增加轮播控件，并将rgb相机界面移入轮播控件中；

1、右下角看板通过tabwidget管理很多可扩展控制页面；
2、定制右下角放大功能：占用右上角的看板空间；

.gitignore

@@ -5,6 +5,7 @@ gdal202.dll
 *.rej
 HPPA类图.drawio
 HPPA - 副本.ui
+icon
 
 ## Ignore Visual Studio temporary files, build results, and
 ## files generated by popular Visual Studio add-ons.

HPPA/Carousel.cpp

@@ -0,0 +1,238 @@
+#include "Carousel.h"
+#include <QContextMenuEvent>
+#include <QDebug>
+
+MyCarousel::MyCarousel(QWidget* parent)
+    : QWidget(parent),
+    m_stackedWidget(new QStackedWidget(this)),
+    m_bottomButtonOverlay(nullptr),
+    m_bottomButtonLayout(nullptr),
+    m_bottomButtonGroup(nullptr),
+    m_currentIndex(0),
+    m_isPlaying(false),
+    m_isLocked(false),
+    m_lockedIndex(-1),
+    m_playInterval(1000),
+    m_intervalButtonSize(40)
+{
+    QVBoxLayout* layout = new QVBoxLayout(this);
+    layout->addWidget(m_stackedWidget);
+
+    m_autoPlayerTimer = new QTimer(this);
+    connect(m_autoPlayerTimer, &QTimer::timeout,
+        this, &MyCarousel::slideRight);
+
+    m_nomalQSS= R"(
+            QPushButton {
+                background-color: white;
+                border-radius: 5px;
+                border: 1px solid white;
+            }
+            QPushButton:hover {
+                background-color: yellow;
+            }
+            QPushButton:checked {
+                background-color: blue;
+                border-radius: 5px;
+                border: 1px solid blue;
+            }
+	)";
+
+    m_lockedQSS = R"(
+            QPushButton {
+                background-color: red;
+                border-radius: 5px;
+                border: 1px solid red;
+            }
+            QPushButton:hover {
+                background-color: yellow;
+            }
+	)";
+}
+
+void MyCarousel::addWidget(QWidget* w)
+{
+    m_widgets.append(w);
+    m_stackedWidget->addWidget(w);
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::play()
+{
+    if (m_widgets.isEmpty())
+        return;
+
+    m_isPlaying = true;
+
+    // 创建底部按钮
+    m_bottomButtonLayout = new QHBoxLayout();
+    m_bottomButtonGroup = new QButtonGroup(this);
+    m_bottomButtons.clear();
+
+    for (int i = 0; i < m_widgets.size(); ++i) {
+        QPushButton* btn = new QPushButton(this);
+        btn->setCheckable(true);
+        btn->setFixedSize(m_intervalButtonSize, 3);
+        btn->setStyleSheet(m_nomalQSS);
+        btn->setFixedHeight(10);
+        btn->setFixedWidth(10);
+
+        m_bottomButtonLayout->addWidget(btn);
+        m_bottomButtonGroup->addButton(btn, i);
+        m_bottomButtons.append(btn);
+
+        connect(btn, &QPushButton::clicked, this, [this, i]() {
+            onButtonClicked(i);
+            });
+    }
+
+    m_bottomButtonOverlay = new QWidget(this);
+    m_bottomButtonOverlay->setLayout(m_bottomButtonLayout);
+    m_bottomButtonOverlay->setAttribute(Qt::WA_TranslucentBackground);
+    m_bottomButtonOverlay->show();
+
+    m_autoPlayerTimer->setInterval(m_playInterval);
+    m_autoPlayerTimer->start();
+
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::contextMenuEvent(QContextMenuEvent* event)
+{
+    showContextMenu(event->globalPos());
+}
+
+void MyCarousel::showContextMenu(const QPoint& pos)
+{
+    QMenu menu(this);
+
+    QAction* startAct = menu.addAction(QString::fromLocal8Bit("开始轮播"));
+    QAction* stopAct = menu.addAction(QString::fromLocal8Bit("停止轮播"));
+
+    if (!m_isLocked)
+        startAct->setEnabled(false);
+
+    if (m_isLocked)
+        stopAct->setEnabled(false);
+
+    QAction* act = menu.exec(pos);
+
+    if (act == startAct)
+        startAutoPlay();
+    else if (act == stopAct)
+        stopAutoPlay();
+}
+
+void MyCarousel::startAutoPlay()
+{
+    updateButtonState(m_currentIndex);
+}
+
+void MyCarousel::stopAutoPlay()
+{
+    updateButtonState(m_currentIndex);
+}
+
+void MyCarousel::onButtonClicked(int index)
+{
+    updateButtonState(index);
+    gotoWidget(index);
+}
+
+void MyCarousel::updateButtonState(int index)
+{
+    if (m_isLocked)
+    {
+        if (index == m_lockedIndex) {
+            // 解锁
+            m_isLocked = false;
+            m_lockedIndex = -1;
+
+            if (m_isPlaying)
+                m_autoPlayerTimer->start();
+
+            restoreButtonStyle(index);
+        }
+        else {
+            // 切换锁定
+            restoreButtonStyle(m_lockedIndex);
+            setButtonLocked(index);
+            m_lockedIndex = index;
+        }
+    }
+    else {
+        // 初次锁定
+        m_isLocked = true;
+        m_lockedIndex = index;
+        m_autoPlayerTimer->stop();
+        setButtonLocked(index);
+    }
+}
+
+void MyCarousel::setButtonLocked(int index)
+{
+    QPushButton* btn = m_bottomButtons[index];
+    btn->setText("");
+    btn->setStyleSheet(m_lockedQSS);
+}
+
+void MyCarousel::restoreButtonStyle(int index)
+{
+    if (index < 0)
+        return;
+
+    QPushButton* btn = m_bottomButtons[index];
+    btn->setText("");
+    btn->setStyleSheet(m_nomalQSS);
+}
+
+void MyCarousel::slideLeft()
+{
+    if (m_widgets.isEmpty() || m_isLocked || !m_isPlaying)
+        return;
+
+    m_currentIndex = (m_currentIndex - 1 + m_widgets.size()) % m_widgets.size();
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::slideRight()
+{
+    if (m_widgets.isEmpty() || m_isLocked || !m_isPlaying)
+        return;
+
+    m_currentIndex = (m_currentIndex + 1) % m_widgets.size();
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::gotoWidget(int index)
+{
+    m_currentIndex = index;
+    updateStackedWidgetVisibility();
+}
+
+void MyCarousel::updateStackedWidgetVisibility()
+{
+    if (m_widgets.isEmpty())
+        return;
+
+    m_stackedWidget->setCurrentIndex(m_currentIndex);
+
+    if (!m_isLocked) {
+        for (int i = 0; i < m_bottomButtons.size(); ++i)
+            m_bottomButtons[i]->setChecked(i == m_currentIndex);
+    }
+}
+
+void MyCarousel::resizeEvent(QResizeEvent*)
+{
+    if (!m_bottomButtonOverlay)
+        return;
+
+    int count = m_widgets.size();
+    int totalWidth = m_intervalButtonSize * count + 10 * (count - 1);
+
+    int x = (width() - totalWidth) / 2;
+    int y = height() - m_intervalButtonSize;
+
+    m_bottomButtonOverlay->setGeometry(x, y, totalWidth, m_intervalButtonSize);
+}

HPPA/Carousel.h

@@ -0,0 +1,66 @@
+#pragma once
+
+#include <QWidget>
+#include <QPushButton>
+#include <QStackedWidget>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QButtonGroup>
+#include <QTimer>
+#include <QMenu>
+
+class MyCarousel : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit MyCarousel(QWidget* parent = nullptr);
+
+    void addWidget(QWidget* w);
+    void play();
+    void gotoWidget(int index);
+
+protected:
+    void contextMenuEvent(QContextMenuEvent* event) override;
+    void resizeEvent(QResizeEvent* event) override;
+
+private slots:
+    void slideLeft();
+    void slideRight();
+    void onButtonClicked(int index);
+
+private:
+    // UI
+    QStackedWidget* m_stackedWidget;
+    QWidget* m_bottomButtonOverlay;
+    QHBoxLayout* m_bottomButtonLayout;
+    QButtonGroup* m_bottomButtonGroup;
+
+    QVector<QWidget*> m_widgets;
+    QVector<QPushButton*> m_bottomButtons;
+    QString m_nomalQSS;
+    QString m_lockedQSS;
+
+    // ״ֵ̬
+    int m_currentIndex;
+    bool m_isPlaying;
+    bool m_isLocked;
+    int m_lockedIndex;
+
+    // <20><><EFBFBD><EFBFBD>
+    int m_playInterval;
+    int m_intervalButtonSize;
+
+    QTimer* m_autoPlayerTimer;
+
+private:
+    void updateStackedWidgetVisibility();
+    void updateButtonState(int index);
+
+    void setButtonLocked(int index);
+    void restoreButtonStyle(int index);
+
+    void showContextMenu(const QPoint& pos);
+
+    void startAutoPlay();
+    void stopAutoPlay();
+};

