu();
+    menu->setStyleSheet(R"(
+        QMenu {
+            background-color: #2a5dec;
+            color: white;
+        }
+        QMenu::item:selected {
+            background-color: #1a4ddc;
+        }
+        QMenu::separator {
+            height: 1px;
+            background: white;
+        }
+    )");
+    if (menu)
+    {
+        menu->exec(event->globalPos());
+        delete menu;
+    }
+    //QTreeView::contextMenuEvent(event);
+}

HPPA/LayerTreeView.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include <QTreeView>
+
+class LayerTreeViewMenuProvider;
+
+class LayerTreeView : public QTreeView
+{
+public:
+    explicit LayerTreeView(QWidget* parent = nullptr);
+    ~LayerTreeView() override;
+
+    void setMenuProvider(LayerTreeViewMenuProvider* provider);
+
+protected:
+    void contextMenuEvent(QContextMenuEvent* event) override;
+
+private:
+    LayerTreeViewMenuProvider* m_menuProvider = nullptr; // not owned
+};

HPPA/LayerTreeViewMenuProvider.cpp

@@ -0,0 +1,55 @@
+#include "LayerTreeViewMenuProvider.h"
+#include "LayerTreeView.h"
+#include "LayerTreeModel.h"
+#include "LayerTreeNode.h"
+#include "HPPA.h"
+#include <QAction>
+#include <QDebug>
+
+LayerTreeViewMenuProvider::LayerTreeViewMenuProvider(LayerTreeView* view, QObject* parent)
+    : QObject(parent), m_view(view)
+{
+}
+
+QMenu* LayerTreeViewMenuProvider::createContextMenu()
+{
+    m_contextIndex = m_view->currentIndex();
+
+    QMenu* menu = new QMenu();
+
+    if (!m_contextIndex.isValid())
+    {
+        return menu;
+    }
+
+    const LayerTreeModel* model = static_cast<const LayerTreeModel*>(m_contextIndex.model());
+    if (!model)
+    {
+        return menu;
+    }
+
+    LayerTreeNode* node = static_cast<LayerTreeNode*>(m_contextIndex.internalPointer());
+    if (!node)
+    {
+        return menu;
+    }
+
+    if (node->type() == LayerTreeNode::Type::Layer)
+    {
+        QAction* removeAction = new QAction(QStringLiteral("移除图层"), menu);
+        connect(removeAction, &QAction::triggered, HPPA::instance(), &HPPA::removeLayerByTreeIndex);
+        menu->addAction(removeAction);
+    }
+    else if (node->type() == LayerTreeNode::Type::Group)
+    {
+        HPPA* app = HPPA::instance();
+        if (app && node == app->rasterGroupNode())
+        {
+            QAction* removeAllAction = new QAction(QStringLiteral("移除所有图层"), menu);
+            connect(removeAllAction, &QAction::triggered, app, &HPPA::removeAllLayersInRasterGroup);
+            menu->addAction(removeAllAction);
+        }
+    }
+
+    return menu;
+}

HPPA/LayerTreeViewMenuProvider.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include <QMenu>
+#include <QObject>
+#include <QModelIndex>
+
+class LayerTreeView;
+class LayerTreeModel;
+class MapLayer;
+
+class LayerTreeViewMenuProvider : public QObject
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeViewMenuProvider(LayerTreeView* view, QObject* parent = nullptr);
+    ~LayerTreeViewMenuProvider() override = default;
+
+    // 根据给定 index 创建一个菜单，调用者负责删除返回的 QMenu*
+    QMenu* createContextMenu();
+
+private:
+    LayerTreeView* m_view = nullptr; // not owned
+    QModelIndex m_contextIndex;
+};

HPPA/MapLayer.cpp

@@ -0,0 +1,26 @@
+#include "MapLayer.h"
+
+MapLayer::MapLayer(const QString& name, const QString& uri)
+    : QObject(nullptr), m_name(name), m_uri(uri)
+{
+}
+
+QString MapLayer::name() const 
+{ 
+    return m_name; 
+}
+
+void MapLayer::setName(const QString& n) 
+{ 
+    m_name = n; 
+}
+
+QString MapLayer::dataPath() const 
+{ 
+    return m_uri;
+}
+
+void MapLayer::setDataPath(const QString& p)
+{ 
+    m_uri = p;
+}

HPPA/MapLayer.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <QObject>
+#include <QString>
+#include <QMetaType>
+
+class MapLayer : public QObject
+{
+    Q_OBJECT
+public:
+    enum class LayerType { Raster, Vector };
+
+    explicit MapLayer(const QString& name, const QString& uri);
+
+    virtual ~MapLayer() override = default;
+
+    QString name() const;
+    void setName(const QString& n);
+
+    QString dataPath() const;
+    void setDataPath(const QString& p);
+
+    virtual LayerType layerType() const = 0;
+
+private:
+    QString m_name;
+    QString m_uri;
+};
+
+Q_DECLARE_METATYPE(MapLayer*)

HPPA/MapLayerStore.cpp

@@ -0,0 +1,92 @@
+#include "MapLayerStore.h"
+#include "MapLayer.h"
+
+MapLayerStore::MapLayerStore(QObject* parent)
+    : QObject(parent)
+{
+    int a = 1;
+}
+
+void MapLayerStore::addLayer(MapLayer* layer, QWidget* widget)
+{
+    if (!layer) return;
+    MapLayer* raw = layer;
+    m_layers.emplace_back(std::shared_ptr<MapLayer>(layer));
+    if (widget)
+        m_layerWidgets[raw] = widget;
+    emit layerAdded(raw);
+}
+
+void MapLayerStore::removeLayer(MapLayer* layer)
+{
+    if (!layer) return;
+    for (auto it = m_layers.begin(); it != m_layers.end(); ++it) {
+        if (it->get() == layer) {
+            emit layerAboutToBeRemoved(layer);
+            m_layers.erase(it);
+            m_layerWidgets.erase(layer);
+            return;
+        }
+    }
+}
+
+void MapLayerStore::removeLayerByName(const QString& name)
+{
+    for (auto it = m_layers.begin(); it != m_layers.end(); ++it) {
+        if ((*it)->name() == name) {
+            MapLayer* raw = it->get();
+            emit layerAboutToBeRemoved(raw);
+            m_layers.erase(it);
+            m_layerWidgets.erase(raw);
+            return;
+        }
+    }
+}
+
+MapLayer* MapLayerStore::getLayer(const QString& name) const
+{
+    for (const auto& l : m_layers) {
+        if (l->name() == name) return l.get();
+    }
+    return nullptr;
+}
+
+MapLayer* MapLayerStore::getLayerAt(int index) const
+{
+    if (index < 0 || index >= (int)m_layers.size()) return nullptr;
+    return m_layers[index].get();
+}
+
+int MapLayerStore::layerCount() const
+{
+    return (int)m_layers.size();
+}
+
+QWidget* MapLayerStore::widgetForLayer(MapLayer* layer) const
+{
+    auto it = m_layerWidgets.find(layer);
+    if (it == m_layerWidgets.end()) return nullptr;
+    return it->second;
+}
+
+QWidget* MapLayerStore::widgetForLayer(const QString& absolutePath) const
+{
+    for (const auto& sp : m_layers) {
+        if (sp && sp->dataPath() == absolutePath) {
+            MapLayer* raw = sp.get();
+            auto it = m_layerWidgets.find(raw);
+            if (it != m_layerWidgets.end()) return it->second;
+            return nullptr;
+        }
+    }
+    return nullptr;
+}
+
+MapLayer* MapLayerStore::layerForWidget(QWidget* widget) const
+{
+    if (!widget) return nullptr;
+    for (const auto& kv : m_layerWidgets) {
+        if (kv.second == widget) return kv.first;
+    }
+    return nullptr;
+}

HPPA/MapLayerStore.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include <QObject>
+#include <QString>
+#include <vector>
+#include <memory>
+#include <unordered_map>
+
+class MapLayer;
+class QWidget;
+
+class MapLayerStore : public QObject
+{
+    Q_OBJECT
+public:
+    explicit MapLayerStore(QObject* parent = nullptr);
+    ~MapLayerStore() override = default;
+
+    // Take ownership of the layer (store will own and manage its lifetime)
+    // Now also accept the associated QWidget so UI widget can be retrieved by layer pointer
+    void addLayer(MapLayer* layer, QWidget* widget = nullptr);
+
+    // Remove by pointer or by name. Destruction happens when removed from store.
+public slots:
+    void removeLayer(MapLayer* layer);
+    void removeLayerByName(const QString& name);
+
+    // Queries
+    MapLayer* getLayer(const QString& name) const;
+    MapLayer* getLayerAt(int index) const;
+    int layerCount() const;
+
+    // Get associated widget for a layer (or nullptr if none)
+    QWidget* widgetForLayer(MapLayer* layer) const;
+    // Get associated widget by layer absolute data path
+    QWidget* widgetForLayer(const QString& absolutePath) const;
+
+    // Reverse lookup: find the MapLayer associated with a given widget (or nullptr)
+    MapLayer* layerForWidget(QWidget* widget) const;
+
+signals:
+    void layerAdded(MapLayer* layer);
+    // Emitted just before the layer is destroyed/removed from store
+    void layerAboutToBeRemoved(MapLayer* layer);
+
+private:
+    // store shared ownership so other parts can keep raw pointers safely (or use QPointer)
+    std::vector<std::shared_ptr<MapLayer>> m_layers;
+    // mapping from raw MapLayer pointer to associated QWidget*
+    std::unordered_map<MapLayer*, QWidget*> m_layerWidgets;
+};

HPPA/MapTool.cpp

@@ -0,0 +1,110 @@
+#include "stdafx.h"
+#include "MapTool.h"
+#include "ImageViewer.h"
+#include <QAction>
+
+MapTool::MapTool(QObject* parent)
+    : QObject(parent)
+    , m_cursor(Qt::ArrowCursor)
+{
+}
+
+MapTool::~MapTool()
+{
+    if (m_canvas && m_canvas->mapTool() == this)
+    {
+        m_canvas->unsetMapTool(this);
+    }
+}
+
+QAction* MapTool::action() const
+{
+    return m_action;
+}
+
+void MapTool::setAction(QAction* action)
+{
+    m_action = action;
+}
+
+void MapTool::setMapcavas(Mapcavas* canvas)
+{
+    if (m_canvas == canvas)
+        return;
+
+    if (m_isActive && m_canvas)
+    {
+        //deactivate();
+    }
+
+    m_canvas = canvas;
+}
+
+Mapcavas* MapTool::canvas() const
+{
+    return m_canvas;
+}
+
+void MapTool::setCursor(const QCursor& cursor)
+{
+    m_cursor = cursor;
+}
+
+QCursor MapTool::cursor() const
+{
+    return m_cursor;
+}
+
+void MapTool::activate()
+{
+    if (m_canvas)
+    {
+        m_canvas->viewport()->setCursor(m_cursor);
+    }
+    if (m_action)
+    {
+        m_action->setChecked(true);
+    }
+    m_isActive = true;
+    emit activated();
+}
+
+void MapTool::deactivate()
+{
+    if (m_action)
+    {
+        m_action->setChecked(false);
+    }
+    m_isActive = false;
+    emit deactivated();
+}
+
+bool MapTool::isActive() const
+{
+    return m_isActive;
+}
+
+void MapTool::canvasMousePressEvent(QMouseEvent* e)
+{
+    Q_UNUSED(e);
+}
+
+void MapTool::canvasMouseReleaseEvent(QMouseEvent* e)
+{
+    Q_UNUSED(e);
+}
+
+void MapTool::canvasMouseMoveEvent(QMouseEvent* e)
+{
+    Q_UNUSED(e);
+}
+
+void MapTool::canvasMouseDoubleClickEvent(QMouseEvent* e)
+{
+    Q_UNUSED(e);
+}
+
+void MapTool::canvasWheelEvent(QWheelEvent* e)
+{
+    Q_UNUSED(e);
+}

HPPA/MapTool.h

@@ -0,0 +1,63 @@
+#ifndef MAPTOOL_H
+#define MAPTOOL_H
+
+#include <QObject>
+#include <QCursor>
+#include <QMouseEvent>
+#include <QAction>
+
+class Mapcavas;
+class QAction;
+
+class MapTool : public QObject
+{
+    Q_OBJECT
+
+public:
+    enum Flag
+    {
+        NoFlags = 0,
+        Transient = 1 << 1,
+    };
+    Q_DECLARE_FLAGS(Flags, Flag)
+
+    MapTool(QObject* parent = nullptr);
+    virtual ~MapTool();
+
+    virtual Flags flags() const { return NoFlags; }
+
+    QAction* action() const;
+    void setAction(QAction* action);
+
+    void setMapcavas(Mapcavas* canvas);
+    Mapcavas* canvas() const;
+
+    virtual void setCursor(const QCursor& cursor);
+    QCursor cursor() const;
+
+    virtual void activate();
+    virtual void deactivate();
+    bool isActive() const;
+
+    virtual void canvasMousePressEvent(QMouseEvent* e);
+    virtual void canvasMouseReleaseEvent(QMouseEvent* e);
+    virtual void canvasMouseMoveEvent(QMouseEvent* e);
+    virtual void canvasMouseDoubleClickEvent(QMouseEvent* e);
+    virtual void canvasWheelEvent(QWheelEvent* e);
+
+signals:
+    void activated();
+    void deactivated();
+
+protected:
+    Mapcavas* m_canvas = nullptr;
+
+private:
+    QAction* m_action = nullptr;
+    QCursor m_cursor;
+    bool m_isActive = false;
+};
+
+Q_DECLARE_OPERATORS_FOR_FLAGS(MapTool::Flags)
+
+#endif // MAPTOOL_H

