add：

1、增加显微镜场景：添加显微镜3D模型；
2、设置界面添加确认按钮；

fix：
1、相机看板：（1）帧率*积分时间=999，防止nir崩溃（2）记录帧率和积分时间，下次打开软件后恢复；（3）只能拖动slider改变值，不能点击slider改变值；
2、加入判断，不能多次打开同一个影像；
3、图像控制看板：只能拖动slider改变值，不能点击slider改变值；

HPPA/AppSettings.cpp

@@ -2,6 +2,9 @@
 
 const QString AppSettings::kDefaultDataFolder = QStringLiteral("C:\\HPPA_image");
 const QString AppSettings::kDefaultFileName = QStringLiteral("test_image");
+const int AppSettings::kDefaultFrameRate = 20;
+const int AppSettings::kDefaultIntegrationTime = 1;
+const int AppSettings::kDefaultGain = 0;
 
 AppSettings::AppSettings()
 	: m_settings(QSettings::IniFormat, QSettings::UserScope,
@@ -33,3 +36,30 @@ void AppSettings::setFileName(const QString& path)
 {
 	m_settings.setValue("General/FileName", path);
 }
+
+int AppSettings::frameRate() const
+{
+	return m_settings.value("CameraParams/FrameRate", kDefaultFrameRate).toInt();
+}
+void AppSettings::setFrameRate(int value)
+{
+	m_settings.setValue("CameraParams/FrameRate", value);
+}
+
+int AppSettings::integrationTime() const
+{
+	return m_settings.value("CameraParams/IntegrationTime", kDefaultIntegrationTime).toInt();
+}
+void AppSettings::setIntegrationTime(int value)
+{
+	m_settings.setValue("CameraParams/IntegrationTime", value);
+}
+
+int AppSettings::gain() const
+{
+	return m_settings.value("CameraParams/Gain", kDefaultGain).toInt();
+}
+void AppSettings::setGain(int value)
+{
+	m_settings.setValue("CameraParams/Gain", value);
+}

HPPA/AppSettings.h

@@ -14,6 +14,18 @@ public:
 
 	QString fileName() const;
 	void setFileName(const QString& path);
+
+	// 帧率
+	int frameRate() const;
+	void setFrameRate(int value);
+
+	// 积分时间
+	int integrationTime() const;
+	void setIntegrationTime(int value);
+
+	// 增益
+	int gain() const;
+	void setGain(int value);
 	// 在此处添加更多参数的 getter/setter ...
 
 private:
@@ -26,4 +38,7 @@ private:
 	// 默认值
 	static const QString kDefaultDataFolder;
 	static const QString kDefaultFileName;
+	static const int kDefaultFrameRate;
+	static const int kDefaultIntegrationTime;
+	static const int kDefaultGain;
 };

HPPA/HPPA.cpp

@@ -111,6 +111,7 @@ HPPA::HPPA(QWidget* parent)
     connect(this->ui.action_about, SIGNAL(triggered()), this, SLOT(onAbout()));
     connect(this->ui.mActionOneMotorScenario, SIGNAL(triggered()), this, SLOT(createOneMotorScenario()));
     connect(this->ui.mActionPlantPhenotypeScenario, SIGNAL(triggered()), this, SLOT(createPlantPhenotypeScenario()));
+	connect(this->ui.mActionMicroscopicMotionControlScenario, SIGNAL(triggered()), this, SLOT(createMicroscopicMotionControlScenario()));
 
     delete ui.centralWidget;
 
@@ -469,6 +470,7 @@ HPPA::HPPA(QWidget* parent)
 	gridLayout_modelWidgetContainer->addWidget(m_view3DModelManager);
 
 	connect(m_view3DModelManager, SIGNAL(created3DModelPlantPhenotype()), this, SLOT(onCreated3DModelPlantPhenotype()));
+	connect(m_view3DModelManager, SIGNAL(created3DModelMicroscopicMotion()), this, SLOT(onCreated3DModelMicroscopicMotion()));
 	connect(m_view3DModelManager, SIGNAL(created3DModelOneMotor()), this, SLOT(onCreated3DModelOneMotor()));	
 
 	ui.mDockWidgetSimulator->setWidget(tmp(modelWidgetContainer));
@@ -773,6 +775,10 @@ void HPPA::initControlTabwidget()
 	m_depthCameraWindow = new DepthCameraWindow();
 	ui.controlTabWidget->addTab(m_depthCameraWindow, QString::fromLocal8Bit("深度相机"));
 