HPPA/CustomDockWidgetBase.cpp

@@ -0,0 +1,204 @@
+#include "CustomDockWidgetBase.h"
+
+CustomDockWidgetBase::CustomDockWidgetBase(QMainWindow* parent)
+    : QDockWidget(parent),
+    m_mainWindow(parent),
+    m_isMaximized(false)
+{
+    initialize();
+}
+
+CustomDockWidgetBase::CustomDockWidgetBase(QString title, QMainWindow* parent)
+    : QDockWidget(title, parent),
+    m_mainWindow(parent),
+    m_isMaximized(false)
+{
+    initialize();
+    setTile(title);
+}
+
+void CustomDockWidgetBase::initialize()
+{
+    QWidget* titleBar_Background = new QWidget(this);
+    titleBar_Background->setObjectName("titleBar_Background");
+    QGridLayout* layout_titleBar_Background = new QGridLayout(titleBar_Background);
+    layout_titleBar_Background->setContentsMargins(0, 0, 0, 0);
+    titleBar_Background->setStyleSheet(R"(
+        QWidget #titleBar_Background{
+			background: #040125;
+        }
+	)");
+
+    QWidget* titleBar = new QWidget(titleBar_Background);
+    titleBar->setObjectName("titleBar");
+    QHBoxLayout* layout = new QHBoxLayout(titleBar);
+    titleBar->setFixedHeight(30);
+
+    title_label = new QLabel(titleBar);
+
+    layout->setContentsMargins(10, 0, 10, 0);
+    layout->addWidget(title_label);
+    layout->addStretch();
+
+    m_maxButton = new QToolButton(titleBar);
+    m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+
+    layout->addWidget(m_maxButton);
+
+    titleBar->setStyleSheet(R"(
+        QWidget #titleBar{
+			background: #0E1C4C;
+			/*border: 4px solid #2c586b;*/
+			/*padding-top: 10px;
+			padding-bottom: 10px;*/
+
+			border-top: 1px solid #2c586b;
+			border-left: 1px solid #2c586b;
+			border-right: 1px solid #2c586b;
+			border-bottom: none;  /* ȡ<><C8A1><EFBFBD>ײ<EFBFBD><D7B2>߿<EFBFBD> */
+			
+			border-top-left-radius: 5px;
+			border-top-right-radius: 5px;
+        }
+	)");
+    title_label->setStyleSheet("color: white;");
+    m_maxButton->setStyleSheet("");
+
+    layout_titleBar_Background->addWidget(titleBar);
+
+    setTitleBarWidget(titleBar_Background);
+    setFeatures(QDockWidget::DockWidgetClosable);
+    connect(m_maxButton, &QToolButton::clicked, this, &CustomDockWidgetBase::toggleMaximize);
+}
+
+void CustomDockWidgetBase::setTile(QString title)
+{
+    title_label->setText(title);
+}
+
+void CustomDockWidgetBase::hideMaxButton()
+{
+    m_maxButton->hide();
+}
+
+void CustomDockWidgetBase::toggleMaximize()
+{
+    if (!m_isMaximized)
+    {
+        m_hiddenDocks.clear();
+        m_originalSizes.clear();
+
+        m_savedState = m_mainWindow->saveState();
+
+        const QList<QDockWidget*> docks = m_mainWindow->findChildren<QDockWidget*>();
+        for (QDockWidget* dock : docks)
+        {
+            m_originalSizes[dock] = dock->size();
+            if (dock != this && dock->isVisible())
+            {
+                dock->hide();
+                m_hiddenDocks.append(dock);
+            }
+        }
+
+        m_isMaximized = true;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarNormalButton));
+    }
+    else
+    {
+        for (QDockWidget* dock : m_hiddenDocks)
+        {
+            dock->show();
+        }
+
+        if (!m_savedState.isEmpty())
+        {
+            m_mainWindow->restoreState(m_savedState);
+            m_savedState.clear();
+        }
+
+        QList<QDockWidget*> docks;
+        QList<int> widths, heights;
+        for (auto it = m_originalSizes.begin(); it != m_originalSizes.end(); ++it)
+        {
+            docks.append(it.key());
+            widths.append(it.value().width());
+            heights.append(it.value().height());
+        }
+
+        m_mainWindow->resizeDocks(docks, widths, Qt::Horizontal);
+        m_mainWindow->resizeDocks(docks, heights, Qt::Vertical);
+
+        m_isMaximized = false;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+    }
+}
+
+
+CustomDockWidgetHideAbove::CustomDockWidgetHideAbove(QString title, QMainWindow* parent)
+    :CustomDockWidgetBase(title, parent)
+{
+
+}
+CustomDockWidgetHideAbove::CustomDockWidgetHideAbove(QMainWindow* parent)
+    :CustomDockWidgetBase(parent)
+{
+
+}
+
+void CustomDockWidgetHideAbove::toggleMaximize()
+{
+    if (!m_isMaximized)
+    {
+        m_hiddenDocks.clear();
+        m_originalSizes.clear();
+
+        m_savedState = m_mainWindow->saveState();
+
+        const QList<QDockWidget*> docks = m_mainWindow->findChildren<QDockWidget*>();
+        for (QDockWidget* dock : docks)
+        {
+            m_originalSizes[dock] = dock->size();
+            if (dock->objectName().contains("mDockCarousel") && dock->isVisible())
+            {
+                dock->hide();
+                m_hiddenDocks.append(dock);
+            }
+        }
+
+        m_isMaximized = true;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarNormalButton));
+    }
+    else
+    {
+        for (QDockWidget* dock : m_hiddenDocks)
+        {
+            dock->show();
+        }
+
+        if (!m_savedState.isEmpty())
+        {
+            m_mainWindow->restoreState(m_savedState);
+            m_savedState.clear();
+        }
+
+        //QList<QDockWidget*> docks;
+        //QList<int> widths, heights;
+        //for (auto it = m_originalSizes.begin(); it != m_originalSizes.end(); ++it)
+        //{
+        //    docks.append(it.key());
+        //    widths.append(it.value().width());
+        //    heights.append(it.value().height());
+        //}
+
+        //m_mainWindow->resizeDocks(docks, widths, Qt::Horizontal);
+        //m_mainWindow->resizeDocks(docks, heights, Qt::Vertical);
+
+        m_isMaximized = false;
+        emit maximizeStateChanged(m_isMaximized);
+        m_maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+    }
+}

HPPA/CustomDockWidgetBase.h

@@ -0,0 +1,53 @@
+#pragma once
+#include <QDockWidget>
+#include <QToolButton>
+#include <QStyle>
+#include <QHBoxLayout>
+#include <QMainWindow>
+#include <QMap>
+#include <QSize>
+#include <QLabel>
+
+class CustomDockWidgetBase :
+    public QDockWidget
+{
+    Q_OBJECT
+public:
+    explicit CustomDockWidgetBase(QString title, QMainWindow* parent = nullptr);
+    explicit CustomDockWidgetBase(QMainWindow* parent = nullptr);
+    void setTile(QString title);
+    void hideMaxButton();
+
+public slots:
+    virtual void toggleMaximize();
+
+signals:
+    void maximizeStateChanged(bool isMaximized);
+
+protected:
+    QMainWindow* m_mainWindow = nullptr;
+    QToolButton* m_maxButton = nullptr;
+    bool m_isMaximized = false;
+
+    QList<QDockWidget*> m_hiddenDocks;
+    QByteArray m_savedState;
+    QMap<QDockWidget*, QSize> m_originalSizes;
+
+    QLabel* title_label;
+    void initialize();
+};
+
+class CustomDockWidgetHideAbove :
+    public CustomDockWidgetBase
+{
+    Q_OBJECT
+public:
+    explicit CustomDockWidgetHideAbove(QString title, QMainWindow* parent = nullptr);
+    explicit CustomDockWidgetHideAbove(QMainWindow* parent = nullptr);
+
+private slots:
+    void toggleMaximize();
+
+private:
+
+};

HPPA/HPPA.cpp

@@ -8,7 +8,7 @@
 #include "ImageReaderWriter.h"
 
 
-HPPA::HPPA(QWidget *parent)
+HPPA::HPPA(QWidget* parent)
 	: QMainWindow(parent)
 {
 	ui.setupUi(this);
@@ -67,27 +67,8 @@ HPPA::HPPA(QWidget *parent)
 
 	
 
-	//<2F>ڹ<EFBFBD><DAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>QLineEdit
-	frame_number = new QLineEdit(ui.mainToolBar);
-	frame_number->setStyleSheet("QLineEdit{background-color:rgb(255,255,255);}");
-	frame_number->setMaximumWidth(100);
-	frame_number->setText("5000");
-	QAction *action = ui.mainToolBar->insertWidget(ui.action_start_recording, frame_number);
-
-	m_FilenameLineEdit = new QLineEdit(ui.mainToolBar);
-	m_FilenameLineEdit->setStyleSheet("QLineEdit{background-color:rgb(255,255,255);}");
-	m_FilenameLineEdit->setMaximumWidth(100);
-	m_FilenameLineEdit->setText("tmp_image");
-	QAction *action1 = ui.mainToolBar->insertWidget(ui.action_start_recording, m_FilenameLineEdit);
-
-
-
-
-	/*QToolBar *ptoolbar = ui.mainToolBar;
-	QAction *pAction = new QAction("tangchao");
-	ptoolbar->addAction(pAction);*/
-
 
+	initMenubarToolbar();
 
 
 
@@ -96,21 +77,6 @@ HPPA::HPPA(QWidget *parent)
 	m_RecordState = 0;
 	connect(this->ui.action_connect_imager, SIGNAL(triggered()), this, SLOT(onconnect()));//<2F>ź<EFBFBD><C5BA><EFBFBD><EFBFBD>ۣ<EFBFBD><DBA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD><C5BA><EFBFBD><EFBFBD>۰󶨷<DBB0><F3B6A8B7>ں<EFBFBD><DABA><EFBFBD>onconnect<63><74>
 
-	//rgb<67><62><EFBFBD><EFBFBD>
-	m_RgbCameraThread = new QThread();
-	m_RgbCamera = new RgbCameraOperation();
-	m_RgbCamera->moveToThread(m_RgbCameraThread);
-	m_RgbCameraThread->start();
-	connect(this->ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera()));//ʹ<><CAB9><EFBFBD>ź<EFBFBD>֪ͨ<CDA8><D6AA><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD>Ƶ <20><> <20>ɹ<EFBFBD><C9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǽ<EFBFBD><C7BD>濨<EFBFBD><E6BFA8>
-	connect(m_RgbCamera, SIGNAL(PlotSignal()), this, SLOT(onPlotRgbImage()));
-
-	//m_RgbCamera->setCallback(onPlotRgbImage);
-	//connect(this->ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera_callback()));//ʹ<>ûص<C3BB><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3><CCA3>ϵ<EFBFBD><CFB5><EFBFBD>Ƶ <20><> ʧ<><CAA7>
-
-	connect(this->ui.close_rgb_camera_btn, SIGNAL(clicked()), this, SLOT(onCloseRgbCamera()));//<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
-	connect(m_RgbCamera, SIGNAL(CamClosed()), this, SLOT(onClearLabel()));
-
-
 	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʷ<EFBFBD>Χ<EFBFBD><CEA7><EFBFBD><EFBFBD>Щ<EFBFBD><D0A9><EFBFBD>ñ<EFBFBD><C3B1><EFBFBD><EFBFBD><EFBFBD>slider<65><72><EFBFBD>źźͲ<C5BA><CDB2><EFBFBD><EFBFBD><EFBFBD>connectǰ<74><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>setMinimum<75><6D><EFBFBD>ı<EFBFBD>slider<65><72>ֵ
 	ui.FramerateSlider->setMinimum(1);
 	ui.FramerateSlider->setMaximum(250);
@@ -135,86 +101,286 @@ HPPA::HPPA(QWidget *parent)
 	//<2F><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>ģ<EFBFBD><C4A3>
 	connect(ui.graphicsView->imager, SIGNAL(leftMouseButtonPressed(int, int)), this, SLOT(onimagerSimulatorMove(int, int)));
 
