add，计划采集21，上海农科院3D植物表型：

1、实现3种深度计算算法；

.gitignore

@@ -8,6 +8,8 @@ HPPA - 副本.ui
 icon
 ignore_*
 resources
+*.bkp
+.qwen
 
 ## Ignore Visual Studio temporary files, build results, and
 ## files generated by popular Visual Studio add-ons.

HPPA.sln

@@ -12,6 +12,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "vincecontrol", "vincecontro
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "IrisMultiMotorController", "IrisMultiMotorController\IrisMultiMotorController\IrisMultiMotorController.vcxproj", "{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "JinspSpectralmeterControl", "JinspSpectralmeterControl\JinspSpectralmeterControl.vcxproj", "{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|x64 = Debug|x64
@@ -44,6 +46,14 @@ Global
 		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x64.Build.0 = Release|x64
 		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.ActiveCfg = Release|x64
 		{2E792AA6-1BCB-4CDA-BE01-4D455EC5C473}.Release|x86.Build.0 = Release|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Debug|x64.ActiveCfg = Debug|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Debug|x64.Build.0 = Debug|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Debug|x86.ActiveCfg = Debug|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Debug|x86.Build.0 = Debug|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Release|x64.ActiveCfg = Release|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Release|x64.Build.0 = Release|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Release|x86.ActiveCfg = Release|x64
+		{06B5BB62-F5F1-4F59-8F5B-CC50B6F168CB}.Release|x86.Build.0 = Release|x64
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

HPPA/AppSettings.cpp

@@ -1,7 +1,16 @@
 #include "AppSettings.h"
+#include <QCoreApplication>
 
 const QString AppSettings::kDefaultDataFolder = QStringLiteral("C:\\HPPA_image");
 const QString AppSettings::kDefaultFileName = QStringLiteral("test_image");
+const int AppSettings::kDefaultFrameRate = 20;
+const int AppSettings::kDefaultIntegrationTime = 1;
+const int AppSettings::kDefaultGain = 0;
+const QString AppSettings::kDefaultSLRDataFolder = QString();
+const QString AppSettings::kDefaultDepthCameraDataFolder = QString();
+const double AppSettings::kDefaultScanSpeed = 1.0;
+const double AppSettings::kDefaultReturnSpeed = 5.0;
+const int AppSettings::kDefaultGonggaShanRecordPort = 666;
 
 AppSettings::AppSettings()
 	: m_settings(QSettings::IniFormat, QSettings::UserScope,
@@ -29,7 +38,113 @@ QString AppSettings::fileName() const
 {
 	return m_settings.value("General/FileName", kDefaultFileName).toString();
 }
+
 void AppSettings::setFileName(const QString& path)
 {
 	m_settings.setValue("General/FileName", path);
 }
+
+int AppSettings::frameRate() const
+{
+	return m_settings.value("CameraParams/FrameRate", kDefaultFrameRate).toInt();
+}
+
+void AppSettings::setFrameRate(int value)
+{
+	m_settings.setValue("CameraParams/FrameRate", value);
+}
+
+int AppSettings::integrationTime() const
+{
+	return m_settings.value("CameraParams/IntegrationTime", kDefaultIntegrationTime).toInt();
+}
+
+void AppSettings::setIntegrationTime(int value)
+{
+	m_settings.setValue("CameraParams/IntegrationTime", value);
+}
+
+int AppSettings::gain() const
+{
+	return m_settings.value("CameraParams/Gain", kDefaultGain).toInt();
+}
+
+void AppSettings::setGain(int value)
+{
+	m_settings.setValue("CameraParams/Gain", value);
+}
+
+QString AppSettings::slrDataFolder() const
+{
+	QString path = m_settings.value("General/SLRDataFolder").toString();
+	if (path.isEmpty())
+	{
+		return QCoreApplication::applicationDirPath() + "/CapturedImages/";
+	}
+	return path;
+}
+
+void AppSettings::setSlrDataFolder(const QString& path)
+{
+	m_settings.setValue("General/SLRDataFolder", path);
+}
+
+QString AppSettings::depthCameraDataFolder() const
+{
+	QString path = m_settings.value("General/DepthCameraDataFolder").toString();
+	if (path.isEmpty())
+	{
+		return QCoreApplication::applicationDirPath() + "/CapturedDepthImages/";
+	}
+	return path;
+}
+
+void AppSettings::setDepthCameraDataFolder(const QString& path)
+{
+	m_settings.setValue("General/DepthCameraDataFolder", path);
+}
+
+QString AppSettings::FiberImagerDataFolder() const
+{
+	QString path = m_settings.value("General/FiberImagerDataFolder").toString();
+	if (path.isEmpty())
+	{
+		return QCoreApplication::applicationDirPath() + "/CapturedFiberImagerData/";
+	}
+	return path;
+}
+
+void AppSettings::setFiberImagerDataFolder(const QString& path)
+{
+	m_settings.setValue("General/FiberImagerDataFolder", path);
+}
+
+double AppSettings::scanSpeed() const
+{
+	return m_settings.value("OneMotorControl/ScanSpeed", kDefaultScanSpeed).toDouble();
+}
+
+void AppSettings::setScanSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ScanSpeed", value);
+}
+
+double AppSettings::returnSpeed() const
+{
+	return m_settings.value("OneMotorControl/ReturnSpeed", kDefaultReturnSpeed).toDouble();
+}
+
+void AppSettings::setReturnSpeed(double value)
+{
+	m_settings.setValue("OneMotorControl/ReturnSpeed", value);
+}
+
+int AppSettings::gonggaShanRecordPort() const
+{
+	return m_settings.value("GonggaShanRecordCtl/Port", kDefaultGonggaShanRecordPort).toInt();
+}
+
+void AppSettings::setGonggaShanRecordPort(int value)
+{
+	m_settings.setValue("GonggaShanRecordCtl/Port", value);
+}

HPPA/AppSettings.h

@@ -14,6 +14,41 @@ public:
 
 	QString fileName() const;
 	void setFileName(const QString& path);
+
+	// 帧率
+	int frameRate() const;
+	void setFrameRate(int value);
+
+	// 积分时间
+	int integrationTime() const;
+	void setIntegrationTime(int value);
+
+	// 增益
+	int gain() const;
+	void setGain(int value);
+
+	// 单反相机数据保存路径
+	QString slrDataFolder() const;
+	void setSlrDataFolder(const QString& path);
+
+	// 深度相机数据保存路径
+	QString depthCameraDataFolder() const;
+	void setDepthCameraDataFolder(const QString& path);
+
+	QString FiberImagerDataFolder() const;
+	void setFiberImagerDataFolder(const QString& path);
+
+	// 扫描速度
+	double scanSpeed() const;
+	void setScanSpeed(double value);
+
+	// 返回速度
+	double returnSpeed() const;
+	void setReturnSpeed(double value);
+
+	// 贡嘎山记录端口
+	int gonggaShanRecordPort() const;
+	void setGonggaShanRecordPort(int value);
 	// 在此处添加更多参数的 getter/setter ...
 
 private:
@@ -26,4 +61,12 @@ private:
 	// 默认值
 	static const QString kDefaultDataFolder;
 	static const QString kDefaultFileName;
+	static const int kDefaultFrameRate;
+	static const int kDefaultIntegrationTime;
+	static const int kDefaultGain;
+	static const QString kDefaultSLRDataFolder;
+	static const QString kDefaultDepthCameraDataFolder;
+	static const double kDefaultScanSpeed;
+	static const double kDefaultReturnSpeed;
+	static const int kDefaultGonggaShanRecordPort;
 };

HPPA/CaptureCoordinator.cpp

@@ -2,12 +2,11 @@
 
 TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
 	IrisMultiMotorController* motorCtrl,
-	ImagerOperationBase* cameraCtrl,
 	QObject* parent)
 	: QObject(parent)
 	, m_motorCtrl(motorCtrl)
-	, m_cameraCtrl(cameraCtrl)
 	, m_isRunning(false)
+	, m_isValidCapturing(false)
 {
 	//这些信号槽是按照逻辑顺序的
 	connect(this, SIGNAL(moveTo(int, double, double, int)),
@@ -20,35 +19,6 @@ TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
 		this, &TwoMotionCaptureCoordinator::handlePositionReached);
 	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
 	//	this, &TwoMotionCaptureCoordinator::handleError);
-
-	connect(this, &TwoMotionCaptureCoordinator::startRecordHSISignal,
-		m_cameraCtrl, &ImagerOperationBase::start_record);
-	connect(this, &TwoMotionCaptureCoordinator::stopRecordHSISignal,
-		m_cameraCtrl, &ImagerOperationBase::stop_record);
-	connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet,
-		this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
-	//connect(m_cameraCtrl, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberNotMeet,
-	//	this, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberNotMeet);
-	//connect(m_cameraCtrl, &ImagerOperationBase::captureFailed,
-	//	this, &TwoMotionCaptureCoordinator::handleError);
-}
-
-TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
-	IrisMultiMotorController* motorCtrl,
-	QObject* parent)
-	: QObject(parent)
-	, m_motorCtrl(motorCtrl)
-	, m_isRunning(false)
-{
-	connect(this, SIGNAL(moveTo(int, double, double, int)),
-		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
-	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)),
-		m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
-
-	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
-		this, &TwoMotionCaptureCoordinator::handlePositionReached);
-	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
-	//	this, &TwoMotionCaptureCoordinator::handleError);
 }
 
 TwoMotionCaptureCoordinator::~TwoMotionCaptureCoordinator()
@@ -98,11 +68,7 @@ void TwoMotionCaptureCoordinator::stop()
 	savePathLinesToCsv();
 	
 	emit finishRecordLineNumSignal(m_numCurrentPathLine);
-	//emit stopRecordHSISignal(m_numCurrentPathLine);
-	if (m_cameraCtrl != nullptr)
-	{
-		m_cameraCtrl->stop_record();
-	}
+	emit stopRecordHSISignal(m_numCurrentPathLine);
 
 	move2LocBeforeStart();
 
@@ -121,6 +87,7 @@ void TwoMotionCaptureCoordinator::getLocBeforeStart()
 	QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
 		[&](std::vector<double> pos) {
 			m_locBeforeStart = pos;
+			std::cout << "start pos: "<< pos[0] <<", " << pos[1] << std::endl;
 			received = true;
 			loop.quit();
 		});
@@ -130,6 +97,11 @@ void TwoMotionCaptureCoordinator::getLocBeforeStart()
 
 	loop.exec();
 
+	std::vector<double> pos;
+	pos.push_back(0);
+	pos.push_back(0);
+	m_locBeforeStart = pos;
+
 	disconnect(conn);
 }
 
@@ -148,7 +120,7 @@ void TwoMotionCaptureCoordinator::move2LocBeforeStart()
 	speed.push_back(tmp.speedTargetYPosition);
 	emit moveTo(m_locBeforeStart, speed, 1000);
 
-	m_isRunning = false;
+	m_isValidCapturing = false;
 
 	m_isMoving2XMin = false;
 	m_isMoving2XMax = false;
@@ -230,12 +202,12 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 
 	//QMutexLocker locker(&m_dataMutex);
 
-	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
-
 	if (motorID == 1)//y马达
 	{
 		if (m_isMoving2YTargeLoc)
 		{
+			PathLine& tmp = m_pathLines[m_numCurrentPathLine];
+
 			double threshold = getThre(tmp.targetYPosition, pos);
 
 			if (threshold > 5)
@@ -265,6 +237,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2YStartLoc)
 		{
 			m_isMoving2YStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -273,6 +246,8 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 	{
 		if (m_isMoving2XMin)
 		{
+			PathLine& tmp = m_pathLines[m_numCurrentPathLine];
+
 			double threshold = getThre(tmp.targetXMinPosition, pos);
 
 			if (threshold > 5)
@@ -301,6 +276,8 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 
 		if (m_isMoving2XMax)
 		{
+			PathLine& tmp = m_pathLines[m_numCurrentPathLine];
+
 			double threshold = getThre(tmp.targetXMaxPosition, pos);
 			
 			if (threshold > 5 && !m_isImagerFrameNumberMeet)//马达没到准确位置 && 【非】光谱仪因帧数限制主动停止采集
@@ -324,11 +301,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 
 			//停止采集高光谱数据
 			emit finishRecordLineNumSignal(m_numCurrentPathLine);
-			//emit stopRecordHSISignal(m_numCurrentPathLine);
-			if (m_cameraCtrl!=nullptr)
-			{
-				m_cameraCtrl->stop_record();
-			}
+			emit stopRecordHSISignal(m_numCurrentPathLine);
 
 			m_isMoving2XMax = false;
 			m_isImagerFrameNumberMeet = false;
@@ -341,6 +314,7 @@ void TwoMotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 		if (m_isMoving2XStartLoc)
 		{
 			m_isMoving2XStartLoc = false;
+			isBack2Origin();
 
 			return;
 		}
@@ -380,9 +354,25 @@ void TwoMotionCaptureCoordinator::startRecordHsi()
 		emit moveTo(0, tmp.targetXMaxPosition, tmp.speedTargetXMaxPosition, 1000);
 
 		emit startRecordHSISignal(m_numCurrentPathLine);
+		emit startRecordLineNumSignal(m_numCurrentPathLine);
 	}
 }
 
+void TwoMotionCaptureCoordinator::isBack2Origin()
+{
+	if (!m_isRunning) return;
+
+	//QMutexLocker locker(&m_dataMutex);
+
+	if (!m_isMoving2XStartLoc && !m_isMoving2YStartLoc)
+	{
+		m_isRunning = false;
+
+		emit back2OriginSignal();
+	}
+
+}
+
 void TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
 {
 	m_isImagerFrameNumberMeet = true;
@@ -426,7 +416,8 @@ void TwoMotionCaptureCoordinator::processNextPathLine()
 	}
 
 	std::cout << "\nNew path line: " << m_numCurrentPathLine << std::endl;
-	emit startRecordLineNumSignal(m_numCurrentPathLine);
+	emit gotoRecordLineNumSignal(m_numCurrentPathLine);
+	m_isValidCapturing = true;
 
 	PathLine &tmp = m_pathLines[m_numCurrentPathLine];
 	tmp.timestamp1 = QDateTime::currentDateTime();
@@ -476,7 +467,7 @@ OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
 		this, &OneMotionCaptureCoordinator::handleMotorStoped);
 }
 
-void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
+void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)//这个函数为啥被调用了2次？
 {
 	QMutexLocker locker(&m_dataMutex);
 
@@ -508,11 +499,13 @@ void OneMotionCaptureCoordinator::stopStepMotion()
 	}
 
 	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
 {
 	emit stopMotorSignal(0);
+	m_isHypercamStopRecord = true;
 }
 
 void OneMotionCaptureCoordinator::getLocBeforeStart()
@@ -537,6 +530,10 @@ void OneMotionCaptureCoordinator::getLocBeforeStart()
 	loop.exec();
 
 	disconnect(conn);
+
+	std::vector<double> pos;
+	pos.push_back(0);
+	m_locBeforeStart = pos;
 }
 
 void OneMotionCaptureCoordinator::move2LocBeforeStart()
@@ -572,25 +569,32 @@ bool OneMotionCaptureCoordinator::saveToCsv(const QString& filename)
 
 void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 {
-	if (!m_isRunning) return;
-
 	QMutexLocker locker(&m_dataMutex);
 
-	// 记录位置信息
-	m_pathLine.stopPosition = pos;
-	m_pathLine.timestamp2 = QDateTime::currentDateTime();
-
-	//光谱仪停止采集，马达回到初始位置
-	emit stopRecordHSISignal();
-	if (m_cameraCtrl != nullptr)
+	if (m_isHypercamStopRecord == true)
 	{
-		m_cameraCtrl->stop_record();
-	}
-	move2LocBeforeStart();
+		m_isHypercamStopRecord = false;
 
-	// emit sequenceComplete last: the slot connected to it may delete this object,
-	// so no member access is allowed after this point.
-	emit sequenceComplete(0);
+		// 记录位置信息
+		m_pathLine.stopPosition = pos;
+		m_pathLine.timestamp2 = QDateTime::currentDateTime();
+
+		//光谱仪停止采集，马达回到初始位置
+		emit stopRecordHSISignal();
+		if (m_cameraCtrl != nullptr)
+		{
+			m_cameraCtrl->stop_record();
+		}
+		move2LocBeforeStart();
+
+		emit sequenceComplete_cam_stop_before_motorback(0);
+	}
+	else
+	{
+		// emit sequenceComplete last: the slot connected to it may delete this object,
+		// so no member access is allowed after this point.
+		emit sequenceComplete(0);
+	}
 }
 
 void OneMotionCaptureCoordinator::handleCaptureComplete(double index)
@@ -720,3 +724,251 @@ void DarkAndWhiteCaptureCoordinator::handleCaptureComplete(double index)
 {
 	QMutexLocker locker(&m_dataMutex);
 }
+
+
+TwoMotor1PosCoordinator::TwoMotor1PosCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_isMoving2Target(false)
+	, m_isMoving2Origin(false)
+	, m_targetX(0)
+	, m_targetY(0)
+	, m_speedX(0)
+	, m_speedY(0)
+	, m_actualX(0)
+	, m_actualY(0)
+	, m_retryTimesX(0)
+	, m_retryTimesY(0)
+	, m_xReached(false)
+	, m_yReached(false)
+{
+	//因为IrisMultiMotorController::moveTo有多个重载版本，所以使用信号槽连接时需要使用SIGNAL和SLOT宏来指定参数类型，避免编译器无法推断出正确的函数签名。
+	//connect(this, &TwoMotor1PosCoordinator::moveTo, m_motorCtrl, &IrisMultiMotorController::moveTo);//这行代码会报错，因为moveTo有多个重载版本，编译器无法推断出正确的函数签名。
+	connect(this, SIGNAL(moveTo(int, double, double, int)), m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)), m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+
+
+	connect(this, &TwoMotor1PosCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &TwoMotor1PosCoordinator::handlePositionReached);
+}
+
+TwoMotor1PosCoordinator::~TwoMotor1PosCoordinator()
+{
+
+}
+
+void TwoMotor1PosCoordinator::moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_isMoving2Target = true;
+	m_isMoving2Origin = false;
+
+	moveToTargetPrivate(xTarget, yTarget, xSpeed, ySpeed);
+}
+
+void TwoMotor1PosCoordinator::back2origin()
+{
+	m_isMoving2Target = false;
+	m_isMoving2Origin = true;
+
+	moveToTargetPrivate(0, 0, m_speedX, m_speedY);
+}
+
+void TwoMotor1PosCoordinator::moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_targetX = xTarget;
+	m_targetY = yTarget;
+	m_speedX = xSpeed;
+	m_speedY = ySpeed;
+
+	m_xReached = false;
+	m_yReached = false;
+	m_retryTimesX = 0;
+	m_retryTimesY = 0;
+
+	std::vector<double> loc = { m_targetX, m_targetY };
+	std::vector<double> speed = { m_speedX, m_speedY };
+
+	std::cout << "TwoMotor1PosCoordinator: moving to (" << m_targetX << ", " << m_targetY << ")" << std::endl;
+	emit moveTo(loc, speed, 1000);
+}
+
+void TwoMotor1PosCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isMoving2Target && !m_isMoving2Origin)
+	{
+		return;
+	}
+
+	double errorRateThreshold = 5;
+	if (motorID == 0)
+	{
+		m_actualX = pos;
+
+		double errorRate = getErrorRate(m_targetX, m_actualX);
+		
+		if (errorRate > errorRateThreshold && m_retryTimesX < m_retryLimit)
+		{
+			m_retryTimesX++;
+			std::cout << "X motor retry " << m_retryTimesX << ", target: " << m_targetX << ", actual: " << m_actualX << std::endl;
+			emit moveTo(0, m_targetX, m_speedX, 1000);
+			return;
+		}
+		m_retryTimesX = 0;
+		m_xReached = true;
+
+		std::cout << "X motor reached: " << m_actualX << std::endl;
+	}
+	else if (motorID == 1)
+	{
+		m_actualY = pos;
+
+		double errorRate = getErrorRate(m_targetY, m_actualY);
+		if (errorRate > errorRateThreshold && m_retryTimesY < m_retryLimit)
+		{
+			m_retryTimesY++;
+			std::cout << "Y motor retry " << m_retryTimesY << ", target: " << m_targetY << ", actual: " << m_actualY << std::endl;
+			emit moveTo(1, m_targetY, m_speedY, 1000);
+			return;
+		}
+		m_retryTimesY = 0;
+		m_yReached = true;
+
+		std::cout << "Y motor reached: " << m_actualY << std::endl;
+	}
+
+	if (checkArrival())
+	{
+		std::cout << "TwoMotor1PosCoordinator: Arrived at (" << m_actualX << ", " << m_actualY << ")" << std::endl;
+
+		if (m_isMoving2Origin)
+		{
+			m_isMoving2Origin = false;
+
+			emit back2OriginSignal();
+		}
+
+		if (m_isMoving2Target)
+		{
+			m_isMoving2Target = false;
+			
+			emit ArrivalSignal(m_actualX, m_actualY);
+		}
+	}
+}
+
+double TwoMotor1PosCoordinator::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}
+
+bool TwoMotor1PosCoordinator::checkArrival()
+{
+	return m_xReached && m_yReached;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//---------------------------------------------------------------------------------------------------------------------------------------------
+
+OneMotionCoordinator::OneMotionCoordinator(IrisMultiMotorController* motorCtrl, QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_targetPosition(0)
+	, m_speed(0)
+	, m_actualPosition(0)
+	, m_isMoving(false)
+	, m_retryTimes(0)
+	, m_reached(false)
+{
+	connect(this, SIGNAL(moveTo(int, double, double, int)), m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &OneMotionCoordinator::handlePositionReached);
+}
+
+OneMotionCoordinator::~OneMotionCoordinator()
+{
+}
+
+void OneMotionCoordinator::moveToTarget(double position, double speed)
+{
+	QMutexLocker locker(&m_dataMutex);
+	m_targetPosition = position;
+	m_speed = speed;
+	m_retryTimes = 0;
+	m_reached = false;
+	m_isMoving = true;
+
+	qDebug() << "OneMotionCoordinator: moving to" << position;
+	emit moveTo(0, position, speed, 1000);
+}
+
+void OneMotionCoordinator::handlePositionReached(int motorID, double position)
+{
+	if (!m_isMoving || motorID != 0)
+	{
+		return;
+	}
+
+	QMutexLocker locker(&m_dataMutex);
+	m_actualPosition = position;
+
+	double errorRate = getErrorRate(m_targetPosition, m_actualPosition);
+
+	if (errorRate > 5 && m_retryTimes < m_retryLimit)
+	{
+		m_retryTimes++;
+		qDebug() << "OneMotionCoordinator: retry" << m_retryTimes << ", target:" << m_targetPosition << ", actual:" << m_actualPosition;
+		emit moveTo(0, m_targetPosition, m_speed, 1000);
+		return;
+	}
+
+	m_retryTimes = 0;
+	m_reached = true;
+	m_isMoving = false;
+
+	qDebug() << "OneMotionCoordinator: Arrived at" << m_actualPosition;
+
+	emit sequenceComplete(0);
+	emit ArrivalSignal(m_actualPosition);
+}
+
+double OneMotionCoordinator::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}

HPPA/CaptureCoordinator.h

@@ -38,9 +38,6 @@ class TwoMotionCaptureCoordinator : public QObject
 {
 	Q_OBJECT
 public:
-	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
-		ImagerOperationBase* cameraCtrl,
-		QObject* parent = nullptr);
 	TwoMotionCaptureCoordinator(IrisMultiMotorController* motorCtrl,
 		QObject* parent = nullptr);
 	~TwoMotionCaptureCoordinator();
@@ -49,6 +46,8 @@ public:
 
 signals:
 	void sequenceComplete(int);//0：所有采集线正常运行完成，1：用户主动取消采集
+	void back2OriginSignal();
+	void gotoRecordLineNumSignal(int lineNum);
 	void startRecordLineNumSignal(int lineNum);
 	void finishRecordLineNumSignal(int lineNum);
 
@@ -62,13 +61,15 @@ signals:
 
 	void recordState(bool state);
 
+public slots:
+	void handleCaptureCompleteWhenFrameNumberMeet();
+
 private slots:
 	void start(QVector<PathLine> pathLines);
 	void stop();
 	void getRecordState();
 
 	void handlePositionReached(int motorID, double pos);
-	void handleCaptureCompleteWhenFrameNumberMeet();
 	void handleError(const QString& error);
 
 	void move2LocBeforeStart();
@@ -76,6 +77,7 @@ private slots:
 private:
 	void processNextPathLine();
 	void startRecordHsi();
+	void isBack2Origin();
 	void getLocBeforeStart();
 	double getThre(double targetLoc, double actualLoc);
 
@@ -88,6 +90,7 @@ private:
 	mutable QMutex m_dataMutex;
 
 	bool m_isRunning;
+	bool m_isValidCapturing;
 	bool m_isMoving2YTargeLoc;
 	bool m_isMoving2XMin;
 	bool m_isMoving2XMax;
@@ -141,6 +144,7 @@ public slots:
 	void handleCaptureCompleteWhenFrameNumberMeet();
 
 signals:
+	void sequenceComplete_cam_stop_before_motorback(int); 
 	void sequenceComplete(int);
 	void errorOccurred(const QString& error);
 	void moveTo(int, double, double, int);
@@ -162,6 +166,7 @@ private:
 	mutable QMutex m_dataMutex;
 
 	bool m_isRunning;
+	bool m_isHypercamStopRecord = false;
 
 	std::vector<double> m_locBeforeStart;
 	void getLocBeforeStart();
@@ -208,3 +213,90 @@ private:
 	void getLocBeforeStart();
 	void move2LocBeforeStart();
 };
+
+
+class TwoMotor1PosCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	TwoMotor1PosCoordinator(IrisMultiMotorController* motorCtrl,
+		QObject* parent = nullptr);
+	~TwoMotor1PosCoordinator();
+
+public slots:
+	void moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	void back2origin();
+
+signals:
+	void ArrivalSignal(double xPos, double yPos);
+	void back2OriginSignal();
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void moveTo(const std::vector<double>, const std::vector<double>, int);
+	void stopMotorSignal(int axis);
+
+private slots:
+	void handlePositionReached(int motorID, double pos);
+
+private:
+	void moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	double getErrorRate(double targetLoc, double actualLoc);
+	bool checkArrival();
+	void move2Origin();
+
+	IrisMultiMotorController* m_motorCtrl;
+	mutable QMutex m_dataMutex;
+
+	bool m_isMoving2Target;
+	bool m_isMoving2Origin;
+
+	double m_targetX;
+	double m_targetY;
+	double m_speedX;
+	double m_speedY;
+
+	double m_actualX;
+	double m_actualY;
+
+	int m_retryLimit = 3;
+	int m_retryTimesX;
+	int m_retryTimesY;
+
+	bool m_xReached;
+	bool m_yReached;
+};
+
+class OneMotionCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	OneMotionCoordinator(IrisMultiMotorController* motorCtrl, QObject* parent = nullptr);
+	~OneMotionCoordinator();
+
+public slots:
+	void moveToTarget(double position, double speed);
+
+signals:
+	void sequenceComplete(int status);
+	void ArrivalSignal(double position);
+	void moveTo(int, double, double, int);
+
+private slots:
+	void handlePositionReached(int motorID, double position);
+
+private:
+	bool checkArrival();
+	double getErrorRate(double targetLoc, double actualLoc);
+
+	IrisMultiMotorController* m_motorCtrl;
+	mutable QMutex m_dataMutex;
+
+	double m_targetPosition;
+	double m_speed;
+	double m_actualPosition;
+	bool m_isMoving;
+
+	int m_retryLimit = 3;
+	int m_retryTimes;
+	bool m_reached;
+};

HPPA/CommunicationInterfaceBase.cpp

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

HPPA/CommunicationInterfaceBase.h

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

HPPA/CommunicationViaTCP.cpp

@@ -0,0 +1,122 @@
+#include "CommunicationViaTCP.h"
+
+using namespace MotorParams;
+
+CommunicationViaTCP::CommunicationViaTCP(MotorParams::TCPConnectionParams connectionParams, QObject* parent)
+	:MotorParams::CommunicationInterfaceBase(parent)
+{
+	m_bConnected = false;
+	m_tcpServer = new QTcpServer(this);
+	connect(m_tcpServer, SIGNAL(newConnection()), this, SLOT(onNewConnection()));
+	
+	m_tcpServer->listen(QHostAddress::Any, connectionParams.port);
+}
+
+CommunicationViaTCP::~CommunicationViaTCP()
+{
+	m_tcpServer->close();
+	delete m_tcpServer;
+
+	//这两行代码要报错，为啥呢？？？？？？？？？？？？？？？？？
+	//m_tcpSocket->disconnectFromHost();
+	//delete m_tcpSocket;
+}
+
+bool CommunicationViaTCP::connect2Motor()
+{
+	return true;
+}
+
+void CommunicationViaTCP::onNewConnection()
+{
+	m_bConnected = true;
+	m_tcpSocket = m_tcpServer->nextPendingConnection();
+	connect(m_tcpSocket, SIGNAL(disconnected()), this, SLOT(onTcpSocketDisconnected()));
+	connect(m_tcpSocket, &QTcpSocket::readyRead, this, &CommunicationViaTCP::receiveData);
+
+	emit connected();
+}
+
+bool CommunicationViaTCP::isConnected() const
+{
+	return m_bConnected;
+}
+
+//从拔掉客户端的电源（客户端m_tcpSocket断开连接）到这个函数被调用有延迟，所以这个函数调用也有延迟，导致拔掉电源后的一小段时间函数isConnected()还是返回true
+void CommunicationViaTCP::onTcpSocketDisconnected()
+{
+	int a = 1;
+	m_bConnected = false;
+	m_tcpSocket->deleteLater();
+}
+
+void CommunicationViaTCP::receiveData()
+{
+	if (!isConnected()) 
+	{
+		qWarning() << "receiveData: No client connected";
+		return;
+	}
+
+	QByteArray data = m_tcpSocket->readAll();
+	if (data.isEmpty()) 
+	{
+		return;
+	}
+
+	bool ok;
+	int position = QString::fromUtf8(data).toInt(&ok);
+	if (ok)
+	{
+		qDebug() << "Received position:" << position;
+		emit positionReceived(position);
+	} else
+	{
+		qWarning() << "Failed to parse position data:" << data;
+	}
+}
+
+int CommunicationViaTCP::sendCommand(const QString cmd)
+{
+	if (!isConnected()) {
+		QString error = "No client connected";
+		emit commandSendResult(-1, error);
+		qWarning() << error << "command:" << cmd;
+		return -1;
+	}
+
+	qint64 bytesWritten = m_tcpSocket->write(cmd.toUtf8().data());
+	m_tcpSocket->waitForBytesWritten(50);
+
+	return bytesWritten;
+}
+
+int CommunicationViaTCP::recvData(QByteArray& dataRecv)
+{
+	if (!isConnected()) {
+		QString error = "No client connected";
+		return -1;
+	}
+
+	dataRecv.clear();
+
+	QByteArray temp;
+
+	temp = m_tcpSocket->readAll();
+	dataRecv.append(temp);
+
+	int counter = 0;
+	while (dataRecv.size() < 21)
+	{
+		counter++;
+		m_tcpSocket->waitForReadyRead(100);
+		temp = m_tcpSocket->readAll();
+		dataRecv.append(temp);
+
+		if (counter >= 5)
+			break;
+	}
+	//qDebug() << "Hex:" << dataRecv.toHex();
+
+	return dataRecv.size();
+}

HPPA/CommunicationViaTCP.h

@@ -0,0 +1,47 @@
+#pragma once
+#include <QObject>
+#include <QThread>
+#include <QDebug>
+#include <QTcpServer>
+#include <QTcpSocket>
+
+#include "CommunicationInterfaceBase.h"
+
+namespace MotorParams {
+
+    class CommunicationViaTCP :
+        public CommunicationInterfaceBase
+    {
+        Q_OBJECT
+
+    public:
+        CommunicationViaTCP(TCPConnectionParams connectionParams, QObject* parent = nullptr);
+        ~CommunicationViaTCP();
+
+        //继承基类
+        bool connect2Motor();
+        //void disconnect();
+        //bool isConnected() const;
+
+        int sendCommand(const QString cmd);
+        //void sendCommandAsync(const QString& command);
+        int recvData(QByteArray& dataRecv);
+
+    private:
+        QTcpServer* m_tcpServer;
+        QTcpSocket* m_tcpSocket;
+        int m_iCommunicationProtocol;
+
+        bool m_bConnected;
+        bool isConnected() const;
+
+    public Q_SLOTS:
+        void onNewConnection();
+        void receiveData();
+        void onTcpSocketDisconnected();
+
+    signals:
+        void commandSendResult(int bytesWritten, const QString& error = QString());
+        void positionReceived(int position);
+    };
+}

HPPA/DepthCamera.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>416</width>
-    <height>219</height>
+    <width>857</width>
+    <height>477</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -83,19 +83,6 @@ QPushButton:pressed
      </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">
@@ -126,7 +113,20 @@ QPushButton:pressed
      </item>
     </layout>
    </item>
-   <item row="1" column="2">
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="2">
     <spacer name="horizontalSpacer_2">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -139,7 +139,52 @@ QPushButton:pressed
      </property>
     </spacer>
    </item>
-   <item row="2" column="1">
+   <item row="3" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="styleSheet">
+        <string notr="true">QLabel {
+    color: rgb(255, 255, 255);
+}</string>
+       </property>
+       <property name="text">
+        <string>数据路径</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="dataFolderLineEdit">
+       <property name="styleSheet">
+        <string notr="true">QLineEdit {
+    background-color: #142D7F;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    min-width: 70px;
+    min-height: 20px;
+    font-size: 13px;
+}</string>
+       </property>
+       <property name="text">
+        <string>./CapturedImages</string>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="dataFolderBtn">
+       <property name="text">
+        <string>...</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="1">
     <spacer name="verticalSpacer_3">
      <property name="orientation">
       <enum>Qt::Vertical</enum>

HPPA/DepthCameraWindow.cpp

@@ -1,24 +1,635 @@
-#include "DepthCameraWindow.h"
+#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(this, &DepthCameraWindow::OpenDepthCamera_getDepthValueSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera_getDepthValue);
+
+	connect(m_DepthCameraOperation, &DepthCameraOperation::CamOpenedSignal, this, &DepthCameraWindow::onCamOpened);
+	connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::onCamClosed);
+
+	connect(m_DepthCameraOperation, &DepthCameraOperation::PlotSignal, this, &DepthCameraWindow::PlotDepthImageSignal);
+	connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::DepthCamClosedSignal);
+
+	connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
+
+	// 初始化数据保存路径显示（从 AppSettings 恢复或使用默认）
+	ui.dataFolderLineEdit->setText(AppSettings::instance().depthCameraDataFolder());
 }
 
 DepthCameraWindow::~DepthCameraWindow()
 {
+    m_DepthCameraThread->quit();
+    m_DepthCameraThread->wait();
+    delete m_DepthCameraOperation;
+    m_DepthCameraOperation = nullptr;
+}
+
+void DepthCameraWindow::onSelectDataFolder()
+{
+	QString dir = QFileDialog::getExistingDirectory(this,
+		QString::fromLocal8Bit("选择数据保存路径"),
+		ui.dataFolderLineEdit->text());
+
+    setDataFolder(dir);
+}
+
+void DepthCameraWindow::setDataFolder(QString dir)
+{
+    if (!dir.isEmpty())
+    {
+        ui.dataFolderLineEdit->setText(dir);
+        AppSettings::instance().setDepthCameraDataFolder(dir);
+    }
+}
+
+void DepthCameraWindow::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_DepthCameraOperation->setCaptureInterval(captureIntervalSeconds);
 }
 
 void DepthCameraWindow::openDepthCamera()
 {
+    if (!m_DepthCameraOperation->getRecordStatus())
+    {
+        emit openDepthCameraSignal();
+    }
+}
 
