add

添加马达配置界面；

HPPA/AppSettings.cpp

@@ -12,6 +12,9 @@ const double AppSettings::kDefaultScanSpeed = 1.0;
 const double AppSettings::kDefaultReturnSpeed = 5.0;
 const int AppSettings::kDefaultGonggaShanRecordPort = 666;
 const AppSettings::HyperimgDisplayMode AppSettings::kDefaultHyperimgDisplayMode = HyperimgDisplayMode::Waterfall;
+const bool AppSettings::kDefaultImageHorizontalMirror = true;
+const bool AppSettings::kDefaultImageVerticalMirror = true;
+const int AppSettings::kDefaultImageRotation = 0;
 
 AppSettings::AppSettings()
 	: m_settings(QSettings::IniFormat, QSettings::UserScope,
@@ -216,3 +219,33 @@ void AppSettings::setHyperimgDisplayMode(HyperimgDisplayMode mode)
 {
 	m_settings.setValue("Display/HyperimgDisplayMode", static_cast<int>(mode));
 }
+
+bool AppSettings::imageHorizontalMirror() const
+{
+	return m_settings.value("Display/ImageHorizontalMirror", kDefaultImageHorizontalMirror).toBool();
+}
+
+void AppSettings::setImageHorizontalMirror(bool value)
+{
+	m_settings.setValue("Display/ImageHorizontalMirror", value);
+}
+
+bool AppSettings::imageVerticalMirror() const
+{
+	return m_settings.value("Display/ImageVerticalMirror", kDefaultImageVerticalMirror).toBool();
+}
+
+void AppSettings::setImageVerticalMirror(bool value)
+{
+	m_settings.setValue("Display/ImageVerticalMirror", value);
+}
+
+int AppSettings::imageRotation() const
+{
+	return m_settings.value("Display/ImageRotation", kDefaultImageRotation).toInt();
+}
+
+void AppSettings::setImageRotation(int value)
+{
+	m_settings.setValue("Display/ImageRotation", ((value % 360) + 360) % 360);
+}

HPPA/AppSettings.h

@@ -73,6 +73,18 @@ public:
 	// 图像显示模式
 	HyperimgDisplayMode hyperimgDisplayMode() const;
 	void setHyperimgDisplayMode(HyperimgDisplayMode mode);
+
+	// 图像显示变换（左右镜像/上下镜像/旋转），全局生效
+	bool imageHorizontalMirror() const;
+	void setImageHorizontalMirror(bool value);
+
+	bool imageVerticalMirror() const;
+	void setImageVerticalMirror(bool value);
+
+	// 旋转角度，取值 0、90、180、270
+	int imageRotation() const;
+	void setImageRotation(int value);
+
 	// 在此处添加更多参数的 getter/setter ...
 
 private:
@@ -94,4 +106,7 @@ private:
 	static const double kDefaultReturnSpeed;
 	static const int kDefaultGonggaShanRecordPort;
 	static const HyperimgDisplayMode kDefaultHyperimgDisplayMode;
+	static const bool kDefaultImageHorizontalMirror;
+	static const bool kDefaultImageVerticalMirror;
+	static const int kDefaultImageRotation;
 };

HPPA/FocusDialog.ui

@@ -374,7 +374,20 @@ QRadioButton
                  </widget>
                 </widget>
                </item>
-               <item row="2" column="0" colspan="2">
+               <item row="2" column="0">
+                <widget class="QPushButton" name="config_pushButton">
+                 <property name="sizePolicy">
+                  <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                   <horstretch>0</horstretch>
+                   <verstretch>0</verstretch>
+                  </sizepolicy>
+                 </property>
+                 <property name="text">
+                  <string>配置</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="1">
                 <widget class="QPushButton" name="connectMotor_btn">
                  <property name="text">
                   <string>连接</string>

HPPA/HPPA.cpp

@@ -959,6 +959,9 @@ void HPPA::initMenubarToolbar()
 
 	ui.mActionPan->setIcon(QIcon(":/svg/resources/icons/svg/pan.svg"));
 	ui.mActionSpectral->setIcon(QIcon(":/svg/resources/icons/svg/spectral.svg"));
+	ui.mActionRotation90->setIcon(QIcon(":/svg/resources/icons/svg/rotate90.svg"));
+	ui.mActionVerticalMirror->setIcon(QIcon(":/svg/resources/icons/svg/VerticalMirror.svg"));
+	ui.mActionHorizontalMirror->setIcon(QIcon(":/svg/resources/icons/svg/HorizontalMirror.svg"));
 
 	connect(ui.mActionPan, &QAction::toggled, this, [=](bool checked) {
 		if (checked)
@@ -974,6 +977,34 @@ void HPPA::initMenubarToolbar()
 		 ui.mActionSpectral->setIcon(QIcon(":/svg/resources/icons/svg/spectral.svg"));
 		});
 
+	connect(ui.mActionRotation90, &QAction::triggered, this, [=](bool) {
+		QWidget* currentWidget = m_imageViewerTabWidget->currentWidget();
+		if (!currentWidget) return;
+
+		QList<Mapcavas*> canvases = currentWidget->findChildren<Mapcavas*>();
+		if (canvases.isEmpty()) return;
+
+		canvases[0]->rotateImage90();
+		});
+	connect(ui.mActionVerticalMirror, &QAction::triggered, this, [=](bool) {
+		QWidget* currentWidget = m_imageViewerTabWidget->currentWidget();
+		if (!currentWidget) return;
+
+		QList<Mapcavas*> canvases = currentWidget->findChildren<Mapcavas*>();
+		if (canvases.isEmpty()) return;
+
+		canvases[0]->toggleVerticalMirror();
+		});
+	connect(ui.mActionHorizontalMirror, &QAction::triggered, this, [=](bool) {
+		QWidget* currentWidget = m_imageViewerTabWidget->currentWidget();
+		if (!currentWidget) return;
+
+		QList<Mapcavas*> canvases = currentWidget->findChildren<Mapcavas*>();
+		if (canvases.isEmpty()) return;
+
+		canvases[0]->toggleHorizontalMirror();
+		});
+
 	// 使用样式表设置透明背景
 	toolBar->setStyleSheet(R"(
 		QToolBar {

HPPA/HPPA.qrc

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

HPPA/HPPA.ui

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

HPPA/HPPA.vcxproj

@@ -174,6 +174,7 @@
     <ClCompile Include="TaskTreeModel.cpp" />
     <ClCompile Include="TimedDataCollection.cpp" />
     <ClCompile Include="TimedDataCollectionDataStructures.cpp" />
+    <ClCompile Include="MotorConfigDialog.cpp" />
     <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
     <ClCompile Include="View3D.cpp" />
@@ -200,6 +201,7 @@
     <ClCompile Include="main.cpp" />
     <QtUic Include="hyperImagerControl.ui" />
     <QtUic Include="imgControl.ui" />
+    <QtUic Include="MotorConfigDialog.ui" />
     <QtUic Include="oneMotorControl.ui" />
     <QtUic Include="PathPlan.ui" />
     <QtUic Include="PowerControl.ui" />
@@ -265,6 +267,7 @@
     <QtMoc Include="MapToolPan.h" />
     <QtMoc Include="MapToolSpectral.h" />
     <QtMoc Include="MapTools.h" />
+    <QtMoc Include="MotorConfigDialog.h" />
     <ClInclude Include="MotorWindowBase.h" />
     <QtMoc Include="PowerControl3D.h" />
     <ClInclude Include="PathLine.h" />