-
-
-	//
-	ui.ImageViewerTabWidget->clear();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD>棬<EFBFBD><E6A3AC><EFBFBD><EFBFBD>ɾ<EFBFBD><C9BE><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD>tab
-	//ui.ImageViewerTabWidget->setTabsClosable(true);//<2F><><EFBFBD><EFBFBD>ÿҳ<C3BF><D2B3><EFBFBD><EFBFBD><EFBFBD>йرհ<D8B1>ť
-	connect(ui.ImageViewerTabWidget, SIGNAL(currentChanged(int)), this, SLOT(onTabWidgetCurrentChanged(int)));
-
-	//
-	connect(this->ui.action_about, SIGNAL(triggered()), this, SLOT(onAbout()));
-
 	initPanelToolbar();
+	setDockNestingEnabled(true);
+	connect(this->ui.action_about, SIGNAL(triggered()), this, SLOT(onAbout()));
 	connect(this->ui.mActionOneMotorScenario, SIGNAL(triggered()), this, SLOT(createOneMotorScenario()));
 
-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+	delete ui.centralWidget;
-	QWidget* widget = new QWidget();
-	QGridLayout* grid = new QGridLayout(widget);
 
-	m_chartView = new QChartView(ui.mDockWidgetSpectralViewer);
+	QString qss_DockWidget_contentWidget = R"(
+        background: #0D1233;
+		/*border: 1px solid #2c586b;*/
+		
+		border-top: 1px solid #2c586b;
+		border-left: 1px solid #2c586b;
+		border-right: 1px solid #2c586b;
+		border-bottom: 1px solid #2c586b;
+
+		border-bottom-left-radius: 10px;
+		border-bottom-right-radius: 10px;
+	)";
+
+	
+	ui.mDockWidgetSimulator->setTile(QString::fromLocal8Bit("3Dģ<EFBFBD><EFBFBD>"));
+	ui.mDockWidgetSpectrometer->setTile(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+
+	//TOC
+	CustomDockWidgetBase* dock_layers = new CustomDockWidgetBase(QString::fromLocal8Bit("layers"), this);
+	dock_layers->setObjectName("mDockLayers");
+	dock_layers->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+	mPanelMenu->addAction(dock_layers->toggleViewAction());
+	addDockWidget(Qt::LeftDockWidgetArea, dock_layers);
+	dock_layers->hideMaxButton();
+
+	QWidget* dock_layersWidgetContents = new QWidget();
+	dock_layersWidgetContents->setObjectName(QString::fromUtf8("dockWidgetContents_2"));
+	QGridLayout* gridLayout_toc = new QGridLayout(dock_layersWidgetContents);
+	gridLayout_toc->setSpacing(6);
+	gridLayout_toc->setContentsMargins(11, 11, 11, 11);
+	gridLayout_toc->setObjectName(QString::fromUtf8("gridLayout_toc"));
+	gridLayout_toc->setVerticalSpacing(0);
+	gridLayout_toc->setContentsMargins(0, 0, 0, 0);
+
+	ImagerPositionSimulation* graphicsView_delete = new ImagerPositionSimulation(dock_layersWidgetContents);
+	graphicsView_delete->setObjectName(QString::fromUtf8("graphicsView_delete"));
+	QSizePolicy sizePolicy1(QSizePolicy::Preferred, QSizePolicy::Preferred);
+	sizePolicy1.setHorizontalStretch(0);
+	sizePolicy1.setVerticalStretch(0);
+	sizePolicy1.setHeightForWidth(graphicsView_delete->sizePolicy().hasHeightForWidth());
+	graphicsView_delete->setSizePolicy(sizePolicy1);
+	graphicsView_delete->setFrameShape(QFrame::NoFrame);
+	graphicsView_delete->setFrameShadow(QFrame::Raised);
+
+	gridLayout_toc->addWidget(graphicsView_delete, 0, 0, 1, 1);
+	dock_layers->setWidget(dock_layersWidgetContents);
+	dock_layersWidgetContents->setStyleSheet(qss_DockWidget_contentWidget);
+
+	//dock_layers->setMinimumWidth(449);
+	//dock_layers->setMaximumWidth(450);
+	//dock_layers->setMinimumHeight(497);
+	//dock_layers->setMaximumHeight(498);
+	
+
+	//<2F>߹<EFBFBD><DFB9>ײ鿴
+	QDockWidget* dock_hyperimgViewer = new CustomDockWidgetBase(QString::fromLocal8Bit("hyimgViewer"), this);
+	dock_hyperimgViewer->setObjectName("hyimgViewer");
+
+	QWidget* dock_hyperimgViewerWidgetContents = new QWidget();
+	dock_hyperimgViewerWidgetContents->setObjectName(QString::fromUtf8("dock_hyperimgViewerWidgetContents"));
+	QGridLayout* gridLayout_hyperimgViewer = new QGridLayout(dock_hyperimgViewerWidgetContents);
+	gridLayout_hyperimgViewer->setSpacing(6);
+	gridLayout_hyperimgViewer->setObjectName(QString::fromUtf8("gridLayout_hyperimgViewer"));
+	gridLayout_hyperimgViewer->setVerticalSpacing(6);
+	gridLayout_hyperimgViewer->setContentsMargins(1, 2, 1, 2);
+
+	m_imageViewerTabWidget = new QTabWidget();
+	//m_imageViewerTabWidget->tabBar()->setFixedHeight(40);//û<><C3BB>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>qss<73><73><EFBFBD><EFBFBD><EFBFBD>ø߶Ȳ<DFB6><C8B2><EFBFBD>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD>Ϊɶ<CEAA><C9B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	m_imageViewerTabWidget->clear();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD>棬<EFBFBD><E6A3AC><EFBFBD><EFBFBD>ɾ<EFBFBD><C9BE><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD>tab
+	QToolButton* maxButton = new QToolButton();
+	maxButton->setIcon(style()->standardIcon(QStyle::SP_TitleBarMaxButton));
+	connect(maxButton, SIGNAL(clicked()), dock_hyperimgViewer, SLOT(toggleMaximize()));
+	m_imageViewerTabWidget->setCornerWidget(maxButton, Qt::TopRightCorner);
+	//onCreateTab(0);
+	//m_imageViewerTabWidget->setTabsClosable(true);//<2F><><EFBFBD><EFBFBD>ÿҳ<C3BF><D2B3><EFBFBD><EFBFBD><EFBFBD>йرհ<D8B1>ť
+	connect(m_imageViewerTabWidget, SIGNAL(currentChanged(int)), this, SLOT(onTabWidgetCurrentChanged(int)));
+	m_imageViewerTabWidget->setStyleSheet(R"(
+		QTabBar::tab {
+			background: #0E1C4C;
+			color: white;
+			padding: 6px 12px;
+			border: none;
+			border-bottom: 1px solid #27376C;
+			height: 18;
+		}
+		
+		QTabBar::tab:selected {
+			background: #0D1233;
+			color: white;
+			border: none;
+		}
+
+		/*QTabBar::tab:hover {
+			background: #141A45;
+		}*/
+
+        QTabWidget::pane {
+			border: none;
+			border-top: 1px solid #27376C;
+			background: #0D1233;
+			top: -1px;
+		}
+
+		QTabWidget QWidget {
+			background: #0D1233;
+		}
+	)");
+	QWidget* imageViewerTabWidgetContainer = new QWidget();
+	QGridLayout* gridLayout_imageViewerTabWidgetContainer = new QGridLayout(imageViewerTabWidgetContainer);
+	gridLayout_imageViewerTabWidgetContainer->setSpacing(6);
+	gridLayout_imageViewerTabWidgetContainer->setObjectName(QString::fromUtf8("gridLayout_imageViewerTabWidgetContainer"));
+	gridLayout_imageViewerTabWidgetContainer->setVerticalSpacing(6);
+	gridLayout_imageViewerTabWidgetContainer->setContentsMargins(0, 0, 0, 0);
+	gridLayout_imageViewerTabWidgetContainer->addWidget(m_imageViewerTabWidget, 0, 0, 1, 1);
+	imageViewerTabWidgetContainer->setStyleSheet(R"(
+			background: #0E1C4C;
+		)");
+
+	QFrame* line = new QFrame();
+	line->setFrameShape(QFrame::HLine);
+	line->setFrameShadow(QFrame::Plain);
+	line->setStyleSheet(R"(
+        QWidget {
+			color: #2c586b;
+		}
+	)");
+
+	m_chartView = new QChartView();
 	m_chartView->setRenderHint(QPainter::Antialiasing);
+	m_chartView->setStyleSheet(R"(
+        background: #0D1233;
+	)");
+	//m_chartView->setBackgroundBrush(QColor("#0D1233"));
 
-	grid->addWidget(m_chartView);
+	m_chart = new QChart();
-	//grid->setMargin(0);
+	m_chart->setBackgroundBrush(QColor("#0D1233"));
-	grid->setContentsMargins(0, 0, 0, 0);
+	m_chart->legend()->hide();
-	//grid->SetMaximumSize(0);
+	//m_chart->setTitle("Simple line chart example");
-	ui.mDockWidgetSpectralViewer->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea);
-	ui.mDockWidgetSpectralViewer->setWidget(widget);
-	//QLineSeries *series = new QLineSeries();
-	//QChart *chart = new QChart();
-	mPanelMenu->addAction(ui.mDockWidgetSpectralViewer->toggleViewAction());
 
-	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>dock
+	QValueAxis* axisX = new QValueAxis();
-	adjustTable* adt = new adjustTable();
+	QValueAxis* axisY = new QValueAxis();
+	setAxis(axisX, axisY);
+	m_chart->addAxis(axisX, Qt::AlignBottom);
+	m_chart->addAxis(axisY, Qt::AlignLeft);
+	m_chartView->setChart(m_chart);
 
-	QDockWidget* dock_adt = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
+	gridLayout_hyperimgViewer->addWidget(imageViewerTabWidgetContainer, 0, 0, 1, 1);
-	dock_adt->setObjectName("mDockAdjustTable");
+	gridLayout_hyperimgViewer->addWidget(line, 1, 0, 1, 1);
-	dock_adt->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+	gridLayout_hyperimgViewer->addWidget(m_chartView, 2, 0, 1, 1);
-	dock_adt->setWidget(adt);
-	tabifyDockWidget(ui.mDockWidgetSpectrometer, dock_adt);
-	mPanelMenu->addAction(dock_adt->toggleViewAction());
 
-	//<2F><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>
+	gridLayout_hyperimgViewer->setRowStretch(0, 3);
-	PowerControl* pc = new PowerControl();
+	gridLayout_hyperimgViewer->setRowStretch(1, 1);
+	gridLayout_hyperimgViewer->setRowStretch(2, 2);
 
-	QDockWidget* dock_pc = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
-	dock_pc->setObjectName("mDockPowerControl");
-	dock_pc->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
-	dock_pc->setWidget(pc);
-	tabifyDockWidget(dock_adt, dock_pc);
-	mPanelMenu->addAction(dock_pc->toggleViewAction());
 