HPPA/MapToolPan.cpp

@@ -0,0 +1,65 @@
+#include "stdafx.h"
+#include "MapToolPan.h"
+#include "ImageViewer.h"
+#include <QMouseEvent>
+#include <QGraphicsView>
+
+MapToolPan::MapToolPan(QObject* parent)
+    : MapTool(parent)
+{
+    setCursor(Qt::OpenHandCursor);
+}
+
+MapToolPan::~MapToolPan()
+{
+}
+
+void MapToolPan::activate()
+{
+    MapTool::activate();
+    if (canvas())
+    {
+        canvas()->setDragMode(QGraphicsView::NoDrag);
+    }
+}
+
+void MapToolPan::deactivate()
+{
+    m_dragging = false;
+    MapTool::deactivate();
+}
+
+void MapToolPan::canvasMousePressEvent(QMouseEvent* e)
+{
+    if (e->button() == Qt::LeftButton)
+    {
+        m_dragging = true;
+        m_lastPos = e->pos();
+        if (canvas())
+        {
+            canvas()->viewport()->setCursor(Qt::ClosedHandCursor);
+        }
+    }
+}
+
+void MapToolPan::canvasMouseMoveEvent(QMouseEvent* e)
+{
+    if (m_dragging && canvas())
+    {
+        QPointF delta = canvas()->mapToScene(e->pos()) - canvas()->mapToScene(m_lastPos);
+        canvas()->translate(delta.x(), delta.y());
+        m_lastPos = e->pos();
+    }
+}
+
+void MapToolPan::canvasMouseReleaseEvent(QMouseEvent* e)
+{
+    if (e->button() == Qt::LeftButton)
+    {
+        m_dragging = false;
+        if (canvas())
+        {
+            canvas()->viewport()->setCursor(Qt::OpenHandCursor);
+        }
+    }
+}

HPPA/MapToolPan.h

@@ -0,0 +1,27 @@
+#ifndef MAPTOOLPAN_H
+#define MAPTOOLPAN_H
+
+#include "MapTool.h"
+#include <QPoint>
+
+class MapToolPan : public MapTool
+{
+    Q_OBJECT
+
+public:
+    MapToolPan(QObject* parent = nullptr);
+    ~MapToolPan();
+
+    void activate() override;
+    void deactivate() override;
+
+    void canvasMousePressEvent(QMouseEvent* e) override;
+    void canvasMouseMoveEvent(QMouseEvent* e) override;
+    void canvasMouseReleaseEvent(QMouseEvent* e) override;
+
+private:
+    bool m_dragging = false;
+    QPoint m_lastPos;
+};
+
+#endif // MAPTOOLPAN_H

HPPA/MapToolSpectral.cpp

@@ -0,0 +1,57 @@
+#include "stdafx.h"
+#include "MapToolSpectral.h"
+#include "ImageViewer.h"
+#include "RasterLayer.h"
+#include <QMouseEvent>
+#include <QGraphicsScene>
+#include <QGraphicsLineItem>
+#include <QPen>
+#include <cmath>
+
+MapToolSpectral::MapToolSpectral(QObject* parent)
+    : MapTool(parent)
+{
+    setCursor(Qt::CrossCursor);
+}
+
+MapToolSpectral::~MapToolSpectral()
+{
+}
+
+void MapToolSpectral::activate()
+{
+    MapTool::activate();
+}
+
+void MapToolSpectral::deactivate()
+{
+    canvas()->removeCrosshair();
+    MapTool::deactivate();
+}
+
+void MapToolSpectral::canvasMousePressEvent(QMouseEvent* e)
+{
+    if (e->button() != Qt::LeftButton)
+        return;
+
+    if (!canvas())
+        return;
+
+    const QPointF scenePt = canvas()->mapToScene(e->pos());
+    const int x = static_cast<int>(std::floor(scenePt.x()));
+    const int y = static_cast<int>(std::floor(scenePt.y()));
+
+    RasterLayer* rl = canvas()->rasterLayer();
+    if (rl && rl->isValidPixel(x, y))
+    {
+        // Place crosshair at pixel center
+        canvas()->updateCrosshair(x + 0.5, y + 0.5);
+
+        QVector<double> wavelengths;
+        QVector<double> spectrum;
+        if (rl->readPixelSpectrum(x, y, wavelengths, spectrum))
+        {
+            emit spectralClicked(x, y, wavelengths, spectrum);
+        }
+    }
+}

HPPA/MapToolSpectral.h

@@ -0,0 +1,28 @@
+#ifndef MAPTOOLSPECTRAL_H
+#define MAPTOOLSPECTRAL_H
+
+#include "MapTool.h"
+#include <QVector>
+
+class QGraphicsLineItem;
+
+class MapToolSpectral : public MapTool
+{
+    Q_OBJECT
+
+public:
+    MapToolSpectral(QObject* parent = nullptr);
+    ~MapToolSpectral();
+
+    void canvasMousePressEvent(QMouseEvent* e) override;
+
+    void activate() override;
+    void deactivate() override;
+
+signals:
+    void spectralClicked(int x, int y, QVector<double> wavelengths, QVector<double> spectrum);
+
+private:
+};
+
+#endif // MAPTOOLSPECTRAL_H

HPPA/MapTools.cpp

@@ -0,0 +1,50 @@
+#include "stdafx.h"
+#include "MapTools.h"
+#include "MapToolPan.h"
+#include "MapToolSpectral.h"
+
+MapTools::MapTools(QObject* parent)
+    : QObject(parent)
+{
+    m_tools.insert(Pan, new MapToolPan(this));
+    m_tools.insert(Spectral, new MapToolSpectral(this));
+}
+
+MapTools::~MapTools()
+{
+    qDeleteAll(m_tools);
+    m_tools.clear();
+}
+
+MapToolPan* MapTools::mapToolPan() const
+{
+    return qobject_cast<MapToolPan*>(m_tools.value(Pan));
+}
+
+MapToolSpectral* MapTools::mapToolSpectral() const
+{
+    return qobject_cast<MapToolSpectral*>(m_tools.value(Spectral));
+}
+
+MapTool* MapTools::mapTool(Tool tool) const
+{
+    return m_tools.value(tool, nullptr);
+}
+
+MapTool* MapTools::activeTool() const
+{
+    return m_activeTool;
+}
+
+void MapTools::setActiveTool(MapTool* tool)
+{
+    m_activeTool = tool;
+}
+
+void MapTools::setMapcavas(Mapcavas* canvas)
+{
+    if (m_activeTool)
+    {
+        m_activeTool->setMapcavas(canvas);
+    }
+}

HPPA/MapTools.h

@@ -0,0 +1,41 @@
+#ifndef MAPTOOLS_H
+#define MAPTOOLS_H
+
+#include <QObject>
+#include <QHash>
+
+class MapTool;
+class MapToolPan;
+class MapToolSpectral;
+class Mapcavas;
+
+class MapTools : public QObject
+{
+    Q_OBJECT
+
+public:
+    enum Tool
+    {
+        Pan,
+        Spectral,
+    };
+
+    MapTools(QObject* parent = nullptr);
+    ~MapTools();
+
+    MapToolPan* mapToolPan() const;
+    MapToolSpectral* mapToolSpectral() const;
+
+    MapTool* mapTool(Tool tool) const;
+
+    MapTool* activeTool() const;
+    void setActiveTool(MapTool* tool);
+
+    void setMapcavas(Mapcavas* canvas);
+
+private:
+    QHash<Tool, MapTool*> m_tools;
+    MapTool* m_activeTool = nullptr;
+};
+
+#endif // MAPTOOLS_H

HPPA/MotorWindowBase.cpp

@@ -0,0 +1,11 @@
+#include "MotorWindowBase.h"
+
+MotorWindowBase::MotorWindowBase()
+{
+
+}
+
+MotorWindowBase::~MotorWindowBase()
+{
+
+}

HPPA/MotorWindowBase.h

@@ -0,0 +1,15 @@
+#pragma once
+
+class MotorWindowBase
+{
+
+public:
+    MotorWindowBase();
+    ~MotorWindowBase();
+
+protected:
+    virtual bool getMotorsConnectionStatus()=0;
+
+private:
+
+};

HPPA/OneMotorControl.cpp

@@ -1,4 +1,4 @@
-#include "OneMotorControl.h"
+#include "OneMotorControl.h"
 
 OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 {
@@ -6,6 +6,16 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 
     connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
 
+    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
 }
 
 OneMotorControl::~OneMotorControl()
@@ -16,6 +26,31 @@ OneMotorControl::~OneMotorControl()
 
 void OneMotorControl::onConnectMotor()
 {
+    if (getMotorsConnectionStatus())
+    {
+        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();
@@ -27,30 +62,22 @@ void OneMotorControl::onConnectMotor()
 	catch (std::exception const& e)
 	{
         QMessageBox msgBox;
-        msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
         msgBox.exec();
+        return;
 	}
 
     m_multiAxisController->moveToThread(&m_motorThread);
     connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
 
-    connect(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(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->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
     connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
 
-    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
     connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
 
     connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
@@ -64,6 +91,8 @@ void OneMotorControl::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::display_motors_connectivity(std::vector<int> connectivity)
@@ -71,11 +100,36 @@ void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)
     //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
     if (connectivity[0])
     {
-        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+        m_xMotorConnectionStatus = true;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
     }
     else
     {
-        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+        m_xMotorConnectionStatus = false;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
+    }
+
+    if (getMotorsConnectionStatus())
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
+    }
+    else
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
     }
 }
 
@@ -148,15 +202,12 @@ void OneMotorControl::record_white()
 
 void OneMotorControl::run()
 {
-    if (m_coordinator == nullptr)
-    {
     qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
     m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
     connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
     connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
 
-        connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
-    }
+    connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
 
     OneMotionCapturePathLine tmp;
     tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
@@ -170,7 +221,22 @@ void OneMotorControl::stop()
     emit stopStepMotionSignal();
 }
 
-void OneMotorControl::onSequenceComplete()
+void OneMotorControl::onSequenceComplete(int state)
 {
     emit sequenceComplete();
+
+    disconnect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
+    disconnect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
+    disconnect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
+
+    // Use deleteLater() instead of delete: this slot may have been called directly
+    // from OneMotionCaptureCoordinator's call stack (direct connection), so deleting
+    // the object here would cause a crash when execution returns to the destroyed object.
+    m_coordinator->deleteLater();
+    m_coordinator = nullptr;
+}
+
+bool OneMotorControl::getMotorsConnectionStatus()
+{
+    return m_xMotorConnectionStatus;
 }

HPPA/OneMotorControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QThread>
 #include <QMessageBox>
 
@@ -7,8 +7,9 @@
 #include "IrisMultiMotorController.h"
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
+#include "MotorWindowBase.h"
 
-class OneMotorControl : public QDialog
+class OneMotorControl : public QDialog, public MotorWindowBase
 {
     Q_OBJECT
 
@@ -24,6 +25,7 @@ public:
     void record_dark();
     void record_white();
 
+    bool getMotorsConnectionStatus();
 
 public Q_SLOTS:
     void onConnectMotor();
@@ -38,7 +40,7 @@ public Q_SLOTS:
     void onxMotorLeft();
     void onxMotorStop();
 
-    void onSequenceComplete();
+    void onSequenceComplete(int state);
 
 signals:
     void moveSignal(int, bool, double, int);
@@ -55,15 +57,19 @@ signals:
 
     void sequenceComplete();
 
+    void broadcastLocationSignal(std::vector<double>);
+
 private:
     Ui::OneMotorControl_UI ui;
 
     QThread m_motorThread;
-    IrisMultiMotorController* m_multiAxisController;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
 
     OneMotionCaptureCoordinator* m_coordinator = nullptr;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
+
+    bool m_xMotorConnectionStatus = false;
 };

HPPA/PowerControl.cpp

@@ -1,4 +1,4 @@
-#include "PowerControl.h"
+#include "PowerControl.h"
 
 PowerControl::PowerControl(QWidget *parent)
 	: QDialog(parent)

HPPA/PowerControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QDialog>
 #include <QNetworkRequest>

HPPA/PowerControl.ui

@@ -6,19 +6,103 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>294</width>
-    <height>119</height>
+    <width>432</width>
+    <height>346</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>PowerControl</string>
   </property>
+  <property name="styleSheet">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_3" rowstretch="1,1,1,1" columnstretch="1,3,1">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>145</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>卤素灯</string>
+     </property>
      <layout class="QGridLayout" name="gridLayout">
       <property name="leftMargin">
        <number>0</number>
       </property>
       <property name="topMargin">
-    <number>0</number>
+       <number>10</number>
       </property>
       <property name="rightMargin">
        <number>0</number>
@@ -26,94 +110,142 @@
       <property name="bottomMargin">
        <number>0</number>
       </property>
-   <property name="spacing">
-    <number>0</number>
+      <property name="horizontalSpacing">
+       <number>20</number>
       </property>
       <item row="0" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_20">
-     <item>
-      <widget class="QLabel" name="label_17">
-       <property name="text">
-        <string>卤素灯</string>
-       </property>
-      </widget>
-     </item>
-     <item>
        <widget class="QPushButton" name="lamp_power_open_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
         <property name="text">
          <string>打开</string>
         </property>
        </widget>
       </item>
-     <item>
+      <item row="0" column="1">
        <widget class="QPushButton" name="lamp_power_close_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
         <property name="text">
          <string>关闭</string>
         </property>
        </widget>
       </item>
-     <item>
-      <spacer name="horizontalSpacer_19">
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_4">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
      <property name="sizeHint" stdset="0">
       <size>
-         <width>40</width>
+       <width>151</width>
        <height>20</height>
       </size>
      </property>
     </spacer>
    </item>
-    </layout>
-   </item>
-   <item row="1" column="0">
-    <layout class="QHBoxLayout" name="horizontalLayout_21">
-     <item>
-      <widget class="QLabel" name="label_18">
-       <property name="text">
-        <string>马  达</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="motor_power_open_btn">
-       <property name="text">
-        <string>打开</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <widget class="QPushButton" name="motor_power_close_btn">
-       <property name="text">
-        <string>关闭</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_20">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
    <item row="2" column="0">
-    <spacer name="verticalSpacer_3">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <widget class="QGroupBox" name="groupBox_2">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>马  达</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>20</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="motor_power_open_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>打开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="motor_power_close_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>关闭</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>151</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <spacer name="verticalSpacer_2">
      <property name="orientation">
       <enum>Qt::Vertical</enum>
      </property>
      <property name="sizeHint" stdset="0">
       <size>
        <width>20</width>
-       <height>42</height>
+       <height>144</height>
       </size>
      </property>
     </spacer>

