add，计划采集2：

添加计划任务的数据结构，并实现读写数据结构

HPPA/CaptureCoordinator.cpp

@@ -2,11 +2,9 @@
 
 TwoMotionCaptureCoordinator::TwoMotionCaptureCoordinator(
 	IrisMultiMotorController* motorCtrl,
-	ImagerOperationBase* cameraCtrl,
 	QObject* parent)
 	: QObject(parent)
 	, m_motorCtrl(motorCtrl)
-	, m_cameraCtrl(cameraCtrl)
 	, m_isRunning(false)
 {
 	//这些信号槽是按照逻辑顺序的
@@ -20,35 +18,6 @@ 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 +67,7 @@ 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();
 
@@ -324,11 +289,7 @@ 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;

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();
@@ -62,13 +59,15 @@ 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();

HPPA/HPPA.cpp

@@ -1523,6 +1523,22 @@ bool HPPA::showResultMessageBox(QString title, QString msg)
 
 void HPPA::onStartRecordStep1()
 {
+	QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();
+	QString checkedScenarioName = checkedScenario->objectName();
+	if (checkedScenarioName == "mAction3DPlantPhenotypeScenario")//计划采集
+	{
+		TimedDataCollection* tmp = new TimedDataCollection();
+		/*m_ic->setWindowFlags(Qt::Widget);*/
+		tmp->show();
+		//tmp->exec();
+
+		return;
+	}
+	else if (checkedScenarioName == "mActionPlantPhenotypeScenario")
+	{
+
+	}
+
 	//判断移动平台
 	QAction* checked = moveplatformActionGroup->checkedAction();
 	if (!checked)
@@ -1556,7 +1572,7 @@ void HPPA::onStartRecordStep1()
 	{
 
 	}
-
+	
 	//判断光谱仪
 	if(!testImagerVality())
 	{

HPPA/HPPA.h

@@ -83,6 +83,8 @@
 
 #include "LayerTreeImageNode.h"
 
+#include "TimedDataCollection.h"
+
 #define PI 3.1415926
 
 QT_CHARTS_USE_NAMESPACE//QChartView 使用 需要加宏， 否则无法使用

HPPA/HPPA.vcxproj

@@ -161,6 +161,8 @@
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
     <ClCompile Include="TabManager.cpp" />
+    <ClCompile Include="TimedDataCollection.cpp" />
+    <ClCompile Include="TimedDataCollectionDataStructures.cpp" />
     <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
     <ClCompile Include="View3D.cpp" />
@@ -193,6 +195,7 @@
     <QtUic Include="RobotArmControl.ui" />
     <QtUic Include="set.ui" />
     <QtUic Include="SingleLensReflexCamera.ui" />
+    <QtUic Include="TimedDataCollection_ui.ui" />
     <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
@@ -250,6 +253,8 @@
     <QtMoc Include="setWindow.h" />
     <QtMoc Include="rgbCameraWindow.h" />
     <QtMoc Include="SingleLensReflexCameraWindow.h" />
+    <QtMoc Include="TimedDataCollection.h" />
+    <ClInclude Include="TimedDataCollectionDataStructures.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -232,6 +232,12 @@
     <ClCompile Include="RasterRendererBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="TimedDataCollection.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollectionDataStructures.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -375,6 +381,9 @@
     <QtMoc Include="LayerTreeImageNode.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="TimedDataCollection.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -431,6 +440,9 @@
     <ClInclude Include="MotorWindowBase.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="TimedDataCollectionDataStructures.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -481,6 +493,9 @@
     <QtUic Include="SingleLensReflexCamera.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="TimedDataCollection_ui.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />

HPPA/TimedDataCollection.cpp

@@ -0,0 +1,120 @@
+#include "TimedDataCollection.h"
+#include <QDateTime>
+#include <QDebug>
+
+TimedDataCollection::TimedDataCollection(QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	ui.treeWidget->setDragEnabled(true);                  // 启用拖拽
+	ui.treeWidget->setAcceptDrops(true);                  // 接受拖放
+	ui.treeWidget->setDropIndicatorShown(true);           // 显示插入位置指示线
+	ui.treeWidget->setDragDropMode(QAbstractItemView::InternalMove); // 内部移动
+
+	//writeRead();
+	readTimedTaskFromFile("D:/0tmp/3Dtest/task.json");
+
+	connect(ui.run_btn, SIGNAL(clicked()), this, SLOT(run()));
+
+	connect(ui.run_btn, &QPushButton::clicked, this, &TimedDataCollection::run);
+}
+
+TimedDataCollection::~TimedDataCollection()
+{
+}
+
+void TimedDataCollection::run()
+{
+
+}
+
+void TimedDataCollection::readTimedTaskFromFile(const QString& filePath)
+{
+	// 从文件读取
+	if (TimedDataCollectionDataStructuresReaderWriter::loadTasksFromFile(filePath, m_loadedTasks)) {
+		qDebug() << "Tasks loaded successfully, count:" << m_loadedTasks.size();
+		for (const auto& t : m_loadedTasks) {
+			qDebug() << "  Task ID:" << t.id << "SubTasks:" << t.subTasks.size();
+		}
+	}
+	else {
+		qDebug() << "Failed to load tasks from:" << filePath;
+	}
+
+	int a = 1;
+}
+
+void TimedDataCollection::writeRead()
+{
+	// 创建2个定时任务测试
+	QVector<TimedTask> tasks;
+
+	for (int i = 0; i < 2; ++i) {
+		TimedTask task;
+		task.id = i + 1;
+		task.scheduledTime = QDateTime::currentDateTime().addDays(i + 1);
+		task.savePath = QString("D:/0tmp/data");
+		task.status = TaskStatus::Waiting;
+
+		// 创建4种子任务
+		QVector<SubTaskType> types = {
+			SubTaskType::HyperSpectual400_1000nm,
+			SubTaskType::HyperSpectual1000_1700nm,
+			SubTaskType::SingleLensReflex,
+			SubTaskType::DepthCamera
+		};
+
+		for (int j = 0; j < types.size(); ++j) {
+			SubTask subTask;
+			subTask.type = types[j];
+			subTask.startTime = task.scheduledTime.addSecs(j * 3600);
+			subTask.endTime = subTask.startTime.addSecs(1800);
+			subTask.durationSeconds = 1800;
+			subTask.estimatedDurationSeconds = 1800;
+			subTask.pathLineFilePath = QString("D:/0tmp/3Dtest/pathLine/%1.RecordLine3").arg(j);
+			subTask.status = TaskStatus::Waiting;
+
+			// 根据类型设置特有属性
+			if (subTask.type == SubTaskType::HyperSpectual400_1000nm ||
+				subTask.type == SubTaskType::HyperSpectual1000_1700nm) {
+				subTask.frameRate = 30.0;
+				subTask.exposureTime = 1;
+			}
+			if (subTask.type == SubTaskType::HyperSpectual1000_1700nm) {
+				subTask.defaultRenderBand = 1200;
+			}
+			if (subTask.type == SubTaskType::SingleLensReflex ||
+				subTask.type == SubTaskType::DepthCamera) {
+				subTask.captureIntervalSeconds = 5;
+			}
+
+			task.subTasks.append(subTask);
+		}
+
+		tasks.append(task);
+	}
+
+	// 保存到文件
+	QString filePath = "D:/0tmp/3Dtest/task.json";
+	if (TimedDataCollectionDataStructuresReaderWriter::saveTasksToFile(filePath, tasks)) {
+		qDebug() << "Tasks saved to:" << filePath;
+	}
+	else {
+		qDebug() << "Failed to save tasks to:" << filePath;
+	}
+
+	// 从文件读取
+	QVector<TimedTask> loadedTasks;
+	if (TimedDataCollectionDataStructuresReaderWriter::loadTasksFromFile(filePath, loadedTasks)) {
+		qDebug() << "Tasks loaded successfully, count:" << loadedTasks.size();
+		for (const auto& t : loadedTasks) {
+			qDebug() << "  Task ID:" << t.id << "SubTasks:" << t.subTasks.size();
+		}
+	}
+	else {
+		qDebug() << "Failed to load tasks from:" << filePath;
+	}
+
+	int a = 1;
+}