-	//<2F><>е<EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD>
+	dock_hyperimgViewerWidgetContents->setStyleSheet(R"(
-	rac = new RobotArmControl();
+        QWidget #dock_hyperimgViewerWidgetContents{
-	connect(rac->robotController, SIGNAL(hsiRecordSignal(int)), this, SLOT(recordFromRobotArm(int)));
+			background: #0D1233;
-	QDockWidget* dock_rac = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD>е<EFBFBD>ۿ<EFBFBD><EFBFBD><EFBFBD>"), this);
+			/*border: 1px solid #2c586b;*/
-	dock_rac->setObjectName("mDockRobotArmControl");
-	dock_rac->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
-	dock_rac->setWidget(rac);
-	tabifyDockWidget(dock_adt, dock_rac);
-	mPanelMenu->addAction(dock_rac->toggleViewAction());
 		
-	//һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+			border-top: 2px solid #2c586b;
-	omc = new OneMotorControl();
+			border-left: 1px solid #2c586b;
+			border-right: 1px solid #2c586b;
+			border-bottom: 2px solid #2c586b;
 			
-	dock_omc = new QDockWidget(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
+			border-top-left-radius: 10px;
-	dock_omc->setObjectName("mDockOneMotorControl");
+			border-top-right-radius: 10px;
-	dock_omc->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+			border-bottom-left-radius: 10px;
-	dock_omc->setWidget(omc);
+			border-bottom-right-radius: 10px;
-	tabifyDockWidget(dock_rac, dock_omc);
+		}
-	mPanelMenu->addAction(dock_omc->toggleViewAction());
+	)");
+
+	dock_hyperimgViewer->setWidget(dock_hyperimgViewerWidgetContents);
+	mPanelMenu->addAction(dock_hyperimgViewer->toggleViewAction());
+	QWidget* tmp6 = new QWidget();
+	dock_hyperimgViewer->setTitleBarWidget(tmp6);
+
+	//<2F>ֲ<EFBFBD><D6B2><EFBFBD><EFBFBD><EFBFBD>
+	m_dock_carousel = new CustomDockWidgetBase(QString::fromLocal8Bit("<EFBFBD>ֲ<EFBFBD>"), this);
+	m_dock_carousel->setObjectName("mDockCarousel");
+	m_dock_carousel->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+	mPanelMenu->addAction(m_dock_carousel->toggleViewAction());
+	//addDockWidget(Qt::LeftDockWidgetArea, m_dock_carousel);
+
+	m_carousel = new MyCarousel();
+	m_carousel->setObjectName(QString::fromUtf8("carousel"));
+
+	QScrollArea* sa = new QScrollArea();
+	sa->setStyleSheet(R"(
+        border: none;
+	)");
+	QGridLayout* gridLayout_sa = new QGridLayout(sa);
+	gridLayout_sa->setSpacing(6);
+	gridLayout_sa->setObjectName(QString::fromUtf8("gridLayout_sa"));
+	gridLayout_sa->setVerticalSpacing(0);
+	gridLayout_sa->setContentsMargins(0, 0, 0, 0);
+
+	m_cam_label = new QLabel();
+	gridLayout_sa->addWidget(m_cam_label);
+
+	m_carousel->addWidget(sa);
+	m_carousel->addWidget(new QLabel("1"));
+	m_carousel->addWidget(new QLabel("2"));
+	m_carousel->addWidget(new QLabel("3"));
+	//m_carousel->addWidget(new QLabel("4"));
+	//m_carousel->addWidget(new QLabel("5"));
+	//m_carousel->addWidget(new QLabel("6"));
+	//m_carousel->addWidget(new QLabel("7"));
+	//m_carousel->addWidget(new QLabel("8"));
+	//m_carousel->addWidget(new QLabel("9"));
+	//m_carousel->addWidget(new QLabel("10"));
+	//m_carousel->addWidget(new QLabel("11"));
+	//m_carousel->addWidget(new QLabel("12"));
+	//m_carousel->addWidget(new QLabel("13"));
+	//m_carousel->addWidget(new QLabel("14"));
+	//m_carousel->addWidget(new QLabel("15"));
+	//m_carousel->addWidget(new QLabel("16"));
+	m_carousel->play();
+
+	m_dock_carousel->setWidget(m_carousel);
+	
+	initControlTabwidget();
+
+
+	splitDockWidget(dock_layers, dock_hyperimgViewer, Qt::Horizontal);
+	splitDockWidget(dock_hyperimgViewer, m_dock_carousel, Qt::Horizontal);
+
+	//m_dock_carousel->show();
+	//ui.mDockWidgetRGBCamera->setMinimumWidth(449);
+	//ui.mDockWidgetRGBCamera->setMaximumWidth(450);
+	//ui.mDockWidgetRGBCamera->setMinimumHeight(497);
+	//ui.mDockWidgetRGBCamera->setMaximumHeight(498);
+
+	splitDockWidget(dock_layers, ui.mDockWidgetSimulator, Qt::Vertical);
+	ui.mDockWidgetSimulator->show();
+
+	splitDockWidget(m_dock_carousel, ui.mDockWidgetSpectrometer, Qt::Vertical);
+	ui.mDockWidgetSpectrometer->show();
+
+	setStyleSheet(R"(
+		QMainWindow::separator{
+			width: 16px;
+			height: 16px;
+			background: #040125;  /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӱ<EFBFBD><D3B1><EFBFBD>ɫ */
+			/*border: 1px solid #808080;*/  /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӱ߿<D3B1> */
+		}
+
+		QDockWidget {
+            border: 2px solid #2a347a;  /* <20><><EFBFBD><EFBFBD>ɫ<EFBFBD>߿<EFBFBD> */
+            background-color: red;  /* <20><><EFBFBD>屳<EFBFBD><E5B1B3>ɫ */
+			color: white;               /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ */
+            border-radius: 4px;
+        }
+
+        /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
+        QDockWidget::title {
+            background-color: #0E1C4C;  /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ */
+            text-align: left;         /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><D6BE><EFBFBD> */
+            
+            /*padding: 4px;*/
+        }
+
+        /* <20><>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD> DockWidget <20>Ĺرհ<D8B1>ť<EFBFBD><C5A5>ʽ */
+        QDockWidget::close-button, QDockWidget::float-button {
+            background: transparent;
+            border: none;
+        }
+
+        QDockWidget::close-button:hover, QDockWidget::float-button:hover {
+            background: rgba(255,255,255,0.2);
+        }
+	)");
 
-	//2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	tmc = new TwoMotorControl(this);
-	connect(tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
-	connect(tmc, SIGNAL(sequenceComplete()), this, SLOT(onsequenceComplete()));
-	dock_tmc = new QDockWidget(QString::fromLocal8Bit("2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"), this);
-	dock_tmc->setObjectName("mDockTwoMotorControl");
-	dock_tmc->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
-	dock_tmc->setWidget(tmc);
-	tabifyDockWidget(dock_omc, dock_tmc);
-	mPanelMenu->addAction(dock_tmc->toggleViewAction());
 
 
 	createActionGroups();
@@ -223,6 +389,8 @@ HPPA::HPPA(QWidget *parent)
 	createMoveplatformActionGroup();
 	connect(moveplatformActionGroup, &QActionGroup::triggered, this, &HPPA::selectingMoveplatform);
 
+	ui.mDockWidgetSimulator->setFeatures(QDockWidget::DockWidgetClosable);
+
 	QString strPath = QCoreApplication::applicationDirPath() + "/UILayout.ini";
 	QFile file(strPath);
 	if (file.open(QIODevice::ReadOnly))
@@ -235,6 +403,181 @@ HPPA::HPPA(QWidget *parent)
 	}
 }
 
