fix

1、【相机----马达】双向意外断掉容错 + 提示：（1）ximea、pica l、pica nir（2）1轴/2轴马达，usb串口/wifi的马达通讯方式；
2、提示弹窗美化；

HPPA/AppSettings.cpp

@@ -1,6 +1,7 @@
 #include "AppSettings.h"
 
 const QString AppSettings::kDefaultDataFolder = QStringLiteral("C:\\HPPA_image");
+const QString AppSettings::kDefaultFileName = QStringLiteral("test_image");
 
 AppSettings::AppSettings()
 	: m_settings(QSettings::IniFormat, QSettings::UserScope,
@@ -23,3 +24,12 @@ void AppSettings::setDataFolder(const QString& path)
 {
 	m_settings.setValue("General/DataFolder", path);
 }
+
+QString AppSettings::fileName() const
+{
+	return m_settings.value("General/FileName", kDefaultFileName).toString();
+}
+void AppSettings::setFileName(const QString& path)
+{
+	m_settings.setValue("General/FileName", path);
+}

HPPA/AppSettings.h

@@ -12,6 +12,8 @@ public:
 	QString dataFolder() const;
 	void setDataFolder(const QString& path);
 
+	QString fileName() const;
+	void setFileName(const QString& path);
 	// 在此处添加更多参数的 getter/setter ...
 
 private:
@@ -23,4 +25,5 @@ private:
 
 	// 默认值
 	static const QString kDefaultDataFolder;
+	static const QString kDefaultFileName;
 };

HPPA/CaptureCoordinator.cpp

@@ -97,7 +97,6 @@ void TwoMotionCaptureCoordinator::stop()
 	std::cout << "The user manually stops the collection! " << std::endl;
 	savePathLinesToCsv();
 	
-	emit sequenceComplete(1);
 	emit finishRecordLineNumSignal(m_numCurrentPathLine);
 	//emit stopRecordHSISignal(m_numCurrentPathLine);
 	if (m_cameraCtrl != nullptr)
@@ -106,6 +105,8 @@ void TwoMotionCaptureCoordinator::stop()
 	}
 
 	move2LocBeforeStart();
+
+	emit sequenceComplete(1);
 }
 
 void TwoMotionCaptureCoordinator::getLocBeforeStart()
@@ -471,7 +472,8 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 
 OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
 {
-
+	disconnect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &OneMotionCaptureCoordinator::handleMotorStoped);
 }
 
 void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
@@ -585,6 +587,10 @@ void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 		m_cameraCtrl->stop_record();
 	}
 	move2LocBeforeStart();
+
+	// emit sequenceComplete last: the slot connected to it may delete this object,
+	// so no member access is allowed after this point.
+	emit sequenceComplete(0);
 }
 
 void OneMotionCaptureCoordinator::handleCaptureComplete(double index)

HPPA/Carousel.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QWidget>
 #include <QPushButton>
@@ -40,13 +40,13 @@ private:
     QString m_nomalQSS;
     QString m_lockedQSS;
 
-    // ״ֵ̬
+    // 状态值
     int m_currentIndex;
     bool m_isPlaying;
     bool m_isLocked;
     int m_lockedIndex;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 参数
     int m_playInterval;
     int m_intervalButtonSize;
 

HPPA/Corning410Imager.cpp

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

HPPA/Corning410Imager.h

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

HPPA/CustomDockWidgetBase.cpp

@@ -1,4 +1,4 @@
-#include "CustomDockWidgetBase.h"
+#include "CustomDockWidgetBase.h"
 
 CustomDockWidgetBase::CustomDockWidgetBase(QMainWindow* parent)
     : QDockWidget(parent),
@@ -55,7 +55,7 @@ void CustomDockWidgetBase::initialize()
 			border-top: 1px solid #2c586b;
 			border-left: 1px solid #2c586b;
 			border-right: 1px solid #2c586b;
-			border-bottom: none;  /* ȡ<EFBFBD><EFBFBD><EFBFBD>ײ<EFBFBD><EFBFBD>߿<EFBFBD> */
+			border-bottom: none;  /* 取消底部边框 */
 			
 			border-top-left-radius: 5px;
 			border-top-right-radius: 5px;

HPPA/CustomDockWidgetBase.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QDockWidget>
 #include <QToolButton>
 #include <QStyle>

HPPA/FileNameLineEdit.cpp

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

HPPA/FileNameLineEdit.h

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

HPPA/HPPA.cpp

@@ -506,6 +506,10 @@ HPPA::HPPA(QWidget* parent)
 
 	//光谱仪操作
 	m_Imager = nullptr;
+	m_RecordThread = nullptr;
+	m_CopyFileThread = nullptr;
+	m_FileOperation = nullptr;
+	m_TestImagerStausThread = nullptr;
 	m_RecordState = 0;
 	connect(this->ui.action_connect_imager, SIGNAL(triggered()), this, SLOT(onconnect()));//信号与槽：连接相机，相机操作相关信号与槽绑定放在函数onconnect中
 
@@ -630,10 +634,8 @@ void HPPA::initMenubarToolbar()
 	QAction* action = ui.mainToolBar->insertWidget(ui.action_start_recording, frame_number);
 	frame_number->setEnabled(false);
 
-	m_FilenameLineEdit = new QLineEdit(ui.mainToolBar);
-	m_FilenameLineEdit->setStyleSheet("QLineEdit{background-color:rgb(255,255,255);}");
+	m_FilenameLineEdit = new FileNameLineEdit(ui.mainToolBar);
 	m_FilenameLineEdit->setMaximumWidth(100);
-	m_FilenameLineEdit->setText("tmp_image");
 	m_FilenameLineEdit->setStyleSheet(R"(
 		QLineEdit {
 			background-color: #142D7F;
@@ -801,6 +803,13 @@ void HPPA::initControlTabwidget()
 
 void HPPA::recordFromRobotArm(int fileCounter)
 {
+	if (!testImagerVality())
+	{
+		showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
+
+		return;
+	}
+
 	//qDebug() << "recordFromRobotArm" << fileCounter;
 
 	if (fileCounter == -1)
@@ -959,11 +968,7 @@ HPPA::~HPPA()
 		file.close();
 	}
 
-	if (m_Imager != nullptr)
-	{
-		//m_Imager->~ResononNirImager();//释放资源
-		delete m_Imager;
-	}
+	disconnectImagerAndCleanup();
 
     if (s_instance == this)
     {
@@ -1255,22 +1260,161 @@ void HPPA::createPlantPhenotypeScenario()
 
 }
 
+bool HPPA::testImagerVality()
+{
+	try
+	{
+		if (m_Imager == nullptr)
+		{
+			return false;
+		}
+		double framerate = m_Imager->getFramerate();
+		m_Imager->setFramerate(framerate);
+
+		return true;
+	}
+	catch (const std::exception& e)
+	{
+		disconnectImagerAndCleanup();
+		return false;
+	}
+	catch (int e)//ximea相机异常
+	{
+		disconnectImagerAndCleanup();
+		return false;
+	}
+	catch (...)
+	{
+		disconnectImagerAndCleanup();
+		return false;
+	}
+}
+
+void HPPA::showMessageBox(QString msg, QString title)
+{
+	QMessageBox msgBox(this);
+	msgBox.setWindowTitle(title);
+	msgBox.setText(msg);
+	msgBox.setStyleSheet(R"(
+			QMessageBox {
+				background-color: #0D1233;
+			}
+			QMessageBox QLabel {
+				color: #ACCDFF;
+				font-size: 14px;
+			}
+			QPushButton {
+				background-color: #142D7F;
+				color: #e6eeff;
+				border: 1px solid #2f6bff;
+				border-radius: 6px;
+				padding: 6px 20px;
+				min-width: 60px;
+				font-size: 13px;
+			}
+			QPushButton:hover {
+				border: 1px solid #4d8dff;
+				background-color: red;
+			}
+			QPushButton:pressed {
+				background-color: #23345c;
+			}
+		)");
+
+	msgBox.exec();
+}
+
+bool HPPA::showResultMessageBox(QString title, QString msg)
+{
+	QMessageBox msgBox(this);
+	msgBox.setWindowTitle(title);
+	msgBox.setText(msg);
+	msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
+	msgBox.setDefaultButton(QMessageBox::No);
+	msgBox.setStyleSheet(R"(
+		QMessageBox {
+			background-color: #0D1233;
+		}
+		QMessageBox QLabel {
+			color: #ACCDFF;
+			font-size: 14px;
+		}
+		QPushButton {
+			background-color: #142D7F;
+			color: #e6eeff;
+			border: 1px solid #2f6bff;
+			border-radius: 6px;
+			padding: 6px 20px;
+			min-width: 60px;
+			font-size: 13px;
+		}
+		QPushButton:hover {
+			border: 1px solid #4d8dff;
+			background-color: red;
+		}
+		QPushButton:pressed {
+			background-color: #23345c;
+		}
+	)");
+
+	QMessageBox::StandardButton ret = static_cast<QMessageBox::StandardButton>(msgBox.exec());
+
+	if (ret == QMessageBox::Yes)
+	{
+		return true;
+	}
+	else
+	{
+		return false;
+	}
+}
+
 void HPPA::onStartRecordStep1()
 {
+	//判断移动平台
 	QAction* checked = moveplatformActionGroup->checkedAction();
 	if (!checked)
 	{
-		QMessageBox msgBox;
-		msgBox.setText(QString::fromLocal8Bit("请选择扫描平台！"));
-		msgBox.exec();
+		showMessageBox(QString::fromLocal8Bit("请选择扫描平台！"));
+		return;
+	}
+
+	QString checkedName = checked->objectName();
+	if (checkedName == "mAction_is_no_motor")
+	{
+
+	}
+	else if (checkedName == "mAction_1AxisMotor")
+	{
+		if (!m_omc->getMotorsConnectionStatus())
+		{
+			showMessageBox(QString::fromLocal8Bit("找不到马达！"));
+			return;
+		}
+	}
+	else if (checkedName == "mAction_2AxisMotor_new")
+	{
+		if (!m_tmc->getMotorsConnectionStatus())
+		{
+			showMessageBox(QString::fromLocal8Bit("找不到马达！"));
+			return;
+		}
+	}
+	else if (checkedName == "mAction_RobotArm")
+	{
+
+	}
+
+	//判断光谱仪
+	if(!testImagerVality())
+	{
+		showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
+
 		return;
 	}
 
 	//判断是否覆盖存在的文件
-	FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryFromString();
-	//string imgPath = directory + "\\tmp_image";
-	string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString();
+	string imgPath = (AppSettings::instance().dataFolder() + QDir::separator() + AppSettings::instance().fileName()).toStdString();
 	string x_location = removeFileExtension(imgPath) + "_x_location.pos";
 
 	m_RecordState += 1;
@@ -1282,14 +1426,9 @@ void HPPA::onStartRecordStep1()
 		int x = _access(tmp.c_str(), 0);
 		if (!x)//如果文件存在就执行此if的代码
 		{
-			enum QMessageBox::StandardButton response = QMessageBox::question(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("文件存在！是否覆盖？"), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);;
-			if (response == QMessageBox::Yes)//
+			bool res = showResultMessageBox(QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("文件存在！是否覆盖？"));
+			if (!res)
 			{
-				//std::cout << "覆盖" << std::endl;
-			}
-			else
-			{
-				//std::cout << "不覆盖" << std::endl;
 				return;
 			}
 		}
@@ -1299,7 +1438,7 @@ void HPPA::onStartRecordStep1()
 		m_RecordState -= 1;
 	}
 
-	QString checkedName = checked->objectName();
+	
 	if (checkedName == "mAction_is_no_motor")
 	{
 		m_RecordState += 1;
@@ -1309,8 +1448,7 @@ void HPPA::onStartRecordStep1()
 			//m_imageViewerTabWidget->clear();
 			removeAllLayersInRasterGroup();
 
-			m_Imager->setFileName2Save(imgPath);
-			m_Imager->setFrameNumber(this->frame_number->text().toInt());
+			emit updateRecordingFileInfoSignal(AppSettings::instance().dataFolder(), AppSettings::instance().fileName(), this->frame_number->text().toInt());
 			emit StartRecordSignal();//发射开始采集信号
 
 			ui.action_start_recording->setText(QString::fromLocal8Bit("停止采集"));
@@ -1323,7 +1461,7 @@ void HPPA::onStartRecordStep1()
 			m_RecordState -= 1;
 
 			ui.action_start_recording->setText(QString::fromLocal8Bit("采集"));
-		 ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_done.svg"));
+			ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_done.svg"));
 			//ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
 		}
 		return;
@@ -1338,12 +1476,11 @@ void HPPA::onStartRecordStep1()
 			removeAllLayersInRasterGroup();
 
 			ui.action_start_recording->setText(QString::fromLocal8Bit("停止采集"));
-		 ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_ing.svg"));
+			ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_ing.svg"));
 			//ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
 
 			//应该先控制马达运动，当马达运动后，再开始光谱仪采集（发射开始采集信号）
-			m_Imager->setFileName2Save(imgPath);
-			m_Imager->setFrameNumber(this->frame_number->text().toInt());
+			emit updateRecordingFileInfoSignal(AppSettings::instance().dataFolder(), AppSettings::instance().fileName(), this->frame_number->text().toInt());
 			m_omc->setImager(m_Imager);
 			m_omc->run();
 		}
@@ -1367,15 +1504,14 @@ void HPPA::onStartRecordStep1()
 			//m_imageViewerTabWidget->clear();
 			removeAllLayersInRasterGroup();
 
