using HalconDotNet;
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using LB_SmartVisionCameraDevice.PHM6000;
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using LB_VisionControl;
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using LB_VisionProcesses.Cameras.HRCameras;
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using LB_VisionProcesses.Cameras.LBCameras;
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using MVSDK_Net;
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using Newtonsoft.Json.Linq;
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using OpenCvSharp;
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using System;
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using System.Collections.Concurrent;
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using System.Data;
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using System.Diagnostics;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.IO;
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using System.Text;
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using System.Windows.Forms;
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using System.Xml.Linq;
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namespace LB_VisionProcesses.Cameras
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{
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public partial class CameraForm : Form
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{
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Bitmap Bitmap = null;
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BaseCamera camera { get; set; }
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CameraConfig camConfig { get; set; }
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ConcurrentDictionary<string, BaseCamera> dicCameras { get; set; }
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string fullPath = string.Empty;
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public CameraForm()
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{
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InitializeComponent();
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}
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public CameraForm(ConcurrentDictionary<string, BaseCamera> dicCameras, CameraConfig camConfig, string fullPath)
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{
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InitializeComponent();
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//传入相机句柄后禁用连接/断开按键
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//this.btnOpen.Enabled = false;
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//this.btnClose.Enabled = false;
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//this.cmbBrand.Enabled = false;
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this.panel_Picture.Controls.Clear();
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this.dicCameras = dicCameras;
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this.fullPath = fullPath;
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this.camConfig = camConfig;
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foreach (var CamSN in dicCameras.Keys)
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cmbSN.Items.Add(CamSN);
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Enum.TryParse(camConfig.Params.Inputs["触发方式"].ToString(), out TriggerSource TriggerSource);
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if (TriggerSource == TriggerSource.Software)
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radioButtonSoft.Checked = true;
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else
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radioButtonSoft.Checked = false;
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this.Text = camConfig.strProcessName;
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txtExp.Text = camConfig.Params.Inputs["曝光时间"].ToString();
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txtGain.Text = camConfig.Params.Inputs["增益"].ToString();
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ckbLocalTest.Checked = Convert.ToBoolean(camConfig.Params.Inputs["是否本地取图"].ToString());
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if (camConfig.Params.Inputs["本地取图路径"] is List<string>)
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{
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List<string> lstPaths = camConfig.Params.Inputs["本地取图路径"] as List<string>;
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if (lstPaths != null && lstPaths.Count > 0)
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{
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foreach (var path in lstPaths)
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cmbImagesPath.Items.Add(path);
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cmbImagesPath.Text = lstPaths[0];
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}
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}
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}
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UserPictureBox onlinePictureBox { get; set; }
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private System.Windows.Forms.Timer updateTimer;
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Total total = new Total { iImageCount = 0, iScanCount = 0 };
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DateTime startGrabtime = DateTime.Now;
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private void CameraForm_Load(object sender, EventArgs e)
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{
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// 设置一个定时器，每 100 毫秒触发一次
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updateTimer = new System.Windows.Forms.Timer();
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updateTimer.Interval = 1000; // 设置定时器间隔为 1000 毫秒
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updateTimer.Tick += (sender, e) => UpdateUI();
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updateTimer.Start();
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onlinePictureBox = new UserPictureBox(panel_Picture);
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this.panel_Picture.Controls.Clear();
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this.panel_Picture.Controls.Add(onlinePictureBox);
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onlinePictureBox.Dock = DockStyle.Fill;
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// 使用 LINQ 获取所有枚举值并打印
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var brands = Enum.GetValues(typeof(CameraBrand)).Cast<CameraBrand>();
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foreach (var brand in brands)
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{
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cmbBrand.Items.Add(brand.ToString());
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}
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//选择Cam会触发ValueChanged事件，没有输入相机的情况下选择到-1
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if (camConfig != null)
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{
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string SN = camConfig.Params.Inputs["相机SN"].ToString();
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int Index = cmbSN.FindString(SN);
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cmbSN.Text = SN;
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cmbSN.SelectedIndex = Index;
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// 如果没找到索引（可能是新增的），手动触发一次逻辑以更新UI