HPPA/HPPA.vcxproj.filters

@@ -133,6 +133,9 @@
     <ClCompile Include="TwoMotorControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="MotorConfigDialog.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
     <ClCompile Include="CustomDockWidgetBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -336,6 +339,9 @@
     <QtMoc Include="TwoMotorControl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="MotorConfigDialog.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
     <QtMoc Include="CaptureCoordinator.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -553,6 +559,9 @@
     <QtUic Include="twoMotorControl.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="MotorConfigDialog.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
     <QtUic Include="imgControl.ui">
       <Filter>Form Files</Filter>
     </QtUic>

HPPA/ImageViewer.cpp

@@ -49,7 +49,8 @@ Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
     setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
     setFrameShape(QFrame::NoFrame);
 
-    m_displayMode = AppSettings::instance().hyperimgDisplayMode();
+    loadSettings();
+    //addSceneCoordinateSystem();
 }
 
 Mapcavas::~Mapcavas()
@@ -57,6 +58,94 @@ Mapcavas::~Mapcavas()
 
 }
 
+void Mapcavas::loadSettings()
+{
+    updateDisplayMode();
+
+    //更新控制图像变换的变量m_imageTransformState
+    AppSettings& settings = AppSettings::instance();
+    m_imageTransformState.horizontalMirror = settings.imageHorizontalMirror();
+    m_imageTransformState.verticalMirror = settings.imageVerticalMirror();
+    m_imageTransformState.rotation = settings.imageRotation();
+}
+
+void Mapcavas::applyImageTransform()
+{
+    if (m_GraphicsPixmapItemHandle == nullptr)
+        return;
+
+    const double sx = m_imageTransformState.horizontalMirror ? -1.0 : 1.0;
+    const double sy = m_imageTransformState.verticalMirror ? -1.0 : 1.0;
+    const QPointF center = m_GraphicsPixmapItemHandle->boundingRect().center();
+
+    QTransform transform_all;
+    transform_all.translate(center.x(), center.y());// 围绕图片中心变换
+    transform_all.scale(sx, sy);
+    transform_all.rotate(m_imageTransformState.rotation);
+    transform_all.translate(-center.x(), -center.y());
+
+    // setTransform 是替换而非叠加，因此可对已显示的图像重复调用
+    m_GraphicsPixmapItemHandle->setTransform(transform_all);
+
+    //QPointF itemOrigin(0, 0);
+    //QPointF sceneOrigin = m_GraphicsPixmapItemHandle->mapToScene(itemOrigin);
+    //QPointF sceneOrigin2 = m_GraphicsPixmapItemHandle->scenePos();
+
+    // 变换后重新定位十字叉，使其始终跟随同一个图像像素
+    repositionCrosshair();
+}
+
+void Mapcavas::repositionCrosshair()
+{
+    if (!m_hLine || !m_vLine || !m_GraphicsPixmapItemHandle)
+        return;
+
+    const QPointF scenePt = m_GraphicsPixmapItemHandle->mapToScene(m_crosshairItemPos);
+    m_hLine->setPos(scenePt);
+    m_vLine->setPos(scenePt);
+}
+
+void Mapcavas::refreshImageTransform()
+{
+    if (!HasImage())
+        return;
+
+    applyImageTransform();
+
+    if (m_displayMode == AppSettings::HyperimgDisplayMode::Full)
+    {
+        ensureSceneVisible();
+    }
+    else if (m_displayMode == AppSettings::HyperimgDisplayMode::Waterfall)
+    {
+        ensureWaterfallVisible();
+    }
+}
+
+void Mapcavas::rotateImage90()
+{
+    AppSettings& settings = AppSettings::instance();
+    settings.setImageRotation(settings.imageRotation() + 90);
+    loadSettings();
+    refreshImageTransform();
+}
+
+void Mapcavas::toggleHorizontalMirror()
+{
+    AppSettings& settings = AppSettings::instance();
+    settings.setImageHorizontalMirror(!settings.imageHorizontalMirror());
+    loadSettings();
+    refreshImageTransform();
+}
+
+void Mapcavas::toggleVerticalMirror()
+{
+    AppSettings& settings = AppSettings::instance();
+    settings.setImageVerticalMirror(!settings.imageVerticalMirror());
+    loadSettings();
+    refreshImageTransform();
+}
+
 void Mapcavas::updateDisplayMode()
 {
     m_displayMode = AppSettings::instance().hyperimgDisplayMode();
@@ -79,14 +168,12 @@ void Mapcavas::SetImage(QPixmap *image)
         m_GraphicsPixmapItemHandle->setPixmap(*image);
     }
 
-    if (m_displayMode == AppSettings::HyperimgDisplayMode::Full)
+    refreshImageTransform();
-    {
+}
-        ensureSceneVisible();
+
-    }
+QGraphicsPixmapItem* Mapcavas::pixmapItemHandle()
-    else if (m_displayMode == AppSettings::HyperimgDisplayMode::Waterfall)
+{
-    {
+	return m_GraphicsPixmapItemHandle;
-        ensureWaterfallVisible();
-    }
 }
 
 void Mapcavas::ensureSceneVisible()
@@ -108,40 +195,88 @@ void Mapcavas::ensureSceneVisible()
 
 void Mapcavas::ensureWaterfallVisible()
 {
-    resetTransform();
+    if (!HasImage())
-
-    auto items = this->scene()->items();
-    if (items.isEmpty())
         return;
 
-    auto scene_rect = this->scene()->itemsBoundingRect();
+    resetTransform();
+
+    QGraphicsPixmapItem* item = m_GraphicsPixmapItemHandle;
+    const QRectF item_rect = item->boundingRect();
+    if (item_rect.isEmpty())
+        return;
+
+    // 图像已经应用了 m_imageTransformState 的镜像/旋转，这里以场景中的实际位置为准
+    const QRectF scene_rect = item->sceneBoundingRect();
+
     qreal view_width = viewport()->rect().width();
     qreal view_height = viewport()->rect().height();
+    if (view_width <= 0.0 || view_height <= 0.0)
+        return;
+    if (scene_rect.width() <= 0.0 || scene_rect.height() <= 0.0)
+        return;
 
-    double x_scale = view_width / scene_rect.width();
+    // 图像坐标中：x 为扫描线空间轴(固定)，y 为采集帧数(不断增长)，最新一帧位于 y 最大处。
-    double y_scale = view_height / scene_rect.height();
+    // 经过镜像/旋转后，增长轴可能竖直(0°/180°)或水平(90°/270°)。
+    const QPointF growth_dir = item->mapToScene(QPointF(0.0, 1.0))
+                             - item->mapToScene(QPointF(0.0, 0.0));
+    const bool growth_vertical = qAbs(growth_dir.y()) >= qAbs(growth_dir.x());
 
-    double scale_factor = qMin(x_scale, y_scale) * 0.9;
+    // 最新一帧(图像底边中心)在场景中的位置，用于判断应该贴哪条边
+    const QPointF newest_scene = item->mapToScene(
+        QPointF(item_rect.width() / 2.0, item_rect.height()));
 