-			m_Imager->setFileName2Save(imgPath);
-		 m_Imager->setFrameNumber(this->frame_number->text().toInt());
-			m_tmc->setImager(m_Imager);
-			m_tmc->setPosFileName(QString::fromStdString(x_location));
-			m_tmc->run();
-
 			ui.action_start_recording->setText(QString::fromLocal8Bit("停止采集"));
 			ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record_ing.svg"));
 			//ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
+
+			emit updateRecordingFileInfoSignal(AppSettings::instance().dataFolder(), AppSettings::instance().fileName(), this->frame_number->text().toInt());
+			m_tmc->setImager(m_Imager);
+			m_tmc->setPosFileName(QString::fromStdString(x_location));
+			m_tmc->run();
 		}
 		else
 		{
@@ -1393,8 +1529,7 @@ void HPPA::onStartRecordStep1()
 	else if (checkedName == "mAction_RobotArm")
 	{
 		//先判断是否选择了任务，执行函数RobotArmControl::executeTask，修复界面显示bug
-		m_Imager->setFileName2Save(imgPath);
-		m_Imager->setFrameNumber(this->frame_number->text().toInt());
+		emit updateRecordingFileInfoSignal(AppSettings::instance().dataFolder(), AppSettings::instance().fileName(), this->frame_number->text().toInt());
 		m_rac->executeTaskWithHyperImager();
 
 		return;
@@ -1498,18 +1633,21 @@ void HPPA::onActionOpenDirectory()
 
 void HPPA::onFramerateChanged(double framerate)
 {
+	if (!m_Imager) return;
 	m_Imager->setFramerate(framerate);
 	m_hic->setFrameRate(m_Imager->getFramerate());
 }
 
 void HPPA::onIntegrationTimeChanged(double integrationTime)
 {
+	if (!m_Imager) return;
 	m_Imager->setIntegrationTime(integrationTime);
 	m_hic->setIntegrationTime(m_Imager->getIntegrationTime());
 }
 
 void HPPA::onGainChanged(double gain)
 {
+	if (!m_Imager) return;
 	m_Imager->setGain(gain);
 	m_hic->setGain(m_Imager->getGain());
 }
@@ -1679,40 +1817,8 @@ void HPPA::onExit()
 
 void HPPA::closeEvent(QCloseEvent* event)
 {
-	QMessageBox msgBox(this);
-	msgBox.setWindowTitle(QString::fromLocal8Bit("退出确认"));
-	msgBox.setText(QString::fromLocal8Bit("确定要退出程序吗？"));
-	msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
-	msgBox.setDefaultButton(QMessageBox::No);
-	msgBox.setStyleSheet(R"(
-		QMessageBox {
-			background-color: #0D1233;
-		}
-		QMessageBox QLabel {
-			color: #ACCDFF;
-			font-size: 14px;
-		}
-		QPushButton {
-			background-color: #142D7F;
-			color: #e6eeff;
-			border: 1px solid #2f6bff;
-			border-radius: 6px;
-			padding: 6px 20px;
-			min-width: 60px;
-			font-size: 13px;
-		}
-		QPushButton:hover {
-			border: 1px solid #4d8dff;
-			background-color: red;
-		}
-		QPushButton:pressed {
-			background-color: #23345c;
-		}
-	)");
-
-	QMessageBox::StandardButton ret = static_cast<QMessageBox::StandardButton>(msgBox.exec());
-
-	if (ret == QMessageBox::Yes)
+	bool res = showResultMessageBox(QString::fromLocal8Bit("退出确认"), QString::fromLocal8Bit("确定要退出程序吗？"));
+	if (res)
 	{
 		event->accept();   // 允许关闭
 	}
@@ -1742,12 +1848,104 @@ void HPPA::onOpenImg()
 	addLayer(baseName, uri, true);
 }
 
+void HPPA::disconnectImagerAndCleanup()
+{
+	if (m_Imager == nullptr)
+		return;
+
+	// 如果正在采集，先停止
+	if (m_RecordState % 2 == 1)
+	{
+		m_Imager->setRecordControlState(false);
+		m_RecordState = 0;
+	}
+
+	// 断开所有与 m_Imager 相关的信号槽
+	disconnect(m_Imager, nullptr, this, nullptr);
+	disconnect(this, SIGNAL(StartFocusSignal()), m_Imager, SLOT(focus()));
+	disconnect(this, SIGNAL(StartRecordSignal()), m_Imager, SLOT(start_record()));
+	disconnect(this, &HPPA::updateRecordingFileInfoSignal, m_Imager, &ImagerOperationBase::updateRecordingFileInfo);
+	disconnect(this, SIGNAL(RecordWhiteSignal()), m_Imager, SLOT(record_white()));
+	disconnect(this, SIGNAL(RecordDarlSignal()), m_Imager, SLOT(record_dark()));
+
+	// 断开 UI 控件与本类槽的连接（它们在 onconnect 中绑定，避免重复连接）
+	disconnect(ui.action_auto_exposure, SIGNAL(triggered()), this, SLOT(onAutoExposure()));
+	disconnect(ui.action_focus, SIGNAL(triggered()), this, SLOT(onFocus1()));
+	disconnect(ui.action_dark, SIGNAL(triggered()), this, SLOT(onDark()));
+	disconnect(ui.action_reference, SIGNAL(triggered()), this, SLOT(onReference()));
+	disconnect(ui.action_start_recording, SIGNAL(triggered()), this, SLOT(onStartRecordStep1()));
+	disconnect(ui.actionOpenDirectory, SIGNAL(triggered()), this, SLOT(onActionOpenDirectory()));
+	disconnect(m_hic, SIGNAL(framerateChanged(double)), this, SLOT(onFramerateChanged(double)));
+	disconnect(m_hic, SIGNAL(integrationTimeChanged(double)), this, SLOT(onIntegrationTimeChanged(double)));
+	disconnect(m_hic, SIGNAL(gainChanged(double)), this, SLOT(onGainChanged(double)));
+
+	// 停止采集线程
+	if (m_RecordThread)
+	{
+		m_RecordThread->quit();
+		m_RecordThread->wait(3000);
+		delete m_RecordThread;
+		m_RecordThread = nullptr;
+	}
+
+	// 停止文件拷贝线程
+	if (m_CopyFileThread)
+	{
+		if (m_FileOperation)
+		{
+			disconnect(this, SIGNAL(CopyFileThreadSignal(QString, QString)), m_FileOperation, SLOT(copyFile(QString, QString)));
+			disconnect(m_FileOperation, SIGNAL(CopyFinishedSignal()), this, SLOT(onCopyFinished()));
+		}
+		m_CopyFileThread->quit();
+		m_CopyFileThread->wait(3000);
+		delete m_FileOperation;
+		m_FileOperation = nullptr;
+		delete m_CopyFileThread;
+		m_CopyFileThread = nullptr;
+	}
+
+	// 删除 imager 对象
+	try
+	{
+		m_Imager->disconnectImager();
+	}
+	catch (...)
+	{
+		// 断连时忽略异常
+	}
+	delete m_Imager;
+	m_Imager = nullptr;
+
+	// 禁用相机参数控件
+	frame_number->setEnabled(false);
+	m_hic->setDisabled(true);
+
+	// 重置图标
+	ui.action_connect_imager->setIcon(QIcon(":/svg/resources/icons/svg/connect_imager.svg"));
+	ui.action_auto_exposure->setIcon(QIcon(":/svg/resources/icons/svg/exposure.svg"));
+	ui.action_dark->setIcon(QIcon(":/svg/resources/icons/svg/dark.svg"));
+	ui.action_reference->setIcon(QIcon(":/svg/resources/icons/svg/reference.svg"));
+	ui.action_start_recording->setIcon(QIcon(":/svg/resources/icons/svg/record.svg"));
+	ui.action_start_recording->setText(QString::fromLocal8Bit("采集"));
+}
+
 void HPPA::onconnect()
 {
-	if (m_Imager != nullptr)
+	if (!testImagerVality())
 	{
-		//std::cout << "相机已经连接！" << std::endl;
-		return;
+		disconnectImagerAndCleanup();
+	}
+	else
+	{
+		bool res = showResultMessageBox(QString::fromLocal8Bit("相机连接"), QString::fromLocal8Bit("确定要重连相机吗？"));
+		if (res)
+		{
+			disconnectImagerAndCleanup();
+		}
+		else
+		{
+			return;
+		}
 	}
 
 	try
@@ -1775,11 +1973,9 @@ void HPPA::onconnect()
 		}
 		else
 		{
-			QMessageBox msgBox;
-		 msgBox.setText(QString::fromLocal8Bit("请选择相机！"));
-			 msgBox.exec();
+			showMessageBox(QString::fromLocal8Bit("请选择相机类型！"));
 
-			 return;
+			return;
 		}
 
 		ui.action_connect_imager->setIcon(QIcon(":/svg/resources/icons/svg/connect_imager_ing.svg"));
@@ -1791,13 +1987,12 @@ void HPPA::onconnect()
 		connect(m_Imager, SIGNAL(PlotSignal(int, int, QString)), this, SLOT(onPlotHyperspectralImageRgbImage(int, int, QString)));
 		connect(m_Imager, SIGNAL(RecordFinishedSignal_WhenFrameNumberMeet()), this, SLOT(onRecordFinishedSignal_WhenFrameNumberMeet()));
 		connect(m_Imager, SIGNAL(RecordFinishedSignal_WhenFrameNumberNotMeet()), this, SLOT(onRecordFinishedSignal_WhenFrameNumberNotMeet()));
-		connect(m_Imager, SIGNAL(SpectralSignal(int)), this, SLOT(PlotSpectral(int)));
+		connect(m_Imager, SIGNAL(SpectralSignal(int)), this, SLOT(focusPlotSpectralImg(int)));
 
 		connect(m_Imager, SIGNAL(testImagerStatus()), this, SLOT(testImagerStatus()));
 		connect(m_Imager, &ImagerOperationBase::autoExposureSignal, this, &HPPA::autoExposureFinished);
 
 		m_Imager->connect_imager(frame_number->text().toInt());
-		m_Imager->setFileName2Save(m_FilenameLineEdit->text().toStdString());
 
 		//文件拷贝
 		m_CopyFileThread = new QThread();
@@ -1819,6 +2014,7 @@ void HPPA::onconnect()
 
 		connect(this->ui.action_start_recording, SIGNAL(triggered()), this, SLOT(onStartRecordStep1()));
 		connect(this, SIGNAL(StartRecordSignal()), m_Imager, SLOT(start_record()));
+		connect(this, &HPPA::updateRecordingFileInfoSignal, m_Imager, &ImagerOperationBase::updateRecordingFileInfo);
 		connect(this, SIGNAL(RecordWhiteSignal()), m_Imager, SLOT(record_white()));
 		connect(this, SIGNAL(RecordDarlSignal()), m_Imager, SLOT(record_dark()));
 		connect(m_Imager, SIGNAL(RecordWhiteFinishSignal()), this, SLOT(recordWhiteFinish()));
@@ -1858,13 +2054,17 @@ void HPPA::onconnect()
 		delete m_Imager;
 		m_Imager = nullptr;
 
-		QMessageBox msgBox;
-		msgBox.setText(QString::fromLocal8Bit("请连接相机！"));
-		msgBox.exec();
+		showMessageBox(QString::fromLocal8Bit("请连接相机！"));
 	}
+	catch (int e)//ximea相机异常
+	{
+		ui.action_connect_imager->setIcon(QIcon(":/svg/resources/icons/svg/connect_imager.svg"));
 
+		delete m_Imager;
+		m_Imager = nullptr;
 
-
+		showMessageBox(QString::fromLocal8Bit("请连接相机！"));
+	}
 }
 
 void HPPA::testImagerStatus()
@@ -1880,6 +2080,13 @@ void HPPA::autoExposureFinished()
 
 void HPPA::onAutoExposure()
 {
+	if (!testImagerVality())
+	{
+		showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
+
+		return;
+	}
+
 	ui.action_auto_exposure->setIcon(QIcon(":/svg/resources/icons/svg/exposure_ing.svg"));
 
 	double ReturnedExposureTime = m_Imager->auto_exposure();
@@ -1892,6 +2099,13 @@ void HPPA::onAutoExposure()
 
 void HPPA::onFocus1()
 {
+	if (!testImagerVality())
+	{
+		showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
+
+		return;
+	}
+
 	focusWindow* w = new focusWindow(this, m_Imager);
 	connect(w, SIGNAL(StartManualFocusSignal(int)), this, SLOT(onFocus2(int)));
 	connect(w, SIGNAL(closeSignal()), this, SLOT(onFocusWindowClosed()));
@@ -1931,14 +2145,16 @@ void HPPA::onFocus2(int command)
 	}
 	else if (command == 0)
 	{
-		m_Imager->setFocusControlState(false);
+		if (m_Imager)
+			m_Imager->setFocusControlState(false);
 	}
 }
 
 void HPPA::onFocusWindowClosed()
 {
 	//关闭调焦窗口时，停止调焦功能
-	m_Imager->setFocusControlState(false);
+	if (m_Imager)
+		m_Imager->setFocusControlState(false);
 	//关闭调焦窗口tab
 	int index = m_imageViewerTabWidget->indexOf(m_focusTab);
 	if (index != -1)
@@ -1964,9 +2180,14 @@ void HPPA::settingWindow()
 
 void HPPA::onDark()
 {
-	QMessageBox msgBox;
-	msgBox.setText(QString::fromLocal8Bit("采集暗电流，请确保镜头盖盖上！"));
-	msgBox.exec();
+	if (!testImagerVality())
+	{
+		showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
+
+		return;
+	}
+
+	showMessageBox(QString::fromLocal8Bit("采集暗电流，请确保镜头盖盖上！"));
 
 	ui.action_dark->setIcon(QIcon(":/svg/resources/icons/svg/dark_ing.svg"));
 