+void DepthCameraWindow::OpenDepthCamera_getDepthValue()
+{
+    if (!m_DepthCameraOperation->getRecordStatus())
+    {
+        emit OpenDepthCamera_getDepthValueSignal();
+    }
+}
+
+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;
+
+    m_captureIntervalMilliseconds = 3000;
+}
+
+DepthCameraOperation::~DepthCameraOperation()
+{
+    if (m_pipe) 
+    {
+		m_pipe->stop();
+
+        delete m_pipe;
+        m_pipe = nullptr;
+    }
+}
+
+void DepthCameraOperation::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
+}
+
+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(m_captureIntervalMilliseconds);
+    }
+
+    auto pointCloud = std::make_shared<ob::PointCloudFilter>();
+
+    int frameIndex = 0;
+    record = true;
+    QString fileNamePrefix = AppSettings::instance().depthCameraDataFolder() + QDir::separator() + "Gemini336L";
+	QString imuFilePath = fileNamePrefix + "_IMU.txt";
+	std::ofstream imuFile(imuFilePath.toStdString(), std::ios::out | std::ios::trunc);
+    while (record)
+    {
+        if(frameIndex==0)
+        {
+            emit CamOpenedSignal();
+            std::cout << "Start recording..." << std::endl;
+		}
+
+        auto frameSet = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
+        if (frameSet == nullptr)
+        {
+            std::cout << "No frames received in 100ms..." << std::endl;
+            continue;
+        }
+
+        std::cout << "DepthCamera frameIndex："<< frameIndex << std::endl;
+
+		// 彩色和深度图像
+        auto depthFrame = frameSet->getFrame(OB_FRAME_DEPTH)->as<ob::DepthFrame>();
+        auto colorFrame = frameSet->getFrame(OB_FRAME_COLOR)->as<ob::ColorFrame>();
+
+        // Convert the color frame to RGB format.
+        if (colorFrame->format() != OB_FORMAT_RGB) {
+            if (colorFrame->format() == OB_FORMAT_MJPG) {
+                formatConverter->setFormatConvertType(FORMAT_MJPG_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_UYVY) {
+                formatConverter->setFormatConvertType(FORMAT_UYVY_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_YUYV) {
+                formatConverter->setFormatConvertType(FORMAT_YUYV_TO_RGB);
+            }
+            else {
+                std::cout << "Color format is not support!" << std::endl;
+                continue;
+            }
+            colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+        }
+        // Processed the color frames to BGR format, use OpenCV to save to disk.
+        formatConverter->setFormatConvertType(FORMAT_RGB_TO_BGR);
+        colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+
+        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 + "_PointCloud_"+ 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::OpenDepthCamera_getDepthValue()
+{
+    if (m_pipe)
+    {
+        return;
+    }
+    m_pipe = new ob::Pipeline();
+
+    std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
+
+    // Get device from pipeline.
+    auto device = m_pipe->getDevice();
+    auto devInfo = device->getDeviceInfo();
+    auto pid = devInfo->getPid();
+    auto vid = devInfo->getVid();
+
+    config->enableVideoStream(OB_STREAM_DEPTH, 640, 480, 15, OB_FORMAT_Y16);
+    config->enableVideoStream(OB_STREAM_COLOR, 640, 480, 15, OB_FORMAT_YUYV);
+    config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
+
+    m_pipe->enableFrameSync();
+
+    // Create a format converter filter.
+    auto formatConverter = std::make_shared<ob::FormatConvertFilter>();
+
+    m_pipe->start(config);
+
+    // Drop several frames
+    for (int i = 0; i < 15; ++i) {
+        auto lost = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
+    }
+
+    auto pointCloud = std::make_shared<ob::PointCloudFilter>();
+
+    int frameIndex = 0;
+    record = true;
+    QString fileNamePrefix = AppSettings::instance().depthCameraDataFolder() + QDir::separator() + "Gemini336L";
+
+    // 增量平均所需的变量
+    cv::Mat avgRgbMat, avgDepthMat;
+    int avgFrameCount = 0;
+
+    for (size_t i = 0; i < m_averageNumberOfTimes; i++)
+    {
+        if(frameIndex==0)
+        {
+            emit CamOpenedSignal();
+            std::cout << "Start recording..." << std::endl;
+		}
+
+        auto frameSet = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
+        if (frameSet == nullptr)
+        {
+            std::cout << "No frames received in 100ms..." << std::endl;
+            continue;
+        }
+
+        std::cout << "DepthCamera frameIndex："<< frameIndex << std::endl;
+
+		// 彩色和深度图像
+        auto depthFrame = frameSet->getFrame(OB_FRAME_DEPTH)->as<ob::DepthFrame>();
+        auto colorFrame = frameSet->getFrame(OB_FRAME_COLOR)->as<ob::ColorFrame>();
+
+        // Convert the color frame to RGB format.
+        if (colorFrame->format() != OB_FORMAT_RGB) {
+            if (colorFrame->format() == OB_FORMAT_MJPG) {
+                formatConverter->setFormatConvertType(FORMAT_MJPG_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_UYVY) {
+                formatConverter->setFormatConvertType(FORMAT_UYVY_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_YUYV) {
+                formatConverter->setFormatConvertType(FORMAT_YUYV_TO_RGB);
+            }
+            else {
+                std::cout << "Color format is not support!" << std::endl;
+                continue;
+            }
+            colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+        }
+        // Processed the color frames to BGR format, use OpenCV to save to disk.
+        formatConverter->setFormatConvertType(FORMAT_RGB_TO_BGR);
+        colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+
+        //用于测试：保存深度图像
+        //saveDepthFrame(depthFrame, frameIndex, fileNamePrefix.toStdString());
+        //saveColorFrame(colorFrame, frameIndex, fileNamePrefix.toStdString());
+
+        cv::Mat colorMat(colorFrame->height(), colorFrame->width(), CV_8UC3, colorFrame->data());
+        cv::Mat rgbMat;
+        cv::cvtColor(colorMat, rgbMat, cv::COLOR_BGR2RGB);
+        //m_colorImage = QImage(rgbMat.data, rgbMat.cols, rgbMat.rows, static_cast<int>(rgbMat.step), QImage::Format_RGB888).copy();
+
+
+        cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
+
+        // 增量平均计算
+        if (avgFrameCount == 0)
+        {
+            avgRgbMat = cv::Mat::zeros(rgbMat.size(), CV_32FC3);
+            avgDepthMat = cv::Mat::zeros(depthMat.size(), CV_32F);
+        }
+        avgFrameCount++;
+        cv::Mat rgbFloat;
+        rgbMat.convertTo(rgbFloat, CV_32FC3);
+        avgRgbMat = avgRgbMat + (rgbFloat - avgRgbMat) / avgFrameCount;
+
+        cv::Mat depthMatTmp;
+        depthMat.convertTo(depthMatTmp, CV_32F);
+        avgDepthMat = avgDepthMat + (depthMatTmp - avgDepthMat) / avgFrameCount;
+
+
+        cv::Mat depthMat8U;
+        depthMat.convertTo(depthMat8U, CV_8UC1, 255.0 / 4096.0);
+        cv::Mat depthColorMap;
+        cv::applyColorMap(depthMat8U, depthColorMap, cv::COLORMAP_JET);
+        cv::Mat depthRgbMat;
+        cv::cvtColor(depthColorMap, depthRgbMat, cv::COLOR_BGR2RGB);
+        m_depthImage = QImage(depthRgbMat.data, depthRgbMat.cols, depthRgbMat.rows, static_cast<int>(depthRgbMat.step), QImage::Format_RGB888).copy();
+        //m_depthImage = QImage(depthMat.data, depthMat.cols, depthMat.rows, static_cast<int>(depthMat.step), QImage::Format_Grayscale16).copy();
+
+        emit PlotSignal();
+
+        frameIndex++;
+    }
+    m_pipe->stop();
+
+    // 对累积平均后的图像进行处理
+    double depthValue;
+    if (avgFrameCount > 0)
+    {
+        cv::Mat avgRgbResult, avgDepthResult;
+        avgRgbMat.convertTo(avgRgbResult, CV_8UC3);
+        avgDepthMat.convertTo(avgDepthResult, CV_16UC1);
+
+        // 保存平均结果图像
+        std::vector<int> pngParams;
+        pngParams.push_back(cv::IMWRITE_PNG_COMPRESSION);
+        pngParams.push_back(0);
+        pngParams.push_back(cv::IMWRITE_PNG_STRATEGY);
+        pngParams.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
+        cv::imwrite(getTestFilePath("_AvgRGB_").toStdString(), avgRgbResult, pngParams);
+        cv::imwrite(getTestFilePath("_AvgDepth_").toStdString(), avgDepthResult, pngParams);
+
+        // 创建掩膜，排除深度值为0的区域
+        cv::Mat mask = avgDepthResult != 0;
+
+        // 保存掩膜
+        cv::Mat mask8U;
+        mask.convertTo(mask8U, CV_8UC1, 255.0);
+        std::string maskName = fileNamePrefix.toStdString() + "_Mask_" + std::to_string(mask.cols) + "x" + std::to_string(mask.rows) + ".png";
+        cv::imwrite(maskName, mask8U, pngParams);
+
+        if (m_depthAlgorithm == 0)
+        {
+            depthValue = processAveragedImages_roiAvg(avgDepthResult, mask);
+        }
+        else if (m_depthAlgorithm == 1)
+        {
+            depthValue = processAveragedImages_depthRangePercentage(avgDepthResult, mask);
+        }
+        else if (m_depthAlgorithm == 2)
+        {
+            depthValue = processAveragedImages_segmentation(avgRgbResult, avgDepthResult, mask);
+        }
+    }
+
+    //计算平均深度值
+    std::cout << "Depth value: " << depthValue << " m" << std::endl;
+    emit DepthValueSignal(depthValue);
+
+    delete m_pipe;
+    m_pipe = nullptr;
+
+    record = false;
+}
+
+double DepthCameraOperation::processAveragedImages_roiAvg(const cv::Mat& avgDepthResult, const cv::Mat& mask)
+{
+    //裁剪边缘区域
+    int cropRows = static_cast<int>(avgDepthResult.rows * (1 - m_percentageOfEffectiveArea) / 2);
+    int cropCols = static_cast<int>(avgDepthResult.cols * (1 - m_percentageOfEffectiveArea) / 2);
+    cv::Rect roi(cropCols, cropRows,
+        avgDepthResult.cols - 2 * cropCols,
+        avgDepthResult.rows - 2 * cropRows);
+    cv::Mat depthRoi = avgDepthResult(roi);
+    cv::Mat maskRoi = mask(roi);
+    //计算平均深度值，使用掩膜排除深度值为0的区域
+    cv::Scalar meanDepth = cv::mean(depthRoi, maskRoi);
+    double depthValue = meanDepth[0] / 1000.0; // 转换为米
+
+	return depthValue;
+}
+
+double DepthCameraOperation::processAveragedImages_depthRangePercentage(const cv::Mat& avgDepthResult, const cv::Mat& mask)
+{
+    // 找出最大最小值
+    double minVal, maxVal;
+    cv::minMaxLoc(avgDepthResult, &minVal, &maxVal, nullptr, nullptr, mask);
+
+    // 检查是否有有效数据
+    if (minVal == std::numeric_limits<double>::max())
+    {
+        std::cout << "Warning: No valid depth pixels found in masked region!" << std::endl;
+        return 0.0;
+    }
+
+    // 返回最小值乘以m_depthRangePercentage
+    double depthValue = minVal * m_depthRangePercentage / 1000.0; // 转换为米
+
+    return depthValue;
+}
+
+double DepthCameraOperation::processAveragedImages_segmentation(const cv::Mat& avgRgbResult, const cv::Mat& avgDepthResult, const cv::Mat& mask)
+{
+    // 转换到 HSV 颜色空间进行植被分割
+    cv::Mat hsvMat;
+    cv::cvtColor(avgRgbResult, hsvMat, cv::COLOR_RGB2HSV);
+
+    // 分离通道
+    std::vector<cv::Mat> hsvChannels;
+    cv::split(hsvMat, hsvChannels);
+    cv::Mat hue = hsvChannels[0];
+    cv::Mat sat = hsvChannels[1];
+    cv::Mat val = hsvChannels[2];
+
+    // 定义绿色植被的Hue范围 (OpenCV中Hue范围是0-180，实际绿色约35-90度)
+    // 扩展范围以覆盖不同光照条件下的绿色
+    cv::Mat hueMask1 = (hue >= 35) & (hue <= 85);
+    cv::Mat satMask = sat > 30;  // 饱和度阈值，去除灰色区域
+    cv::Mat valMask = val > 50;  // 亮度阈值，去除过暗区域
+
+    // 组合条件生成植被掩膜
+    cv::Mat vmask;
+    cv::bitwise_and(hueMask1, satMask, vmask);
+    cv::bitwise_and(vmask, valMask, vmask);
+
+    // 结合深度掩膜，计算两个mask的交集
+    cv::Mat combinedMask;
+    cv::bitwise_and(mask, vmask, combinedMask);
+
+    // 保存 vmask 和 combinedMask 到 exe 所在文件夹的文件夹
+    cv::Mat vmask8U, combinedMask8U;
+    vmask.convertTo(vmask8U, CV_8UC1, 255.0);
+    combinedMask.convertTo(combinedMask8U, CV_8UC1, 255.0);
+    cv::imwrite(getTestFilePath("vmask").toStdString(), vmask8U);
+    cv::imwrite(getTestFilePath("combinedMask").toStdString(), combinedMask8U);
+
+    // 计算 avgRgbResult 在 combinedMask 区域内的平均深度值
+    double depthValue = 0.0;
+    if (cv::countNonZero(combinedMask) > 0) {
+        cv::Scalar meanDepth = cv::mean(avgDepthResult, combinedMask);
+        depthValue = meanDepth[0] / 1000.0; // 转换为米
+    } else {
+        std::cout << "Warning: No valid pixels in combined mask!" << std::endl;
+    }
+
+    return depthValue;
+}
+
+QString DepthCameraOperation::getTestFilePath(const QString& fileName)
+{
+    QString testFolder = QCoreApplication::applicationDirPath() + QDir::separator() + "depthValueTest";
+    QDir().mkpath(testFolder);
+    QString timestamp = QString::number(QDateTime::currentMSecsSinceEpoch());
+    return testFolder + QDir::separator() + fileName + "_" + timestamp + ".png";
+}
+
+void DepthCameraOperation::saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
+{
+    std::vector<int> params;
+    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

@@ -1,11 +1,86 @@
-#pragma once
+#pragma once
 
 #include <QDialog>
 #include <QNetworkRequest>
 #include <QNetworkReply>
 #include <QNetworkAccessManager>
+#include <QImage>
+#include <QThread>
+#include <QDir>
+#include <QCoreApplication>
+#include <QDateTime>
+//#include <QLabel>
+#include <QFileDialog>
 
+#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; }
+
+	void setCaptureInterval(int captureIntervalSeconds);
+
+	void setDepthAlgorithm(int depthAlgorithm) { m_depthAlgorithm = depthAlgorithm; }
+	void setAverageNumberOfTimes(double averageNumberOfTimes) { m_averageNumberOfTimes = averageNumberOfTimes; }
+	void setPercentageOfEffectiveArea(double percentageOfEffectiveArea) { m_percentageOfEffectiveArea = percentageOfEffectiveArea; }
+	void setDepthRangePercentage(double depthRangePercentage) { m_depthRangePercentage = depthRangePercentage; }
+
+private:
+	ob::Pipeline* m_pipe;
+	cv::Mat frame;
+
+	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;
+
+	int m_captureIntervalMilliseconds;
+
+	int m_depthAlgorithm;
+	double m_averageNumberOfTimes;
+	double m_percentageOfEffectiveArea;
+	double m_depthRangePercentage;
+
+	double processAveragedImages_roiAvg(const cv::Mat& avgDepthResult, const cv::Mat& mask);
+	double processAveragedImages_depthRangePercentage(const cv::Mat& avgDepthResult, const cv::Mat& mask);
+	double processAveragedImages_segmentation(const cv::Mat& avgRgbResult, const cv::Mat& avgDepthResult, const cv::Mat& mask);
+
+	QString getTestFilePath(const QString& fileName);
+
+public slots:
+	void OpenDepthCamera();
+	void OpenDepthCamera_getDepthValue();
+	void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
+	void CloseDepthCamera();
+
+signals:
+	void PlotSignal();
+	void DepthValueSignal(double depthValue);
+
+	void CamOpenedSignal();
+	void CamClosedSignal();
+};
 
 class DepthCameraWindow : public QDialog
 {
@@ -15,13 +90,27 @@ public:
 	DepthCameraWindow(QWidget* parent = nullptr);
 	~DepthCameraWindow();
 
+	DepthCameraOperation* m_DepthCameraOperation;
+
+	void setDataFolder(QString dir);
+	void setCaptureInterval(int captureIntervalSeconds);
 
 public Q_SLOTS:
-	void PlotRgbImageSignal();
-	void CamClosedSignal();
+	void openDepthCamera();
+	void OpenDepthCamera_getDepthValue();
+	void onCamOpened();
+	void closeDepthCamera();
+	void onCamClosed();
+
+	void onSelectDataFolder();
 
 signals:
+	void openDepthCameraSignal();
+	void OpenDepthCamera_getDepthValueSignal();
+	void PlotDepthImageSignal();
+	void DepthCamClosedSignal();
 
 private:
 	Ui::DepthCameraClass ui;
+	QThread* m_DepthCameraThread;
 };

HPPA/DepthValueLogger.cpp

@@ -0,0 +1,138 @@
+#include "stdafx.h"
+#include "DepthValueLogger.h"
+#include "AppSettings.h"
+#include "fileOperation.h"
+#include <QDir>
+
+DepthValueLogger& DepthValueLogger::instance()
+{
+    static DepthValueLogger instance;
+    return instance;
+}
+
+DepthValueLogger::DepthValueLogger()
+{
+}
+
+DepthValueLogger::~DepthValueLogger()
+{
+}
+
+QString DepthValueLogger::getLogFilePath(DepthValueType type) const
+{
+    FileOperation* fileOperation = new FileOperation();
+    QString directory = QString::fromStdString(fileOperation->getDirectoryOfExe());
+    QString basePath = directory + QDir::separator() + "3DPlantPhenotypeScenario";
+
+    switch (type)
+    {
+    case DepthValueType::Plant:
+        return basePath + QDir::separator() + "plant_depth_values.txt";
+    case DepthValueType::LiftingPlatform:
+        return basePath + QDir::separator() + "LiftingPlatform_depth_values.txt";
+    default:
+        return basePath + QDir::separator() + "plant_depth_values.txt";
+    }
+}
+
+void DepthValueLogger::appendDepthValue(double depthValue, DepthValueType type)
+{
+    QString filePath = getLogFilePath(type);
+    QFileInfo fileInfo(filePath);
+    QDir dir = fileInfo.absoluteDir();
+    if (!dir.exists())
+    {
+        dir.mkpath(".");
+    }
+
+    QFile file(filePath);
+
+    if (file.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text))
+    {
+        QTextStream out(&file);
+        QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss.zzz");
+        out << timestamp << "\t" << QString::number(depthValue, 'f', 6) << "\n";
+        file.close();
+
+        emit depthValueLogged(depthValue, type);
+    }
+}
+
+double DepthValueLogger::readLatestDepthValue(DepthValueType type) const
+{
+    QString filePath = getLogFilePath(type);
+    QFile file(filePath);
+
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
+    {
+        return 0.0;
+    }
+
+    double latestValue = 0.0;
+    QTextStream in(&file);
+
+    while (!in.atEnd())
+    {
+        QString line = in.readLine().trimmed();
+        if (line.isEmpty())
+        {
+            continue;
+        }
+
+        QStringList parts = line.split("\t");
+        if (parts.size() >= 2)
+        {
+            latestValue = parts.last().toDouble();
+        }
+    }
+
+    file.close();
+    return latestValue;
+}
+
+bool DepthValueLogger::hasValidDepthValue(DepthValueType type) const
+{
+    QString filePath = getLogFilePath(type);
+    QFile file(filePath);
+
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
+    {
+        return false;
+    }
+
+    bool hasValue = false;
+    QTextStream in(&file);
+
+    while (!in.atEnd())
+    {
+        QString line = in.readLine().trimmed();
+        if (!line.isEmpty())
+        {
+            hasValue = true;
+            break;
+        }
+    }
+
+    file.close();
+    return hasValue;
+}
+
+void DepthValueLogger::appendPlantDepthValue(double depthValue)
+{
+    appendDepthValue(depthValue, DepthValueType::Plant);
+}
+
+void DepthValueLogger::appendLiftingPlatformDepthValue(double depthValue)
+{
+    appendDepthValue(depthValue, DepthValueType::LiftingPlatform);
+}
+
+double DepthValueLogger::readLatestPlantDepthValue() const
+{
+    return readLatestDepthValue(DepthValueType::Plant);
+}
+
+double DepthValueLogger::readLatestLiftingPlatformDepthValue() const
+{
+    return readLatestDepthValue(DepthValueType::LiftingPlatform);
+}

HPPA/DepthValueLogger.h

@@ -0,0 +1,41 @@
+#ifndef DEPTH_VALUE_LOGGER_H
+#define DEPTH_VALUE_LOGGER_H
+
+#include <QObject>
+#include <QString>
+
+enum class DepthValueType
+{
+    Plant,
+    LiftingPlatform
+};
+
+class DepthValueLogger : public QObject
+{
+    Q_OBJECT
+
+public:
+    static DepthValueLogger& instance();
+
+    void appendDepthValue(double depthValue, DepthValueType type);
+    double readLatestDepthValue(DepthValueType type) const;
+    bool hasValidDepthValue(DepthValueType type) const;
+
+    void appendPlantDepthValue(double depthValue);
+    void appendLiftingPlatformDepthValue(double depthValue);
+    double readLatestPlantDepthValue() const;
+    double readLatestLiftingPlatformDepthValue() const;
+
+signals:
+    void depthValueLogged(double value, DepthValueType type);
+
+private:
+    DepthValueLogger();
+    ~DepthValueLogger();
+    DepthValueLogger(const DepthValueLogger&) = delete;
+    DepthValueLogger& operator=(const DepthValueLogger&) = delete;
+
+    QString getLogFilePath(DepthValueType type) const;
+};
+
+#endif

HPPA/FiberSpectrometerOperationBase.h

@@ -0,0 +1,61 @@
+//
+// Created by tangchao on 2022/1/11.
+//
+
+#ifndef OCEAN_OPTICS_CALIBRATION_CONSOLE_FIBERSPECTROMETEROPERATIONBASE_H
+#define OCEAN_OPTICS_CALIBRATION_CONSOLE_FIBERSPECTROMETEROPERATIONBASE_H
+
+
+#include "ZZ_Types.h"
+
+using namespace ZZ_MISCDEF;
+using namespace ZZ_MISCDEF::IRIS::FS;
+
+class FiberSpectrometerOperationBase
+{
+
+public:
+//    FiberSpectrometerOperationBase();
+//    ~FiberSpectrometerOperationBase();
+
+    virtual void connectFiberSpectrometer(QString& sn, QString& pixelCount, QString& wavelengthInfo) = 0;
+    virtual void disconnectFiberSpectrometer() = 0;
+    virtual void getDeviceAttribute(DeviceAttribute& deviceAttribute) = 0;
+    virtual void getDeviceInfo(DeviceInfo& deviceInfo) = 0;
+
+    virtual void setExposureTime(int iExposureTimeInMS) = 0;
+
+    virtual void getExposureTime(int &iExposureTimeInMS) = 0;
+    virtual void getDeviceTemperature(float &fTemperature) = 0;
+
+    virtual void singleShot(DataFrame &dfData) = 0;
+
+//    typedef struct coeffs
+//    {
+//        ZZ_U32    coeffsCounter;
+//        double    coeffs[100];
+//    }coeffsFrame;
+    virtual void getNonlinearityCoeffs(coeffsFrame &coeffs) = 0;
+
+
+//    ZZ_S32 GetMaxValue(ZZ_S32 * dark, int number) = 0;
+
+    DataFrame m_IntegratingSphereData;
+    DataFrame m_DarkData;
+protected:
+    ZZ_U32 m_MaxValueOfFiberSpectrometer;
+private:
+
+
+
+public slots:
+    virtual void recordDark(QString path) = 0;
+    virtual void recordTarget(int recordTimes, QString path) = 0;
+    virtual void autoExpose() = 0;
+
+    signals:
+    void sendExposureTimeSignal(int exposureTime);
+
+};
+
+#endif //OCEAN_OPTICS_CALIBRATION_CONSOLE_FIBERSPECTROMETEROPERATIONBASE_H

HPPA/FocusDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>557</width>
-    <height>432</height>
+    <width>582</width>
+    <height>465</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -154,7 +154,7 @@ QSlider::handle:horizontal:pressed {
 	border: 1px solid #2f6bff;
 }</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_7">
+     <layout class="QGridLayout" name="gridLayout_10">
       <property name="leftMargin">
        <number>0</number>
       </property>
@@ -168,7 +168,7 @@ QSlider::handle:horizontal:pressed {
        <number>0</number>
       </property>
       <property name="spacing">
-       <number>10</number>
+       <number>6</number>
       </property>
       <item row="0" column="0">
        <widget class="QWidget" name="titlebarWidget" native="true">
@@ -242,23 +242,11 @@ QSlider::handle:horizontal:pressed {
       </item>
       <item row="1" column="0">
        <widget class="QWidget" name="widget" native="true">
-        <layout class="QGridLayout" name="gridLayout_2">
-         <property name="leftMargin">
-          <number>10</number>
-         </property>
-         <property name="topMargin">
-          <number>10</number>
-         </property>
-         <property name="rightMargin">
-          <number>10</number>
-         </property>
-         <property name="bottomMargin">
-          <number>10</number>
-         </property>
+        <layout class="QGridLayout" name="gridLayout_2" columnstretch="2,3">
          <property name="spacing">
-          <number>10</number>
+          <number>9</number>
          </property>
-         <item row="0" column="0" rowspan="2">
+         <item row="0" column="0">
           <widget class="QWidget" name="connectFocusModule_widget" native="true">
            <property name="styleSheet">
             <string notr="true">QWidget #connectFocusModule_widget
@@ -274,85 +262,185 @@ QRadioButton
            </property>
            <layout class="QGridLayout" name="gridLayout">
             <property name="leftMargin">
-             <number>9</number>
+             <number>0</number>
             </property>
             <property name="topMargin">
-             <number>9</number>
+             <number>0</number>
             </property>
             <property name="rightMargin">
-             <number>9</number>
+             <number>0</number>
             </property>
             <property name="bottomMargin">
-             <number>9</number>
+             <number>0</number>
             </property>
-            <item row="0" column="0">
-             <widget class="QLabel" name="label">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
-               <string>连接调焦模块</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QLabel" name="label_2">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="text">
-               <string>线性平台</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QComboBox" name="motorPort_comboBox"/>
-            </item>
-            <item row="2" column="0">
-             <widget class="QRadioButton" name="ultrasound_radioButton">
-              <property name="text">
-               <string>超声</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QComboBox" name="ultrasoundPort_comboBox">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <widget class="QRadioButton" name="is_new_version_radioButton">
-              <property name="text">
-               <string>新版</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <spacer name="horizontalSpacer_2">
-              <property name="orientation">
-               <enum>Qt::Horizontal</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>107</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item row="4" column="0" colspan="2">
-             <widget class="QPushButton" name="connectMotor_btn">
-              <property name="text">
-               <string>连接线性平台</string>
+            <property name="spacing">
+             <number>0</number>
+            </property>
+            <item row="0" column="1">
+             <widget class="QGroupBox" name="groupBox">
+              <property name="title">
+               <string>连接调焦线性平台</string>
               </property>
+              <layout class="QGridLayout" name="gridLayout_7">
+               <item row="0" column="0">
+                <widget class="QRadioButton" name="is_new_version_radioButton">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="text">
+                  <string>新版</string>
+                 </property>
+                 <property name="checkable">
+                  <bool>true</bool>
+                 </property>
+                 <property name="checked">
+                  <bool>true</bool>
+                 </property>
+                 <property name="autoExclusive">
+                  <bool>false</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="1">
+                <spacer name="horizontalSpacer_2">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item row="1" column="0" colspan="2">
+                <widget class="QStackedWidget" name="stackedWidget_connetcParm">
+                 <property name="currentIndex">
+                  <number>0</number>
+                 </property>
+                 <widget class="QWidget" name="page">
+                  <layout class="QGridLayout" name="gridLayout_12">
+                   <property name="leftMargin">
+                    <number>0</number>
+                   </property>
+                   <property name="topMargin">
+                    <number>0</number>
+                   </property>
+                   <property name="rightMargin">
+                    <number>0</number>
+                   </property>
+                   <property name="bottomMargin">
+                    <number>0</number>
+                   </property>
+                  </layout>
+                 </widget>
+                 <widget class="QWidget" name="page_2">
+                  <layout class="QGridLayout" name="gridLayout_13">
+                   <item row="0" column="0">
+                    <widget class="QLabel" name="label_2">
+                     <property name="enabled">
+                      <bool>true</bool>
+                     </property>
+                     <property name="text">
+                      <string>线性平台</string>
+                     </property>
+                     <property name="alignment">
+                      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="0" column="1">
+                    <widget class="QComboBox" name="motorPort_comboBox"/>
+                   </item>
+                   <item row="1" column="0">
+                    <widget class="QRadioButton" name="ultrasound_radioButton">
+                     <property name="text">
+                      <string>超声</string>
+                     </property>
+                    </widget>
+                   </item>
+                   <item row="1" column="1">
+                    <widget class="QComboBox" name="ultrasoundPort_comboBox">
+                     <property name="enabled">
+                      <bool>false</bool>
+                     </property>
+                    </widget>
+                   </item>
+                  </layout>
+                 </widget>
+                </widget>
+               </item>
+               <item row="2" column="0" colspan="2">
+                <widget class="QPushButton" name="connectMotor_btn">
+                 <property name="text">
+                  <string>连接</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="0">
+                <spacer name="horizontalSpacer">
+                 <property name="orientation">
+                  <enum>Qt::Horizontal</enum>
+                 </property>
+                 <property name="sizeHint" stdset="0">
+                  <size>
+                   <width>40</width>
+                   <height>20</height>
+                  </size>
+                 </property>
+                </spacer>
+               </item>
+               <item row="3" column="1">
+                <layout class="QHBoxLayout" name="horizontalLayout">
+                 <item>
+                  <widget class="QLabel" name="label_4">
+                   <property name="sizePolicy">
+                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                     <horstretch>0</horstretch>
+                     <verstretch>0</verstretch>
+                    </sizepolicy>
+                   </property>
+                   <property name="text">
+                    <string>状态</string>
+                   </property>
+                   <property name="alignment">
+                    <set>Qt::AlignCenter</set>
+                   </property>
+                  </widget>
+                 </item>
+                 <item>
+                  <widget class="QLabel" name="motor_state_label">
+                   <property name="maximumSize">
+                    <size>
+                     <width>8</width>
+                     <height>8</height>
+                    </size>
+                   </property>
+                   <property name="sizeIncrement">
+                    <size>
+                     <width>8</width>
+                     <height>8</height>
+                    </size>
+                   </property>
+                   <property name="styleSheet">
+                    <string notr="true">QLabel#motor_state_label
+{
+	background-color: red;
+	border-radius: 4px;
+}</string>
+                   </property>
+                   <property name="text">
+                    <string/>
+                   </property>
+                  </widget>
+                 </item>
+                </layout>
+               </item>
+              </layout>
              </widget>
             </item>
            </layout>
@@ -368,151 +456,147 @@ QRadioButton
 }</string>
            </property>
            <layout class="QGridLayout" name="gridLayout_3">
-            <item row="2" column="0">
-             <widget class="QPushButton" name="moveto_btn">
-              <property name="text">
-               <string>移动至</string>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="0">
-             <widget class="QPushButton" name="logicZero_btn">
-              <property name="text">
-               <string>LogicZero</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1" colspan="2">
-             <widget class="QLineEdit" name="move2_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>10</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <widget class="QPushButton" name="add_btn">
-              <property name="text">
-               <string>+</string>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="1" colspan="2">
-             <widget class="QLineEdit" name="subtractStepSize_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>10</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QPushButton" name="updateCurrentLocation_btn">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="minimumSize">
-               <size>
-                <width>0</width>
-                <height>34</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>更新实时位置</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1" colspan="2">
-             <widget class="QLineEdit" name="addStepSize_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>10</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="2">
-             <widget class="QPushButton" name="rangeMeasurement_btn">
-              <property name="text">
-               <string>量程测量</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1" colspan="2">
-             <widget class="QLineEdit" name="currentLocation_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>null</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="0">
-             <widget class="QPushButton" name="subtract_btn">
-              <property name="text">
-               <string>-</string>
-              </property>
-             </widget>
-            </item>
-            <item row="5" column="1">
-             <widget class="QPushButton" name="max_btn">
-              <property name="text">
-               <string>max</string>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="0">
-             <widget class="QLabel" name="label_5">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="text">
+            <item row="0" column="2">
+             <widget class="QGroupBox" name="groupBox_2">
+              <property name="title">
                <string>调整线性平台</string>
               </property>
+              <layout class="QGridLayout" name="gridLayout_8">
+               <item row="0" column="0">
+                <widget class="QPushButton" name="updateCurrentLocation_btn">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="minimumSize">
+                  <size>
+                   <width>0</width>
+                   <height>34</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>更新实时位置</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="0">
+                <widget class="QPushButton" name="subtract_btn">
+                 <property name="text">
+                  <string>-</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="0">
+                <widget class="QPushButton" name="add_btn">
+                 <property name="text">
+                  <string>+</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="0">
+                <widget class="QPushButton" name="logicZero_btn">
+                 <property name="text">
+                  <string>LogicZero</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="1" colspan="2">
+                <widget class="QLineEdit" name="move2_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>0</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="1" colspan="2">
+                <widget class="QLineEdit" name="subtractStepSize_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>1</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="0">
+                <widget class="QPushButton" name="moveto_btn">
+                 <property name="text">
+                  <string>移动至</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="1" colspan="2">
+                <widget class="QLineEdit" name="currentLocation_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>null</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                 <property name="readOnly">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="1">
+                <widget class="QPushButton" name="max_btn">
+                 <property name="text">
+                  <string>max</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="4" column="2">
+                <widget class="QPushButton" name="rangeMeasurement_btn">
+                 <property name="text">
+                  <string>量程测量</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="1" colspan="2">
+                <widget class="QLineEdit" name="addStepSize_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>1</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+              </layout>
              </widget>
             </item>
            </layout>
           </widget>
          </item>
-         <item row="1" column="1">
+         <item row="1" column="0" colspan="2">
           <widget class="QWidget" name="controlFocus_widget" native="true">
            <property name="styleSheet">
             <string notr="true">QWidget #controlFocus_widget
@@ -521,53 +605,53 @@ QRadioButton
 	border-radius: 5px 5px 5px 5px;
 }</string>
            </property>
-           <layout class="QGridLayout" name="gridLayout_4">
-            <item row="0" column="0">
-             <widget class="QLabel" name="label_4">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
+           <layout class="QGridLayout" name="gridLayout_4" columnstretch="1,2">
+            <item row="0" column="1">
+             <widget class="QGroupBox" name="groupBox_3">
+              <property name="title">
+               <string>自动调焦</string>
               </property>
-              <property name="text">
-               <string>调焦</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QLabel" name="label_3">
-              <property name="enabled">
-               <bool>true</bool>
-              </property>
-              <property name="text">
-               <string>采样率</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QLineEdit" name="sample_ratio_lineEdit">
-              <property name="minimumSize">
-               <size>
-                <width>88</width>
-                <height>30</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>20</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="0">
-             <widget class="QProgressBar" name="autoFocusProgress_progressBar">
-              <property name="styleSheet">
-               <string notr="true">QProgressBar {
+              <layout class="QGridLayout" name="gridLayout_9">
+               <item row="0" column="0">
+                <widget class="QLabel" name="label_3">
+                 <property name="enabled">
+                  <bool>true</bool>
+                 </property>
+                 <property name="text">
+                  <string>采样数</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="1">
+                <widget class="QLineEdit" name="sample_ratio_lineEdit">
+                 <property name="minimumSize">
+                  <size>
+                   <width>88</width>
+                   <height>30</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>20</string>
+                 </property>
+                 <property name="alignment">
+                  <set>Qt::AlignCenter</set>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="1">
+                <widget class="QPushButton" name="autoFocus_btn">
+                 <property name="text">
+                  <string>自动调焦</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="0">
+                <widget class="QProgressBar" name="autoFocusProgress_progressBar">
+                 <property name="styleSheet">
+                  <string notr="true">QProgressBar {
         border: 2px solid #08FACE;       /* 边框颜色和宽度 */
         border-radius: 8px;           /* 圆角 */
         background-color: #eee;       /* 未完成部分颜色 */
@@ -579,37 +663,29 @@ QRadioButton
         background-color: #08FACE;                          /* 渐变色进度块 */
         border-radius: 8px;             /* 保持和整体圆角一致 */
     }</string>
-              </property>
-              <property name="value">
-               <number>24</number>
-              </property>
+                 </property>
+                 <property name="value">
+                  <number>24</number>
+                 </property>
+                </widget>
+               </item>
+              </layout>
              </widget>
             </item>
-            <item row="2" column="1">
-             <widget class="QPushButton" name="autoFocus_btn">
-              <property name="text">
-               <string>自动调焦</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <spacer name="horizontalSpacer">
-              <property name="orientation">
-               <enum>Qt::Horizontal</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>171</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item row="3" column="1">
-             <widget class="QPushButton" name="manualFocus_btn">
-              <property name="text">
+            <item row="0" column="0">
+             <widget class="QGroupBox" name="groupBox_4">
+              <property name="title">
                <string>手动调焦</string>
               </property>
+              <layout class="QGridLayout" name="gridLayout_11">
+               <item row="0" column="0">
+                <widget class="QPushButton" name="manualFocus_btn">
+                 <property name="text">
+                  <string>手动调焦</string>
+                 </property>
+                </widget>
+               </item>
+              </layout>
              </widget>
             </item>
            </layout>