HPPA/QDoubleSlider.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "qDoubleSlider.h"
 QDoubleSlider::QDoubleSlider(QWidget* pParent /*= NULL*/) :
 QSlider(pParent),
@@ -7,18 +7,19 @@ m_Multiplier(100.0)
 	connect(this, SIGNAL(valueChanged(int)), this, SLOT(notifyValueChanged(int)));
 
 	setSingleStep(1);
+	setRange(1, 500);
 
 	setOrientation(Qt::Horizontal);
 	setFocusPolicy(Qt::NoFocus);
 }
 
-//<EFBFBD><EFBFBD><EFBFBD>ⷢ<EFBFBD><EFBFBD>
+//向外发射
 void QDoubleSlider::notifyValueChanged(int Value)
 {
 	emit valueChanged((double)Value / m_Multiplier);
 }
 
-//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//接收外边
 void QDoubleSlider::setValue(double Value, bool BlockSignals)
 {
 	QSlider::blockSignals(BlockSignals);

HPPA/QDoubleSlider.h

@@ -1,4 +1,4 @@
-#ifndef Q_DOUBLE_SLIDER_H
+#ifndef Q_DOUBLE_SLIDER_H
 #define Q_DOUBLE_SLIDER_H
 #include <QtGui/QtGui>
 #include <QSlider>
@@ -17,14 +17,14 @@ public:
 	double value() const;
 
 	public slots:
-	void notifyValueChanged(int value);//<EFBFBD>ź<EFBFBD>valueChanged(int)<EFBFBD><EFBFBD>wrap
-	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wrap
+	void notifyValueChanged(int value);//信号valueChanged(int)的wrap
+	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue函数的wrap
 
 	private slots:
 
 signals :
-	void valueChanged(double Value);
-	void rangeChanged(double Min, double Max);
+	void valueChanged(double Value);//QSlider的valueChanged信号的参数为整型
+	void rangeChanged(double Min, double Max);//QSlider的rangeChanged信号的参数为整型
 
 private:
 	double	m_Multiplier;

HPPA/QMotorDoubleSlider.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "QMotorDoubleSlider.h" 
 QMotorDoubleSlider::QMotorDoubleSlider(QWidget* pParent /*= NULL*/) :QSlider(pParent)
 {
@@ -14,9 +14,9 @@ QMotorDoubleSlider::QMotorDoubleSlider(QWidget* pParent /*= NULL*/) :QSlider(pPa
 
 void QMotorDoubleSlider::setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionParam)
 {
-	//<EFBFBD><EFBFBD><EFBFBD>ݹ<EFBFBD>ʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>廻<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD>룺1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(m_Multiplier)=<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/(360/<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>)<29><><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
-	//m_Multiplier(0.00054496986),//<EFBFBD>Ϻ<EFBFBD>ũ<EFBFBD><EFBFBD>Ժ<EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD>ǰ<EFBFBD><EFBFBD>0.00052734375/5=0.00010546875<EFBFBD><EFBFBD><EFBFBD>޸ĺ<EFBFBD>׼ȷֵΪ0.000544969862759644<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0.00054496986/5=0.000108993972<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>и<EFBFBD><EFBFBD><EFBFBD>еװ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD><EFBFBD>
-	//m_Multiplier(0.00054496986)//<EFBFBD>˰<EFBFBD><EFBFBD><EFBFBD>ũ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//根据公式将脉冲换算为距离：1脉冲距离(m_Multiplier)=导程/(360/步距角*细分倍数)；网址：https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
+	//m_Multiplier(0.00054496986),//上海农科院，修改前：0.00052734375/5=0.00010546875；修改后准确值为0.000544969862759644，近似为0.00054496986/5=0.000108993972，因为有个机械装置1脉冲距离需要除以5；
+	//m_Multiplier(0.00054496986)//兴安盟农研所
 	m_Multiplier = lead / (360 / stepAnglemar * getValidSubdivision(subdivisionParam)) * scaleFactor;
 }
 
@@ -38,13 +38,13 @@ int QMotorDoubleSlider::getValidSubdivision(int subdivisionParam)
 		return 256;
 }
 
-//<EFBFBD><EFBFBD><EFBFBD>ⷢ<EFBFBD><EFBFBD>
+//向外发射
 void QMotorDoubleSlider::notifyValueChanged(int Value)
 {
 	emit valueChanged((double)Value * m_Multiplier);//////////
 }
 
-//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//接收外边
 void QMotorDoubleSlider::setValue(double Value, bool BlockSignals)
 {
 	QSlider::blockSignals(BlockSignals);

HPPA/QMotorDoubleSlider.h

@@ -1,4 +1,4 @@
-#ifndef Q_MOTOR_DOUBLE_SLIDER_H
+#ifndef Q_MOTOR_DOUBLE_SLIDER_H
 #define Q_MOTOR_DOUBLE_SLIDER_H
 #include <QtGui/QtGui>
 #include <QSlider>
@@ -15,7 +15,7 @@ public:
 	void setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionParam);
 	int getValidSubdivision(int subdivisionParam);
 
-	double	m_Multiplier;//<EFBFBD><EFBFBD><EFBFBD>ݹ<EFBFBD>ʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>廻<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD>룺1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(m_Multiplier)=<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/(360/<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>)<29><><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
+	double	m_Multiplier;//根据公式将脉冲换算为距离：1脉冲距离(m_Multiplier)=导程/(360/步距角*细分倍数)；网址：https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
 
 	void setRange(double Min, double Max);
 	void setMinimum(double Min);
@@ -23,13 +23,13 @@ public:
 	void setMaximum(double Max);
 	double maximum() const;
 	double value() const;
-	double OriginalValue() const;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫʵ<EFBFBD>ʵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǿ<EFBFBD><EFBFBD><EFBFBD>
-	long getPositionPulse(double position);//<EFBFBD><EFBFBD><EFBFBD>ݴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD>뷵<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+	double OriginalValue() const;//返回脉冲值：马达需要实际的脉冲值，而不是距离
+	long getPositionPulse(double position);//根据传入的距离返回脉冲值
 	double getDistanceFromPulse(int pulse);
 
 public slots:
-	void notifyValueChanged(int value);//<EFBFBD>ź<EFBFBD>valueChanged(int)<EFBFBD><EFBFBD>wrap
-	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wrap
+	void notifyValueChanged(int value);//信号valueChanged(int)的wrap
+	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue函数的wrap
 
 signals:
 	void valueChanged(double Value);

HPPA/RasterDataProvider.cpp

@@ -0,0 +1,225 @@
+#include "RasterDataProvider.h"
+#include <QString>
+#include <QDebug>
+#include <QFile>
+#include <QFileInfo>
+#include <QRegularExpression>
+
+#if HPPA_HAVE_GDAL
+#include <gdal_priv.h>
+#include <cpl_conv.h>
+#endif
+
+RasterDataProvider::RasterDataProvider(const QString& uri)
+    : m_uri(uri), m_dataset(nullptr)
+{
+}
+
+RasterDataProvider::~RasterDataProvider()
+{
+    close();
+}
+
+bool RasterDataProvider::open()
+{
+#if HPPA_HAVE_GDAL
+    GDALAllRegister();
+    m_dataset = (GDALDataset*)GDALOpen((const char*)m_uri.toLocal8Bit().constData(), GA_ReadOnly);
+    if (!m_dataset) {
+        qWarning() << "RasterDataProvider: failed to open dataset:" << m_uri;
+        return false;
+    }
+    return true;
+#else
+    Q_UNUSED(m_uri);
+    qWarning() << "RasterDataProvider: GDAL not available, open will fail.";
+    return false;
+#endif
+}
+
+void RasterDataProvider::close()
+{
+#if HPPA_HAVE_GDAL
+    if (m_dataset) {
+        GDALClose((GDALDatasetH)m_dataset);
+        m_dataset = nullptr;
+    }
+#else
+    m_dataset = nullptr;
+#endif
+}
+
+int RasterDataProvider::bandCount() const
+{
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return 0;
+    return m_dataset->GetRasterCount();
+#else
+    Q_UNUSED(this);
+    return 0;
+#endif
+}
+
+int RasterDataProvider::width() const
+{
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return 0;
+    return m_dataset->GetRasterXSize();
+#else
+    Q_UNUSED(this);
+    return 0;
+#endif
+}
+
+int RasterDataProvider::height() const
+{
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return 0;
+    return m_dataset->GetRasterYSize();
+#else
+    Q_UNUSED(this);
+    return 0;
+#endif
+}
+
+bool RasterDataProvider::isValidPixel(int x, int y) const
+{
+    const int w = width();
+    const int h = height();
+    return x >= 0 && y >= 0 && x < w && y < h;
+}
+
+std::vector<double> RasterDataProvider::parseEnviHdrWavelengths() const
+{
+    std::vector<double> res;
+
+    QFileInfo fi(m_uri);
+    QString hdrPath = fi.path() + "/" + fi.completeBaseName() + ".hdr";
+    QFile hdr(hdrPath);
+    if (!hdr.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        return res;
+    }
+
+    QString text = QString::fromLocal8Bit(hdr.readAll());
+    hdr.close();
+
+    QRegularExpression rx("wavelength\\s*=\\s*\\{([^}]*)\\}", QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption);
+    QRegularExpressionMatch m = rx.match(text);
+    if (!m.hasMatch()) {
+        return res;
+    }
+
+    const QString body = m.captured(1);
+    const QStringList parts = body.split(',', QString::SkipEmptyParts);
+    res.reserve(parts.size());
+    for (const QString& p : parts) {
+        bool ok = false;
+        double v = p.trimmed().toDouble(&ok);
+        if (ok) {
+            res.push_back(v);
+        }
+    }
+
+    return res;
+}
+
+std::vector<double> RasterDataProvider::bandWavelengths() const
+{
+    std::vector<double> res;
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return res;
+
+    // 1) Try ENVI dataset-level metadata first: wavelength = { ... }
+    const char* dsWave = m_dataset->GetMetadataItem("wavelength", "ENVI");
+    if (!dsWave) dsWave = m_dataset->GetMetadataItem("Wavelength", "ENVI");
+    if (dsWave) {
+        QString dsWaveStr = QString::fromLocal8Bit(dsWave);
+        dsWaveStr.remove('{').remove('}');
+        const QStringList parts = dsWaveStr.split(',', QString::SkipEmptyParts);
+        res.reserve(parts.size());
+        for (const QString& p : parts) {
+            bool ok = false;
+            double v = p.trimmed().toDouble(&ok);
+            if (ok) res.push_back(v);
+        }
+        if (!res.empty()) return res;
+    }
+
+    // 2) Try per-band metadata
+    for (int i = 1; i <= m_dataset->GetRasterCount(); ++i) {
+        GDALRasterBand* band = m_dataset->GetRasterBand(i);
+        if (!band) continue;
+        const char* val = band->GetMetadataItem("Wavelength");
+        if (!val) val = band->GetMetadataItem("wavelength");
+        if (val) {
+            bool ok = false;
+            double v = QString::fromLocal8Bit(val).trimmed().toDouble(&ok);
+            res.push_back(ok ? v : -1.0);
+        } else {
+            res.push_back(-1.0);
+        }
+    }
+    if (!res.empty()) return res;
+#endif
+
+    // 3) Fallback: parse ENVI .hdr directly
+    return parseEnviHdrWavelengths();
+}
+
+bool RasterDataProvider::readPixelSpectrum(int x, int y, std::vector<double>& outSpectrum) const
+{
+#if HPPA_HAVE_GDAL
+    outSpectrum.clear();
+    if (!m_dataset) return false;
+    if (!isValidPixel(x, y)) return false;
+
+    const int bands = m_dataset->GetRasterCount();
+    if (bands <= 0) return false;
+
+    outSpectrum.resize(bands);
+    for (int i = 0; i < bands; ++i) {
+        GDALRasterBand* band = m_dataset->GetRasterBand(i + 1);
+        if (!band) return false;
+
+        float value = 0.0f;
+        CPLErr err = band->RasterIO(
+            GF_Read,
+            x, y,
+            1, 1,
+            &value,
+            1, 1,
+            GDT_Float32,
+            0, 0);
+
+        if (err != CE_None) return false;
+        outSpectrum[i] = static_cast<double>(value);
+    }
+
+    return true;
+#else
+    Q_UNUSED(x);
+    Q_UNUSED(y);
+    Q_UNUSED(outSpectrum);
+    return false;
+#endif
+}
+
+bool RasterDataProvider::readBandAsFloat(int bandIndex, std::vector<float>& outBuffer) const
+{
+#if HPPA_HAVE_GDAL
+    if (!m_dataset) return false;
+    int bands = m_dataset->GetRasterCount();
+    if (bandIndex < 0 || bandIndex >= bands) return false;
+    GDALRasterBand* band = m_dataset->GetRasterBand(bandIndex + 1);
+    if (!band) return false;
+    int w = m_dataset->GetRasterXSize();
+    int h = m_dataset->GetRasterYSize();
+    outBuffer.assign(w * h, 0.0f);
+    CPLErr err = band->RasterIO(GF_Read, 0, 0, w, h, outBuffer.data(), w, h, GDT_Float32, 0, 0);
+    return err == CE_None;
+#else
+    Q_UNUSED(bandIndex);
+    Q_UNUSED(outBuffer);
+    return false;
+#endif
+}

HPPA/RasterDataProvider.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include <QString>
+#include <vector>
+
+#if __has_include(<gdal_priv.h>)
+#define HPPA_HAVE_GDAL 1
+#include <gdal_priv.h>
+#include <cpl_conv.h>
+#else
+#define HPPA_HAVE_GDAL 0
+#endif
+
+class RasterDataProvider
+{
+public:
+    explicit RasterDataProvider(const QString& uri);
+    ~RasterDataProvider();
+
+    bool open();
+    void close();
+
+    int bandCount() const;
+    int width() const;
+    int height() const;
+
+    bool isValidPixel(int x, int y) const;
+
+    // Returns per-band wavelength metadata if available. If not available, returns empty vector.
+    std::vector<double> bandWavelengths() const;
+
+    // Read spectrum of one pixel (x,y) across all bands.
+    bool readPixelSpectrum(int x, int y, std::vector<double>& outSpectrum) const;
+
+    // Read a single band (0-based index) into a float buffer of size width()*height().
+    // Returns true on success.
+    bool readBandAsFloat(int bandIndex, std::vector<float>& outBuffer) const;
+
+    QString uri() const { return m_uri; }
+
+private:
+    QString m_uri;
+    std::vector<double> parseEnviHdrWavelengths() const;
+#if HPPA_HAVE_GDAL
+    GDALDataset* m_dataset = nullptr;
+#else
+    // no-op when GDAL not available
+    void* m_dataset = nullptr;
+#endif
+};