+	//单反相机
+	m_singleLensReflexCameraWindow = new SingleLensReflexCameraWindow();
+	ui.controlTabWidget->addTab(m_singleLensReflexCameraWindow, QString::fromLocal8Bit("单反相机"));
+
 	//rgb相机
 	m_rgbCameraControlWindow = new rgbCameraWindow();
 	connect(m_rgbCameraControlWindow, &rgbCameraWindow::PlotRgbImageSignal, this, &HPPA::onPlotRgbImage);
@@ -1187,6 +1193,7 @@ void HPPA::createScenarioActionGroup()
 	m_ScenarioActionGroup = new QActionGroup(this);
 	m_ScenarioActionGroup->addAction(ui.mActionOneMotorScenario);
 	m_ScenarioActionGroup->addAction(ui.mActionPlantPhenotypeScenario);
+	m_ScenarioActionGroup->addAction(ui.mActionMicroscopicMotionControlScenario);
 
 	// 读取上次选择的结果
 	QSettings settings;
@@ -1203,6 +1210,11 @@ void HPPA::createScenarioActionGroup()
 	 ui.mActionPlantPhenotypeScenario->setChecked(true);
 	 ui.mActionPlantPhenotypeScenario->trigger();
 	}
+	else if (lastSelectedAction == "mActionMicroscopicMotionControlScenario")
+	{
+		ui.mActionMicroscopicMotionControlScenario->setChecked(true);
+		ui.mActionMicroscopicMotionControlScenario->trigger();
+	}
 }
 
 void HPPA::selectScenario(QAction* selectedAction)
@@ -1233,6 +1245,7 @@ void HPPA::createOneMotorScenario()
 	ui.mAction_1AxisMotor->setChecked(true);
 
 	//右下角控制tab
+	m_tabManager->hideTab(m_singleLensReflexCameraWindow);
 	m_tabManager->hideTab(m_depthCameraWindow);
 	m_tabManager->hideTab(m_rgbCameraControlWindow);
 	m_tabManager->hideTab(m_adt);
@@ -1253,6 +1266,11 @@ void HPPA::onCreated3DModelPlantPhenotype()
 	connect(m_tmc, SIGNAL(broadcastLocationSignal(std::vector<double>)), m_view3DModelManager->m_viewPlant, SLOT(setLoc(std::vector<double>)));
 }
 
+void HPPA::onCreated3DModelMicroscopicMotion()
+{
+	connect(m_tmc, SIGNAL(broadcastLocationSignal(std::vector<double>)), m_view3DModelManager->m_viewMicroscopicMotionControlModel, SLOT(setLoc(std::vector<double>)));
+}
+
 void HPPA::createPlantPhenotypeScenario()
 {
 	//if (ui.mActionPlantPhenotypeScenario->isChecked())
@@ -1266,6 +1284,7 @@ void HPPA::createPlantPhenotypeScenario()
 	m_tabManager->hideTab(m_omc);
 
 	m_tabManager->showTab(m_depthCameraWindow);
+	m_tabManager->showTab(m_singleLensReflexCameraWindow);
 	m_tabManager->showTab(m_rgbCameraControlWindow);
 	m_tabManager->showTab(m_adt);
 	m_tabManager->showTab(m_pc);
@@ -1277,6 +1296,31 @@ void HPPA::createPlantPhenotypeScenario()
 
 }
 
+void HPPA::createMicroscopicMotionControlScenario()
+{
+	//if (ui.mActionMicroscopicMotionControl->isChecked())
+	//	return;
+
+	//在菜单中选择移动平台
+	ui.mAction_2AxisMotor_new->setChecked(true);
+
+	//右下角控制tab
+	m_tabManager->hideTab(m_singleLensReflexCameraWindow);
+	m_tabManager->hideTab(m_depthCameraWindow);
+	m_tabManager->hideTab(m_rgbCameraControlWindow);
+	m_tabManager->hideTab(m_adt);
+	m_tabManager->hideTab(m_pc);
+	m_tabManager->hideTab(m_rac);
+	m_tabManager->hideTab(m_omc);
+
+	m_tabManager->showTab(m_tmc);
+
+	m_view3DModelManager->switchScenario(View3DModelManager::ScenarioType::MicroscopicMotionControl);
+
+	//右上角轮播
+
+}
+
 bool HPPA::testImagerVality()
 {
 	try
@@ -1863,6 +1907,10 @@ void HPPA::onOpenImg()
 	if (uri.isEmpty())
 		return;
 