HPPA/FodisWindow.cpp

@@ -0,0 +1,99 @@
+#include "FodisWindow.h"
+#include "JinspFiberImagerConfig.h"
+
+FodisWindow::FodisWindow(QWidget* parent)
+    : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    m_FiberImagerThread = new QThread();
+    m_JinspFiberImagerOperation = new JinspFiberImager(false, JinspFiberImagerConfig::instance().portName().toStdString(), "JINSP");
+    connect(m_JinspFiberImagerOperation, &JinspFiberImager::spectalCaptured, this, &FodisWindow::spectalCaptured);
+    connect(m_JinspFiberImagerOperation, &JinspFiberImager::startExposureSignal, this, &FodisWindow::startExposureSignal);
+    connect(m_JinspFiberImagerOperation, &JinspFiberImager::exposureCompleteSignal, this, &FodisWindow::exposureCompleteSignal);
+    m_JinspFiberImagerOperation->moveToThread(m_FiberImagerThread);
+    m_FiberImagerThread->start();
+
+    connect(ui.open_btn, &QPushButton::clicked, this, &FodisWindow::openFiberImager);
+    connect(ui.close_btn, &QPushButton::clicked, this, &FodisWindow::closeFiberImager);
+
+    connect(this, &FodisWindow::openFiberImagerSignal, m_JinspFiberImagerOperation, &JinspFiberImager::OpenFiberImagerAndRecord);
+
+    //connect(m_JinspFiberImagerOperation, &JinspFiberImager::CamOpenedSignal, this, &FodisWindow::onCamOpened);
+    //connect(m_JinspFiberImagerOperation, &JinspFiberImager::CamClosedSignal, this, &FodisWindow::onCamClosed);
+
+    //connect(m_JinspFiberImagerOperation, &JinspFiberImager::PlotSignal, this, &FodisWindow::PlotSpectralSignal);
+    //connect(m_JinspFiberImagerOperation, &JinspFiberImager::CamClosedSignal, this, &FodisWindow::FiberImagerClosedSignal);
+
+    connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
+
+    // 初始化数据保存路径显示（从 AppSettings 恢复或使用默认）
+    ui.dataFolderLineEdit->setText(AppSettings::instance().depthCameraDataFolder());
+
+    setDataFolder(AppSettings::instance().FiberImagerDataFolder());
+}
+
+FodisWindow::~FodisWindow()
+{
+    m_FiberImagerThread->quit();
+    m_FiberImagerThread->wait();
+    delete m_JinspFiberImagerOperation;
+    m_JinspFiberImagerOperation = nullptr;
+}
+
+void FodisWindow::onSelectDataFolder()
+{
+    QString dir = QFileDialog::getExistingDirectory(this,
+        QString::fromLocal8Bit("选择数据保存路径"),
+        ui.dataFolderLineEdit->text());
+
+    setDataFolder(dir);
+}
+
+void FodisWindow::setDataFolder(QString dir)
+{
+    if (!dir.isEmpty())
+    {
+        ui.dataFolderLineEdit->setText(dir);
+        AppSettings::instance().setFiberImagerDataFolder(dir);
+    }
+}
+
+void FodisWindow::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_JinspFiberImagerOperation->setCaptureInterval(captureIntervalSeconds);
+}
+
+void FodisWindow::openFiberImager()
+{
+    openFiberImager_expose_record("pos_null");
+}
+
+void FodisWindow::openFiberImager_expose_record(QString posInfo)
+{
+    if (!m_JinspFiberImagerOperation->getRecordStatus())
+    {
+        emit openFiberImagerSignal(posInfo);
+    }
+}
+
+void FodisWindow::onCamOpened()
+{
+    ui.open_btn->setEnabled(false);
+    ui.close_btn->setEnabled(true);
+
+    ui.open_btn->setText(QString::fromLocal8Bit("已打开"));
+}
+
+void FodisWindow::closeFiberImager()
+{
+    m_JinspFiberImagerOperation->disconnectFiberSpectrometer();
+}
+
+void FodisWindow::onCamClosed()
+{
+    ui.open_btn->setEnabled(true);
+    ui.close_btn->setEnabled(false);
+
+    ui.open_btn->setText(QString::fromLocal8Bit("打   开"));
+}

HPPA/FodisWindow.h

@@ -0,0 +1,56 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <QImage>
+#include <Qthread>
+#include <QDir>
+//#include <QLabel>
+#include <QFileDialog>
+
+#include <iostream>
+#include "ui_fodis.h"
+#include "AppSettings.h"
+
+#include <fstream>
+
+#include "JinspFiberImager.h"
+
+class FodisWindow : public QDialog
+{
+	Q_OBJECT
+
+public:
+	FodisWindow(QWidget* parent = nullptr);
+	~FodisWindow();
+
+	void setDataFolder(QString dir);
+	void setCaptureInterval(int captureIntervalSeconds);
+
+public Q_SLOTS:
+	void openFiberImager();
+	void openFiberImager_expose_record(QString posInfo);
+	void onCamOpened();
+	void closeFiberImager();
+	void onCamClosed();
+
+	void onSelectDataFolder();
+
+signals:
+	void openFiberImagerSignal(QString posInfo);
+	void PlotSpectralSignal();
+	void FiberImagerClosedSignal();
+
+	void spectalCaptured(DeviceAttribute attribute, DataFrame dataFrame);
+
+	void startExposureSignal();
+	void exposureCompleteSignal(int exposureTime);
+
+private:
+	Ui::FodisWindow ui;
+	QThread* m_FiberImagerThread;
+
+	JinspFiberImager* m_JinspFiberImagerOperation;
+};

HPPA/GonggaShanRecordCtl.cpp

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

HPPA/GonggaShanRecordCtl.h

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

HPPA/HPPA.h

@@ -13,6 +13,7 @@
 #include <QChart>
 #include <QChartView>
 #include <QValueAxis>
+#include <QPointer>
 #include <QFileDialog>
 
 #include <QNetworkRequest>
@@ -79,6 +80,18 @@
 
 #include "rgbCameraWindow.h"
 #include "DepthCameraWindow.h"
+#include "SingleLensReflexCameraWindow.h"
+
+#include "LayerTreeImageNode.h"
+
+#include "TimedDataCollection.h"
+
+#include "PowerControl3D.h"
+#include "FodisWindow.h"
+
+#include "GonggaShanRecordCtl.h"
+
+#include <algorithm>
 
 #define PI 3.1415926
 
@@ -186,6 +199,26 @@ private:
 	QPixmap m_pixmap;
 };
 
+class ImageStretchWorker : public QObject
+{
+	Q_OBJECT
+public:
+	explicit ImageStretchWorker(QObject* parent = nullptr);
+	~ImageStretchWorker();
+public slots:
+	void processImage(const cv::Mat& rgbImage, int fileNumber, const QString& filePath, float ratio = 0.02f);
+signals:
+	void imageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
+	void processingError(int fileNumber, const QString& filePath, const QString& error);
+private:
+	cv::Mat CStretch(const cv::Mat& img, float ratio);
+	cv::Mat CStretchDeal(const cv::Mat& img, uint minnum, uint maxnum);
+	std::vector<cv::Point2f> CHistogram(const cv::Mat& img);
+	uint MaxRatio(const std::vector<cv::Point2f>& data, float ratio);
+	uint MinRatio(const std::vector<cv::Point2f>& data, float ratio);
+	QImage Mat2QImage(const cv::Mat& cvImg);
+};
+
 class HPPA : public QMainWindow
 {
 	Q_OBJECT
@@ -271,6 +304,8 @@ private:
 
 	MyCarousel* m_carousel;
 	QLabel* m_cam_label;
+	QLabel* m_SingleLensReflexCamera_label;
+	QLabel* m_depthCamera_label;
 	QPushButton* m_open_rgb_camera_btn;
 	QPushButton* m_close_rgb_camera_btn;
 
@@ -280,11 +315,17 @@ private:
 	rgbCameraWindow* m_rgbCameraControlWindow;
 	ImageControl* m_ic;
 	DepthCameraWindow* m_depthCameraWindow;
+	SingleLensReflexCameraWindow* m_singleLensReflexCameraWindow;
 	adjustTable* m_adt;
 	PowerControl* m_pc;
+	PowerControl3D* m_pc3D;
 	RobotArmControl* m_rac;
 	OneMotorControl* m_omc;
+	OneMotorControl_LiftingPlatform* m_omc_LiftingPlatform;
 	TwoMotorControl* m_tmc;
+	FodisWindow* m_fodisWindow;
+	GonggaShanRecordCtl* m_gonggaShanRecordCtl;
+	QPointer<TimedDataCollection> m_tdc;
 
 	View3DModelManager* m_view3DModelManager;
 
@@ -310,6 +351,21 @@ private:
 	bool showResultMessageBox(QString title, QString msg);
 	void disconnectImagerAndCleanup();
 
+	void initTimedDataCollection();
+
+	QThread* m_ImageStretchThread = nullptr;
+	ImageStretchWorker* m_ImageStretchWorker = nullptr;
+
+	// 用于临时显示的未拉伸图像（可选，用于快速预览）
+	void showQuickPreview(int fileNumber, const QString& filePath, const cv::Mat& rgbImage);
+
+
+	QChart* m_FiberImagerChart;
+	void showFiberImagerSpectral(DeviceAttribute attribute, DataFrame dataFrame);
+
+	void setupGonggashanAutoRecordConnection();
+	
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
 	void focusPlotSpectralImg(int state);
@@ -351,8 +407,13 @@ public Q_SLOTS:
 		void OnSendLogToCallClass(QString str);
 
 		void onPlotRgbImage();
+		void onPlotDepthImage();
 		
+		void onLiveViewImageReady(const QImage& image);
+		void HPPA::onLiveViewStopped();
+
 		void onClearLabel();
+		void onClearDepthLabel();
 
 		void onCopyFinished();
 
@@ -361,13 +422,21 @@ public Q_SLOTS:
 		void recordFromRobotArm(int fileCounter);
 
 		void createOneMotorScenario();
+		void createGonggaRotatingPlatformScenario();
 		void createPlantPhenotypeScenario();
+		void create3DPlantPhenotypeScenario();
 		void onCreated3DModelPlantPhenotype();
+		void onCreated3DModelMicroscopicMotion();
+		void createMicroscopicMotionControlScenario();
 		void onCreated3DModelOneMotor();
 
-		void addLayer(const QString& baseName, const QString& filePath, bool refresh);
+		void addLayer(const QString& baseName, const QString& filePath, bool refresh, bool isAddImage = true);
+		void newImage(RasterLayer* ml, RasterImageLayer::RendererType, LayerTreeNode* parent, bool refresh=true);
 		void onLayerCreatedFromFile(const QString& baseName, const QString& filePath, int fileIndex);
 		void removeLayerByTreeIndex();
+		void removeLayerByNode(LayerTreeNode* node);
+		void showColorImageByTreeIndex();
+		void removeImageByTreeIndex();
 		void removeAllLayersInRasterGroup();
 
 		void onLayerTreeSelectionChanged(const QItemSelection& selected, const QItemSelection& deselected);
@@ -375,6 +444,21 @@ public Q_SLOTS:
 
 		void onMapToolPanTriggered();
 		void onMapToolSpectralTriggered();
+
+		void onTimedDataCollection();
+		void setTimedDataCollectionHyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+		void setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder);
+		void setTimedDataCollectionMotorParm(QString pathLineFilePath);
+		void onStartTimedDataCollection(int camType);
+		void onObtainTargetDepthInformation(SubTask subTaskParams);
+		void onLiftingPlatform(SubTask subTaskParams);
+		void onAutoFocus_TimedDataCollection(SubTask subTaskParams);
+
+		void onStretchedImageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
+		void onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error);
+
+		void onGonggashanRecord(QString posInfo);
+
 protected:
 	void closeEvent(QCloseEvent* event) override;
 

HPPA/HPPA.ui

@@ -105,6 +105,7 @@ color:white;
     <addaction name="action_start_recording"/>
     <addaction name="separator"/>
     <addaction name="actionOpenDirectory"/>
+    <addaction name="mActionTimedDataCollection"/>
    </widget>
    <widget class="QMenu" name="menuhelp">
     <property name="title">
@@ -132,7 +133,10 @@ color:white;
      <string>应用场景</string>
     </property>
     <addaction name="mActionOneMotorScenario"/>
+    <addaction name="mActionGonggaRotatingPlatformScenario"/>
     <addaction name="mActionPlantPhenotypeScenario"/>
+    <addaction name="mActionMicroscopicMotionControlScenario"/>
+    <addaction name="mAction3DPlantPhenotypeScenario"/>
    </widget>
    <widget class="QMenu" name="menu_4">
     <property name="title">
@@ -725,6 +729,35 @@ QPushButton:pressed
     <string>光谱</string>
    </property>
   </action>
+  <action name="mActionMicroscopicMotionControlScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>显微运动控制台</string>
+   </property>
+  </action>
+  <action name="mAction3DPlantPhenotypeScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>3D植物表型</string>
+   </property>
+  </action>
+  <action name="mActionTimedDataCollection">
+   <property name="text">
+    <string>定时采集</string>
+   </property>
+  </action>
+  <action name="mActionGonggaRotatingPlatformScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>贡嘎山旋转平台</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>

HPPA/HPPA.vcxproj

@@ -55,27 +55,28 @@
   </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(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;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Header;D:\cpp_project_vs2022\HPPA\JinspSpectralmeterControl;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;C:\Program Files\OrbbecSDK 2.7.6\lib;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Library;$(LibraryPath)</LibraryPath>
     <TargetName>Spectral Insight</TargetName>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Header;D:\cpp_project_vs2022\HPPA\JinspSpectralmeterControl;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;C:\Program Files\OrbbecSDK 2.7.6\lib;D:\cpp_library\EDSDK132010CD(13.20.10)\Windows\EDSDK_64\Library;$(LibraryPath)</LibraryPath>
     <TargetName>Spectral Insight</TargetName>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;OrbbecSDK.lib;EDSDK.lib;JinspSpectralmeterControl.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
     <ClCompile>
       <PreprocessorDefinitions>%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <LanguageStandard>stdcpp14</LanguageStandard>
     </ClCompile>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;OrbbecSDK.lib;EDSDK.lib;JinspSpectralmeterControl.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
   </ItemDefinitionGroup>
@@ -112,18 +113,25 @@
     <ClCompile Include="AspectRatioLabel.cpp" />
     <ClCompile Include="CaptureCoordinator.cpp" />
     <ClCompile Include="Carousel.cpp" />
+    <ClCompile Include="CommunicationInterfaceBase.cpp" />
+    <ClCompile Include="CommunicationViaTCP.cpp" />
     <ClCompile Include="Corning410Imager.cpp" />
     <ClCompile Include="CustomDockWidgetBase.cpp" />
     <ClCompile Include="DepthCameraWindow.cpp" />
     <ClCompile Include="FileNameLineEdit.cpp" />
+    <ClCompile Include="FodisWindow.cpp" />
+    <ClCompile Include="GonggaShanRecordCtl.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
     <ClCompile Include="HyperImagerControl.cpp" />
     <ClCompile Include="imageControl.cpp" />
     <ClCompile Include="ImagerOperationBase.cpp" />
     <ClCompile Include="imager_base.cpp" />
     <ClCompile Include="irisximeaimager.cpp" />
+    <ClCompile Include="JinspFiberImager.cpp" />
+    <ClCompile Include="JinspFiberImagerConfig.cpp" />
     <ClCompile Include="LayerTree.cpp" />
     <ClCompile Include="LayerTreeGroupNode.cpp" />
+    <ClCompile Include="LayerTreeImageNode.cpp" />
     <ClCompile Include="LayerTreeLayerNode.cpp" />
     <ClCompile Include="LayerTreeModel.cpp" />
     <ClCompile Include="LayerTreeNode.cpp" />
@@ -137,13 +145,18 @@
     <ClCompile Include="MapToolSpectral.cpp" />
     <ClCompile Include="MotorWindowBase.cpp" />
     <ClCompile Include="OneMotorControl.cpp" />
+    <ClCompile Include="PathLine.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
+    <ClCompile Include="PowerControl3D.cpp" />
     <ClCompile Include="QDoubleSlider.cpp" />
     <ClCompile Include="QMotorDoubleSlider.cpp" />
     <ClCompile Include="RasterDataProvider.cpp" />
     <ClCompile Include="RasterLayer.cpp" />
-    <ClCompile Include="RasterRenderer.cpp" />
+    <ClCompile Include="MultibandRasterRenderer.cpp" />
+    <ClCompile Include="RasterRendererBase.cpp" />
+    <ClCompile Include="RasterImageLayer.cpp" />
+    <ClCompile Include="SinglebandRasterRenderer.cpp" />
     <ClCompile Include="recordFrameCounter.cpp" />
     <ClCompile Include="resononImager.cpp" />
     <ClCompile Include="ResononNirImager.cpp" />
@@ -151,11 +164,15 @@
     <ClCompile Include="rgbCameraWindow.cpp" />
     <ClCompile Include="RobotArmControl.cpp" />
     <ClCompile Include="setWindow.cpp" />
+    <ClCompile Include="SingleLensReflexCameraWindow.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="TaskTreeModel.cpp" />
+    <ClCompile Include="TimedDataCollection.cpp" />
+    <ClCompile Include="TimedDataCollectionDataStructures.cpp" />
     <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
     <ClCompile Include="View3D.cpp" />
@@ -165,8 +182,11 @@
     <QtUic Include="adjustTable.ui" />
     <QtUic Include="DepthCamera.ui" />
     <QtUic Include="FocusDialog.ui" />
+    <QtUic Include="fodis.ui" />
+    <QtUic Include="gonggashanCtl.ui" />
     <QtUic Include="HPPA.ui" />
     <QtMoc Include="HPPA.h" />
+    <ClCompile Include="DepthValueLogger.cpp" />
     <ClCompile Include="fileOperation.cpp" />
     <ClCompile Include="focusWindow.cpp" />
     <ClCompile Include="HPPA.cpp" />
@@ -182,14 +202,18 @@
     <QtUic Include="oneMotorControl.ui" />
     <QtUic Include="PathPlan.ui" />
     <QtUic Include="PowerControl.ui" />
+    <QtUic Include="PowerControl3D.ui" />
     <QtUic Include="RadianceConversion.ui" />
     <QtUic Include="ReflectanceConversion.ui" />
     <QtUic Include="rgbCamera.ui" />
     <QtUic Include="RobotArmControl.ui" />
     <QtUic Include="set.ui" />
+    <QtUic Include="SingleLensReflexCamera.ui" />
+    <QtUic Include="TimedDataCollection_ui.ui" />
     <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
+    <QtMoc Include="DepthValueLogger.h" />
     <QtMoc Include="fileOperation.h" />
   </ItemGroup>
   <ItemGroup>
@@ -214,6 +238,11 @@
     <ClInclude Include="AppSettings.h" />
     <QtMoc Include="FileNameLineEdit.h" />
     <QtMoc Include="DepthCameraWindow.h" />
+    <QtMoc Include="CommunicationViaTCP.h" />
+    <QtMoc Include="CommunicationInterfaceBase.h" />
+    <QtMoc Include="FodisWindow.h" />
+    <ClInclude Include="FiberSpectrometerOperationBase.h" />
+    <QtMoc Include="GonggaShanRecordCtl.h" />
     <ClInclude Include="imager_base.h" />
     <ClInclude Include="irisximeaimager.h" />
     <QtMoc Include="OneMotorControl.h" />
@@ -227,6 +256,8 @@
     <QtMoc Include="MapLayer.h" />
     <QtMoc Include="RasterLayer.h" />
     <QtMoc Include="MapLayerStore.h" />
+    <QtMoc Include="LayerTreeImageNode.h" />
+    <QtMoc Include="JinspFiberImager.h" />
     <ClInclude Include="LayerTreeView.h" />
     <QtMoc Include="LayerTreeViewMenuProvider.h" />
     <QtMoc Include="MapTool.h" />
@@ -234,11 +265,20 @@
     <QtMoc Include="MapToolSpectral.h" />
     <QtMoc Include="MapTools.h" />
     <ClInclude Include="MotorWindowBase.h" />
+    <QtMoc Include="PowerControl3D.h" />
+    <ClInclude Include="PathLine.h" />
     <ClInclude Include="RasterDataProvider.h" />
-    <ClInclude Include="RasterRenderer.h" />
+    <ClInclude Include="MultibandRasterRenderer.h" />
+    <ClInclude Include="RasterImageLayer.h" />
+    <ClInclude Include="RasterRendererBase.h" />
+    <ClInclude Include="SinglebandRasterRenderer.h" />
     <QtMoc Include="recordFrameCounter.h" />
     <QtMoc Include="setWindow.h" />
     <QtMoc Include="rgbCameraWindow.h" />
+    <QtMoc Include="SingleLensReflexCameraWindow.h" />
+    <QtMoc Include="TimedDataCollection.h" />
+    <QtMoc Include="TimedDataCollectionDataStructures.h" />
+    <QtMoc Include="TaskTreeModel.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -21,6 +21,24 @@
       <UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
       <Extensions>ts</Extensions>
     </Filter>
+    <Filter Include="Header Files\TimedDataCollection">
+      <UniqueIdentifier>{3777a3c2-8d8a-4414-b6c9-ac20640f7b2e}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\TimedDataCollection">
+      <UniqueIdentifier>{ea004f0d-34de-4b29-8ce2-57dd8aa01c03}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\LayerTree">
+      <UniqueIdentifier>{25329ee3-f78c-4dd9-9170-e64ccb4ccd9e}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Header Files\LayerTree">
+      <UniqueIdentifier>{18072152-2a29-4ad8-be97-d097af97eeec}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Header Files\hyperImagerCtl">
+      <UniqueIdentifier>{b3f08410-c140-42db-bcfd-24efba860cfb}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\hyperImagerCtl">
+      <UniqueIdentifier>{205ec088-0286-42ca-862c-2870928a46f5}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="HPPA.qrc">
@@ -70,9 +88,6 @@
     <ClCompile Include="QMotorDoubleSlider.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="resononImager.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="RgbCameraOperation.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -88,12 +103,6 @@
     <ClCompile Include="path_tc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="ResononNirImager.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="ImagerOperationBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="utility_tc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -139,42 +148,27 @@
     <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="RasterImageLayer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
     <ClCompile Include="RasterDataProvider.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="RasterRenderer.cpp">
+    <ClCompile Include="MultibandRasterRenderer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="SinglebandRasterRenderer.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>
@@ -217,6 +211,81 @@
     <ClCompile Include="DepthCameraWindow.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="SingleLensReflexCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RasterRendererBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="CommunicationViaTCP.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="CommunicationInterfaceBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PowerControl3D.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PathLine.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="FodisWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="JinspFiberImager.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="JinspFiberImagerConfig.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="GonggaShanRecordCtl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TaskTreeModel.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollection.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollectionDataStructures.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTree.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeGroupNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeImageNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeLayerNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeModel.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeView.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeViewMenuProvider.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="ImagerOperationBase.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="resononImager.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="ResononNirImager.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="DepthValueLogger.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -243,18 +312,12 @@
     <QtMoc Include="QMotorDoubleSlider.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="resononImager.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="RgbCameraOperation.h">
       <Filter>Header Files</Filter>
     </QtMoc>
     <QtMoc Include="aboutWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="ImagerOperationBase.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="adjustTable.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -291,21 +354,6 @@
     <QtMoc Include="View3DModelManager.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="LayerTreeModel.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTreeNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTree.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTreeGroupNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTreeLayerNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="MapLayer.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -315,9 +363,6 @@
     <QtMoc Include="MapLayerStore.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="LayerTreeViewMenuProvider.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="imageControl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -354,6 +399,66 @@
     <QtMoc Include="DepthCameraWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="SingleLensReflexCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="CommunicationViaTCP.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="CommunicationInterfaceBase.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="PowerControl3D.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="FodisWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="JinspFiberImager.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="GonggaShanRecordCtl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="TimedDataCollection.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="TaskTreeModel.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="TimedDataCollectionDataStructures.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTree.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeGroupNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeImageNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeLayerNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeModel.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeViewMenuProvider.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="ImagerOperationBase.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </QtMoc>
+    <QtMoc Include="resononImager.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </QtMoc>
+    <QtMoc Include="DepthValueLogger.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -374,9 +479,6 @@
     <ClInclude Include="path_tc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="ResononNirImager.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="utility_tc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -389,10 +491,16 @@
     <ClInclude Include="RasterDataProvider.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="RasterRenderer.h">
+    <ClInclude Include="MultibandRasterRenderer.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="LayerTreeView.h">
+    <ClInclude Include="RasterImageLayer.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RasterRendererBase.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="SinglebandRasterRenderer.h">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="AppSettings.h">
@@ -401,6 +509,18 @@
     <ClInclude Include="MotorWindowBase.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="PathLine.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="FiberSpectrometerOperationBase.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="LayerTreeView.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </ClInclude>
+    <ClInclude Include="ResononNirImager.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -448,6 +568,21 @@
     <QtUic Include="DepthCamera.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="SingleLensReflexCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="TimedDataCollection_ui.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="PowerControl3D.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="fodis.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="gonggashanCtl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />

HPPA/HyperImagerControl.cpp

@@ -83,6 +83,7 @@ void HyperImagerControl::setFrameRate(double frameRate)
 	ui.FramerateSlider->setValue(frameRate);
 
 	updateIntegrationTimeRange(frameRate);
+	AppSettings::instance().setFrameRate(frameRate);
 }
 
 void HyperImagerControl::setIntegrationTime(double integrationTime)
@@ -91,12 +92,15 @@ void HyperImagerControl::setIntegrationTime(double integrationTime)
 	ui.IntegratioinTimeSlider->setValue(integrationTime);
 
 	updateFramerateRange(integrationTime);
+	AppSettings::instance().setIntegrationTime(integrationTime);
 }
 
 void HyperImagerControl::setGain(double gain)
 {
 	ui.gain_spinBox->setValue(gain);
 	ui.GainSlider->setValue(gain);
+
+	AppSettings::instance().setGain(gain);
 }
 
 void HyperImagerControl::onFramerateSpinBoxEditingFinished()
@@ -161,7 +165,7 @@ void HyperImagerControl::onGainSliderReleased()
 
 void HyperImagerControl::updateIntegrationTimeRange(double frameRate)
 {
-	double maxIntegrationTime = 1.0 / frameRate * 1000.0; // 毫秒
+	double maxIntegrationTime = 1.0 / frameRate * 999.0; // 毫秒
 
 	ui.IntegratioinTimeSlider->blockSignals(true);
 	ui.IntegratioinTimeSlider->setMaximum(maxIntegrationTime);
@@ -176,7 +180,7 @@ void HyperImagerControl::updateIntegrationTimeRange(double frameRate)
 
 void HyperImagerControl::updateFramerateRange(double integrationTime)
 {
-	double maxFramerate = 1.0 / (integrationTime / 1000.0); // 积分时间(毫秒)转帧率
+	double maxFramerate = 1.0 / (integrationTime / 999.0); // 积分时间(毫秒)转帧率
 
 	if(maxFramerate > m_frameRateLimit)
 	{

HPPA/HyperImagerControl.h

@@ -5,6 +5,7 @@
 #include "ui_hyperImagerControl.h"
 
 #include "AspectRatioLabel.h"
+#include "AppSettings.h"
 
 class QDoubleSlider;
 

HPPA/ImageViewer.cpp

@@ -6,7 +6,7 @@
 #include <QPoint>
 
 #include "ImageViewer.h"
-#include "RasterLayer.h"
+#include "RasterImageLayer.h"
 #include "MapTool.h"
 
 
@@ -264,35 +264,22 @@ qreal Mapcavas::zoomDelta() const
     return m_zoomDelta;
 }
 
-// new: set associated raster layer
-void Mapcavas::setLayers(RasterLayer* layer)
+// set associated raster image layer
+void Mapcavas::setImageLayer(RasterImageLayer* layer)
 {
-    m_rasterLayer = layer;
+    m_imageLayer = layer;
 }
 
-RasterLayer* Mapcavas::rasterLayer() const
+RasterImageLayer* Mapcavas::imageLayer() const
 {
-    return m_rasterLayer;
+    return m_imageLayer;
 }
 
-// new: refresh the map by rendering using the RasterLayer's render method
 void Mapcavas::freshmap()
 {
-    if (!m_rasterLayer) return;
+    if (!m_imageLayer) 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);
+    QImage img = m_imageLayer->render();
     if (img.isNull()) return;
 
     QPixmap pm = QPixmap::fromImage(img);

HPPA/ImageViewer.h

@@ -4,7 +4,8 @@
 #include "QGraphicsView"
 #include "qlabel.h"
 #include <QVector>
-#include "RasterLayer.h"
+
+class RasterImageLayer;
 
 class MapTool;
 
@@ -16,7 +17,7 @@ public:
 	Mapcavas(QWidget* pParent = NULL);
 	~Mapcavas();
 
-	
+
 	void DisplayFrameNumber(int frameNumber);
 
 
@@ -47,12 +48,11 @@ public:
 	void setZoomDelta(qreal delta);
 	qreal zoomDelta() const;
 
-	// new: set raster layer and refresh map
-	void setLayers(RasterLayer* layer);
+	// set raster image layer and refresh map
+	void setImageLayer(RasterImageLayer* layer);
 	void freshmap();
-	void freshmap(const RasterLayer::RenderParams& params);
 
-	RasterLayer* rasterLayer() const;
+	RasterImageLayer* imageLayer() const;
 
 	// MapTool management
 	void setMapTool(MapTool* tool);
@@ -65,7 +65,7 @@ private:
 	QGraphicsPixmapItem *m_GraphicsPixmapItemHandle;
 	QLabel *m_framNumberLabel;//显示实时采集到的帧数
 