HPPA/RasterLayer.cpp

@@ -0,0 +1,116 @@
+#include "RasterLayer.h"
+#include "RasterDataProvider.h"
+#include "RasterRenderer.h"
+#include <algorithm>
+
+RasterLayer::RasterLayer(const QString& name, const QString& uri)
+    : MapLayer(name, uri)
+{
+    // lazy creation
+}
+
+RasterLayer::~RasterLayer()
+{
+}
+
+MapLayer::LayerType RasterLayer::layerType() const 
+{ 
+    return MapLayer::LayerType::Raster; 
+}
+
+RasterDataProvider* RasterLayer::dataProvider() const
+{
+    return m_provider ? m_provider.get() : nullptr;
+}
+
+RasterRenderer* RasterLayer::renderer() const
+{
+    return m_renderer ? m_renderer.get() : nullptr;
+}
+
+bool RasterLayer::openDataProvider()
+{
+    if (!m_provider) m_provider = std::make_unique<RasterDataProvider>(dataPath());
+    if (!m_provider) return false;
+    bool ok = m_provider->open();
+    if (ok && !m_renderer) m_renderer = std::make_unique<RasterRenderer>(m_provider.get());
+    return ok;
+}
+
+bool RasterLayer::isValidPixel(int x, int y)
+{
+    if (!m_provider) {
+        if (!openDataProvider()) return false;
+    }
+    return m_provider->isValidPixel(x, y);
+}
+
+bool RasterLayer::readPixelSpectrum(int x, int y, QVector<double>& wavelengths, QVector<double>& spectrum)
+{
+    if (!m_provider) {
+        if (!openDataProvider()) return false;
+    }
+
+    std::vector<double> wl;
+    std::vector<double> sp;
+
+    if (!m_provider->readPixelSpectrum(x, y, sp)) return false;
+
+    wl = m_provider->bandWavelengths();
+
+    wavelengths = QVector<double>::fromStdVector(wl);
+    spectrum = QVector<double>::fromStdVector(sp);
+
+    if (wavelengths.size() != spectrum.size()) {
+        wavelengths.resize(spectrum.size());
+        for (int i = 0; i < wavelengths.size(); ++i) {
+            wavelengths[i] = i;
+        }
+    }
+
+    return true;
+}
+
+QImage RasterLayer::render(const RenderParams& params)
+{
+    if (!m_provider) {
+        if (!openDataProvider()) return QImage();
+    }
+    if (!m_renderer) m_renderer = std::make_unique<RasterRenderer>(m_provider.get());
+    RasterRenderer::Params p;
+    p.rWave = params.rWave;
+    p.gWave = params.gWave;
+    p.bWave = params.bWave;
+    p.minValue = params.minValue;
+    p.maxValue = params.maxValue;
+    return m_renderer->render(p);
+}
+
+RasterLayer::RenderParams RasterLayer::currentRenderParams() const
+{
+    return m_currentParams;
+}
+
+void RasterLayer::setCurrentRenderParams(const RenderParams& params)
+{
+    m_currentParams = params;
+}
+
+bool RasterLayer::wavelengthRange(double& minWave, double& maxWave) const
+{
+    auto wl = bandWavelengths();
+    if (wl.empty()) return false;
+    minWave = *std::min_element(wl.begin(), wl.end());
+    maxWave = *std::max_element(wl.begin(), wl.end());
+    return true;
+}
+
+std::vector<double> RasterLayer::bandWavelengths() const
+{
+    if (!m_provider) {
+        // need to open provider to read wavelengths - cast away const for lazy init
+        auto* self = const_cast<RasterLayer*>(this);
+        if (!self->openDataProvider()) return {};
+    }
+    return m_provider->bandWavelengths();
+}

HPPA/RasterLayer.h

@@ -0,0 +1,55 @@
+#pragma once
+
+#include "MapLayer.h"
+#include <memory>
+#include <QImage>
+#include <QVector>
+
+class RasterDataProvider;
+class RasterRenderer;
+
+class RasterLayer : public MapLayer
+{
+    Q_OBJECT
+public:
+    explicit RasterLayer(const QString& name, const QString& uri);
+    ~RasterLayer();
+
+    LayerType layerType() const override;
+
+    // Access provider/renderer
+    RasterDataProvider* dataProvider() const;
+    RasterRenderer* renderer() const;
+
+    // Create or open provider based on this layer's uri
+    bool openDataProvider();
+
+    bool isValidPixel(int x, int y);
+    bool readPixelSpectrum(int x, int y, QVector<double>& wavelengths, QVector<double>& spectrum);
+
+    struct RenderParams {
+        double rWave = 665.0; // default wavelengths (nm)
+        double gWave = 560.0;
+        double bWave = 490.0;
+        double minValue = 0.0; // optional stretch
+        double maxValue = 4095.0;
+    };
+
+    // Render the raster using current provider and renderer. Returns an empty QImage on failure.
+    QImage render(const RenderParams& params);
+
+    // Current render params stored per layer
+    RenderParams currentRenderParams() const;
+    void setCurrentRenderParams(const RenderParams& params);
+
+    // Get wavelength range from data provider (min, max). Returns false if unavailable.
+    bool wavelengthRange(double& minWave, double& maxWave) const;
+
+    // Get all band wavelengths
+    std::vector<double> bandWavelengths() const;
+
+private:
+    std::unique_ptr<RasterDataProvider> m_provider;
+    std::unique_ptr<RasterRenderer> m_renderer;
+    RenderParams m_currentParams;
+};

HPPA/RasterRenderer.cpp

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

HPPA/RasterRenderer.h

@@ -0,0 +1,29 @@
+#pragma once
+
+#include <QImage>
+#include <vector>
+
+class RasterDataProvider;
+
+class RasterRenderer
+{
+public:
+    struct Params {
+        double rWave = 665.0;
+        double gWave = 560.0;
+        double bWave = 490.0;
+        double minValue = 0.0;
+        double maxValue = 255.0;
+    };
+
+    explicit RasterRenderer(RasterDataProvider* provider);
+
+    // Render to an 8-bit RGB image. Returns empty image on failure.
+    QImage render(const Params& params);
+
+private:
+    RasterDataProvider* m_provider;
+
+    // helper to map float buffer to 8-bit with min/max stretch
+    static void stretchTo8bit(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal);
+};

HPPA/ResononNirImager.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
@@ -14,7 +14,7 @@ ResononNirImager::~ResononNirImager()
 {
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 		free(dark);
 		free(white);
@@ -40,12 +40,12 @@ double ResononNirImager::getIntegrationTime()
 double ResononNirImager::getGain()
 {
 	//return m_ResononNirImager.get_gain();
-	return 0.0;//nir<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>gian
+	return 0.0;//nir不支持gian
 }
 
 void ResononNirImager::setGain(const double gain)
 {
-	//m_ResononNirImager.set_gain(gain);//nir<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>gian
+	//m_ResononNirImager.set_gain(gain);//nir不支持gian
 }
 
 void ResononNirImager::setFramerate(const double frames_per_second)
@@ -103,12 +103,12 @@ void ResononNirImager::setSpectraBin(int new_spectral_bin)
 
 double ResononNirImager::auto_exposure()
 {
-	//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	double x = 1 / getFramerate() * 1000;//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第一步：先设置曝光时间为在当前帧率情况下最大
+	double x = 1 / getFramerate() * 1000;//获取最大毫秒曝光时间
 	reConnectImage();
 	setIntegrationTime(x);
 
-	//<EFBFBD>ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD>Ѱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第二步：通过循环寻找最佳曝光时间
 	imagerStartCollect();
 
 	while (true)
@@ -117,7 +117,7 @@ double ResononNirImager::auto_exposure()
 		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
 		{
 			setIntegrationTime(getIntegrationTime() * 0.8);
-			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+			std::cout << "自动曝光-----------" << std::endl;
 		}
 		else
 		{
@@ -128,7 +128,7 @@ double ResononNirImager::auto_exposure()
 	reConnectImage();
 	//imagerStopCollect();
 
-	//std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع⣺" << getIntegrationTime() << std::endl;
+	//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
 
 	return getIntegrationTime();
 }
@@ -151,7 +151,7 @@ int ResononNirImager::getSampleCount()
 void ResononNirImager::focus()
 {
 	m_iFocusFrameCounter = 1;
-	//std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-----------" << std::endl;
+	//std::cout << "调焦-----------" << std::endl;
 
 	double tmpFrmerate = getFramerate();
 	double tmpIntegrationTime = getIntegrationTime();
@@ -159,7 +159,7 @@ void ResononNirImager::focus()
 
 	setFramerate(5);
 	auto_exposure();
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
+	std::cout << "调焦获得的曝光时间为：" << getIntegrationTime() << std::endl;
 
 	reConnectImage();
 	imagerStartCollect();
@@ -183,12 +183,12 @@ void ResononNirImager::focus()
 	reConnectImage();
 	setIntegrationTime(tmpIntegrationTime);
 
-	setFramerate(tmpFrmerate);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	setFramerate(tmpFrmerate);//必须要放在这里，如果不放这里，这行代码就要出错。。。。。。
 }
 
 void ResononNirImager::record_dark()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集暗电流！！！！！！！！！" << std::endl;
 	reConnectImage();
 	imagerStartCollect();
 
@@ -221,7 +221,7 @@ void ResononNirImager::record_dark()
 
 void ResononNirImager::record_white()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集白板！！！！！！！！！" << std::endl;
 	reConnectImage();
 	imagerStartCollect();
 	
@@ -247,7 +247,7 @@ void ResononNirImager::record_white()
 
 	imagerStopCollect();
 
-	//<EFBFBD>װ<EFBFBD><EFBFBD>۰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//白板扣暗电流
 	if (m_HasDark)
 	{
 		for (size_t i = 0; i < m_FrameSize; i++)
@@ -275,17 +275,23 @@ void ResononNirImager::start_record()
 	//std::cout << "------------------------------------------------------" << std::endl;
 
 	m_iFrameCounter = 0;
-	m_RgbImage->m_iFrameCounter = 0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>0<EFBFBD><EFBFBD>
+	m_RgbImage->m_iFrameCounter = 0;//设置填充rgb图像的第0行
 	m_bRecordControlState = true;
 
-	//<EFBFBD>ж<EFBFBD><EFBFBD>ڴ<EFBFBD>buffer<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//判断内存buffer是否正常分配
 	if (buffer == 0)
 	{
 		std::cerr << "Error: memory could not be allocated for datacube";
 		exit(EXIT_FAILURE);
 	}
 
+	// 在开始采集时仅发出文件信息，UI 层自行创建 MapLayer 并管理生命周期
+	// prepare file name that will be used for saving
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
+	QString filePath = QString::fromStdString(m_FileName2Save2);
+	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter);
+
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
 	size_t x;
@@ -294,7 +300,7 @@ void ResononNirImager::start_record()
 	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
 	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
 
-	reConnectImage();//nir<EFBFBD>ڶ<EFBFBD><EFBFBD>βɼ<EFBFBD>ʱ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<EFBFBD>ᱨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	reConnectImage();//nir第二次采集时需要重新连接相机，否则函数imagerStartCollect()会报错。。。。。。
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
@@ -304,7 +310,7 @@ void ResononNirImager::start_record()
 		long long timeOs = getNanosecondsSinceMidnight();
 		//qDebug() << "time ns-------------------: " << timeOs;
 
-		//<EFBFBD><EFBFBD>ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<EFBFBD><EFBFBD>dark<EFBFBD><EFBFBD><EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<EFBFBD><EFBFBD>buffer-dark=65535
+		//减去暗电流，应为buffer和dark都是unsigned short，所以当dark>buffer时，buffer-dark=65535
 		if (m_HasDark)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
@@ -322,12 +328,12 @@ void ResononNirImager::start_record()
 		}
 
 
-		//ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		//转反射率
 		if (m_HasWhite)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
 			{
-				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				//处理除数（白板）为0的情况
 				if (white[i] != 0)
 				{
 					pixelValueTmp = buffer[i];
@@ -343,34 +349,38 @@ void ResononNirImager::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
-		fprintf(hTimesFile, "%lld\n", timeOs);
+		fprintf(hTimesFile, "%ll\n", timeOs);
 
-		//<EFBFBD><EFBFBD>rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+		//将rgb波段提取出来，以便在界面中显示
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
-		//std::cout << "<EFBFBD><EFBFBD>" << m_iFrameCounter << "֡д<EFBFBD><EFBFBD>" << x << "<EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD>" << std::endl;
+		//std::cout << "第" << m_iFrameCounter << "帧写了" << x << "个unsigned short。" << std::endl;
 
-		//ÿ<EFBFBD><EFBFBD>1s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
+		//每隔1s进行一次界面图形绘制
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
-			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter);
+			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter, filePath);
 		}
 
 		if (m_iFrameCounter >= m_iFrameNumber)
 		{
 			break;
-			//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
 		}
 
 	}
 	imagerStopCollect();
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//在最后一次画图前需要进行一次拉伸
 	//m_RgbImage
-	emit PlotSignal(m_FileSavedCounter, -1);//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ɺ<EFBFBD><C9BA><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD>Է<EFBFBD><D4B7>ɼ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<CAB5><C4B1><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>ȫ
+	emit PlotSignal(m_FileSavedCounter, -1, filePath);//采集完成后进行一次画图，以防采集帧数不是帧率的倍数时，画图不全
 
 	m_bRecordControlState = false;
 	WriteHdr();
+
+	// 发射 ImageFileSaved 信号，通知 UI 层把该文件加入图层管理器
+	// m_FileName2Save2 保存了本次写入的 .bil 文件名（例如 "tmp_image_0.bil"）
+	emit ImageFileSaved(QString::fromStdString(m_FileName2Save2), m_FileSavedCounter);
+
 	m_FileSavedCounter++;
 
 	if (m_iFrameCounter >= m_iFrameNumber)

HPPA/ResononNirImager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <string>
 #include <opencv2/core/core.hpp> 

HPPA/RgbCameraOperation.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "RgbCameraOperation.h"
 
 RgbCameraOperation::RgbCameraOperation()
@@ -14,14 +14,14 @@ RgbCameraOperation::~RgbCameraOperation()
 
 void RgbCameraOperation::OpenCamera()
 {
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "打开摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	cam = new cv::VideoCapture(0);
 
 	record = true;
 
 	while (record)
 	{
-		//std::cout << "<EFBFBD>ɼ<EFBFBD>Ӱ<EFBFBD><EFBFBD>+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+		//std::cout << "采集影像+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 		cam->read(frame);
 		m_qImage = m_ImageProcessor->Mat2QImage(frame);
 
