fix：

1、暗电流/白板都是550帧平均，采集白板时电机会运动；
2、文件名后加bil后缀；
3、航迹规划小数点从2位改为5位；

HPPA/HPPA.cpp

@@ -1662,6 +1662,10 @@ void HPPA::onconnect()
 		connect(this->ui.action_start_recording, SIGNAL(triggered()), this, SLOT(onStartRecordStep1()));
 		connect(this, SIGNAL(StartLoopSignal()), m_ForLoopControl, SLOT(startLoop()));
 		connect(this, SIGNAL(StartRecordSignal()), m_Imager, SLOT(start_record()));
+		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()));
+		connect(m_Imager, SIGNAL(RecordDarlFinishSignal()), this, SLOT(recordDarkFinish()));
 
 		connect(this->ui.actionOpenDirectory, SIGNAL(triggered()), this, SLOT(onActionOpenDirectory()));
 
@@ -1789,8 +1793,12 @@ void HPPA::onDark()
 	QMessageBox msgBox;
 	msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ<EFBFBD>Ǹ<EFBFBD><EFBFBD>ϣ<EFBFBD>"));
 	msgBox.exec();
-	m_Imager->record_dark();
 
+	emit RecordDarlSignal();
+}
+
+void HPPA::recordDarkFinish()
+{
 	ui.mainToolBar->widgetForAction(ui.action_dark)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
 }
 
@@ -1799,9 +1807,32 @@ void HPPA::onReference()
 	QMessageBox msgBox;
 	msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD>װ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD>"));
 	msgBox.exec();
-	m_Imager->record_white();
 
+	//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
+	if (!isMotorConnected(m_xMotor))
+	{
+		m_xMotor->EnableMotro();
+		m_lXmotorLocationOfStartRecord = m_xMotor->GetLocationNow();
+		m_xMotor->SettingSpeed(ui.xmotor_speed_slider->OriginalValue());
+		//m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
+
+		m_xMotor->MoveMotar(true);
+	}
+	
+	emit RecordWhiteSignal();	
+}
+
+void HPPA::recordWhiteFinish()
+{
 	ui.mainToolBar->widgetForAction(ui.action_reference)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
+
+	//<2F>ƶ<EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD>
+	if (!isMotorConnected(m_xMotor))
+	{
+		//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
+		m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
+		m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
+	}
 }
 
 void HPPA::onPlotHyperspectralImageRgbImage()

HPPA/HPPA.h

@@ -256,7 +256,9 @@ public Q_SLOTS:
 	void onFocus2(int command);
 	void onAbout();
 	void onDark();
+	void recordDarkFinish();
 	void onReference();
+	void recordWhiteFinish();
 	void onStartRecordStep1();
 	void onStartRecordStep2(int lineNumber);
 	void onCreateTab(int trackNumber);
@@ -336,5 +338,7 @@ signals:
 	void StartRecordSignal();
 	void CopyFileThreadSignal(QString, QString);
 
+	void RecordWhiteSignal();
+	void RecordDarlSignal();
 };
 

HPPA/ImagerOperationBase.cpp

@@ -111,17 +111,59 @@ void ImagerOperationBase::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;
 	imagerStartCollect();
-	getFrame(dark);
+	
+	unsigned int* dark_tmp = new unsigned int[m_FrameSize];
+	std::fill(dark_tmp, dark_tmp + m_FrameSize, 0);
+
+	int counter = 50;
+	for (size_t i = 0; i < counter; i++)
+	{
+		getFrame(dark);
+
+		for (size_t j = 0; j < m_FrameSize; j++)
+		{
+			dark_tmp[j] = dark[j] + dark_tmp[j];
+		}
+	}
+
+	for (size_t j = 0; j < m_FrameSize; j++)
+	{
+		dark[j] = (unsigned short)(dark_tmp[j] / counter);
+	}
+	delete[] dark_tmp;
+
 	imagerStopCollect();
 
 	m_HasDark = true;
+
+	emit RecordDarlFinishSignal();
 }
 
 void ImagerOperationBase::record_white()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	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;
 	imagerStartCollect();
-	getFrame(white);
+
+	unsigned int* white_tmp = new unsigned int[m_FrameSize];
+	std::fill(white_tmp, white_tmp + m_FrameSize, 0);
+
+	int counter = 50;
+	for (size_t i = 0; i < counter; i++)
+	{
+		getFrame(white);
+
+		for (size_t j = 0; j < m_FrameSize; j++)
+		{
+			white_tmp[j] = white[j] + white_tmp[j];
+		}
+	}
+
+	for (size_t j = 0; j < m_FrameSize; j++)
+	{
+		white[j] = (unsigned short)(white_tmp[j] / counter);
+	}
+	delete[] white_tmp;
+	
 	imagerStopCollect();
 