@@ -1997,9 +2218,14 @@ void HPPA::recordDarkFinish()
 
 void HPPA::onReference()
 {
-	QMessageBox msgBox;
-	msgBox.setText(QString::fromLocal8Bit("请确保白板放置正确！"));
-	msgBox.exec();
+	if (!testImagerVality())
+	{
+		showMessageBox(QString::fromLocal8Bit("找不到光谱仪！"));
+
+		return;
+	}
+
+	showMessageBox(QString::fromLocal8Bit("请确保白板放置正确！"));
 
 	ui.action_reference->setIcon(QIcon(":/svg/resources/icons/svg/reference_ing.svg"));
 
@@ -2030,6 +2256,8 @@ void HPPA::recordWhiteFinish()
 
 void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath)
 {
+    if (!m_Imager) return;
+
     //使用机械臂采集时，会在停止采集后的瞬间又开始采集，会导致上次采集最后发射的信号调用此槽函数报错
     QAction* checked = moveplatformActionGroup->checkedAction();
     QString checkedName = checked->objectName();
@@ -2077,8 +2305,10 @@ void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QSt
 	//currentImageViewer[0]->SetImage(&QPixmap::fromImage(CuttedImage));//绘制图像
 }
 
-void HPPA::PlotSpectral(int state)
+void HPPA::focusPlotSpectralImg(int state)
 {
+    if (!m_Imager) return;
+
     if (state == 1)
     {
         //显示影像

HPPA/HPPA.h

@@ -74,6 +74,8 @@
 #include "recordFrameCounter.h"
 
 #include "setWindow.h"
+#include "AppSettings.h"
+#include "FileNameLineEdit.h"
 
 #define PI 3.1415926
 
@@ -208,7 +210,7 @@ private:
 	QWidget* tmp(QWidget* a);
 
 	QLineEdit * frame_number;
-	QLineEdit * m_FilenameLineEdit;
+	FileNameLineEdit * m_FilenameLineEdit;
 	QLabel * xmotor_state_label1;
 	QLabel * ymotor_state_label1;
 
@@ -297,10 +299,15 @@ private:
 	QWidget* m_focusTab=nullptr;
 
 	recordFrameCounter* m_recordFrameCounter = nullptr;
-	
+
+	bool testImagerVality();
+	void showMessageBox(QString msg, QString title= QString::fromLocal8Bit("提示"));
+	bool showResultMessageBox(QString title, QString msg);
+	void disconnectImagerAndCleanup();
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
-	void PlotSpectral(int state);
+	void focusPlotSpectralImg(int state);
 	void onRecordFinishedSignal_WhenFrameNumberMeet();
 	void onRecordFinishedSignal_WhenFrameNumberNotMeet();
 	void onsequenceComplete();
@@ -373,4 +380,6 @@ signals:
 
 	void RecordWhiteSignal();
 	void RecordDarlSignal();
+
+	void updateRecordingFileInfoSignal(const QString& filePath, const QString& baseName, int frameNumber);
 };

HPPA/HPPA.vcxproj

@@ -114,6 +114,7 @@
     <ClCompile Include="Carousel.cpp" />
     <ClCompile Include="Corning410Imager.cpp" />
     <ClCompile Include="CustomDockWidgetBase.cpp" />
+    <ClCompile Include="FileNameLineEdit.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
     <ClCompile Include="HyperImagerControl.cpp" />
     <ClCompile Include="imageControl.cpp" />
@@ -133,6 +134,7 @@
     <ClCompile Include="MapToolPan.cpp" />
     <ClCompile Include="MapTools.cpp" />
     <ClCompile Include="MapToolSpectral.cpp" />
+    <ClCompile Include="MotorWindowBase.cpp" />
     <ClCompile Include="OneMotorControl.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
@@ -206,6 +208,7 @@
     <QtMoc Include="AspectRatioLabel.h" />
     <QtMoc Include="HyperImagerControl.h" />
     <ClInclude Include="AppSettings.h" />
+    <QtMoc Include="FileNameLineEdit.h" />
     <ClInclude Include="imager_base.h" />
     <ClInclude Include="irisximeaimager.h" />
     <QtMoc Include="OneMotorControl.h" />
@@ -225,6 +228,7 @@
     <QtMoc Include="MapToolPan.h" />
     <QtMoc Include="MapToolSpectral.h" />
     <QtMoc Include="MapTools.h" />
+    <ClInclude Include="MotorWindowBase.h" />
     <ClInclude Include="RasterDataProvider.h" />
     <ClInclude Include="RasterRenderer.h" />
     <QtMoc Include="recordFrameCounter.h" />

HPPA/HPPA.vcxproj.filters

@@ -205,6 +205,12 @@
     <ClCompile Include="AppSettings.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="FileNameLineEdit.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MotorWindowBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -333,6 +339,9 @@
     <QtMoc Include="setWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="FileNameLineEdit.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -377,6 +386,9 @@
     <ClInclude Include="AppSettings.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="MotorWindowBase.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">

HPPA/ImageReaderWriter.cpp

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

HPPA/ImageReaderWriter.h

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

HPPA/ImageViewer.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 #include <cmath>
 
@@ -20,7 +20,7 @@ Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
     setRenderHint(QPainter::SmoothPixmapTransform);
     setDragMode(QGraphicsView::ScrollHandDrag);
 
-    // ʹ<EFBFBD><EFBFBD> Qt Ĭ<EFBFBD><EFBFBD> anchor <EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 使用 Qt 默认 anchor 行为以外的配置
     setTransformationAnchor(QGraphicsView::NoAnchor);
     setResizeAnchor(QGraphicsView::NoAnchor);
 

HPPA/ImageViewer.h

@@ -1,4 +1,4 @@
-#ifndef MAPCAVAS_H
+#ifndef MAPCAVAS_H
 #define MAPCAVAS_H
 
 #include "QGraphicsView"
@@ -35,15 +35,15 @@ public:
 	void wheelEvent(QWheelEvent *event) Q_DECL_OVERRIDE;
 	void scaling(qreal scaleFactor);
 
-	void zoomIn();  // <EFBFBD>Ŵ<EFBFBD>
-	void zoomOut();  // <EFBFBD><EFBFBD>С
-	void zoom(float scaleFactor); // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> - scaleFactor<EFBFBD><EFBFBD><EFBFBD>ŵı<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void zoomIn();  // 放大
+	void zoomOut();  // 缩小
+	void zoom(float scaleFactor); // 缩放 - scaleFactor缩放的比例因子
 
-	// ƽ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
+	// 平移速度
 	void setTranslateSpeed(qreal speed);
 	qreal translateSpeed() const;
 
-	// <EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// 缩放的增量
 	void setZoomDelta(qreal delta);
 	qreal zoomDelta() const;
 
@@ -63,16 +63,16 @@ protected:
 	QGraphicsScene *m_qtGraphicsScene;
 private:
 	QGraphicsPixmapItem *m_GraphicsPixmapItemHandle;
-	QLabel *m_framNumberLabel;//<EFBFBD><EFBFBD>ʾʵʱ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
+	QLabel *m_framNumberLabel;//显示实时采集到的帧数
 
 	RasterLayer* m_rasterLayer = nullptr; // associated raster layer
 	MapTool* m_mapTool = nullptr;         // current active map tool
 
-	qreal m_translateSpeed;  // ƽ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
-	qreal m_zoomDelta;  // <EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	bool m_bMouseTranslate;  // ƽ<EFBFBD>Ʊ<EFBFBD>ʶ
-	QPoint m_lastMousePos;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD>λ<EFBFBD><EFBFBD>
-	qreal m_scale;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+	qreal m_translateSpeed;  // 平移速度
+	qreal m_zoomDelta;  // 缩放的增量
+	bool m_bMouseTranslate;  // 平移标识
+	QPoint m_lastMousePos;  // 鼠标最后按下的位置
+	qreal m_scale;  // 缩放值
 
 	double m_CrosshairHalfLen = 10.0;
 	QGraphicsLineItem* m_hLine = nullptr;  // horizontal line

HPPA/ImagerOperationBase.cpp

@@ -1,4 +1,5 @@
 #include "ImagerOperationBase.h"
+#include <QDir>
 
 ImagerOperationBase::ImagerOperationBase()
 {
@@ -250,6 +251,7 @@ void ImagerOperationBase::start_record()
 	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
 	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
 
+
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
@@ -257,7 +259,8 @@ void ImagerOperationBase::start_record()
 
 		getFrame(buffer);
 		long long timeOs = getNanosecondsSinceMidnight();
-
+		//qDebug() << "time ns-------------------: " << timeOs;
+		
 		//减去暗电流，应为buffer和dark都是unsigned short，所以当dark>buffer时，buffer-dark=65535
 		if (m_HasDark)
 		{
@@ -297,7 +300,7 @@ void ImagerOperationBase::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
-		fprintf(hTimesFile, "%d\n", timeOs);
+		fprintf(hTimesFile, "%ll\n", timeOs);
 
 		//将rgb波段提取出来，以便在界面中显示
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@@ -320,7 +323,7 @@ void ImagerOperationBase::start_record()
 
 	//在最后一次画图前需要进行一次拉伸
 	//m_RgbImage
-	emit PlotSignal(m_FileSavedCounter, -1, filePath);
+	emit PlotSignal(m_FileSavedCounter, -1, filePath);//采集完成后进行一次画图，以防采集帧数不是帧率的倍数时，画图不全
 
 	m_bRecordControlState = false;
 	WriteHdr();
@@ -357,6 +360,14 @@ void ImagerOperationBase::setFileName2Save(string FileName)
 	m_FileSavedCounter = 0;
 }
 
+void ImagerOperationBase::updateRecordingFileInfo(const QString& filePath, const QString& baseName, int frameNumber)
+{
+	m_FileName2Save = (filePath + QDir::separator() + baseName).toStdString();
+	m_FileSavedCounter = 0;
+
+	setFrameNumber(frameNumber);
+}
+
 void ImagerOperationBase::setFocusControlState(bool FocusControlState)
 {
 	m_bFocusControlState = FocusControlState;

HPPA/ImagerOperationBase.h

@@ -101,6 +101,9 @@ public slots:
     virtual void record_white();
 
     void getFocusIndexSobel();
+
+	void updateRecordingFileInfo(const QString& filePath, const QString& baseName, int frameNumber);
+
 signals:
     void PlotSignal(int, int, QString);//绘制影像信号，第一个参数：第几个影像；第二个参数：采集到的帧数，-1代表此次采集的最后一次绘制
     void RecordFinishedSignal_WhenFrameNumberMeet();//采集完成信号：需要采集的总帧数（m_iFrameNumber）采集完成

HPPA/ImagerPositionSimulation.cpp

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

HPPA/ImagerPositionSimulation.h

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

HPPA/LayerTree.cpp

@@ -1,4 +1,4 @@
-#include "LayerTree.h"
+#include "LayerTree.h"
 
 LayerTree::LayerTree(QObject* parent)
     : LayerTreeGroup("__root__", parent)

HPPA/LayerTree.h

@@ -1,14 +1,14 @@
-#pragma once
+#pragma once
 
 #include "LayerTreeGroupNode.h"
 
 /**
- * LayerTree<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD>̳<EFBFBD><EFBFBD><EFBFBD> LayerTreeGroup<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĸ<EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD>ṩ<EFBFBD>ɼ<EFBFBD><EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>븸<EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><EFBFBD><EFBFBD>µľ<EFBFBD>̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * LayerTree：图层树根节点
+ * - 继承自 LayerTreeGroup，本身就是树的根节点
+ * - 提供可见性级联与父节点三态更新的静态工具
  *
- * ע<EFBFBD>⣺beginInsertRows/endInsertRows <EFBFBD><EFBFBD> Qt Model <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֪ͨӦ<EFBFBD><EFBFBD> Model <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>
- * LayerTree ֻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ά<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>ȷ<EFBFBD>ԡ<EFBFBD>
+ * 注意：beginInsertRows/endInsertRows 等 Qt Model 变更通知应由 Model 驱动调用，
+ * LayerTree 只负责维护数据结构正确性。
  */
 class LayerTree : public LayerTreeGroup
 {
@@ -20,7 +20,7 @@ public:
     LayerTree(const LayerTree&) = delete;
     LayerTree& operator=(const LayerTree&) = delete;
 
-    // <EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Model <EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>
+    // 可见性逻辑（供 Model 调用）
     static void setChildrenVisible(LayerTreeNode* n, Qt::CheckState state);
     static void updateParentVisibleFromChildren(LayerTreeNode* parent);
 };

HPPA/LayerTreeGroupNode.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeGroupNode.h"
+#include "LayerTreeGroupNode.h"
 #include "LayerTreeLayerNode.h"
 
 LayerTreeGroup::LayerTreeGroup(const QString& name, QObject* parent)

HPPA/LayerTreeGroupNode.h

@@ -1,12 +1,12 @@
-#pragma once
+#pragma once
 #include "LayerTreeNode.h"
 
 class LayerTreeLayer;
 
