using LB_SmartVisionCameraDevice.PHM6000;
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using LB_SmartVisionCameraSDK.PHM6000;
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using LB_SmartVisionCommon;
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using LB_VisionProcesses.Cameras;
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using Sunny.UI.Win32;
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using System;
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using System.Collections.Generic;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.Reflection;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace LB_VisionProcesses.Cameras.LBCameras
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{
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public class LBCameraEventArgs : CameraEventArgs
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{
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public bool IsComplete { get; set; }
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public LBCameraEventArgs(string sn, Bitmap bitmap, bool isComplete) : base(sn, bitmap)
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{
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IsComplete = isComplete;
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}
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}
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/// <summary>
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/// LB3D工业相机实现类
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/// 基于PHM6000系列封装
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/// </summary>
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public class LBCamera : BaseCamera
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{
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private IntPtr _cameraHandle = IntPtr.Zero;
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private PHM6000SensorConfig _sensorConfig;
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// 采集回调
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private AcquisitionCallbackZA _acquisitionCallback;
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private AcquisitionCompletedCallback _acquisitionCompletedCallback;
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private bool _isConnected = false;
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private int _frameCount = 0; // 采集帧计数
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// 图像缓冲
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private byte[] _rawPixelBuffer = null; // 用于存储整张图的像素数据 (8bpp)
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private int _currentBitmapHeight = 0;
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private int _currentBitmapWidth = 0;
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private int _currentLineCount = 0;
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private object _bufferLock = new object();
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private bool _isBufferReady = false;
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// 临时行缓冲，用于接收回调数据
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private byte[] _tempLineBuffer = null;
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private bool _isContinuous = false;
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public LBCamera()
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{
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Brand = CameraBrand.LBCamera;
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_sensorConfig = new PHM6000SensorConfig();
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}
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#region ICamera Implementation
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public override bool InitDevice(string sn, object handle = null)
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{
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// 如果已连接，直接返回true
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if (_isConnected && _cameraHandle != IntPtr.Zero)
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{
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return true;
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}
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IntPtr tempHandle = IntPtr.Zero;
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try
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{
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SN = sn;
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// 1. 创建临时句柄用于发现设备
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tempHandle = PHM6000Profiler.CreateCameraEntry();
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if (tempHandle == IntPtr.Zero) return false;
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// 2. 发现相机
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int cameraCount = PHM6000Profiler.DiscoverCameras(tempHandle);
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if (cameraCount <= 0)
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{
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PHM6000Profiler.DestroyCameraEntry(tempHandle);
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return false;
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}
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string targetIp = string.Empty;
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int targetPort = 0;
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bool found = false;
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// 3. 遍历相机寻找匹配的SN
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for (int i = 0; i < cameraCount; i++)
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{
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byte[] moduleTypeBytes = new byte[64];
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byte[] serialNumberBytes = new byte[64];
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if (PHM6000Profiler.GetCameraInformation(tempHandle, i, moduleTypeBytes, serialNumberBytes) == 0)
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{
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string currentSn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0');
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// 匹配SN或IP
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if (currentSn == sn || sn.Contains(currentSn))
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{
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byte[] addressBytes = new byte[64];
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int port = 0;
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if (PHM6000Profiler.GetCameraAddress(tempHandle, i, addressBytes, ref port) == 0)
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{
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targetIp = Encoding.UTF8.GetString(addressBytes).TrimEnd('\0');
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targetPort = port;
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found = true;
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break;
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}
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}
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}
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}
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PHM6000Profiler.DestroyCameraEntry(tempHandle);
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tempHandle = IntPtr.Zero;
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if (!found)
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{
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if (System.Net.IPAddress.TryParse(sn, out _))
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{
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targetIp = sn;
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targetPort = 5577;
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}
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else
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{
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AsyncLogHelper.Error($"LBCamera: 未找到SN为 {sn} 的相机");
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return false;
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}