+void HPPA::initMenubarToolbar()
+{
+	//<2F>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD>˵<EFBFBD><CBB5><EFBFBD><EFBFBD>͹<EFBFBD><CDB9><EFBFBD><EFBFBD><EFBFBD>
+	QWidget* menuWidget = new WidgetWithBackgroundPicture();
+	//menuWidget->setFixedWidth(200);
+	menuWidget->setFixedHeight(66);
+	QHBoxLayout* hLayout_menuWidget = new QHBoxLayout(menuWidget);
+
+	//auto menuBar_tmp = menuBar();
+	auto menuBar_tmp = ui.menuBar;
+	hLayout_menuWidget->addWidget(menuBar_tmp);
+	menuBar_tmp->setAutoFillBackground(false);
+	menuBar_tmp->setStyleSheet(R"(
+		QMenuBar {
+			background: transparent;/*transparent*/
+			border: none;
+		}
+		QMenuBar::item {
+			background: transparent;
+			color: white;  /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ */
+			padding: 4px 8px;
+			padding-top: 8px;
+			padding-bottom: 8px;
+		}
+		QMenuBar::item:selected {
+			background: rgba(255, 255, 255, 50); /* <20><>΢<EFBFBD><CEA2><EFBFBD><EFBFBD> */
+		}
+
+        QMenu {
+            background-color: #0A1245;  /* <20>˵<EFBFBD><CBB5><EFBFBD><EFBFBD><EFBFBD>ɫ */
+            border: 1px solid gray;   /* <20><>ѡ<EFBFBD><D1A1><EFBFBD>߿<EFBFBD><DFBF><EFBFBD>ʽ */
+			color: white;  /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ */
+        }
+		QMenu::item:selected {
+            background-color: rgba(255, 255, 255, 50); /* ѡ<><D1A1>ʱ<EFBFBD>ı<EFBFBD><C4B1><EFBFBD>ɫ */
+            color: white;              /* ѡ<><D1A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD>ѡ */
+        }
+	)");
+
+	hLayout_menuWidget->addStretch();
+	QPushButton* closeBtn = new QPushButton(QString::fromLocal8Bit("<EFBFBD>˳<EFBFBD>ƽ̨"));
+	closeBtn->setStyleSheet(R"(
+		QPushButton {
+            background: #002CE0;
+            color: white;
+            font-size: 14px;
+            border: none;
+            padding: 8px;
+        }
+		QPushButton:hover {
+			background: #34495e;
+		}
+	)");
+	hLayout_menuWidget->addWidget(closeBtn);
+
+	QWidget* toolBarWidget = new QWidget();
+	toolBarWidget->setStyleSheet("background-color: #0D1233;");
+	QHBoxLayout* hLayout_toolBarWidget = new QHBoxLayout(toolBarWidget);
+
+	//QToolBar* toolBar = this->findChild<QToolBar*>("mainToolBar");
+	QToolBar* toolBar = ui.mainToolBar;
+	//hLayout_toolBarWidget->addWidget(toolBar);
+	toolBar->setAttribute(Qt::WA_TranslucentBackground, true);
+	toolBar->setAutoFillBackground(false);
+	toolBar->setIconSize(QSize(56, 56));
+	toolBar->setToolButtonStyle(Qt::ToolButtonTextUnderIcon);
+	//<2F>ڹ<EFBFBD><DAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>QLineEdit
+	frame_number = new QLineEdit(ui.mainToolBar);
+	frame_number->setStyleSheet("QLineEdit{background-color:rgb(255,255,255);}");
+	frame_number->setMaximumWidth(100);
+	frame_number->setText("5000");
+	QAction* action = ui.mainToolBar->insertWidget(ui.action_start_recording, frame_number);
+
+	m_FilenameLineEdit = new QLineEdit(ui.mainToolBar);
+	m_FilenameLineEdit->setStyleSheet("QLineEdit{background-color:rgb(255,255,255);}");
+	m_FilenameLineEdit->setMaximumWidth(100);
+	m_FilenameLineEdit->setText("tmp_image");
+	QAction* action1 = ui.mainToolBar->insertWidget(ui.action_start_recording, m_FilenameLineEdit);
+
+	ui.action_connect_imager->setIcon(QIcon(".//icon//all//connect_imager.png"));
+	ui.action_auto_exposure->setIcon(QIcon(".//icon//all//exposure.png"));
+	ui.action_focus->setIcon(QIcon(".//icon//all//focus.png"));
+	ui.action_dark->setIcon(QIcon(".//icon//all//dark.png"));
+	ui.action_reference->setIcon(QIcon(".//icon//all//reference.png"));
+	// ʹ<><CAB9><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͸<EFBFBD><CDB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	toolBar->setStyleSheet(R"(
+		QToolBar {
+			background: #0D1233;/*transparent*/
+			border: 1px solid #444;
+			border-radius: 6px;
+		}
+		QToolButton {
+			background: transparent;
+			color: white;   /* <20>ɸ<EFBFBD><C9B8>ݱ<EFBFBD><DDB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ */
+			padding: 4px;
+			margin: 0 0 0 6px; 
+		}
+		QToolButton:hover {
+			background: rgba(255,255,255,50); /* <20><>ͣʱ<CDA3><CAB1>΢<EFBFBD><CEA2><EFBFBD><EFBFBD> */
+		}
+	)");
+
+
+	QWidget* topWidget = new QWidget();
+	topWidget->setStyleSheet("background-color: #040125;");
+	QVBoxLayout* verticalLayout_topWidget = new QVBoxLayout(topWidget);
+	verticalLayout_topWidget->addWidget(menuWidget);
+	//verticalLayout_topWidget->addWidget(toolBarWidget);
+	setMenuWidget(topWidget);
+}
+
+void HPPA::initControlTabwidget()
+{
+	ui.controlTabWidget->removeTab(1);
+
+	QWidget* videoWidget = new QWidget();
+	QVBoxLayout* vBoxLayout_videoWidget = new QVBoxLayout(videoWidget);
+	
+	vBoxLayout_videoWidget->setSpacing(6);
+	vBoxLayout_videoWidget->setObjectName(QString::fromUtf8("vBoxLayout_videoWidget"));
+	vBoxLayout_videoWidget->setContentsMargins(0, 0, 0, 0);
+
+	m_open_rgb_camera_btn = new QPushButton(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+	m_open_rgb_camera_btn->setObjectName(QString::fromUtf8("m_open_rgb_camera_btn"));
+	m_close_rgb_camera_btn = new QPushButton(QString::fromLocal8Bit("<EFBFBD>ر<EFBFBD>"));
+	m_close_rgb_camera_btn->setObjectName(QString::fromUtf8("m_close_rgb_camera_btn"));
+	vBoxLayout_videoWidget->addWidget(m_open_rgb_camera_btn);
+	vBoxLayout_videoWidget->addWidget(m_close_rgb_camera_btn);
+
+	//rgb<67><62><EFBFBD><EFBFBD>
+	m_RgbCameraThread = new QThread();
+	m_RgbCamera = new RgbCameraOperation();
+	m_RgbCamera->moveToThread(m_RgbCameraThread);
+	m_RgbCameraThread->start();
+	connect(m_open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera()));//ʹ<><CAB9><EFBFBD>ź<EFBFBD>֪ͨ<CDA8><D6AA><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD>Ƶ <20><> <20>ɹ<EFBFBD><C9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǽ<EFBFBD><C7BD>濨<EFBFBD><E6BFA8>
+	connect(m_RgbCamera, SIGNAL(PlotSignal()), this, SLOT(onPlotRgbImage()));
+
+	//m_RgbCamera->setCallback(onPlotRgbImage);
+	//connect(this->ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera_callback()));//ʹ<>ûص<C3BB><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3><CCA3>ϵ<EFBFBD><CFB5><EFBFBD>Ƶ <20><> ʧ<><CAA7>
+
+	connect(m_close_rgb_camera_btn, SIGNAL(clicked()), this, SLOT(onCloseRgbCamera()));//<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
+	connect(m_RgbCamera, SIGNAL(CamClosed()), this, SLOT(onClearLabel()));
+
+	ui.controlTabWidget->addTab(videoWidget, QString::fromLocal8Bit("rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+
+	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>dock
+	adjustTable* adt = new adjustTable();
+	adt->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(adt, QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+
+
+	//<2F><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>
+	PowerControl* pc = new PowerControl();
+	pc->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(pc, QString::fromLocal8Bit("<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+
+	//<2F><>е<EFBFBD>ۿ<EFBFBD><DBBF><EFBFBD>
+	rac = new RobotArmControl();
+	connect(rac->robotController, SIGNAL(hsiRecordSignal(int)), this, SLOT(recordFromRobotArm(int)));
+	rac->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(rac, QString::fromLocal8Bit("<EFBFBD><EFBFBD>е<EFBFBD>ۿ<EFBFBD><EFBFBD><EFBFBD>"));
+
+	//1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	omc = new OneMotorControl();
+	omc->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(omc, QString::fromLocal8Bit("1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+
+	//2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	tmc = new TwoMotorControl(this);
+	connect(tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
+	connect(tmc, SIGNAL(sequenceComplete()), this, SLOT(onsequenceComplete()));
+	tmc->setWindowFlags(Qt::Widget);
+	ui.controlTabWidget->addTab(tmc, QString::fromLocal8Bit("2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+}
+
 void HPPA::recordFromRobotArm(int fileCounter)
 {
 	//qDebug() << "recordFromRobotArm" << fileCounter;
@@ -252,10 +595,10 @@ void HPPA::recordFromRobotArm(int fileCounter)
 
 	if (fileCounter - 1 == 0)
 	{
-		ui.ImageViewerTabWidget->clear();
+		m_imageViewerTabWidget->clear();
 	}
 
-	onCreateTab(fileCounter-1);
+	onCreateTab(fileCounter - 1);
 	emit StartRecordSignal();
 
 	ui.action_start_recording->setText(QString::fromLocal8Bit("<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>"));
@@ -373,7 +716,6 @@ void HPPA::initPanelToolbar()
 
 	mPanelMenu->addAction(ui.mDockWidgetSpectrometer->toggleViewAction());
 
-	mPanelMenu->addAction(ui.mDockWidgetRGBCamera->toggleViewAction());
 	mPanelMenu->addAction(ui.mDockWidgetSimulator->toggleViewAction());
 
 	mToolbarMenu->addAction(ui.mainToolBar->toggleViewAction());
@@ -389,15 +731,11 @@ void HPPA::createOneMotorScenario()
 		dock->hide();
 	}
 
-	ui.mDockWidgetSpectralViewer->show();
 	ui.mDockWidgetSpectrometer->show();
-	dock_omc->show();
 
 	//tabifyDockWidget(ui.mDockWidgetSpectrometer, dock_omc);
 
-	//addDockWidget(Qt::RightDockWidgetArea, ui.mDockWidgetSpectralViewer);
 	//addDockWidget(Qt::RightDockWidgetArea, ui.mDockWidgetSpectrometer);
-	//splitDockWidget(ui.mDockWidgetSpectralViewer, ui.mDockWidgetSpectrometer, Qt::Vertical);
 
 	//QDockWidget* dockTop = new QDockWidget(QString::fromLocal8Bit("1"), this);
 	//QDockWidget* dockBottom = new QDockWidget(QString::fromLocal8Bit("2"), this);
@@ -474,7 +812,7 @@ void HPPA::onStartRecordStep1()
 
 		if (m_RecordState % 2 == 1)
 		{
-			ui.ImageViewerTabWidget->clear();
+			m_imageViewerTabWidget->clear();
 
 			onCreateTab(0);
 
@@ -501,7 +839,7 @@ void HPPA::onStartRecordStep1()
 
 		if (m_RecordState % 2 == 1)
 		{
-			ui.ImageViewerTabWidget->clear();
+			m_imageViewerTabWidget->clear();
 
 			onCreateTab(0);
 
@@ -530,7 +868,7 @@ void HPPA::onStartRecordStep1()
 
 		if (m_RecordState % 2 == 1)
 		{
-			ui.ImageViewerTabWidget->clear();
+			m_imageViewerTabWidget->clear();
 
 			m_Imager->setFileName2Save(imgPath);
 			m_Imager->setFrameNumber(this->frame_number->text().toInt());
@@ -570,16 +908,16 @@ void HPPA::onCreateTab(int trackNumber)
 	{
 		m_numberOfRecording = trackNumber;
 
-		QWidget * tabTmp = new QWidget();
+		QWidget* tabTmp = new QWidget();
 
-		QGridLayout *GridLayout = new QGridLayout();
+		QGridLayout* GridLayout = new QGridLayout();
 		GridLayout->addWidget(new ImageViewer(tabTmp));
 
 		tabTmp->setLayout(GridLayout);
 
-		ui.ImageViewerTabWidget->addTab(tabTmp, QString::number(trackNumber + 1));
+		m_imageViewerTabWidget->addTab(tabTmp, QString::number(trackNumber + 1));
 
-		ui.ImageViewerTabWidget->setCurrentIndex(trackNumber);
+		m_imageViewerTabWidget->setCurrentIndex(trackNumber);
 	}
 
 }
@@ -596,8 +934,8 @@ void HPPA::onTabWidgetCurrentChanged(int index)//
 	m_TabWidgetCurrentIndex = index;
 
 	//<2F><>ȡ<EFBFBD><C8A1>ͼ<EFBFBD>ؼ<EFBFBD>
-	QWidget* currentWidget = ui.ImageViewerTabWidget->widget(index);
+	QWidget* currentWidget = m_imageViewerTabWidget->widget(index);
-	QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>();
+	QList<ImageViewer*> currentImageViewer = currentWidget->findChildren<ImageViewer*>();
 
 	//<2F><>disconnectȻ<74><C8BB><EFBFBD><EFBFBD>connect<63><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ÿ<EFBFBD><C3BF><EFBFBD>л<EFBFBD>һ<EFBFBD>ζ<EFBFBD><CEB6><EFBFBD>connectһ<74>Σ<EFBFBD><CEA3><EFBFBD><EFBFBD>ۻ<EFBFBD>connect<63>ܶ<EFBFBD><DCB6>Σ<EFBFBD>
 	disconnect(currentImageViewer[0], SIGNAL(leftMouseButtonPressed(int, int)), this, SLOT(onLeftMouseButtonPressed(int, int)));
@@ -606,7 +944,7 @@ void HPPA::onTabWidgetCurrentChanged(int index)//
 
 void HPPA::onActionOpenDirectory()
 {
-	FileOperation * fileOperation = new FileOperation();
+	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryFromString();
 