-	RasterLayer* m_rasterLayer = nullptr; // associated raster layer
+	RasterImageLayer* m_imageLayer = nullptr; // associated raster image layer
 	MapTool* m_mapTool = nullptr;         // current active map tool
 
 	qreal m_translateSpeed;  // 平移速度

HPPA/ImagerOperationBase.cpp

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

HPPA/JinspFiberImager.cpp

@@ -0,0 +1,348 @@
+//
+// Created by 73505 on 2023/5/7.
+//
+#include <algorithm>
+
+#include "JinspFiberImager.h"
+
+JinspFiberImager::JinspFiberImager(bool bIsUSBMode, std::string ucPortNumber, std::string strDeviceName)
+{
+    m_FiberSpectrometer = NULL;
+
+    mUcPortNumber=ucPortNumber;
+
+    m_record = false;
+
+    m_captureIntervalMilliseconds = 1 * 1000;
+
+    qRegisterMetaType<DeviceAttribute>("DeviceAttribute");
+    qRegisterMetaType<DataFrame>("DataFrame");
+}
+
+JinspFiberImager::~JinspFiberImager()
+{
+
+}
+
+void JinspFiberImager::connectFiberSpectrometer(QString& SN, QString& pixelCount, QString& wavelengthInfo)
+{
+    using namespace std;
+
+    m_FiberSpectrometer = new JinspSpectralmeterControl();
+
+    m_FiberSpectrometer->Initialize(false, mUcPortNumber, "OPTOSKY");
+
+    DeviceInfo deviceInfo;//
+    DeviceAttribute deviceAttribute;
+
+    m_FiberSpectrometer->GetDeviceInfo(deviceInfo);
+    m_FiberSpectrometer->GetDeviceAttribute(deviceAttribute);//？？？？？
+
+    SN = QString::fromStdString(deviceInfo.strSN);
+    pixelCount = QString::number(deviceAttribute.iPixels);
+    wavelengthInfo = QString::number(deviceAttribute.fWaveLengthInNM[0]) + "--" + QString::number(deviceAttribute.fWaveLengthInNM[deviceAttribute.iPixels - 1]);
+
+    m_FiberSpectrometer->SetDeviceTemperature(-10);
+
+
+    //设置dn值的最大值（和位深相关）
+    string qepro = "QEP";//?????????????????????????????????????????????????????????????????????????????????????????
+    string flame = "FLMS";//?????????????????????????????????????????????????????????????????????????????????????????
+    if (deviceInfo.strSN.find(qepro) != string::npos)
+    {
+        m_MaxValueOfFiberSpectrometer = 200000;
+    }
+    else if (deviceInfo.strSN.find(flame) != string::npos)
+    {
+        m_MaxValueOfFiberSpectrometer = 65535;
+    }
+    else//没有找到匹配的仪器来设置   dn值的最大值
+    {
+        m_MaxValueOfFiberSpectrometer = 65535;
+    }
+
+}
+
+void JinspFiberImager::disconnectFiberSpectrometer()
+{
+    m_record = false;
+}
+
+void JinspFiberImager::getDeviceAttribute(DeviceAttribute& deviceAttribute)
+{
+    m_FiberSpectrometer->GetDeviceAttribute(deviceAttribute);
+}
+
+void JinspFiberImager::getDeviceInfo(DeviceInfo& deviceInfo)
+{
+    m_FiberSpectrometer->GetDeviceInfo(deviceInfo);
+}
+
+void JinspFiberImager::setExposureTime(int iExposureTimeInMS)
+{
+    m_FiberSpectrometer->SetExposureTime(iExposureTimeInMS);
+}
+
+void JinspFiberImager::getExposureTime(int &iExposureTimeInMS)
+{
+    m_FiberSpectrometer->GetExposureTime(iExposureTimeInMS);
+}
+
+void JinspFiberImager::getDeviceTemperature(float &fTemperature)
+{
+    m_FiberSpectrometer->GetDeviceTemperature(fTemperature);
+}
+
+void JinspFiberImager::singleShot(DataFrame &dfData)
+{
+    m_FiberSpectrometer->SingleShot(dfData);
+}
+
+void JinspFiberImager::getNonlinearityCoeffs(coeffsFrame &coeffs)
+{
+    printf("This is JinspFiberImager.\n");
+}
+
+void JinspFiberImager::recordDark(QString path)
+{
+    //获取设备信息
+    DeviceAttribute attribute;
+    DeviceInfo deviceInfo;
+    getDeviceAttribute(attribute);
+    getDeviceInfo(deviceInfo);
+
+    //采集暗帧
+    singleShot(m_DarkData);
+
+    //输出到csv
+    QDateTime curDateTime = QDateTime::currentDateTime();
+    QString currentTime = curDateTime.toString("yyyy_MM_dd_hh_mm_ss");
+    QString fileName = path + "/" + currentTime + "_" + QString::fromStdString(deviceInfo.strSN) + "_darkSpectral_dn.csv";
+    std::ofstream outfile(fileName.toStdString().c_str());
+
+    for (int i = 0; i < attribute.iPixels; i++)
+    {
+        if (i==0)
+        {
+            outfile << m_DarkData.usExposureTimeInMS << std::endl;
+        }
+        outfile << attribute.fWaveLengthInNM[i] << "," << m_DarkData.lData[i] << std::endl;
+    }
+
+    outfile.close();
+}
+
+void JinspFiberImager::recordTarget(int recordTimes, QString path)
+{
+    //获取设备信息
+    DeviceAttribute attribute;
+    DeviceInfo deviceInfo;
+    getDeviceAttribute(attribute);
+    getDeviceInfo(deviceInfo);
+
+
+    DataFrame integratingSphereData_tmp;
+
+    for (int i = 0; i < recordTimes; i++)
+    {
+        singleShot(integratingSphereData_tmp);
+
+        if (i == 0)//将integratingSphereData_tmp中的曝光时间、温度等信息传给m_IntegratingSphereData
+        {
+            m_IntegratingSphereData = integratingSphereData_tmp;
+        }
+        else
+        {
+            for (int i = 0; i < attribute.iPixels; i++)
+            {
+                m_IntegratingSphereData.lData[i] += integratingSphereData_tmp.lData[i];
+            }
+        }
+
+    }
+
+    for (int i = 0; i < attribute.iPixels; i++)
+    {
+        m_IntegratingSphereData.lData[i] = m_IntegratingSphereData.lData[i] / recordTimes;
+    }
+
+    //将m_IntegratingSphereData通过信号发送
+    emit spectalCaptured(attribute, m_IntegratingSphereData);
+
+    //输出到csv
+    QDateTime curDateTime = QDateTime::currentDateTime();
+    QString currentTime = curDateTime.toString("yyyy_MM_dd_hh_mm_ss");
+    QString fileName = path + "/" + currentTime + "_" + m_posInfo + "_" + QString::fromStdString(deviceInfo.strSN) + "_integratingSphereSpectral_dn.csv";
+    std::ofstream outfile(fileName.toStdString().c_str());
+
+    for (int i = 0; i < attribute.iPixels; i++)
+    {
+        if (i==0)
+        {
+            outfile << m_IntegratingSphereData.usExposureTimeInMS << "," << getNanosecondsSinceMidnight() << std::endl;
+        }
+        outfile << attribute.fWaveLengthInNM[i] << "," << m_IntegratingSphereData.lData[i] << std::endl;
+    }
+
+    outfile.close();
+}
+
+void JinspFiberImager::autoExpose()
+{
+    int allowMaxExposure = 6000;
+
+    DeviceAttribute attribute;
+    getDeviceAttribute(attribute);
+
+    const ZZ_U32 maxPixelValue = m_MaxValueOfFiberSpectrometer;
+    const double targetMinRatio = 0.80;
+    const double targetMaxRatio = 0.90;
+    const ZZ_U32 targetMin = maxPixelValue * targetMinRatio;
+    const ZZ_U32 targetMax = maxPixelValue * targetMaxRatio;
+
+    ZZ_U32 thresholdLow = targetMin;
+    ZZ_U32 thresholdHigh = targetMax;
+
+    // 自适应初始曝光时间：先快速探测亮度水平
+    int exposureTime = 10;
+    setExposureTime(exposureTime);
+    DataFrame dataFrame;
+    singleShot(dataFrame);
+    ZZ_S32 maxValue = GetMaxValue(dataFrame.lData, attribute.iPixels);
+
+    // 探测阶段：快速逼近目标区间
+    if (maxValue > 0)
+    {
+        // 预测达到目标区间所需的曝光时间
+        ZZ_U32 targetValue = (targetMin + targetMax) / 2;
+        double predictedRatio = static_cast<double>(targetValue) / maxValue;
+        // 曝光时间与亮度为对数关系，使用对数预测更准确
+        double logRatio = log(static_cast<double>(targetValue) / maxValue + 0.001);
+        int predictedExposure = static_cast<int>(exposureTime * pow(predictedRatio, 0.7));
+
+        if (predictedExposure < 1)
+            predictedExposure = 1;
+        if (predictedExposure > allowMaxExposure)
+            predictedExposure = allowMaxExposure;
+        //predictedExposure = std::clamp(predictedExposure, 1, allowMaxExposure);
+
+        exposureTime = predictedExposure;
+        setExposureTime(exposureTime);
+        singleShot(dataFrame);
+        maxValue = GetMaxValue(dataFrame.lData, attribute.iPixels);
+    }
+
+    emit sendExposureTimeSignal(exposureTime);
+
+    // 二分查找阶段：在目标区间内精确查找
+    int lowExposure = 1;
+    int highExposure = allowMaxExposure;
+    int iterations = 0;
+    const int maxIterations = 10;
+
+    while (iterations < maxIterations)
+    {
+        // 检查是否已在目标区间内
+        if (maxValue >= thresholdLow && maxValue <= thresholdHigh)
+        {
+            std::cout << "自动曝光完成 - 曝光时间:" << exposureTime
+                      << "ms, 最大值:" << maxValue << std::endl;
+            break;
+        }
+
+        // 获取当前曝光时间
+        m_FiberSpectrometer->GetExposureTime(exposureTime);
+
+        if (maxValue < thresholdLow)
+        {
+            // 曝光不足，增大曝光时间 - 使用二分策略
+            lowExposure = exposureTime;
+            int newExposure = (exposureTime + highExposure) / 2;
+            if (newExposure <= exposureTime)
+            {
+                newExposure = exposureTime * 2;
+            }
+            exposureTime = std::min(newExposure, allowMaxExposure);
+            std::cout << "自动曝光 +++ (" << iterations << ") 曝光时间:"
+                      << exposureTime << "ms, 最大值:" << maxValue << std::endl;
+        } 
+        else
+        {
+            // 曝光过度，减小曝光时间 - 使用二分策略
+            highExposure = exposureTime;
+            int newExposure = (lowExposure + exposureTime) / 2;
+            if (newExposure >= exposureTime) {
+                newExposure = exposureTime / 2;
+            }
+            exposureTime = std::max(newExposure, 1);
+            std::cout << "自动曝光 --- (" << iterations << ") 曝光时间:"
+                      << exposureTime << "ms, 最大值:" << maxValue << std::endl;
+        }
+
+        setExposureTime(exposureTime);
+        singleShot(dataFrame);
+        maxValue = GetMaxValue(dataFrame.lData, attribute.iPixels);
+        emit sendExposureTimeSignal(exposureTime);
+
+        iterations++;
+    }
+
+    if (iterations >= maxIterations) {
+        std::cout << "自动曝光达到最大迭代次数，最终曝光时间:"
+                  << exposureTime << "ms, 最大值:" << maxValue << std::endl;
+    }
+
+    m_iExposureTime = exposureTime;
+}
+
+ZZ_S32 JinspFiberImager::GetMaxValue(ZZ_S32 * dark, int number)
+{
+    ZZ_S32 max = 0;
+    //std::cout << "本帧最大值为" << max << std::endl;
+    for (size_t i = 0; i < number; i++)
+    {
+//        std::cout << dark[i] << std::endl;
+        if(dark[i]>65535)
+            continue;
+        if (dark[i] > max)
+        {
+            max = dark[i];
+        }
+    }
+    //std::cout << "本帧最大值为" << max << std::endl;
+    return max;
+}
+
+void JinspFiberImager::setCaptureInterval(int captureIntervalSeconds)
+{
+    m_captureIntervalMilliseconds = captureIntervalSeconds * 1000;
+}
+
+void JinspFiberImager::OpenFiberImagerAndRecord(QString posInfo)
+{
+    m_posInfo = posInfo;
+
+    //连接光谱仪
+    QString SN;
+    QString pixelCount;
+    QString wavelengthInfo;
+
+    connectFiberSpectrometer(SN, pixelCount, wavelengthInfo);
+
+    //曝光
+    emit startExposureSignal();
+    autoExpose();
+    emit exposureCompleteSignal(m_iExposureTime);
+
+    //采集
+    m_record = true;
+    while (m_record)
+    {
+        recordTarget(1, AppSettings::instance().FiberImagerDataFolder());
+
+        QThread::msleep(m_captureIntervalMilliseconds);
+    }
+
+    std::cout << "close.........." << std::endl;
+    m_FiberSpectrometer->Close();
+}

HPPA/JinspFiberImager.h

@@ -0,0 +1,75 @@
+//
+// Created by 73505 on 2023/5/7.
+//
+#pragma once
+#include <qthread.h>
+//#include <QFileDialog>
+#include <QDateTime>
+#include <QTimer>
+#include <iostream>
+#include <fstream>
+
+#include "JinspSpectralmeterControl.h"
+#include "FiberSpectrometerOperationBase.h"
+#include "utility_tc.h"
+#include "AppSettings.h"
+
+class JinspFiberImager :public QObject,public FiberSpectrometerOperationBase
+{
+Q_OBJECT
+
+public:
+    JinspFiberImager(bool bIsUSBMode, std::string ucPortNumber, std::string strDeviceName);
+    ~JinspFiberImager();
+
+    JinspSpectralmeterControl* m_FiberSpectrometer;
+
+    void connectFiberSpectrometer(QString& sn, QString& pixelCount, QString& wavelengthInfo);
+    void disconnectFiberSpectrometer();
+    void getDeviceAttribute(DeviceAttribute& deviceAttribute);
+    void getDeviceInfo(DeviceInfo& deviceInfo);
+
+    void setExposureTime(int iExposureTimeInMS);
+
+    void getExposureTime(int &iExposureTimeInMS);//ok
+    void getDeviceTemperature(float &fTemperature);//ok
+
+    void singleShot(DataFrame &dfData);
+
+    void getNonlinearityCoeffs(coeffsFrame &coeffs);
+
+    ZZ_S32 GetMaxValue(ZZ_S32 * dark, int number);
+
+    bool getRecordStatus() const { return m_record; }
+    void setCaptureInterval(int captureIntervalSeconds);
+
+
+//	DataFrame m_IntegratingSphereData;
+//	DataFrame m_DarkData;
+protected:
+private:
+    std::string mUcPortNumber;
+
+    bool m_record;
+    int m_captureIntervalMilliseconds;
+
+    int m_iExposureTime;
+
+    QString m_posInfo;
+
+//	ZZ_U32 m_MaxValueOfFiberSpectrometer;
+
+public slots:
+    void recordDark(QString path);
+    void recordTarget(int recordTimes, QString path);
+    void autoExpose();
+
+    void OpenFiberImagerAndRecord(QString posInfo);
+
+signals:
+    void sendExposureTimeSignal(int exposureTime);
+    void spectalCaptured(DeviceAttribute attribute, DataFrame dataFrame);
+
+    void exposureCompleteSignal(int exposureTime);
+    void startExposureSignal();
+};

HPPA/JinspFiberImagerConfig.cpp

@@ -0,0 +1,85 @@
+#include "JinspFiberImagerConfig.h"
+#include <QCoreApplication>
+#include <QFile>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonValue>
+#include <QDebug>
+
+const QString JinspFiberImagerConfig::kDefaultPortName = QStringLiteral("COM9");
+const QString JinspFiberImagerConfig::kConfigFileName = QStringLiteral("jinsp_fiber_imager_config.json");
+
+JinspFiberImagerConfig::JinspFiberImagerConfig()
+	: m_configFilePath(QCoreApplication::applicationDirPath() + "/" + kConfigFileName)
+	, m_portName(kDefaultPortName)
+{
+	loadConfig();
+}
+
+JinspFiberImagerConfig& JinspFiberImagerConfig::instance()
+{
+	static JinspFiberImagerConfig s;
+	return s;
+}
+
+QString JinspFiberImagerConfig::portName() const
+{
+	return m_portName;
+}
+
+void JinspFiberImagerConfig::setPortName(const QString& port)
+{
+	if (m_portName != port)
+	{
+		m_portName = port;
+		saveConfig();
+	}
+}
+
+void JinspFiberImagerConfig::loadConfig()
+{
+	QFile file(m_configFilePath);
+	if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
+	{
+		qDebug() << "JinspFiberImagerConfig: No config file found, using default port:" << kDefaultPortName;
+		saveConfig();
+		return;
+	}
+
+	QByteArray jsonData = file.readAll();
+	file.close();
+
+	QJsonParseError parseError;
+	QJsonDocument doc = QJsonDocument::fromJson(jsonData, &parseError);
+	if (parseError.error != QJsonParseError::NoError)
+	{
+		qWarning() << "JinspFiberImagerConfig: JSON parse error:" << parseError.errorString();
+		return;
+	}
+
+	QJsonObject obj = doc.object();
+	if (obj.contains("portName"))
+	{
+		m_portName = obj["portName"].toString(kDefaultPortName);
+	}
+}
+
+void JinspFiberImagerConfig::saveConfig()
+{
+	QJsonObject obj;
+	obj["portName"] = m_portName;
+
+	QJsonDocument doc(obj);
+
+	QFile file(m_configFilePath);
+	if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+	{
+		qWarning() << "JinspFiberImagerConfig: Failed to open config file for writing:" << m_configFilePath;
+		return;
+	}
+
+	file.write(doc.toJson(QJsonDocument::Indented));
+	file.close();
+
+	qDebug() << "JinspFiberImagerConfig: Config saved to" << m_configFilePath;
+}

HPPA/JinspFiberImagerConfig.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#include <QString>
+
+class JinspFiberImagerConfig
+{
+public:
+	static JinspFiberImagerConfig& instance();
+
+	QString portName() const;
+	void setPortName(const QString& port);
+
+	static const QString kDefaultPortName;
+	static const QString kConfigFileName;
+
+private:
+	JinspFiberImagerConfig();
+	JinspFiberImagerConfig(const JinspFiberImagerConfig&) = delete;
+	JinspFiberImagerConfig& operator=(const JinspFiberImagerConfig&) = delete;
+
+	QString m_configFilePath;
+	QString m_portName;
+
+	void loadConfig();
+	void saveConfig();
+};

HPPA/LayerTreeImageNode.cpp

@@ -0,0 +1,31 @@
+#include "LayerTreeImageNode.h"
+#include "RasterImageLayer.h"
+
+LayerTreeImageNode::LayerTreeImageNode(RasterImageLayer* imageLayer,
+                                       const QString& name,
+                                       QWidget* widget,
+                                       QObject* parent)
+    : LayerTreeNode(name, parent)
+    , m_imageLayer(imageLayer)
+    , m_widget(widget)
+{
+}
+
+LayerTreeImageNode::~LayerTreeImageNode()
+{
+}
+
+LayerTreeNode::Type LayerTreeImageNode::type() const
+{
+    return Type::Image;
+}
+
+QWidget* LayerTreeImageNode::widget() const
+{
+    return m_widget;
+}
+
+void LayerTreeImageNode::setWidget(QWidget* widget)
+{
+    m_widget = widget;
+}

HPPA/LayerTreeImageNode.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include "LayerTreeNode.h"
+#include <memory>
+
+class QWidget;
+class RasterImageLayer;
+
+class LayerTreeImageNode : public LayerTreeNode
+{
+    Q_OBJECT
+public:
+    explicit LayerTreeImageNode(RasterImageLayer* imageLayer,
+                                const QString& name,
+                                QWidget* widget = nullptr,
+                                QObject* parent = nullptr);
+
+    ~LayerTreeImageNode();
+
+    Type type() const override;
+
+    RasterImageLayer* imageLayer() const { return m_imageLayer; }
+    QWidget* widget() const;
+    void setWidget(QWidget* widget);
+
+private:
+    RasterImageLayer* m_imageLayer;
+    QWidget* m_widget = nullptr;
+};
+

HPPA/LayerTreeLayerNode.cpp

@@ -1,7 +1,7 @@
 #include "LayerTreeLayerNode.h"
 
 LayerTreeLayer::LayerTreeLayer(MapLayer* layer, QObject* parent)
-    : LayerTreeNode(layer ? layer->name() : QString(), parent), m_layer(layer)
+    : LayerTreeGroup(layer ? layer->name() : QString(), parent), m_layer(layer)
 {
 }
 

HPPA/LayerTreeLayerNode.h

@@ -1,5 +1,5 @@
 #pragma once
-#include "LayerTreeNode.h"
+#include "LayerTreeGroupNode.h"
 #include "MapLayer.h"
 
 /**
@@ -7,13 +7,13 @@
  * - 基类为 LayerTreeNode
  * - 持有一个 MapLayer 指针（不拥有）
  */
-class LayerTreeLayer : public LayerTreeNode
+class LayerTreeLayer : public LayerTreeGroup
 {
     Q_OBJECT
 public:
     explicit LayerTreeLayer(MapLayer* layer, QObject* parent = nullptr);
 
-    Type type() const override;
+    Type type() const;
 
     void setMapLayer(MapLayer* layer);
     MapLayer* mapLayer() const;

HPPA/LayerTreeModel.cpp

@@ -133,7 +133,7 @@ LayerTreeNode* LayerTreeModel::addGroup(LayerTreeNode* parent, const QString& na
     return g;
 }
 
-LayerTreeNode* LayerTreeModel::addLayer(LayerTreeNode* parent, LayerTreeLayer* layerNode, const QIcon& icon)
+LayerTreeNode* LayerTreeModel::addLayer(LayerTreeNode* parent, LayerTreeNode* layerNode, const QIcon& icon)
 {
     if (!parent) parent = m_tree;
     if (!layerNode) return nullptr;

HPPA/LayerTreeModel.h

@@ -34,7 +34,7 @@ public:
     LayerTreeNode* root() const;
 
     LayerTreeNode* addGroup(LayerTreeNode* parent, const QString& name, const QIcon& icon = QIcon());
-    LayerTreeNode* addLayer(LayerTreeNode* parent, LayerTreeLayer* layerNode, const QIcon& icon = QIcon());
+    LayerTreeNode* addLayer(LayerTreeNode* parent, LayerTreeNode* layerNode, const QIcon& icon = QIcon());
 
     void setCascadeCheckEnabled(bool enabled);
     bool cascadeCheckEnabled() const;

HPPA/LayerTreeNode.h

@@ -19,7 +19,7 @@ class LayerTreeNode : public QObject
 {
     Q_OBJECT
 public:
-    enum class Type { Group, Layer };
+    enum class Type { Group, Layer, Image };
 
     explicit LayerTreeNode(const QString& name,
         QObject* parent = nullptr);

HPPA/LayerTreeViewMenuProvider.cpp

@@ -36,9 +36,20 @@ QMenu* LayerTreeViewMenuProvider::createContextMenu()
 
     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);
+        QAction* removeLayerAction = new QAction(QStringLiteral("移除图层"), menu);
+        connect(removeLayerAction, &QAction::triggered, HPPA::instance(), &HPPA::removeLayerByTreeIndex);
+
+        QAction* showColorImageAction = new QAction(QStringLiteral("显示彩色图像"), menu);
+        connect(showColorImageAction, &QAction::triggered, HPPA::instance(), &HPPA::showColorImageByTreeIndex);
+
+        menu->addAction(removeLayerAction);
+        menu->addAction(showColorImageAction);
+    }
+    else if (node->type() == LayerTreeNode::Type::Image)
+    {
+        QAction* removeImageAction = new QAction(QStringLiteral("移除图像"), menu);
+        connect(removeImageAction, &QAction::triggered, HPPA::instance(), &HPPA::removeImageByTreeIndex);
+        menu->addAction(removeImageAction);
     }
     else if (node->type() == LayerTreeNode::Type::Group)
     {

HPPA/MapLayerStore.cpp

@@ -1,60 +1,137 @@
 #include "MapLayerStore.h"
 #include "MapLayer.h"
+#include "RasterImageLayer.h"
+#include <QFileInfo>
+#include <QWidget>
 
 MapLayerStore::MapLayerStore(QObject* parent)
     : QObject(parent)
 {
-    int a = 1;
 }
 
-void MapLayerStore::addLayer(MapLayer* layer, QWidget* widget)
+void MapLayerStore::addLayer(MapLayer* layer)
 {
     if (!layer) return;
-    MapLayer* raw = layer;
-    m_layers.emplace_back(std::shared_ptr<MapLayer>(layer));
-    if (widget)
-        m_layerWidgets[raw] = widget;
-    emit layerAdded(raw);
+
+    int index = (int)m_layers.size();
+    LayerEntry entry;
+    entry.mapLayer.reset(layer);
+
+    m_layers.push_back(std::move(entry));
+    m_mapLayerIndex[layer] = index;
+
+    emit layerAdded(layer);
+}
+
+void MapLayerStore::addImageLayer(MapLayer* mapLayer, RasterImageLayer* imageLayer, QWidget* widget)
+{
+    if (!mapLayer || !imageLayer) return;
+
+    LayerEntry* entry = findLayerEntry(mapLayer);
+    if (!entry) return;
+
+    entry->imageLayers.push_back({std::unique_ptr<RasterImageLayer>(imageLayer), widget});
+    emit imageLayerAdded(imageLayer);
 }
 
 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;
+
+    auto it = m_mapLayerIndex.find(layer);
+    if (it == m_mapLayerIndex.end()) return;
+
+    int index = it->second;
+    if (index < 0 || index >= (int)m_layers.size()) return;
+
+    LayerEntry& entry = m_layers[index];
+
+    // Delete all associated widgets
+    for (auto& imgEntry : entry.imageLayers) {
+        if (imgEntry.widget) {
+            delete imgEntry.widget;
+        }
+    }
+    entry.imageLayers.clear();
+
+    emit layerAboutToBeRemoved(layer);
+
+    m_layers.erase(m_layers.begin() + index);//?????????????????????
+    m_mapLayerIndex.erase(it);
+
+    // Rebuild index for layers after removed one
+    for (int i = index; i < (int)m_layers.size(); ++i) {
+        m_mapLayerIndex[m_layers[i].mapLayer.get()] = i;
+    }
+}
+
+void MapLayerStore::removeImageLayer(RasterImageLayer* imageLayer)//可以优化：RasterImageLayer包含一个指向所属MapLayer的指针，这样就不需要遍历所有图层来找到它了
+{
+    if (!imageLayer) return;
+
+    for (auto& entry : m_layers) {
+        for (auto it = entry.imageLayers.begin(); it != entry.imageLayers.end(); ++it) {
+            if (it->imageLayer.get() == imageLayer) {
+                emit imageLayerAboutToBeRemoved(imageLayer);
+                if (it->widget) {
+					//delete it->widget;//在调用此函数的地方已经删除了widget了，这里不需要再删除一次了
+                }
+                entry.imageLayers.erase(it);
+                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);
+    for (auto& entry : m_layers) {
+        if (entry.mapLayer->name() == name) {
+            removeLayer(entry.mapLayer.get());
             return;
         }
     }
 }
 
+bool MapLayerStore::containsLayer(const QString& url, bool isAbsolutePath) const
+{
+    QFileInfo fi(url);
+    QString fileName = fi.completeBaseName();
+
+    if (!isAbsolutePath) {
+        return getLayer(fileName) != nullptr;
+    }
+
+    for (const auto& entry : m_layers) {
+        if (entry.mapLayer->dataPath() == url)
+            return true;
+    }
+    return false;
+}
+
 MapLayer* MapLayerStore::getLayer(const QString& name) const
 {
-    for (const auto& l : m_layers) {
-        if (l->name() == name) return l.get();
+    for (const auto& entry : m_layers) {
+        if (entry.mapLayer->name() == name)
+            return entry.mapLayer.get();
     }
     return nullptr;
 }
 
 MapLayer* MapLayerStore::getLayerAt(int index) const
 {
-    if (index < 0 || index >= (int)m_layers.size()) return nullptr;
-    return m_layers[index].get();
+    if (index < 0 || index >= (int)m_layers.size())
+        return nullptr;
+    return m_layers[index].mapLayer.get();
+}
+
+MapLayer* MapLayerStore::getLayerByAbsolutePath(const QString& absolutePath) const
+{
+    for (const auto& entry : m_layers) {
+        if (entry.mapLayer->dataPath() == absolutePath)
+            return entry.mapLayer.get();
+    }
+    return nullptr;
 }
 
 int MapLayerStore::layerCount() const
@@ -62,31 +139,129 @@ int MapLayerStore::layerCount() const
     return (int)m_layers.size();
 }
 
-QWidget* MapLayerStore::widgetForLayer(MapLayer* layer) const
+RasterImageLayer* MapLayerStore::getImageLayer(MapLayer* mapLayer, int index) const
 {
-    auto it = m_layerWidgets.find(layer);
-    if (it == m_layerWidgets.end()) return nullptr;
-    return it->second;
+    const LayerEntry* entry = findLayerEntry(mapLayer);
+    if (!entry) return nullptr;
+
+    if (index < 0 || index >= (int)entry->imageLayers.size())
+        return nullptr;
+
+    return entry->imageLayers[index].imageLayer.get();
+}
+
+int MapLayerStore::imageLayerCount(MapLayer* mapLayer) const
+{
+    const LayerEntry* entry = findLayerEntry(mapLayer);
+    if (!entry) return 0;
+    return (int)entry->imageLayers.size();
+}
+
+std::vector<RasterImageLayer*> MapLayerStore::getAllImageLayers() const
+{
+    std::vector<RasterImageLayer*> result;
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.imageLayer)
+                result.push_back(imgEntry.imageLayer.get());
+        }
+    }
+    return result;
+}
+
+QWidget* MapLayerStore::widgetForImageLayer(RasterImageLayer* imageLayer) const
+{
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.imageLayer.get() == imageLayer)
+                return imgEntry.widget;
+        }
+    }
+    return nullptr;
+}
+
+QWidget* MapLayerStore::widgetForLayer(MapLayer* layer) const//需要修改??????????????????????????????????????????????
+{
+    const LayerEntry* entry = findLayerEntry(layer);
+    if (!entry || entry->imageLayers.empty())
+        return nullptr;
+    return entry->imageLayers.front().widget;
 }
 
 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;
+    for (const auto& entry : m_layers) {
+        if (entry.mapLayer->dataPath() == absolutePath) {
+            if (!entry.imageLayers.empty())
+                return entry.imageLayers.front().widget;
             return nullptr;
         }
     }
     return nullptr;
 }
 
-MapLayer* MapLayerStore::layerForWidget(QWidget* widget) const
+std::vector<QWidget*> MapLayerStore::widgetsForMapLayer(MapLayer* mapLayer) const
 {
-    if (!widget) return nullptr;
-    for (const auto& kv : m_layerWidgets) {
-        if (kv.second == widget) return kv.first;
+    std::vector<QWidget*> result;
+    const LayerEntry* entry = findLayerEntry(mapLayer);
+    if (!entry) return result;
+
+    for (const auto& imgEntry : entry->imageLayers) {
+        if (imgEntry.widget)
+            result.push_back(imgEntry.widget);
+    }
+    return result;
+}
+
+MapLayer* MapLayerStore::mapLayerForImageLayer(RasterImageLayer* imageLayer) const
+{
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.imageLayer.get() == imageLayer)
+                return entry.mapLayer.get();
+        }
     }
     return nullptr;
 }
+
+MapLayer* MapLayerStore::mapLayerForWidget(QWidget* widget) const
+{
+    if (!widget) return nullptr;
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.widget == widget)
+                return entry.mapLayer.get();
+        }
+    }
+    return nullptr;
+}
+
+RasterImageLayer* MapLayerStore::imageLayerForWidget(QWidget* widget) const
+{
+    if (!widget) return nullptr;
+    for (const auto& entry : m_layers) {
+        for (const auto& imgEntry : entry.imageLayers) {
+            if (imgEntry.widget == widget)
+                return imgEntry.imageLayer.get();
+        }
+    }
+    return nullptr;
+}
+
+MapLayerStore::LayerEntry* MapLayerStore::findLayerEntry(MapLayer* mapLayer)
+{
+    auto it = m_mapLayerIndex.find(mapLayer);
+    if (it == m_mapLayerIndex.end()) return nullptr;
+    int index = it->second;
+    if (index < 0 || index >= (int)m_layers.size()) return nullptr;
+    return &m_layers[index];
+}
+
+const MapLayerStore::LayerEntry* MapLayerStore::findLayerEntry(MapLayer* mapLayer) const
+{
+    auto it = m_mapLayerIndex.find(mapLayer);
+    if (it == m_mapLayerIndex.end()) return nullptr;
+    int index = it->second;
+    if (index < 0 || index >= (int)m_layers.size()) return nullptr;
+    return &m_layers[index];
+}

HPPA/MapLayerStore.h

@@ -7,45 +7,66 @@
 #include <unordered_map>
 
 class MapLayer;
+class RasterImageLayer;
 class QWidget;
 
 class MapLayerStore : public QObject
 {
     Q_OBJECT
+
+    struct ImageLayerEntry {
+        std::unique_ptr<RasterImageLayer> imageLayer;
+        QWidget* widget;
+    };
+
+    struct LayerEntry {
+        std::unique_ptr<MapLayer> mapLayer;
+        std::vector<ImageLayerEntry> imageLayers;
+    };
+
 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:
+    // Layer management
+    void addLayer(MapLayer* layer);
     void removeLayer(MapLayer* layer);
     void removeLayerByName(const QString& name);
+    bool containsLayer(const QString& url, bool isAbsolutePath = true) const;
 
-    // Queries
     MapLayer* getLayer(const QString& name) const;
+    MapLayer* getLayerByAbsolutePath(const QString& absolutePath) 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;
+    // ImageLayer management
+    void addImageLayer(MapLayer* mapLayer, RasterImageLayer* imageLayer, QWidget* widget);
+    void removeImageLayer(RasterImageLayer* imageLayer);
+    RasterImageLayer* getImageLayer(MapLayer* mapLayer, int index) const;
+    int imageLayerCount(MapLayer* mapLayer) const;
+    std::vector<RasterImageLayer*> getAllImageLayers() const;
 
-    // Reverse lookup: find the MapLayer associated with a given widget (or nullptr)
-    MapLayer* layerForWidget(QWidget* widget) const;
+    // Widget queries
+    QWidget* widgetForImageLayer(RasterImageLayer* imageLayer) const;
+    QWidget* widgetForLayer(MapLayer* layer) const;
+    QWidget* widgetForLayer(const QString& absolutePath) const;
+    std::vector<QWidget*> widgetsForMapLayer(MapLayer* mapLayer) const;    
+
+    // Reverse lookups
+    MapLayer* mapLayerForImageLayer(RasterImageLayer* imageLayer) const;
+    MapLayer* mapLayerForWidget(QWidget* widget) const;
+    RasterImageLayer* imageLayerForWidget(QWidget* widget) const;
 
 signals:
     void layerAdded(MapLayer* layer);
-    // Emitted just before the layer is destroyed/removed from store
     void layerAboutToBeRemoved(MapLayer* layer);
+    void imageLayerAdded(RasterImageLayer* imageLayer);
+    void imageLayerAboutToBeRemoved(RasterImageLayer* imageLayer);
 
 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;
+    LayerEntry* findLayerEntry(MapLayer* mapLayer);
+    const LayerEntry* findLayerEntry(MapLayer* mapLayer) const;
+
+    std::vector<LayerEntry> m_layers;
+    std::unordered_map<MapLayer*, int> m_mapLayerIndex;
 };

HPPA/MapToolSpectral.cpp

@@ -41,10 +41,10 @@ void MapToolSpectral::canvasMousePressEvent(QMouseEvent* e)
     const int x = static_cast<int>(std::floor(scenePt.x()));
     const int y = static_cast<int>(std::floor(scenePt.y()));
 
-    RasterLayer* rl = canvas()->rasterLayer();
+    auto* imageLayer = canvas()->imageLayer();
+    RasterLayer* rl = imageLayer ? imageLayer->layer() : nullptr;
     if (rl && rl->isValidPixel(x, y))
     {
-        // Place crosshair at pixel center
         canvas()->updateCrosshair(x + 0.5, y + 0.5);
 
         QVector<double> wavelengths;

HPPA/MapToolSpectral.h

@@ -4,6 +4,8 @@
 #include "MapTool.h"
 #include <QVector>
 
+#include "RasterImageLayer.h"
+
 class QGraphicsLineItem;
 
 class MapToolSpectral : public MapTool

HPPA/MultibandRasterRenderer.cpp

@@ -0,0 +1,207 @@
+#include "MultibandRasterRenderer.h"
+#include "RasterDataProvider.h"
+#include <QDebug>
+#include <algorithm>
+#include <cmath>
+
+MultibandRasterRenderer::MultibandRasterRenderer(RasterDataProvider* provider)
+    : RasterRendererBase(provider)
+{
+}
+
+void MultibandRasterRenderer::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);
+    }
+}
+
+void MultibandRasterRenderer::computeHistogram(const std::vector<float>& in, std::vector<long>& hist, float& minVal, float& maxVal)
+{
+    if (in.empty())
+    {
+        minVal = 0.0f;
+        maxVal = 1.0f;
+        hist.clear();
+        return;
+    }
+
+    minVal = in[0];
+    maxVal = in[0];
+    for (size_t i = 0; i < in.size(); ++i)
+    {
+        if (in[i] < minVal) minVal = in[i];
+        if (in[i] > maxVal) maxVal = in[i];
+    }
+
+    if (maxVal <= minVal)
+    {
+        hist.assign(256, 0);
+        hist[0] = static_cast<long>(in.size());
+        minVal = 0.0f;
+        maxVal = 1.0f;
+        return;
+    }
+
+    const int numBins = 65536;
+    hist.assign(numBins, 0);
+
+    for (size_t i = 0; i < in.size(); ++i)
+    {
+        ++hist[static_cast<int>(in[i])];
+    }
+}
+
+void MultibandRasterRenderer::findStretchValuesByRatio(const std::vector<long>& hist, float ratio, float& minVal, float& maxVal)
+{
+    if (hist.empty()) return;
+
+    long totalPixels = 0;
+    for (size_t i = 0; i < hist.size(); ++i)
+    {
+        totalPixels += hist[i];
+    }
+    if (totalPixels == 0) return;
+
+    long targetCount = static_cast<long>(totalPixels * ratio);
+
+    long cumulative = 0;
+    for (size_t i = 0; i < hist.size(); ++i)
+    {
+        cumulative += hist[i];
+        if (cumulative >= targetCount)
+        {
+            minVal = static_cast<float>(i);
+            break;
+        }
+    }
+
+    cumulative = 0;
+    for (size_t i = hist.size(); i > 0; --i)
+    {
+        cumulative += hist[i - 1];
+        if (cumulative >= targetCount)
+        {
+            maxVal = static_cast<float>(i - 1);
+            break;
+        }
+    }
+}
+
+void MultibandRasterRenderer::stretchTo8bitByHistogram(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal)
+{
+    size_t n = in.size();
+    out.resize(n);
+    if (maxVal <= minVal)
+    {
+        std::fill(out.begin(), out.end(), 0);
+        return;
+    }
+    float denom = 1.0f / (maxVal - minVal);
+    for (size_t i = 0; i < n; ++i)
+    {
+        float v = (in[i] - minVal) * denom;
+        v = std::min(std::max(v, 0.0f), 1.0f);
+        out[i] = static_cast<unsigned char>(v * 255.0f);
+    }
+}
+
+QImage MultibandRasterRenderer::render()
+{
+    if (!m_provider) return QImage();
+    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==m_params.rWave?0:(wave==m_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(m_params.rWave);
+    int gIdx = chooseBandIndexForWave(m_params.gWave);
+    int bIdx = chooseBandIndexForWave(m_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;
+
+    // Compute histogram-based stretch for each channel
+    float ratio = m_stretchRatio;
+
+    // R channel stretch
+    if (!rbuf.empty()) {
+        std::vector<long> rHist;
+        float rMin, rMax;
+        computeHistogram(rbuf, rHist, rMin, rMax);
+        float rStretchMin = rMin, rStretchMax = rMax;
+        findStretchValuesByRatio(rHist, ratio, rStretchMin, rStretchMax);
+        stretchTo8bitByHistogram(rbuf, r8, rStretchMin, rStretchMax);
+    }
+
+    // G channel stretch
+    if (!gbuf.empty()) {
+        std::vector<long> gHist;
+        float gMin, gMax;
+        computeHistogram(gbuf, gHist, gMin, gMax);
+        float gStretchMin = gMin, gStretchMax = gMax;
+        findStretchValuesByRatio(gHist, ratio, gStretchMin, gStretchMax);
+        stretchTo8bitByHistogram(gbuf, g8, gStretchMin, gStretchMax);
+    }
+
+    // B channel stretch
+    if (!bbuf.empty()) {
+        std::vector<long> bHist;
+        float bMin, bMax;
+        computeHistogram(bbuf, bHist, bMin, bMax);
+        float bStretchMin = bMin, bStretchMax = bMax;
+        findStretchValuesByRatio(bHist, ratio, bStretchMin, bStretchMax);
+        stretchTo8bitByHistogram(bbuf, b8, bStretchMin, bStretchMax);
+    }
+
+    QImage out(w, h, QImage::Format_RGB888);
+    for (int y = 0; y < h; ++y) {
+        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/MultibandRasterRenderer.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include "RasterRendererBase.h"
+#include "RasterRenderParams.h"
+#include <vector>
+#include <memory>
+
+class RasterDataProvider;
+
+class MultibandRasterRenderer : public RasterRendererBase
+{
+public:
+    explicit MultibandRasterRenderer(RasterDataProvider* provider);
+
+    QImage render() override;
+
+    // Parameter access
+    MultibandRenderParams params() const { return m_params; }
+    void setParams(const MultibandRenderParams& params) { m_params = params; }
+
+    void setStretchRatio(float ratio) { m_stretchRatio = ratio; }
+    float stretchRatio() const { return m_stretchRatio; }
+
+private:
+    MultibandRenderParams m_params;
+    float m_stretchRatio = 0.02f;
+
+    // Helper to map float buffer to 8-bit with min/max stretch
+    static void stretchTo8bit(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal);
+
+    // Helper to compute histogram from float buffer
+    static void computeHistogram(const std::vector<float>& in, std::vector<long>& hist, float& minVal, float& maxVal);
+
+    // Helper to find stretch values by cumulative histogram ratio
+    static void findStretchValuesByRatio(const std::vector<long>& hist, float ratio, float& minVal, float& maxVal);
+
+    // Helper to stretch to 8-bit using histogram-based stretch
+    static void stretchTo8bitByHistogram(const std::vector<float>& in, std::vector<unsigned char>& out, float minVal, float maxVal);
+};