-    scale(x_scale, x_scale);
+    if (growth_vertical)
-    m_scale *= x_scale;
-
-    // 计算缩放后的图片可见高度
-    qreal scaled_height = scene_rect.height() * x_scale;
-
-    // 根据图片高度决定 Y 坐标
-    qreal center_y;
-    if (scaled_height <= view_height)
     {
-        center_y = scene_rect.center().y();
+        // 竖直瀑布：空间轴横向铺满视图宽度，最新一帧固定在上/下边缘
+        const double x_scale = view_width / scene_rect.width();
+        scale(x_scale, x_scale);
+        m_scale *= x_scale;
+
+        // 计算缩放后的图片可见高度
+        qreal scaled_height = scene_rect.height() * x_scale;
+
+        qreal center_y;
+        if (scaled_height <= view_height)
+        {
+            center_y = scene_rect.center().y();
+        }
+        else
+        {
+            qreal half_view_height = view_height / 2.0 / x_scale;
+            if (newest_scene.y() >= scene_rect.center().y())
+                center_y = scene_rect.bottom() - half_view_height;  // 最新帧在下方，贴底
+            else
+                center_y = scene_rect.top() + half_view_height;     // 最新帧在上方，贴顶
+        }
+
+        centerOn(scene_rect.center().x(), center_y);
     }
     else
     {
-        qreal half_view_height = view_height / 2.0 / x_scale;
+        // 水平瀑布：空间轴竖向铺满视图高度，最新一帧固定在左/右边缘
-        center_y = scene_rect.bottom() - half_view_height;
+        const double y_scale = view_height / scene_rect.height();
-    }
+        scale(y_scale, y_scale);
+        m_scale *= y_scale;
 
-    centerOn(scene_rect.center().x(), center_y);
+        // 计算缩放后的图片可见宽度
+        qreal scaled_width = scene_rect.width() * y_scale;
+
+        qreal center_x;
+        if (scaled_width <= view_width)
+        {
+            center_x = scene_rect.center().x();
+        }
+        else
+        {
+            qreal half_view_width = view_width / 2.0 / y_scale;
+            if (newest_scene.x() >= scene_rect.center().x())
+                center_x = scene_rect.right() - half_view_width;    // 最新帧在右侧，贴右
+            else
+                center_x = scene_rect.left() + half_view_width;     // 最新帧在左侧，贴左
+        }
+
+        centerOn(center_x, scene_rect.center().y());
+    }
 }
 
 bool Mapcavas::HasImage()
@@ -164,21 +299,32 @@ void Mapcavas::updateCrosshair(double sceneX, double sceneY)
     if (!m_hLine)
     {
         m_hLine = m_qtGraphicsScene->addLine(0, 0, 0, 0, pen);
+        m_hLine->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
         m_hLine->setZValue(1e9);
     }
     if (!m_vLine)
     {
         m_vLine = m_qtGraphicsScene->addLine(0, 0, 0, 0, pen);
+        m_vLine->setFlag(QGraphicsItem::ItemIgnoresTransformations, true);
         m_vLine->setZValue(1e9);
     }
 
     m_hLine->setPen(pen);
     m_vLine->setPen(pen);
 
-    m_hLine->setLine(sceneX - m_CrosshairHalfLen, sceneY,
+    // 设置 ItemIgnoresTransformations 后，图元的原点依旧按场景坐标定位，
-        sceneX + m_CrosshairHalfLen, sceneY);
+    // 但局部坐标不再受视图缩放影响（1 单位 = 1 屏幕像素）。
-    m_vLine->setLine(sceneX, sceneY - m_CrosshairHalfLen,
+    // 这里把锚点记录在图像(图元)坐标系中，再据此定位十字叉：
-        sceneX, sceneY + m_CrosshairHalfLen);
+    // 这样点击某个像素后，无论滚轮缩放还是镜像/旋转图像，十字叉都锚定在该像素上。
+    const QPointF scenePt(sceneX + 0.5, sceneY + 0.5);
+    m_crosshairItemPos = m_GraphicsPixmapItemHandle->mapFromScene(scenePt);
+
+    repositionCrosshair();
+
+    m_hLine->setLine(-m_CrosshairHalfLen, 0.0,
+        m_CrosshairHalfLen, 0.0);
+    m_vLine->setLine(0.0, -m_CrosshairHalfLen,
+        0.0, m_CrosshairHalfLen);
 }
 
 void Mapcavas::removeCrosshair()
@@ -197,6 +343,7 @@ void Mapcavas::removeCrosshair()
         delete m_vLine;
         m_vLine = nullptr;
     }
+    m_crosshairItemPos = QPointF();
 }
 
 
@@ -376,3 +523,91 @@ MapTool* Mapcavas::mapTool() const
 {
     return m_mapTool;
 }
+
+void Mapcavas::addSceneCoordinateSystem()
+{
+    const double length = 200.0;
+    const double arrowSize = 10.0;
+
+    // 坐标系作为参考叠加层，需要始终绘制在图像和其他图元之上；
+    // 十字叉使用更大的 Z 值(1e9)，因此这里取一个略小的值。
+    const double zOrder = 1e8;
+
+    // X 轴
+    QPen xPen(Qt::red);
+    xPen.setWidth(2);
+
+    QGraphicsLineItem* xAxis = m_qtGraphicsScene->addLine(
+        0, 0,
+        length, 0,
+        xPen
+    );
+    xAxis->setZValue(zOrder);
+
+    // X 箭头
+    QPolygonF xArrow;
+    xArrow << QPointF(length, 0)
+        << QPointF(length - arrowSize, -arrowSize / 2)
+        << QPointF(length - arrowSize, arrowSize / 2);
+
+    QGraphicsPolygonItem* xArrowItem = m_qtGraphicsScene->addPolygon(
+        xArrow,
+        xPen,
+        QBrush(Qt::red)
+    );
+    xArrowItem->setZValue(zOrder);
+
+
+    // Y 轴
+    QPen yPen(Qt::green);
+    yPen.setWidth(2);
+
+    QGraphicsLineItem* yAxis = m_qtGraphicsScene->addLine(
+        0, 0,
+        0, length,
+        yPen
+    );
+    yAxis->setZValue(zOrder);
+
+    // Y 箭头
+    QPolygonF yArrow;
+    yArrow << QPointF(0, length)
+        << QPointF(-arrowSize / 2, length - arrowSize)
+        << QPointF(arrowSize / 2, length - arrowSize);
+
+    QGraphicsPolygonItem* yArrowItem = m_qtGraphicsScene->addPolygon(
+        yArrow,
+        yPen,
+        QBrush(Qt::green)
+    );
+    yArrowItem->setZValue(zOrder);
+
+
+    // 原点
+    QGraphicsEllipseItem* originItem = m_qtGraphicsScene->addEllipse(
+        -4, -4,
+        8, 8,
+        QPen(Qt::blue),
+        QBrush(Qt::blue)
+    );
+    originItem->setZValue(zOrder);
+
+
+    // X 标签
+    QGraphicsTextItem* xText = m_qtGraphicsScene->addText("X");
+    xText->setDefaultTextColor(Qt::red);
+    xText->setPos(length + 5, -15);
+    xText->setZValue(zOrder);
+
+    // Y 标签
+    QGraphicsTextItem* yText = m_qtGraphicsScene->addText("Y");
+    yText->setDefaultTextColor(Qt::green);
+    yText->setPos(5, length + 5);
+    yText->setZValue(zOrder);
+
+    // 原点标签
+    QGraphicsTextItem* originText = m_qtGraphicsScene->addText("(0, 0)");
+    originText->setDefaultTextColor(Qt::blue);
+    originText->setPos(5, 5);
+    originText->setZValue(zOrder);
+}

HPPA/ImageViewer.h

@@ -61,6 +61,16 @@ public:
 	void unsetMapTool(MapTool* tool);
 	MapTool* mapTool() const;
 