 /**
- * LayerTreeGroup<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ LayerTreeNode
- * - <EFBFBD>ṩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>ڵ㣨LayerTreeLayer<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>飨LayerTreeGroup<EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * LayerTreeGroup：图层组节点
+ * - 基类为 LayerTreeNode
+ * - 提供插入图层节点（LayerTreeLayer）或图层组（LayerTreeGroup）的便利方法
  */
 class LayerTreeGroup : public LayerTreeNode
 {
@@ -17,28 +17,28 @@ public:
 
     Type type() const override { return Type::Group; }
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 便利方法：插入子组
     LayerTreeGroup* insertGroup(int index, const QString& name);
     LayerTreeGroup* addGroup(const QString& name);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
+    // 便利方法：插入图层节点
     LayerTreeLayer* insertLayer(int index, LayerTreeLayer* layer);
     LayerTreeLayer* addLayer(LayerTreeLayer* layer);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
+    // 插入任意节点
     void insertChildNode(int index, LayerTreeNode* node);
     void addChildNode(LayerTreeNode* node);
 
-    // <EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ㣨<EFBFBD><EFBFBD> delete<74><65><EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><D8B1>Ƴ<EFBFBD><C6B3>ڵ㣩
+    // 移除子节点（不 delete，返回被移除节点）
     LayerTreeNode* removeChildNode(LayerTreeNode* node);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 查找
     LayerTreeLayer* findLayer(const QString& name) const;
     QList<LayerTreeLayer*> findLayers() const;
     QList<LayerTreeGroup*> findGroups() const;
 
-    // <EFBFBD>Ժ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD>collapsed / groupOpacity <EFBFBD><EFBFBD>
+    // 以后可扩展：collapsed / groupOpacity 等
 };
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// 保持向后兼容
 using LayerTreeGroupNode = LayerTreeGroup;

HPPA/LayerTreeLayerNode.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeLayerNode.h"
+#include "LayerTreeLayerNode.h"
 
 LayerTreeLayer::LayerTreeLayer(MapLayer* layer, QObject* parent)
     : LayerTreeNode(layer ? layer->name() : QString(), parent), m_layer(layer)
@@ -10,7 +10,7 @@ LayerTreeNode::Type LayerTreeLayer::type() const
     return Type::Layer; 
 }
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD> MapLayer ָ<EFBFBD>루<EFBFBD><EFBFBD>ӵ<EFBFBD>У<EFBFBD>
+// 持有一个 MapLayer 指针（不拥有）
 void LayerTreeLayer::setMapLayer(MapLayer* layer) 
 { 
     m_layer = layer; 

HPPA/LayerTreeLayerNode.h

@@ -1,11 +1,11 @@
-#pragma once
+#pragma once
 #include "LayerTreeNode.h"
 #include "MapLayer.h"
 
 /**
- * LayerTreeLayer<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ LayerTreeNode
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD> MapLayer ָ<EFBFBD>루<EFBFBD><EFBFBD>ӵ<EFBFBD>У<EFBFBD>
+ * LayerTreeLayer：图层节点
+ * - 基类为 LayerTreeNode
+ * - 持有一个 MapLayer 指针（不拥有）
  */
 class LayerTreeLayer : public LayerTreeNode
 {
@@ -21,8 +21,8 @@ public:
 private:
     MapLayer* m_layer = nullptr;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD>layerId / pointer / legendItems <EFBFBD><EFBFBD>
+    // 可扩展：layerId / pointer / legendItems 等
 };
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// 保持向后兼容
 using LayerTreeLayerNode = LayerTreeLayer;

HPPA/LayerTreeModel.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeModel.h"
+#include "LayerTreeModel.h"
 #include "LayerTreeGroupNode.h"
 #include "LayerTreeLayerNode.h"
 
@@ -90,15 +90,15 @@ bool LayerTreeModel::setData(const QModelIndex& index, const QVariant& value, in
 
         n->setVisible(newState);
 
-        // 1) <EFBFBD><EFBFBD> -> <EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
+        // 1) 父 -> 子 级联
         if (m_cascadeCheck) {
             LayerTree::setChildrenVisible(n, newState);
         }
 
-        // 2) <EFBFBD><EFBFBD> -> <EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> PartiallyChecked
+        // 2) 子 -> 父 更新 PartiallyChecked
         LayerTree::updateParentVisibleFromChildren(n->parentNode());
 
-        // <EFBFBD>򻯣<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD>£<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>滻Ϊ<EFBFBD><EFBFBD>׼ dataChanged<EFBFBD><EFBFBD>
+        // 简化：整体刷新（你后续可替换为精准 dataChanged）
         emit layoutChanged();
         return true;
     }
@@ -156,7 +156,7 @@ bool LayerTreeModel::cascadeCheckEnabled() const
     return m_cascadeCheck;
 }
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>֣<EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ㲢<EFBFBD><EFBFBD> model <EFBFBD>Ϸ<EFBFBD><EFBFBD><EFBFBD> begin/endRemoveRows
+// 新增实现：移除子节点并在 model 上发出 begin/endRemoveRows
 LayerTreeNode* LayerTreeModel::removeNode(LayerTreeNode* parent, int row)
 {
     if (!parent) parent = m_tree;

HPPA/LayerTreeModel.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QCoreApplication>
 #include <QAbstractItemModel>
 #include "LayerTree.h"
@@ -6,9 +6,9 @@
 class LayerTreeLayer; // forward declare
 
 /**
- * LayerTreeModel<EFBFBD><EFBFBD>Qt <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣨<EFBFBD><EFBFBD><EFBFBD>ٹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * - 1 <EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>꣩+ checkbox
- * - <EFBFBD><EFBFBD>ѡ<EFBFBD>ɼ<EFBFBD><EFBFBD>ԣ<EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD>
+ * LayerTreeModel：Qt 适配层（不再管理树）
+ * - 1 列：名称（带图标）+ checkbox
+ * - 勾选可见性（可选级联勾选）
  */
 class LayerTreeModel : public QAbstractItemModel
 {
@@ -19,7 +19,7 @@ public:
         bool cascadeCheck = true);
     ~LayerTreeModel() override = default;
 
-    // QAbstractItemModel <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
+    // QAbstractItemModel 必须接口
     QModelIndex index(int row, int column,
         const QModelIndex& parent = QModelIndex()) const override;
     QModelIndex parent(const QModelIndex& child) const override;
@@ -30,7 +30,7 @@ public:
     bool setData(const QModelIndex& index, const QVariant& value, int role) override;
     Qt::ItemFlags flags(const QModelIndex& index) const override;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> API<50><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD> begin/endInsertRows<EFBFBD><EFBFBD>
+    // 对外 API：构建树（内部会正确调用 begin/endInsertRows）
     LayerTreeNode* root() const;
 
     LayerTreeNode* addGroup(LayerTreeNode* parent, const QString& name, const QIcon& icon = QIcon());
@@ -39,7 +39,7 @@ public:
     void setCascadeCheckEnabled(bool enabled);
     bool cascadeCheckEnabled() const;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӹ<EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ㣨<EFBFBD><EFBFBD>װ LayerTree::removeNode <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> model ֪ͨ<EFBFBD><EFBFBD>
+    // 新增：从父节点移除子节点（包装 LayerTree::removeNode 并发出 model 通知）
     LayerTreeNode* removeNode(LayerTreeNode* parent, int row);
 
 private:

HPPA/LayerTreeNode.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeNode.h"
+#include "LayerTreeNode.h"
 
 #include <QtGlobal>
 
@@ -55,7 +55,7 @@ LayerTreeNode* LayerTreeNode::parentNode() const
 void LayerTreeNode::setParentNode(LayerTreeNode* p)
 {
     m_parentNode = p;
-    // <EFBFBD><EFBFBD> QObject <EFBFBD><EFBFBD> parent Ҳ<EFBFBD><EFBFBD><EFBFBD>棨<EFBFBD><EFBFBD><EFBFBD><EFBFBD> Qt <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ι<EFBFBD><CEB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҳ<EFBFBD><D2B2><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD> delete children<EFBFBD><EFBFBD>
+    // 让 QObject 的 parent 也跟随（便于 Qt 对象层次管理，且不会影响我们手动 delete children）
     if (p) this->setParent(p);
     else this->setParent(nullptr);
 }

HPPA/LayerTreeNode.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QVector>
@@ -6,14 +6,14 @@
 #include <QString>
 
 /**
- * LayerTreeNode<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ࣨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/ͼ<><CDBC>/<2F>ɼ<EFBFBD><C9BC><EFBFBD>/<2F><><EFBFBD>ӹ<EFBFBD>ϵ
- * - Group / Layer <EFBFBD>ڵ<EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD>̳<EFBFBD>ʵ<EFBFBD><EFBFBD>
- * - <EFBFBD>ṩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/ɾ<><C9BE><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD>ź<EFBFBD>֪ͨ
+ * LayerTreeNode：节点基类（抽象）
+ * - 仅包含通用属性：名称/图标/可见性/父子关系
+ * - Group / Layer 节点通过继承实现
+ * - 提供插入/删除节点的信号通知
  *
- * ˵<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱά<EFBFBD><EFBFBD>"<22><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>"<22><>m_parentNode<EFBFBD><EFBFBD><EFBFBD><EFBFBD> QObject parent<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD>
- * - children <EFBFBD>ɽڵ<EFBFBD><EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>в<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ delete children<EFBFBD><EFBFBD>
+ * 说明：
+ * - 这里同时维护"树父指针"（m_parentNode）与 QObject parent（可选）
+ * - children 由节点自己持有并负责释放（析构时 delete children）
  */
 class LayerTreeNode : public QObject
 {
@@ -52,8 +52,8 @@ public:
     void appendChild(LayerTreeNode* child);
     void insertChild(int row, LayerTreeNode* child);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> QgsLayerTreeNode::removeChildrenPrivate <EFBFBD>Ľ<EFBFBD>
-    // from: <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>, count: <EFBFBD>Ƴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, destroy: true <EFBFBD><EFBFBD> delete <EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ڵ<EFBFBD>
+    // 基于 QgsLayerTreeNode::removeChildrenPrivate 改进
+    // from: 起始索引, count: 移除数量, destroy: true 则 delete 被移除节点
     void removeChild(int from, int count, bool destroy = true);
 
     // ---- static type helpers ----
@@ -68,11 +68,11 @@ public:
     }
 
 signals:
-    // <EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӽڵ<EFBFBD>֮ǰ/֮<>󷢳<EFBFBD>
+    // 在插入子节点之前/之后发出
     void willAddChildren(LayerTreeNode* node, int indexFrom, int indexTo);
     void addedChildren(LayerTreeNode* node, int indexFrom, int indexTo);
 
-    // <EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ<EFBFBD>֮ǰ/֮<>󷢳<EFBFBD>
+    // 在移除子节点之前/之后发出
     void willRemoveChildren(LayerTreeNode* node, int indexFrom, int indexTo);
     void removedChildren(LayerTreeNode* node, int indexFrom, int indexTo);
 

HPPA/LayerTreeView.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeView.h"
+#include "LayerTreeView.h"
 #include "LayerTreeViewMenuProvider.h"
 #include <QContextMenuEvent>
 #include <QMenu>

HPPA/LayerTreeView.h

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

HPPA/LayerTreeViewMenuProvider.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeViewMenuProvider.h"
+#include "LayerTreeViewMenuProvider.h"
 #include "LayerTreeView.h"
 #include "LayerTreeModel.h"
 #include "LayerTreeNode.h"
@@ -36,7 +36,7 @@ QMenu* LayerTreeViewMenuProvider::createContextMenu()
 
     if (node->type() == LayerTreeNode::Type::Layer)
     {
-        QAction* removeAction = new QAction(QStringLiteral("<EFBFBD>Ƴ<EFBFBD>ͼ<EFBFBD><EFBFBD>"), menu);
+        QAction* removeAction = new QAction(QStringLiteral("移除图层"), menu);
         connect(removeAction, &QAction::triggered, HPPA::instance(), &HPPA::removeLayerByTreeIndex);
         menu->addAction(removeAction);
     }
@@ -45,7 +45,7 @@ QMenu* LayerTreeViewMenuProvider::createContextMenu()
         HPPA* app = HPPA::instance();
         if (app && node == app->rasterGroupNode())
         {
-            QAction* removeAllAction = new QAction(QStringLiteral("<EFBFBD>Ƴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>"), menu);
+            QAction* removeAllAction = new QAction(QStringLiteral("移除所有图层"), menu);
             connect(removeAllAction, &QAction::triggered, app, &HPPA::removeAllLayersInRasterGroup);
             menu->addAction(removeAllAction);
         }

HPPA/LayerTreeViewMenuProvider.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QMenu>
 #include <QObject>
@@ -15,7 +15,7 @@ public:
     explicit LayerTreeViewMenuProvider(LayerTreeView* view, QObject* parent = nullptr);
     ~LayerTreeViewMenuProvider() override = default;
 
-    // <EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><EFBFBD><EFBFBD> index <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>˵<EFBFBD><CBB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߸<EFBFBD><DFB8><EFBFBD>ɾ<EFBFBD><C9BE><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD> QMenu*
+    // 根据给定 index 创建一个菜单，调用者负责删除返回的 QMenu*
     QMenu* createContextMenu();
 
 private:

HPPA/MapLayer.cpp

@@ -1,4 +1,4 @@
-#include "MapLayer.h"
+#include "MapLayer.h"
 
 MapLayer::MapLayer(const QString& name, const QString& uri)
     : QObject(nullptr), m_name(name), m_uri(uri)