HPPA/OneMotorControl.cpp

@@ -16,6 +16,19 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
     connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
 
     connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
+
+    // 从 AppSettings 读取速度参数
+    AppSettings& settings = AppSettings::instance();
+    ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
+
+    // 连接信号，当控件数值变化时保存到 AppSettings
+    connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
+    });
+    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
+    });
 }
 
 OneMotorControl::~OneMotorControl()
@@ -25,13 +38,21 @@ OneMotorControl::~OneMotorControl()
 }
 
 void OneMotorControl::onConnectMotor()
+{
+    connectMotor(true);
+}
+
+void OneMotorControl::connectMotor(bool isNotification)
 {
     if (getMotorsConnectionStatus())
     {
-        QMessageBox msgBox;
-        msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
-        msgBox.exec();
+        if (isNotification)
+        {
+            QMessageBox msgBox;
+            msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+            msgBox.exec();
 
+        }
         return;
     }
 
@@ -202,8 +223,14 @@ void OneMotorControl::record_white()
 
 void OneMotorControl::run()
 {
+    if (m_coordinator)//当高光谱相机停止采集后，马达还未回到原点时，上次任务的m_coordinator还没有被销毁
+    {
+        onSequenceComplete(0);
+    }
+
     qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
     m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+    m_coordinator->setObjectName("testOneMotionCaptureCoordinator");
     connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
     connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
 
@@ -240,3 +267,278 @@ bool OneMotorControl::getMotorsConnectionStatus()
 {
     return m_xMotorConnectionStatus;
 }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+//------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+OneMotorControl_LiftingPlatform::OneMotorControl_LiftingPlatform(QWidget* parent) : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
+
+    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
+
+    // 从 AppSettings 读取速度参数
+    AppSettings& settings = AppSettings::instance();
+    ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
+    ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
+
+    // 连接信号，当控件数值变化时保存到 AppSettings
+    connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
+        });
+    connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
+        AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
+        });
+}
+
+OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
+{
+    m_motorThread.quit();
+    m_motorThread.wait();
+}
+
+void OneMotorControl_LiftingPlatform::onConnectMotor()
+{
+    connectMotor(true);
+}
+
+void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
+{
+    if (getMotorsConnectionStatus())
+    {
+        if (isNotification)
+        {
+            QMessageBox msgBox;
+            msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+            msgBox.exec();
+
+        }
+        return;
+    }
+
+    if (m_multiAxisController != nullptr)
+    {
+        disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+        disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+        disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+        disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+        disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+        disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+        disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+        disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+        m_motorThread.quit();
+        m_motorThread.wait();
+        m_multiAxisController = nullptr;
+    }
+
+    try
+    {
+        FileOperation* fileOperation = new FileOperation();
+        string directory = fileOperation->getDirectoryOfExe();
+        QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_LiftingPlatform.cfg";
+
+        m_multiAxisController = new IrisMultiMotorController(configFilePath);
+    }
+    catch (std::exception const& e)
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
+        msgBox.exec();
+        return;
+    }
+
+    m_multiAxisController->moveToThread(&m_motorThread);
+    connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+
+    connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+
+    connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+    connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+    connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+
+    connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+
+    connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+
+    connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+    connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+    m_motorThread.start();
+    emit testConnectivitySignal(0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::display_x_loc(std::vector<double> loc)
+{
+    double tmp = round(loc[0] * 100) / 100;
+    this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
+
+    emit broadcastLocationSignal(loc);
+}
+
+void OneMotorControl_LiftingPlatform::display_motors_connectivity(std::vector<int> connectivity)
+{
+    //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+    if (connectivity[0])
+    {
+        m_xMotorConnectionStatus = true;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
+    }
+    else
+    {
+        m_xMotorConnectionStatus = false;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
+    }
+
+    if (getMotorsConnectionStatus())
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
+    }
+    else
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
+    }
+}
+
+void OneMotorControl_LiftingPlatform::zeroStart()
+{
+    zeroStartSignal(0);
+}
+
+void OneMotorControl_LiftingPlatform::onx_rangeMeasurement()
+{
+    double s0 = ui.speed_lineEdit->text().toDouble();
+    emit rangeMeasurement(0, s0, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMove2Loc()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+    double l = ui.move2loc_lineEdit->text().toDouble();
+
+    emit move2LocSignal(0, l, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorRight()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, false, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorLeft()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    emit moveSignal(0, true, s, 1000);
+}
+
+void OneMotorControl_LiftingPlatform::onxMotorStop()
+{
+    emit stopSignal(0);
+}
+
+void OneMotorControl_LiftingPlatform::run()
+{
+	m_coordinator = new OneMotionCoordinator(m_multiAxisController,this);
+    connect(m_coordinator, &OneMotionCoordinator::sequenceComplete, this, &OneMotorControl_LiftingPlatform::sequenceComplete);
+    connect(m_coordinator, &OneMotionCoordinator::ArrivalSignal, this, &OneMotorControl_LiftingPlatform::onBack2Origin);
+
+    double plantDepthValue = DepthValueLogger::instance().readLatestPlantDepthValue();
+    double liftingPlatformDepthValue = DepthValueLogger::instance().readLatestLiftingPlatformDepthValue();
+	double targetDepth = liftingPlatformDepthValue - plantDepthValue;
+
+    if (targetDepth < 0)
+    {
+        return;
+    }
+
+    m_coordinator->moveToTarget(targetDepth, ui.speed_lineEdit->text().toDouble());
+}
+
+void OneMotorControl_LiftingPlatform::stop()
+{
+    emit stopStepMotionSignal();
+}
+
+void OneMotorControl_LiftingPlatform::onBack2Origin(double pos)
+{
+    emit back2OriginSignal_TimedDataCollection();
+
+    m_coordinator->deleteLater();
+    m_coordinator = nullptr;
+}
+
+bool OneMotorControl_LiftingPlatform::getMotorsConnectionStatus()
+{
+    return m_xMotorConnectionStatus;
+}

HPPA/OneMotorControl.h

@@ -1,6 +1,7 @@
 #pragma once
 #include <QThread>
 #include <QMessageBox>
+#include <QPointer>
 
 #include "ui_oneMotorControl.h"
 
@@ -8,6 +9,9 @@
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
 #include "MotorWindowBase.h"
+#include "AppSettings.h"
+
+#include "DepthValueLogger.h"
 
 class OneMotorControl : public QDialog, public MotorWindowBase
 {
@@ -27,6 +31,8 @@ public:
 
     bool getMotorsConnectionStatus();
 
+    void connectMotor(bool isNotification);
+
 public Q_SLOTS:
     void onConnectMotor();
 
@@ -65,7 +71,7 @@ private:
     QThread m_motorThread;
     IrisMultiMotorController* m_multiAxisController = nullptr;
 
-    OneMotionCaptureCoordinator* m_coordinator = nullptr;
+    QPointer<OneMotionCaptureCoordinator> m_coordinator;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
@@ -73,3 +79,62 @@ private:
 
     bool m_xMotorConnectionStatus = false;
 };
+
+class OneMotorControl_LiftingPlatform : public QDialog, public MotorWindowBase
+{
+    Q_OBJECT
+
+public:
+    OneMotorControl_LiftingPlatform(QWidget* parent = nullptr);
+    ~OneMotorControl_LiftingPlatform();
+
+    void run();
+    void stop();
+
+    bool getMotorsConnectionStatus();
+
+    void connectMotor(bool isNotification);
+
+public Q_SLOTS:
+    void onConnectMotor();
+
+    void display_x_loc(std::vector<double> loc);
+    void display_motors_connectivity(std::vector<int> connectivity);
+    void onxMove2Loc();
+    void zeroStart();
+    void onx_rangeMeasurement();
+
+    void onxMotorRight();
+    void onxMotorLeft();
+    void onxMotorStop();
+
+    void onBack2Origin(double pos);
+
+signals:
+    void moveSignal(int, bool, double, int);
+    void move2LocSignal(int, double, double, int);
+    void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
+    void stopSignal(int);
+
+    void rangeMeasurement(int, double, int);
+    void zeroStartSignal(int);
+    void testConnectivitySignal(int, int);
+
+    void start(OneMotionCapturePathLine);
+    void stopStepMotionSignal();
+
+    void sequenceComplete(int status);
+    void back2OriginSignal_TimedDataCollection();
+
+    void broadcastLocationSignal(std::vector<double>);
+
+private:
+    Ui::OneMotorControl_UI ui;
+
+    QThread m_motorThread;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
+
+    QPointer<OneMotionCoordinator> m_coordinator;
+
+    bool m_xMotorConnectionStatus = false;
+};

HPPA/PathLine.cpp

@@ -0,0 +1,319 @@
+#include "PathLine.h"
+#include <QTableWidgetItem>
+#include <cstdio>
+
+PathLineManager::PathLineManager()
+{
+}
+
+PathLineManager::~PathLineManager()
+{
+}
+
+QVector<PathLine2> PathLineManager::readFromTableWidget(QTableWidget* tableWidget)
+{
+    QVector<PathLine2> pathLines;
+
+    if (tableWidget == nullptr)
+        return pathLines;
+
+    int rowCount = tableWidget->rowCount();
+
+    for (int i = 0; i < rowCount; i++)
+    {
+        PathLine2 tmp;
+
+        tmp.targetYPosition = tableWidget->item(i, 0)->text().toDouble();
+        tmp.speedTargetYPosition = tableWidget->item(i, 1)->text().toDouble();
+        tmp.targetXMinPosition = tableWidget->item(i, 2)->text().toDouble();
+        tmp.speedTargetXMinPosition = tableWidget->item(i, 3)->text().toDouble();
+        tmp.targetXMaxPosition = tableWidget->item(i, 4)->text().toDouble();
+        tmp.speedTargetXMaxPosition = tableWidget->item(i, 5)->text().toDouble();
+
+        pathLines.append(tmp);
+    }
+
+    return pathLines;
+}
+
+void PathLineManager::writeToTableWidget(QTableWidget* tableWidget, const QVector<PathLine2>& pathLines)
+{
+    if (tableWidget == nullptr)
+        return;
+
+    // 清空现有行
+    int rowCount = tableWidget->rowCount();
+    for (int i = 0; i < rowCount; i++)
+    {
+        tableWidget->removeRow(0);
+    }
+
+    // 添加新行
+    for (int i = 0; i < pathLines.size(); i++)
+    {
+        tableWidget->insertRow(i);
+
+        QTableWidgetItem* item0 = new QTableWidgetItem(QString::number(pathLines[i].targetYPosition, 'f', 5));
+        QTableWidgetItem* item1 = new QTableWidgetItem(QString::number(pathLines[i].speedTargetYPosition, 'f', 5));
+        QTableWidgetItem* item2 = new QTableWidgetItem(QString::number(pathLines[i].targetXMinPosition, 'f', 5));
+        QTableWidgetItem* item3 = new QTableWidgetItem(QString::number(pathLines[i].speedTargetXMinPosition, 'f', 5));
+        QTableWidgetItem* item4 = new QTableWidgetItem(QString::number(pathLines[i].targetXMaxPosition, 'f', 5));
+        QTableWidgetItem* item5 = new QTableWidgetItem(QString::number(pathLines[i].speedTargetXMaxPosition, 'f', 5));
+
+        item0->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+        item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+
+        tableWidget->setItem(i, 0, item0);
+        tableWidget->setItem(i, 1, item1);
+        tableWidget->setItem(i, 2, item2);
+        tableWidget->setItem(i, 3, item3);
+        tableWidget->setItem(i, 4, item4);
+        tableWidget->setItem(i, 5, item5);
+    }
+}
+
+bool PathLineManager::saveToFile(const QString& filePath, QTableWidget* tableWidget)
+{
+    if (tableWidget == nullptr || tableWidget->rowCount() <= 0)
+        return false;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "wb+");
+    if (fileHandle == nullptr)
+        return false;
+
+    double number = tableWidget->rowCount() * tableWidget->columnCount();
+    fwrite(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+
+    for (int i = 0; i < tableWidget->rowCount(); i++)
+    {
+        for (int j = 0; j < tableWidget->columnCount(); j++)
+        {
+            data[i * tableWidget->columnCount() + j] = tableWidget->item(i, j)->text().toDouble();
+        }
+    }
+
+    fwrite(data, sizeof(double), static_cast<size_t>(number), fileHandle);
+
+    fclose(fileHandle);
+    delete[] data;
+
+    return true;
+}
+
+bool PathLineManager::saveToFile(const QString& filePath, const QVector<PathLine2>& pathLines)
+{
+    if (pathLines.isEmpty())
+        return false;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "wb+");
+    if (fileHandle == nullptr)
+        return false;
+
+    double number = pathLines.size() * COLUMN_COUNT;
+    fwrite(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+
+    for (int i = 0; i < pathLines.size(); i++)
+    {
+        data[i * COLUMN_COUNT + 0] = pathLines[i].targetYPosition;
+        data[i * COLUMN_COUNT + 1] = pathLines[i].speedTargetYPosition;
+        data[i * COLUMN_COUNT + 2] = pathLines[i].targetXMinPosition;
+        data[i * COLUMN_COUNT + 3] = pathLines[i].speedTargetXMinPosition;
+        data[i * COLUMN_COUNT + 4] = pathLines[i].targetXMaxPosition;
+        data[i * COLUMN_COUNT + 5] = pathLines[i].speedTargetXMaxPosition;
+    }
+
+    fwrite(data, sizeof(double), static_cast<size_t>(number), fileHandle);
+
+    fclose(fileHandle);
+    delete[] data;
+
+    return true;
+}
+
+bool PathLineManager::readFromFile(const QString& filePath, QTableWidget* tableWidget)
+{
+    if (tableWidget == nullptr)
+        return false;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "rb");
+    if (fileHandle == nullptr)
+        return false;
+
+    double number;
+    fread(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+    for (int i = 0; i < static_cast<int>(number); i++)
+    {
+        fread(data + i, sizeof(double), 1, fileHandle);
+    }
+
+    // 清空现有行
+    int rowCount = tableWidget->rowCount();
+    for (int i = 0; i < rowCount; i++)
+    {
+        tableWidget->removeRow(0);
+    }
+
+    // 添加新行
+    int recordLineCount = static_cast<int>(number) / tableWidget->columnCount();
+    for (int i = 0; i < recordLineCount; i++)
+    {
+        tableWidget->insertRow(i);
+    }
+
+    // 填充数据
+    for (int i = 0; i < tableWidget->rowCount(); i++)
+    {
+        for (int j = 0; j < tableWidget->columnCount(); j++)
+        {
+            QTableWidgetItem* tmp = new QTableWidgetItem(
+                QString::number(data[i * tableWidget->columnCount() + j], 'f', 5));
+            tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+            tableWidget->setItem(i, j, tmp);
+        }
+    }
+
+    fclose(fileHandle);
+    delete[] data;
+
+    return true;
+}
+
+QVector<PathLine2> PathLineManager::readFromFile(const QString& filePath, bool* success)
+{
+    QVector<PathLine2> pathLines;
+
+    FILE* fileHandle = fopen(filePath.toStdString().c_str(), "rb");
+    if (fileHandle == nullptr)
+    {
+        if (success) *success = false;
+        return pathLines;
+    }
+
+    double number;
+    fread(&number, sizeof(double), 1, fileHandle);
+
+    double* data = new double[static_cast<int>(number)];
+    for (int i = 0; i < static_cast<int>(number); i++)
+    {
+        fread(data + i, sizeof(double), 1, fileHandle);
+    }
+
+    int recordLineCount = static_cast<int>(number) / COLUMN_COUNT;
+    for (int i = 0; i < recordLineCount; i++)
+    {
+        PathLine2 tmp;
+        tmp.targetYPosition = data[i * COLUMN_COUNT + 0];
+        tmp.speedTargetYPosition = data[i * COLUMN_COUNT + 1];
+        tmp.targetXMinPosition = data[i * COLUMN_COUNT + 2];
+        tmp.speedTargetXMinPosition = data[i * COLUMN_COUNT + 3];
+        tmp.targetXMaxPosition = data[i * COLUMN_COUNT + 4];
+        tmp.speedTargetXMaxPosition = data[i * COLUMN_COUNT + 5];
+
+        pathLines.append(tmp);
+    }
+
+    fclose(fileHandle);
+    delete[] data;
+
+    if (success) *success = true;
+    return pathLines;
+}
+
+void PathLineManager::addRecordLine(QTableWidget* tableWidget,
+    double yPos, double ySpeed,
+    double xMinPos, double xMinSpeed,
+    double xMaxPos, double xMaxSpeed)
+{
+    if (tableWidget == nullptr)
+        return;
+
+    int currentRow = tableWidget->currentRow();
+    int insertRow = (currentRow == -1) ? tableWidget->rowCount() : currentRow + 1;
+
+    tableWidget->insertRow(insertRow);
+
+    QTableWidgetItem* item0 = new QTableWidgetItem(QString::number(yPos, 'f', 2));
+    QTableWidgetItem* item1 = new QTableWidgetItem(QString::number(ySpeed, 'f', 2));
+    QTableWidgetItem* item2 = new QTableWidgetItem(QString::number(xMinPos, 'f', 2));
+    QTableWidgetItem* item3 = new QTableWidgetItem(QString::number(xMinSpeed, 'f', 2));
+    QTableWidgetItem* item4 = new QTableWidgetItem(QString::number(xMaxPos, 'f', 2));
+    QTableWidgetItem* item5 = new QTableWidgetItem(QString::number(xMaxSpeed, 'f', 2));
+
+    item0->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+    item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
+
+    tableWidget->setItem(insertRow, 0, item0);
+    tableWidget->setItem(insertRow, 1, item1);
+    tableWidget->setItem(insertRow, 2, item2);
+    tableWidget->setItem(insertRow, 3, item3);
+    tableWidget->setItem(insertRow, 4, item4);
+    tableWidget->setItem(insertRow, 5, item5);
+}
+
+double PathLineManager::calculateTimeFromFile(const QString& filePath)
+{
+    bool success = false;
+    QVector<PathLine2> pathLines = readFromFile(filePath, &success);
+    if (!success || pathLines.isEmpty())
+        return 0.0;
+
+    double totalTimeSecond = 0.0;
+    double currentX = 0.0;
+    double currentY = 0.0;
+    double yTime;
+    double xTime;
+
+    for (int i = 0; i < pathLines.size(); i++)
+    {
+        const PathLine2& line = pathLines[i];
+
+        double yDistance = qAbs(line.targetYPosition - currentY);
+        if (line.speedTargetYPosition > 0.0 && yDistance > 0.0)
+        {
+            yTime = yDistance / line.speedTargetYPosition;
+        }
+        double xMinDistance = qAbs(line.targetXMinPosition - currentX);
+        if (line.speedTargetXMinPosition > 0.0 && xMinDistance > 0.0)
+        {
+            xTime = xMinDistance / line.speedTargetXMinPosition;
+        }
+        totalTimeSecond += std::max(yTime, xTime);
+
+        double xMaxDistance = qAbs(line.targetXMaxPosition - line.targetXMinPosition);
+        if (line.speedTargetXMaxPosition > 0.0 && xMaxDistance > 0.0)
+        {
+            totalTimeSecond += xMaxDistance / line.speedTargetXMaxPosition;
+        }
+
+        currentX = line.targetXMaxPosition;
+        currentY = line.targetYPosition;
+    }
+
+    double returnYDistance = currentY;
+    double returnXDistance = currentX;
+    if (currentY > 0.0)
+    {
+        yTime += returnYDistance / pathLines[0].speedTargetYPosition;
+    }
+    if (currentX > 0.0)
+    {
+        xTime += returnXDistance / pathLines[0].speedTargetXMinPosition;
+    }
+    totalTimeSecond += std::max(yTime, xTime);
+
+    return totalTimeSecond / 60;
+}

HPPA/PathLine.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include <QString>
+#include <QVector>
+#include <QTableWidget>
+
+// PathLine 结构体定义（如果还没有在其他地方定义）
+struct PathLine2
+{
+    double targetYPosition;
+    double speedTargetYPosition;
+    double targetXMinPosition;
+    double speedTargetXMinPosition;
+    double targetXMaxPosition;
+    double speedTargetXMaxPosition;
+};
+
+class PathLineManager
+{
+public:
+    PathLineManager();
+    ~PathLineManager();
+
+    // 从TableWidget读取PathLine数据
+    static QVector<PathLine2> readFromTableWidget(QTableWidget* tableWidget);
+
+    // 将PathLine数据写入TableWidget
+    static void writeToTableWidget(QTableWidget* tableWidget, const QVector<PathLine2>& pathLines);
+
+    // 保存PathLine到文件
+    static bool saveToFile(const QString& filePath, QTableWidget* tableWidget);
+    static bool saveToFile(const QString& filePath, const QVector<PathLine2>& pathLines);
+
+    // 从文件读取PathLine
+    static bool readFromFile(const QString& filePath, QTableWidget* tableWidget);
+    static QVector<PathLine2> readFromFile(const QString& filePath, bool* success = nullptr);
+
+    // 添加一行PathLine到TableWidget
+    static void addRecordLine(QTableWidget* tableWidget,
+        double yPos = 15.0,
+        double ySpeed = 1.0,
+        double xMinPos = 0.0,
+        double xMinSpeed = 1.0,
+        double xMaxPos = 50.0,
+        double xMaxSpeed = 1.0);
+
+    static double calculateTimeFromFile(const QString& filePath);
+
+private:
+    static const int COLUMN_COUNT = 6;
+};

HPPA/PowerControl3D.cpp

@@ -0,0 +1,100 @@
+#include "PowerControl3D.h"
+
+using namespace MotorParams;
+
+PowerControl3D::PowerControl3D(QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	connect(ui.halogenLampPowerOn_btn, &QPushButton::clicked, this, &PowerControl3D::halogenLampPowerOn);
+	connect(ui.halogenLampPowerDown_btn, &QPushButton::clicked, this, &PowerControl3D::halogenLampPowerDown);
+
+	connect(ui.d65LampPowerOn_btn, &QPushButton::clicked, this, &PowerControl3D::d65LampPowerOn);
+	connect(ui.d65LampPowerDown_btn, &QPushButton::clicked, this, &PowerControl3D::d65LampPowerDown);
+
+	connect(ui.slrPowerOn_btn, &QPushButton::clicked, this, &PowerControl3D::slrPowerOn);
+	connect(ui.slrPowerDown_btn, &QPushButton::clicked, this, &PowerControl3D::slrPowerDown);
+
+	MotorParams::TCPConnectionParams tcpConnectionParams6003;
+	tcpConnectionParams6003.port = 6003;
+	tcpConnectionParams6003.serverIP = "192.168.1.2";
+	tcpServer6003 = new CommunicationViaTCP(tcpConnectionParams6003, this);
+
+	MotorParams::TCPConnectionParams tcpConnectionParams6004;
+	tcpConnectionParams6004.port = 6004;
+	tcpConnectionParams6004.serverIP = "192.168.1.2";
+	tcpServer6004 = new CommunicationViaTCP(tcpConnectionParams6004, this);
+}
+
+PowerControl3D::~PowerControl3D()
+{
+	delete tcpServer6003;
+	delete tcpServer6004;
+}
+
+void PowerControl3D::halogenLampPowerOn()
+{
+	tcpServer6003->sendCommand(R"({"key1":1,"type":"event"})");
+}
+
+void PowerControl3D::halogenLampPowerDown()
+{
+	tcpServer6003->sendCommand(R"({"key1":0,"type":"event"})");
+}
+
+void PowerControl3D::switchHalogenLampPower(int state)
+{
+	if (state==0)
+	{
+		halogenLampPowerDown();
+	}
+	else if(state == 1)
+	{
+		halogenLampPowerOn();
+	}
+}
+
+void PowerControl3D::d65LampPowerOn()
+{
+	tcpServer6004->sendCommand(R"({"key1":1,"type":"event"})");
+}
+
+void PowerControl3D::d65LampPowerDown()
+{
+	tcpServer6004->sendCommand(R"({"key1":0,"type":"event"})");
+}
+
+void PowerControl3D::switchD65LampPower(int state)
+{
+	if (state == 0)
+	{
+		d65LampPowerDown();
+	}
+	else if (state == 1)
+	{
+		d65LampPowerOn();
+	}
+}
+
+void PowerControl3D::slrPowerOn()
+{
+	tcpServer6003->sendCommand(R"({"key2":1,"type":"event"})");
+}
+
+void PowerControl3D::slrPowerDown()
+{
+	tcpServer6003->sendCommand(R"({"key2":0,"type":"event"})");
+}
+
+void PowerControl3D::switchSlrPower(int state)
+{
+	if (state == 0)
+	{
+		slrPowerDown();
+	}
+	else if (state == 1)
+	{
+		slrPowerOn();
+	}
+}

HPPA/PowerControl3D.h

@@ -0,0 +1,42 @@
+#pragma once
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+
+#include "ui_PowerControl3D.h"
+
+#include "CommunicationViaTCP.h"
+
+//using namespace MotorParams;
+
+class PowerControl3D : public QDialog
+{
+	Q_OBJECT
+
+public:
+	PowerControl3D(QWidget* parent = nullptr);
+	~PowerControl3D();
+
+public Q_SLOTS:
+	void halogenLampPowerOn();
+	void halogenLampPowerDown();
+	void switchHalogenLampPower(int state);
+
+	void d65LampPowerOn();
+	void d65LampPowerDown();
+	void switchD65LampPower(int state);
+
+	void slrPowerOn();
+	void slrPowerDown();
+	void switchSlrPower(int state);
+
+signals:
+	//void powerOpened();
+
+private:
+	Ui::PowerControl3D_UI ui;
+
+	MotorParams::CommunicationViaTCP* tcpServer6003;
+	MotorParams::CommunicationViaTCP* tcpServer6004;
+};

HPPA/PowerControl3D.ui

@@ -0,0 +1,350 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PowerControl3D_UI</class>
+ <widget class="QDialog" name="PowerControl3D_UI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>493</width>
+    <height>369</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>PowerControl3D</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	/*border-top: 12px solid transparent;
+    border-right: 0px solid transparent;
+    border-bottom: 0px solid transparent;
+    border-left: 0px solid transparent;*/
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_4" rowstretch="1,2,2,2,1" columnstretch="1,10,1">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>66</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <widget class="QGroupBox" name="groupBox_8">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>卤素灯</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="halogenLampPowerOn_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>打   开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="halogenLampPowerDown_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>关   闭</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_4">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <widget class="QGroupBox" name="groupBox_7">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>D65灯</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="d65LampPowerOn_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>打   开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="d65LampPowerDown_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>关   闭</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_6">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="0">
+    <spacer name="horizontalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <widget class="QGroupBox" name="groupBox_6">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="title">
+      <string>单反</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>10</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>18</number>
+      </property>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="slrPowerDown_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>下   电</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QPushButton" name="slrPowerOn_btn">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>上   电</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="3" column="2">
+    <spacer name="horizontalSpacer_5">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>63</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="4" column="1">
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>65</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/QDoubleSlider.cpp

@@ -6,7 +6,8 @@ m_Multiplier(100.0)
 {
 	connect(this, SIGNAL(valueChanged(int)), this, SLOT(notifyValueChanged(int)));
 
-	setSingleStep(1);
+	setSingleStep(0);
+	setPageStep(0);
 	setRange(1, 500);
 
 	setOrientation(Qt::Horizontal);

HPPA/RasterImageLayer.cpp

@@ -0,0 +1,81 @@
+#include "RasterImageLayer.h"
+#include "RasterLayer.h"
+#include "RasterDataProvider.h"
+#include "RasterRendererBase.h"
+#include "MultibandRasterRenderer.h"
+#include "SinglebandRasterRenderer.h"
+
+RasterImageLayer::RasterImageLayer(RasterLayer* layer, RendererType type)
+    : m_layer(layer)
+    , m_rendererType(type)
+    , m_rendererInitialized(false)
+{
+}
+
+void RasterImageLayer::ensureRenderer()
+{
+    if (m_rendererInitialized) return;
+    if (!m_layer) return;
+
+    RasterDataProvider* provider = nullptr;
+    if (m_layer->dataProvider())
+    {
+        provider = m_layer->dataProvider();
+    }
+    else if (m_layer->openDataProvider())
+    {
+        provider = m_layer->dataProvider();
+    }
+
+    if (!provider) return;
+
+    switch (m_rendererType)
+    {
+        case RendererType::Multiband:
+        {
+            auto* multiRenderer = new MultibandRasterRenderer(provider);
+            m_renderer.reset(multiRenderer);
+            multiRenderer->setParams(m_multibandParams);
+            break;
+        }
+        case RendererType::Singleband:
+        {
+            auto* singleRenderer = new SinglebandRasterRenderer(provider);
+            m_renderer.reset(singleRenderer);
+            singleRenderer->setParams(m_singlebandParams);
+            break;
+        }
+    }
+
+    m_rendererInitialized = true;
+}
+
+RasterImageLayer::~RasterImageLayer()
+{
+    m_renderer.reset();
+}
+
+QImage RasterImageLayer::render()
+{
+    ensureRenderer();
+    if (!m_renderer) return QImage();
+    return m_renderer->render();
+}
+
+void RasterImageLayer::setMultibandParams(const MultibandRenderParams& params)
+{
+    m_multibandParams = params;
+    if (m_rendererInitialized && m_rendererType == RendererType::Multiband) {
+        auto* r = static_cast<MultibandRasterRenderer*>(m_renderer.get());
+        r->setParams(params);
+    }
+}
+
+void RasterImageLayer::setSinglebandParams(const SinglebandRenderParams& params)
+{
+    m_singlebandParams = params;
+    if (m_rendererInitialized && m_rendererType == RendererType::Singleband) {
+        auto* r = static_cast<SinglebandRasterRenderer*>(m_renderer.get());
+        r->setParams(params);
+    }
+}

HPPA/RasterImageLayer.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#include <memory>
+#include <QImage>
+
+#include "RasterRendererBase.h"
+#include "RasterRenderParams.h"
+
+class RasterLayer;
+class RasterRendererBase;
+class MultibandRasterRenderer;
+class SinglebandRasterRenderer;
+
+class RasterImageLayer
+{
+public:
+    enum class RendererType {
+        Multiband,
+        Singleband
+    };
+
+    RasterImageLayer(RasterLayer* layer, RendererType type);
+    ~RasterImageLayer();
+
+    void ensureRenderer();
+    QImage render();
+
+    RasterLayer* layer() const { return m_layer; }
+    RasterRendererBase* renderer() const { return m_renderer.get(); }
+    RendererType rendererType() const { return m_rendererType; }
+
+    // Type-safe params access
+    MultibandRenderParams multibandParams() const { return m_multibandParams; }
+    SinglebandRenderParams singlebandParams() const { return m_singlebandParams; }
+
+    void setMultibandParams(const MultibandRenderParams& params);
+    void setSinglebandParams(const SinglebandRenderParams& params);
+
+private:
+    RasterLayer* m_layer;
+    RendererType m_rendererType;
+    std::unique_ptr<RasterRendererBase> m_renderer;
+    MultibandRenderParams m_multibandParams;
+    SinglebandRenderParams m_singlebandParams;
+    bool m_rendererInitialized = false;
+};

HPPA/RasterLayer.cpp

@@ -1,21 +1,18 @@
 #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; 
+MapLayer::LayerType RasterLayer::layerType() const
+{
+    return MapLayer::LayerType::Raster;
 }
 
 RasterDataProvider* RasterLayer::dataProvider() const
@@ -23,18 +20,11 @@ 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;
+    return m_provider->open();
 }
 
 bool RasterLayer::isValidPixel(int x, int y)
@@ -71,31 +61,6 @@ bool RasterLayer::readPixelSpectrum(int x, int y, QVector<double>& wavelengths,
     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();
@@ -108,9 +73,26 @@ bool RasterLayer::wavelengthRange(double& minWave, double& maxWave) const
 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();
 }
+
+int RasterLayer::width() const
+{
+    if (!m_provider) {
+        auto* self = const_cast<RasterLayer*>(this);
+        if (!self->openDataProvider()) return 0;
+    }
+    return m_provider->width();
+}
+
+int RasterLayer::height() const
+{
+    if (!m_provider) {
+        auto* self = const_cast<RasterLayer*>(this);
+        if (!self->openDataProvider()) return 0;
+    }
+    return m_provider->height();
+}

HPPA/RasterLayer.h

@@ -2,11 +2,10 @@
 
 #include "MapLayer.h"
 #include <memory>
-#include <QImage>
 #include <QVector>
+#include <vector>
 
 class RasterDataProvider;
-class RasterRenderer;
 
 class RasterLayer : public MapLayer
 {
@@ -17,9 +16,8 @@ public:
 
     LayerType layerType() const override;
 
-    // Access provider/renderer
+    // Access provider
     RasterDataProvider* dataProvider() const;
-    RasterRenderer* renderer() const;
 