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}
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// 4. 创建正式相机句柄并连接
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_cameraHandle = PHM6000Profiler.CreateCameraEntry();
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if (_cameraHandle == IntPtr.Zero) return false;
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var addr = Encoding.ASCII.GetBytes(targetIp);
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int result = PHM6000Profiler.ConnectToCamera(_cameraHandle, addr, targetPort);
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if (result == 0)
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{
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_isConnected = true;
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// 加载相机当前参数到 _sensorConfig
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SyncConfigFromCamera();
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// 初始化并注册采集回调 (获取数据用)
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_acquisitionCallback = new AcquisitionCallbackZA(OnAcquisitionCallbackZA);
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PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
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// 初始化并注册采集完成回调 (状态通知用)
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_acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
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PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
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// 强制应用当前配置（确保触发模式等参数正确，避免相机处于未知状态）
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UpdateSensorConfig(_sensorConfig);
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AsyncLogHelper.Info($"LBCamera[{SN}]: Connected and initialized successfully (Manual Data Mode)");
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return true;
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}
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else
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{
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AsyncLogHelper.Error($"LBCamera[{SN}]: ConnectToCamera failed, result={result}");
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}
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}
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catch (Exception ex)
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{
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AsyncLogHelper.Error($"LBCamera: InitDevice异常 - {ex.Message}");
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if (tempHandle != IntPtr.Zero) PHM6000Profiler.DestroyCameraEntry(tempHandle);
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}
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return false;
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}
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public override bool CloseDevice()
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{
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if (_isConnected && _cameraHandle != IntPtr.Zero)
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{
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StopGrabbing();
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PHM6000Profiler.DestroyCameraEntry(_cameraHandle);
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_cameraHandle = IntPtr.Zero;
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_isConnected = false;
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AsyncLogHelper.Info($"LBCamera[{SN}]: Closed");
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}
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return true;
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}
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public override List<string> GetListEnum()
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{
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List<string> cameraList = new List<string>();
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IntPtr tempHandle = IntPtr.Zero;
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try
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{
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tempHandle = PHM6000Profiler.CreateCameraEntry();
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if (tempHandle != IntPtr.Zero)
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{
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int count = PHM6000Profiler.DiscoverCameras(tempHandle);
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for (int i = 0; i < count; i++)
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{
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byte[] moduleTypeBytes = new byte[64];
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byte[] serialNumberBytes = new byte[64];
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if (PHM6000Profiler.GetCameraInformation(tempHandle, i, moduleTypeBytes, serialNumberBytes) == 0)
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{
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string sn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0');
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if (!string.IsNullOrEmpty(sn))
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{
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cameraList.Add(sn);
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}
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}
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}
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}
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}
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catch (Exception ex)
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{
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AsyncLogHelper.Error($"LBCamera: 获取设备列表异常 - {ex.Message}");
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}
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finally
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{
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if (tempHandle != IntPtr.Zero)
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PHM6000Profiler.DestroyCameraEntry(tempHandle);
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}
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return cameraList;
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}
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private void InitBuffer()
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{
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lock (_bufferLock)
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{
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_currentBitmapHeight = _sensorConfig.ScanLineCount > 0 ? _sensorConfig.ScanLineCount : 5000;
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// 宽度在第一行数据到达时确定
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_currentBitmapWidth = 0;
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_rawPixelBuffer = null;
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_currentLineCount = 0;
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_isBufferReady = false;
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}
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}
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public override bool StartGrabbing()
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{
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// 默认连续模式
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return StartSingleGrab();
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}
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public bool StartSingleGrab()
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{
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if (!_isConnected) return false;
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_isContinuous = false;
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InitBuffer();
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AsyncLogHelper.Info($"LBCamera[{SN}]: 开始单次采集");
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// 1=扫描模式, 0=单次
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PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 0);