+	//判断是否已经打开
+	if (m_MapLayerStore->containsLayer(uri))
+		return;
+
 	// 2) 创建 RasterLayer，然后添加到图层管理器
 	if (!m_LayerTreeModel || !m_RasterGroup)
 	{
@@ -2069,9 +2117,9 @@ void HPPA::onconnect()
 		ui.gain_lineEdit->setValidator(new QRegExpValidator(rx));*/
 
 		//获取相机参数并显示到界面中
-		m_hic->setFrameRate(m_Imager->getFramerate());
-		m_hic->setIntegrationTime(m_Imager->getIntegrationTime());
-		m_hic->setGain(m_Imager->getGain());
+		m_hic->setFrameRate(AppSettings::instance().frameRate());
+		m_hic->setIntegrationTime(AppSettings::instance().integrationTime());
+		m_hic->setGain(AppSettings::instance().gain());
 	}
 	catch (std::exception const& e)
 	{

HPPA/HPPA.h

@@ -79,6 +79,7 @@
 
 #include "rgbCameraWindow.h"
 #include "DepthCameraWindow.h"
+#include "SingleLensReflexCameraWindow.h"
 
 #define PI 3.1415926
 
@@ -281,6 +282,7 @@ private:
 	rgbCameraWindow* m_rgbCameraControlWindow;
 	ImageControl* m_ic;
 	DepthCameraWindow* m_depthCameraWindow;
+	SingleLensReflexCameraWindow* m_singleLensReflexCameraWindow;
 	adjustTable* m_adt;
 	PowerControl* m_pc;
 	RobotArmControl* m_rac;
@@ -366,6 +368,8 @@ public Q_SLOTS:
 		void createOneMotorScenario();
 		void createPlantPhenotypeScenario();
 		void onCreated3DModelPlantPhenotype();
+		void onCreated3DModelMicroscopicMotion();
+		void createMicroscopicMotionControlScenario();
 		void onCreated3DModelOneMotor();
 
 		void addLayer(const QString& baseName, const QString& filePath, bool refresh);

HPPA/HPPA.ui

@@ -133,6 +133,7 @@ color:white;
     </property>
     <addaction name="mActionOneMotorScenario"/>
     <addaction name="mActionPlantPhenotypeScenario"/>
+    <addaction name="mActionMicroscopicMotionControlScenario"/>
    </widget>
    <widget class="QMenu" name="menu_4">
     <property name="title">
@@ -725,6 +726,14 @@ QPushButton:pressed
     <string>光谱</string>
    </property>
   </action>
+  <action name="mActionMicroscopicMotionControlScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>显微运动控制台</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>

HPPA/HPPA.vcxproj

@@ -60,8 +60,8 @@
     <TargetName>Spectral Insight</TargetName>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;C:\Program Files\OrbbecSDK 2.7.6\lib;$(LibraryPath)</LibraryPath>
     <TargetName>Spectral Insight</TargetName>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
@@ -75,7 +75,7 @@
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <Link>
-      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;OrbbecSDK.lib;%(AdditionalDependencies)</AdditionalDependencies>
       <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
     </Link>
   </ItemDefinitionGroup>
@@ -151,6 +151,7 @@
     <ClCompile Include="rgbCameraWindow.cpp" />
     <ClCompile Include="RobotArmControl.cpp" />
     <ClCompile Include="setWindow.cpp" />
+    <ClCompile Include="SingleLensReflexCameraWindow.cpp" />
     <ClCompile Include="stdafx.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
@@ -187,6 +188,7 @@
     <QtUic Include="rgbCamera.ui" />
     <QtUic Include="RobotArmControl.ui" />
     <QtUic Include="set.ui" />
+    <QtUic Include="SingleLensReflexCamera.ui" />
     <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
@@ -239,6 +241,7 @@
     <QtMoc Include="recordFrameCounter.h" />
     <QtMoc Include="setWindow.h" />
     <QtMoc Include="rgbCameraWindow.h" />
+    <QtMoc Include="SingleLensReflexCameraWindow.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />

HPPA/HPPA.vcxproj.filters

@@ -217,6 +217,9 @@
     <ClCompile Include="DepthCameraWindow.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="SingleLensReflexCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -354,6 +357,9 @@
     <QtMoc Include="DepthCameraWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="SingleLensReflexCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -448,6 +454,9 @@
     <QtUic Include="DepthCamera.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="SingleLensReflexCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />

HPPA/HyperImagerControl.cpp

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

HPPA/HyperImagerControl.h

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

HPPA/MapLayerStore.cpp

@@ -43,6 +43,22 @@ void MapLayerStore::removeLayerByName(const QString& name)
     }
 }
 
+bool MapLayerStore::containsLayer(const QString& url, bool isAbsolutePath) const
+{
+    QFileInfo fi(url);
+    QString fileName = fi.completeBaseName();
+
+    if (!isAbsolutePath)
+    {
+        return getLayer(fileName) != nullptr;
+    }
+    for (const auto& l : m_layers) {
+        if (l->dataPath() == url)
+            return true;
+    }
+    return false;
+}
+
 MapLayer* MapLayerStore::getLayer(const QString& name) const
 {
     for (const auto& l : m_layers) {

HPPA/MapLayerStore.h

@@ -2,6 +2,7 @@
 
 #include <QObject>
 #include <QString>
+#include <QFileInfo> 
 #include <vector>
 #include <memory>
 #include <unordered_map>
@@ -20,6 +21,8 @@ public:
     // Now also accept the associated QWidget so UI widget can be retrieved by layer pointer
     void addLayer(MapLayer* layer, QWidget* widget = nullptr);
 
+    bool containsLayer(const QString& url, bool isAbsolutePath = true) const;
+
     // Remove by pointer or by name. Destruction happens when removed from store.
 public slots:
     void removeLayer(MapLayer* layer);

HPPA/QDoubleSlider.cpp

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

HPPA/SingleLensReflexCamera.ui

@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SingleLensReflexCameraClass</class>
+ <widget class="QDialog" name="SingleLensReflexCameraClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>855</width>
+    <height>481</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>SingleLensReflexCamera</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">QGroupBox
+{
+	border: 12px solid transparent;
+	/*border-top: 12px solid transparent;
+    border-right: 0px solid transparent;
+    border-bottom: 0px solid transparent;
+    border-left: 0px solid transparent;*/
+	color: #ACCDFF;
+}
+
+QPushButton
+{
+	/*width: 172px;
+	height: 56px;*/
+	font: 19pt &quot;新宋体&quot;;
+	background-color: qlineargradient(
+        spread:pad, 
+        x1:0.5, y1:0, x2:0.5, y2:1, 
+        stop:0 #283D86, 
+        stop:1 #0F1A40
+    );
+	color: white;
+    border: none;
+    padding: 8px 16px;
+    border-radius: 4px;
+}
+QPushButton:hover
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #3A4875, 
+        stop:1 #5F6B91
+    );
+}
+/* 按下时的效果 */
+QPushButton:pressed
+{
+    background-color: qlineargradient(
+        spread:pad, 
+        x1:0, y1:0, x2:1, y2:0, 
+        stop:0 #1A254F, 
+        stop:1 #3A466B
+    );
+    /* 可选：添加下压效果 */
+    padding-top: 9px;
+    padding-bottom: 7px;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2">
+   <item row="0" column="1">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="0">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="1">
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="1">
+      <widget class="QPushButton" name="closeSLRCamera_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>关   闭</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="0">
+      <widget class="QPushButton" name="openSLRCamera_btn">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>打   开</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="2">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>135</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="2" column="1">
+    <spacer name="verticalSpacer_3">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>18</width>
+       <height>100</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