@@ -30,20 +30,20 @@ void RgbCameraOperation::OpenCamera()
 
 	cam->release();
 
-	emit CamClosed();
+	emit CamOpenedSignal();
 
 }
 
 void RgbCameraOperation::OpenCamera_callback()
 {
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "打开摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	cam = new cv::VideoCapture(0);
 
 	record = true;
 
 	while (record)
 	{
-		//std::cout << "<EFBFBD>ɼ<EFBFBD>Ӱ<EFBFBD><EFBFBD>+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+		//std::cout << "采集影像+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 		cam->read(frame);
 		m_qImage = m_ImageProcessor->Mat2QImage(frame);
 
@@ -62,7 +62,9 @@ void RgbCameraOperation::setCallback(void(*func)())
 
 void RgbCameraOperation::CloseCamera()
 {
-	std::cout << "<EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "关闭摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 
 	record = false;
+
+	emit CamClosedSignal();
 }

HPPA/RgbCameraOperation.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #ifndef RGBCAMERAOPERATION_H
 #define RGBCAMERAOPERATION_H
 
@@ -36,12 +36,13 @@ private:
 
 public slots:
 	void OpenCamera();
-	void OpenCamera_callback();//<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD>źŶ<EFBFBD>ʹ<EFBFBD>ûص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֪ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ
+	void OpenCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
 	void CloseCamera();
 
 signals:
 	void PlotSignal();
 
-	void CamClosed();
+	void CamOpenedSignal();
+	void CamClosedSignal();
 };
 #endif // !RGBCAMERAOPERATION_H

HPPA/RobotArmControl.cpp

@@ -1,4 +1,4 @@
-#include "RobotArmControl.h"
+#include "RobotArmControl.h"
 
 RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
 {
@@ -82,7 +82,7 @@ void RobotArmControl::getTaskList()
         files.append(line.trimmed());
     }
 
-    ////<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>Ȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    ////先清除数据，然后添加数据
     //for (size_t i = 0; i < files.length(); i++)
     //{
     //    int row = m_pModel->rowCount();
@@ -112,7 +112,7 @@ void RobotArmControl::executeTaskWithHyperImager()
     QModelIndex index = ui.taskList_listView->currentIndex();
     if (-1 == index.row())
     {
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+        //弹窗提示用户选择文件
         ui.textEdit->append("Please select file on the left!");
         return;
     }
@@ -148,7 +148,7 @@ void RobotArmControl::executeTaskWithoutHyperImager()
     QModelIndex index = ui.taskList_listView->currentIndex();
     if (-1 == index.row())
     {
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+        //弹窗提示用户选择文件
         ui.textEdit->append("Please select file on the left!");
         return;
     }
@@ -290,7 +290,7 @@ bool RobotController::processResponse_getJbiState(QJsonObject response, QString&
 void RobotController::getPoint()
 {
     QJsonObject response;
-    getJbiState(response);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
+    getJbiState(response);//0 停止状态,1 暂停状态,2 急停状态,3 运行状态,4 错误状态
     QString result;
     bool x = processResponse_getJbiState(response, result);
     //qDebug() << "getJbiState:" << result;
@@ -302,7 +302,7 @@ void RobotController::getPoint()
         m_iCurrentJbiJobLine = 0;
         m_iFileCounter = 0;
 
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD>
+        //发射信号，相机停止采集
         emit hsiRecordSignal(-1);
 
         return;
@@ -321,12 +321,12 @@ void RobotController::getPoint()
         m_iFileCounter++;
 
         qDebug() << "Changed! CurrentJobLine:" << m_iCurrentJbiJobLine_tmp;
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD>
+        //发射信号，相机停止采集
         emit hsiRecordSignal(-1);
 
         m_iCurrentJbiJobLine = m_iCurrentJbiJobLine_tmp;
 
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>
+        //发射信号，相机开始采集
         emit hsiRecordSignal(m_iFileCounter);
     }
 }
@@ -421,7 +421,7 @@ bool RobotController::getRobotMode(QJsonObject& re)
 bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
 {
     QJsonObject paramsRunJbi;
-    paramsRunJbi["filename"] = jbiFilename;//ʹ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ
+    paramsRunJbi["filename"] = jbiFilename;//使用对象结构
 
     sendCommand("checkJbiExist", paramsRunJbi);
     socket->waitForReadyRead(m_iTimeout);
@@ -432,7 +432,7 @@ bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
 bool RobotController::setServoStatus(int status, QJsonObject& re)
 {
     QJsonObject params_set_servo_status;
-    params_set_servo_status["status"] = status;//ʹ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ
+    params_set_servo_status["status"] = status;//使用对象结构
 
     sendCommand("set_servo_status", params_set_servo_status);
     socket->waitForReadyRead(m_iTimeout);
@@ -443,7 +443,7 @@ bool RobotController::setServoStatus(int status, QJsonObject& re)
 bool RobotController::runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi)
 {
     QJsonObject paramsRunJbi;
-    paramsRunJbi["filename"] = jbiFilename;//ʹ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ
+    paramsRunJbi["filename"] = jbiFilename;//使用对象结构
 
     sendCommand("runJbi", paramsRunJbi);
     socket->waitForReadyRead(m_iTimeout);

HPPA/RobotArmControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <qdialog.h>
 #include <QTcpSocket>
 #include <QJsonDocument>
@@ -26,33 +26,33 @@ struct ECData
     quint32 msgSize;
     quint64 timeStamp;
     quint8 auto_cycle;
-    double machinePos[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double machinePose[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double machineUserPose[6];//<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double torque[8];//<EFBFBD>ؽڶ<EFBFBD><EFBFBD><EFBFBD>ذٷֱ<EFBFBD>
-    quint32 robotState;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
-    quint32 servoReady;//<EFBFBD>ŷ<EFBFBD>ʹ<EFBFBD><EFBFBD>״̬
-    quint32 can_motor_run;//ͬ<EFBFBD><EFBFBD>״̬
-    qint32 motor_speed[8];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
-    quint32 robotMode;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
-    double analog_ioInput[3];//ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double analog_ioOutput[5];//ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    quint64 digital_ioInput;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
-    quint64 digital_ioOutput;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
-    quint8 collision;//<EFBFBD><EFBFBD>ײ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
-    double machineFlangePose[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-    double machineUserFlangePose[6];//<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-    quint8 emergencyStopState;//<EFBFBD><EFBFBD>ǰ<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD>ͣ״̬
-    double tcpSpeed;//tcp<EFBFBD>˶<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntSpeed[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>¸<EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double tcpAcc;//tcp<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntAcc[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>¸<EFBFBD><EFBFBD>ؽڼ<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntTemperature[6];//<EFBFBD>¶<EFBFBD>
-    double joIntTorque[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ť<EFBFBD><EFBFBD>
-    double extJoIntTorques[6];//<EFBFBD>ⲿ<EFBFBD>ؽ<EFBFBD>Ť<EFBFBD><EFBFBD>ֵ
-    double exTcpForceIntool[6];//<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µ<EFBFBD><EFBFBD>ⲿĩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>ع<EFBFBD><D8B9><EFBFBD>ֵ
-    quint8 dragState;//<EFBFBD>϶<EFBFBD>ʹ<EFBFBD><EFBFBD>״̬
-    quint8 sensor_connected_state;//<EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
+    double machinePos[8];//关节坐标
+    double machinePose[6];//基座坐标
+    double machineUserPose[6];//用户坐标
+    double torque[8];//关节额定力矩百分比
+    quint32 robotState;//机器人状态
+    quint32 servoReady;//伺服使能状态
+    quint32 can_motor_run;//同步状态
+    qint32 motor_speed[8];//各轴电机转速
+    quint32 robotMode;//机器人模式
+    double analog_ioInput[3];//模拟量输入口数据
+    double analog_ioOutput[5];//模拟量输出口数据
+    quint64 digital_ioInput;//数字量输入口数据的二进制形式
+    quint64 digital_ioOutput;//数字量输出口数据的二进制形式
+    quint8 collision;//碰撞报警状态
+    double machineFlangePose[6];//基座坐标系下的法兰盘中心位姿
+    double machineUserFlangePose[6];//用户坐标系下的法兰盘中心位姿
+    quint8 emergencyStopState;//当前是否处于急停状态
+    double tcpSpeed;//tcp运动速度
+    double joIntSpeed[8];//关节运动下各关节运动速度
+    double tcpAcc;//tcp加速度
+    double joIntAcc[8];//关节运动下各关节加速度
+    double joIntTemperature[6];//温度
+    double joIntTorque[6];//输出扭矩
+    double extJoIntTorques[6];//外部关节扭矩值
+    double exTcpForceIntool[6];//当前工具坐标系下的外部末端力/力矩估计值
+    quint8 dragState;//拖动使能状态
+    quint8 sensor_connected_state;//力控传感器连接状态
     quint8 reserved;
     quint32 matchingWord;
 };
@@ -98,10 +98,10 @@ public:
     bool processResponse_getJbiState(QJsonObject response, QString& result);
 
     bool getRobotPose(QJsonObject& re);
-    bool getRobotState(QJsonObject& re);//ֹͣ״̬ 0<><30><EFBFBD><EFBFBD>ͣ״̬ 1<><31><EFBFBD><EFBFBD>ͣ״̬ 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 3<><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 4<><34><EFBFBD><EFBFBD>ײ״̬ 5
-    bool getJbiState(QJsonObject& re);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
+    bool getRobotState(QJsonObject& re);//停止状态 0，暂停状态 1，急停状态 2，运行状态 3，报警状态 4，碰撞状态 5
+    bool getJbiState(QJsonObject& re);//0 停止状态,1 暂停状态,2 急停状态,3 运行状态,4 错误状态
     bool getCurrentJobLine(QJsonObject& re);
-    bool getRobotMode(QJsonObject& re);//ʾ<EFBFBD><EFBFBD>ģʽ 0<><30><EFBFBD>Զ<EFBFBD>ģʽ 1<><31>Զ<EFBFBD><D4B6>ģʽ 2
+    bool getRobotMode(QJsonObject& re);//示教模式 0，自动模式 1，远程模式 2
     bool checkJbiExist(const QString& jbiFilename, QJsonObject& re);
     bool setServoStatus(int status, QJsonObject& re);
     bool runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi);

HPPA/TabManager.cpp

@@ -0,0 +1,62 @@
+#include "TabManager.h"
+
+TabManager::TabManager(QTabWidget* tabWidget, QObject* parent)
+    : QObject(parent),
+    m_tabWidget(tabWidget)
+{
+    Q_ASSERT(m_tabWidget);
+}
+
+void TabManager::hideTab(QWidget* page)
+{
+    if (!page || !m_tabWidget)
+        return;
+
+    int index = m_tabWidget->indexOf(page);
+    if (index == -1)
+        return;
+
+    if (m_hiddenTabs.contains(page))
+        return;
+
+    TabInfo info;
+    info.index = index;
+    info.text = m_tabWidget->tabText(index);
+    info.icon = m_tabWidget->tabIcon(index);
+    info.toolTip = m_tabWidget->tabToolTip(index);
+
+    m_hiddenTabs.insert(page, info);
+
+    // 如果隐藏的是当前页，先切换，避免空白
+    if (m_tabWidget->currentIndex() == index)
+    {
+        int next = (index > 0) ? index - 1 : 0;
+        m_tabWidget->setCurrentIndex(next);
+    }
+
+    m_tabWidget->removeTab(index);
+    emit tabHidden(page);
+}
+
+void TabManager::showTab(QWidget* page)
+{
+    if (!page || !m_tabWidget)
+        return;
+
+    if (!m_hiddenTabs.contains(page))
+        return;
+
+    TabInfo info = m_hiddenTabs.take(page);
+
+    //int insertIndex = qMin(info.index, m_tabWidget->count());
+    int insertIndex = m_tabWidget->count();
+    m_tabWidget->insertTab(insertIndex, page, info.icon, info.text);
+    m_tabWidget->setTabToolTip(insertIndex, info.toolTip);
+
+    emit tabShown(page);
+}
+
+bool TabManager::isHidden(QWidget* page) const
+{
+    return m_hiddenTabs.contains(page);
+}

HPPA/TabManager.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <QObject>
+#include <QTabWidget>
+#include <QHash>
+
+class TabManager : public QObject
+{
+    Q_OBJECT
+public:
+    explicit TabManager(QTabWidget* tabWidget, QObject* parent = nullptr);
+
+    void hideTab(QWidget* page);
+    void showTab(QWidget* page);
+    bool isHidden(QWidget* page) const;
+
+signals:
+    void tabHidden(QWidget* page);
+    void tabShown(QWidget* page);
+
+private:
+    struct TabInfo
+    {
+        int index;
+        QString text;
+        QIcon icon;
+        QString toolTip;
+    };
+
+    QTabWidget* m_tabWidget = nullptr;
+    QHash<QWidget*, TabInfo> m_hiddenTabs;
+};

HPPA/TwoMotorControl.cpp

@@ -5,7 +5,6 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
     ui.setupUi(this);
 
 	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
-	ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//设置选择的行高亮
 
 	ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//设置选择行为，以行为单位
 	//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//设置选择模式，选择单行
@@ -16,13 +15,25 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
 
     connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
     connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
-    connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
     connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
     connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
     connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
 
-	connect(ui.run_btn, SIGNAL(clicked()), this, SLOT(run()));
-	connect(ui.stop_btn, SIGNAL(clicked()), this, SLOT(stop()));
+    connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
+    connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+
+    connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+    connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
 }
 
 void TwoMotorControl::setImager(ImagerOperationBase* imager)
@@ -39,6 +50,9 @@ void TwoMotorControl::setPosFileName(QString posFileName)
 
 bool TwoMotorControl::getState()
 {
+	if (m_coordinator == nullptr)
+		return false;
+
 	QEventLoop loop;
 	bool tmp = false;
 	bool received = false;
@@ -91,8 +105,21 @@ void TwoMotorControl::record_white()
 
 void TwoMotorControl::run()
 {
-	if (m_coordinator==nullptr)
+	if (getState())
 	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！"));
+		return;
+	}
+
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	if(rowCount == 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
+
+		emit sequenceComplete();
+		return;
+	}
+
 	qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
 	m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
 	m_coordinator->moveToThread(&m_coordinatorThread);
@@ -103,17 +130,8 @@ void TwoMotorControl::run()
 	connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
 	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
 	m_coordinatorThread.start();
-	}
-
-	if (getState())
-	{
-		//std::cout << "已经开始运行，请勿重复点击！！！！！！！！" << std::endl;
-		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！！！！！！！！！"));
-		return;
-	}
 