 	QDesktopServices::openUrl(QUrl::fromLocalFile(QString::fromStdString(directory)));
@@ -697,11 +1035,11 @@ void HPPA::onLeftMouseButtonPressed(int x, int y)
 		}
 
 
-		FileOperation * fileOperation = new FileOperation();
+		FileOperation* fileOperation = new FileOperation();
 		string directory = fileOperation->getDirectoryFromString();
 		string imgPath = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "_" + std::to_string(m_TabWidgetCurrentIndex) + ".bil";
 
-		ImageReaderWriter *ImageReader = new ImageReaderWriter(imgPath.c_str());
+		ImageReaderWriter* ImageReader = new ImageReaderWriter(imgPath.c_str());
 
 
 		if (x < 0 || x>ImageReader->getXCount() || y<0 || y>ImageReader->getyCount() - 1)
@@ -710,10 +1048,10 @@ void HPPA::onLeftMouseButtonPressed(int x, int y)
 		}
 
 
-		float *data = ImageReader->ReadImage(x, y, 1, 1);
+		float* data = ImageReader->ReadImage(x, y, 1, 1);
 
 
-		QLineSeries *series = new QLineSeries();
+		QLineSeries* series = new QLineSeries();
 		//series->clear();//////////////////////////////
 
 		QString imagerSelected = mImagerGroup->checkedAction()->objectName();
@@ -751,18 +1089,16 @@ void HPPA::onLeftMouseButtonPressed(int x, int y)
 
 			return;
 		}
+		series->setPen(QPen(QColor("#FF928A"), 2));
 
+		m_chart->removeAllSeries();
+		m_chart->addSeries(series);
+		m_chart->createDefaultAxes();
 
+		QValueAxis* axisX = qobject_cast<QValueAxis*>(m_chart->axisX());
+		QValueAxis* axisY = qobject_cast<QValueAxis*>(m_chart->axisY());
 
-		QChart *chart = new QChart();
+		setAxis(axisX, axisY);
-		chart->legend()->hide();
-		chart->addSeries(series);
-		chart->createDefaultAxes();
-		//chart->setTitle("Simple line chart example");
-
-		m_chartView->setChart(chart);
-		//m_chartView->update();//////////////////////////////
-
 
 		/*std::cout << "x<><78><EFBFBD><EFBFBD>:" << x << std::endl;
 		std::cout << "y<><79><EFBFBD><EFBFBD>:" << y << std::endl;
@@ -776,7 +1112,31 @@ void HPPA::onLeftMouseButtonPressed(int x, int y)
 
 }
 
-void HPPA::timerEvent(QTimerEvent *event)
+void HPPA::setAxis(QValueAxis* axisX, QValueAxis* axisY)
+{
+	if (axisX && axisY)
+	{
+		QPen axisPen(QColor("#ACCDFF"));
+		axisPen.setWidth(1);
+
+		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ
+		axisX->setLinePen(axisPen);
+		axisY->setLinePen(axisPen);
+
+		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǩ<EFBFBD><C7A9>ɫ
+		axisX->setLabelsColor(QColor("#ACCDFF"));
+		axisY->setLabelsColor(QColor("#ACCDFF"));
+
+		// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ
+		QPen gridPen(QColor("#262A4C"));
+		gridPen.setStyle(Qt::DashLine);
+		gridPen.setWidth(2);
+		axisX->setGridLinePen(gridPen);
+		axisY->setGridLinePen(gridPen);
+	}
+}
+
+void HPPA::timerEvent(QTimerEvent* event)
 {
 }
 
@@ -801,12 +1161,12 @@ void HPPA::onPlotRgbImage()
 	//std::cout << "<22><>ʾ<EFBFBD><CABE>Ƶ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	QPixmap pixmap = QPixmap::fromImage(m_RgbCamera->m_qImage);
 
-	int width = ui.cam_label->width();
+	int width = m_cam_label->width();
-	int height = ui.cam_label->height();
+	int height = m_cam_label->height();
 	QPixmap fitpixmap = pixmap.scaled(width, height, Qt::KeepAspectRatio, Qt::SmoothTransformation); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>    
 
 
-	ui.cam_label->setPixmap(fitpixmap);
+	m_cam_label->setPixmap(fitpixmap);
 }
 
 void HPPA::onCloseRgbCamera()
@@ -817,8 +1177,8 @@ void HPPA::onCloseRgbCamera()
 
 void HPPA::onClearLabel()
 {
-	ui.cam_label->clear();
+	m_cam_label->clear();
-	ui.cam_label->setText("closed");
+	m_cam_label->setText("closed");
 }
 
 void HPPA::onCopyFinished()
@@ -1031,17 +1391,17 @@ void HPPA::onFocus2(int command)
 	if (command == 1)
 	{
 		//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
-		QWidget * tabTmp = new QWidget();
+		QWidget* tabTmp = new QWidget();
 
-		QGridLayout *GridLayout = new QGridLayout();
+		QGridLayout* GridLayout = new QGridLayout();
 		GridLayout->addWidget(new ImageViewer(tabTmp));
 
 		tabTmp->setLayout(GridLayout);
 
-		ui.ImageViewerTabWidget->addTab(tabTmp, QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+		m_imageViewerTabWidget->addTab(tabTmp, QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
 
-		//ui.ImageViewerTabWidget->setCurrentIndex(trackNumber);
+		//m_imageViewerTabWidget->setCurrentIndex(trackNumber);
-		ui.ImageViewerTabWidget->setCurrentWidget(tabTmp);
+		m_imageViewerTabWidget->setCurrentWidget(tabTmp);
 
 
 		//<2F><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
@@ -1132,8 +1492,8 @@ void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber)
 
 	//return;
 	//<2F><>ȡ<EFBFBD><C8A1>ͼ<EFBFBD>ؼ<EFBFBD>
-	QWidget* currentWidget = ui.ImageViewerTabWidget->widget(fileNumber);
+	QWidget* currentWidget = m_imageViewerTabWidget->widget(fileNumber);
-	QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>();
+	QList<ImageViewer*> currentImageViewer = currentWidget->findChildren<ImageViewer*>();
 	currentImageViewer[0]->DisplayFrameNumber(m_Imager->getFrameCounter());//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>Ѿ<EFBFBD><D1BE>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1>
 
 	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>ʾ<EFBFBD><CABE>ͼ<EFBFBD><CDBC>--opencv<63>汾
@@ -1167,8 +1527,8 @@ void HPPA::PlotSpectral(int state)
 	if (state == 1)
 	{
 		//<2F><>ʾӰ<CABE><D3B0>
-		QWidget* currentWidget = ui.ImageViewerTabWidget->currentWidget();
+		QWidget* currentWidget = m_imageViewerTabWidget->currentWidget();
-		QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>();
+		QList<ImageViewer*> currentImageViewer = currentWidget->findChildren<ImageViewer*>();
 		currentImageViewer[0]->DisplayFrameNumber(m_Imager->getFocusFrameCounter());//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>Ѿ<EFBFBD><D1BE>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1>
 
 		ImageProcessor imageProcessor;
@@ -1179,7 +1539,7 @@ void HPPA::PlotSpectral(int state)
 		currentImageViewer[0]->SetImage(&QPixmap::fromImage(m_Imager->getQImageFocusGrayImage()));//<2F><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC>
 
 		//<2F><><EFBFBD>ƹ<EFBFBD><C6B9><EFBFBD>
-		QLineSeries *series = new QLineSeries();
+		QLineSeries* series = new QLineSeries();
 		//series->clear();//////////////////////////////
 		int sampleCount = m_Imager->getSampleCount();
 		for (size_t i = 0; i < sampleCount; i++)
@@ -1190,7 +1550,7 @@ void HPPA::PlotSpectral(int state)
 			series->append(i, m_Imager->buffer[1368 * 150 + i]);
 		}
 
-		QChart *chart = new QChart();
+		QChart* chart = new QChart();
 		chart->legend()->hide();
 		chart->addSeries(series);
 		chart->createDefaultAxes();
@@ -1206,7 +1566,7 @@ void HPPA::PlotSpectral(int state)
 
 
 	////<2F><>ʾӰ<CABE><D3B0>
-	//QWidget* currentWidget = ui.ImageViewerTabWidget->currentWidget();
+	//QWidget* currentWidget = m_imageViewerTabWidget->currentWidget();
 	//QList<ImageViewer *> currentImageViewer = currentWidget->findChildren<ImageViewer *>();
 	//
 
@@ -1288,7 +1648,7 @@ void HPPA::onsequenceComplete()
 	m_RecordState++;
 }
 
-WorkerThread3::WorkerThread3(CFocusMotorControl * ctrlFocusMotor)
+WorkerThread3::WorkerThread3(CFocusMotorControl* ctrlFocusMotor)
 {
 	m_ctrlFocusMotor = ctrlFocusMotor;
 }

HPPA/HPPA.h

@@ -12,6 +12,7 @@
 #include <QLineSeries>
 #include <QChart>
 #include <QChartView>
+#include <QValueAxis>
 #include <QFileDialog>
 
 #include <QNetworkRequest>
@@ -42,6 +43,9 @@
 #include "ResononNirImager.h"
 #include "Corning410Imager.h"
 
+#include "CustomDockWidgetBase.h"
+#include "Carousel.h"
+
 #define PI 3.1415926
 
 QT_CHARTS_USE_NAMESPACE//QChartView ʹ<><CAB9> <20><>Ҫ<EFBFBD>Ӻ꣬ <20><><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD>ʹ<EFBFBD><CAB9>
@@ -123,6 +127,31 @@ signals:
 	void threadSignal(QString s);
 };
 
+class WidgetWithBackgroundPicture : public QWidget
+{
+	Q_OBJECT
+
+public:
+	explicit WidgetWithBackgroundPicture(QWidget* parent = nullptr)
+		: QWidget(parent),
+		m_pixmap(".//icon//titile_bar_bgp.png")  // ʹ<><CAB9><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><C2B7>
+	{
+		// <20><>ѡ<EFBFBD><D1A1><EFBFBD><EFBFBD><EFBFBD>ó<EFBFBD>ʼ<EFBFBD><CABC>С
+		resize(800, 600);
+	}
+
+protected:
+	void paintEvent(QPaintEvent* event) override
+	{
+		QPainter painter(this);
+		QPixmap scaled = m_pixmap.scaled(size(), Qt::KeepAspectRatioByExpanding, Qt::SmoothTransformation);
+		painter.drawPixmap(rect(), scaled);
+	}
+
+private:
+	QPixmap m_pixmap;
+};
+
 class HPPA : public QMainWindow
 {
 	Q_OBJECT
@@ -137,11 +166,14 @@ public:
 
 private:
 	Ui::HPPAClass ui;
+	QTabWidget* m_imageViewerTabWidget;
 