HPPA/TimedDataCollection.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+
+#include "ui_TimedDataCollection_ui.h"
+#include "TimedDataCollectionDataStructures.h"
+
+class TimedDataCollection : public QDialog
+{
+	Q_OBJECT
+
+public:
+	TimedDataCollection(QWidget* parent = nullptr);
+	~TimedDataCollection();
+
+	void readTimedTaskFromFile(const QString& filePath);
+
+public Q_SLOTS:
+	void run();
+
+private:
+	Ui::TimedDataCollection_ui ui;
+
+	void writeRead();
+
+	QVector<TimedTask> m_loadedTasks;
+};

HPPA/TimedDataCollectionDataStructures.cpp

@@ -0,0 +1,196 @@
+#include "TimedDataCollectionDataStructures.h"
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonArray>
+#include <QFile>
+#include <QTextStream>
+#include <QDebug>
+
+// ==================== 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::Waiting;
+}
+
+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;
+    return SubTaskType::SingleLensReflex;
+}
+
+// ==================== 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["durationSeconds"] = subTask.durationSeconds;
+    obj["estimatedDurationSeconds"] = subTask.estimatedDurationSeconds;
+    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;
+    return obj;
+}
+
+bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObject& json, SubTask& subTask)
+{
+    subTask.type = stringToSubTaskType(json["type"].toString());
+    subTask.startTime = QDateTime::fromString(json["startTime"].toString(), Qt::ISODate);
+    subTask.endTime = QDateTime::fromString(json["endTime"].toString(), Qt::ISODate);
+    subTask.durationSeconds = json["durationSeconds"].toInt();
+    subTask.estimatedDurationSeconds = json["estimatedDurationSeconds"].toInt();
+    subTask.pathLineFilePath = json["pathLineFilePath"].toString();
+    subTask.status = stringToTaskStatus(json["status"].toString());
+    subTask.frameRate = json["frameRate"].toDouble();
+    subTask.exposureTime = json["exposureTime"].toDouble();
+    subTask.defaultRenderBand = json["defaultRenderBand"].toInt();
+    subTask.captureIntervalSeconds = json["captureIntervalSeconds"].toInt();
+    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["durationSeconds"] = task.durationSeconds;
+    obj["savePath"] = task.savePath;
+    obj["status"] = taskStatusToString(task.status);
+
+    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(json["startTime"].toString(), Qt::ISODate);
+    task.endTime = QDateTime::fromString(json["endTime"].toString(), Qt::ISODate);
+    task.durationSeconds = json["durationSeconds"].toInt();
+    task.savePath = json["savePath"].toString();
+    task.status = stringToTaskStatus(json["status"].toString());
+
+    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;
+}

HPPA/TimedDataCollectionDataStructures.h

@@ -0,0 +1,104 @@
+#pragma once
+
+#include <QDateTime>
+#include <QString>
+#include <QVector>
+#include <QMetaType>
+
+// ==================== 枚举定义 ====================
+
+// 任务状态
+enum class TaskStatus {
+    Waiting,    // 等待
+    Running,   // 运行中
+    Finished   // 结束
+};
+
+// 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
+};
+
+// ==================== 统一子任务封装 ====================
+
+struct SubTask {
+    SubTaskType type;          // 子任务类型
+
+    // 共享属性
+    QDateTime startTime;
+    QDateTime endTime;
+    int durationSeconds = 0;
+    int estimatedDurationSeconds = 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
+};
+
+// ==================== 定时任务 ====================
+
+struct TimedTask {
+    int id = 0;                                  // 任务ID
+    QDateTime scheduledTime;                     // 计划时间
+    QDateTime startTime;                         // 开始时间
+    QDateTime endTime;                           // 结束时间
+    int durationSeconds = 0;                     // 耗时（秒）
+    QString savePath;                             // 数据保存路径
+    QVector<SubTask> subTasks;                    // 子任务列表
+    TaskStatus status = TaskStatus::Waiting;     // 状态
+
+    // 计算所有子任务的预计总时间
+    int totalEstimatedDuration() const {
+        int total = 0;
+        for (const auto& subTask : subTasks) {
+            total += subTask.estimatedDurationSeconds;
+        }
+        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);
+};