 	QVector<PathLine> pathLines;
-	int rowCount = ui.recordLine_tableWidget->rowCount();
 	//int columnCount = ui.recordLine_tableWidget->columnCount();
 	for (size_t i = 0; i < rowCount; i++)
 	{
@@ -133,7 +151,7 @@ void TwoMotorControl::run()
 	{
 		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
 		{
-			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
+			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
 		}
 	}
 
@@ -156,6 +174,30 @@ TwoMotorControl::~TwoMotorControl()
 
 void TwoMotorControl::onConnectMotor()
 {
+	if (getMotorsConnectionStatus())
+	{
+		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(displayRealTimeLoc(std::vector<double>)));
+		disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+		disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+		disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+		disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+		disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+		disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+		disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+		m_motorThread.quit();
+		m_motorThread.wait();
+		m_multiAxisController = nullptr;
+	}
+
     try
     {
         FileOperation* fileOperation = new FileOperation();
@@ -169,33 +211,20 @@ void TwoMotorControl::onConnectMotor()
         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(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
-    connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-    connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
-    connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-
-    connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
-    connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
-    connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
-    connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
-
-    //connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
-
     connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(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(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->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
     connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
 
-    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
     connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
 
     connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
@@ -228,28 +257,78 @@ void TwoMotorControl::onSequenceComplete()
 	isWritePosFile = false;
 	fclose(m_posFileHandle);
 
+	m_coordinatorThread.quit();
+	m_coordinatorThread.wait();
+	m_coordinator = nullptr;
+
 	emit sequenceComplete();
 }
 
+bool TwoMotorControl::getMotorsConnectionStatus()
+{
+	return m_xMotorConnectionStatus && m_yMotorConnectionStatus;
+}
+
 void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
 {
     //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
     if (connectivity[0])
     {
-        this->ui.xMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+		m_xMotorConnectionStatus = true;
+
+		this->ui.xMotorStateLabel->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
     }
     else
     {
-        this->ui.xMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+		m_xMotorConnectionStatus = false;
+
+		this->ui.xMotorStateLabel->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
     }
 
     if (connectivity[1])
     {
-        this->ui.yMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+		m_yMotorConnectionStatus = true;
+
+		this->ui.yMotorStateLabel->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
     }
     else
     {
-        this->ui.yMotorStateLabel->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+		m_yMotorConnectionStatus = false;
+
+		this->ui.yMotorStateLabel->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"));
 	}
 }
 
@@ -291,6 +370,22 @@ void TwoMotorControl::onyMotorStop()
     emit stopSignal(1);
 }
 
+void TwoMotorControl::onxMove2Loc()
+{
+	double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+	double l = ui.move2loc_x_lineEdit->text().toDouble();
+
+	emit move2LocSignal(0, l, s, 1000);
+}
+
+void TwoMotorControl::onyMove2Loc()
+{
+	double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
+	double l = ui.move2loc_y_lineEdit->text().toDouble();
+
+	emit move2LocSignal(1, l, s, 1000);
+}
+
 void TwoMotorControl::displayRealTimeLoc(std::vector<double> loc)
 {
 	double tmp = round(loc[0] * 100) / 100;
@@ -303,6 +398,8 @@ void TwoMotorControl::displayRealTimeLoc(std::vector<double> loc)
 
     tmp = round(loc[1] * 100) / 100;
     this->ui.ymotor_realTimeLoc_lineEdit->setText(QString::number(tmp));
+
+	emit broadcastLocationSignal(loc);
 }
 
 void TwoMotorControl::zeroStart()
@@ -376,93 +473,6 @@ void TwoMotorControl::onRemoveRecordLine_btn()
 		ui.recordLine_tableWidget->removeRow(rowIndex);
 }
 
-void TwoMotorControl::onGenerateRecordLine_btn()
-{
-	//求幅宽
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan输入是弧度
-	ui.swath_lineEdit->setText(QString::number(swath));
-
-
-	//读取马达测量范围
-	double xMotorRange = 50;
-	double yMotorRange = 500;
-
-
-	//确定有多少条采集线，公式：numberOfRecordLine_tmp * swath - repetitiveLength（numberOfRecordLine_tmp - 1） = overallLength
-	double overallLength = yMotorRange + swath;
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
-	double repetitiveLength = repetitiveRate * swath;
-	double offset = ui.offset_lineEdit->text().toDouble();
-
-	double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
-	double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
-	int numberOfRecordLine;
-	double threshold = ui.LastLineThreshold_lineEdit->text().toDouble();//当numberOfRecordLine_tmp为小数时，判断是否多加一条采集线
-	if (tmp > threshold)
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
-		//std::cout << "大于：" << threshold << std::endl;
-	}
-	else
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp;
-	}
-
-
-
-	//去掉tableWidget中所有的行
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-
-
-	//向tableWidget添加行（采集线）
-	QTableWidgetItem* tmpItem;
-	for (size_t i = 0; i < numberOfRecordLine; i++)
-	{
-		//增加一行
-		int RowCount = ui.recordLine_tableWidget->rowCount();
-		ui.recordLine_tableWidget->insertRow(RowCount);
-
-		//设置yPosition
-		if (tmp > threshold && i == numberOfRecordLine - 1)//设置最后一行的yPosition
-		{
-			tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-		else
-		{
-			double x = swath * i - i * repetitiveLength + offset;
-			tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 1, tmpItem);
-
-		tmpItem = new QTableWidgetItem(QString::number(0, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 2, tmpItem);
-		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 3, tmpItem);
-
-		//设置x马达最大运动位置 → 值设置为x马达量程
-		tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 4, tmpItem);
-		tmpItem = new QTableWidgetItem(QString::number(1, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 5, tmpItem);
-	}
-}
-
 void TwoMotorControl::onDeleteRecordLine_btn()
 {
 	int rowCount = ui.recordLine_tableWidget->rowCount();
@@ -481,19 +491,12 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
 		return;
 	}
 
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = ui.swath_lineEdit->text().toDouble();
-	double offset = ui.offset_lineEdit->text().toDouble();
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
-	double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();
-
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
 
-	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine2 File"),
+	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine3 File"),
 		QString::fromStdString(directory),
-		tr("RecordLineFile2 (*.RecordLine2)"));
+		tr("RecordLineFile3 (*.RecordLine3)"));
 
 	if (RecordLineFilePath.isEmpty())
 	{
@@ -502,13 +505,6 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
 
 	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
 
-	fwrite(&height, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
-
 	double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
 	fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
 
@@ -527,7 +523,7 @@ void TwoMotorControl::onSaveRecordLine2File_btn()
 	fclose(RecordLineFileHandle);
 	delete[] data;
 
-	QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("保存成功！"));
+	//QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("保存成功！"));
 }
 
 void TwoMotorControl::onReadRecordLineFile_btn()
@@ -536,9 +532,9 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
 
-	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine2 File"),
+	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine3 File"),
 		QString::fromStdString(directory),
-		tr("RecordLineFile (*.RecordLine2)"));
+		tr("RecordLineFile (*.RecordLine3)"));
 
 	if (RecordLineFilePath.isEmpty())
 	{
@@ -546,15 +542,9 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 	}
 
 	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
-	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
+	double number;
 
 	//读取数据
-	fread(&height, sizeof(double), 1, RecordLineFileHandle);
-	fread(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fread(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fread(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
 	fread(&number, sizeof(double), 1, RecordLineFileHandle);
 
 	double* data = new double[number];
@@ -564,15 +554,6 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 		//std::cout << *(data + i) << std::endl;
 	}
 
-	//向界面中填写
-	ui.height_lineEdit->setText(QString::number(height));
-	ui.fov_lineEdit->setText(QString::number(fov));
-	ui.swath_lineEdit->setText(QString::number(swath));
-	ui.offset_lineEdit->setText(QString::number(offset));
-	ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
-	ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
-
-
 	//向tableWidget添加采集线
 	//（1）去掉tableWidget中所有的行
 	int rowCount = ui.recordLine_tableWidget->rowCount();
@@ -601,5 +582,5 @@ void TwoMotorControl::onReadRecordLineFile_btn()
 	fclose(RecordLineFileHandle);
 	delete[] data;
 
-	QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("读取成功！"));
+	//QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("读取成功！"));
 }

HPPA/TwoMotorControl.h

@@ -8,12 +8,11 @@
 #include "IrisMultiMotorController.h"
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
+#include "MotorWindowBase.h"
 
 #define PI 3.1415926
 
-
-
-class TwoMotorControl : public QDialog
+class TwoMotorControl : public QDialog, public MotorWindowBase
 {
     Q_OBJECT
 
@@ -27,6 +26,8 @@ public:
     void record_dark();
     void record_white();
 
+    bool getMotorsConnectionStatus();
+    
 private:
     ImagerOperationBase* m_Imager;
     bool getState();
@@ -35,6 +36,8 @@ private:
     QString m_posFileName;
     FILE* m_posFileHandle;
 
+	bool m_xMotorConnectionStatus = false;
+	bool m_yMotorConnectionStatus = false;
 
 public Q_SLOTS:
     void onConnectMotor();
@@ -48,14 +51,15 @@ public Q_SLOTS:
     void onxMotorRight();
     void onxMotorLeft();
     void onxMotorStop();
+    void onxMove2Loc();
 
     void onyMotorforward();
     void onyMotorbackward();
     void onyMotorStop();
+    void onyMove2Loc();
 
     void onAddRecordLine_btn();
     void onRemoveRecordLine_btn();
-    void onGenerateRecordLine_btn();
     void onDeleteRecordLine_btn();
     void onSaveRecordLine2File_btn();
     void onReadRecordLineFile_btn();
@@ -82,6 +86,8 @@ signals:
     void startLineNumSignal(int lineNum);
     void sequenceComplete();//所有采集线正常运行完成
 
+    void broadcastLocationSignal(std::vector<double>);
+
 private:
     Ui::twoMotorControl_UI ui;
     QThread m_coordinatorThread;
@@ -91,5 +97,5 @@ private:
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
 
     QThread m_motorThread;
-    IrisMultiMotorController* m_multiAxisController;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
 };