 	QMenu* mPanelMenu = nullptr;
 	QMenu* mToolbarMenu = nullptr;
 
+	void initMenubarToolbar();
 	void initPanelToolbar();
+	void initControlTabwidget();
 
 	QLineEdit * frame_number;
 	QLineEdit * m_FilenameLineEdit;
@@ -160,6 +192,7 @@ private:
 	FileOperation * m_FileOperation;
 
 	QChartView * m_chartView;
+	QChart* m_chart;
 
 	//QLineSeries *series;
 	//QChart *chart;
@@ -189,13 +222,17 @@ private:
 	RobotArmControl* rac;
 
 	OneMotorControl* omc;
-	QDockWidget* dock_omc;
-
 	TwoMotorControl* tmc;
-	QDockWidget* dock_tmc;
 	
 	FILE* m_hTimesFile;
 
+	CustomDockWidgetBase* m_dock_carousel;
+
+	MyCarousel* m_carousel;
+	QLabel* m_cam_label;
+	QPushButton* m_open_rgb_camera_btn;
+	QPushButton* m_close_rgb_camera_btn;
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber);
 	void PlotSpectral(int state);
@@ -228,6 +265,7 @@ public Q_SLOTS:
 	void OnGainSliderChanged(double Gain);//
 
 	void onLeftMouseButtonPressed(int x, int y);//<2F><><EFBFBD><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD>Ԫ<EFBFBD><D4AA>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>
+	void setAxis(QValueAxis* axisX, QValueAxis* axisY);
 
 
 	void timerEvent(QTimerEvent *event);

HPPA/HPPA.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1194</width>
+    <width>1486</width>
-    <height>834</height>
+    <height>899</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -37,46 +37,6 @@
     <property name="spacing">
      <number>0</number>
     </property>
-    <item row="0" column="0">
-     <widget class="QTabWidget" name="ImageViewerTabWidget">
-      <property name="sizePolicy">
-       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-        <horstretch>5</horstretch>
-        <verstretch>0</verstretch>
-       </sizepolicy>
-      </property>
-      <property name="currentIndex">
-       <number>0</number>
-      </property>
-      <widget class="QWidget" name="tab_4">
-       <attribute name="title">
-        <string>Tab 1</string>
-       </attribute>
-       <layout class="QGridLayout" name="gridLayout_5">
-        <property name="leftMargin">
-         <number>0</number>
-        </property>
-        <property name="topMargin">
-         <number>0</number>
-        </property>
-        <property name="rightMargin">
-         <number>0</number>
-        </property>
-        <property name="bottomMargin">
-         <number>0</number>
-        </property>
-        <property name="spacing">
-         <number>0</number>
-        </property>
-       </layout>
-      </widget>
-      <widget class="QWidget" name="tab_5">
-       <attribute name="title">
-        <string>Tab 2</string>
-       </attribute>
-      </widget>
-     </widget>
-    </item>
    </layout>
   </widget>
   <widget class="QMenuBar" name="menuBar">
@@ -84,7 +44,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>1194</width>
+     <width>1486</width>
      <height>30</height>
     </rect>
    </property>
@@ -273,125 +233,15 @@ QToolBar QToolButton:hover {
 </string>
    </property>
   </widget>
-  <widget class="QDockWidget" name="mDockWidgetRGBCamera">
+  <widget class="CustomDockWidgetBase" name="mDockWidgetSimulator">
    <property name="styleSheet">
-    <string notr="true">/* 标题设置 */
+    <string notr="true"/>
-QDockWidget::title {
-    text-align: left;
-	background-color: rgb(240, 240, 240);
-    /*padding-left: 35px;*/
-}</string>
-   </property>
-   <property name="windowTitle">
-    <string>RGB 相机</string>
-   </property>
-   <attribute name="dockWidgetArea">
-    <number>1</number>
-   </attribute>
-   <widget class="QWidget" name="dockWidgetContents">
-    <layout class="QGridLayout" name="gridLayout_2">
-     <property name="leftMargin">
-      <number>0</number>
-     </property>
-     <property name="topMargin">
-      <number>0</number>
-     </property>
-     <property name="rightMargin">
-      <number>0</number>
-     </property>
-     <property name="bottomMargin">
-      <number>0</number>
-     </property>
-     <property name="spacing">
-      <number>0</number>
-     </property>
-     <item row="0" column="0">
-      <widget class="QGroupBox" name="groupBox_4">
-       <property name="mouseTracking">
-        <bool>false</bool>
-       </property>
-       <property name="styleSheet">
-        <string notr="true">QGroupBox {
-    /* border: 2px solid #3498db;      边框颜色 */
-    border-radius: 5px;             /* 圆角 */
-    padding: 10px;                  /* 内边距 */
-	background-color: rgb(255, 255, 255);
-}
-
-QGroupBox:title {
-    subcontrol-position: top left;  /* 标题位置 */
-    padding: 0 10px;                /* 标题内边距 */
-    font-weight: bold;              /* 标题字体加粗 */
-    color: #3498db;                 /* 标题文字颜色 */
-}
-</string>
-       </property>
-       <property name="title">
-        <string/>
-       </property>
-       <layout class="QGridLayout" name="gridLayout_3">
-        <property name="leftMargin">
-         <number>0</number>
-        </property>
-        <property name="topMargin">
-         <number>0</number>
-        </property>
-        <property name="rightMargin">
-         <number>0</number>
-        </property>
-        <property name="bottomMargin">
-         <number>0</number>
-        </property>
-        <item row="1" column="1">
-         <widget class="QPushButton" name="close_rgb_camera_btn">
-          <property name="text">
-           <string>关闭</string>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="0">
-         <widget class="QPushButton" name="open_rgb_camera_btn">
-          <property name="text">
-           <string>打开</string>
-          </property>
-         </widget>
-        </item>
-        <item row="0" column="0" colspan="2">
-         <widget class="QLabel" name="cam_label">
-          <property name="frameShape">
-           <enum>QFrame::NoFrame</enum>
-          </property>
-          <property name="frameShadow">
-           <enum>QFrame::Plain</enum>
-          </property>
-          <property name="text">
-           <string>摄像头关闭！</string>
-          </property>
-          <property name="alignment">
-           <set>Qt::AlignCenter</set>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </widget>
-     </item>
-    </layout>
-   </widget>
-  </widget>
-  <widget class="QDockWidget" name="mDockWidgetSimulator">
-   <property name="styleSheet">
-    <string notr="true">/* 标题设置 */
-QDockWidget::title {
-    text-align: left;
-	background-color: rgb(240, 240, 240);
-    /*padding-left: 35px;*/
-}</string>
    </property>
    <property name="features">
     <set>QDockWidget::AllDockWidgetFeatures</set>
    </property>
    <property name="windowTitle">
-    <string>线性平台位置模拟</string>
+    <string>3D模型</string>
    </property>
    <attribute name="dockWidgetArea">
     <number>1</number>
@@ -432,100 +282,52 @@ QDockWidget::title {
     </layout>
    </widget>
   </widget>
-  <widget class="QDockWidget" name="mDockWidgetSpectralViewer">
+  <widget class="CustomDockWidgetHideAbove" name="mDockWidgetSpectrometer">
    <property name="styleSheet">
-    <string notr="true">/* 标题设置 */
+    <string notr="true"/>
-QDockWidget::title {
-    text-align: left;
-	background-color: rgb(240, 240, 240);
-    /*padding-left: 35px;*/
-}</string>
    </property>
    <property name="windowTitle">
-    <string>光谱曲线</string>
+    <string>控制</string>
-   </property>
-   <attribute name="dockWidgetArea">
-    <number>2</number>
-   </attribute>
-   <widget class="QWidget" name="dockWidgetContents_3">
-    <layout class="QGridLayout" name="gridLayout_10">
-     <property name="leftMargin">
-      <number>0</number>
-     </property>
-     <property name="topMargin">
-      <number>0</number>
-     </property>
-     <property name="rightMargin">
-      <number>0</number>
-     </property>
-     <property name="bottomMargin">
-      <number>0</number>
-     </property>
-     <property name="spacing">
-      <number>0</number>
-     </property>
-    </layout>
-   </widget>
-  </widget>
-  <widget class="QDockWidget" name="mDockWidgetSpectrometer">
-   <property name="styleSheet">
-    <string notr="true">/* 标题设置 */
-QDockWidget::title {
-    text-align: left;
-	background-color: rgb(240, 240, 240);
-    /*padding-left: 35px;*/
-}</string>
-   </property>
-   <property name="windowTitle">
-    <string>光谱仪</string>
    </property>
    <attribute name="dockWidgetArea">
     <number>2</number>
    </attribute>
    <widget class="QWidget" name="dockWidgetContents_4">
-    <layout class="QGridLayout" name="gridLayout_13">
+    <layout class="QGridLayout" name="gridLayout_5">
      <property name="leftMargin">
-      <number>9</number>
+      <number>0</number>
      </property>
      <property name="topMargin">
-      <number>9</number>
+      <number>0</number>
      </property>
      <property name="rightMargin">
-      <number>9</number>
+      <number>0</number>
      </property>
      <property name="bottomMargin">
-      <number>9</number>
+      <number>0</number>
      </property>
-     <property name="spacing">
+     <item row="0" column="0">
-      <number>6</number>
+      <widget class="QTabWidget" name="controlTabWidget">
+       <property name="tabPosition">
+        <enum>QTabWidget::South</enum>
        </property>
-     <item row="1" column="0">
+       <widget class="QWidget" name="tab">
-      <layout class="QHBoxLayout" name="horizontalLayout_11">
+        <attribute name="title">
-       <item>
+         <string>光谱仪</string>
-        <spacer name="horizontalSpacer_16">
+        </attribute>
-         <property name="orientation">
+        <layout class="QGridLayout" name="gridLayout_4">
-          <enum>Qt::Horizontal</enum>
+         <property name="leftMargin">
+          <number>0</number>
          </property>
-         <property name="sizeType">
+         <property name="topMargin">
-          <enum>QSizePolicy::Fixed</enum>
+          <number>0</number>
          </property>
-         <property name="sizeHint" stdset="0">
+         <property name="rightMargin">
-          <size>
+          <number>0</number>
-           <width>100</width>
-           <height>20</height>
-          </size>
          </property>
-        </spacer>
+         <property name="bottomMargin">
-       </item>
+          <number>0</number>
-       <item>
-        <widget class="QDoubleSlider" name="FramerateSlider">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
          </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
          <item row="0" column="0">
           <layout class="QHBoxLayout" name="horizontalLayout_10">
            <item>
@@ -571,6 +373,33 @@ QDockWidget::title {
            </item>
           </layout>
          </item>
+         <item row="1" column="0">
+          <layout class="QHBoxLayout" name="horizontalLayout_11">
+           <item>
+            <spacer name="horizontalSpacer_16">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>100</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item>
+            <widget class="QDoubleSlider" name="FramerateSlider">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
          <item row="2" column="0">
           <layout class="QHBoxLayout" name="horizontalLayout_12">
            <item>
@@ -717,13 +546,22 @@ QDockWidget::title {
            <property name="sizeHint" stdset="0">
             <size>
              <width>20</width>
-         <height>123</height>
+             <height>594</height>
             </size>
            </property>
           </spacer>
          </item>
         </layout>
        </widget>
+       <widget class="QWidget" name="tab_2">
+        <attribute name="title">
+         <string>Tab 2</string>
+        </attribute>
+       </widget>
+      </widget>
+     </item>
+    </layout>
+   </widget>
   </widget>
   <action name="action_exit">
    <property name="text">
@@ -978,7 +816,19 @@ QDockWidget::title {
   <customwidget>
    <class>ImagerPositionSimulation</class>
    <extends>QGraphicsView</extends>
-   <header location="global">imagerpositionsimulation.h</header>
+   <header>imagerpositionsimulation.h</header>
+  </customwidget>
+  <customwidget>
+   <class>CustomDockWidgetBase</class>
+   <extends>QDockWidget</extends>
+   <header>customdockwidgetbase.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>CustomDockWidgetHideAbove</class>
+   <extends>QDockWidget</extends>
+   <header>CustomDockWidgetBase.h</header>
+   <container>1</container>
   </customwidget>
  </customwidgets>
  <resources>