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if (Index == -1)
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{
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cmbSN_SelectedIndexChanged(null, null);
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}
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ckbLocalTest.Checked = Convert.ToBoolean(camConfig.Params.Inputs["是否本地取图"].ToString());
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ckbUpParams.Checked = Convert.ToBoolean(camConfig.Params.Inputs["是否每次写入参数"].ToString());
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ckbRegrab.Checked = Convert.ToBoolean(camConfig.Params.Inputs["是否失败重新取图"].ToString());
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txtTimeout.Text = camConfig.Params.Inputs["超时时间"].ToString();
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if (camConfig.OutputImage != null && camConfig.OutputImage is Bitmap bitmap)
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onlinePictureBox.Image = bitmap;
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lblCapTime.Text = $"{camConfig.RunTime}ms";
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}
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}
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private void UpdateUI()
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{
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try
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{
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// 如果当前不是 UI 线程，则通过 Invoke 将操作调度到 UI 线程
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if (this.InvokeRequired)
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{
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this.Invoke(new Action(() =>
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{
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double fps = total.iImageCount / (DateTime.Now - startGrabtime).TotalSeconds;
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this.lblPicCount.Text = total.iImageCount.ToString();
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}));
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}
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else
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{
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// 如果已经在 UI 线程上，直接更新
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double fps = total.iImageCount / (DateTime.Now - startGrabtime).TotalSeconds;
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this.lblPicCount.Text = total.iImageCount.ToString();
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}
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}
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catch { }
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}
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private void cmbSN_MouseDown(object sender, MouseEventArgs e)
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{
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if (dicCameras != null && dicCameras.Count > 0)
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return;
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cmbSN.Items.Clear();
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// 尝试将输入字符串转换为枚举值
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if (Enum.TryParse(cmbBrand.Text, true, out CameraBrand brand))
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{
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// 使用 switch 语句来判断枚举值
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switch (brand)
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{
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case CameraBrand.HRCamera:
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camera = new HRCamera();
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break;
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case CameraBrand.LBCamera:
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camera = new PHM6000Camera();
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break;
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default:
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Debug.WriteLine("未知品牌");
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break;
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}
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foreach (var item in camera.GetListEnum())
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{
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if (!cmbSN.Items.Contains(item))
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cmbSN.Items.Add(item);
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}
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}
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else
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{
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Debug.WriteLine("无效的枚举值！");
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}
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}
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private void cmbSN_SelectedIndexChanged(object sender, EventArgs e)
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{
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btnEdit.Enabled = false;
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//camConfig不为空（输入有相机），更改相机选择需要重新加载刷图事件
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if (camConfig != null && camera != null)
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{
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camera.ImageGrabbed -= GetImageBllComplete;
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}
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//输入无camConfig，但是该相机已经打开过了需要释放原相机
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else if (camera != null)
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{
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camera.ImageGrabbed -= GetImageBllComplete;
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camera.Dispose();
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}
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if (dicCameras != null && dicCameras.Count > 0 && dicCameras.ContainsKey(cmbSN.Text))
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camera = dicCameras[cmbSN.Text];
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//说明相机已经初始化成功
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if (camera != null)
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{
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int Index = cmbBrand.FindString(camera.Brand.ToString());
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if (Index >= 0)
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{
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cmbBrand.Text = camera.Brand.ToString();
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cmbBrand.SelectedIndex = Index;
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}
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if (camera.isGrabbing)
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{
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camera.ImageGrabbed -= GetImageBllComplete;
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camera.ImageGrabbed += GetImageBllComplete;
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this.btnEdit.Enabled = true;
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}
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// 如果相机存在于字典中，说明是已连接的设备，允许编辑
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else if (dicCameras != null && dicCameras.ContainsKey(camera.SN))