     // Create or open provider based on this layer's uri
     bool openDataProvider();
@@ -27,29 +25,16 @@ public:
     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:
+    // Get dimensions
+    int width() const;
+    int height() const;
+
+protected:
     std::unique_ptr<RasterDataProvider> m_provider;
-    std::unique_ptr<RasterRenderer> m_renderer;
-    RenderParams m_currentParams;
 };

HPPA/RasterRenderParams.h

@@ -0,0 +1,19 @@
+#pragma once
+
+// Common base struct for all render parameters
+struct RasterRenderParamsBase {
+    double minValue = 0.0;
+    double maxValue = 4095.0;
+};
+
+// Parameters for multiband rendering (RGB with wavelengths)
+struct MultibandRenderParams : RasterRenderParamsBase {
+    double rWave = 665.0;
+    double gWave = 560.0;
+    double bWave = 490.0;
+};
+
+// Parameters for singleband rendering (wavelength)
+struct SinglebandRenderParams : RasterRenderParamsBase {
+    double wavelength = 550.0;
+};

HPPA/RasterRenderer.cpp

@@ -1,86 +0,0 @@
-#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

@@ -1,29 +0,0 @@
-#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/RasterRendererBase.cpp

@@ -0,0 +1,6 @@
+#include "RasterRendererBase.h"
+
+RasterRendererBase::RasterRendererBase(RasterDataProvider* provider)
+	: m_provider(provider)
+{
+}

HPPA/RasterRendererBase.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <QImage>
+#include <memory>
+
+class RasterDataProvider;
+
+class RasterRendererBase
+{
+public:
+    //struct Params {
+    //    virtual ~Params() = default;
+    //};
+
+    virtual ~RasterRendererBase() = default;
+
+    virtual QImage render() = 0;
+
+    RasterDataProvider* dataProvider() const { return m_provider; }
+
+protected:
+    explicit RasterRendererBase(RasterDataProvider* provider);
+
+    RasterDataProvider* m_provider = nullptr;
+};

HPPA/RgbCameraOperation.cpp

@@ -30,7 +30,7 @@ void RgbCameraOperation::OpenCamera()
 
 	cam->release();
 
-	emit CamClosed();
+	emit CamOpenedSignal();
 
 }
 
@@ -65,4 +65,6 @@ void RgbCameraOperation::CloseCamera()
 	std::cout << "关闭摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 
 	record = false;
+
+	emit CamClosedSignal();
 }

HPPA/RgbCameraOperation.h

@@ -42,6 +42,7 @@ public slots:
 signals:
 	void PlotSignal();
 
-	void CamClosed();
+	void CamOpenedSignal();
+	void CamClosedSignal();
 };
 #endif // !RGBCAMERAOPERATION_H

HPPA/SingleLensReflexCamera.ui

@@ -0,0 +1,240 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SingleLensReflexCameraClass</class>
+ <widget class="QDialog" name="SingleLensReflexCameraClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>855</width>
+    <height>481</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>SingleLensReflexCamera</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">
+   <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="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QPushButton" name="openSLRCamera_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>
+      <widget class="QPushButton" name="closeSLRCamera_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>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="styleSheet">
+        <string notr="true">QLabel {
+    color: rgb(255, 255, 255);
+}</string>
+       </property>
+       <property name="text">
+        <string>数据路径</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="dataFolderLineEdit">
+       <property name="styleSheet">
+        <string notr="true">QLineEdit {
+    background-color: #142D7F;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    min-width: 70px;
+    min-height: 20px;
+    font-size: 13px;
+}</string>
+       </property>
+       <property name="text">
+        <string>./CapturedImages</string>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="dataFolderBtn">
+       <property name="text">
+        <string>...</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="1">
+    <spacer name="verticalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <item>
+      <widget class="QPushButton" name="takePhoto_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>拍   摄</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="stopTakePhoto_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>停   拍</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+  <zorder>dataFolderLineEdit</zorder>
+  <zorder>dataFolderBtn</zorder>
+  <zorder>label</zorder>
+  <zorder>openSLRCamera_btn</zorder>
+  <zorder>layoutWidget</zorder>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/SingleLensReflexCameraWindow.h

@@ -0,0 +1,189 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <QImage>
+#include <QThread>
+#include <QDir>
+#include <QTimer>
+#include <QMutex>
+#include <QDateTime>
+#include <QLabel>
+#include <QFileDialog>
+
+#include <iostream>
+#include "ui_SingleLensReflexCamera.h"
+#include "AppSettings.h"
+
+#include <fstream>
+#include <opencv2/opencv.hpp>
+
+// 包含Canon EDSDK头文件
+#include "EDSDK.h"
+#include "EDSDKTypes.h"
+#include "EDSDKErrors.h"
+
+typedef void(*func)();
+
+class SingleLensReflexCameraOperation : public QObject
+{
+    Q_OBJECT
+
+public:
+    SingleLensReflexCameraOperation();
+    ~SingleLensReflexCameraOperation();
+
+    QImage m_colorImage;
+    QImage m_depthImage;
+    void setCallback(void(*func)());
+    bool getRecordStatus() const { return m_isRecord; }
+    
+    // 设置保存路径
+    void setSavePath(const QString& path);
+    
+    // 获取当前实时取景图像
+    QImage getCurrentLiveViewImage();
+
+    void setCaptureInterval(int captureIntervalSeconds);
+
+private:
+    cv::Mat frame;
+    func m_func;
+    bool m_isRecord;
+    
+    // Canon EDSDK相关成员
+    EdsCameraRef m_camera;
+    bool m_isSDKInitialized;
+    bool m_isSessionOpen;
+    bool m_isLiveViewActive;
+    
+    QTimer* m_captureTimer;      // 拍照定时器
+    QTimer* m_liveViewTimer;     // 实时取景定时器
+    
+    QString m_savePath;
+    int m_imageCounter;
+    int m_captureIntervalMilliseconds;
+    QMutex m_mutex;
+    QMutex m_liveViewMutex;
+    
+    QImage m_liveViewImage;      // 当前实时取景图像
+    
+    // EDSDK辅助函数
+    EdsError initializeSDK();
+    EdsError terminateSDK();
+    EdsError openCamera();
+    EdsError closeCamera();
+    EdsError takePicture();
+    EdsError setupSaveToHost();
+    
+    // 实时取景相关函数
+    EdsError startLiveView();
+    EdsError stopLiveView();
+    EdsError downloadEvfImage();
+    
+    // 静态回调函数
+    static EdsError EDSCALLBACK handleObjectEvent(EdsObjectEvent event, EdsBaseRef object, EdsVoid* context);
+    static EdsError EDSCALLBACK handlePropertyEvent(EdsPropertyEvent event, EdsPropertyID property, EdsUInt32 param, EdsVoid* context);
+    static EdsError EDSCALLBACK handleStateEvent(EdsStateEvent event, EdsUInt32 parameter, EdsVoid* context);
+    
+    // 下载图像
+    EdsError downloadImage(EdsDirectoryItemRef directoryItem);
+
+public slots:
+    void OpenSLRCamera();
+    void takePhoto();
+    void OpenAndTakePhotoSLRCamera();
+    void stopTakePhoto();
+    void OpenSLRCamera_callback();
+    void CloseSLRCamera();
+    void onCaptureTimer();
+    void onLiveViewTimer();
+    
+    // 控制拍照
+    void startCapture();    // 开始定时拍照
+    void stopCapture();     // 停止定时拍照
+    void captureOnce();     // 拍一张照片
+
+signals:
+    void PlotSignal();
+    void CamOpenedSignal();
+    void CamClosedSignal();
+    void ImageCapturedSignal(const QString& filePath);
+    void ErrorSignal(const QString& errorMsg);
+    
+    // 实时取景信号
+    void LiveViewImageReady(const QImage& image);
+    void LiveViewStarted();
+    void LiveViewStopped();
+
+    void CaptureStartedSignal();
+    void CaptureStoppedSignal();
+};
+
+class SingleLensReflexCameraWindow : public QDialog
+{
+    Q_OBJECT
+
+public:
+    SingleLensReflexCameraWindow(QWidget* parent = nullptr);
+    ~SingleLensReflexCameraWindow();
+
+    SingleLensReflexCameraOperation* m_SingleLensReflexCameraOperation;
+    void setDataFolder(QString dir);
+    void setCaptureInterval(int captureIntervalSeconds);
+
+public Q_SLOTS:
+    void onSelectDataFolder();
+
+    void openSLRCamera();
+    void takePhoto();
+    void OpenAndTakePhotoSLRCamera();
+    void stopTakePhoto();
+    void onCamOpened();
+    void closeSLRCamera();
+    void onCamClosed();
+    void onImageCaptured(const QString& filePath);
+    void onError(const QString& errorMsg);
+        
+    // 拍照控制
+    void onStartCapture();
+    void onStopCapture();
+    void onCaptureOnce();
+
+    void onCaptureStarted();
+    void onCaptureStopped();
+
+    void onStartTimedDataCollection(int lineNum);
+    void onStopTimedDataCollection();
+
+signals:
+    void openSLRCameraSignal();
+    void takePhotoSignal();
+    void OpenAndTakePhotoSLRCameraSignal();
+    void stopTakePhotoSignal();
+    void closeSLRCameraSignal();
+    void PlotSLRImageSignal();
+    void SLRCamClosedSignal();
+    
+    // 控制信号
+    void startCaptureSignal();
+    void stopCaptureSignal();
+    void captureOnceSignal();
+
+    // 实时取景信号
+    void LiveViewImageReady(const QImage& image);
+    void LiveViewStarted();
+    void LiveViewStopped();
+private:
+    Ui::SingleLensReflexCameraClass ui;
+    QThread* m_SLRCameraThread;
+    
+    // 用于显示实时取景的标签（如果UI中没有，可以动态创建）
+    QLabel* m_liveViewLabel;
+
+	QString m_btnOldText;  // 存储拍照按钮的原始文本
+    
+    bool m_isCapturing;  // 是否正在定时拍照
+};

HPPA/SinglebandRasterRenderer.cpp

@@ -0,0 +1,85 @@
+#include "SinglebandRasterRenderer.h"
+#include "RasterDataProvider.h"
+#include <algorithm>
+
+SinglebandRasterRenderer::SinglebandRasterRenderer(RasterDataProvider* provider)
+    : RasterRendererBase(provider)
+{
+}
+
+void SinglebandRasterRenderer::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);
+    }
+}
+
+int SinglebandRasterRenderer::nearestBandIndex(double wave) const
+{
+    if (!m_provider) return -1;
+
+    int bands = m_provider->bandCount();
+    if (bands <= 0) return -1;
+
+    std::vector<double> wavelengths = m_provider->bandWavelengths();
+    if (wavelengths.empty()) {
+        // No wavelengths available, fallback to first band
+        return 0;
+    }
+
+    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;
+        }
+    }
+
+    return (best >= 0) ? best : 0;
+}
+
+QImage SinglebandRasterRenderer::render()
+{
+    if (!m_provider) return QImage();
+
+    int w = m_provider->width();
+    int h = m_provider->height();
+    if (w <= 0 || h <= 0) return QImage();
+
+    int bandIdx = nearestBandIndex(m_params.wavelength);
+    if (bandIdx < 0 || bandIdx >= m_provider->bandCount()) {
+        bandIdx = 0;
+    }
+
+    std::vector<float> buf;
+    m_provider->readBandAsFloat(bandIdx, buf);
+
+    std::vector<unsigned char> gray8;
+    float minV = static_cast<float>(m_params.minValue);
+    float maxV = static_cast<float>(m_params.maxValue);
+    if (!buf.empty()) {
+        stretchTo8bit(buf, gray8, minV, maxV);
+    }
+
+    QImage out(w, h, QImage::Format_Grayscale8);
+    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;
+            scan[x] = (gray8.size() > (size_t)idx) ? gray8[idx] : 0;
+        }
+    }
+    return out;
+}

HPPA/SinglebandRasterRenderer.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include "RasterRendererBase.h"
+#include "RasterRenderParams.h"
+#include <vector>
+
+class RasterDataProvider;
+
+class SinglebandRasterRenderer : public RasterRendererBase
+{
+public:
+    explicit SinglebandRasterRenderer(RasterDataProvider* provider);
+
+    QImage render() override;
+
+    // Parameter access
+    SinglebandRenderParams params() const { return m_params; }
+    void setParams(const SinglebandRenderParams& params) { m_params = params; }
+
+private:
+    SinglebandRenderParams m_params;
+
+    int nearestBandIndex(double wave) const;
+
+    // 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/TabManager.cpp

@@ -7,6 +7,24 @@ TabManager::TabManager(QTabWidget* tabWidget, QObject* parent)
     Q_ASSERT(m_tabWidget);
 }
 
+void TabManager::hideAllTabs()
+{
+    int tabNumber = m_tabWidget->count();
+    for (size_t i = 0; i < tabNumber; i++)
+    {
+        int idx = 0;
+
+        TabInfo info;
+        info.index = idx;
+        info.text = m_tabWidget->tabText(idx);
+        info.icon = m_tabWidget->tabIcon(idx);
+        info.toolTip = m_tabWidget->tabToolTip(idx);
+
+        m_hiddenTabs.insert(m_tabWidget->widget(idx), info);
+        m_tabWidget->removeTab(idx);
+    }
+}
+
 void TabManager::hideTab(QWidget* page)
 {
     if (!page || !m_tabWidget)

HPPA/TabManager.h

@@ -10,6 +10,7 @@ class TabManager : public QObject
 public:
     explicit TabManager(QTabWidget* tabWidget, QObject* parent = nullptr);
 
+	void hideAllTabs();
     void hideTab(QWidget* page);
     void showTab(QWidget* page);
     bool isHidden(QWidget* page) const;

HPPA/TaskTreeModel.cpp

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

HPPA/TaskTreeModel.h

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

HPPA/TimedDataCollection.cpp

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

HPPA/TimedDataCollection.h

@@ -0,0 +1,81 @@
+#pragma once
+
+#include <QDialog>
+#include <QTreeView>
+#include <QHeaderView>
+#include <QLabel>
+#include <QFileDialog>
+#include "ui_TimedDataCollection_ui.h"
+#include "TimedDataCollectionDataStructures.h"
+#include "TaskTreeModel.h"
+#include "PathLine.h"
+
+class TimedDataCollection : public QDialog
+{
+    Q_OBJECT
+
+public:
+    TimedDataCollection(QWidget* parent = nullptr);
+    ~TimedDataCollection();
+
+    void readTimedTaskFromFile(const QString& filePath);
+
+public Q_SLOTS:
+    void startScheduler();
+    void stopScheduler();
+    void subTaskCompleted(int status);
+    void onBack2Origin();
+
+private Q_SLOTS:
+    // 任务状态更新槽
+    void onTaskStarted(int taskId);
+    void onTaskFinished(int taskId, bool success);
+    void onSubTaskStarted(int taskId, int subTaskIndex);
+    void onSubTaskFinished(int taskId, int subTaskIndex);
+    void onTaskDataChanged(const TimedTask& task);
+    void onErrorOccurred(const QString& error);
+
+    // 树视图交互
+    void onTreeItemClicked(const QModelIndex& index);
+    void onTreeItemDoubleClicked(const QModelIndex& index);
+    void onTreeSelectionChanged();
+
+Q_SIGNALS:
+    void taskStarted(int taskId);
+    void taskFinished(int taskId, bool success);
+    void subTaskStarted(int taskId, int subTaskIndex);
+    void subTaskFinished(int taskId, int subTaskIndex);
+    void errorOccurred(const QString& error);
+
+    void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+    void camParm(int camType, int captureIntervalSeconds, QString folder);
+    void motorParm(QString pathLineFilePath);
+    void startRecordSignal(int camType);
+
+    void ObtainingDepthInformationSignals(SubTask info);
+    void LiftingPlatformSignals(SubTask info);
+    void AutoFocusSignals(SubTask info);
+
+    void switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
+    void sequenceCompleteSignal(int status);
+    void Back2OriginSignal();
+
+private:
+    void setupUI();
+    void setupConnections();
+    void updateStatusBar();
+    void expandRunningTask();
+
+    void onSelectTaskFile();
+
+    Ui::TimedDataCollection_ui ui;
+
+    TaskTreeModel* m_taskModel;       // 任务树形模型
+    TaskScheduler* m_scheduler;
+
+    int m_currentTaskId = -1;
+    int m_currentSubTaskIndex = -1;
+};

HPPA/TimedDataCollectionDataStructures.cpp

@@ -0,0 +1,824 @@
+#include "TimedDataCollectionDataStructures.h"
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonArray>
+#include <QFile>
+#include <QFileInfo>
+#include <QDir>
+#include <QTextStream>
+#include <QDebug>
+#include <algorithm>
+
+// ==================== 公共接口实现 ====================
+
+bool TimedDataCollectionDataStructuresReaderWriter::saveTasksToFile(const QString& filePath, const QVector<TimedTask>& tasks)
+{
+    QJsonObject root;
+    root["version"] = "1.0";
+    root["taskCount"] = tasks.size();
+
+    QJsonArray tasksArray;
+    for (const auto& task : tasks) {
+        tasksArray.append(timedTaskToJson(task));
+    }
+    root["tasks"] = tasksArray;
+
+    QJsonDocument doc(root);
+    QFile file(filePath);
+    if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
+        qWarning() << "Failed to open file for writing:" << filePath;
+        return false;
+    }
+
+    QTextStream out(&file);
+    //out.setEncoding(QStringConverter::Utf8);
+    out << doc.toJson(QJsonDocument::Indented);
+    file.close();
+
+    return true;
+}
+
+bool TimedDataCollectionDataStructuresReaderWriter::loadTasksFromFile(const QString& filePath, QVector<TimedTask>& tasks)
+{
+    QFile file(filePath);
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        qWarning() << "Failed to open file for reading:" << filePath;
+        return false;
+    }
+
+    QByteArray jsonData = file.readAll();
+    file.close();
+
+    QJsonParseError parseError;
+    QJsonDocument doc = QJsonDocument::fromJson(jsonData, &parseError);
+    if (parseError.error != QJsonParseError::NoError) {
+        qWarning() << "JSON parse error:" << parseError.errorString();
+        return false;
+    }
+
+    if (!doc.isObject()) {
+        qWarning() << "Invalid JSON root object";
+        return false;
+    }
+
+    QJsonObject root = doc.object();
+    QJsonArray tasksArray = root["tasks"].toArray();
+    tasks.clear();
+    tasks.reserve(tasksArray.size());
+
+    for (const auto& taskValue : tasksArray) {
+        if (!taskValue.isObject()) continue;
+        TimedTask task;
+        if (jsonToTimedTask(taskValue.toObject(), task)) {
+            tasks.append(task);
+        }
+    }
+
+    return true;
+}
+
+// ==================== 枚举转换函数 ====================
+
+QString TimedDataCollectionDataStructuresReaderWriter::taskStatusToString(TaskStatus status)
+{
+    switch (status) {
+    case TaskStatus::Waiting: return "Waiting";
+    case TaskStatus::Running: return "Running";
+    case TaskStatus::Finished: return "Finished";
+    default: return "Waiting";
+    }
+}
+
+TaskStatus TimedDataCollectionDataStructuresReaderWriter::stringToTaskStatus(const QString& str)
+{
+    //if (str == "Running") return TaskStatus::Running;
+    //if (str == "Finished") return TaskStatus::Finished;
+    return TaskStatus::default;
+}
+
+QString TimedDataCollectionDataStructuresReaderWriter::subTaskTypeToString(SubTaskType type)
+{
+    switch (type) {
+    case SubTaskType::HyperSpectual400_1000nm: return "HyperSpectual400_1000nm";
+    case SubTaskType::HyperSpectual1000_1700nm: return "HyperSpectual1000_1700nm";
+    case SubTaskType::SingleLensReflex: return "SingleLensReflex";
+    case SubTaskType::DepthCamera: return "DepthCamera";
+    default: return "Unknown";
+    }
+}
+
+SubTaskType TimedDataCollectionDataStructuresReaderWriter::stringToSubTaskType(const QString& str)
+{
+    if (str == "HyperSpectual400_1000nm") return SubTaskType::HyperSpectual400_1000nm;
+    if (str == "HyperSpectual1000_1700nm") return SubTaskType::HyperSpectual1000_1700nm;
+    if (str == "SingleLensReflex") return SubTaskType::SingleLensReflex;
+    if (str == "DepthCamera") return SubTaskType::DepthCamera;
+
+    if (str == "ObtainingDepthInformation") return SubTaskType::ObtainingDepthInformation;
+    if (str == "AutoFocus") return SubTaskType::AutoFocus;
+    if (str == "LiftingPlatform") return SubTaskType::LiftingPlatform;
+
+    return SubTaskType::SingleLensReflex;
+}
+
+QString TimedDataCollectionDataStructuresReaderWriter::hyperImagerTypeToString(HyperImagerType type)
+{
+    switch (type) {
+    case HyperImagerType::Pika_L: return "Pika_L";
+    case HyperImagerType::Pika_NIR: return "Pika_NIR";
+    default: return "Unknown";
+    }
+}
+
+HyperImagerType TimedDataCollectionDataStructuresReaderWriter::stringToHyperImagerType(const QString& str)
+{
+    if (str == "Pika_L") return HyperImagerType::Pika_L;
+    if (str == "Pika_NIR") return HyperImagerType::Pika_NIR;
+
+    return HyperImagerType::Pika_L;
+}
+
+// ==================== SubTask序列化 ====================
+
+QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const SubTask& subTask)
+{
+    QJsonObject obj;
+    obj["type"] = subTaskTypeToString(subTask.type);
+    obj["startTime"] = subTask.startTime.toString(Qt::ISODate);
+    obj["endTime"] = subTask.endTime.toString(Qt::ISODate);
+    obj["durationMinutes"] = subTask.durationMinutes;
+    obj["estimatedDurationMinutes"] = subTask.estimatedDurationMinutes;
+    obj["pathLineFilePath"] = subTask.pathLineFilePath;
+    obj["status"] = taskStatusToString(subTask.status);
+    obj["frameRate"] = subTask.frameRate;
+    obj["exposureTime"] = subTask.exposureTime;
+    obj["defaultRenderBand"] = subTask.defaultRenderBand;
+    obj["captureIntervalSeconds"] = subTask.captureIntervalSeconds;
+
+    obj["autoFocusHyperImagerType"] = hyperImagerTypeToString(subTask.autoFocusHyperImagerType);
+    obj["autoFocusMotorConfigFilePath"] = subTask.autoFocusMotorConfigFilePath;
+    obj["autoFocusX"] = subTask.autoFocusX;
+    obj["autoFocusY"] = subTask.autoFocusY;
+
+	obj["depthAlgorithm"] = subTask.depthAlgorithm;
+    obj["depthInfoX"] = subTask.depthInfoX;
+    obj["depthInfoY"] = subTask.depthInfoY;
+    obj["averageNumberOfTimes"] = subTask.averageNumberOfTimes;
+    obj["percentageOfEffectiveArea"] = subTask.percentageOfEffectiveArea;
+    obj["depthType"] = subTask.depthType;
+    obj["depthRangePercentage"] = subTask.depthRangePercentage;
+    return obj;
+}
+
+bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObject& json, SubTask& subTask)
+{
+    subTask.type = stringToSubTaskType(json["type"].toString());
+    subTask.startTime = QDateTime::fromString(QString(), Qt::ISODate);
+    subTask.endTime = QDateTime::fromString(QString(), Qt::ISODate);
+    subTask.durationMinutes = json["durationMinutes"].toDouble();
+    subTask.estimatedDurationMinutes = json["estimatedDurationMinutes"].toDouble();
+    subTask.pathLineFilePath = json["pathLineFilePath"].toString();
+    subTask.status = stringToTaskStatus(json["status"].toString());
+    subTask.frameRate = json["frameRate"].toDouble();
+    subTask.exposureTime = json["exposureTime"].toDouble();
+    subTask.defaultRenderBand = json["defaultRenderBand"].toInt();
+    subTask.captureIntervalSeconds = json["captureIntervalSeconds"].toDouble();
+
+	subTask.autoFocusHyperImagerType = stringToHyperImagerType(json["autoFocusHyperImagerType"].toString());
+    subTask.autoFocusMotorConfigFilePath = json["autoFocusMotorConfigFilePath"].toString();
+    subTask.autoFocusX = json["autoFocusX"].toDouble();
+    subTask.autoFocusY = json["autoFocusY"].toDouble();
+
+    subTask.depthAlgorithm = json["depthAlgorithm"].toInt();
+    subTask.depthInfoX = json["depthInfoX"].toDouble();
+    subTask.depthInfoY = json["depthInfoY"].toDouble();
+    subTask.averageNumberOfTimes = json["averageNumberOfTimes"].toInt();
+    subTask.percentageOfEffectiveArea = json["percentageOfEffectiveArea"].toDouble();
+    subTask.depthType = json["depthType"].toInt();
+    subTask.depthRangePercentage = json["depthRangePercentage"].toDouble();
+    return true;
+}
+
+// ==================== TimedTask序列化 ====================
+
+QJsonObject TimedDataCollectionDataStructuresReaderWriter::timedTaskToJson(const TimedTask& task)
+{
+    QJsonObject obj;
+    obj["id"] = task.id;
+    obj["scheduledTime"] = task.scheduledTime.toString(Qt::ISODate);
+    obj["startTime"] = task.startTime.toString(Qt::ISODate);
+    obj["endTime"] = task.endTime.toString(Qt::ISODate);
+    obj["durationMinutes"] = task.durationMinutes;
+    obj["estimatedDurationMinutes"] = task.estimatedDurationMinutes;
+    obj["savePath"] = task.savePath;
+    obj["status"] = taskStatusToString(task.status);
+    obj["HalogenLampPreheatingTime_Minute"] = task.HalogenLampPreheatingTime_Minute;
+
+    QJsonArray subTasksArray;
+    for (const auto& subTask : task.subTasks) {
+        subTasksArray.append(subTaskToJson(subTask));
+    }
+    obj["subTasks"] = subTasksArray;
+
+    return obj;
+}
+
+bool TimedDataCollectionDataStructuresReaderWriter::jsonToTimedTask(const QJsonObject& json, TimedTask& task)
+{
+    task.id = json["id"].toInt();
+    task.scheduledTime = QDateTime::fromString(json["scheduledTime"].toString(), Qt::ISODate);
+    task.startTime = QDateTime::fromString(QString(), Qt::ISODate);
+    task.endTime = QDateTime::fromString(QString(), Qt::ISODate);
+    task.durationMinutes = json["durationMinutes"].toDouble();
+    task.estimatedDurationMinutes = json["estimatedDurationMinutes"].toDouble();
+    task.savePath = json["savePath"].toString();
+    task.status = stringToTaskStatus(json["status"].toString());
+    task.HalogenLampPreheatingTime_Minute = json["HalogenLampPreheatingTime_Minute"].toDouble();
+
+    QJsonArray subTasksArray = json["subTasks"].toArray();
+    task.subTasks.clear();
+    task.subTasks.reserve(subTasksArray.size());
+
+    for (const auto& subTaskValue : subTasksArray) {
+        if (!subTaskValue.isObject()) continue;
+        SubTask subTask;
+        if (jsonToSubTask(subTaskValue.toObject(), subTask)) {
+            task.subTasks.append(subTask);
+        }
+    }
+
+    return true;
+}
+
+// ==================== TaskExecutor 实现 ====================
+
+TaskExecutor::TaskExecutor(QObject* parent)
+    : QObject(parent)
+    , m_currentSubTaskIndex(-1)
+    , m_isRunning(false)
+{
+}
+
+TaskExecutor::~TaskExecutor()
+{
+    stop();
+}
+
+void TaskExecutor::execute(const TimedTask& task)
+{
+    if (m_isRunning) {
+        qWarning() << "TaskExecutor: Already running, ignoring execute request";
+        return;
+    }
+
+    m_task = task;
+    m_task.startTime = QDateTime::currentDateTime();
+    m_task.status = TaskStatus::Running;
+
+    emit taskUpdated(m_task);
+
+
+    m_currentSubTaskIndex = -1;
+    m_isRunning = true;
+
+    qDebug() << "TaskExecutor: Starting task" << task.id;
+
+    makeFolder(m_task.savePath);
+
+    double sleepTimeSecond = 1;
+    QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::executeNextSubTask);
+}
+
+void TaskExecutor::printMsgAndTime(QString msg)
+{
+    QDateTime now = QDateTime::currentDateTime();
+    QString timeString = now.toString("yyyy-MM-dd hh:mm:ss.zzz");
+    qDebug() << msg + " time:" << timeString;
+}
+
+void TaskExecutor::stop()
+{
+    if (!m_isRunning) return;
+
+    qDebug() << "TaskExecutor: Stopping task" << m_task.id;
+
+    m_isRunning = false;
+    emit finished(false);
+}
+
+void TaskExecutor::makeFolder(QString savePath)
+{
+    QDir dir(savePath);
+    if (!dir.exists()) {
+        if (dir.mkpath(".")) {
+            qDebug() << "TaskExecutor: Created data folder:" << savePath;
+        }
+        else {
+            qWarning() << "TaskExecutor: Failed to create data folder:" << savePath;
+        }
+    }
+    else {
+        qDebug() << "TaskExecutor: Data folder already exists:" << savePath;
+    }
+}
+
+QString TaskExecutor::makeSubTaskDataFolder(QString suffix)
+{
+    QString dateStr = QDateTime::currentDateTime().toString("yyyy-MM-dd_HH-mm-ss");
+    QString folderPath = m_task.savePath + QDir::separator() + dateStr + "_" + suffix;
+    makeFolder(folderPath);
+
+    return folderPath;
+}
+
+void TaskExecutor::onSequenceComplete(int status)
+{
+    if (!m_isRunning) return;
+
+    qDebug() << "TaskExecutor: Sequence complete, status:" << status;
+
+    // 更新当前子任务状态
+    if (m_currentSubTaskIndex < m_task.subTasks.size()) {
+        SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
+        subTask.status = (status == 0) ? TaskStatus::Finished : TaskStatus::Waiting;
+
+        subTask.endTime = QDateTime::currentDateTime();
+        subTask.durationMinutes = (double)subTask.startTime.secsTo(subTask.endTime) / 60;
+        qDebug() << "TaskExecutor: subtask " << m_currentSubTaskIndex << " time consuming(Minutes): " << subTask.durationMinutes;
+
+        // 拷贝subTask.pathLineFilePath到m_currentFolder
+        if (!subTask.pathLineFilePath.isEmpty() && QFile::exists(subTask.pathLineFilePath)) {
+            QFileInfo fileInfo(subTask.pathLineFilePath);
+            QString destPath = m_currentFolder + QDir::separator() + fileInfo.fileName();
+            if (QFile::copy(subTask.pathLineFilePath, destPath)) {
+                qDebug() << "TaskExecutor: Copied path line file to" << destPath;
+            }
+            else {
+                qDebug() << "TaskExecutor: Failed to copy path line file from" << subTask.pathLineFilePath << "to" << destPath;
+            }
+        }
+
+        emit subTaskFinished(m_currentSubTaskIndex, subTask.type, (status == 0));
+        emit taskUpdated(m_task);
+    }
+    //当前任务已经完成，正确关闭灯光或者电源
+    ensurePostTaskLighting();
+
+    emit taskUpdated(m_task);
+}
+
+void TaskExecutor::ensurePreTaskLighting()
+{
+    SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
+    if (currentTaskType != SubTaskType::HyperSpectual400_1000nm &&
+        currentTaskType != SubTaskType::HyperSpectual1000_1700nm)
+    {
+        emit switchHalogenLampSignal(0);
+    }
+    if (currentTaskType != SubTaskType::SingleLensReflex &&
+        currentTaskType != SubTaskType::DepthCamera &&
+        currentTaskType != SubTaskType::ObtainingDepthInformation)
+    {
+        emit switchD65LampSignal(0);
+    }
+}
+
+void TaskExecutor::ensurePostTaskLighting()
+{
+    SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
+    if (currentTaskType == SubTaskType::SingleLensReflex ||
+        currentTaskType == SubTaskType::DepthCamera ||
+        currentTaskType == SubTaskType::ObtainingDepthInformation)
+    {
+        emit switchD65LampSignal(0);
+    }
+
+    int nestSubTaskIndex = m_currentSubTaskIndex + 1;
+    if (nestSubTaskIndex >= m_task.subTasks.size())
+    {
+        emit switchD65LampSignal(0);
+        emit switchSlrSignal(0);
+        emit switchHalogenLampSignal(0);
+        return;
+    }
+    // 判断下一次的任务是否为高光谱任务，如果不是就关闭卤素灯
+    SubTaskType nestTaskType = m_task.subTasks[nestSubTaskIndex].type;
+    if (nestTaskType != SubTaskType::HyperSpectual400_1000nm &&
+        nestTaskType != SubTaskType::HyperSpectual1000_1700nm)
+    {
+        emit switchHalogenLampSignal(0);
+    }
+}
+
+void TaskExecutor::onBack2Origin()
+{
+    // 关闭单反电源
+    switch (m_task.subTasks[m_currentSubTaskIndex].type)
+    {
+    case SubTaskType::SingleLensReflex:
+    {
+        emit switchSlrSignal(0);
+        break;
+    }
+    }
+
+    // 检查是否还有更多子任务
+    int nestSubTaskIndex = m_currentSubTaskIndex + 1;
+    if (nestSubTaskIndex < m_task.subTasks.size()) {
+        // 执行下一个子任务
+        if (m_task.subTasks[nestSubTaskIndex].type == SubTaskType::SingleLensReflex)
+        {
+            printMsgAndTime("Slr task，for weak up，please wait 135 seconds!");
+            emit switchSlrSignal(0);
+
+            QTimer::singleShot(135 * 1000, this, &TaskExecutor::executeNextSubTask);
+        }
+        else
+        {
+            QTimer::singleShot(1000, this, &TaskExecutor::executeNextSubTask);
+        }
+    }
+    else {
+        // 所有子任务完成
+        m_task.endTime = QDateTime::currentDateTime();
+        m_task.durationMinutes = (double)m_task.startTime.secsTo(m_task.endTime) / 60;
+        m_task.status = TaskStatus::Finished;
+        qDebug() << "TaskExecutor: task time consuming(Minutes): " << m_task.durationMinutes;
+
+        m_isRunning = false;
+        qDebug() << "TaskExecutor: All subtasks completed";
+        emit finished(true);
+    }
+
+    emit taskUpdated(m_task);
+}
+
+void TaskExecutor::onError(const QString& error)
+{
+    if (!m_isRunning) return;
+
+    qWarning() << "TaskExecutor: Error occurred:" << error;
+    m_isRunning = false;
+    emit errorOccurred(error);
+    emit finished(false);
+}
+
+void TaskExecutor::executeNextSubTask()
+{
+    m_currentSubTaskIndex++;
+
+    if (!m_isRunning || m_currentSubTaskIndex >= m_task.subTasks.size())
+    {
+        return;
+    }
+
+    SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
+    subTask.status = TaskStatus::Running;
+    subTask.startTime = QDateTime::currentDateTime();
+
+    emit taskUpdated(m_task);
+
+    QString tmp = "TaskExecutor: Starting subtask" + QString::number(m_currentSubTaskIndex) + "type:" + static_cast<int>(subTask.type);
+    printMsgAndTime(tmp);
+    //printMsgAndTime("excute " + QString::number(m_currentSubTaskIndex) + " subTask: ");
+
+    //qDebug() << "TaskExecutor: Starting subtask" << m_currentSubTaskIndex 
+    //         << "type:" << static_cast<int>(subTask.type);
+
+    emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
+
+    switch (subTask.type)
+    {
+        case SubTaskType::ObtainingDepthInformation:
+        {
+            //（1）移动到指定位置并通过深度相机获取深度信息（2）调整升降板高度（白板+调焦板）（3）回到零位(0,0)
+            emit switchD65LampSignal(1);
+            emit ObtainingDepthInformationSignals(subTask);
+            break;
+        }
+        case SubTaskType::AutoFocus:
+        {
+            switch (subTask.autoFocusHyperImagerType)
+            {
+                case HyperImagerType::Pika_L:
+                    m_camType = 0;
+                    m_currentFolder = makeSubTaskDataFolder("L");
+                    emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
+
+                    break;
+                case HyperImagerType::Pika_NIR:
+                    m_camType = 1;
+                    m_currentFolder = makeSubTaskDataFolder("NIR");
+                    emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
+
+                    break;
+                default:
+                    break;
+            }
+            emit switchHalogenLampSignal(1);
+
+            //执行自动调焦任务
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitAutoFocusSignal);
+            break;
+        }
+        case SubTaskType::LiftingPlatform:
+        {
+		    //执行升降平台任务
+            emit LiftingPlatformSignals(subTask);
+            break;
+        }
+        case SubTaskType::HyperSpectual400_1000nm:
+        {
+            m_camType = 0;
+            m_currentFolder = makeSubTaskDataFolder("L");
+            emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
+
+            emit motorParm(subTask.pathLineFilePath);
+
+            // 打开卤素灯预热
+            emit switchHalogenLampSignal(1);
+            printMsgAndTime("open HalogenLamp");
+            double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
+            QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::emitRecordSignal);
+
+            break;
+        }
+        case SubTaskType::HyperSpectual1000_1700nm:
+        {
+            m_camType = 1;
+            m_currentFolder = makeSubTaskDataFolder("NIR");
+            emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
+
+            emit motorParm(subTask.pathLineFilePath);
+
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
+            break;
+        }
+        case SubTaskType::SingleLensReflex:
+        {
+            m_camType = 2;
+            m_currentFolder = makeSubTaskDataFolder("SLR");
+            emit camParm(m_camType, 3, m_currentFolder);
+
+            emit motorParm(subTask.pathLineFilePath);
+
+            emit switchD65LampSignal(1);
+
+            emit switchSlrSignal(1);
+
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
+            break;
+        }
+        case SubTaskType::DepthCamera:
+        {
+            m_camType = 3;
+            m_currentFolder = makeSubTaskDataFolder("DepthCamera");
+            emit camParm(m_camType, 3, m_currentFolder);
+
+            emit motorParm(subTask.pathLineFilePath);
+
+            emit switchD65LampSignal(1);
+
+            QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
+            break;
+        }
+    }
+    ensurePreTaskLighting();
+}
+
+void TaskExecutor::emitRecordSignal()
+{
+    emit startRecordSignal(m_camType);
+}
+
+void TaskExecutor::emitAutoFocusSignal()
+{
+    SubTask& subTask = m_task.subTasks[m_currentSubTaskIndex];
+    emit AutoFocusSignals(subTask);
+}
+
+// ==================== TaskScheduler 实现 ====================
+
+TaskScheduler::TaskScheduler(QObject* parent)
+    : QObject(parent)
+    , m_timer(nullptr)
+    , m_currentExecutor(nullptr)
+    , m_currentTaskId(-1)
+{
+}
+
+TaskScheduler::~TaskScheduler()
+{
+    stop();
+}
+
+void TaskScheduler::loadTasks(const QVector<TimedTask>& tasks)
+{
+    m_tasks = tasks;
+    qDebug() << "TaskScheduler: Loaded" << tasks.size() << "tasks";
+}
+
+void TaskScheduler::start()
+{
+    if (m_timer) {
+        qDebug() << "TaskScheduler: Already running";
+        return;
+    }
+
+    qDebug() << "TaskScheduler: Starting";
+
+    m_timer = new QTimer(this);
+    connect(m_timer, &QTimer::timeout, this, &TaskScheduler::checkTasks);
+    m_timer->start(1000); // 每秒检查一次
+
+    emit schedulerStateChanged(true);
+}
+
+void TaskScheduler::stop()
+{
+    if (m_timer) {
+        m_timer->stop();
+        delete m_timer;
+        m_timer = nullptr;
+    }
+
+    if (m_currentExecutor) {
+        m_currentExecutor->stop();
+        m_currentExecutor->deleteLater();
+        m_currentExecutor = nullptr;
+    }
+
+    qDebug() << "TaskScheduler: Stopped";
+    emit schedulerStateChanged(false);
+}
+
+void TaskScheduler::checkTasks()
+{
+    // 检查是否所有任务都不需要执行
+    bool allTasksDone = std::all_of(m_tasks.begin(), m_tasks.end(),
+        [](const TimedTask& task) {
+            return task.status != TaskStatus::Waiting;
+        });
+
+    if (allTasksDone)
+    {
+        std::cerr << "TaskScheduler::checkTasks，没有任务等待执行，停止调度器" << std::endl;
+        stop();
+    }
+
+    QDateTime now = QDateTime::currentDateTime();
+
+    if (m_currentTaskId >= 0)//有任务正在执行
+    {
+        return;
+    }
+
+    for (auto& task : m_tasks)
+    {
+        if (task.status != TaskStatus::Waiting) continue;
+
+        // 超过计划时间threSecs，认为任务已过时，跳过
+        qint64 threSecs = 30;
+        if (task.scheduledTime.addSecs(threSecs) < now)
+        {
+            std::cerr << "TaskScheduler::checkTasks，任务已过时，跳过:" << task.id << std::endl;
+            task.status = TaskStatus::Timeout;
+            for (size_t i = 0; i < task.subTaskCount(); i++)
+            {
+                task.subTasks[i].status = TaskStatus::Timeout;
+            }
+
+            emit taskDataChanged(task);
+            continue;
+        }
+
+        if (task.scheduledTime > now) continue;
+
+        qint64 fireThreSecs = 5;
+        if (task.scheduledTime.addSecs(-1 * fireThreSecs) < now && task.scheduledTime.addSecs(fireThreSecs) > now)// 到达计划时间，启动任务
+        {
+            std::cerr << "TaskScheduler::checkTasks，到达计划时间，启动任务" << std::endl;
+            executeTask(task);
+            break; // 一次只执行一个任务
+        }
+    }
+}
+
+void TaskScheduler::onTaskFinished(bool success)
+{
+    if (m_currentTaskId > 0) {
+        TaskStatus status = success ? TaskStatus::Finished : TaskStatus::Waiting;
+        updateTaskStatus(m_currentTaskId, status);
+        emit taskFinished(m_currentTaskId, success);
+    }
+
+    // 清理执行器
+    if (m_currentExecutor) {
+        m_currentExecutor->deleteLater();
+        m_currentExecutor = nullptr;
+    }
+    m_currentTaskId = -1;
+}
+
+void TaskScheduler::onSubTaskStarted(int subTaskIndex, SubTaskType type)
+{
+    if (m_currentTaskId > 0) {
+        emit subTaskStarted(m_currentTaskId, subTaskIndex);
+    }
+}
+
+void TaskScheduler::onSubTaskFinished(int subTaskIndex, SubTaskType type, bool success)
+{
+    if (m_currentTaskId > 0) {
+        emit subTaskFinished(m_currentTaskId, subTaskIndex);
+    }
+}
+
+void TaskScheduler::onExecutorError(const QString& error)
+{
+    emitError(error);
+}
+
+void TaskScheduler::executeTask(TimedTask& task)
+{
+    qDebug() << "TaskScheduler: Executing task" << task.id;
+
+    //updateTaskStatus(task.id, TaskStatus::Running);
+    m_currentTaskId = task.id;
+
+    //emit taskStarted(task.id);
+
+    // 创建任务执行器
+    m_currentExecutor = new TaskExecutor(this);
+
+    // 连接信号
+    connect(m_currentExecutor, &TaskExecutor::finished,
+        this, &TaskScheduler::onTaskFinished);
+    connect(m_currentExecutor, &TaskExecutor::subTaskStarted,
+        this, &TaskScheduler::onSubTaskStarted);
+    connect(m_currentExecutor, &TaskExecutor::subTaskFinished,
+        this, &TaskScheduler::onSubTaskFinished);
+    connect(m_currentExecutor, &TaskExecutor::errorOccurred,
+        this, &TaskScheduler::onExecutorError);
+
+    // 采集相关信号透传
+    connect(m_currentExecutor, &TaskExecutor::hyperCamParm,
+        this, &TaskScheduler::hyperCamParm);
+    connect(m_currentExecutor, &TaskExecutor::camParm,
+        this, &TaskScheduler::camParm);
+    connect(m_currentExecutor, &TaskExecutor::motorParm,
+        this, &TaskScheduler::motorParm);
+    connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
+        this, &TaskScheduler::startRecordSignal);
+
+    connect(m_currentExecutor, &TaskExecutor::ObtainingDepthInformationSignals, this, &TaskScheduler::ObtainingDepthInformationSignals);
+    connect(m_currentExecutor, &TaskExecutor::LiftingPlatformSignals, this, &TaskScheduler::LiftingPlatformSignals);
+    connect(m_currentExecutor, &TaskExecutor::AutoFocusSignals, this, &TaskScheduler::AutoFocusSignals);
+
+    connect(m_currentExecutor, &TaskExecutor::switchHalogenLampSignal, this, &TaskScheduler::switchHalogenLampSignal);
+    connect(m_currentExecutor, &TaskExecutor::switchD65LampSignal, this, &TaskScheduler::switchD65LampSignal);
+    connect(m_currentExecutor, &TaskExecutor::switchSlrSignal, this, &TaskScheduler::switchSlrSignal);
+
+    connect(this, &TaskScheduler::sequenceCompleteSignal, m_currentExecutor, &TaskExecutor::onSequenceComplete);
+    connect(this, &TaskScheduler::Back2OriginSignal, m_currentExecutor, &TaskExecutor::onBack2Origin);
+
+    connect(m_currentExecutor, &TaskExecutor::taskUpdated,
+        this, [this](const TimedTask& updatedTask) {
+            for (int i = 0; i < m_tasks.size(); ++i) {
+                if (m_tasks[i].id == updatedTask.id) {
+                    m_tasks[i] = updatedTask;
+                    break;
+                }
+            }
+            emit taskDataChanged(updatedTask);
+        });
+
+
+    // 开始执行
+    m_currentExecutor->execute(task);
+}
+
+void TaskScheduler::updateTaskStatus(int taskId, TaskStatus status)
+{
+    for (auto& task : m_tasks) {
+        if (task.id == taskId) {
+            task.status = status;
+            if (status == TaskStatus::Running) {
+                task.startTime = QDateTime::currentDateTime();
+            }
+            else if (status == TaskStatus::Finished) {
+                task.endTime = QDateTime::currentDateTime();
+            }
+            break;
+        }
+    }
+}
+
+void TaskScheduler::emitError(const QString& error)
+{
+    qWarning() << "TaskScheduler: Error:" << error;
+    emit errorOccurred(error);
+}