+	QGraphicsPixmapItem* pixmapItemHandle();
+
+	// 图像显示变换（左右镜像/上下镜像/旋转），状态保存在 AppSettings 中全局生效
+	void rotateImage90();
+	void toggleHorizontalMirror();
+	void toggleVerticalMirror();
+
+	// 把当前的镜像/旋转重新应用到已经显示的图像，并按显示模式重新适配视图
+	void refreshImageTransform();
+
 protected:
 	QGraphicsScene *m_qtGraphicsScene;
 private:
@@ -79,9 +89,24 @@ private:
 	double m_CrosshairHalfLen = 10.0;
 	QGraphicsLineItem* m_hLine = nullptr;  // horizontal line
 	QGraphicsLineItem* m_vLine = nullptr;  // vertical line
+	QPointF m_crosshairItemPos;            // 十字叉锚点，保存在图像(图元)坐标系
 
 	AppSettings::HyperimgDisplayMode m_displayMode;
 
+	struct ImageTransformState
+	{
+		bool horizontalMirror = true;
+		bool verticalMirror = true;
+		int rotation = 90*3;  // 0、90、180、270
+	};
+	ImageTransformState m_imageTransformState;
+
+	void applyImageTransform();
+	void repositionCrosshair();
+	void loadSettings();
+
+	void addSceneCoordinateSystem();
+
 signals:
 	void leftMouseButtonPressed(int, int, QVector<double>, QVector<double>);
 };