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{
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this.btnEdit.Enabled = true;
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}
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}
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}
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private void btnOpen_Click(object sender, EventArgs e)
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{
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// 尝试将输入字符串转换为枚举值
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if (Enum.TryParse(cmbBrand.Text, true, out CameraBrand brand))
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{
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if (camera != null)
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{
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camera.ImageGrabbed -= GetImageBllComplete;
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camera.Dispose();
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}
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// 使用 switch 语句来判断枚举值
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switch (brand)
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{
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case CameraBrand.LBCamera:
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camera = new PHM6000Camera();
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break;
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case CameraBrand.HRCamera:
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camera = new HRCamera();
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break;
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default:
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Debug.WriteLine($"【{DateTime.Now:HH:mm:ss.fff}】未知品牌");
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return;
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}
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if (cmbSN.Items.Count > 0 && camera.InitDevice(cmbSN.Text.ToString(), this.Handle))
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{
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camera.ImageGrabbed -= GetImageBllComplete;
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camera.ImageGrabbed += GetImageBllComplete;
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MessageBox.Show(camera.SN + "打开成功");
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this.btnEdit.Enabled = true;
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}
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}
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else
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{
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Debug.WriteLine($"【{DateTime.Now:HH:mm:ss.fff}】无效的枚举值！");
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}
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if (camera != null)
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{
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this.BeginInvoke(new Action(() =>
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{
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double exp = 0;
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double gain = 0;
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camera.GetExpouseTime(out exp);
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txtExp.Text = exp.ToString();
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camera.GetGain(out gain);
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txtGain.Text = gain.ToString();
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camera.GetTriggerMode(out TriggerMode mode, out TriggerSource source);
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if (source != TriggerSource.Software)
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radioButtonHard.Checked = true;
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else
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radioButtonSoft.Checked = true;
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}));
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}
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}
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private void btnClose_Click(object sender, EventArgs e)
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{
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if (camera == null)
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return;
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this.btnEdit.Enabled = false;
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if (camera.CloseDevice())
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{
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MessageBox.Show(camera.SN + "断开成功");
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this.panel_Picture.Controls.Clear();
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}
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}
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private void btnEdit_Click(object sender, EventArgs e)
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{
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if (camera == null)
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{
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return;
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}
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using (Form editForm = new Form())
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{
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editForm.Text = "高级参数设置 - " + camera.SN;
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editForm.Size = new System.Drawing.Size(400, 500);
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editForm.StartPosition = FormStartPosition.CenterParent;
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editForm.FormBorderStyle = FormBorderStyle.SizableToolWindow;
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PropertyGrid pg = new PropertyGrid();
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pg.Dock = DockStyle.Fill;
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if (camera is PHM6000Camera phmCamera)
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{
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pg.SelectedObject = phmCamera.GetSensorConfig();
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pg.PropertyValueChanged += (s, ev) =>
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{
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phmCamera.UpdateSensorConfig((PHM6000SensorConfig)pg.SelectedObject);
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};
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}
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else
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{
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pg.SelectedObject = new CameraAdvancedSettings(camera);
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}
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editForm.Controls.Add(pg);
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editForm.ShowDialog();
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}
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}
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/// <summary>
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/// 相机高级设置包装类
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/// </summary>
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public class CameraAdvancedSettings