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int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
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if (result == 0)
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{
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isGrabbing = true;
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return true;
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}
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return false;
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}
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public override bool StartContinuousGrab()
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{
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if (!_isConnected) return false;
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_isContinuous = true;
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InitBuffer();
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AsyncLogHelper.Info($"LBCamera[{SN}]:开始连续采集");
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// 1=扫描模式, 1=连续
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PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
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int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
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if (result == 0)
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{
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isGrabbing = true;
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return true;
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}
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return false;
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}
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public override bool StopGrabbing()
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{
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_isContinuous = false;
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if (!_isConnected) return true;
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PHM6000Profiler.StopAcquisition(_cameraHandle);
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// 停止时如果有未显示的缓存数据，将其显示出来（支持显示不完整的帧）
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lock (_bufferLock)
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{
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if (_currentLineCount > 0)
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{
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AsyncLogHelper.Info($"LBCamera[{SN}]: Flushing partial buffer ({_currentLineCount} lines) on stop");
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CreateAndFireBitmap();
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_currentLineCount = 0;
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}
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}
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isGrabbing = false;
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return true;
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}
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public override bool StartWith_SoftTriggerModel() => StartContinuousGrab();
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public override bool StartWith_HardTriggerModel(TriggerSource hardtriggeritem = TriggerSource.Line0) => StartSingleGrab();
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public override bool SoftTrigger() => true;
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#region 参数设置映射
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public override bool SetExpouseTime(double value) => SetParam(EnumNameId.ExposureTime, (float)value);
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public override bool GetExpouseTime(out double value) { float v; bool r = GetParam(EnumNameId.ExposureTime, out v); value = v; return r; }
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public override bool SetGain(double gain) => SetParam(EnumNameId.AnalogGain, (int)gain);
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public override bool GetGain(out double gain) { int v; bool r = GetParam(EnumNameId.AnalogGain, out v); gain = v; return r; }
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public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0)
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{
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if (!_isConnected) return false;
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if (triggerEnum == TriggerSource.Software)
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{
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_sensorConfig.LineScanTriggerSource = EnumLineScanTriggerSource.固定频率;
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_sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.软触发;
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}
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else
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{
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_sensorConfig.LineScanTriggerSource = EnumLineScanTriggerSource.编码器;
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_sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.外部触发;
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}
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UpdateSensorConfig(_sensorConfig);
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return true;
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}
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public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source)
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{
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mode = TriggerMode.On;
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source = _sensorConfig.DataAcquisitionTriggerSource == EnumDataAcquisitionTriggerSource.软触发 ? TriggerSource.Software : TriggerSource.Line0;
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return true;
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}
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public override bool SetTriggerPolarity(TriggerPolarity polarity) => true;
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public override bool GetTriggerPolarity(out TriggerPolarity polarity) { polarity = TriggerPolarity.RisingEdge; return true; }
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public override bool SetTriggerFliter(double flitertime) => true;
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public override bool GetTriggerFliter(out double flitertime) { flitertime = 0; return true; }
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public override bool SetTriggerDelay(double delay) => true;
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public override bool GetTriggerDelay(out double delay) { delay = 0; return true; }
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public override bool SetLineMode(IOLines line, LineMode mode) => true;
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public override bool SetLineStatus(IOLines line, LineStatus linestatus) => true;
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public override bool GetLineStatus(IOLines line, out LineStatus lineStatus) { lineStatus = LineStatus.Low; return true; }
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public override bool AutoBalanceWhite() => true;
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public override void SetCamConfig(CameraConfig config) { }
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public override void GetCamConfig(out CameraConfig config) { config = new CameraConfig(null); }
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public override bool GetImage(out Bitmap bitmap, int outtime = 3000) { bitmap = null; return false; }
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public override bool GetImageWithSoftTrigger(out Bitmap bitmap, int outtime = 3000)
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{
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// 简单实现：软触发等待
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bitmap = null;
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if(!_isConnected) return false;
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// 计算理论最小耗时 (仅当使用固定频率触发时)
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int minTime = 0;