HPPA/MapLayer.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QString>

HPPA/MapLayerStore.cpp

@@ -1,4 +1,4 @@
-#include "MapLayerStore.h"
+#include "MapLayerStore.h"
 #include "MapLayer.h"
 
 MapLayerStore::MapLayerStore(QObject* parent)

HPPA/MapLayerStore.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QString>

HPPA/MotorWindowBase.cpp

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

HPPA/MotorWindowBase.h

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

HPPA/OneMotorControl.cpp

@@ -1,4 +1,4 @@
-#include "OneMotorControl.h"
+#include "OneMotorControl.h"
 
 OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 {
@@ -6,6 +6,16 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 
     connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
 
+    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
 }
 
 OneMotorControl::~OneMotorControl()
@@ -16,6 +26,31 @@ OneMotorControl::~OneMotorControl()
 
 void OneMotorControl::onConnectMotor()
 {
+    if (getMotorsConnectionStatus())
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+        msgBox.exec();
+
+        return;
+    }
+
+    if (m_multiAxisController != nullptr)
+    {
+        disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+        disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+        disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+        disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+        disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+        disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+        disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+        disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+        m_motorThread.quit();
+        m_motorThread.wait();
+        m_multiAxisController = nullptr;
+    }
+
 	try
 	{
         FileOperation* fileOperation = new FileOperation();
@@ -27,35 +62,27 @@ void OneMotorControl::onConnectMotor()
 	catch (std::exception const& e)
 	{
         QMessageBox msgBox;
-        msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
         msgBox.exec();
+        return;
 	}
-    
+
     m_multiAxisController->moveToThread(&m_motorThread);
     connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
 
-    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
-    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
-    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-
-    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
-
     connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
 
     connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
     connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
     connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
 
-    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
     connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
 
-    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
     connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
 
     connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
     connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
-    
+
     m_motorThread.start();
     emit testConnectivitySignal(0, 1000);
 }
@@ -73,11 +100,36 @@ void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)
     //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
     if (connectivity[0])
     {
-        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+        m_xMotorConnectionStatus = true;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
     }
     else
     {
-        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+        m_xMotorConnectionStatus = false;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
+    }
+
+    if (getMotorsConnectionStatus())
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
+    }
+    else
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
     }
 }
 
@@ -150,15 +202,12 @@ void OneMotorControl::record_white()
 
 void OneMotorControl::run()
 {
-    if (m_coordinator == nullptr)
-    {
-        qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
-        m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
-        connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
-        connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
+    qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
+    m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+    connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
+    connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
 
-        connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
-    }
+    connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
 
     OneMotionCapturePathLine tmp;
     tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
@@ -172,7 +221,22 @@ void OneMotorControl::stop()
     emit stopStepMotionSignal();
 }
 
-void OneMotorControl::onSequenceComplete()
+void OneMotorControl::onSequenceComplete(int state)
 {
     emit sequenceComplete();
+
+    disconnect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
+    disconnect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
+    disconnect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
+
+    // Use deleteLater() instead of delete: this slot may have been called directly
+    // from OneMotionCaptureCoordinator's call stack (direct connection), so deleting
+    // the object here would cause a crash when execution returns to the destroyed object.
+    m_coordinator->deleteLater();
+    m_coordinator = nullptr;
+}
+
+bool OneMotorControl::getMotorsConnectionStatus()
+{
+    return m_xMotorConnectionStatus;
 }

HPPA/OneMotorControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QThread>
 #include <QMessageBox>
 
@@ -7,8 +7,9 @@
 #include "IrisMultiMotorController.h"
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
+#include "MotorWindowBase.h"
 
-class OneMotorControl : public QDialog
+class OneMotorControl : public QDialog, public MotorWindowBase
 {
     Q_OBJECT
 
@@ -24,6 +25,7 @@ public:
     void record_dark();
     void record_white();
 
+    bool getMotorsConnectionStatus();
 
 public Q_SLOTS:
     void onConnectMotor();
@@ -38,7 +40,7 @@ public Q_SLOTS:
     void onxMotorLeft();
     void onxMotorStop();
 
-    void onSequenceComplete();
+    void onSequenceComplete(int state);
 
 signals:
     void moveSignal(int, bool, double, int);
@@ -61,11 +63,13 @@ private:
     Ui::OneMotorControl_UI ui;
 
     QThread m_motorThread;
-    IrisMultiMotorController* m_multiAxisController;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
 
     OneMotionCaptureCoordinator* m_coordinator = nullptr;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
+
+    bool m_xMotorConnectionStatus = false;
 };

HPPA/PowerControl.cpp

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

HPPA/PowerControl.h

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

HPPA/QDoubleSlider.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "qDoubleSlider.h"
 QDoubleSlider::QDoubleSlider(QWidget* pParent /*= NULL*/) :
 QSlider(pParent),
@@ -13,13 +13,13 @@ m_Multiplier(100.0)
 	setFocusPolicy(Qt::NoFocus);
 }
 
-//<EFBFBD><EFBFBD><EFBFBD>ⷢ<EFBFBD><EFBFBD>
+//向外发射
 void QDoubleSlider::notifyValueChanged(int Value)
 {
 	emit valueChanged((double)Value / m_Multiplier);
 }
 
-//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//接收外边
 void QDoubleSlider::setValue(double Value, bool BlockSignals)
 {
 	QSlider::blockSignals(BlockSignals);

HPPA/QDoubleSlider.h

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

HPPA/QMotorDoubleSlider.cpp

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

HPPA/QMotorDoubleSlider.h

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

HPPA/RasterDataProvider.cpp

@@ -1,4 +1,4 @@
-#include "RasterDataProvider.h"
+#include "RasterDataProvider.h"
 #include <QString>
 #include <QDebug>
 #include <QFile>

HPPA/RasterDataProvider.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QString>
 #include <vector>

HPPA/RasterLayer.cpp

@@ -1,4 +1,4 @@
-#include "RasterLayer.h"
+#include "RasterLayer.h"
 #include "RasterDataProvider.h"
 #include "RasterRenderer.h"
 #include <algorithm>

HPPA/RasterLayer.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include "MapLayer.h"
 #include <memory>

HPPA/RasterRenderer.cpp

@@ -1,4 +1,4 @@
-#include "RasterRenderer.h"
+#include "RasterRenderer.h"
 #include "RasterDataProvider.h"
 #include <QDebug>
 #include <algorithm>

HPPA/RasterRenderer.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QImage>
 #include <vector>

HPPA/ResononNirImager.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
@@ -14,7 +14,7 @@ ResononNirImager::~ResononNirImager()
 {
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 		free(dark);
 		free(white);
@@ -40,12 +40,12 @@ double ResononNirImager::getIntegrationTime()
 double ResononNirImager::getGain()
 {
 	//return m_ResononNirImager.get_gain();
-	return 0.0;//nir<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>gian
+	return 0.0;//nir不支持gian
 }
 
 void ResononNirImager::setGain(const double gain)
 {
-	//m_ResononNirImager.set_gain(gain);//nir<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>gian
+	//m_ResononNirImager.set_gain(gain);//nir不支持gian
 }
 
 void ResononNirImager::setFramerate(const double frames_per_second)
@@ -103,12 +103,12 @@ void ResononNirImager::setSpectraBin(int new_spectral_bin)
 
 double ResononNirImager::auto_exposure()
 {
-	//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	double x = 1 / getFramerate() * 1000;//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第一步：先设置曝光时间为在当前帧率情况下最大
+	double x = 1 / getFramerate() * 1000;//获取最大毫秒曝光时间
 	reConnectImage();
 	setIntegrationTime(x);
 
-	//<EFBFBD>ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD>Ѱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第二步：通过循环寻找最佳曝光时间
 	imagerStartCollect();
 
 	while (true)
@@ -117,7 +117,7 @@ double ResononNirImager::auto_exposure()
 		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
 		{
 			setIntegrationTime(getIntegrationTime() * 0.8);
-			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+			std::cout << "自动曝光-----------" << std::endl;
 		}
 		else
 		{
@@ -128,7 +128,7 @@ double ResononNirImager::auto_exposure()
 	reConnectImage();
 	//imagerStopCollect();
 
-	//std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع⣺" << getIntegrationTime() << std::endl;
+	//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
 
 	return getIntegrationTime();
 }
@@ -151,7 +151,7 @@ int ResononNirImager::getSampleCount()
 void ResononNirImager::focus()
 {
 	m_iFocusFrameCounter = 1;
-	//std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-----------" << std::endl;
+	//std::cout << "调焦-----------" << std::endl;
 
 	double tmpFrmerate = getFramerate();
 	double tmpIntegrationTime = getIntegrationTime();
@@ -159,7 +159,7 @@ void ResononNirImager::focus()
 
 	setFramerate(5);
 	auto_exposure();
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
+	std::cout << "调焦获得的曝光时间为：" << getIntegrationTime() << std::endl;
 
 	reConnectImage();
 	imagerStartCollect();
@@ -183,12 +183,12 @@ void ResononNirImager::focus()
 	reConnectImage();
 	setIntegrationTime(tmpIntegrationTime);
 
-	setFramerate(tmpFrmerate);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	setFramerate(tmpFrmerate);//必须要放在这里，如果不放这里，这行代码就要出错。。。。。。
 }
 
 void ResononNirImager::record_dark()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集暗电流！！！！！！！！！" << std::endl;
 	reConnectImage();
 	imagerStartCollect();
 
@@ -221,7 +221,7 @@ void ResononNirImager::record_dark()
 
 void ResononNirImager::record_white()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集白板！！！！！！！！！" << std::endl;
 	reConnectImage();
 	imagerStartCollect();
 	
@@ -247,7 +247,7 @@ void ResononNirImager::record_white()
 
 	imagerStopCollect();
 
-	//<EFBFBD>װ<EFBFBD><EFBFBD>۰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//白板扣暗电流
 	if (m_HasDark)
 	{
 		for (size_t i = 0; i < m_FrameSize; i++)
@@ -275,18 +275,23 @@ void ResononNirImager::start_record()
 	//std::cout << "------------------------------------------------------" << std::endl;
 
 	m_iFrameCounter = 0;
-	m_RgbImage->m_iFrameCounter = 0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>0<EFBFBD><EFBFBD>
+	m_RgbImage->m_iFrameCounter = 0;//设置填充rgb图像的第0行
 	m_bRecordControlState = true;
 
-	//<EFBFBD>ж<EFBFBD><EFBFBD>ڴ<EFBFBD>buffer<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//判断内存buffer是否正常分配
 	if (buffer == 0)
 	{
 		std::cerr << "Error: memory could not be allocated for datacube";
 		exit(EXIT_FAILURE);
 	}
 
+	// 在开始采集时仅发出文件信息，UI 层自行创建 MapLayer 并管理生命周期
+	// prepare file name that will be used for saving
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
 	QString filePath = QString::fromStdString(m_FileName2Save2);
+	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter);
+
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
 	size_t x;
@@ -295,7 +300,7 @@ void ResononNirImager::start_record()
 	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
 	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
 
-	reConnectImage();//nir<EFBFBD>ڶ<EFBFBD><EFBFBD>βɼ<EFBFBD>ʱ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<EFBFBD>ᱨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	reConnectImage();//nir第二次采集时需要重新连接相机，否则函数imagerStartCollect()会报错。。。。。。
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
@@ -305,7 +310,7 @@ void ResononNirImager::start_record()
 		long long timeOs = getNanosecondsSinceMidnight();
 		//qDebug() << "time ns-------------------: " << timeOs;
 
-		//<EFBFBD><EFBFBD>ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<EFBFBD><EFBFBD>dark<EFBFBD><EFBFBD><EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<EFBFBD><EFBFBD>buffer-dark=65535
+		//减去暗电流，应为buffer和dark都是unsigned short，所以当dark>buffer时，buffer-dark=65535
 		if (m_HasDark)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
@@ -323,12 +328,12 @@ void ResononNirImager::start_record()
 		}
 
 
-		//ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		//转反射率
 		if (m_HasWhite)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
 			{
-				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				//处理除数（白板）为0的情况
 				if (white[i] != 0)
 				{
 					pixelValueTmp = buffer[i];
@@ -344,14 +349,14 @@ void ResononNirImager::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
-		fprintf(hTimesFile, "%lld\n", timeOs);
+		fprintf(hTimesFile, "%ll\n", timeOs);
 
-		//<EFBFBD><EFBFBD>rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+		//将rgb波段提取出来，以便在界面中显示
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
-		//std::cout << "<EFBFBD><EFBFBD>" << m_iFrameCounter << "֡д<EFBFBD><EFBFBD>" << x << "<EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD>" << std::endl;
+		//std::cout << "第" << m_iFrameCounter << "帧写了" << x << "个unsigned short。" << std::endl;
 
-		//ÿ<EFBFBD><EFBFBD>1s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
+		//每隔1s进行一次界面图形绘制
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
 			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter, filePath);
@@ -360,18 +365,22 @@ void ResononNirImager::start_record()
 		if (m_iFrameCounter >= m_iFrameNumber)
 		{
 			break;
-			//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
 		}
 