HPPA/MapToolSpectral.cpp

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

HPPA/MotorConfigDialog.cpp

@@ -0,0 +1,335 @@
+#include "MotorConfigDialog.h"
+
+#include <QStyle>
+#include <QStyleOptionComboBox>
+#include <QStylePainter>
+#include <QPaintEvent>
+#include <QComboBox>
+#include <QFileDialog>
+#include <QFormLayout>
+#include <QGroupBox>
+#include <QHostAddress>
+#include <QLabel>
+#include <QLineEdit>
+#include <QMessageBox>
+#include <QSpinBox>
+#include <QStackedWidget>
+#include <QtSerialPort/QSerialPort>
+#include <QtSerialPort/QSerialPortInfo>
+
+MotorConfigDialog::MotorConfigDialog(const QString& configFilePath, QWidget* parent) : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    ui.motorLayout->addStretch();
+
+    connect(this->ui.openFileBtn, SIGNAL(clicked()), this, SLOT(onOpenFile()));
+    connect(this->ui.confirmBtn, SIGNAL(clicked()), this, SLOT(onOk()));
+    connect(this->ui.cancelBtn, SIGNAL(clicked()), this, SLOT(reject()));
+
+    loadConfigFile(configFilePath);
+}
+
+MotorConfigDialog::~MotorConfigDialog()
+{
+}
+
+bool MotorConfigDialog::loadConfigFile(const QString& configFilePath)
+{
+    m_configfile.setConfigfilePath(configFilePath.toStdString());
+
+    int motorNumber = 0;
+    bool isValid = true;
+    QString errorMessage;
+
+    if (!m_configfile.isConfigfileExist())
+    {
+        isValid = false;
+        errorMessage = QString::fromLocal8Bit("配置文件不存在：");
+    }
+    else if (!m_configfile.parseConfigfile())
+    {
+        isValid = false;
+        errorMessage = QString::fromLocal8Bit("配置文件解析失败：");
+    }
+    else if (!m_configfile.getMotorNumber(motorNumber) || motorNumber <= 0)
+    {
+        isValid = false;
+        errorMessage = QString::fromLocal8Bit("配置文件里没有马达信息：");
+    }
+
+    if (!isValid)
+    {
+        //载入失败时不能保留上一个文件的界面，避免把配置保存到错误的文件上
+        clearMotorRows();
+        ui.configFilePathLineEdit->clear();
+        ui.confirmBtn->setEnabled(false);
+        QMessageBox::warning(this, QString::fromLocal8Bit("马达配置"), errorMessage + configFilePath);
+        return false;
+    }
+
+    m_configFilePath = configFilePath;
+    ui.configFilePathLineEdit->setText(configFilePath);
+    ui.confirmBtn->setEnabled(true);
+
+    clearMotorRows();
+    for (int i = 0; i < motorNumber; i++)
+    {
+        addMotorRow(i);
+    }
+
+    return true;
+}
+
+void MotorConfigDialog::clearMotorRows()
+{
+    m_motorRows.clear();
+
+    while (ui.motorLayout->count() > 1)//保留末尾的弹簧
+    {
+        QLayoutItem* item = ui.motorLayout->takeAt(0);
+        if (item->widget() != nullptr)
+        {
+            delete item->widget();
+        }
+        delete item;
+    }
+}
+
+//不可编辑的QComboBox固定把文字靠左绘制（样式表的text-align和文本对齐角色都不起作用），这里改成居中
+class CenteredComboBox : public QComboBox
+{
+public:
+    explicit CenteredComboBox(QWidget* parent = nullptr)
+        : QComboBox(parent)
+    {
+    }
+
+protected:
+    void paintEvent(QPaintEvent* event) override
+    {
+        if (isEditable())//可编辑时文字由内部的QLineEdit绘制，对齐方式用setAlignment设置
+        {
+            QComboBox::paintEvent(event);
+            return;
+        }
+
+        QStyleOptionComboBox option;
+        initStyleOption(&option);
+
+        const QString text = option.currentText;
+        option.currentText.clear();//不画默认的左对齐文字，改由下面居中绘制
+
+        QStylePainter painter(this);
+        painter.setPen(palette().color(QPalette::Text));
+        painter.drawComplexControl(QStyle::CC_ComboBox, option);
+
+        if (!text.isEmpty())
+        {
+            QRect textRect = style()->subControlRect(QStyle::CC_ComboBox, &option, QStyle::SC_ComboBoxEditField, this);
+            painter.save();
+            painter.setClipRect(textRect);
+            painter.drawText(textRect, Qt::AlignCenter, text);
+            painter.restore();
+        }
+    }
+};
+
+//下拉列表（弹出菜单）里每一项的文字居中
+static void addCenteredItem(QComboBox* comboBox, const QString& text)
+{
+    comboBox->addItem(text);
+    comboBox->setItemData(comboBox->count() - 1, Qt::AlignCenter, Qt::TextAlignmentRole);
+}
+
+void MotorConfigDialog::addMotorRow(int id)
+{
+    int communicationMethod = 0;//老配置文件没有CommunicationMethod，默认串口
+    SerialPortConnectionParams serialParams;
+    TCPConnectionParams tcpParams;
+
+    //获取失败时用createVinceConfig里的默认参数
+    serialParams.SerialPortNumber = "COM7";
+    serialParams.BaudRate = 9600;
+    tcpParams.serverIP = "192.168.1.2";
+    tcpParams.port = 6002;
+
+    m_configfile.getCommunicationMethod(id, communicationMethod);
+    m_configfile.getSerialPortConnectionParams(id, serialParams);
+    m_configfile.getTcpConnectionParams(id, tcpParams);
+
+    if (communicationMethod != 0 && communicationMethod != 1)
+    {
+        communicationMethod = 0;
+    }
+
+    QGroupBox* motorGroupBox = new QGroupBox(QString::fromLocal8Bit("马达%1  (motor%2)").arg(id + 1).arg(id + 1), ui.motorContainer);
+    QFormLayout* groupLayout = new QFormLayout(motorGroupBox);
+
+    QLabel* methodLabel = new QLabel(QString::fromLocal8Bit("通信方式"), motorGroupBox);
+    QComboBox* methodComboBox = new CenteredComboBox(motorGroupBox);
+    addCenteredItem(methodComboBox, QString::fromLocal8Bit("串口"));
+    addCenteredItem(methodComboBox, QString::fromLocal8Bit("网络"));
+    methodComboBox->setItemDelegate(new ComboBoxItemDelegate(methodComboBox));
+
+    //串口参数
+    QWidget* serialWidget = new QWidget(motorGroupBox);
+    QFormLayout* serialLayout = new QFormLayout(serialWidget);
+    serialLayout->setContentsMargins(0, 0, 0, 0);
+
+    QLabel* serialPortLabel = new QLabel(QString::fromLocal8Bit("串口编号"), serialWidget);
+    QComboBox* serialPortComboBox = new CenteredComboBox(serialWidget);
+    serialPortComboBox->setItemDelegate(new ComboBoxItemDelegate(serialPortComboBox));
+    //serialPortComboBox->setEditable(true);
+
+    //查找可用串口，并显示
+    foreach(const QSerialPortInfo& info, QSerialPortInfo::availablePorts())
+    {
+        QSerialPort serial;
+        serial.setPort(info);
+        if (serial.open(QIODevice::ReadWrite))
+        {
+            addCenteredItem(serialPortComboBox, serial.portName());
+            serial.close();
+        }
+    }
+    serialPortComboBox->setCurrentText(serialParams.SerialPortNumber);
+
+    QLabel* baudRateLabel = new QLabel(QString::fromLocal8Bit("波特率"), serialWidget);
+    QComboBox* baudRateComboBox = new CenteredComboBox(serialWidget);
+    baudRateComboBox->setItemDelegate(new ComboBoxItemDelegate(baudRateComboBox));
+    baudRateComboBox->setEditable(true);
+    baudRateComboBox->lineEdit()->setAlignment(Qt::AlignCenter);//可编辑下拉框的文字由内部的QLineEdit绘制
+    addCenteredItem(baudRateComboBox, "9600");
+    addCenteredItem(baudRateComboBox, "19200");
+    addCenteredItem(baudRateComboBox, "38400");
+    addCenteredItem(baudRateComboBox, "57600");
+    addCenteredItem(baudRateComboBox, "115200");
+    baudRateComboBox->setCurrentText(QString::number(serialParams.BaudRate));
+
+    serialLayout->addRow(serialPortLabel, serialPortComboBox);
+    serialLayout->addRow(baudRateLabel, baudRateComboBox);
+
+    //网络参数
+    QWidget* tcpWidget = new QWidget(motorGroupBox);
+    QFormLayout* tcpLayout = new QFormLayout(tcpWidget);
+    tcpLayout->setContentsMargins(0, 0, 0, 0);
+
+    QLabel* serverIPLabel = new QLabel(QString::fromLocal8Bit("服务器IP"), tcpWidget);
+    QLineEdit* serverIPLineEdit = new QLineEdit(tcpParams.serverIP, tcpWidget);
+    serverIPLineEdit->setAlignment(Qt::AlignCenter);
+
+    QLabel* portLabel = new QLabel(QString::fromLocal8Bit("端口"), tcpWidget);
+    QSpinBox* portSpinBox = new QSpinBox(tcpWidget);
+    portSpinBox->setAlignment(Qt::AlignCenter);
+    portSpinBox->setRange(1, 65535);
+    portSpinBox->setValue(tcpParams.port);
+
+    tcpLayout->addRow(serverIPLabel, serverIPLineEdit);
+    tcpLayout->addRow(portLabel, portSpinBox);
+    //
+    QStackedWidget* paramsStack = new QStackedWidget(motorGroupBox);
+    paramsStack->addWidget(serialWidget);
+    paramsStack->addWidget(tcpWidget);
+
+    groupLayout->addRow(methodLabel, methodComboBox);
+    groupLayout->addRow(paramsStack);
+
+    methodComboBox->setCurrentIndex(communicationMethod);
+    paramsStack->setCurrentIndex(communicationMethod);
+    connect(methodComboBox, SIGNAL(currentIndexChanged(int)), paramsStack, SLOT(setCurrentIndex(int)));
+
+    ui.motorLayout->insertWidget(ui.motorLayout->count() - 1, motorGroupBox);
+
+    MotorConnectionRow row;
+    row.methodComboBox = methodComboBox;
+    row.serialPortComboBox = serialPortComboBox;
+    row.baudRateComboBox = baudRateComboBox;
+    row.serverIPLineEdit = serverIPLineEdit;
+    row.portSpinBox = portSpinBox;
+
+    m_motorRows.push_back(row);
+}
+
+bool MotorConfigDialog::saveConfigFile()
+{
+    for (int i = 0; i < m_motorRows.size(); i++)
+    {
+        const MotorConnectionRow& row = m_motorRows[i];
+        int communicationMethod = row.methodComboBox->currentIndex();
+
+        SerialPortConnectionParams serialParams;
+        serialParams.SerialPortNumber = row.serialPortComboBox->currentText().trimmed();
+
+        bool isBaudRateValid = false;
+        serialParams.BaudRate = row.baudRateComboBox->currentText().toInt(&isBaudRateValid);
+
+        TCPConnectionParams tcpParams;
+        tcpParams.serverIP = row.serverIPLineEdit->text().trimmed();
+        tcpParams.port = row.portSpinBox->value();
+
+        if (communicationMethod == 0)//串口
+        {
+            if (serialParams.SerialPortNumber.isEmpty() || !isBaudRateValid || serialParams.BaudRate <= 0)
+            {
+                QMessageBox::warning(this, QString::fromLocal8Bit("马达配置"),
+                    QString::fromLocal8Bit("马达%1的串口参数不正确！").arg(i + 1));
+                return false;
+            }
+        }
+        else//网络
+        {
+            QHostAddress serverIP(tcpParams.serverIP);
+            if (serverIP.isNull())
+            {
+                QMessageBox::warning(this, QString::fromLocal8Bit("马达配置"),
+                    QString::fromLocal8Bit("马达%1的服务器IP不正确！").arg(i + 1));
+                return false;
+            }
+        }
+
+        if (!m_configfile.setConnectionParams(i, communicationMethod, serialParams, tcpParams))
+        {
+            QMessageBox::warning(this, QString::fromLocal8Bit("马达配置"),
+                QString::fromLocal8Bit("马达%1的配置写入失败！").arg(i + 1));
+            return false;
+        }
+    }
+
+    if (!m_configfile.writeConfig2File())
+    {
+        QMessageBox::warning(this, QString::fromLocal8Bit("马达配置"),
+            QString::fromLocal8Bit("配置文件写入失败：") + m_configFilePath);
+        return false;
+    }
+
+    return true;
+}
+
+void MotorConfigDialog::onOpenFile()
+{
+    QString configFilePath = QFileDialog::getOpenFileName(this,
+        QString::fromLocal8Bit("选择马达配置文件"),
+        m_configFilePath,
+        QString::fromLocal8Bit("配置文件 (*.cfg);;所有文件 (*.*)"));
+
+    if (configFilePath.isEmpty())
+    {
+        return;
+    }
+
+    loadConfigFile(configFilePath);
+}
+
+void MotorConfigDialog::onOk()
+{
+    if (!saveConfigFile())
+    {
+        return;
+    }
+
+    QMessageBox::information(this, QString::fromLocal8Bit("马达配置"),
+        QString::fromLocal8Bit("配置已保存，重新连接马达后生效。"));
+
+    accept();
+}