HPPA/View3D.cpp

@@ -0,0 +1,375 @@
+#include "View3D.h"
+#include <QHBoxLayout>
+#include <QShowEvent>
+#include <QMouseEvent>
+#include <QWheelEvent>
+#include <Qt3DExtras/QForwardRenderer>
+#include <QtMath>
+#include <Qt3DRender/QAttribute>
+#include <QGeometryRenderer> 
+
+View3DBase::View3DBase(const QString& baseModelPath,
+    const QString& armModelPath,
+    QWidget* parent)
+    : QWidget(parent),
+    m_container(nullptr),
+    m_baseModelPath(baseModelPath),
+    m_armModelPath(armModelPath)
+{
+    m_view = new Qt3DExtras::Qt3DWindow();
+    // 部分 Qt5.9 构建可能需要强转 frame graph，但 defaultFrameGraph() 通常可用
+    QColor c1("#0D1233");
+    m_view->defaultFrameGraph()->setClearColor(c1);
+
+    m_rootEntity = new Qt3DCore::QEntity();
+
+    initScene();
+    initCamera();
+
+    // 自动旋转臂（如果不需要可注释掉 timer/connect）
+    //connect(&m_timer, &QTimer::timeout, this, [=]() {
+    //    m_angle += 1.0f;
+    //    m_t += 1.0f;
+    //    if (m_angle >= 360.0f) m_angle = 0.0f;
+    //    if (m_armTransform)
+    //    {
+    //        //m_armTransform->setRotationX(m_angle);
+    //        //m_armTransform->setTranslation(QVector3D(m_t, 0, 0));
+    //        
+    //        Qt3DCore::QTransform transform;
+    //        transform.setTranslation(QVector3D(2, 0, 0));
+
+    //        QMatrix4x4 M = m_armTransform->matrix();
+    //        M = transform.matrix() * M;   // 左乘：在世界坐标系叠加
+    //        m_armTransform->setMatrix(M);
+
+    //        qDebug() << m_armTransform->matrix();
+    //    }
+    //    });
+}
+
+void View3DBase::setViewCenter(float x, float y, float z)
+{
+    m_viewCenter.setX(x);
+    m_viewCenter.setY(y);
+    m_viewCenter.setZ(z);
+}
+
+void View3DBase::setDistance(float distance)
+{
+    m_distance = distance;
+}
+
+void View3DBase::initScene()
+{
+    /*auto* lightEntity = new Qt3DCore::QEntity(m_rootEntity);
+
+    auto* light = new Qt3DRender::QPointLight(lightEntity);
+    light->setColor(Qt::white);
+    light->setIntensity(1.2f);
+
+    auto* lightTransform = new Qt3DCore::QTransform(lightEntity);
+    lightTransform->setTranslation(QVector3D(500, 500, 500));
+
+    lightEntity->addComponent(light);
+    lightEntity->addComponent(lightTransform);*/
+
+    // ===== 创建 base 根节点 =====
+    auto* baseModel = new Qt3DCore::QEntity(m_rootEntity);
+    auto* baseLoader = new Qt3DRender::QSceneLoader(baseModel);
+    baseLoader->setSource(QUrl::fromLocalFile(m_baseModelPath));
+
+    //connect(baseLoader, &Qt3DRender::QSceneLoader::statusChanged,
+    //    this, &View3DBase::onSceneLoaderStatusChanged);
+
+
+    m_baseTransform = new Qt3DCore::QTransform();
+    m_baseTransform->setTranslation(QVector3D(0, 0, 0));
+    baseModel->addComponent(baseLoader);
+    baseModel->addComponent(m_baseTransform);
+
+    connect(baseLoader, &Qt3DRender::QSceneLoader::statusChanged,
+        this, [=](Qt3DRender::QSceneLoader::Status status) {
+
+            if (status == Qt3DRender::QSceneLoader::Ready) {
+                applyWhiteMaterialRecursive(baseModel);
+            }
+        });
+
+
+    // ===== 创建 arm 根节点 =====
+    auto* armModel = new Qt3DCore::QEntity(m_rootEntity);
+    auto* armLoader = new Qt3DRender::QSceneLoader(armModel);
+    armLoader->setSource(QUrl::fromLocalFile(m_armModelPath));
+
+    m_armTransform = new Qt3DCore::QTransform();
+    m_armTransform->setTranslation(QVector3D(0, 0, 0));
+    armModel->addComponent(armLoader);
+    armModel->addComponent(m_armTransform);
+
+    connect(armLoader, &Qt3DRender::QSceneLoader::statusChanged,
+        this, [=](Qt3DRender::QSceneLoader::Status status) {
+
+            if (status == Qt3DRender::QSceneLoader::Ready) {
+                applyWhiteMaterialRecursive(armModel);
+            }
+        });
+
+    // 坐标轴依然挂在 root，不会被移动
+    //createAxes();
+
+    m_view->setRootEntity(m_rootEntity);
+
+    qDebug() << m_baseTransform->matrix();
+    qDebug() << m_armTransform->matrix();
+
+    //m_armTransform->setTranslation(QVector3D(2000, 0, 0));
+    //m_baseTransform->setTranslation(QVector3D(-1000, -1000, -1000));
+
+    qDebug() << m_baseTransform->matrix();
+    qDebug() << m_armTransform->matrix();
+}
+
+void View3DBase::applyWhiteMaterialRecursive(Qt3DCore::QEntity* entity)
+{
+    // 如果这个 entity 有 mesh，就给它加白色材质
+    auto meshes = entity->componentsOfType<Qt3DRender::QGeometryRenderer>();
+    if (!meshes.isEmpty()) {
+        auto* mat = new Qt3DExtras::QPhongMaterial(entity);
+        QColor c1("#cccccc");
+        mat->setDiffuse(c1);
+        mat->setAmbient(c1);
+        mat->setSpecular(c1);
+        mat->setShininess(50.0f);
+        entity->addComponent(mat);
+    }
+
+    // 递归处理子节点
+    const auto children = entity->children();
+    for (QObject* obj : children) {
+        auto* childEntity = qobject_cast<Qt3DCore::QEntity*>(obj);
+        if (childEntity)
+            applyWhiteMaterialRecursive(childEntity);
+    }
+}
+
+void View3DBase::createAxes()
+{
+    // 参数
+    float axisLength = 500.0f;
+    float axisRadius = 50.0f;
+
+    // ----- X axis (red) -----
+    Qt3DCore::QEntity* xAxis = new Qt3DCore::QEntity(m_rootEntity);
+    auto* xMesh = new Qt3DExtras::QCylinderMesh();
+    xMesh->setRadius(axisRadius);
+    xMesh->setLength(axisLength);
+    xMesh->setRings(16);
+    xMesh->setSlices(16);
+
+    auto* xTrans = new Qt3DCore::QTransform();
+    // cylinder 默认沿 Y 轴，绕 Z 轴 90 度让其沿 X
+    xTrans->setRotation(QQuaternion::fromAxisAndAngle(QVector3D(0, 0, 1), 90.0f));
+    xTrans->setTranslation(QVector3D(axisLength / 2.0f, 0.0f, 0.0f));
+
+    auto* xMat = new Qt3DExtras::QPhongMaterial();
+    xMat->setDiffuse(QColor(Qt::red));
+
+    xAxis->addComponent(xMesh);
+    xAxis->addComponent(xTrans);
+    xAxis->addComponent(xMat);
+
+    // ----- Y axis (green) -----
+    Qt3DCore::QEntity* yAxis = new Qt3DCore::QEntity(m_rootEntity);
+    auto* yMesh = new Qt3DExtras::QCylinderMesh();
+    yMesh->setRadius(axisRadius);
+    yMesh->setLength(axisLength*2);
+    yMesh->setRings(16);
+    yMesh->setSlices(16);
+
+    auto* yTrans = new Qt3DCore::QTransform();
+    // Y 轴无需旋转（cylinder 默认沿 Y）
+    yTrans->setTranslation(QVector3D(0.0f, axisLength / 2.0f, 0.0f));
+
+    auto* yMat = new Qt3DExtras::QPhongMaterial();
+    yMat->setDiffuse(QColor(Qt::green));
+
+    yAxis->addComponent(yMesh);
+    yAxis->addComponent(yTrans);
+    yAxis->addComponent(yMat);
+
+    // ----- Z axis (blue) -----
+    Qt3DCore::QEntity* zAxis = new Qt3DCore::QEntity(m_rootEntity);
+    auto* zMesh = new Qt3DExtras::QCylinderMesh();
+    zMesh->setRadius(axisRadius);
+    zMesh->setLength(axisLength*3);
+    zMesh->setRings(16);
+    zMesh->setSlices(16);
+
+    auto* zTrans = new Qt3DCore::QTransform();
+    // 让 cylinder 沿 Z：绕 X 轴 90 度
+    zTrans->setRotation(QQuaternion::fromAxisAndAngle(QVector3D(1, 0, 0), 90.0f));
+    zTrans->setTranslation(QVector3D(0.0f, 0.0f, axisLength / 2.0f));
+
+    auto* zMat = new Qt3DExtras::QPhongMaterial();
+    zMat->setDiffuse(QColor(Qt::blue));
+
+    zAxis->addComponent(zMesh);
+    zAxis->addComponent(zTrans);
+    zAxis->addComponent(zMat);
+}
+
+void View3DBase::initCamera()
+{
+    m_camera = m_view->camera();
+    // 16:10 假设窗口比例，后续 resize 时相机透视会保持
+    m_camera->lens()->setPerspectiveProjection(50.0f, 16.0f / 10.0f, 0.1f, 10000.0f);
+    updateCameraPosition();
+}
+
+void View3DBase::updateCameraPosition()
+{
+    float yaw = qDegreesToRadians(m_yawDeg);
+    float pitch = qDegreesToRadians(m_pitchDeg);
+
+    float x = m_distance * qCos(pitch) * qSin(yaw);
+    float y = m_distance * qSin(pitch);
+    float z = m_distance * qCos(pitch) * qCos(yaw);
+
+    QVector3D camPos = m_viewCenter + QVector3D(x, y, z);
+    m_camera->setPosition(camPos);
+    m_camera->setViewCenter(m_viewCenter);
+}
+
+void View3DBase::showEvent(QShowEvent* event)
+{
+    QWidget::showEvent(event);
+
+    if (!m_container) {
+        m_container = QWidget::createWindowContainer(m_view, this);
+        m_view->installEventFilter(this);
+
+        auto* layout = new QHBoxLayout(this);
+        layout->addWidget(m_container);
+        layout->setMargin(0);
+        setLayout(layout);
+
+        // 启动自动旋转 timer（如果你不需要可以注释）
+        m_timer.start(100);
+    }
+}
+
+bool View3DBase::eventFilter(QObject* obj, QEvent* event)
+{
+    if (obj == m_view)
+    {
+        // 鼠标按下
+        if (event->type() == QEvent::MouseButtonPress) {
+            auto* e = static_cast<QMouseEvent*>(event);
+            if (e->button() == Qt::LeftButton) {
+                m_mouseDragging = true;
+                m_lastMousePos = e->pos();
+            }
+            else if (e->button() == Qt::MiddleButton) {
+                m_middleDragging = true;
+                m_lastMousePos = e->pos();
+            }
+        }
+        // 鼠标释放
+        else if (event->type() == QEvent::MouseButtonRelease) {
+            auto* e = static_cast<QMouseEvent*>(event);
+            if (e->button() == Qt::LeftButton) {
+                m_mouseDragging = false;
+            }
+            else if (e->button() == Qt::MiddleButton) {
+                m_middleDragging = false;
+            }
+        }
+        // 鼠标移动
+        else if (event->type() == QEvent::MouseMove) {
+            auto* e = static_cast<QMouseEvent*>(event);
+            QPoint pos = e->pos();
+            QPoint delta = pos - m_lastMousePos;
+
+            // 左键：orbit（旋转）
+            if (m_mouseDragging) {
+                float sensitivity = 0.3f;
+                m_yawDeg -= delta.x() * sensitivity;
+                m_pitchDeg += delta.y() * sensitivity;
+
+                if (m_pitchDeg > 89.0f) m_pitchDeg = 89.0f;
+                if (m_pitchDeg < -89.0f) m_pitchDeg = -89.0f;
+
+                updateCameraPosition();
+            }
+
+            // 中键：pan（平移 viewCenter）
+            if (m_middleDragging) {
+                float speed = 2.0f;
+
+                // 根据摄像机方向计算平移方向
+                QVector3D camPos = m_camera->position();
+                QVector3D forward = (m_viewCenter - camPos).normalized();
+                QVector3D up(0, 1, 0);
+                QVector3D right = QVector3D::crossProduct(forward, up).normalized();
+
+                // 世界坐标变化量
+                QVector3D deltaMove =
+                    -right * (delta.x() * speed) +
+                    up * (delta.y() * speed);
+
+                // 将平移应用到两个模型根 Transform
+                if (m_baseRootTransform)
+                    m_baseRootTransform->setTranslation(
+                        m_baseRootTransform->translation() + deltaMove*-1);
+
+                if (m_armRootTransform)
+                    m_armRootTransform->setTranslation(
+                        m_armRootTransform->translation() + deltaMove*-1);
+            }
+
+            m_lastMousePos = pos;
+        }
+        // 滚轮缩放
+        else if (event->type() == QEvent::Wheel) {
+            auto* e = static_cast<QWheelEvent*>(event);
+            // Qt5: angleDelta 返回像素值（通常为 120 per notch）
+            int delta = e->angleDelta().y();
+            if (delta == 0) delta = e->delta(); // 备选
+            m_distance -= delta * 2.0f; // 缩放速度
+            if (m_distance < 2.0f) m_distance = 2.0f;
+            if (m_distance > 10000.0f) m_distance = 10000.0f;
+            updateCameraPosition();
+        }
+    }
+
+    // 让 Qt 继续处理（保持原行为）
+    return QWidget::eventFilter(obj, event);
+}
+
+View3DPlantPhenotype::View3DPlantPhenotype(const QString& baseModelPath, const QString& armModelPath, QWidget* parent)
+:View3DBase(baseModelPath, armModelPath, parent)
+{
+
+}
+
+void View3DPlantPhenotype::setLoc(std::vector<double> loc)
+{
+    double x = round(loc[0] * 100) / 100;
+    double y = round(loc[1] * 100) / 100;
+
+    m_armTransform->setTranslation(QVector3D(x, y, 0));
+}
+
+View3DLinearStage::View3DLinearStage(const QString& baseModelPath, const QString& armModelPath, QWidget* parent)
+    :View3DBase(baseModelPath, armModelPath, parent)
+{
+
+}
+
+void View3DLinearStage::setLoc(std::vector<double> loc)
+{
+    double x = round(loc[0] * 100) / 100;
+
+    m_armTransform->setTranslation(QVector3D(x, 0, 0));
+}

HPPA/View3D.h

@@ -0,0 +1,112 @@
+#ifndef VIEW3D_H
+#define VIEW3D_H
+
+#include <QWidget>
+#include <QTimer>
+#include <QPoint>
+#include <QString>
+#include <QQuaternion>
+#include <QColor>
+
+#include <Qt3DCore/QEntity>
+#include <Qt3DCore/QTransform>
+#include <Qt3DExtras/Qt3DWindow>
+#include <Qt3DRender/QCamera>
+#include <Qt3DExtras/QOrbitCameraController>
+#include <Qt3DExtras/QPhongMaterial>
+#include <Qt3DRender/QSceneLoader>
+#include <Qt3DExtras/QCylinderMesh>
+#include <QPointLight> 
+
+class View3DBase : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit View3DBase(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+    void setViewCenter(float x, float y, float z);
+    void setDistance(float distance);
+
+protected:
+    void showEvent(QShowEvent* event) override;
+    bool eventFilter(QObject* obj, QEvent* event) override;
+
+    void initScene();
+    void initCamera();
+    void updateCameraPosition();
+    void createAxes();
+
+    QString m_baseModelPath;
+    QString m_armModelPath;
+
+    Qt3DExtras::Qt3DWindow* m_view;
+    QWidget* m_container;
+    Qt3DCore::QEntity* m_rootEntity;
+
+    Qt3DCore::QEntity* m_baseEntity;
+    Qt3DCore::QEntity* m_armEntity;
+    Qt3DCore::QTransform* m_armTransform;
+    Qt3DCore::QTransform* m_baseTransform;
+
+    QTimer m_timer;
+    float m_angle = 0;    // arm auto rotation
+    float m_t = 0;
+
+    // ----- Camera control -----
+    Qt3DRender::QCamera* m_camera = nullptr;
+    float m_distance = 5000.0f;
+    float m_yawDeg = 0.0f;
+    float m_pitchDeg = 0.0f;
+    QVector3D m_viewCenter = QVector3D(1000, 1000, -1000);
+
+    // Mouse state
+    bool m_mouseDragging = false;       // left button: orbit
+    bool m_middleDragging = false;      // middle button: pan
+    QPoint m_lastMousePos;
+
+    Qt3DCore::QTransform* m_baseRootTransform = nullptr;
+    Qt3DCore::QTransform* m_armRootTransform = nullptr;
+
+    void applyWhiteMaterialRecursive(Qt3DCore::QEntity* entity);
+
+public Q_SLOTS:
+    virtual void setLoc(std::vector<double> loc) = 0;
+};
+
+class View3DPlantPhenotype : public View3DBase
+{
+    Q_OBJECT
+public:
+    View3DPlantPhenotype(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+
+protected:
+
+private:
+
+private:
+
+public Q_SLOTS:
+    void setLoc(std::vector<double> loc);
+};
+
+class View3DLinearStage : public View3DBase
+{
+    Q_OBJECT
+public:
+    View3DLinearStage(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+
+protected:
+
+private:
+
+private:
+
+public Q_SLOTS:
+    void setLoc(std::vector<double> loc);
+};
+#endif // VIEW3D_H