HPPA/SingleLensReflexCameraWindow.cpp

@@ -0,0 +1,95 @@
+#include "SingleLensReflexCameraWindow.h"
+
+SingleLensReflexCameraWindow::SingleLensReflexCameraWindow(QWidget* parent)
+    : QDialog(parent)
+{
+    ui.setupUi(this);
+
+    m_SLRCameraThread = new QThread();
+    m_SingleLensReflexCameraOperation = new SingleLensReflexCameraOperation();
+    m_SingleLensReflexCameraOperation->moveToThread(m_SLRCameraThread);
+    m_SLRCameraThread->start();
+
+    connect(ui.openSLRCamera_btn, &QPushButton::clicked, this, &SingleLensReflexCameraWindow::openSLRCamera);
+    connect(ui.closeSLRCamera_btn, &QPushButton::clicked, this, &SingleLensReflexCameraWindow::closeSLRCamera);
+
+    connect(this, &SingleLensReflexCameraWindow::openSLRCameraSignal, m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::OpenSLRCamera);
+
+    connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::CamOpenedSignal, this, &SingleLensReflexCameraWindow::onCamOpened);
+    connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::CamClosedSignal, this, &SingleLensReflexCameraWindow::onCamClosed);
+
+    connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::PlotSignal, this, &SingleLensReflexCameraWindow::PlotSLRImageSignal);
+    connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::CamClosedSignal, this, &SingleLensReflexCameraWindow::SLRCamClosedSignal);
+}
+
+SingleLensReflexCameraWindow::~SingleLensReflexCameraWindow()
+{
+    m_SLRCameraThread->quit();
+    m_SLRCameraThread->wait();
+    delete m_SingleLensReflexCameraOperation;
+    m_SingleLensReflexCameraOperation = nullptr;
+}
+
+void SingleLensReflexCameraWindow::openSLRCamera()
+{
+    if (!m_SingleLensReflexCameraOperation->getRecordStatus())
+    {
+        emit openSLRCameraSignal();
+    }
+}
+
+void SingleLensReflexCameraWindow::onCamOpened()
+{
+    ui.openSLRCamera_btn->setEnabled(false);
+    ui.closeSLRCamera_btn->setEnabled(true);
+
+    ui.openSLRCamera_btn->setText(QString::fromLocal8Bit("已打开"));
+}
+
+void SingleLensReflexCameraWindow::closeSLRCamera()
+{
+    m_SingleLensReflexCameraOperation->CloseSLRCamera();
+}
+
+void SingleLensReflexCameraWindow::onCamClosed()
+{
+    ui.openSLRCamera_btn->setEnabled(true);
+    ui.closeSLRCamera_btn->setEnabled(false);
+
+    ui.openSLRCamera_btn->setText(QString::fromLocal8Bit("打   开"));
+}
+
+//-------------------------------------------------------------------------------------------------------------------------------
+SingleLensReflexCameraOperation::SingleLensReflexCameraOperation()
+{
+    m_func = nullptr;
+    record = false;
+}
+
+SingleLensReflexCameraOperation::~SingleLensReflexCameraOperation()
+{
+}
+
+void SingleLensReflexCameraOperation::OpenSLRCamera()
+{
+    
+}
+
+void SingleLensReflexCameraOperation::OpenSLRCamera_callback()
+{
+
+}
+
+void SingleLensReflexCameraOperation::setCallback(void(*func)())
+{
+    m_func = func;
+}
+
+void SingleLensReflexCameraOperation::CloseSLRCamera()
+{
+    std::cout << "SingleLensReflexCameraOperation::CloseSLRCamera，关闭单反相机" << std::endl;
+
+    record = false;
+
+    emit CamClosedSignal();
+}