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{
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private BaseCamera _camera;
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public CameraAdvancedSettings(BaseCamera camera)
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{
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_camera = camera;
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}
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[System.ComponentModel.Category("触发设置"), System.ComponentModel.Description("触发源")]
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public TriggerSource TriggerSource
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{
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get { _camera.GetTriggerMode(out _, out TriggerSource s); return s; }
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set { _camera.GetTriggerMode(out TriggerMode m, out _); _camera.SetTriggerMode(m, value); }
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}
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[System.ComponentModel.Category("触发设置"), System.ComponentModel.Description("触发极性")]
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public TriggerPolarity TriggerPolarity
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{
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get { _camera.GetTriggerPolarity(out TriggerPolarity p); return p; }
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set { _camera.SetTriggerPolarity(value); }
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}
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[System.ComponentModel.Category("触发设置"), System.ComponentModel.Description("触发延时(us)")]
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public double TriggerDelay
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{
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get { _camera.GetTriggerDelay(out double d); return d; }
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set { _camera.SetTriggerDelay(value); }
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}
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[System.ComponentModel.Category("触发设置"), System.ComponentModel.Description("触发滤波(us)")]
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public double TriggerFilter
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{
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get { _camera.GetTriggerFliter(out double f); return f; }
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set { _camera.SetTriggerFliter(value); }
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}
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[System.ComponentModel.Category("图像设置"), System.ComponentModel.Description("自动白平衡")]
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public void AutoBalanceWhite()
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{
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_camera.AutoBalanceWhite();
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}
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}
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/// <summary>
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/// 相机回调运行
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/// </summary>
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/// <param name="CCDName"></param>
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/// <param name="image"></param>
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private void GetImageBllComplete(object sender, CameraEventArgs e)
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{
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if (e.Bitmap == null)
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return;
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lock (e.Bitmap)
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{
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if (this.InvokeRequired) // 检查是否需要在UI线程上调用
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{
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this.Invoke(new Action(() =>
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{
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onlinePictureBox.Image = e.Bitmap;
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})); // 递归调用自身，但这次在UI线程上
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}
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else
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{
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onlinePictureBox.Image = e.Bitmap;
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}
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}
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total.iImageCount++;
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try
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{
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Bitmap = e.Bitmap.Clone() as Bitmap;
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}
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catch { }
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}
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private ulong ImageWidth;
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private ulong ImageHeight;
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private Pen pen = new Pen(Color.Blue, 3f);
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private System.Drawing.Point[] stPointList = new System.Drawing.Point[4];
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private void btnGrabOnce_Click(object sender, EventArgs e)
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{
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DateTime StartTime = DateTime.Now;
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if (camera == null)
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return;
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Task.Factory.StartNew(() =>
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{
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//camera.GetCamConfig(out CameraConfig OriCamConfig);
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camera.SetExpouseTime(Convert.ToDouble(txtExp.Text));
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camera.SetGain(Convert.ToDouble(txtGain.Text));
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camera.GetImageWithSoftTrigger(out Bitmap bitmap);
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this.BeginInvoke(new Action(() =>
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{
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if (bitmap != null)
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this.lblCapTime.Text = $"{(DateTime.Now - StartTime).TotalMilliseconds}ms";
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else
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this.lblCapTime.Text = "-1ms";
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}));
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//复原原通讯口设置
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//camera.SetCamConfig(OriCamConfig);
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});
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}
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private void btnStartHard_Click(object sender, EventArgs e)
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{
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if (camera == null)
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return;