HPPA/MotorConfigDialog.h

@@ -0,0 +1,66 @@
+#pragma once
+#include <QtWidgets/qdialog.h>
+#include <QVector>
+#include <QStyledItemDelegate> 
+
+#include "ui_MotorConfigDialog.h"
+
+#include "MotorConfigFile.h"
+
+class QComboBox;
+class QLineEdit;
+class QSpinBox;
+class QStackedWidget;
+
+class ComboBoxItemDelegate : public QStyledItemDelegate
+{
+public:
+    explicit ComboBoxItemDelegate(QObject* parent = nullptr)
+        : QStyledItemDelegate(parent)
+    {
+    }
+
+    QSize sizeHint(const QStyleOptionViewItem& option,
+        const QModelIndex& index) const override
+    {
+        QSize size = QStyledItemDelegate::sizeHint(option, index);
+
+        size.setHeight(25);
+
+        return size;
+    }
+};
+
+class MotorConfigDialog :public QDialog
+{
+    Q_OBJECT
+
+public:
+    MotorConfigDialog(const QString& configFilePath, QWidget* parent = Q_NULLPTR);
+    ~MotorConfigDialog();
+
+private:
+    //每个马达对应的界面控件
+    struct MotorConnectionRow
+    {
+        QComboBox* methodComboBox;
+        QComboBox* serialPortComboBox;
+        QComboBox* baudRateComboBox;
+        QLineEdit* serverIPLineEdit;
+        QSpinBox* portSpinBox;
+    };
+
+    bool loadConfigFile(const QString& configFilePath);
+    void clearMotorRows();
+    void addMotorRow(int id);
+    bool saveConfigFile();
+
+    Ui::MotorConfigDialog ui;
+    ConfigfileMultiAxisController m_configfile;
+    QString m_configFilePath;
+    QVector<MotorConnectionRow> m_motorRows;
+
+public Q_SLOTS:
+    void onOpenFile();
+    void onOk();
+};

HPPA/MotorConfigDialog.ui

@@ -0,0 +1,258 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MotorConfigDialog</class>
+ <widget class="QDialog" name="MotorConfigDialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>560</width>
+    <height>398</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>马达配置</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QWidget
+{
+	background: #040125;
+	/*border-radius: 8px 8px 8px 8px;*/
+	/*border: 1px solid #2f6bff;*/
+}
+
+QLineEdit {
+    background-color: #142D7F;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    font-size: 13px;
+}
+QLineEdit:hover {
+    border: 1px solid #409eff;
+}
+
+QLabel {
+    color: rgb(255, 255, 255);
+}
+
+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;
+}
+
+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;
+}
+
+QComboBox {
+    background-color: #142D7F;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    font-size: 13px;
+}
+QComboBox:hover {
+    border: 1px solid #409eff;
+}
+/* 下拉列表整体（弹出框） */
+QComboBox QAbstractItemView {
+	color: white;
+    background-color: #142D7F;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    outline: none;            /* 去掉选中项虚线框 */
+    selection-background-color: #2f6bff;
+    selection-color: #ffffff;
+}
+
+/* 下拉列表的每一项 */
+QComboBox QAbstractItemView::item {
+    height: 40px;             /* 项高 */
+    min-width: 30px;
+    padding: 10px 0 10px 8px;   /* ← 关键，用 padding 撑高 */
+    color: #e6eeff;
+    background-color: #142D7F;
+}
+
+/* 鼠标悬停的项 */
+QComboBox QAbstractItemView::item:hover {
+    background-color: #2f6bff;
+    color: #ffffff;
+}
+
+/* 被选中的项 */
+QComboBox QAbstractItemView::item:selected {
+    background-color: #2f6bff;
+    color: #ffffff;
+}
+
+
+
+
+QSpinBox {
+    background-color: #142D7F;
+    color: #e6eeff;
+    border: 1px solid #2f6bff;
+    border-radius: 6px;
+    padding: 4px 8px;
+    font-size: 13px;
+}
+QSpinBox:hover {
+    border: 1px solid #409eff;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <property name="leftMargin">
+    <number>6</number>
+   </property>
+   <property name="topMargin">
+    <number>6</number>
+   </property>
+   <property name="rightMargin">
+    <number>6</number>
+   </property>
+   <property name="bottomMargin">
+    <number>6</number>
+   </property>
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QGroupBox" name="fileGroupBox">
+     <property name="title">
+      <string>配置文件</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <item row="0" column="0">
+       <widget class="QLineEdit" name="configFilePathLineEdit">
+        <property name="readOnly">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QPushButton" name="openFileBtn">
+        <property name="text">
+         <string>打开文件...</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QScrollArea" name="motorsScrollArea">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="motorContainer">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>548</width>
+        <height>272</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="motorLayout">
+       <property name="spacing">
+        <number>6</number>
+       </property>
+       <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>
+   </item>
+   <item row="2" column="0">
+    <layout class="QHBoxLayout" name="buttonLayout">
+     <item>
+      <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>
+      <widget class="QPushButton" name="confirmBtn">
+       <property name="text">
+        <string>保存</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="cancelBtn">
+       <property name="text">
+        <string>取消</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

HPPA/OneMotorControl.cpp

@@ -1,4 +1,5 @@
 #include "OneMotorControl.h"
+#include "MotorConfigDialog.h"
 
 OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 {
@@ -12,6 +13,7 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
     connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
 
     connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+    connect(this->ui.config_pushButton, &QPushButton::clicked, this, &OneMotorControl::editMotorConfigFile);
 
     connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
 
@@ -49,6 +51,31 @@ void OneMotorControl::loadSettings()
     ui.reverseMove_radioButton->setChecked(AppSettings::instance().isReverseMove());
 }
 
+QString OneMotorControl::motorConfigFilePath()
+{
+    FileOperation fileOperation;
+    string directory = fileOperation.getDirectoryOfExe();
+
+    return QString::fromStdString(directory) + "\\oneMotorConfigFile.cfg";
+}
+
+void OneMotorControl::editMotorConfigFile()
+{
+    if (getMotorsConnectionStatus())
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("马达已连接，修改的配置在重新连接马达后生效。\n采集过程中程序会回写该配置文件，可能会覆盖本次修改，是否继续？"));
+        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+        if (msgBox.exec() != QMessageBox::Yes)
+        {
+            return;
+        }
+    }
+
+    MotorConfigDialog motorConfigDialog(motorConfigFilePath(), this);
+    motorConfigDialog.exec();
+}
+
 void OneMotorControl::onConnectMotor()
 {
     connectMotor(true);
@@ -91,11 +118,7 @@ void OneMotorControl::connectMotor(bool isNotification)
 
 	try
 	{
-        FileOperation* fileOperation = new FileOperation();
+        m_multiAxisController = new IrisMultiMotorController(motorConfigFilePath());
-        string directory = fileOperation->getDirectoryOfExe();
-        QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile.cfg";
-
-        m_multiAxisController = new IrisMultiMotorController(configFilePath);
 	}
 	catch (std::exception const& e)
 	{
@@ -386,6 +409,7 @@ OneMotorControl_LiftingPlatform::OneMotorControl_LiftingPlatform(QWidget* parent
     connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
 
     connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+    connect(this->ui.config_pushButton, &QPushButton::clicked, this, &OneMotorControl_LiftingPlatform::editMotorConfigFile);
 
     connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
 
@@ -418,6 +442,31 @@ void OneMotorControl_LiftingPlatform::loadSettings()
     ui.manualMovementSpeed_lineEdit->setText(QString::number(AppSettings::instance().manualMovementSpeed()));
 }
 