HPPA/View3DModelManager.cpp

@@ -0,0 +1,68 @@
+#include "View3DModelManager.h"
+
+View3DModelManager::View3DModelManager(QWidget* parent)
+    : QWidget(parent)
+{
+    m_stackedWidget = new QStackedWidget();
+    m_stackedWidget->setContentsMargins(0, 0, 0, 0);
+
+    QVBoxLayout* layout = new QVBoxLayout(this);
+    layout->addWidget(m_stackedWidget);
+    layout->setContentsMargins(0, 0, 0, 0);
+}
+
+void View3DModelManager::switchScenario(ScenarioType type)
+{
+    if (type == ScenarioType::PlantPhenotype) {
+        ensurePlantPhenotypeView();
+        m_stackedWidget->setCurrentWidget(m_viewPlant);
+    }
+    else {
+        ensureOneMotorView();
+        m_stackedWidget->setCurrentWidget(m_viewMotor);
+    }
+
+    emit scenarioChanged(type);
+}
+
+void View3DModelManager::ensurePlantPhenotypeView()
+{
+    if (m_viewPlant)
+        return;
+
+    QString basePath = QCoreApplication::applicationDirPath();
+
+    m_viewPlant = new View3DPlantPhenotype(
+        basePath + "/3DModel/HPPA_frame.obj",
+        basePath + "/3DModel/HPPA_camera.obj",
+        m_stackedWidget
+    );
+
+    m_viewPlant->setViewCenter(1000, 1000, -1000);
+    m_viewPlant->setDistance(5000);
+
+    m_stackedWidget->addWidget(m_viewPlant);
+
+    emit created3DModelPlantPhenotype();
+}
+
+void View3DModelManager::ensureOneMotorView()
+{
+    if (m_viewMotor)
+        return;
+
+    QString basePath = QCoreApplication::applicationDirPath();
+
+    m_viewMotor = new View3DLinearStage(
+        basePath + "/3DModel/linear_stage_indoor1.obj",
+        basePath + "/3DModel/linear_stage_indoor2.obj",
+        m_stackedWidget
+    );
+
+    m_viewMotor->setViewCenter(500, 100, 500);
+    m_viewMotor->setDistance(1000);
+
+    m_stackedWidget->addWidget(m_viewMotor);
+
+    emit created3DModelOneMotor();
+}

HPPA/View3DModelManager.h

@@ -0,0 +1,40 @@
+#pragma once
+#include <QObject>
+#include <QStackedWidget>
+#include <QCoreApplication>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+
+#include "View3D.h"
+
+class View3DPlantPhenotype;
+class View3DLinearStage;
+
+class View3DModelManager : public QWidget
+{
+    Q_OBJECT
+public:
+    enum class ScenarioType {
+        PlantPhenotype,
+        OneMotor
+    };
+
+    explicit View3DModelManager(QWidget* parent = nullptr);
+
+    void switchScenario(ScenarioType type);
+
+    View3DPlantPhenotype* m_viewPlant = nullptr;
+    View3DLinearStage* m_viewMotor = nullptr;
+
+signals:
+    void scenarioChanged(ScenarioType type);
+    void created3DModelPlantPhenotype();
+    void created3DModelOneMotor();
+
+private:
+    void ensurePlantPhenotypeView();
+    void ensureOneMotorView();
+
+private:
+    QStackedWidget* m_stackedWidget = nullptr;
+};

HPPA/about.ui

@@ -9,103 +9,300 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>629</width>
-    <height>463</height>
+    <width>486</width>
+    <height>401</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Dialog</string>
   </property>
-  <property name="windowIcon">
-   <iconset>
-    <normaloff>HPPA.ico</normaloff>HPPA.ico</iconset>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="leftMargin">
+    <number>0</number>
    </property>
-  <widget class="QWidget" name="layoutWidget">
-   <property name="geometry">
-    <rect>
-     <x>90</x>
-     <y>250</y>
-     <width>434</width>
-     <height>134</height>
-    </rect>
+   <property name="topMargin">
+    <number>0</number>
    </property>
-   <layout class="QVBoxLayout" name="verticalLayout">
-    <item>
-     <widget class="QLabel" name="companylname_label">
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>0</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QWidget" name="contentWidget" native="true">
+     <property name="styleSheet">
+      <string notr="true">QWidget #contentWidget
+{
+	background: #040125;
+	/*border-radius: 8px 8px 8px 8px;*/
+	border: 1px solid #2f6bff;
+}</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_7">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="spacing">
+       <number>10</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QWidget" name="titlebarWidget" native="true">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">QWidget #titlebarWidget
+{
+	background: #0E1C4C;
+	border: 1px solid #2f6bff;
+}</string>
+        </property>
+        <layout class="QGridLayout" name="gridLayout_6">
+         <item row="0" column="0">
+          <widget class="QLabel" name="iconLabel">
            <property name="text">
-       <string>公司：北京依锐思遥感技术有限公司</string>
+            <string/>
+           </property>
+           <property name="pixmap">
+            <pixmap resource="HPPA.qrc">:/png/resources/icons/png/Spectral_Insight_27.png</pixmap>
            </property>
           </widget>
          </item>
-    <item>
-     <widget class="QLabel" name="label_2">
+         <item row="0" column="1">
+          <widget class="QLabel" name="label_9">
+           <property name="styleSheet">
+            <string notr="true">QLabel
+{	
+	color:#E2EDFF;
+}</string>
+           </property>
            <property name="text">
-       <string>地址：北京市海淀区清河安宁庄东路18号5号楼二层205</string>
+            <string>关于</string>
            </property>
           </widget>
          </item>
-    <item>
-     <widget class="QLabel" name="label_3">
-      <property name="text">
-       <string>电话：010-51292601</string>
+         <item row="0" column="2">
+          <spacer name="horizontalSpacer_4">
+           <property name="orientation">
+            <enum>Qt::Horizontal</enum>
            </property>
-     </widget>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>505</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
          </item>
-    <item>
-     <widget class="QLabel" name="label_5">
+         <item row="0" column="3">
+          <widget class="QPushButton" name="closeBtn">
+           <property name="styleSheet">
+            <string notr="true">QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 10pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 8px;
+    border-radius: 4px;
+}
+
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+           </property>
            <property name="text">
-       <string>邮箱：hanshanlong@iris-rs.cn</string>
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset resource="HPPA.qrc">
+             <normaloff>:/svg/resources/icons/svg/close.svg</normaloff>:/svg/resources/icons/svg/close.svg</iconset>
            </property>
           </widget>
          </item>
         </layout>
        </widget>
-  <widget class="QLabel" name="label_6">
-   <property name="geometry">
-    <rect>
-     <x>270</x>
-     <y>150</y>
-     <width>141</width>
-     <height>24</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>版本：2.0</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_4">
-   <property name="geometry">
-    <rect>
-     <x>270</x>
-     <y>70</y>
-     <width>391</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Hyper Plant Phenotypic Analysis</string>
-   </property>
-   <property name="textFormat">
-    <enum>Qt::PlainText</enum>
-   </property>
-  </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QWidget" name="widget" native="true">
         <widget class="QLabel" name="label_7">
          <property name="geometry">
           <rect>
-     <x>90</x>
-     <y>50</y>
-     <width>141</width>
-     <height>141</height>
+           <x>70</x>
+           <y>20</y>
+           <width>171</width>
+           <height>171</height>
           </rect>
          </property>
          <property name="text">
           <string/>
          </property>
          <property name="pixmap">
-    <pixmap>HPPA.ico</pixmap>
+          <pixmap resource="HPPA.qrc">:/png/resources/icons/png/Spectral_Insight_170.png</pixmap>
          </property>
         </widget>
+        <widget class="QWidget" name="widget_2" native="true">
+         <property name="geometry">
+          <rect>
+           <x>70</x>
+           <y>210</y>
+           <width>306</width>
+           <height>111</height>
+          </rect>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">QLabel
+{
+	color: #E2EDFF;
+	font: 10pt &quot;Adobe Devanagari&quot;;
+}</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_2">
+          <property name="spacing">
+           <number>10</number>
+          </property>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_2">
+            <property name="text">
+             <string>地址：北京市海淀区清河安宁庄东路18号5号楼二层205</string>
+            </property>
            </widget>
- <resources/>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_3">
+            <property name="text">
+             <string>电话：010-51292601</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_5">
+            <property name="text">
+             <string>邮箱：hanshanlong@iris-rs.cn</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="companylname_label">
+            <property name="text">
+             <string>公司：北京依锐思遥感技术有限公司</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+        <widget class="QWidget" name="widget_3" native="true">
+         <property name="geometry">
+          <rect>
+           <x>260</x>
+           <y>50</y>
+           <width>171</width>
+           <height>101</height>
+          </rect>
+         </property>
+         <property name="styleSheet">
+          <string notr="true"/>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_4">
+          <property name="verticalSpacing">
+           <number>30</number>
+          </property>
+          <item row="0" column="0">
+           <widget class="QLabel" name="nameLabel">
+            <property name="styleSheet">
+             <string notr="true">QLabel
+{	
+	color:#E2EDFF;
+	font: italic 18pt &quot;Adobe Devanagari&quot;;
+}</string>
+            </property>
+            <property name="text">
+             <string>Spectral Insight</string>
+            </property>
+            <property name="textFormat">
+             <enum>Qt::PlainText</enum>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="versionLabel">
+            <property name="styleSheet">
+             <string notr="true">QLabel
+{	
+	color:#E2EDFF;
+	font: 10pt &quot;Adobe Devanagari&quot;;
+}</string>
+            </property>
+            <property name="text">
+             <string>版本：3.0.1</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="HPPA.qrc"/>
+ </resources>
  <connections/>
 </ui>

HPPA/aboutWindow.cpp

@@ -1,22 +1,31 @@
-#include "aboutWindow.h"
-
+#include "aboutWindow.h"
+#include <QSvgRenderer>
+#include <QPainter> 
 
 aboutWindow::aboutWindow(QWidget* parent)
 {
 	ui.setupUi(this);
 
-	ui.companylname_label->setOpenExternalLinks(true);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue<EFBFBD><EFBFBD><EFBFBD>ܴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҳ
+	ui.companylname_label->setOpenExternalLinks(true);//设置为true才能打开网页
 	QString text = ui.companylname_label->text();
 	ui.companylname_label->setText("<a style='color: green; text-decoration: none' href = http://www.iris-rs.cn/pr.jsp?_jcp=3_10>" + text);
 
-	Qt::WindowFlags flags = 0;
-	//flags |= Qt::WindowMinimizeButtonHint;
-	flags |= Qt::WindowCloseButtonHint;
-	flags |= Qt::MSWindowsFixedSizeDialogHint;
-	setWindowFlags(flags);
+	//Qt::WindowFlags flags = 0;
+	////flags |= Qt::WindowMinimizeButtonHint;
+	//flags |= Qt::WindowCloseButtonHint;
+	//flags |= Qt::MSWindowsFixedSizeDialogHint;
+	//setWindowFlags(flags);
+	setWindowFlags(Qt::FramelessWindowHint);
+
+	connect(this->ui.closeBtn, SIGNAL(released()), this, SLOT(onExit()));
 }
 
 aboutWindow::~aboutWindow()
 {
 
 }
+
+void aboutWindow::onExit()
+{
+	this->close();
+}

HPPA/aboutWindow.h

@@ -1,7 +1,8 @@
-#pragma once
+#pragma once
 #include <QtWidgets/qdialog.h>
 #include <qstring.h>
 
+
 #include "ui_about.h"
 
 class aboutWindow :public QDialog
@@ -19,6 +20,7 @@ private:
 	Ui::aboutDialog ui;
 
 public Q_SLOTS:
+	void onExit();
 
 signals:
 

HPPA/adjustTable.cpp

@@ -1,4 +1,4 @@
-#include "adjustTable.h"
+#include "adjustTable.h"
 
 adjustTable::adjustTable(QWidget *parent)
 	: QDialog(parent)

HPPA/adjustTable.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QDialog>
 #include <QNetworkRequest>

HPPA/adjustTable.ui

@@ -6,24 +6,127 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>687</width>
-    <height>389</height>
+    <width>501</width>
+    <height>267</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
   <property name="windowTitle">
    <string>adjustTable</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
-   <item row="0" column="0">
+  <property name="styleSheet">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	/*border-top: 12px solid transparent;
+    border-right: 0px solid transparent;
+    border-bottom: 0px solid transparent;
+    border-left: 0px solid transparent;*/
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_4" rowstretch="1,2,2,2,1" columnstretch="1,10,1">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>66</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
     <widget class="QGroupBox" name="groupBox_8">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="title">
       <string>252号升降台</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_10">
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
       <item row="0" column="0">
        <widget class="QPushButton" name="objective_table252_up_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -33,58 +136,10 @@
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QPushButton" name="objective_table252_down_btn">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="text">
-         <string>下降</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QPushButton" name="objective_table252_stop_btn">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="text">
-         <string>停止</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
       <item row="0" column="1">
-    <widget class="QGroupBox" name="groupBox_7">
-     <property name="title">
-      <string>253号升降台</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_11">
-      <item row="0" column="0">
-       <widget class="QPushButton" name="objective_table1_up_btn">
+       <widget class="QPushButton" name="objective_table252_down_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="text">
-         <string>上升</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QPushButton" name="objective_table1_down_btn">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -94,58 +149,10 @@
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QPushButton" name="objective_table1_stop_btn">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="text">
-         <string>停止</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </widget>
-   </item>
       <item row="0" column="2">
-    <widget class="QGroupBox" name="groupBox_6">
-     <property name="title">
-      <string>254号升降台</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout_9">
-      <item row="0" column="0">
-       <widget class="QPushButton" name="objective_table2_up_btn">
+       <widget class="QPushButton" name="objective_table252_stop_btn">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="text">
-         <string>上升</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QPushButton" name="objective_table2_down_btn">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
-        </property>
-        <property name="text">
-         <string>下降</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QPushButton" name="objective_table2_stop_btn">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -158,6 +165,222 @@
      </layout>
     </widget>
    </item>
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <widget class="QGroupBox" name="groupBox_7">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>253号升降台</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="objective_table1_up_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>上升</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="objective_table1_down_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>下降</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QPushButton" name="objective_table1_stop_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>停止</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_6">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="0">
+    <spacer name="horizontalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <widget class="QGroupBox" name="groupBox_6">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>254号升降台</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="objective_table2_up_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>上升</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="objective_table2_down_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>下降</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QPushButton" name="objective_table2_stop_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>停止</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="3" column="2">
+    <spacer name="horizontalSpacer_5">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="4" column="1">
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>65</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
  </widget>
  <layoutdefault spacing="6" margin="11"/>