 	}
 	imagerStopCollect();
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//在最后一次画图前需要进行一次拉伸
 	//m_RgbImage
-	emit PlotSignal(m_FileSavedCounter, -1, filePath);//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>Է<EFBFBD><EFBFBD>ɼ<EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>ȫ
+	emit PlotSignal(m_FileSavedCounter, -1, filePath);//采集完成后进行一次画图，以防采集帧数不是帧率的倍数时，画图不全
 
 	m_bRecordControlState = false;
 	WriteHdr();
+
+	// 发射 ImageFileSaved 信号，通知 UI 层把该文件加入图层管理器
+	// m_FileName2Save2 保存了本次写入的 .bil 文件名（例如 "tmp_image_0.bil"）
+	emit ImageFileSaved(QString::fromStdString(m_FileName2Save2), m_FileSavedCounter);
+
 	m_FileSavedCounter++;
 
 	if (m_iFrameCounter >= m_iFrameNumber)

HPPA/ResononNirImager.h

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

HPPA/RgbCameraOperation.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "RgbCameraOperation.h"
 
 RgbCameraOperation::RgbCameraOperation()
@@ -14,14 +14,14 @@ RgbCameraOperation::~RgbCameraOperation()
 
 void RgbCameraOperation::OpenCamera()
 {
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "打开摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	cam = new cv::VideoCapture(0);
 
 	record = true;
 
 	while (record)
 	{
-		//std::cout << "<EFBFBD>ɼ<EFBFBD>Ӱ<EFBFBD><EFBFBD>+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+		//std::cout << "采集影像+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 		cam->read(frame);
 		m_qImage = m_ImageProcessor->Mat2QImage(frame);
 
@@ -36,14 +36,14 @@ void RgbCameraOperation::OpenCamera()
 
 void RgbCameraOperation::OpenCamera_callback()
 {
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "打开摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	cam = new cv::VideoCapture(0);
 
 	record = true;
 
 	while (record)
 	{
-		//std::cout << "<EFBFBD>ɼ<EFBFBD>Ӱ<EFBFBD><EFBFBD>+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+		//std::cout << "采集影像+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 		cam->read(frame);
 		m_qImage = m_ImageProcessor->Mat2QImage(frame);
 
@@ -62,7 +62,7 @@ void RgbCameraOperation::setCallback(void(*func)())
 
 void RgbCameraOperation::CloseCamera()
 {
-	std::cout << "<EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "关闭摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 
 	record = false;
 }

HPPA/RgbCameraOperation.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #ifndef RGBCAMERAOPERATION_H
 #define RGBCAMERAOPERATION_H
 
@@ -36,7 +36,7 @@ private:
 
 public slots:
 	void OpenCamera();
-	void OpenCamera_callback();//<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD>źŶ<EFBFBD>ʹ<EFBFBD>ûص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֪ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ
+	void OpenCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
 	void CloseCamera();
 
 signals:

HPPA/RobotArmControl.cpp

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

HPPA/RobotArmControl.h

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

HPPA/TabManager.cpp

@@ -1,4 +1,4 @@
-#include "TabManager.h"
+#include "TabManager.h"
 
 TabManager::TabManager(QTabWidget* tabWidget, QObject* parent)
     : QObject(parent),
@@ -27,7 +27,7 @@ void TabManager::hideTab(QWidget* page)
 
     m_hiddenTabs.insert(page, info);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>ǵ<EFBFBD>ǰҳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>հ<EFBFBD>
+    // 如果隐藏的是当前页，先切换，避免空白
     if (m_tabWidget->currentIndex() == index)
     {
         int next = (index > 0) ? index - 1 : 0;

HPPA/TabManager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QTabWidget>

HPPA/TwoMotorControl.cpp

@@ -18,6 +18,22 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
     connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
     connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
     connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
+
+    connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
+    connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+
+    connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+    connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
 }
 
 void TwoMotorControl::setImager(ImagerOperationBase* imager)
@@ -34,6 +50,9 @@ void TwoMotorControl::setPosFileName(QString posFileName)
 
 bool TwoMotorControl::getState()
 {
+	if (m_coordinator == nullptr)
+		return false;
+
 	QEventLoop loop;
 	bool tmp = false;
 	bool received = false;
@@ -86,29 +105,33 @@ void TwoMotorControl::record_white()
 
 void TwoMotorControl::run()
 {
-	if (m_coordinator==nullptr)
-	{
-		qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
-		m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
-		m_coordinator->moveToThread(&m_coordinatorThread);
-		connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
-		connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
-		connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
-		connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
-		connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
-		connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
-		m_coordinatorThread.start();
-	}
-
 	if (getState())
 	{
-		//std::cout << "已经开始运行，请勿重复点击！！！！！！！！" << std::endl;
-		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！！！！！！！！！"));
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！"));
 		return;
 	}
 
-	QVector<PathLine> pathLines;
 	int rowCount = ui.recordLine_tableWidget->rowCount();
+	if(rowCount == 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
+
+		emit sequenceComplete();
+		return;
+	}
+
+	qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
+	m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+	m_coordinator->moveToThread(&m_coordinatorThread);
+	connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
+	connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
+	connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
+	connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
+	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
+	m_coordinatorThread.start();
+
+	QVector<PathLine> pathLines;
 	//int columnCount = ui.recordLine_tableWidget->columnCount();
 	for (size_t i = 0; i < rowCount; i++)
 	{
@@ -128,7 +151,7 @@ void TwoMotorControl::run()
 	{
 		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
 		{
-			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
+			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
 		}
 	}
 
@@ -151,6 +174,30 @@ TwoMotorControl::~TwoMotorControl()
 
 void TwoMotorControl::onConnectMotor()
 {
+	if (getMotorsConnectionStatus())
+	{
+		QMessageBox msgBox;
+		msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+		msgBox.exec();
+		return;
+	}
+
+	if (m_multiAxisController != nullptr)
+	{
+		disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
+		disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+		disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+		disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+		disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+		disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+		disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+		disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+		m_motorThread.quit();
+		m_motorThread.wait();
+		m_multiAxisController = nullptr;
+	}
+
     try
     {
         FileOperation* fileOperation = new FileOperation();
@@ -164,34 +211,20 @@ void TwoMotorControl::onConnectMotor()
         QMessageBox msgBox;
         msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
         msgBox.exec();
+        return;
     }
 
     m_multiAxisController->moveToThread(&m_motorThread);
     connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
 
-    connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
-    connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-    connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
-    connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-
-    connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
-    connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
-    connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
-    connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
-
-    connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
-	connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
-
     connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
 
     connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
     connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
     connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
 
-    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
     connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
 
-    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
     connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
 
     connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
@@ -223,15 +256,26 @@ void TwoMotorControl::onSequenceComplete()
 {
 	isWritePosFile = false;
 	fclose(m_posFileHandle);
-	
+
+	m_coordinatorThread.quit();
+	m_coordinatorThread.wait();
+	m_coordinator = nullptr;
+
 	emit sequenceComplete();
 }
 
+bool TwoMotorControl::getMotorsConnectionStatus()
+{
+	return m_xMotorConnectionStatus && m_yMotorConnectionStatus;
+}
+
 void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
 {
     //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
     if (connectivity[0])
     {
+		m_xMotorConnectionStatus = true;
+
 		this->ui.xMotorStateLabel->setStyleSheet(R"(
 			QLabel
 			{
@@ -242,6 +286,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
     }
     else
     {
+		m_xMotorConnectionStatus = false;
+
 		this->ui.xMotorStateLabel->setStyleSheet(R"(
 			QLabel
 			{
@@ -253,6 +299,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
 
     if (connectivity[1])
     {
+		m_yMotorConnectionStatus = true;
+
 		this->ui.yMotorStateLabel->setStyleSheet(R"(
 			QLabel
 			{
@@ -263,6 +311,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
     }
     else
     {
+		m_yMotorConnectionStatus = false;
+
 		this->ui.yMotorStateLabel->setStyleSheet(R"(
 			QLabel
 			{
@@ -271,6 +321,15 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
 			}
 		)");
     }
+
+	if(getMotorsConnectionStatus())
+	{
+		this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
+	}
+	else
+	{
+		this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
+	}
 }
 
 void TwoMotorControl::onxMotorRight()

HPPA/TwoMotorControl.h

@@ -8,12 +8,11 @@
 #include "IrisMultiMotorController.h"
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
+#include "MotorWindowBase.h"
 
 #define PI 3.1415926
 
-
-
-class TwoMotorControl : public QDialog
+class TwoMotorControl : public QDialog, public MotorWindowBase
 {
     Q_OBJECT
 
@@ -26,6 +25,8 @@ public:
 
     void record_dark();
     void record_white();
+
+    bool getMotorsConnectionStatus();
     
 private:
     ImagerOperationBase* m_Imager;
@@ -35,6 +36,8 @@ private:
     QString m_posFileName;
     FILE* m_posFileHandle;
 
+	bool m_xMotorConnectionStatus = false;
+	bool m_yMotorConnectionStatus = false;
 
 public Q_SLOTS:
     void onConnectMotor();
@@ -94,5 +97,5 @@ private:
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
 
     QThread m_motorThread;
-    IrisMultiMotorController* m_multiAxisController;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
 };

HPPA/View3D.h

@@ -1,4 +1,4 @@
-#ifndef VIEW3D_H
+#ifndef VIEW3D_H
 #define VIEW3D_H
 
 #include <QWidget>

HPPA/View3DModelManager.cpp

@@ -1,4 +1,4 @@
-#include "View3DModelManager.h"
+#include "View3DModelManager.h"
 
 View3DModelManager::View3DModelManager(QWidget* parent)
     : QWidget(parent)

HPPA/View3DModelManager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QObject>
 #include <QStackedWidget>
 #include <QCoreApplication>

HPPA/aboutWindow.cpp

@@ -1,4 +1,4 @@
-#include "aboutWindow.h"
+#include "aboutWindow.h"
 #include <QSvgRenderer>
 #include <QPainter> 
 
@@ -6,7 +6,7 @@ aboutWindow::aboutWindow(QWidget* parent)
 {
 	ui.setupUi(this);
 
-	ui.companylname_label->setOpenExternalLinks(true);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue<EFBFBD><EFBFBD><EFBFBD>ܴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҳ
+	ui.companylname_label->setOpenExternalLinks(true);//设置为true才能打开网页
 	QString text = ui.companylname_label->text();
 	ui.companylname_label->setText("<a style='color: green; text-decoration: none' href = http://www.iris-rs.cn/pr.jsp?_jcp=3_10>" + text);
 

HPPA/aboutWindow.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QtWidgets/qdialog.h>
 #include <qstring.h>
 

HPPA/adjustTable.cpp

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

HPPA/adjustTable.h

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

HPPA/fileOperation.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "fileOperation.h"
 #include "AppSettings.h"
 
@@ -38,7 +38,7 @@ string FileOperation::getDirectoryFromString(string directory)
 	if (!dir.exists(tmp))
 	{
 		bool res = dir.mkpath(tmp);
-		//qDebug() << "<EFBFBD>½<EFBFBD>Ŀ¼<EFBFBD>Ƿ<EFBFBD><EFBFBD>ɹ<EFBFBD>" << res;
+		//qDebug() << "新建目录是否成功" << res;
 	}
 	return directory;
 }
@@ -58,9 +58,9 @@ bool FileOperation::copyFile(QString source, QString target)
 
 	while (!in.eof())
 	{
-		in.read(buffer, 256);       //<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ж<EFBFBD>ȡ256<EFBFBD><EFBFBD><EFBFBD>ֽڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		n = in.gcount();             //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>в<EFBFBD>֪<EFBFBD><EFBFBD>ȡ<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֽڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ú<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>¡<EFBFBD>
-		out.write(buffer, n);       //д<EFBFBD><EFBFBD><EFBFBD>Ǹ<EFBFBD><EFBFBD>ֽڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		in.read(buffer, 256);       //从文件中读取256个字节的数据到缓存区
+		n = in.gcount();             //由于最后一行不知读取了多少字节的数据，所以用函数计算一下。
+		out.write(buffer, n);       //写入那个字节的数据
 	}
 	in.close();
 	out.close();
@@ -68,7 +68,7 @@ bool FileOperation::copyFile(QString source, QString target)
 	string::size_type idx;
 
 	idx = source1.find("hdr");
-	if (idx == string::npos) //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڡ<EFBFBD>
+	if (idx == string::npos) //不存在。
 		emit CopyFinishedSignal();
 
 	return 1;

HPPA/fileOperation.h

@@ -1,4 +1,4 @@
-#ifndef FILE_OPERATIOIN_H
+#ifndef FILE_OPERATIOIN_H
 #define FILE_OPERATIOIN_H
 
 #include <iostream>
@@ -36,6 +36,6 @@ public Q_SLOTS:
 
 
 signals:
-	void CopyFinishedSignal();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
+	void CopyFinishedSignal();//绘制影像信号
 };
 #endif

HPPA/focusWindow.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include "windows.h"
 #include <cstdio>
@@ -33,19 +33,19 @@
 #include <Eigen/Dense>
 #include <cmath>
 
-// <EFBFBD><EFBFBD><EFBFBD>ݼ<EFBFBD>¼<EFBFBD>ṹ<EFBFBD><EFBFBD>
+// 数据记录结构体
 struct PositionData {
-	double targetPosition;    // Ŀ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-	double actualPosition; // ʵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-	double cameraIndex;    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ָ<EFBFBD><EFBFBD>
-	QDateTime timestamp;   // ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	double targetPosition;    // 目标位置
+	double actualPosition; // 实际马达位置
+	double cameraIndex;    // 相机采集指数
+	QDateTime timestamp;   // 时间戳
 