+QString OneMotorControl_LiftingPlatform::motorConfigFilePath()
+{
+    FileOperation fileOperation;
+    string directory = fileOperation.getDirectoryOfExe();
+
+    return QString::fromStdString(directory) + "\\oneMotorConfigFile_LiftingPlatform.cfg";
+}
+
+void OneMotorControl_LiftingPlatform::editMotorConfigFile()
+{
+    if (getMotorsConnectionStatus())
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("马达已连接，修改的配置在重新连接马达后生效。\n采集过程中程序会回写该配置文件，可能会覆盖本次修改，是否继续？"));
+        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+        if (msgBox.exec() != QMessageBox::Yes)
+        {
+            return;
+        }
+    }
+
+    MotorConfigDialog motorConfigDialog(motorConfigFilePath(), this);
+    motorConfigDialog.exec();
+}
+
 void OneMotorControl_LiftingPlatform::onConnectMotor()
 {
     connectMotor(true);
@@ -455,11 +504,7 @@ void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
 
     try
     {
-        FileOperation* fileOperation = new FileOperation();
+        m_multiAxisController = new IrisMultiMotorController(motorConfigFilePath());
-        string directory = fileOperation->getDirectoryOfExe();
-        QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_LiftingPlatform.cfg";
-
-        m_multiAxisController = new IrisMultiMotorController(configFilePath);
     }
     catch (std::exception const& e)
     {

HPPA/OneMotorControl.h

@@ -53,6 +53,9 @@ public Q_SLOTS:
     void onSequenceComplete_motorBack2Origin(int state);
     void onSequenceComplete_gonggashan_autoexpose(int state);
 
+private Q_SLOTS:
+    void editMotorConfigFile();
+
 signals:
     void moveSignal(int, double, int);
     void move2LocSignal(int, double, double, int);
@@ -94,6 +97,7 @@ private:
     QPointer<OneMotorMultiPosCoordinator> m_coordinator_gonggashan_autoexpose;
 
     void loadSettings();
+    QString motorConfigFilePath();
 };
 
 class OneMotorControl_LiftingPlatform : public QDialog, public MotorWindowBase
@@ -126,6 +130,9 @@ public Q_SLOTS:
 
     void onBack2Origin(double pos);
 
+private Q_SLOTS:
+    void editMotorConfigFile();
+
 signals:
     void moveSignal(int, double, int);
     void move2LocSignal(int, double, double, int);
@@ -155,4 +162,6 @@ private:
 
     bool m_xMotorConnectionStatus = false;
     void loadSettings();
+
+    QString motorConfigFilePath();
 };

HPPA/TwoMotorControl.cpp

@@ -1,5 +1,7 @@
 #include "TwoMotorControl.h"
 
+#include "MotorConfigDialog.h"
+
 TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
 {
     ui.setupUi(this);
@@ -12,6 +14,7 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
 	//headerView->setHidden(true);//去除左边默认自带序列号
 
     connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
+    connect(this->ui.motorConfig_btn, SIGNAL(clicked()), this, SLOT(onMotorConfig()));
 
     connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
     connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
@@ -369,6 +372,31 @@ void TwoMotorControl::onConnectMotor()
 	connectMotor(true);
 }
 
+QString TwoMotorControl::motorConfigFilePath()
+{
+    FileOperation fileOperation;
+    string directory = fileOperation.getDirectoryOfExe();
+
+    return QString::fromStdString(directory) + "\\twoMotorConfigFile.cfg";
+}
+
+void TwoMotorControl::onMotorConfig()
+{
+    if (getMotorsConnectionStatus())
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("马达已连接，修改的配置在重新连接马达后生效。\n采集过程中程序会回写该配置文件，可能会覆盖本次修改，是否继续？"));
+        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+        if (msgBox.exec() != QMessageBox::Yes)
+        {
+            return;
+        }
+    }
+
+    MotorConfigDialog motorConfigDialog(motorConfigFilePath(), this);
+    motorConfigDialog.exec();
+}
+
 void TwoMotorControl::connectMotor(bool isNotification)
 {
 	if (getMotorsConnectionStatus())
@@ -401,11 +429,7 @@ void TwoMotorControl::connectMotor(bool isNotification)
 
     try
     {
-        FileOperation* fileOperation = new FileOperation();
+        m_multiAxisController = new IrisMultiMotorController(motorConfigFilePath());
-        string directory = fileOperation->getDirectoryOfExe();
-        QString configFilePath = QString::fromStdString(directory) + "\\twoMotorConfigFile.cfg";
-
-        m_multiAxisController = new IrisMultiMotorController(configFilePath);
     }
     catch (std::exception const& e)
     {

HPPA/TwoMotorControl.h

@@ -45,6 +45,8 @@ private:
     ImagerOperationBase* m_Imager;
     bool getState();
 
+    QString motorConfigFilePath();
+
     bool isWritePosFile = false;
     QString m_posFileName;
     FILE* m_posFileHandle;
@@ -54,6 +56,7 @@ private:
 
 public Q_SLOTS:
     void onConnectMotor();
+    void onMotorConfig();
 
     void displayRealTimeLoc(std::vector<double> loc);
     void display_motors_connectivity(std::vector<int> connectivity);

HPPA/about.ui

@@ -288,7 +288,7 @@ QPushButton:pressed
 }</string>
             </property>
             <property name="text">
-             <string>版本：3.1.4</string>
+             <string>版本：3.1.5</string>
             </property>
            </widget>
           </item>

HPPA/focusWindow.cpp

@@ -57,6 +57,8 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 		ui.stackedWidget_connetcParm->setCurrentIndex(checked ? 0 : 1);
 	});
 
+	connect(this->ui.config_pushButton, &QPushButton::clicked, this, &focusWindow::editMotorConfigFile);
+
 	//查找可用串口，并显示
 	foreach(const QSerialPortInfo &info, QSerialPortInfo::availablePorts())
 	{
@@ -129,6 +131,31 @@ focusWindow::~focusWindow()
 	m_MotionCaptureCoordinatorThread.wait();
 }
 
+QString focusWindow::motorConfigFilePath()
+{
+	FileOperation fileOperation;
+	string directory = fileOperation.getDirectoryOfExe();
+
+	return QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
+}
+
+void focusWindow::editMotorConfigFile()
+{
+	if (getMotorsConnectionStatus())
+	{
+		QMessageBox msgBox;
+		msgBox.setText(QString::fromLocal8Bit("马达已连接，修改的配置在重新连接马达后生效。\n采集过程中程序会回写该配置文件，可能会覆盖本次修改，是否继续？"));
+		msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+		if (msgBox.exec() != QMessageBox::Yes)
+		{
+			return;
+		}
+	}
+
+	MotorConfigDialog motorConfigDialog(motorConfigFilePath(), this);
+	motorConfigDialog.exec();
+}
+
 void focusWindow::onExit()
 {
 	this->close();
@@ -310,11 +337,7 @@ void focusWindow::connectMotor(bool isNotification)//需要修改这个函数
 
 	try
 	{
-		FileOperation* fileOperation = new FileOperation();
+		m_multiAxisController = new IrisMultiMotorController(motorConfigFilePath());
-		string directory = fileOperation->getDirectoryOfExe();
-		QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_focus.cfg";
-
-		m_multiAxisController = new IrisMultiMotorController(configFilePath);
 	}
 	catch (std::exception const& e)
 	{

HPPA/focusWindow.h

@@ -34,6 +34,8 @@
 #include <Eigen/Dense>
 #include <cmath>
 
+#include "MotorConfigDialog.h"
+
 // 数据记录结构体
 struct PositionData {
 	double targetPosition;    // 目标位置
@@ -156,6 +158,8 @@ private:
 
 	bool m_isDisplaysAutofocusResultViaPopup = true;
 
+	QString motorConfigFilePath();
+
 public Q_SLOTS:
 	void onConnectMotor();
 	void onMove2MotorLogicZero();
@@ -179,6 +183,9 @@ public Q_SLOTS:
 
 	void display_motors_connectivity(std::vector<int> connectivity);
 
+private Q_SLOTS:
+	void editMotorConfigFile();
+
 signals:
 	void StartManualFocusSignal(int);//1：开始调焦；0：停止调焦；
 