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total.Clear();
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// 尝试将输入字符串转换为枚举值
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if (Enum.TryParse(cmbBrand.Text, true, out CameraBrand brand))
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{
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camera.StopGrabbing();
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camera.StartWith_HardTriggerModel();
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}
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startGrabtime = DateTime.Now;
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cmbSN.Enabled = false;
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cmbBrand.Enabled = false;
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}
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private void btnStartGrab_Click(object sender, EventArgs e)
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{
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if (camera == null)
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return;
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total.Clear();
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// 尝试将输入字符串转换为枚举值
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if (Enum.TryParse(cmbBrand.Text, true, out CameraBrand brand))
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{
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Task.Factory.StartNew(() =>
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{
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camera.StopGrabbing();
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camera.StartWith_SoftTriggerModel();
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});
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}
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startGrabtime = DateTime.Now;
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cmbSN.Enabled = false;
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cmbBrand.Enabled = false;
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}
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private void btnCloseGrab_Click(object sender, EventArgs e)
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{
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try
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{
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if (camera == null)
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return;
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// 尝试将输入字符串转换为枚举值
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if (Enum.TryParse(cmbBrand.Text, true, out CameraBrand brand))
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{
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Task.Factory.StartNew(() =>
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{
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camera.StopGrabbing();
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camera.SetTriggerMode(TriggerMode.On, TriggerSource.Software);
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camera.StartGrabbing();
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});
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}
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cmbSN.Enabled = true;
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cmbBrand.Enabled = true;
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}
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catch { }
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}
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private void btnLocalGrab_Click(object sender, EventArgs e)
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{
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try
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{
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if (cmbImagesPath.Items.Count <= 0)
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return;
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DateTime StartTime = DateTime.Now;
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int index = cmbImagesPath.SelectedIndex;
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if (cmbImagesPath.Items.Count > index + 1)
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cmbImagesPath.Text = cmbImagesPath.Items[index + 1].ToString();
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else
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cmbImagesPath.Text = cmbImagesPath.Items[0].ToString();
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using (Mat src = Cv2.ImRead(cmbImagesPath.Text))
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{
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if (src != null && !src.Empty())
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{
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using (Bitmap bitmap = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(src))
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{
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this.Invoke(new Action(() =>
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{
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this.lblCapTime.Text = $"{(DateTime.Now - StartTime).TotalMilliseconds}ms";
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}));
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onlinePictureBox.Image = bitmap;
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}
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}
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}
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}
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catch { }
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}
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private void txtExp_TextChanged(object sender, EventArgs e)
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{
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if (camera == null)
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return;
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double exp = 1000;
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if (double.TryParse(txtExp.Text.ToString(), out exp))
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camera.SetExpouseTime(exp);
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}
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private void txtGain_TextChanged(object sender, EventArgs e)
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{
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if (camera == null)
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return;
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double gain = 10;
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if (double.TryParse(txtGain.Text.ToString(), out gain))
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camera.SetGain(gain);
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}
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private void btnAddImages_Click(object sender, EventArgs e)
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{
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OpenFileDialog openFileDialog = new OpenFileDialog();
|
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// 设置文件对话框的属性
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openFileDialog.Multiselect = true; // 不允许多选
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// 设置文件过滤器，支持多种文件类型
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openFileDialog.Filter = "Image Files (*.png;*.jpg;*.jpeg;*.bmp)|*.png;*.jpg;*.jpeg;*.bmp|All Files (*.*)|*.*";