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if (_sensorConfig.LineScanTriggerSource == EnumLineScanTriggerSource.固定频率)
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{
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float rate = _sensorConfig.SoftwareTriggerRate > 0 ? _sensorConfig.SoftwareTriggerRate : 1000f;
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int lines = _sensorConfig.ScanLineCount > 0 ? _sensorConfig.ScanLineCount : 5000;
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minTime = (int)((lines / rate) * 1000);
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}
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// 如果传入超时时间不够，自动延长
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int actualTimeout = outtime;
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if (actualTimeout < minTime + 2000)
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{
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actualTimeout = minTime + 3000; // 预留3秒余量
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AsyncLogHelper.Warn($"LBCamera: Provided timeout {outtime}ms is too short for {minTime}ms scan. Extended to {actualTimeout}ms.");
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}
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using (AutoResetEvent waitHandle = new AutoResetEvent(false))
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{
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Bitmap res = null;
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EventHandler<CameraEventArgs> handler = (s, e) => {
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if(e.Bitmap != null) {
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res = e.Bitmap.Clone() as Bitmap;
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waitHandle.Set();
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}
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};
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ImageGrabbed += handler;
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if (StartSingleGrab())
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{
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if (!waitHandle.WaitOne(actualTimeout))
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{
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AsyncLogHelper.Error($"LBCamera: GetImageWithSoftTrigger timeout after {actualTimeout}ms");
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}
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}
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else
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{
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AsyncLogHelper.Error("LBCamera: StartSingleGrab failed");
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}
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ImageGrabbed -= handler;
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// 确保停止采集
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StopGrabbing();
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bitmap = res;
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return bitmap != null;
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}
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}
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public PHM6000SensorConfig GetSensorConfig()
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{
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SyncConfigFromCamera();
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return _sensorConfig;
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}
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public void UpdateSensorConfig(PHM6000SensorConfig config)
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{
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_sensorConfig = config;
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if (!_isConnected) return;
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SetParam(EnumNameId.ExposureTime, (float)config.ExposureTime);
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SetParam(EnumNameId.AnalogGain, (float)config.AnalogGain);
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PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.ScanLineCount, config.ScanLineCount, 0, 0);
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PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.LineScanTriggerSource, 0, 0, (int)config.LineScanTriggerSource);
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PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.DataAcquisitionTriggerSource, 0, 0, (int)config.DataAcquisitionTriggerSource);
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if (config.LineScanTriggerSource == EnumLineScanTriggerSource.固定频率)
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{
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PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.SoftwareTriggerRate, 0, config.SoftwareTriggerRate, 0);
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}
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PHM6000Profiler.SaveAllParametersToDevice(_cameraHandle);
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}
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#endregion
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#endregion
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#region Callbacks
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private void OnAcquisitionCallbackZA(IntPtr pInstance, IntPtr buffer, int points)
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{
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if (buffer == IntPtr.Zero || points <= 0) return;
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lock (_bufferLock)
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{
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// 初始化缓冲区
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if (_rawPixelBuffer == null)
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{
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_currentBitmapWidth = points;
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if (_currentBitmapHeight <= 0) _currentBitmapHeight = 2000; // 默认防呆
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_rawPixelBuffer = new byte[_currentBitmapWidth * _currentBitmapHeight];
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_currentLineCount = 0;
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}
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if (_currentLineCount >= _currentBitmapHeight) return; // 缓冲区满，忽略多余数据
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// 准备临时缓冲区接收行数据 (LBPointZA = 8 bytes)
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int lineBytes = points * 8;
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if (_tempLineBuffer == null || _tempLineBuffer.Length != lineBytes)
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{
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_tempLineBuffer = new byte[lineBytes];
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}
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// 拷贝非托管内存到托管数组
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Marshal.Copy(buffer, _tempLineBuffer, 0, lineBytes);
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// 提取灰度(Intensity/Alpha)数据填充到 _rawPixelBuffer
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// LBPointZA结构: float(4) + res(3) + alpha(1). Alpha在偏移7
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int bufferOffset = _currentLineCount * _currentBitmapWidth;
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for (int i = 0; i < points; i++)
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{
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if (bufferOffset + i < _rawPixelBuffer.Length)
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{
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_rawPixelBuffer[bufferOffset + i] = _tempLineBuffer[i * 8 + 7];
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}
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}
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_currentLineCount++;
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// 如果达到预定高度，生成图像
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if (_currentLineCount >= _currentBitmapHeight)