HPPA/oneMotorControl.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>678</width>
+    <width>532</width>
-    <height>480</height>
+    <height>469</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -84,7 +84,7 @@ QLineEdit:focus {
     background-color: #23345c;
 }</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_4">
+  <layout class="QGridLayout" name="gridLayout_5">
    <item row="0" column="1">
     <spacer name="verticalSpacer">
      <property name="orientation">
@@ -116,151 +116,43 @@ QLineEdit:focus {
      <property name="spacing">
       <number>10</number>
      </property>
-     <item row="1" column="1">
+     <item row="6" column="3">
-      <widget class="QLineEdit" name="scanSpeed_lineEdit">
+      <widget class="QWidget" name="widget_2" native="true">
-       <property name="sizePolicy">
+       <layout class="QGridLayout" name="gridLayout_2">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <item row="0" column="0">
-         <horstretch>0</horstretch>
+         <widget class="QRadioButton" name="reverseMove_radioButton">
-         <verstretch>0</verstretch>
+          <property name="styleSheet">
-        </sizepolicy>
+           <string notr="true"/>
-       </property>
+          </property>
-       <property name="minimumSize">
+          <property name="text">
-        <size>
+           <string>反转</string>
-         <width>88</width>
+          </property>
-         <height>30</height>
+         </widget>
-        </size>
+        </item>
-       </property>
+        <item row="0" column="1">
-       <property name="maximumSize">
+         <widget class="QLabel" name="motor_state_label">
-        <size>
+          <property name="maximumSize">
-         <width>16777215</width>
+           <size>
-         <height>16777215</height>
+            <width>8</width>
-        </size>
+            <height>8</height>
-       </property>
+           </size>
-       <property name="styleSheet">
+          </property>
-        <string notr="true"/>
+          <property name="sizeIncrement">
-       </property>
+           <size>
-       <property name="text">
+            <width>8</width>
-        <string>0.1</string>
+            <height>8</height>
-       </property>
+           </size>
-       <property name="alignment">
+          </property>
-        <set>Qt::AlignCenter</set>
+          <property name="styleSheet">
-       </property>
+           <string notr="true">background-color: red;
-      </widget>
+border-radius: 4px;</string>
-     </item>
+          </property>
-     <item row="4" column="2">
+          <property name="text">
-      <widget class="QPushButton" name="move2loc_pushButton">
+           <string/>
-       <property name="sizePolicy">
+          </property>
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         </widget>
-         <horstretch>0</horstretch>
+        </item>
-         <verstretch>0</verstretch>
+       </layout>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>移动至</string>
-       </property>
-      </widget>
-     </item>
-     <item row="3" column="2">
-      <widget class="QPushButton" name="rangeMeasurement_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>量程测量</string>
-       </property>
-      </widget>
-     </item>
-     <item row="2" column="2">
-      <widget class="QPushButton" name="zero_start_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>归零</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="1">
-      <widget class="QPushButton" name="left_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>←0</string>
-       </property>
-      </widget>
-     </item>
-     <item row="5" column="2">
-      <widget class="QPushButton" name="right_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>→</string>
-       </property>
-      </widget>
-     </item>
-     <item row="4" column="1">
-      <widget class="QLineEdit" name="move2loc_lineEdit">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="minimumSize">
-        <size>
-         <width>88</width>
-         <height>30</height>
-        </size>
-       </property>
-       <property name="text">
-        <string>0</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="0">
-      <widget class="QLabel" name="label_7">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>扫描速度</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
-     <item row="1" column="2">
-      <widget class="QPushButton" name="connect_btn">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="text">
-        <string>连接</string>
-       </property>
       </widget>
      </item>
      <item row="6" column="1">
@@ -275,7 +167,7 @@ QLineEdit:focus {
            </sizepolicy>
           </property>
           <property name="text">
-           <string>实时位置：</string>
+           <string>位置：</string>
           </property>
           <property name="alignment">
            <set>Qt::AlignCenter</set>
@@ -342,6 +234,22 @@ QLineEdit:focus {
        </property>
       </widget>
      </item>
+     <item row="2" column="0">
+      <widget class="QLabel" name="label_3">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>返回速度</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
      <item row="2" column="1">
       <widget class="QLineEdit" name="return_speed_lineEdit">
        <property name="sizePolicy">
@@ -364,8 +272,43 @@ QLineEdit:focus {
        </property>
       </widget>
      </item>
-     <item row="2" column="0">
+     <item row="4" column="1">
-      <widget class="QLabel" name="label_3">
+      <widget class="QLineEdit" name="move2loc_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>0</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="2" column="3">
+      <widget class="QPushButton" name="zero_start_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>归零</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_7">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Fixed" vsizetype="Expanding">
          <horstretch>0</horstretch>
@@ -373,52 +316,143 @@ QLineEdit:focus {
         </sizepolicy>
        </property>
        <property name="text">
-        <string>返回速度</string>
+        <string>扫描速度</string>
        </property>
        <property name="alignment">
         <set>Qt::AlignCenter</set>
        </property>
       </widget>
      </item>
-     <item row="6" column="2">
+     <item row="1" column="3">
-      <widget class="QWidget" name="widget_2" native="true">
+      <widget class="QPushButton" name="connect_btn">
-       <layout class="QGridLayout" name="gridLayout_2">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>连接</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="3">
+      <widget class="QPushButton" name="rangeMeasurement_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>量程测量</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QLineEdit" name="scanSpeed_lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>88</width>
+         <height>30</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>0.1</string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignCenter</set>
+       </property>
+      </widget>
+     </item>
+     <item row="4" column="3">
+      <widget class="QPushButton" name="move2loc_pushButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>移动至</string>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="1">
+      <widget class="QWidget" name="widget_3" native="true">
+       <layout class="QGridLayout" name="gridLayout_4">
+        <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="horizontalSpacing">
+         <number>6</number>
+        </property>
         <item row="0" column="0">
-         <widget class="QRadioButton" name="reverseMove_radioButton">
+         <widget class="QPushButton" name="left_btn">
-          <property name="styleSheet">
+          <property name="sizePolicy">
-           <string notr="true"/>
+           <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
           </property>
           <property name="text">
-           <string>反转</string>
+           <string>←0</string>
           </property>
          </widget>
         </item>
         <item row="0" column="1">
-         <widget class="QLabel" name="motor_state_label">
+         <widget class="QPushButton" name="right_btn">
-          <property name="maximumSize">
+          <property name="sizePolicy">
-           <size>
+           <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-            <width>8</width>
+            <horstretch>0</horstretch>
-            <height>8</height>
+            <verstretch>0</verstretch>
-           </size>
+           </sizepolicy>
-          </property>
-          <property name="sizeIncrement">
-           <size>
-            <width>8</width>
-            <height>8</height>
-           </size>
-          </property>
-          <property name="styleSheet">
-           <string notr="true">background-color: red;
-border-radius: 4px;</string>
           </property>
           <property name="text">
-           <string/>
+           <string>→</string>
           </property>
          </widget>
         </item>
        </layout>
       </widget>
      </item>
+     <item row="5" column="3">
+      <widget class="QPushButton" name="config_pushButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>配置</string>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
    <item row="1" column="2">

HPPA/twoMotorControl.ui

@@ -297,6 +297,19 @@ QScrollBar::add-line:horizontal, QScrollBar::sub-line:horizontal {
                </property>
               </widget>
              </item>
+             <item row="3" column="0">
+              <widget class="QPushButton" name="motorConfig_btn">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="text">
+                <string>配置</string>
+               </property>
+              </widget>
+             </item>
             </layout>
            </widget>
           </item>