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// 显示文件对话框
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DialogResult result = openFileDialog.ShowDialog();
|
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// 处理对话框返回结果
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if (result == DialogResult.OK)
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{
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cmbImagesPath.Items.Clear();
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// 获取用户选择的文件名
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string[] selectedFiles = openFileDialog.FileNames;
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// 将文件路径添加到队列中
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foreach (string file in selectedFiles)
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cmbImagesPath.Items.Add(file);
|
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if (selectedFiles.Length > 0)
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cmbImagesPath.Text = selectedFiles[0];
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}
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}
|
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private void CameraForm_FormClosing(object sender, FormClosingEventArgs e)
|
{
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//路径为空说明无需保存
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if (string.IsNullOrEmpty(fullPath))
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{
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e.Cancel = false; //确认关闭窗体
|
return;
|
}
|
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DialogResult res = MessageBox.Show("是否保存？", "提示", MessageBoxButtons.YesNoCancel, MessageBoxIcon.Question); //保存结果信息
|
/// 参数1：显示文本，参数2：标题，参数3：按键类型，参数4：显示图标
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if (res == DialogResult.Cancel) //取消
|
{
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e.Cancel = true; //取消关闭窗体
|
return;
|
}
|
|
if (res == DialogResult.Yes) //保存VPP
|
{
|
TriggerSource actualSource = TriggerSource.Line0;
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TriggerPolarity polarity = TriggerPolarity.RisingEdge;
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double delay = 0;
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double filter = 0;
|
|
if (camera != null)
|
{
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camera.GetTriggerMode(out _, out actualSource);
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camera.GetTriggerPolarity(out polarity);
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camera.GetTriggerDelay(out delay);
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camera.GetTriggerFliter(out filter);
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}
|
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camConfig.Params.Inputs.Add("相机SN", cmbSN.Text);
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camConfig.Params.Inputs.Add("触发模式", TriggerMode.On);
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camConfig.Params.Inputs.Add("触发方式", radioButtonSoft.Checked ? TriggerSource.Software : actualSource);
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camConfig.Params.Inputs.Add("触发极性", polarity);
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camConfig.Params.Inputs.Add("触发延时", delay);
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camConfig.Params.Inputs.Add("触发消抖", filter);
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camConfig.Params.Inputs.Add("是否本地取图", ckbLocalTest.Checked);
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camConfig.Params.Inputs.Add("本地取图路径", cmbImagesPath.Items.Cast<string>().ToList());
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camConfig.Params.Inputs.Add("是否失败重新取图", ckbRegrab.Checked);
|
|
if (int.TryParse(txtTimeout.Text, out int timeout))
|
camConfig.Params.Inputs.Add("超时时间", timeout);
|
|
if (float.TryParse(txtExp.Text, out float exp))
|
camConfig.Params.Inputs.Add("曝光时间", exp);
|
|
if (float.TryParse(txtGain.Text, out float gain))
|
camConfig.Params.Inputs.Add("增益", gain);
|
|
string filePath = Path.GetDirectoryName(fullPath);
|
camConfig.Save(filePath);
|
e.Cancel = false; //确认关闭窗体
|
return;
|
}
|
}
|
|
private void CameraForm_FormClosed(object sender, FormClosedEventArgs e)
|
{
|
this.onlinePictureBox.Image = null;
|
if (camera != null)
|
{
|
camera.ImageGrabbed -= GetImageBllComplete;
|
camera.StopGrabbing();
|
|
camera.GetTriggerMode(out _, out TriggerSource actualSource);
|
if (radioButtonSoft.Checked)
|
camera.SetTriggerMode(TriggerMode.On, TriggerSource.Software);
|
else
|
camera.SetTriggerMode(TriggerMode.On, actualSource);
|
|
camera.StartGrabbing();
|
}
|
|
//路径为空说明为测试模式，需要释放相机
|
if (string.IsNullOrEmpty(fullPath) && camera != null)
|
camera.Dispose();
|
}
|
|
private ImageFormat GetImageFormat(string extension)
|
{
|
return extension.ToLower() switch
|
{
|
".jpg" or ".jpeg" => ImageFormat.Jpeg,
|
".png" => ImageFormat.Png,
|
".bmp" => ImageFormat.Bmp,
|
".gif" => ImageFormat.Gif,
|
".tiff" => ImageFormat.Tiff,
|
_ => ImageFormat.Png // 默认格式
|
};
|
}
|
|
private void btnSaveImage_Click(object sender, EventArgs e)
|
{
|
if (Bitmap == null)
|
{
|
MessageBox.Show("没有图像可保存!", "异常");
|
return;
|
}
|
|
// 创建 SaveFileDialog 实例
|
using (SaveFileDialog saveFileDialog = new SaveFileDialog())
|
{
|
// 设置对话框标题
|
saveFileDialog.Title = "保存文件";
|
|
// 设置默认路径
|
saveFileDialog.InitialDirectory = Application.StartupPath;
|
|
// 设置文件过滤器，支持多种文件类型
|
saveFileDialog.Filter = "Image Files (*.png;*.jpg;*.jpeg;*.bmp)|*.png;*.jpg;*.jpeg;*.bmp|All Files (*.*)|*.*";
|
|
// 设置默认文件名
|
saveFileDialog.FileName = "output.jpg";
|
|
// 显示对话框并检查用户是否点击了保存按钮
|
if (saveFileDialog.ShowDialog() == DialogResult.OK)
|
{
|
// 获取用户选择的文件路径
|
string fullPath = saveFileDialog.FileName;
|
Debug.WriteLine("选择的文件路径是: " + fullPath);
|
|
if (!string.IsNullOrEmpty(fullPath))
|
{
|
Bitmap.Save(fullPath, GetImageFormat(Path.GetExtension(fullPath)));
|
}
|
}
|
}
|
}
|
|
private void radioButtonSoft_CheckedChanged(object sender, EventArgs e)
|
{
|
btnGrabOnce.Enabled = radioButtonSoft.Checked;
|
btnStartGrab.Enabled = radioButtonSoft.Checked;
|
btnCloseGrab.Enabled = radioButtonSoft.Checked;
|
btnStartHard.Enabled = !radioButtonSoft.Checked;
|
|
if (camera == null)
|
return;
|
|
camera.GetTriggerMode(out _, out TriggerSource currentSource);
|
|
if (radioButtonSoft.Checked)
|
{
|
camera.SetTriggerMode(TriggerMode.On, TriggerSource.Software);
|
}
|
else
|
{
|
// 如果当前已经是硬件触发源，则保持；否则默认Line0
|
if (currentSource == TriggerSource.Software)
|
camera.SetTriggerMode(TriggerMode.On, TriggerSource.Line0);
|
else
|
camera.SetTriggerMode(TriggerMode.On, currentSource);
|
}
|
}
|
|
System.Windows.Forms.ToolTip ToolTip = new System.Windows.Forms.ToolTip();
|
private void cmbImagesPath_MouseHover(object sender, EventArgs e)
|
{
|
if (cmbImagesPath.SelectedIndex != -1
|
&& camConfig != null
|
&& int.TryParse(camConfig.Params.Inputs["本地取图序号"]?.ToString(), out int indexPath))
|
{
|
// 显示ToolTip（相对于控件的位置）
|
ToolTip.Show($"当前索引序号:{indexPath}", (Control)sender,
|
((Control)sender).Width / 2, // x偏移
|
-20, // y偏移（负值表示上方）
|
2000); // 显示时间(ms)
|
}
|
}
|
|
private void cmbImagesPath_SelectedIndexChanged(object sender, EventArgs e)
|
{
|
if (camConfig != null)
|
camConfig.Params.Inputs["本地取图序号"] = cmbImagesPath.SelectedIndex;
|
}
|
|
private void controlBox_2DCameraForm_Click(object sender, EventArgs e)
|
{
|
|
}
|
|
private void dungeonControlBox_2DCameraForm_Click(object sender, EventArgs e)
|
{
|
// this.Close();
|
}
|
|
private void theme_2DCameraForm_Click(object sender, EventArgs e)
|
{
|
|
}
|
}
|
}
|