HPPA/TimedDataCollectionDataStructures.h

@@ -0,0 +1,281 @@
+#pragma once
+
+#include <QDateTime>
+#include <QString>
+#include <QVector>
+#include <QMetaType>
+#include <QTimer>
+
+#include "CaptureCoordinator.h"
+
+// ==================== 枚举定义 ====================
+
+// 任务状态
+enum class TaskStatus {
+    default,    //未调度
+    Waiting,    // 等待
+    Running,   // 运行中
+    Finished,   // 结束
+    Skiped,      //跳过
+    Timeout      //超时
+};
+
+// 子任务类型
+enum class SubTaskType {
+    HyperSpectual400_1000nm,  // 400nm-1000nm高光谱相机
+    HyperSpectual1000_1700nm, // 1000nm-1700nm高光谱相机
+    SingleLensReflex,          // 单反相机
+    DepthCamera,                // 深度相机采集任务
+    ObtainingDepthInformation,  //通过深度相机获取被测物体的深度信息
+	AutoFocus,                  // 自动对焦
+    LiftingPlatform             // 升降平台
+};
+enum class HyperImagerType {
+    Pika_L,
+    Pika_NIR
+};
+
+// ==================== 统一子任务封装 ====================
+
+struct SubTask {
+    SubTaskType type;          // 子任务类型
+
+    // 共享属性
+    QDateTime startTime;
+    QDateTime endTime;
+    double durationMinutes = 0;
+    double estimatedDurationMinutes = 0;
+    QString pathLineFilePath;
+    TaskStatus status = TaskStatus::Waiting;
+
+    // 类型特有属性（根据type选择使用）
+    double frameRate = 0.0;           // 高光谱相机用
+    double exposureTime = 0.0;        // 高光谱相机用
+    int defaultRenderBand = 550;     // 1000-1700nm高光谱用
+    int captureIntervalSeconds = 5;  // 单反/深度相机用
+
+    //任务ObtainingDepthInformation所需的x和y坐标
+	int depthAlgorithm = 0;//0:深度图像的范围（percentageOfEffectiveArea）平均，1:深度范围（depthRangePercentage）的百分比，2:通过彩色图像分割植被区域的深度图像，然后平均
+	int depthType = 0;//0表示植被深度，1表示白板/调焦版深度
+	double depthInfoX = 0.0;
+	double depthInfoY = 0.0;
+	int averageNumberOfTimes = 1; //任务ObtainingDepthInformation所需的平均次数
+	double percentageOfEffectiveArea = 50.0; //深度图像的有效范围百分比
+	double depthRangePercentage = 80.0; //深度范围的百分比
+
+    //高光谱自动调焦
+	HyperImagerType autoFocusHyperImagerType;//取值范围：L、NIR
+    QString autoFocusMotorConfigFilePath;//马达配置文件
+    double autoFocusX = 0.0;
+	double autoFocusY = 0.0;
+};
+
+// ==================== 定时任务 ====================
+
+struct TimedTask {
+    int id = 0;
+    QDateTime scheduledTime;
+    QDateTime startTime;
+    QDateTime endTime;
+    double durationMinutes = 0;
+    double estimatedDurationMinutes = 0;
+    QString savePath;
+    QVector<SubTask> subTasks;
+    TaskStatus status = TaskStatus::Waiting;
+    double HalogenLampPreheatingTime_Minute;
+
+    // 计算所有子任务的预计总时间
+    int totalEstimatedDuration() const {
+        int total = 0;
+        for (const auto& subTask : subTasks) {
+            total += subTask.estimatedDurationMinutes;
+        }
+        return total;
+    }
+
+    // 获取子任务数量
+    int subTaskCount() const {
+        return subTasks.size();
+    }
+};
+
+// ==================== Qt元类型声明 ====================
+Q_DECLARE_METATYPE(TaskStatus)
+Q_DECLARE_METATYPE(SubTaskType)
+Q_DECLARE_METATYPE(SubTask)
+Q_DECLARE_METATYPE(TimedTask)
+
+// ==================== 任务文件读写类 ====================
+
+class TimedDataCollectionDataStructuresReaderWriter
+{
+public:
+    // 保存任务到文件
+    static bool saveTasksToFile(const QString& filePath, const QVector<TimedTask>& tasks);
+
+    // 从文件读取任务
+    static bool loadTasksFromFile(const QString& filePath, QVector<TimedTask>& tasks);
+
+private:
+    // SubTask序列化
+    static QJsonObject subTaskToJson(const SubTask& subTask);
+    static bool jsonToSubTask(const QJsonObject& json, SubTask& subTask);
+
+    // TimedTask序列化
+    static QJsonObject timedTaskToJson(const TimedTask& task);
+    static bool jsonToTimedTask(const QJsonObject& json, TimedTask& task);
+
+    // 枚举转换
+    static QString taskStatusToString(TaskStatus status);
+    static TaskStatus stringToTaskStatus(const QString& str);
+
+    static QString subTaskTypeToString(SubTaskType type);
+    static SubTaskType stringToSubTaskType(const QString& str);
+
+    static QString hyperImagerTypeToString(HyperImagerType type);
+    static HyperImagerType stringToHyperImagerType(const QString& str);
+};
+
+// ==================== 任务执行器 ====================
+
+class TaskExecutor : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit TaskExecutor(QObject* parent = nullptr);
+    ~TaskExecutor();
+
+    // 执行任务
+    void execute(const TimedTask& task);
+    void makeFolder(QString savePath);
+    QString makeSubTaskDataFolder(QString suffix);
+
+    // 获取当前执行的子任务索引
+    int currentSubTaskIndex() const { return m_currentSubTaskIndex; }
+
+    // 获取正在执行的任务
+    const TimedTask& currentTask() const { return m_task; }
+
+    // 是否正在执行
+    bool isRunning() const { return m_isRunning; }
+
+    // 停止执行
+    void stop();
+
+signals:
+    void finished(bool success);                           // 任务完成
+    void taskUpdated(const TimedTask& task);  // 确保有这个信号
+    void subTaskStarted(int subTaskIndex, SubTaskType type); // 子任务开始
+    void subTaskFinished(int subTaskIndex, SubTaskType type, bool success); // 子任务完成
+    void errorOccurred(const QString& error);               // 错误发生
+
+    // 采集相关信号
+    void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+    void camParm(int camType, int captureIntervalSeconds, QString folder);
+    void motorParm(QString pathLineFilePath);
+    void startRecordSignal(int camType);
+
+    void ObtainingDepthInformationSignals(SubTask info);
+    void LiftingPlatformSignals(SubTask info);
+    void AutoFocusSignals(SubTask info);
+
+    void switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
+public slots:
+    void onSequenceComplete(int status);
+    void onBack2Origin();
+    void onError(const QString& error);
+
+    void emitRecordSignal();
+    void emitAutoFocusSignal();
+
+private:
+    QString m_currentFolder;
+    void executeNextSubTask();
+    void ensurePreTaskLighting();
+    void ensurePostTaskLighting();
+
+    void printMsgAndTime(QString msg);
+
+    TimedTask m_task;
+    int m_currentSubTaskIndex;
+    bool m_isRunning;
+
+    int m_camType;
+};
+
+// ==================== 任务调度器 ====================
+
+class TaskScheduler : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit TaskScheduler(QObject* parent = nullptr);
+    ~TaskScheduler();
+
+    // 加载任务列表
+    void loadTasks(const QVector<TimedTask>& tasks);
+
+    // 获取任务列表
+    QVector<TimedTask> tasks() const { return m_tasks; }
+
+    // 开始调度
+    void start();
+
+    // 停止调度
+    void stop();
+
+    // 是否正在运行
+    bool isRunning() const { return m_timer != nullptr && m_timer->isActive(); }
+
+signals:
+    void taskStarted(int taskId);                          // 任务开始
+    void taskFinished(int taskId, bool success);            // 任务完成
+    void taskDataChanged(const TimedTask& task);
+
+    void schedulerStateChanged(bool running);                // 调度器状态变化
+
+    // 子任务的信号
+    void subTaskStarted(int taskId, int subTaskIndex);      // 子任务开始
+    void subTaskFinished(int taskId, int subTaskIndex);     // 子任务完成
+    void errorOccurred(const QString& error);               // 错误发生
+
+    // 采集相关信号 (透传 TaskExecutor)
+    void hyperCamParm(int camType, double f, double e, QString filePath, QString fileName);
+    void camParm(int camType, int captureIntervalSeconds, QString folder);
+    void motorParm(QString pathLineFilePath);
+    void startRecordSignal(int camType);
+
+    void ObtainingDepthInformationSignals(SubTask info);
+    void LiftingPlatformSignals(SubTask info);
+    void AutoFocusSignals(SubTask info);
+
+    void switchHalogenLampSignal(int state);
+    void switchD65LampSignal(int state);
+    void switchSlrSignal(int state);
+
+    // 马达反馈的信号
+    void sequenceCompleteSignal(int status);
+    void Back2OriginSignal();
+
+private slots:
+    void checkTasks();                                     // 检查任务是否该启动
+    void onTaskFinished(bool success);
+    void onSubTaskStarted(int subTaskIndex, SubTaskType type);
+    void onSubTaskFinished(int subTaskIndex, SubTaskType type, bool success);
+    void onExecutorError(const QString& error);
+
+private:
+    void executeTask(TimedTask& task);
+    void updateTaskStatus(int taskId, TaskStatus status);
+    void emitError(const QString& error);
+
+    QTimer* m_timer;
+    QVector<TimedTask> m_tasks;
+    TaskExecutor* m_currentExecutor;
+    int m_currentTaskId;
+};

HPPA/TimedDataCollection_ui.ui

@@ -0,0 +1,209 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TimedDataCollection_ui</class>
+ <widget class="QDialog" name="TimedDataCollection_ui">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1299</width>
+    <height>658</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>定时采集</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QWidget #contentWidget
+{
+	background: #192770;
+	/*border-radius: 8px 8px 8px 8px;*/
+	border: 1px solid #2f6bff;
+}
+
+QLineEdit {
+    background-color: #3856B8;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    min-width: 70px;
+    min-height: 20px;
+    font-size: 13px;
+}
+
+QLabel
+{
+	background: #243A82;
+    color: rgb(255, 255, 255);
+	border: 1px solid #2f6bff;
+    border-radius: 6px;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 10pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 8px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}
+</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="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="QWidget" name="contentWidget" native="true">
+     <layout class="QGridLayout" name="gridLayout">
+      <item row="0" column="0" colspan="3">
+       <widget class="QTreeView" name="taskTreeView">
+        <property name="styleSheet">
+         <string notr="true">QTreeView
+{
+    background-color: #121945;
+	border: 0px solid #444;
+}
+
+QHeaderView::section
+{
+    background-color: #121945;
+    color: #ACCDFF;
+
+    padding: 6px;
+}
+
+QScrollBar:vertical {
+    background: #0b1440;
+    width: 10px;
+    border: 1px solid #1f2a5a;
+}
+
+QScrollBar:horizontal {
+    background: #0b1440;
+    height: 10px;
+    border: 1px solid #1f2a5a;
+}
+
+QScrollBar::handle:vertical,
+QScrollBar::handle:horizontal {
+    background: #3a5bd6;
+    border-radius: 4px;
+    min-height: 20px;
+    min-width: 20px;
+}
+
+QScrollBar::handle:vertical:hover,
+QScrollBar::handle:horizontal:hover {
+    background: #4f73ff;
+}
+</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLineEdit" name="taskFileSelect_lineEdit">
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QPushButton" name="taskFileSelect_btn">
+        <property name="text">
+         <string>...</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QPushButton" name="start_btn">
+        <property name="text">
+         <string>开始调度</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QPushButton" name="expandAll_btn">
+        <property name="text">
+         <string>展开</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="1">
+       <widget class="QPushButton" name="stop_btn">
+        <property name="text">
+         <string>停止调度</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="2">
+       <widget class="QPushButton" name="collapseAll_btn">
+        <property name="text">
+         <string>折叠</string>
+        </property>
+       </widget>
+      </item>
+      <item row="4" column="0" colspan="3">
+       <widget class="QLabel" name="statusLabel">
+        <property name="styleSheet">
+         <string notr="true"/>
+        </property>
+        <property name="text">
+         <string>任务统计</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

HPPA/TwoMotorControl.cpp

@@ -103,6 +103,185 @@ void TwoMotorControl::record_white()
 	m_whiteCaptureCoordinator->startStepMotion(s);
 }
 
+void TwoMotorControl::run2(SingleLensReflexCameraWindow* window)
+{
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	if (rowCount == 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
+
+		emit sequenceComplete(0);
+		return;
+	}
+
+	m_coordinator_TimedDataCollection = new TwoMotionCaptureCoordinator(m_multiAxisController);
+	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator_TimedDataCollection, SLOT(start(QVector<PathLine>)));
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, this, &TwoMotorControl::receiveStartRecordLineNum);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::finishRecordLineNumSignal, this, &TwoMotorControl::receiveFinishRecordLineNum);
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, window, &SingleLensReflexCameraWindow::onStartTimedDataCollection);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, window, &SingleLensReflexCameraWindow::onStopTimedDataCollection);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, this, &TwoMotorControl::sequenceComplete);
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin2);
+
+	QVector<PathLine> pathLines;
+	//int columnCount = ui.recordLine_tableWidget->columnCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		PathLine tmp;
+
+		tmp.targetYPosition = ui.recordLine_tableWidget->item(i, 0)->text().toDouble();
+		tmp.speedTargetYPosition = ui.recordLine_tableWidget->item(i, 1)->text().toDouble();
+		tmp.targetXMinPosition = ui.recordLine_tableWidget->item(i, 2)->text().toDouble();
+		tmp.speedTargetXMinPosition = ui.recordLine_tableWidget->item(i, 3)->text().toDouble();
+		tmp.targetXMaxPosition = ui.recordLine_tableWidget->item(i, 4)->text().toDouble();
+		tmp.speedTargetXMaxPosition = ui.recordLine_tableWidget->item(i, 5)->text().toDouble();
+
+		pathLines.append(tmp);
+	}
+
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
+		}
+	}
+
+	emit start(pathLines);
+}
+
+void TwoMotorControl::run3(DepthCameraWindow* window)
+{
+	int rowCount = ui.recordLine_tableWidget->rowCount();
+	if (rowCount == 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
+
+		emit sequenceComplete(0);
+		return;
+	}
+
+	m_coordinator_TimedDataCollection = new TwoMotionCaptureCoordinator(m_multiAxisController);
+	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator_TimedDataCollection, SLOT(start(QVector<PathLine>)));
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, this, &TwoMotorControl::receiveStartRecordLineNum);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::finishRecordLineNumSignal, this, &TwoMotorControl::receiveFinishRecordLineNum);
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::startRecordLineNumSignal, window, &DepthCameraWindow::openDepthCamera);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, window, &DepthCameraWindow::closeDepthCamera);
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::sequenceComplete, this, &TwoMotorControl::sequenceComplete);
+
+	connect(m_coordinator_TimedDataCollection, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin2);
+
+	QVector<PathLine> pathLines;
+	//int columnCount = ui.recordLine_tableWidget->columnCount();
+	for (size_t i = 0; i < rowCount; i++)
+	{
+		PathLine tmp;
+
+		tmp.targetYPosition = ui.recordLine_tableWidget->item(i, 0)->text().toDouble();
+		tmp.speedTargetYPosition = ui.recordLine_tableWidget->item(i, 1)->text().toDouble();
+		tmp.targetXMinPosition = ui.recordLine_tableWidget->item(i, 2)->text().toDouble();
+		tmp.speedTargetXMinPosition = ui.recordLine_tableWidget->item(i, 3)->text().toDouble();
+		tmp.targetXMaxPosition = ui.recordLine_tableWidget->item(i, 4)->text().toDouble();
+		tmp.speedTargetXMaxPosition = ui.recordLine_tableWidget->item(i, 5)->text().toDouble();
+
+		pathLines.append(tmp);
+	}
+
+	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
+	{
+		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
+		{
+			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
+		}
+	}
+
+	emit start(pathLines);
+}
+
+void TwoMotorControl::onBack2Origin2()
+{
+	m_coordinator_TimedDataCollection->deleteLater();
+	m_coordinator_TimedDataCollection = nullptr;
+	emit back2OriginSignal_TimedDataCollection();
+}
+
+void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthAlgorithm,int depthType, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea, double depthRangePercentage)
+{
+	m_depthType = depthType;
+
+	window->m_DepthCameraOperation->setDepthAlgorithm(depthAlgorithm);
+	window->m_DepthCameraOperation->setAverageNumberOfTimes(averageNumberOfTimes);
+	window->m_DepthCameraOperation->setPercentageOfEffectiveArea(percentageOfEffectiveArea);
+	window->m_DepthCameraOperation->setDepthRangePercentage(depthRangePercentage);
+
+	m_ObtainTargetDepthInfoCoordinator = new TwoMotor1PosCoordinator(m_multiAxisController);
+	connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, window, &DepthCameraWindow::OpenDepthCamera_getDepthValue);
+
+	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2origin);
+	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::sequenceComplete, Qt::UniqueConnection);//关灯
+	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::saveDepthValue, Qt::UniqueConnection);
+
+	connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin3);
+
+	double xmotor_move_speed = ui.xmotor_move_speed_lineEdit->text().toDouble();
+	double ymotor_move_speed = ui.ymotor_move_speed_lineEdit->text().toDouble();
+
+	m_ObtainTargetDepthInfoCoordinator->moveToTarget(depthInfoX, depthInfoY, xmotor_move_speed, ymotor_move_speed);
+}
+
+void TwoMotorControl::run5_AutoFocus(double autoFocusX, double autoFocusY)
+{
+	m_focusWindow = new focusWindow(this, m_Imager);
+	m_focusWindow->onConnectMotor();
+	m_focusWindow->show();
+
+	//自动调焦的协调器添加功能：先归零
+	m_autoFocusCoordinator = new TwoMotor1PosCoordinator(m_multiAxisController);
+	connect(m_autoFocusCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, m_focusWindow, &focusWindow::onAutoFocus);
+	connect(m_focusWindow, &focusWindow::AutoFocusFinishedSignal, m_autoFocusCoordinator, &TwoMotor1PosCoordinator::back2origin);
+	connect(m_focusWindow, &focusWindow::AutoFocusFinishedSignal, this, &TwoMotorControl::sequenceComplete, Qt::UniqueConnection);
+	connect(m_autoFocusCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin4);
+
+
+	double xmotor_move_speed = ui.xmotor_move_speed_lineEdit->text().toDouble();
+	double ymotor_move_speed = ui.ymotor_move_speed_lineEdit->text().toDouble();
+	m_autoFocusCoordinator->moveToTarget(autoFocusX, autoFocusY, xmotor_move_speed, ymotor_move_speed);
+}
+
+void TwoMotorControl::saveDepthValue(double depthValue)
+{
+	if (m_depthType == 0)//0表示植被深度，1表示白板/调焦版深度
+	{
+		DepthValueLogger::instance().appendPlantDepthValue(depthValue);
+	}
+	else if (m_depthType == 1)
+	{
+		DepthValueLogger::instance().appendLiftingPlatformDepthValue(depthValue);
+	}
+}
+
+void TwoMotorControl::onBack2Origin3()
+{
+	m_ObtainTargetDepthInfoCoordinator->deleteLater();
+	m_ObtainTargetDepthInfoCoordinator = nullptr;
+	emit back2OriginSignal_TimedDataCollection();
+}
+
+void TwoMotorControl::onBack2Origin4()
+{
+	m_focusWindow->deleteLater();
+	m_focusWindow = nullptr;
+
+	m_autoFocusCoordinator->deleteLater();
+	m_autoFocusCoordinator = nullptr;
+	emit back2OriginSignal_TimedDataCollection();
+}
+
 void TwoMotorControl::run()
 {
 	if (getState())
@@ -116,19 +295,26 @@ void TwoMotorControl::run()
 	{
 		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
 
-		emit sequenceComplete();
+		emit sequenceComplete(0);
 		return;
 	}
 
 	qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
-	m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+	m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController);
 	m_coordinator->moveToThread(&m_coordinatorThread);
 	connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
 	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
+
 	connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
 	connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
 	connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
-	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
+	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
+	connect(m_coordinator, &TwoMotionCaptureCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin);
+
+	connect(m_coordinator, &TwoMotionCaptureCoordinator::startRecordHSISignal, m_Imager, &ImagerOperationBase::start_record);
+	connect(m_coordinator, &TwoMotionCaptureCoordinator::stopRecordHSISignal, this, &TwoMotorControl::stop_record);
+	connect(m_Imager, &ImagerOperationBase::RecordFinishedSignal_WhenFrameNumberMeet, m_coordinator, &TwoMotionCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+
 	m_coordinatorThread.start();
 
 	QVector<PathLine> pathLines;
@@ -158,6 +344,11 @@ void TwoMotorControl::run()
 	emit start(pathLines);
 }
 
+void TwoMotorControl::stop_record()
+{
+	m_Imager->stop_record();
+}
+
 void TwoMotorControl::stop()
 {
 	emit stopSignal();
@@ -173,12 +364,21 @@ TwoMotorControl::~TwoMotorControl()
 }
 
 void TwoMotorControl::onConnectMotor()
+{
+	connectMotor(true);
+}
+
+void TwoMotorControl::connectMotor(bool isNotification)
 {
 	if (getMotorsConnectionStatus())
 	{
-		QMessageBox msgBox;
-		msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
-		msgBox.exec();
+		if (isNotification)
+		{
+			QMessageBox msgBox;
+			msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+			msgBox.exec();
+		}
+		
 		return;
 	}
 
@@ -252,16 +452,22 @@ void TwoMotorControl::receiveFinishRecordLineNum(int lineNum)
 	}
 }
 
-void TwoMotorControl::onSequenceComplete()
+void TwoMotorControl::onSequenceComplete(int status)
 {
 	isWritePosFile = false;
 	fclose(m_posFileHandle);
 
+	emit sequenceComplete(status);
+}
+
+void TwoMotorControl::onBack2Origin()
+{
 	m_coordinatorThread.quit();
 	m_coordinatorThread.wait();
 	m_coordinator = nullptr;
 
-	emit sequenceComplete();
+	emit back2OriginSignal();
+	emit back2OriginSignal_TimedDataCollection();
 }
 
 bool TwoMotorControl::getMotorsConnectionStatus()
@@ -419,51 +625,15 @@ void TwoMotorControl::on_rangeMeasurement()
 
 void TwoMotorControl::onAddRecordLine_btn()
 {
-	//准备数据：获取y马达的当前位置，获取x马达的当前位置和最大位置
+	// 准备数据：获取y马达的当前位置，获取x马达的当前位置和最大位置
 	double currentPosOfYmotor = 15;
-
 	double currentPosOfXmotor = 0;
 	double maxRangeOfXmotor = 50;
 
-	//获取选中行的索引
-	int currentRow = ui.recordLine_tableWidget->currentRow();
-	std::cout << "currentRow：" << currentRow << std::endl;
-
-	QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
-	QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(1, 10, 2));
-	QTableWidgetItem* Item3 = new QTableWidgetItem(QString::number(currentPosOfXmotor, 10, 2));
-	QTableWidgetItem* Item4 = new QTableWidgetItem(QString::number(1, 10, 2));
-	QTableWidgetItem* Item5 = new QTableWidgetItem(QString::number(maxRangeOfXmotor, 10, 2));
-	QTableWidgetItem* Item6 = new QTableWidgetItem(QString::number(1, 10, 2));
-	Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item3->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item4->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item5->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item6->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	if (currentRow == -1)//当没有选中行时
-	{
-		int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. 从1开始的
-		ui.recordLine_tableWidget->insertRow(RowCount);//增加一行，形参是从0开始的
-
-		ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
-		ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
-		ui.recordLine_tableWidget->setItem(RowCount, 2, Item3);
-		ui.recordLine_tableWidget->setItem(RowCount, 3, Item4);
-		ui.recordLine_tableWidget->setItem(RowCount, 4, Item5);
-		ui.recordLine_tableWidget->setItem(RowCount, 5, Item6);
-	}
-	else
-	{
-		ui.recordLine_tableWidget->insertRow(currentRow + 1);//增加一行，形参是从0开始的
-
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 2, Item3);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 3, Item4);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 4, Item5);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 5, Item6);
-	}
+	PathLineManager::addRecordLine(ui.recordLine_tableWidget,
+		currentPosOfYmotor, 1.0,
+		currentPosOfXmotor, 1.0,
+		maxRangeOfXmotor, 1.0);
 }
 
 void TwoMotorControl::onRemoveRecordLine_btn()
@@ -484,103 +654,40 @@ void TwoMotorControl::onDeleteRecordLine_btn()
 
 void TwoMotorControl::onSaveRecordLine2File_btn()
 {
-	//确保采集线存在
+	// 确保采集线存在
 	if (ui.recordLine_tableWidget->rowCount() <= 0)
 	{
-		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请先生成轨迹！"));
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"),
+			QString::fromLocal8Bit("请先生成轨迹！"));
 		return;
 	}
-
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
-
 	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine3 File"),
 		QString::fromStdString(directory),
 		tr("RecordLineFile3 (*.RecordLine3)"));
-
 	if (RecordLineFilePath.isEmpty())
 	{
 		return;
 	}
-
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
-
-	double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
-	fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	//double data[number];
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			data[i * ui.recordLine_tableWidget->columnCount() + j] = ui.recordLine_tableWidget->item(i, j)->text().toDouble();
-		}
-	}
-
-	fwrite(data, sizeof(double), number, RecordLineFileHandle);
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	//QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("保存成功！"));
+	PathLineManager::saveToFile(RecordLineFilePath, ui.recordLine_tableWidget);
 }
 
 void TwoMotorControl::onReadRecordLineFile_btn()
 {
-	//打开文件
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryOfExe();
-
 	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine3 File"),
 		QString::fromStdString(directory),
 		tr("RecordLineFile (*.RecordLine3)"));
-
 	if (RecordLineFilePath.isEmpty())
 	{
 		return;
 	}
 