HPPA/HPPA.vcxproj

@@ -107,7 +107,9 @@
     <ClCompile Include="aboutWindow.cpp" />
     <ClCompile Include="adjustTable.cpp" />
     <ClCompile Include="CaptureCoordinator.cpp" />
+    <ClCompile Include="Carousel.cpp" />
     <ClCompile Include="Corning410Imager.cpp" />
+    <ClCompile Include="CustomDockWidgetBase.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
     <ClCompile Include="ImagerOperationBase.cpp" />
     <ClCompile Include="imager_base.cpp" />
@@ -166,6 +168,8 @@
     <QtMoc Include="RobotArmControl.h" />
     <QtMoc Include="Corning410Imager.h" />
     <QtMoc Include="CaptureCoordinator.h" />
+    <QtMoc Include="CustomDockWidgetBase.h" />
+    <QtMoc Include="Carousel.h" />
     <ClInclude Include="imager_base.h" />
     <ClInclude Include="irisximeaimager.h" />
     <QtMoc Include="OneMotorControl.h" />

HPPA/HPPA.vcxproj.filters

@@ -133,6 +133,12 @@
     <ClCompile Include="TwoMotorControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="CustomDockWidgetBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Carousel.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -192,6 +198,12 @@
     <QtMoc Include="CaptureCoordinator.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="CustomDockWidgetBase.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="Carousel.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">

HPPA/TwoMotorControl.cpp

@@ -184,12 +184,13 @@ void TwoMotorControl::onConnectMotor()
     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_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+    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(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()));
@@ -291,6 +292,22 @@ void TwoMotorControl::onyMotorStop()
     emit stopSignal(1);
 }
 
+void TwoMotorControl::onxMove2Loc()
+{
+	double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+	double l = ui.move2loc_x_lineEdit->text().toDouble();
+
+	emit move2LocSignal(0, l, s, 1000);
+}
+
+void TwoMotorControl::onyMove2Loc()
+{
+	double s = ui.ymotor_move_speed_lineEdit->text().toDouble();
+	double l = ui.move2loc_y_lineEdit->text().toDouble();
+
+	emit move2LocSignal(1, l, s, 1000);
+}
+
 void TwoMotorControl::displayRealTimeLoc(std::vector<double> loc)
 {
 	double tmp = round(loc[0] * 100) / 100;

HPPA/TwoMotorControl.h

@@ -48,10 +48,12 @@ public Q_SLOTS:
     void onxMotorRight();
     void onxMotorLeft();
     void onxMotorStop();
+    void onxMove2Loc();
 
     void onyMotorforward();
     void onyMotorbackward();
     void onyMotorStop();
+    void onyMove2Loc();
 
     void onAddRecordLine_btn();
     void onRemoveRecordLine_btn();

HPPA/twoMotorControl.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>684</width>
-    <height>674</height>
+    <height>799</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -43,18 +43,24 @@
         <x>0</x>
         <y>0</y>
         <width>684</width>
-        <height>674</height>
+        <height>799</height>
        </rect>
       </property>
       <layout class="QGridLayout" name="gridLayout_6">
        <item row="0" column="0">
         <widget class="QGroupBox" name="groupBox_2">
          <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+          <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
            <horstretch>0</horstretch>
            <verstretch>0</verstretch>
           </sizepolicy>
          </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>150</height>
+          </size>
+         </property>
          <property name="styleSheet">
           <string notr="true"/>
          </property>
@@ -62,26 +68,21 @@
           <string>控制</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_5">
-          <item row="1" column="0">
+          <property name="leftMargin">
-           <spacer name="verticalSpacer_3">
+           <number>0</number>
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
           </property>
-            <property name="sizeHint" stdset="0">
+          <property name="topMargin">
-             <size>
+           <number>0</number>
-              <width>20</width>
-              <height>0</height>
-             </size>
           </property>
-           </spacer>
+          <property name="rightMargin">
-          </item>
+           <number>0</number>
-          <item row="2" column="0">
+          </property>
-           <widget class="QPushButton" name="run_btn">
+          <property name="bottomMargin">
-            <property name="text">
+           <number>0</number>
-             <string>运行</string>
+          </property>
+          <property name="spacing">
+           <number>6</number>
           </property>
-           </widget>
-          </item>
           <item row="0" column="0">
            <widget class="QWidget" name="widget" native="true">
             <layout class="QGridLayout" name="gridLayout">
@@ -247,6 +248,13 @@
             </layout>
            </widget>
           </item>
+          <item row="2" column="0">
+           <widget class="QPushButton" name="run_btn">
+            <property name="text">
+             <string>运行</string>
+            </property>
+           </widget>
+          </item>
           <item row="3" column="0">
            <widget class="QPushButton" name="stop_btn">
             <property name="text">
@@ -254,17 +262,39 @@
             </property>
            </widget>
           </item>
+          <item row="4" column="0">
+           <spacer name="verticalSpacer_3">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeType">
+             <enum>QSizePolicy::Expanding</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>0</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
          </layout>
         </widget>
        </item>
        <item row="1" column="0">
         <widget class="QGroupBox" name="groupBox_3">
          <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
+          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
            <horstretch>0</horstretch>
            <verstretch>0</verstretch>
           </sizepolicy>
          </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>127</height>
+          </size>
+         </property>
          <property name="styleSheet">
           <string notr="true">#QGroupBox{border:none}</string>
          </property>
@@ -272,6 +302,37 @@
           <string>x马达</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_3">
+          <property name="leftMargin">
+           <number>0</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="rightMargin">
+           <number>0</number>
+          </property>
+          <property name="bottomMargin">
+           <number>0</number>
+          </property>
+          <property name="spacing">
+           <number>6</number>
+          </property>
+          <item row="4" column="0">
+           <spacer name="verticalSpacer">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeType">
+             <enum>QSizePolicy::Expanding</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>1</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
           <item row="0" column="0">
            <layout class="QHBoxLayout" name="horizontalLayout_2">
             <item>
@@ -399,19 +460,6 @@
            </layout>
           </item>
           <item row="3" column="0">
-           <spacer name="verticalSpacer">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>112</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item row="2" column="0">
            <layout class="QHBoxLayout" name="horizontalLayout_6">
             <item>
              <spacer name="horizontalSpacer_6">
@@ -444,6 +492,66 @@
             </item>
            </layout>
           </item>
+          <item row="2" column="0">
+           <layout class="QHBoxLayout" name="horizontalLayout_3">
+            <item>
+             <widget class="QPushButton" name="move2loc_x_pushButton">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>50</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="text">
+               <string>移动至</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLineEdit" name="move2loc_x_lineEdit">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">background-color: rgb(255, 255, 255);</string>
+              </property>
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
          </layout>
         </widget>
        </item>
@@ -455,6 +563,12 @@
            <verstretch>0</verstretch>
           </sizepolicy>
          </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>125</height>
+          </size>
+         </property>
          <property name="styleSheet">
           <string notr="true"/>
          </property>
@@ -462,6 +576,18 @@
           <string>y马达</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_2">
+          <property name="leftMargin">
+           <number>0</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="rightMargin">
+           <number>0</number>
+          </property>
+          <property name="bottomMargin">
+           <number>0</number>
+          </property>
           <item row="0" column="0">
            <layout class="QHBoxLayout" name="horizontalLayout_5">
             <item>
@@ -588,7 +714,20 @@
             </item>
            </layout>
           </item>
-          <item row="2" column="0">
+          <item row="4" column="0">
+           <spacer name="verticalSpacer_2">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>0</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item row="3" column="0">
            <layout class="QHBoxLayout" name="horizontalLayout_7">
             <item>
              <spacer name="horizontalSpacer_7">
@@ -621,18 +760,65 @@
             </item>
            </layout>
           </item>
-          <item row="3" column="0">
+          <item row="2" column="0">
-           <spacer name="verticalSpacer_2">
+           <layout class="QHBoxLayout" name="horizontalLayout_8">
-            <property name="orientation">
+            <item>
-             <enum>Qt::Vertical</enum>
+             <widget class="QPushButton" name="move2loc_y_pushButton">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
               </property>
-            <property name="sizeHint" stdset="0">
+              <property name="minimumSize">
                <size>
-              <width>20</width>
+                <width>0</width>
                 <height>0</height>
                </size>
               </property>
-           </spacer>
+              <property name="maximumSize">
+               <size>
+                <width>50</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="text">
+               <string>移动至</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QLineEdit" name="move2loc_y_lineEdit">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>16777215</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">background-color: rgb(255, 255, 255);</string>
+              </property>
+              <property name="text">
+               <string>0</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignCenter</set>
+              </property>
+             </widget>
+            </item>
+           </layout>
           </item>
          </layout>
         </widget>
@@ -643,6 +829,18 @@
           <string>采集线</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_4">
+          <property name="leftMargin">
+           <number>0</number>
+          </property>
+          <property name="topMargin">
+           <number>0</number>
+          </property>
+          <property name="rightMargin">
+           <number>0</number>
+          </property>
+          <property name="bottomMargin">
+           <number>0</number>
+          </property>
           <item row="0" column="0">
            <layout class="QHBoxLayout" name="horizontalLayout_23">
             <item>