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{
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CreateAndFireBitmap();
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// 重置，准备下一帧 (如果是连续采集)
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_currentLineCount = 0;
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// _rawPixelBuffer 可以复用，不需要置空
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}
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}
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}
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private void OnAcquisitionCompleted(IntPtr pInstance, int nOption)
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{
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// nOption: 0=Batch End, 1=All End(Single), 2=Processing End
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// 此处主要用于日志或状态监控
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// 实际图像生成在 Data Callback 中完成
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if (nOption == 1) // 单次采集结束
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{
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if (_isContinuous && isGrabbing)
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{
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// 如果在连续模式下收到结束信号，尝试自动重启采集
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AsyncLogHelper.Info($"LBCamera[{SN}]: Continuous mode frame ended, restarting...");
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Task.Run(() =>
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{
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if (_isContinuous && _isConnected)
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{
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PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
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}
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});
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}
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else
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{
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isGrabbing = false;
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AsyncLogHelper.Info($"LBCamera[{SN}]: Single grab completed by SDK");
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// 单次采集结束时，如果有未显示的缓冲数据，立即生成图像
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// 防止因数据量不足(小于ScanLineCount)导致GetImageWithSoftTrigger一直等待
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lock (_bufferLock)
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{
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if (_currentLineCount > 0)
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{
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AsyncLogHelper.Info($"LBCamera[{SN}]: Flushing partial buffer ({_currentLineCount} lines) on completion");
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CreateAndFireBitmap();
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_currentLineCount = 0;
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}
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}
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}
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}
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}
|
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private void CreateAndFireBitmap()
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{
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try
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{
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int width = _currentBitmapWidth;
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int height = _currentLineCount; // 使用实际采集到的行数
|
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if (width <= 0 || height <= 0 || _rawPixelBuffer == null) return;
|
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Bitmap bmp = new Bitmap(width, height, PixelFormat.Format8bppIndexed);
|
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// 设置灰度调色板
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ColorPalette palette = bmp.Palette;
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for (int i = 0; i < 256; i++)
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{
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palette.Entries[i] = Color.FromArgb(i, i, i);
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}
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bmp.Palette = palette;
|
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// 拷贝数据
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BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, PixelFormat.Format8bppIndexed);
|
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// 注意：Bitmap Stride 可能不等于 Width，需要逐行拷贝
|
int stride = bmpData.Stride;
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IntPtr ptr = bmpData.Scan0;
|
|
for (int y = 0; y < height; y++)
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{
|
// 确保不越界
|
if ((y * width) + width <= _rawPixelBuffer.Length)
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{
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Marshal.Copy(_rawPixelBuffer, y * width, ptr + y * stride, width);
|
}
|
}
|
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bmp.UnlockBits(bmpData);
|
|
_frameCount++;
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AsyncLogHelper.Info($"LBCamera[{SN}]: Frame {_frameCount} generated ({width}x{height})");
|
|
// 异步触发事件，避免阻塞SDK回调线程
|
Task.Factory.StartNew(() =>
|
{
|
try
|
{
|
ImageGrabbed?.Invoke(this, new LBCameraEventArgs(SN, bmp, true));
|
CallBackImg = (Bitmap)bmp.Clone();
|
if (CallBackImg == null)
|
{
|
return;
|
}
|
if (GetTriggerMode(out TriggerMode mode, out TriggerSource source))
|
{
|
if (mode == TriggerMode.On && source != TriggerSource.Software)
|
TriggerRunMessageReceived?.Invoke(SN, source.ToString()); // 触发运行事件
|
}
|
bmp.Dispose();
|
}
|
catch (Exception ex)
|
{
|
AsyncLogHelper.Error($"LBCamera: Event Invoke error - {ex.Message}");
|
bmp.Dispose(); // 异常时释放资源
|
}
|
});
|
}
|
catch (Exception ex)
|
{
|
AsyncLogHelper.Error($"LBCamera: CreateBitmap error - {ex.Message}");
|
}
|
}
|
|
private void SyncConfigFromCamera()
|
{
|
try
|
{
|
if (!_isConnected) return;
|
|
PropertyInfo[] props = _sensorConfig.GetType().GetProperties();
|
foreach (PropertyInfo p in props)
|
{
|
// 跳过自定义参数
|
var iscustomAttr = p.GetCustomAttribute<IsCustomAttribute>();
|
if (iscustomAttr != null) continue;
|
|
if (Enum.TryParse(typeof(EnumNameId), p.Name, out object nameIdObj))
|
{
|
EnumNameId nameId = (EnumNameId)nameIdObj;
|
int intValue = 0;
|
double doubleValue = 0;
|
int enumValue = 0;
|
|
if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)nameId, ref intValue, ref doubleValue, ref enumValue) == 0)
|
{
|
if (p.PropertyType == typeof(int))
|
{
|
p.SetValue(_sensorConfig, intValue);
|
}
|
else if (p.PropertyType == typeof(float))
|
{
|
p.SetValue(_sensorConfig, (float)doubleValue);
|
}
|
else if (p.PropertyType == typeof(double))
|
{
|
p.SetValue(_sensorConfig, doubleValue);
|
}
|
else // Enum or other types
|
{
|
p.SetValue(_sensorConfig, enumValue);
|
}
|
}
|
}
|
}
|
}
|
catch (Exception ex)
|
{
|
AsyncLogHelper.Error($"LBCamera: SyncConfigFromCamera error - {ex.Message}");
|
}
|
}
|
|
private bool SetParam(EnumNameId id, float value)
|
{
|
if (!_isConnected) return false;
|
return PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)id, 0, value, 0) == 0;
|
}
|
|
private bool SetParam(EnumNameId id, int value)
|
{
|
if (!_isConnected) return false;
|
// 对于枚举类型，通常通过 enumValue (最后一个参数) 传递
|
return PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)id, 0, 0, value) == 0;
|
}
|
|
private bool GetParam(EnumNameId id, out float value)
|
{
|
value = 0;
|
if (!_isConnected) return false;
|
int iVal = 0; double dVal = 0; int eVal = 0;
|
if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
|
{
|
value = (float)dVal;
|
return true;
|
}
|
return false;
|
}
|
|
private bool GetParam(EnumNameId id, out int value)
|
{
|
value = 0;
|
if (!_isConnected) return false;
|
int iVal = 0; double dVal = 0; int eVal = 0;
|
if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
|
{
|
value = eVal; // Assuming it returns in enumValue
|
return true;
|
}
|
return false;
|
}
|
#endregion
|
}
|
}
|