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
-	double number;
-
-	//读取数据
-	fread(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	for (size_t i = 0; i < number; i++)
-	{
-		fread(data + i, sizeof(double), 1, RecordLineFileHandle);
-		//std::cout << *(data + i) << std::endl;
-	}
-
-	//向tableWidget添加采集线
-	//（1）去掉tableWidget中所有的行
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-	//（2）添加行（采集线）
-	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
-	for (size_t i = 0; i < RecordLineCount; i++)
-	{
-		ui.recordLine_tableWidget->insertRow(0);
-
-	}
-	//（3）向tableWidget填充数据
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
-			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, j, tmp);
-		}
-	}
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	//QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("读取成功！"));
+	readRecordLineFile(RecordLineFilePath);
+}
+void TwoMotorControl::readRecordLineFile(QString RecordLineFilePath)
+{
+	PathLineManager::readFromFile(RecordLineFilePath, ui.recordLine_tableWidget);
 }

HPPA/TwoMotorControl.h

@@ -10,6 +10,15 @@
 #include "CaptureCoordinator.h"
 #include "MotorWindowBase.h"
 
+#include "SingleLensReflexCameraWindow.h"
+#include "DepthCameraWindow.h"
+
+#include "PathLine.h" 
+
+#include "DepthValueLogger.h"
+
+#include "focusWindow.h"
+
 #define PI 3.1415926
 
 class TwoMotorControl : public QDialog, public MotorWindowBase
@@ -27,6 +36,10 @@ public:
     void record_white();
 
     bool getMotorsConnectionStatus();
+
+    void readRecordLineFile(QString RecordLineFilePath);
+
+    void connectMotor(bool isNotification);
     
 private:
     ImagerOperationBase* m_Imager;
@@ -68,7 +81,19 @@ public Q_SLOTS:
     void stop();
     void receiveStartRecordLineNum(int lineNum);
     void receiveFinishRecordLineNum(int lineNum);
-    void onSequenceComplete();
+    void onSequenceComplete(int status);
+    void onBack2Origin();
+
+    void run2(SingleLensReflexCameraWindow* w);
+    void run3(DepthCameraWindow* window);
+    void run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthAlgorithm, int depthType, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea, double depthRangePercentage);
+    void run5_AutoFocus(double autoFocusX, double autoFocusY);
+    void onBack2Origin2();
+    void saveDepthValue(double depthValue);
+    void onBack2Origin3();
+    void onBack2Origin4();
+
+    void stop_record();
 
 signals:
     void moveSignal(int, bool, double, int);
@@ -84,7 +109,9 @@ signals:
     void stopSignal();
 
     void startLineNumSignal(int lineNum);
-    void sequenceComplete();//所有采集线正常运行完成
+    void sequenceComplete(int status);//所有采集线正常运行完成
+    void back2OriginSignal();
+    void back2OriginSignal_TimedDataCollection();
 
     void broadcastLocationSignal(std::vector<double>);
 
@@ -92,10 +119,17 @@ private:
     Ui::twoMotorControl_UI ui;
     QThread m_coordinatorThread;
     TwoMotionCaptureCoordinator* m_coordinator = nullptr;
+    TwoMotionCaptureCoordinator* m_coordinator_TimedDataCollection = nullptr;
+    TwoMotor1PosCoordinator* m_ObtainTargetDepthInfoCoordinator = nullptr;
+    TwoMotor1PosCoordinator* m_autoFocusCoordinator = nullptr;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
 
     QThread m_motorThread;
     IrisMultiMotorController* m_multiAxisController = nullptr;
+
+    int m_depthType;
+    
+    focusWindow* m_focusWindow = nullptr;
 };

HPPA/View3D.cpp

@@ -372,4 +372,18 @@ void View3DLinearStage::setLoc(std::vector<double> loc)
     double x = round(loc[0] * 100) / 100;
 
     m_armTransform->setTranslation(QVector3D(x, 0, 0));
-}
+}
+
+View3DMicroscopicMotionModel::View3DMicroscopicMotionModel(const QString& baseModelPath, const QString& armModelPath, QWidget* parent)
+    :View3DBase(baseModelPath, armModelPath, parent)
+{
+
+}
+
+void View3DMicroscopicMotionModel::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));
+}

HPPA/View3D.h

@@ -106,6 +106,24 @@ private:
 
 private:
 
+public Q_SLOTS:
+    void setLoc(std::vector<double> loc);
+};
+
+class View3DMicroscopicMotionModel : public View3DBase
+{
+    Q_OBJECT
+public:
+    View3DMicroscopicMotionModel(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+
+protected:
+
+private:
+
+private:
+
 public Q_SLOTS:
     void setLoc(std::vector<double> loc);
 };

HPPA/View3DModelManager.cpp

@@ -13,15 +13,21 @@ View3DModelManager::View3DModelManager(QWidget* parent)
 
 void View3DModelManager::switchScenario(ScenarioType type)
 {
-    if (type == ScenarioType::PlantPhenotype) {
+    if (type == ScenarioType::PlantPhenotype) 
+    {
         ensurePlantPhenotypeView();
         m_stackedWidget->setCurrentWidget(m_viewPlant);
     }
-    else {
+    if (type == ScenarioType::OneMotor)
+    {
         ensureOneMotorView();
         m_stackedWidget->setCurrentWidget(m_viewMotor);
     }
-
+    if (type == ScenarioType::MicroscopicMotionControl)
+    {
+        ensureMicroscopicMotionControlView();
+        m_stackedWidget->setCurrentWidget(m_viewMicroscopicMotionControlModel);
+    }
     emit scenarioChanged(type);
 }
 
@@ -46,6 +52,27 @@ void View3DModelManager::ensurePlantPhenotypeView()
     emit created3DModelPlantPhenotype();
 }
 
+void View3DModelManager::ensureMicroscopicMotionControlView()
+{
+    if (m_viewMicroscopicMotionControlModel)
+        return;
+
+    QString basePath = QCoreApplication::applicationDirPath();
+
+    m_viewMicroscopicMotionControlModel = new View3DMicroscopicMotionModel(
+        basePath + "/3DModel/MicroscopicMotionModel_static.obj",
+        basePath + "/3DModel/MicroscopicMotionModel_moving.obj",
+        m_stackedWidget
+    );
+
+    m_viewMicroscopicMotionControlModel->setViewCenter(1000, 1000, -1000);
+    m_viewMicroscopicMotionControlModel->setDistance(5000);
+
+    m_stackedWidget->addWidget(m_viewMicroscopicMotionControlModel);
+
+    emit created3DModelMicroscopicMotion();
+}
+
 void View3DModelManager::ensureOneMotorView()
 {
     if (m_viewMotor)

HPPA/View3DModelManager.h

@@ -16,7 +16,8 @@ class View3DModelManager : public QWidget
 public:
     enum class ScenarioType {
         PlantPhenotype,
-        OneMotor
+        OneMotor,
+        MicroscopicMotionControl
     };
 
     explicit View3DModelManager(QWidget* parent = nullptr);
@@ -25,14 +26,17 @@ public:
 
     View3DPlantPhenotype* m_viewPlant = nullptr;
     View3DLinearStage* m_viewMotor = nullptr;
+    View3DMicroscopicMotionModel* m_viewMicroscopicMotionControlModel = nullptr;
 
 signals:
     void scenarioChanged(ScenarioType type);
     void created3DModelPlantPhenotype();
     void created3DModelOneMotor();
+    void created3DModelMicroscopicMotion();
 
 private:
     void ensurePlantPhenotypeView();
+    void ensureMicroscopicMotionControlView();
     void ensureOneMotorView();
 
 private:

HPPA/about.ui

@@ -288,7 +288,7 @@ QPushButton:pressed
 }</string>
             </property>
             <property name="text">
-             <string>版本：3.0.1</string>
+             <string>版本：3.1.3</string>
             </property>
            </widget>
           </item>

HPPA/focusWindow.cpp

@@ -53,6 +53,10 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 	connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
 	connect(this->ui.closeBtn, SIGNAL(released()), this, SLOT(onExit()));
 
+	connect(this->ui.is_new_version_radioButton, &QRadioButton::toggled, this, [this](bool checked) {
+		ui.stackedWidget_connetcParm->setCurrentIndex(checked ? 0 : 1);
+	});
+
 	//查找可用串口，并显示
 	foreach(const QSerialPortInfo &info, QSerialPortInfo::availablePorts())
 	{
@@ -72,7 +76,40 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 	ui.autoFocusProgress_progressBar->reset();
 
 	m_dSpeed = 1.0;
+}
 
+void focusWindow::showMessageBox(QString msg, QString title)
+{
+	QMessageBox msgBox(this);
+	msgBox.setWindowTitle(title);
+	msgBox.setText(msg);
+	msgBox.setStyleSheet(R"(
+			QMessageBox {
+				background-color: #0D1233;
+			}
+			QMessageBox QLabel {
+				color: #ACCDFF;
+				font-size: 14px;
+			}
+			QPushButton {
+				background-color: #142D7F;
+				color: #e6eeff;
+				border: 1px solid #2f6bff;
+				border-radius: 6px;
+				padding: 6px 20px;
+				min-width: 60px;
+				font-size: 13px;
+			}
+			QPushButton:hover {
+				border: 1px solid #4d8dff;
+				background-color: red;
+			}
+			QPushButton:pressed {
+				background-color: #23345c;
+			}
+		)");
+
+	msgBox.exec();
 }
 
 focusWindow::~focusWindow()
@@ -160,33 +197,7 @@ void focusWindow::onConnectMotor()
 {
 	if (ui.is_new_version_radioButton->isChecked())
 	{
-		FileOperation* fileOperation = new FileOperation();
-		string directory = fileOperation->getDirectoryOfExe();
-		QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
-
-		m_multiAxisController = new IrisMultiMotorController(configFilePath);
-		m_multiAxisController->moveToThread(&m_motorThread);
-		connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
-		connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
-		connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
-		connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
-		connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
-		connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
-		connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
-		connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
-		m_motorThread.start();
-		
-		//归零
-		//emit zeroStartSignal(0);
-
-		//自动调焦逻辑
-		m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
-		m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
-		connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
-		connect(this, SIGNAL(startStepMotion(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
-		connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
-		connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
-		m_MotionCaptureCoordinatorThread.start();
+		connectMotor(true);
 	}
 	else
 	{
@@ -257,6 +268,131 @@ void focusWindow::onConnectMotor()
 	disableBeforeConnect(false);
 }
 
+void focusWindow::connectMotor(bool isNotification)//需要修改这个函数
+{
+	if (getMotorsConnectionStatus())
+	{
+		if (isNotification)
+		{
+			showMessageBox(QString::fromLocal8Bit("马达已连接！"));
+		}
+		return;
+	}
+
+	if (m_multiAxisController)
+	{
+		disconnect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+		disconnect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
+		disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+		disconnect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+		disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+		disconnect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
+		disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+		disconnect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
+		disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+		m_motorThread.quit();
+		m_motorThread.wait();
+		m_multiAxisController->deleteLater();
+	}
+
+	if (m_coordinator)
+	{
+		disconnect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+		disconnect(this, SIGNAL(startStepMotionSignal(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
+		disconnect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
+		disconnect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
+
+		m_MotionCaptureCoordinatorThread.quit();
+		m_MotionCaptureCoordinatorThread.wait();
+		m_coordinator->deleteLater();
+	}
+
+	try
+	{
+		FileOperation* fileOperation = new FileOperation();
+		string directory = fileOperation->getDirectoryOfExe();
+		QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
+
+		m_multiAxisController = new IrisMultiMotorController(configFilePath);
+	}
+	catch (std::exception const& e)
+	{
+		showMessageBox(QString::fromLocal8Bit("请连接马达！"));
+		return;
+	}
+
+	m_multiAxisController->moveToThread(&m_motorThread);
+	connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
+	connect(this, SIGNAL(rmoveSignal(int, double, double, int)), m_multiAxisController, SLOT(rmove(int, double, double, int)));
+	connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(rangeMeasurementSignal(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+	connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+	connect(this, SIGNAL(move2MaxLocSignal(int, double, int)), m_multiAxisController, SLOT(moveToMax(int, double, int)));
+	connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+	connect(m_multiAxisController, SIGNAL(motorStopSignal(int, double)), this, SLOT(moveAfterAutoFocus(int, double)));
+	connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+	connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+	m_motorThread.start();
+	emit testConnectivitySignal(0, 1000);
+
+	//归零
+	//emit zeroStartSignal(0);
+
+	//自动调焦逻辑
+	m_coordinator = new MotionCaptureCoordinator(m_multiAxisController, m_Imager);
+	m_coordinator->moveToThread(&m_MotionCaptureCoordinatorThread);
+	connect(&m_MotionCaptureCoordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+	connect(this, SIGNAL(startStepMotionSignal(double, int, double, double)), m_coordinator, SLOT(startStepMotion(double, int, double, double)));
+	connect(m_coordinator, SIGNAL(progressChanged(int)), this, SLOT(onAutoFocusProgress(int)));
+	connect(m_coordinator, SIGNAL(sequenceComplete()), this, SLOT(onAutoFocusFinished()));
+	m_MotionCaptureCoordinatorThread.start();
+
+}
+
+void focusWindow::display_motors_connectivity(std::vector<int> connectivity)
+{
+	//std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
+	if (connectivity[0])
+	{
+		m_xMotorConnectionStatus = true;
+
+		this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
+	}
+	else
+	{
+		m_xMotorConnectionStatus = false;
+
+		this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
+	}
+
+	if (getMotorsConnectionStatus())
+	{
+		this->ui.connectMotor_btn->setText(QString::fromLocal8Bit("已连接"));
+	}
+	else
+	{
+		this->ui.connectMotor_btn->setText(QString::fromLocal8Bit("重新连接"));
+	}
+}
+
+bool focusWindow::getMotorsConnectionStatus()
+{
+	return m_xMotorConnectionStatus;
+}
+
 void focusWindow::display_x_loc(std::vector<double> loc)
 {
 	double tmp = round(loc[0] * 100) / 100;
@@ -339,7 +475,7 @@ void focusWindow::onAutoFocus()
 		//获取马达最大位置
 		std::vector<double> maxRangeLocations = m_multiAxisController->getMaxPos();
 		double maxPos = maxRangeLocations[0];
-		emit startStepMotion(m_dSpeed, m_iStepSize, 0, maxPos);
+		emit startStepMotionSignal(m_dSpeed, m_iStepSize, 0, maxPos);
 	}
 	else
 	{
@@ -498,33 +634,61 @@ void focusWindow::onAutoFocusFinished()
 
 void focusWindow::moveAfterAutoFocus(int motorID, double location)
 {
+	//QObject* obj = sender();
+
+	//if (obj == m_multiAxisController)
+	//{
+	//	qDebug() << "sender is m_multiAxisController.";
+	//}
+
 	if (!m_isMoveAfterAutoFocus)
 	{
+		//std::cout << "focusWindow::moveAfterAutoFocus" << std::endl;
 		return;
 	}
 
 	std::cout << "\n已经到达位置：" << location  << std::endl;
 
-	//移动马达到最佳位置
-	emit move2LocSignal(0, (double)m_goodPos, m_dSpeed, 1000);
-
-	double tmp = abs(location - m_goodPos) / m_goodPos * 100;
-	if (tmp<5)
+	double errorRate = getErrorRate(m_goodPos, location);
+	if (errorRate < 5|| m_moveRetryCount > MAX_MOVE_RETRY)
 	{
+		m_isMoveAfterAutoFocus = false;
+		m_moveRetryCount = 0;
 		if (!m_isAutoFocusSuccess)
 		{
-			QMessageBox msgBox;
-			msgBox.setText(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
-			msgBox.exec();
+			qDebug() << "纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！";
+			//showMessageBox(QString::fromLocal8Bit("纹理较弱，自动调焦效果不佳！请使用调焦纸进行自动调焦！"));
 		}
 		else
 		{
-			QMessageBox msgBox;
-			msgBox.setText(QString::fromLocal8Bit("自动调焦成功！"));
-			msgBox.exec();
+			qDebug() << "自动调焦成功！";
+			//showMessageBox(QString::fromLocal8Bit("自动调焦成功！"));
 		}
-		m_isMoveAfterAutoFocus = false;
+		emit AutoFocusFinishedSignal(0);
 	}
+	else
+	{
+		m_moveRetryCount++;
+		qDebug() << "自动调焦后目标马达位置，重试次数：" << m_moveRetryCount;
+		//移动马达到最佳位置
+		emit move2LocSignal(0, (double)m_goodPos, m_dSpeed, 1000);
+	}
+}
+
+double focusWindow::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
 }
 
 void focusWindow::getGaussianInitParam(const std::vector<double>& pos, const std::vector<double>& index, double& a_init, double& mu_init, double& sigma_init, double& c_init)
@@ -677,11 +841,15 @@ MotionCaptureCoordinator::MotionCaptureCoordinator(
 	, m_currentPos(0)
 	, m_endPos(0)
 	, m_isRunning(false)
+	, m_isZeroing(false)
 {
 	//这些信号槽是按照逻辑顺序的
 	connect(this, SIGNAL(moveTo(int, double, double, int)),
 		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
 
+	connect(this, &MotionCaptureCoordinator::zeroStart,
+		m_motorCtrl, &IrisMultiMotorController::zeroStart);
+
 	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
 		this, &MotionCaptureCoordinator::handlePositionReached);
 	//connect(m_motorCtrl, &IrisMultiMotorController::moveFailed,
@@ -718,15 +886,37 @@ void MotionCaptureCoordinator::startStepMotion(double speed, int stepInterval, d
 	m_speed = speed;
 	m_iStepInterval = stepInterval;
 	m_iStepIntervalRealTime = 1;
-	m_currentPos = startPos;
+	m_startPos = startPos;
 	m_endPos = endPos;
 	m_posInternal = (endPos - startPos) / stepInterval;
 
 	m_isRunning = true;
+	m_isZeroing = true;
+
+	// 先执行归零操作
+	emit zeroStart(0);
+	qDebug() << "MotionCaptureCoordinator::startStepMotion: Zeroing started.";
+}
+
+void MotionCaptureCoordinator::startMotionSequence()
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	m_currentPos = m_startPos;
+	m_isZeroing = false;
+	qDebug() << "MotionCaptureCoordinator::startMotionSequence: Zeroing complete. Starting motion sequence.";
 
 	processNextPosition();
 }
 
+void MotionCaptureCoordinator::handleZeroComplete(int motorID, double pos)
+{
+	if (!m_isRunning || !m_isZeroing) return;
+
+	// 归零完成，开始分步运动
+	startMotionSequence();
+}
+
 void MotionCaptureCoordinator::stopStepMotion()
 {
 	QMutexLocker locker(&m_dataMutex);
@@ -769,6 +959,13 @@ void MotionCaptureCoordinator::handlePositionReached(int motorID, double pos)
 {
 	if (!m_isRunning) return;
 
+	// 如果正在等待归零完成，调用归零完成处理
+	if (m_isZeroing)
+	{
+		handleZeroComplete(motorID, pos);
+		return;
+	}
+
 	QMutexLocker locker(&m_dataMutex);
 
 	//验证马达运动位置是否到达指定位置

HPPA/focusWindow.h

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

HPPA/fodis.ui

@@ -0,0 +1,205 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>FodisWindow</class>
+ <widget class="QDialog" name="FodisWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>857</width>
+    <height>477</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>FodisWindow</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	/*border-top: 12px solid transparent;
+    border-right: 0px solid transparent;
+    border-bottom: 0px solid transparent;
+    border-left: 0px solid transparent;*/
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="1">
+      <widget class="QPushButton" name="close_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>关   闭</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="0">
+      <widget class="QPushButton" name="open_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>采   集</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="2" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="3" column="1">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="styleSheet">
+        <string notr="true">QLabel {
+    color: rgb(255, 255, 255);
+}</string>
+       </property>
+       <property name="text">
+        <string>数据路径</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="dataFolderLineEdit">
+       <property name="styleSheet">
+        <string notr="true">QLineEdit {
+    background-color: #142D7F;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    min-width: 70px;
+    min-height: 20px;
+    font-size: 13px;
+}</string>
+       </property>
+       <property name="text">
+        <string>./CapturedImages</string>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="dataFolderBtn">
+       <property name="text">
+        <string>...</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="4" column="1">
+    <spacer name="verticalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/gonggashanCtl.ui

@@ -0,0 +1,262 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>gongga_control</class>
+ <widget class="QWidget" name="gongga_control">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>572</width>
+    <height>384</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>贡嘎山触发采集</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	/*border-top: 12px solid transparent;
+    border-right: 0px solid transparent;
+    border-bottom: 0px solid transparent;
+    border-left: 0px solid transparent;*/
+	color: #ACCDFF;
+}
+
+QSpinBox
+{
+	font: 10pt &quot;新宋体&quot;;
+	background-color: #142D7F;
+	color: white;
+    border: none;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 10pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 8px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}
+
+QLabel {
+    color: rgb(255, 255, 255);
+}
+</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout" stretch="1,1,3">
+   <item>
+    <widget class="QGroupBox" name="groupAdjustments">
+     <property name="styleSheet">
+      <string notr="true">QLabel
+{
+	color: #ACCDFF;
+	font-size: 14px;
+	font: 9pt &quot;Adobe Devanagari&quot;;
+}</string>
+     </property>
+     <property name="title">
+      <string>通讯参数</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="horizontalSpacing">
+       <number>16</number>
+      </property>
+      <item row="0" column="3">
+       <widget class="QSpinBox" name="spinbox_Port">
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+        <property name="maximum">
+         <number>65535</number>
+        </property>
+        <property name="value">
+         <number>666</number>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QLabel" name="labelPort">
+        <property name="text">
+         <string>端口</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <spacer name="horizontalSpacer_3">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item row="0" column="4">
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupPresets">
+     <property name="title">
+      <string>采集</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="0" column="0">
+       <widget class="QPushButton" name="btnListen">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>开始监听</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="btnDisListen">
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>43</height>
+         </size>
+        </property>
+        <property name="text">
+         <string>停止监听</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>系统状态</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <item row="0" column="0">
+       <widget class="QTextEdit" name="status_textEdit">
+        <property name="styleSheet">
+         <string notr="true">QTextEdit
+{
+	font: 10pt &quot;新宋体&quot;;
+	background-color: #142D7F;
+	color: white;
+    border: none;
+}
+
+QScrollBar:vertical {
+    background: #0E1C4C;
+    width: 12px;
+}
+
+QScrollBar::handle:vertical {
+    background: #4B60A6;
+    border-radius: 6px;
+    min-height: 20px;
+}
+
+QScrollBar::add-line:vertical, QScrollBar::sub-line:vertical {
+    height: 0px;
+}
+
+QScrollBar:horizontal {
+    background: #0E1C4C;
+    height: 12px;
+}
+
+QScrollBar::handle:horizontal {
+    background: #4B60A6;
+    border-radius: 6px;
+    min-width: 20px;
+}
+
+QScrollBar::add-line:horizontal, QScrollBar::sub-line:horizontal {
+    width: 0px;
+}</string>
+        </property>
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+        <property name="html">
+         <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'新宋体'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

HPPA/image2display.cpp

@@ -153,22 +153,18 @@ void CImage::FillFocusGrayImage(unsigned short * datacube)
 
 void CImage::FillFocusGrayQImage(unsigned short * datacube)
 {
-	float two_eight = pow(2.0, 8);
-	float two_sixteen = pow(2.0, 12);
+	constexpr float scale = 256.0f / 4096.0f; // 2^8 / 2^12
 
 	int width = m_qimageFocusGrayImage->width();
 	int height = m_qimageFocusGrayImage->height();
-	for (unsigned short i = 0; i < height; i++)
+	for (int i = 0; i < height; i++)
 	{
-		for (unsigned short j = 0; j < width; j++)
+		QRgb* scanLine = reinterpret_cast<QRgb*>(m_qimageFocusGrayImage->scanLine(i));
+		const unsigned short* srcRow = datacube + width * i;
+		for (int j = 0; j < width; j++)
 		{
-			//uint tmp = (two_eight* *(datacube + width * i + j)) / two_sixteen;
-			uint tmp = (two_eight* datacube[width*i + j]) / two_sixteen;
-			//uint tmp = datacube[width*i + j];
-
-
-			//m_qimageFocusGrayImage->setPixel(j, i, tmp);
-			m_qimageFocusGrayImage->setPixel(j, i, qRgb((unsigned char)tmp, (unsigned char)tmp, (unsigned char)tmp));
+			unsigned char gray = static_cast<unsigned char>(srcRow[j] * scale);
+			scanLine[j] = qRgb(gray, gray, gray);
 		}
 	}
 

HPPA/imageControl.cpp

@@ -1,5 +1,5 @@
 #include "imageControl.h"
-#include "RasterLayer.h"
+#include "RasterImageLayer.h"
 #include <algorithm>
 #include <cmath>
 
@@ -8,6 +8,14 @@ ImageControl::ImageControl(QWidget* parent)
 {
 	ui.setupUi(this);
 
+	ui.sliderRed->setPageStep(0);
+	ui.sliderGreen->setPageStep(0);
+	ui.sliderBlue->setPageStep(0);
+
+	ui.sliderRed->setSingleStep(0);
+	ui.sliderGreen->setSingleStep(0);
+	ui.sliderBlue->setSingleStep(0);
+
 	// Spinbox valueChanged: only sync the paired slider (no render)
 	connect(ui.spinRed, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ImageControl::onSpinRedValueChanged);
 	connect(ui.spinGreen, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ImageControl::onSpinGreenValueChanged);
@@ -91,7 +99,7 @@ ImageControl::~ImageControl()
 {
 }
 
-void ImageControl::setActiveLayer(RasterLayer* layer)
+void ImageControl::setActiveLayer(RasterImageLayer* layer)
 {
 	m_activeLayer = layer;
 
@@ -102,8 +110,8 @@ void ImageControl::setActiveLayer(RasterLayer* layer)
 	}
 	setEnabled(true);
 
-	// Get band wavelengths from the layer's header
-	m_wavelengths = layer->bandWavelengths();
+	// Get band wavelengths from the underlying RasterLayer's header
+	m_wavelengths = layer->layer()->bandWavelengths();
 	std::sort(m_wavelengths.begin(), m_wavelengths.end());
 
 	if (m_wavelengths.empty()) {
@@ -137,19 +145,13 @@ void ImageControl::setActiveLayer(RasterLayer* layer)
 	int maxIdx = static_cast<int>(m_wavelengths.size()) - 1;
 	ui.sliderRed->setMinimum(0);
 	ui.sliderRed->setMaximum(maxIdx);
-	ui.sliderRed->setSingleStep(1);
-	ui.sliderRed->setPageStep(1);
 	ui.sliderGreen->setMinimum(0);
 	ui.sliderGreen->setMaximum(maxIdx);
-	ui.sliderGreen->setSingleStep(1);
-	ui.sliderGreen->setPageStep(1);
 	ui.sliderBlue->setMinimum(0);
 	ui.sliderBlue->setMaximum(maxIdx);
-	ui.sliderBlue->setSingleStep(1);
-	ui.sliderBlue->setPageStep(1);
 
-	// Set current values from layer's render params
-	auto params = layer->currentRenderParams();
+	// Set current values from layer's render params (multiband)
+	auto params = layer->multibandParams();
 
 	int rIdx = nearestBandIndex(params.rWave);
 	int gIdx = nearestBandIndex(params.gWave);
@@ -166,7 +168,7 @@ void ImageControl::setActiveLayer(RasterLayer* layer)
 	blockAllSignals(false);
 }
 
-RasterLayer* ImageControl::activeLayer() const
+RasterImageLayer* ImageControl::activeLayer() const
 {
 	return m_activeLayer;
 }
@@ -324,13 +326,13 @@ void ImageControl::emitBandChange()
 	double g = ui.spinGreen->value();
 	double b = ui.spinBlue->value();
 
-	// Update active layer's stored render params
+	// Update active layer's stored render params (multiband)
 	if (m_activeLayer) {
-		auto params = m_activeLayer->currentRenderParams();
+		auto params = m_activeLayer->multibandParams();
 		params.rWave = r;
 		params.gWave = g;
 		params.bWave = b;
-		m_activeLayer->setCurrentRenderParams(params);
+		m_activeLayer->setMultibandParams(params);
 	}
 
 	emit bandSelectionChanged(r, g, b);

HPPA/imageControl.h

@@ -6,9 +6,10 @@
 #include <QNetworkAccessManager>
 #include <vector>
 
+#include "RasterLayer.h"
 #include "ui_imgControl.h"
 
-class RasterLayer;
+class RasterImageLayer;
 
 class ImageControl : public QDialog
 {
@@ -18,9 +19,9 @@ public:
 	ImageControl(QWidget* parent = nullptr);
 	~ImageControl();
 
-	// Populate controls from a RasterLayer's wavelength info and current render params
-	void setActiveLayer(RasterLayer* layer);
-	RasterLayer* activeLayer() const;
+	// Populate controls from a RasterImageLayer's wavelength info and current render params
+	void setActiveLayer(RasterImageLayer* layer);
+	RasterImageLayer* activeLayer() const;
 
 public Q_SLOTS:
 
@@ -62,7 +63,7 @@ private:
 	void setControlsToBandIndex(QDoubleSpinBox* spin, QSlider* slider, int idx);
 
 	Ui::ImageControl ui;
-	RasterLayer* m_activeLayer = nullptr;
+	RasterImageLayer* m_activeLayer = nullptr;
 	double m_minWave = 374.5;
 	double m_maxWave = 948.1;
 	std::vector<double> m_wavelengths; // band wavelengths from header

HPPA/recordFrameCounter.cpp

@@ -1,5 +1,6 @@
 #include "stdafx.h"
 #include "recordFrameCounter.h"
+#include "RasterLayer.h"
 
 recordFrameCounter::recordFrameCounter(QWidget* parent)
 	: QWidget(parent)
@@ -16,19 +17,19 @@ recordFrameCounter::recordFrameCounter(QWidget* parent)
 	layout->addWidget(m_stackedWidget);
 }
 
-void recordFrameCounter::addCounter(QWidget* tabWidget)
+void recordFrameCounter::addCounter(RasterLayer* mapLayer)
 {
 	QLabel* label = new QLabel("0");
 	label->setStyleSheet("color: white;");
 	label->setAlignment(Qt::AlignVCenter | Qt::AlignLeft);
-	m_labelMap.insert(tabWidget, label);
+	m_labelMap.insert(mapLayer, label);
 	m_stackedWidget->addWidget(label);
 	m_stackedWidget->setCurrentWidget(label);
 }
 
-void recordFrameCounter::removeCounter(QWidget* tabWidget)
+void recordFrameCounter::removeCounter(RasterLayer* mapLayer)
 {
-	auto it = m_labelMap.find(tabWidget);
+	auto it = m_labelMap.find(mapLayer);
 	if (it != m_labelMap.end())
 	{
 		QLabel* label = it.value();
@@ -38,18 +39,18 @@ void recordFrameCounter::removeCounter(QWidget* tabWidget)
 	}
 }
 
-void recordFrameCounter::switchTo(QWidget* tabWidget)
+void recordFrameCounter::switchTo(RasterLayer* mapLayer)
 {
-	auto it = m_labelMap.find(tabWidget);
+	auto it = m_labelMap.find(mapLayer);
 	if (it != m_labelMap.end())
 	{
 		m_stackedWidget->setCurrentWidget(it.value());
 	}
 }
 
-void recordFrameCounter::updateFrameCount(QWidget* tabWidget, int frameCount)
+void recordFrameCounter::updateFrameCount(RasterLayer* mapLayer, int frameCount)
 {
-	auto it = m_labelMap.find(tabWidget);
+	auto it = m_labelMap.find(mapLayer);
 	if (it != m_labelMap.end())
 	{
 		it.value()->setText(QString::number(frameCount));

HPPA/recordFrameCounter.h

@@ -6,19 +6,20 @@
 #include <QHBoxLayout>
 #include <QMap>
 
+class RasterLayer;
+
 class recordFrameCounter : public QWidget
 {
 	Q_OBJECT
 public:
 	explicit recordFrameCounter(QWidget* parent = nullptr);
 
-	void addCounter(QWidget* tabWidget);
-	void removeCounter(QWidget* tabWidget);
-	void switchTo(QWidget* tabWidget);
-	void updateFrameCount(QWidget* tabWidget, int frameCount);
+	void addCounter(RasterLayer* mapLayer);
+	void removeCounter(RasterLayer* mapLayer);
+	void switchTo(RasterLayer* mapLayer);
+	void updateFrameCount(RasterLayer* mapLayer, int frameCount);
 
 private:
 	QStackedWidget* m_stackedWidget = nullptr;
-	QMap<QWidget*, QLabel*> m_labelMap;
+	QMap<RasterLayer*, QLabel*> m_labelMap;
 };
-

HPPA/rgbCameraWindow.cpp

@@ -18,7 +18,7 @@ rgbCameraWindow::rgbCameraWindow(QWidget* parent)
 	//connect(this->ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera_callback()));//ʹ<>ûص<C3BB><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3><CCA3>ϵ<EFBFBD><CFB5><EFBFBD>Ƶ <20><> ʧ<><CAA7>
 
 	connect(ui.close_rgb_camera_btn, SIGNAL(clicked()), this, SLOT(onCloseRgbCamera()));//<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
-	connect(m_RgbCamera, SIGNAL(CamClosed()), this, SIGNAL(CamClosedSignal()));
+	connect(m_RgbCamera, SIGNAL(CamClosedSignal()), this, SIGNAL(CamClosedSignal()));
 }
 
 rgbCameraWindow::~rgbCameraWindow()

HPPA/set.ui

@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>486</width>
-    <height>229</height>
+    <width>641</width>
+    <height>320</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -234,26 +234,58 @@ QPushButton:pressed
       </item>
       <item row="1" column="0">
        <widget class="QWidget" name="widget" native="true">
-        <layout class="QGridLayout" name="gridLayout_2">
+        <layout class="QGridLayout" name="gridLayout_2" rowstretch="3,2">
          <item row="0" column="0">
-          <widget class="QLabel" name="label">
-           <property name="text">
-            <string>数据路径</string>
-           </property>
+          <widget class="QWidget" name="widget_2" native="true">
+           <layout class="QGridLayout" name="gridLayout_3">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label">
+              <property name="text">
+               <string>数据路径</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLineEdit" name="dataFolderLineEdit">
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="2">
+             <widget class="QPushButton" name="dataFolderBtn">
+              <property name="text">
+               <string>...</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
           </widget>
          </item>
-         <item row="0" column="1">
-          <widget class="QLineEdit" name="dataFolderLineEdit">
-           <property name="readOnly">
-            <bool>true</bool>
-           </property>
-          </widget>
-         </item>
-         <item row="0" column="2">
-          <widget class="QPushButton" name="dataFolderBtn">
-           <property name="text">
-            <string>...</string>
-           </property>
+         <item row="1" column="0">
+          <widget class="QWidget" name="widget_3" native="true">
+           <layout class="QGridLayout" name="gridLayout_4" columnstretch="5,2">
+            <item row="0" column="0">
+             <spacer name="horizontalSpacer">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>411</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item row="0" column="1">
+             <widget class="QPushButton" name="confirmBtn">
+              <property name="text">
+               <string>确认</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
           </widget>
          </item>
         </layout>