 	PositionData(double target = 0, double actual = 0.0, double index = 0.0)
 		: targetPosition(target), actualPosition(actual),
 		cameraIndex(index), timestamp(QDateTime::currentDateTime()) {}
 };
 
-// Э<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// 协调控制器
 class MotionCaptureCoordinator : public QObject
 {
 	Q_OBJECT
@@ -59,7 +59,7 @@ public:
 	bool saveToCsv(const QString& filename);
 
 public slots:
-	void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);//-1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զλ<EFBFBD><EFBFBD>
+	void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);//-1：马达能到达的最远位置
 	void stopStepMotion();
 
 signals:
@@ -159,7 +159,7 @@ public Q_SLOTS:
 	void onExit();
 
 signals:
-	void StartManualFocusSignal(int);//1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>ֹͣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void StartManualFocusSignal(int);//1：开始调焦；0：停止调焦；
 
 	void move2LocSignal(int, double, double, int);
 	void move2MaxLocSignal(int, double, int);

HPPA/hppaConfigFile.cpp

@@ -1,4 +1,4 @@
-//
+//
 // Created by tangchao on 2023/3/25.
 //
 
@@ -301,10 +301,10 @@ bool Configfile::createConfigFile()
     Setting& x = motionPlatform.add("x", Setting::TypeGroup);
     Setting& y = motionPlatform.add("y", Setting::TypeGroup);
 
-    Setting& x_StepAnglemar = x.add("StepAnglemar", Setting::TypeFloat) = 1.8;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    Setting& x_Lead = x.add("Lead", Setting::TypeFloat) = 13.5;//<EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>cm
-    Setting& x_SubdivisionMultiples = x.add("SubdivisionMultiples", Setting::TypeInt) = 7;//ϸ<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD>
-    Setting& x_ScaleFactor = x.add("ScaleFactor", Setting::TypeFloat) = 1.0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    Setting& x_StepAnglemar = x.add("StepAnglemar", Setting::TypeFloat) = 1.8;//步距角
+    Setting& x_Lead = x.add("Lead", Setting::TypeFloat) = 13.5;//导程，单位：cm
+    Setting& x_SubdivisionMultiples = x.add("SubdivisionMultiples", Setting::TypeInt) = 7;//细分倍数
+    Setting& x_ScaleFactor = x.add("ScaleFactor", Setting::TypeFloat) = 1.0;//缩放因子
     Setting& x_MaxRange = x.add("MaxRange", Setting::TypeFloat) = 120.0;
     Setting& y_StepAnglemar = y.add("StepAnglemar", Setting::TypeFloat) = 1.8;
     Setting& y_Lead = y.add("Lead", Setting::TypeFloat) = 13.5;
@@ -569,14 +569,14 @@ bool CorningConfigfile::getPushFlowParam(int& flowSwitch, int& rgbHeight, int& f
 
     if (!root.exists("push_flow_param"))
     {
-        // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        // 配置项不存在，添加配置项
         Setting& push_flow_param = root.add("push_flow_param", Setting::TypeGroup);
 
         push_flow_param.add("flow_switch", Setting::TypeInt) = 0;
         push_flow_param.add("rgb_height", Setting::TypeInt) = 720;
         push_flow_param.add("framerate_video", Setting::TypeInt) = 5;
 
-        // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޸ĺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ļ<EFBFBD>
+        // 保存修改后的配置到文件
         try
         {
             QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));

HPPA/hppaConfigFile.h

@@ -1,4 +1,4 @@
-//
+//
 // Created by tangchao on 2023/3/25.
 //
 
@@ -62,7 +62,7 @@ public:
     bool getspatialBin(int& spatialBin);
     bool getEffectiveWindow(int& width, int& offsetx, int& height, int& offsety);
     bool getEffectiveWindowRoi(int& width, int& offsetx);
-    bool getWindowOffsety_HeightOfSpectral(int& offsety, int& height, string spectralBinString);//spectralBinString = "bin1"<EFBFBD><EFBFBD><EFBFBD>ߡ<EFBFBD>bin2<EFBFBD><EFBFBD>
+    bool getWindowOffsety_HeightOfSpectral(int& offsety, int& height, string spectralBinString);//spectralBinString = "bin1"或者”bin2“
     bool getGainOffset(float& gain, float& offset);
     bool getGainOffsetOfSpectralBin1(float& gain, float& offset);
     bool getSN(QString& SN);

HPPA/image2display.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "image2display.h"
 #include <iostream>
 
@@ -16,7 +16,7 @@ void CImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumbe
 
 	if (m_QRgbImage != nullptr)
 	{
-		delete m_QRgbImage;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>⣿<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		delete m_QRgbImage;//有问题？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
 	}
 	//m_QRgbImage = new QImage(Sample, FrameNumber, QImage::Format_RGB888);
 
@@ -54,19 +54,19 @@ void CImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumbe
 
 
 
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << FrameNumber << std::endl;
+	std::cout << "设置帧数：" << FrameNumber << std::endl;
 
-	m_iFrameCounter = 0;//ÿ<EFBFBD>ζ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0
+	m_iFrameCounter = 0;//每次都重置为0
 	m_iSampleNumber = Sample;
 	m_iBandNumber = BandCount;
 	m_iFrameNumber = FrameNumber;
 
-	//std::cout << "rgbӰ<EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַΪ<EFBFBD><EFBFBD>" << m_QRgbImage << std::endl;
+	//std::cout << "rgb影像内存地址为：" << m_QRgbImage << std::endl;
 }
 
 void CImage::FillRgbImage(unsigned short *datacube)
 {
-	//uchar==unsigned char<EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ֽڣ<EFBFBD><EFBFBD><EFBFBD>ΧΪ0-255
+	//uchar==unsigned char，内存大小：1个字节，范围为0-255
 	//uchar * imagebits24 = m_QRgbImage->bits();
 
 	//uchar * imagebits24 = m_QRgbImage->scanLine(m_iFrameCounter);//??????????????????????????????????????????????????????????????????????
@@ -75,26 +75,26 @@ void CImage::FillRgbImage(unsigned short *datacube)
 
  	for (int j = 0; j < m_iSampleNumber; j++)
 	{
-		//std::cout << "rgbͼ<EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << j << std::endl;
+		//std::cout << "rgb图像写入数据帧数：" << j << std::endl;
 
-		//ȡֵ<EFBFBD><EFBFBD>һ֡Ӱ<EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD>rgb<EFBFBD><EFBFBD>Ԫֵ
+		//取值：一帧影像中，从左到右的rgb像元值
 		r = *(datacube + 121 * m_iSampleNumber + j);
 		g = *(datacube + 79 * m_iSampleNumber + j);
 		b = *(datacube + 40 * m_iSampleNumber + j);
 
-		//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫֵ<EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>cv::Mat<61>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫֵ<D4AA><D6B5>https://zhuanlan.zhihu.com/p/51842288
-		//int dataType = m_matRgbImage->type();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16UC3ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>18
-		//std::cout << "m_matRgbImage<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << dataType << std::endl;
+		//将像元值赋值到cv::Mat中，操作像元值：https://zhuanlan.zhihu.com/p/51842288
+		//int dataType = m_matRgbImage->type();//当数据类型为CV_16UC3时，返回18
+		//std::cout << "m_matRgbImage数据类型为：" << dataType << std::endl;
 		if (m_matRgbImage->type() == CV_16UC3)
 		{
-			//std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>" << std::endl;
+			//std::cout << "操作像素值！" << std::endl;
 			m_matRgbImage->at<cv::Vec3w>(m_iFrameCounter, j)[2] = r;
 			m_matRgbImage->at<cv::Vec3w>(m_iFrameCounter, j)[1] = g;
 			m_matRgbImage->at<cv::Vec3w>(m_iFrameCounter, j)[0] = b;
 		}
 
 
-		////<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫֵ<EFBFBD><EFBFBD>4095<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>255<EFBFBD>ķ<EFBFBD>Χ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>QImage<EFBFBD><EFBFBD>
+		////将像元值从4095归一化到255的范围并赋值到QImage中
 		//imagebits24[j * 3] = uchar(r * 255 / 4095);
 		//imagebits24[j * 3 + 1] = uchar(g * 255 / 4095);
 		//imagebits24[j * 3 + 2] = uchar(b * 255 / 4095);
@@ -102,14 +102,14 @@ void CImage::FillRgbImage(unsigned short *datacube)
 
 	m_iFrameCounter++;
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼƬ
+	//保存rgb图片
 	if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
 	{
-		////<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+		////保存文件
 		//FileOperation * fileOperation = new FileOperation();
 		//string directory = fileOperation->getDirectoryOfExe();
-		//string rgbFilePathStrech = directory + "\\tmp_image_strech.png";//û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼƬ
-		//string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech.png";//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼƬ
+		//string rgbFilePathStrech = directory + "\\tmp_image_strech.png";//没有拉伸图片
+		//string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech.png";//拉伸图片
 
 		//m_QRgbImage->save(QString::fromStdString(rgbFilePathNoStrech), "PNG");
 
@@ -147,7 +147,7 @@ void CImage::FillFocusGrayImage(unsigned short * datacube)
 	//	}
 	//}
 
-	//<EFBFBD><EFBFBD>mat<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+	//将mat保存成文件
 	//cv::imwrite("D:/delete/2222222222/test.bmp", m_matFocusGrayImage);
 }
 

HPPA/image2display.h

@@ -1,9 +1,9 @@
-#ifndef CIMAGE
+#ifndef CIMAGE
 #define CIMAGE
 #include <stdio.h>
 
 
-#include <opencv2/opencv.hpp>//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#include <opencv2/opencv.hpp>//包含了所有东西，编译很慢
 //#include <opencv2/core/core.hpp> 
 //#include <opencv2/highgui/highgui.hpp> 
 
@@ -29,12 +29,12 @@ public:
 	cv::Mat *m_matRgbImage;
 
 	QImage *m_qimageFocusGrayImage;
-	cv::Mat *m_matFocusGrayImage;//<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾһ֡<EFBFBD>ĻҶ<EFBFBD>ͼ
-	//cv::Mat m_matFocusGrayImage;//<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾһ֡<EFBFBD>ĻҶ<EFBFBD>ͼ
+	cv::Mat *m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
+	//cv::Mat m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
 
 
-	//<EFBFBD><EFBFBD><EFBFBD>Ƹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ú<EFBFBD><EFBFBD><EFBFBD>SetRgbImageWidthAndHeight<EFBFBD><EFBFBD>2<EFBFBD><EFBFBD>ÿ<EFBFBD>ο<EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ
+	//控制该填充rgb图像第几帧（行）数据
+	//以下两种情况需要重置为0：1）调用函数SetRgbImageWidthAndHeight；2）每次开始填充数据前
 	int m_iFrameCounter;
 
 

HPPA/imageControl.cpp

@@ -1,4 +1,4 @@
-#include "imageControl.h"
+#include "imageControl.h"
 #include "RasterLayer.h"
 #include <algorithm>
 #include <cmath>
@@ -42,7 +42,7 @@ ImageControl::ImageControl(QWidget* parent)
 		QDoubleSpinBox {
 			border: 1px solid #999;
 			border-radius: 4px;
-			padding: 2px 20px 2px 6px;  /* <EFBFBD>Ҳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ռ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ť */
+			padding: 2px 20px 2px 6px;  /* 右侧留空间给按钮 */
 			background: #0e1c4c;
 			selection-background-color: #0078d7;
 			font-size: 12px;

HPPA/imageControl.h

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

HPPA/imageProcessor.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "imageProcessor.h"
 #include <algorithm>
 
@@ -17,19 +17,19 @@ std::vector<cv::Point2f> ImageProcessor::CHistogram(const cv::Mat img)
 	int cols = mimg.cols;
 	int maxValue = *std::max_element(mimg.begin<unsigned short>(), mimg.end<unsigned short>());
 	maxValue = 65535;
-	//ͳ<EFBFBD><EFBFBD>ÿ<EFBFBD><EFBFBD><EFBFBD>Ҷȳ<EFBFBD><EFBFBD>ֵĴ<EFBFBD><EFBFBD><EFBFBD>
-	std::vector<long int> hisnum(maxValue, 0);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//统计每个灰度出现的次数
+	std::vector<long int> hisnum(maxValue, 0);//？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
 	for (int i(0); i < rows; ++i)
 	{
-		//std::cout << "i<EFBFBD><EFBFBD>" << i << std::endl;
+		//std::cout << "i：" << i << std::endl;
 		for (int j(0); j < cols; ++j)
 		{
-			//std::cout << "j<EFBFBD><EFBFBD>" << j << std::endl;
+			//std::cout << "j：" << j << std::endl;
 			unsigned short gv = mimg.at<unsigned short>(i, j);
-			//std::cout << "gvֵ<EFBFBD><EFBFBD>" << gv << std::endl;
+			//std::cout << "gv值：" << gv << std::endl;
 