HPPA/TimedDataCollection_ui.ui

@@ -0,0 +1,320 @@
+<?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>970</width>
+    <height>456</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Dialog</string>
+  </property>
+  <widget class="QTreeWidget" name="treeWidget">
+   <property name="geometry">
+    <rect>
+     <x>9</x>
+     <y>9</y>
+     <width>491</width>
+     <height>281</height>
+    </rect>
+   </property>
+   <property name="allColumnsShowFocus">
+    <bool>false</bool>
+   </property>
+   <attribute name="headerVisible">
+    <bool>true</bool>
+   </attribute>
+   <column>
+    <property name="text">
+     <string>任务</string>
+    </property>
+   </column>
+   <column>
+    <property name="text">
+     <string>计划时间</string>
+    </property>
+   </column>
+   <column>
+    <property name="text">
+     <string>开始时间</string>
+    </property>
+   </column>
+   <column>
+    <property name="text">
+     <string>结束时间</string>
+    </property>
+   </column>
+   <column>
+    <property name="text">
+     <string>耗时</string>
+    </property>
+   </column>
+   <column>
+    <property name="text">
+     <string>状态</string>
+    </property>
+   </column>
+   <item>
+    <property name="text">
+     <string>1</string>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <item>
+     <property name="text">
+      <string>a</string>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+     <property name="text">
+      <string/>
+     </property>
+    </item>
+    <item>
+     <property name="text">
+      <string>b</string>
+     </property>
+    </item>
+   </item>
+   <item>
+    <property name="text">
+     <string>2</string>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <item>
+     <property name="text">
+      <string>a</string>
+     </property>
+    </item>
+    <item>
+     <property name="text">
+      <string>b</string>
+     </property>
+    </item>
+   </item>
+   <item>
+    <property name="text">
+     <string>3</string>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <item>
+     <property name="text">
+      <string>a</string>
+     </property>
+    </item>
+    <item>
+     <property name="text">
+      <string>b</string>
+     </property>
+    </item>
+   </item>
+   <item>
+    <property name="text">
+     <string>4</string>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <item>
+     <property name="text">
+      <string>a</string>
+     </property>
+    </item>
+    <item>
+     <property name="text">
+      <string>b</string>
+     </property>
+    </item>
+   </item>
+   <item>
+    <property name="text">
+     <string>5</string>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <item>
+     <property name="text">
+      <string>a</string>
+     </property>
+    </item>
+    <item>
+     <property name="text">
+      <string>b</string>
+     </property>
+    </item>
+   </item>
+  </widget>
+  <widget class="QPushButton" name="addToptask_btn">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>310</y>
+     <width>101</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>添加总计划任务</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="addSubtask_btn">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>370</y>
+     <width>101</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>添加子任务</string>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="comboBox">
+   <property name="geometry">
+    <rect>
+     <x>170</x>
+     <y>370</y>
+     <width>69</width>
+     <height>22</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="delSubtask_btn">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>410</y>
+     <width>101</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>删除子任务</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="delToptask_btn">
+   <property name="geometry">
+    <rect>
+     <x>40</x>
+     <y>340</y>
+     <width>101</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>删除总计划任务</string>
+   </property>
+  </widget>
+  <widget class="QStackedWidget" name="stackedWidget">
+   <property name="geometry">
+    <rect>
+     <x>520</x>
+     <y>20</y>
+     <width>381</width>
+     <height>261</height>
+    </rect>
+   </property>
+   <property name="currentIndex">
+    <number>1</number>
+   </property>
+   <widget class="QWidget" name="page"/>
+   <widget class="QWidget" name="page_2"/>
+  </widget>
+  <widget class="QPushButton" name="run_btn">
+   <property name="geometry">
+    <rect>
+     <x>850</x>
+     <y>420</y>
+     <width>101</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>运行</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

HPPA/TwoMotorControl.cpp

@@ -121,14 +121,20 @@ void TwoMotorControl::run()
 	}
 
 	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, &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 +164,11 @@ void TwoMotorControl::run()
 	emit start(pathLines);
 }
 
+void TwoMotorControl::stop_record()
+{
+	m_Imager->stop_record();
+}
+
 void TwoMotorControl::stop()
 {
 	emit stopSignal();

HPPA/TwoMotorControl.h

@@ -70,6 +70,8 @@ public Q_SLOTS:
     void receiveFinishRecordLineNum(int lineNum);
     void onSequenceComplete();
 
+    void stop_record();
+
 signals:
     void moveSignal(int, bool, double, int);
     void move2LocSignal(int, double, double, int);