 	//<2F>װ<EFBFBD><D7B0>۰<EFBFBD><DBB0><EFBFBD><EFBFBD><EFBFBD>
@@ -141,6 +183,8 @@ void ImagerOperationBase::record_white()
 	}
 
 	m_HasWhite = true;
+
+	emit RecordWhiteFinishSignal();
 }
 
 void ImagerOperationBase::start_record()

HPPA/ImagerOperationBase.h

@@ -97,6 +97,9 @@ signals:
     void RecordFinishedSignal_WhenFrameNumberNotMeet();//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<C5BA><C5A3><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>m_iFrameNumber<65><72>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD><EFBFBD>ɣ<EFBFBD><C9A3><EFBFBD>;ֹͣ<CDA3>ɼ<EFBFBD>
     void SpectralSignal(int);//<2F><><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><C6B9>ף<EFBFBD><D7A3><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>
 
+    void RecordWhiteFinishSignal();
+    void RecordDarlFinishSignal();
+
 
     void testImagerStatus();//<2F><>ʾ<EFBFBD><CABE><EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ӣ<EFBFBD><D3A3><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><D3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 };

HPPA/PathPlan.cpp

@@ -294,7 +294,7 @@ void PathPlan::onReadRecordLineFile_btn()
 	{
 		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
 		{
-			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 2));
+			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
 			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
 			ui.recordLine_tableWidget->setItem(i, j, tmp);
 		}

HPPA/ResononNirImager.cpp

@@ -191,18 +191,60 @@ 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;
 	reConnectImage();
 	imagerStartCollect();
-	getFrame(dark);
+
+	unsigned int* dark_tmp = new unsigned int[m_FrameSize];
+	std::fill(dark_tmp, dark_tmp + m_FrameSize, 0);
+
+	int counter = 50;
+	for (size_t i = 0; i < counter; i++)
+	{
+		getFrame(dark);
+
+		for (size_t j = 0; j < m_FrameSize; j++)
+		{
+			dark_tmp[j] = dark[j] + dark_tmp[j];
+		}
+	}
+
+	for (size_t j = 0; j < m_FrameSize; j++)
+	{
+		dark[j] = (unsigned short)(dark_tmp[j] / counter);
+	}
+	delete[] dark_tmp;
+
 	imagerStopCollect();
 
 	m_HasDark = true;
+
+	emit RecordDarlFinishSignal();
 }
 
 void ResononNirImager::record_white()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	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;
 	reConnectImage();
 	imagerStartCollect();
-	getFrame(white);
+	
+	unsigned int* white_tmp = new unsigned int[m_FrameSize];
+	std::fill(white_tmp, white_tmp + m_FrameSize, 0);
+
+	int counter = 50;
+	for (size_t i = 0; i < counter; i++)
+	{
+		getFrame(white);
+
+		for (size_t j = 0; j < m_FrameSize; j++)
+		{
+			white_tmp[j] = white[j] + white_tmp[j];
+		}
+	}
+
+	for (size_t j = 0; j < m_FrameSize; j++)
+	{
+		white[j] = (unsigned short)(white_tmp[j] / counter);
+	}
+	delete[] white_tmp;
+
 	imagerStopCollect();
 
 	//<2F>װ<EFBFBD><D7B0>۰<EFBFBD><DBB0><EFBFBD><EFBFBD><EFBFBD>
@@ -222,6 +264,8 @@ void ResononNirImager::record_white()
 	}
 
 	m_HasWhite = true;
+
+	emit RecordWhiteFinishSignal();
 }
 
 void ResononNirImager::start_record()
@@ -243,7 +287,7 @@ void ResononNirImager::start_record()
 
 	FileOperation* fileOperation = new FileOperation();
 	string directory = fileOperation->getDirectoryFromString();
-	string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter);
+	string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter)+".bil";
 
 	FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
 

HPPA/about.ui

@@ -70,7 +70,7 @@
     </rect>
    </property>
    <property name="text">
-    <string>版本：1.8.1</string>
+    <string>版本：1.8.2</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_4">