-			//<EFBFBD>Է<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>Ǹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڿ۳<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>ֵ
-			//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>mat<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16UC3<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>и<EFBFBD>ֵʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ65535
+			//以防数据中有负值：当镜头盖盖上在扣除暗电流就有可能为负值
+			//如果mat的数据类型为CV_16UC3，当数据中有有负值时，负值表现为65535
 			if (gv >= maxValue)
 			{
 				++hisnum[0];
@@ -40,7 +40,7 @@ std::vector<cv::Point2f> ImageProcessor::CHistogram(const cv::Mat img)
 			}
 		}
 	}
-	//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҷ<EFBFBD>Ƶ<EFBFBD><EFBFBD>
+	//开始计算灰度频率
 	long int pnum = rows * cols;
 	std::vector<cv::Point2f> hisp;
 	for (int i(0); i < hisnum.size(); ++i)
@@ -118,21 +118,21 @@ cv::Mat ImageProcessor::CStretchDeal(const cv::Mat img, const uint minnum, const
 	int rows = mimg.rows;
 	int cols = mimg.cols;
 	cv::Mat nimg = cv::Mat::zeros(rows, cols, CV_8U);
-	//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//归一化参数
 	float dertnum = maxnum - minnum;
-	//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//开始处理
 	for (int i(0); i < rows; ++i)
 	{
 		for (int j(0); j < cols; ++j)
 		{
 			unsigned short a = mimg.at<unsigned short>(i, j);
-			//С<EFBFBD><EFBFBD>ratio<EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵȡ0
+			//小于ratio对应像素值取0
 			if (a <= minnum)
 				nimg.at<uchar>(i, j) = 0;
-			//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ratioֵ<EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵȡ255
+			//大于ratio值对应像素值取255
 			else if (a >= maxnum)
 				nimg.at<uchar>(i, j) = 255;
-			//<EFBFBD>м<EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD>쵽0-255
+			//中间值拉伸到0-255
 			else
 				nimg.at<uchar>(i, j) = 255 * (mimg.at<unsigned short>(i, j) - minnum) / dertnum;
 		}
@@ -142,26 +142,26 @@ cv::Mat ImageProcessor::CStretchDeal(const cv::Mat img, const uint minnum, const
 
 cv::Mat ImageProcessor::CStretch(const cv::Mat img, const float ratio)
 {
-	//Ӱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>RGB<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҷ<EFBFBD>ֱ<EFBFBD><EFBFBD>ͼ
+	//影像分RGB计算灰度直方图
 	cv::Mat mimg = img.clone();
 	cv::Mat bgr[3];
 	split(mimg, bgr);
 	std::vector<cv::Point2f> hb = CHistogram(bgr[0]);
 	std::vector<cv::Point2f> hg = CHistogram(bgr[1]);
 	std::vector<cv::Point2f> hr = CHistogram(bgr[2]);
-	//ͳ<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>ͼ<EFBFBD>ۼ<EFBFBD>Ƶ<EFBFBD><EFBFBD>ratioֵ<EFBFBD><EFBFBD>Ӧ<EFBFBD>ĻҶ<EFBFBD>
+	//统计直方图累计频率ratio值对应的灰度
 	uint minb = MinRatio(hb, ratio);
 	uint ming = MinRatio(hg, ratio);
 	uint minr = MinRatio(hr, ratio);
 	uint maxb = MaxRatio(hb, ratio);
 	uint maxg = MaxRatio(hg, ratio);
 	uint maxr = MaxRatio(hr, ratio);
-	//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD>칤<EFBFBD><EFBFBD>
+	//开始拉伸工作
 	cv::Mat b, g, r;
 	b = CStretchDeal(bgr[0], minb, maxb);
 	g = CStretchDeal(bgr[1], ming, maxg);
 	r = CStretchDeal(bgr[2], minr, maxr);
-	//<EFBFBD>ϲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//合并拉伸结果
 	cv::Mat newbgr;
 	newbgr.create(img.rows, img.cols, CV_32FC3);
 	cv::Mat nbgr[3] = { b, g, r };

HPPA/imageProcessor.h

@@ -1,8 +1,8 @@
-#pragma once
+#pragma once
 #ifndef IMAGEPROCESSOR
 #define IMAGEPROCESSOR
 
-#include <opencv2/opencv.hpp>//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#include <opencv2/opencv.hpp>//包含了所有东西，编译很慢
 //#include <opencv2/core/core.hpp> 
 //#include <opencv2/highgui/highgui.hpp> 
 
@@ -18,9 +18,9 @@ public:
 
 	QImage Mat2QImage(cv::Mat cvImg);//https://www.cnblogs.com/annt/p/ant003.html
 
-	//envi 2%<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//gdal<EFBFBD>汾 <20><> https://blog.csdn.net/HB_Programmer/article/details/82020703?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control
-	//opencv<EFBFBD>汾 <20><> https://blog.csdn.net/qq_41824159/article/details/105469986
+	//envi 2%拉伸原理：
+	//gdal版本 → https://blog.csdn.net/HB_Programmer/article/details/82020703?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control
+	//opencv版本 → https://blog.csdn.net/qq_41824159/article/details/105469986
 	cv::Mat CStretchDeal(const cv::Mat img, const uint minnum, const uint maxnum);
 	uint MaxRatio(const std::vector<cv::Point2f> data, const float ratio);
 	uint MinRatio(const std::vector<cv::Point2f> data, const float ratio);

HPPA/imagerSimulatioin.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "imagerSimulatioin.h"
 
 imagerSimulatioin::imagerSimulatioin(QGraphicsItem *parent) :QGraphicsItem(parent)
@@ -8,7 +8,7 @@ imagerSimulatioin::imagerSimulatioin(QGraphicsItem *parent) :QGraphicsItem(paren
 
 	setFlags(ItemIsSelectable | ItemIsMovable);
 
-	//itemChange<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD>ItemSendsGeometryChanges flag is needed to capture the change in position of QGraphicsItem
+	//itemChange需要：ItemSendsGeometryChanges flag is needed to capture the change in position of QGraphicsItem
 	this->setFlag(QGraphicsItem::ItemSendsScenePositionChanges);
 	m_height = 50;
 	m_width = 50;
@@ -39,7 +39,7 @@ void imagerSimulatioin::paint(QPainter *painter, const QStyleOptionGraphicsItem
 	painter->setPen(outlinePen);
 	painter->setBrush(blueBrush);
 
-	painter->drawRect(-m_width / 2, -m_height / 2, m_width, m_height);//<EFBFBD><EFBFBD><EFBFBD>Ըı<EFBFBD>item<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD>㣬<EFBFBD><EFBFBD>setSceneRect(qreal x, qreal y, qreal w, qreal h)һ<EFBFBD><EFBFBD>
+	painter->drawRect(-m_width / 2, -m_height / 2, m_width, m_height);//可以改变item坐标原点，和setSceneRect(qreal x, qreal y, qreal w, qreal h)一样
 
 
 	//QPen outlinePen(Qt::red);
@@ -65,7 +65,7 @@ void imagerSimulatioin::setPos(qreal x, qreal y)
 	x = floor(x);
 	y = floor(y);
 
-	QGraphicsItem::setPos(x, y);//<EFBFBD><EFBFBD><EFBFBD>ø<EFBFBD><EFBFBD>౻<EFBFBD><EFBFBD><EFBFBD>ǵĺ<EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	QGraphicsItem::setPos(x, y);//调用父类被覆盖的函数执行相应操作
 
 	scene()->update();
 }
@@ -97,7 +97,7 @@ void imagerSimulatioin::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
 {
 	scene()->update();
 
-	QPointF originOfItem = this->scenePos();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>item<EFBFBD><EFBFBD><EFBFBD>Ͻ<EFBFBD><EFBFBD><EFBFBD>scene<EFBFBD>е<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	QPointF originOfItem = this->scenePos();//这是item左上角在scene中的坐标
 	//qDebug() << originOfItem;
 
 	QGraphicsItem::mouseMoveEvent(event);
@@ -105,8 +105,8 @@ void imagerSimulatioin::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
 
 void imagerSimulatioin::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
 {
-	QPointF x = pos();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>itemԭ<EFBFBD>㣨0<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>scene<EFBFBD>е<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	QPointF originOfItem = this->scenePos();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>itemԭ<EFBFBD>㣨0<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>scene<EFBFBD>е<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	QPointF x = pos();//这是item原点（0，0）在scene中的坐标
+	QPointF originOfItem = this->scenePos();//这是item原点（0，0）在scene中的坐标
 
 	QPointF viewPos = event->pos();
 
@@ -123,7 +123,7 @@ void imagerSimulatioin::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
 	emit leftMouseButtonPressed(originOfItem.x(), originOfItem.y());
 
 
-	//update();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//update();//不会实时绘制
 	scene()->update();
 
 	QGraphicsItem::mouseReleaseEvent(event);

HPPA/imagerSimulatioin.h

@@ -1,4 +1,4 @@
-#ifndef IMAGER_SIMULATIOIN
+#ifndef IMAGER_SIMULATIOIN
 #define IMAGER_SIMULATIOIN
 
 #include <QGraphicsItem>
@@ -15,11 +15,11 @@ public:
 	void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
 	void setPos(qreal x, qreal y);
 
-	//<EFBFBD><EFBFBD>QGraphicsScene<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼԪ<EFBFBD><EFBFBD><EFBFBD>϶<EFBFBD><EFBFBD><EFBFBD>Χ<EFBFBD><EFBFBD>https://www.cnblogs.com/sfy5848/p/6611824.html
+	//在QGraphicsScene中限制图元的拖动范围：https://www.cnblogs.com/sfy5848/p/6611824.html
 	QVariant itemChange(GraphicsItemChange change, const QVariant &value);
 
-	void mouseMoveEvent(QGraphicsSceneMouseEvent *event);//<EFBFBD><EFBFBD><EFBFBD>϶<EFBFBD>itemʱ<EFBFBD><EFBFBD>ͣ<EFBFBD><EFBFBD><EFBFBD>Ļ<EFBFBD><EFBFBD>ƣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>϶<EFBFBD><EFBFBD><EFBFBD>Ӱ
-	void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);//<EFBFBD><EFBFBD><EFBFBD>ſ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱͼԪ<EFBFBD><EFBFBD>scene<EFBFBD>е<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void mouseMoveEvent(QGraphicsSceneMouseEvent *event);//当拖动item时不停会的绘制，消除拖动重影
+	void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);//当放开鼠标时，发射此时图元在scene中的坐标
 protected:
 	
 

HPPA/imager_base.cpp

@@ -1,4 +1,4 @@
-#include "imager_base.h"
+#include "imager_base.h"
 Iris::ImagerBase::ImagerBase()
 {
 

HPPA/imager_base.h

@@ -1,4 +1,4 @@
-/*
+/*
  * Iris API
  *
  * By using this API, the user agrees to the terms and conditions as stated in the

HPPA/main.cpp

@@ -1,4 +1,4 @@
-#include "HPPA.h"
+#include "HPPA.h"
 #include <QtWidgets/QApplication>
 
 int main(int argc, char *argv[])

HPPA/path_tc.cpp

@@ -1,4 +1,4 @@
-#include "path_tc.h"
+#include "path_tc.h"
 
 string getPathofEXE()
 {

HPPA/path_tc.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <string>
 //#include <iostream>
 using namespace std;

HPPA/resononImager.cpp

@@ -1,4 +1,4 @@
-#include "resononImager.h"
+#include "resononImager.h"
 
 ResononPicaLImager::ResononPicaLImager()
 {
@@ -9,7 +9,7 @@ ResononPicaLImager::~ResononPicaLImager()
 {
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 		free(dark);
 		free(white);

HPPA/resononImager.h

@@ -1,4 +1,4 @@
-#ifndef RESONON_IMAGER
+#ifndef RESONON_IMAGER
 #define RESONON_IMAGER
 
 #include <string>

HPPA/resource.h

@@ -1,6 +1,6 @@
-//{{NO_DEPENDENCIES}}
-// Microsoft Visual C++ <EFBFBD><EFBFBD><EFBFBD>ɵİ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>
-// <EFBFBD><EFBFBD> HPPA.rc ʹ<EFBFBD><EFBFBD>
+//{{NO_DEPENDENCIES}}
+// Microsoft Visual C++ 生成的包含文件。
+// 供 HPPA.rc 使用
 //
 #define IDI_ICON1                       106
 

HPPA/set.ui

@@ -243,7 +243,11 @@ QPushButton:pressed
           </widget>
          </item>
          <item row="0" column="1">
-          <widget class="QLineEdit" name="dataFolderLineEdit"/>
+          <widget class="QLineEdit" name="dataFolderLineEdit">
+           <property name="readOnly">
+            <bool>true</bool>
+           </property>
+          </widget>
          </item>
          <item row="0" column="2">
           <widget class="QPushButton" name="dataFolderBtn">

HPPA/stdafx.cpp

@@ -1 +1 @@
-#include "stdafx.h"
+#include "stdafx.h"

HPPA/stdafx.h

@@ -1,3 +1,3 @@
-#include <QtWidgets>
+#include <QtWidgets>
 #include <Windows.h>
 #include <minwindef.h>

HPPA/twoMotorControl.ui

@@ -367,7 +367,7 @@ QScrollBar::add-line:horizontal, QScrollBar::sub-line:horizontal {
              <string notr="true">/* 表格整体 */
 QTableWidget {
     background-color: #0E1C4C;
-    color: #ACCDFF;
+    color: white;
     gridline-color: #4B60A6;
     border: 1px solid #4B60A6;
 }
@@ -377,11 +377,6 @@ QTableWidget QAbstractScrollArea::viewport {
     background-color: #0E1C4C;
 }
 
-/* 单元格 */
-QTableWidget::item {
-    background-color: #0E1C4C;
-    color: #ACCDFF;
-}
 
 /* 表头 */
 QHeaderView::section {

HPPA/utility_tc.h

@@ -1,4 +1,4 @@
-#ifndef UTILITY_TC_H
+#ifndef UTILITY_TC_H
 #define UTILITY_TC_H
 
 #include <iostream>