HPPA/SingleLensReflexCameraWindow.h

@@ -0,0 +1,76 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <QImage>
+#include <Qthread>
+#include <QDir>
+
+#include <iostream>
+#include "ui_SingleLensReflexCamera.h"
+#include "AppSettings.h"
+
+#include <fstream>
+#include <opencv2/opencv.hpp>
+typedef void(*func)();
+
+class SingleLensReflexCameraOperation :public QObject
+{
+	Q_OBJECT
+
+public:
+	SingleLensReflexCameraOperation();
+	~SingleLensReflexCameraOperation();
+
+	QImage m_colorImage;
+	QImage m_depthImage;
+	void setCallback(void(*func)());
+	bool getRecordStatus() const { return record; }
+
+private:
+	cv::Mat frame;
+
+	func m_func;
+
+	bool record;
+
+public slots:
+	void OpenSLRCamera();
+	void OpenSLRCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
+	void CloseSLRCamera();
+
+signals:
+	void PlotSignal();
+
+	void CamOpenedSignal();
+	void CamClosedSignal();
+};
+
+class SingleLensReflexCameraWindow : public QDialog
+{
+	Q_OBJECT
+
+public:
+	SingleLensReflexCameraWindow(QWidget* parent = nullptr);
+	~SingleLensReflexCameraWindow();
+
+	SingleLensReflexCameraOperation* m_SingleLensReflexCameraOperation;
+
+public Q_SLOTS:
+	void openSLRCamera();
+	void onCamOpened();
+	void closeSLRCamera();
+	void onCamClosed();
+
+signals:
+	void openSLRCameraSignal();
+	void PlotSLRImageSignal();
+	void SLRCamClosedSignal();
+
+private:
+	Ui::SingleLensReflexCameraClass ui;
+	QThread* m_SLRCameraThread;
+
+};

HPPA/View3D.cpp

@@ -373,3 +373,17 @@ void View3DLinearStage::setLoc(std::vector<double> loc)
 
     m_armTransform->setTranslation(QVector3D(x, 0, 0));
 }
+
+View3DMicroscopicMotionModel::View3DMicroscopicMotionModel(const QString& baseModelPath, const QString& armModelPath, QWidget* parent)
+    :View3DBase(baseModelPath, armModelPath, parent)
+{
+
+}
+
+void View3DMicroscopicMotionModel::setLoc(std::vector<double> loc)
+{
+    double x = round(loc[0] * 100) / 100;
+    double y = round(loc[1] * 100) / 100;
+
+    m_armTransform->setTranslation(QVector3D(x, y, 0));
+}

HPPA/View3D.h

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

HPPA/View3DModelManager.cpp

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

HPPA/View3DModelManager.h

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

HPPA/about.ui

@@ -288,7 +288,7 @@ QPushButton:pressed
 }</string>
             </property>
             <property name="text">
-             <string>版本：3.0.1</string>
+             <string>版本：3.0.2</string>
             </property>
            </widget>
           </item>

HPPA/imageControl.cpp

@@ -8,6 +8,14 @@ ImageControl::ImageControl(QWidget* parent)
 {
 	ui.setupUi(this);
 
+	ui.sliderRed->setPageStep(0);
+	ui.sliderGreen->setPageStep(0);
+	ui.sliderBlue->setPageStep(0);
+
+	ui.sliderRed->setSingleStep(0);
+	ui.sliderGreen->setSingleStep(0);
+	ui.sliderBlue->setSingleStep(0);
+
 	// Spinbox valueChanged: only sync the paired slider (no render)
 	connect(ui.spinRed, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ImageControl::onSpinRedValueChanged);
 	connect(ui.spinGreen, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ImageControl::onSpinGreenValueChanged);
@@ -137,16 +145,10 @@ void ImageControl::setActiveLayer(RasterLayer* layer)
 	int maxIdx = static_cast<int>(m_wavelengths.size()) - 1;
 	ui.sliderRed->setMinimum(0);
 	ui.sliderRed->setMaximum(maxIdx);
-	ui.sliderRed->setSingleStep(1);
-	ui.sliderRed->setPageStep(1);
 	ui.sliderGreen->setMinimum(0);
 	ui.sliderGreen->setMaximum(maxIdx);
-	ui.sliderGreen->setSingleStep(1);
-	ui.sliderGreen->setPageStep(1);
 	ui.sliderBlue->setMinimum(0);
 	ui.sliderBlue->setMaximum(maxIdx);
-	ui.sliderBlue->setSingleStep(1);
-	ui.sliderBlue->setPageStep(1);
 
 	// Set current values from layer's render params
 	auto params = layer->currentRenderParams();

HPPA/set.ui

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

HPPA/setWindow.cpp

@@ -12,6 +12,7 @@ setWindow::setWindow(QWidget* parent)
 
 	connect(this->ui.closeBtn, SIGNAL(released()), this, SLOT(onExit()));
 	connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
+	connect(this->ui.confirmBtn, SIGNAL(clicked()), this, SLOT(onExit()));
 
 	loadSettings();
 }