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.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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using LB_SmartVisionCameraSDK.PHM6000;
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using LB_VisionProcesses.Cameras;
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using LB_SmartVisionCommon;
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using LB_SmartVisionCameraDevice.PHM6000;
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namespace LB_VisionProcesses.Cameras.LBCameras
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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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private AcquisitionCallbackZA _acquisitionCallback;
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private AcquisitionCompletedCallback _acquisitionCompletedCallback;
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private bool _isConnected = false;
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// 图像缓冲
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private List<byte[]> _lineDataBuffer = new List<byte[]>();
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private readonly object _bufferLock = new object();
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private int _currentLineCount = 0;
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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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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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// 如果传入的 sn 是 IP 地址，则直接尝试匹配 IP
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// 或者匹配序列号
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if (currentSn == sn || sn.Contains(currentSn)) // 简单匹配逻辑
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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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// 销毁临时句柄
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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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// 如果没找到但 sn 本身看起来像 IP，尝试直接连接（兼容旧逻辑）
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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; // 默认端口
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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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// 初始化回调
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_acquisitionCallback = new AcquisitionCallbackZA(OnLineReceived);
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_acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
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PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
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PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
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return true;
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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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}
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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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string type = Encoding.UTF8.GetString(moduleTypeBytes).TrimEnd('\0');
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// 格式参考：PHM6000[SN123456]
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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: GetListEnum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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public override bool StartGrabbing()
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{
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if (!_isConnected) return false;
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lock (_bufferLock)
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{
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_lineDataBuffer.Clear();
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_currentLineCount = 0;
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}
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// 设置采集模式：1=扫描模式，1=连续模式
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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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if (!_isConnected) return true;
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PHM6000Profiler.StopAcquisition(_cameraHandle);
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isGrabbing = false;
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return true;
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}
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public override bool SoftTrigger()
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{
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// 线扫相机通常不需要传统软触发，但在某些模式下可模拟
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return true;
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}
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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, (float)gain);
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public override bool GetGain(out double gain) { float v; bool r = GetParam(EnumNameId.AnalogGain, out v); gain = v; return r; }
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// 其他接口占位实现
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public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0) => true;
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public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source) { mode = TriggerMode.Off; source = TriggerSource.Software; return true; }
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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 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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// 简单示例：设置曝光和增益
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SetExpouseTime(config.ExposureTime);
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SetGain((double)config.AnalogGain);
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// 更多参数同步逻辑应在此处实现
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}
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#endregion
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#endregion
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#region Private Callback & Helpers
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private void OnLineReceived(IntPtr pInstance, IntPtr buffer, int points)
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{
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// 实时回调处理：累积行数据
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if (!isGrabbing) return;
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int lineSize = points * Marshal.SizeOf(typeof(LBPointZA));
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byte[] lineData = new byte[lineSize];
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Marshal.Copy(buffer, lineData, 0, lineSize);
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lock (_bufferLock)
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{
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_lineDataBuffer.Add(lineData);
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_currentLineCount++;
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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=一批数据结束, 1=全部完成, 2=点云就绪
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if (nOption == 1 || nOption == 0)
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{
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GenerateIntensityMap();
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}
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}
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private void GenerateIntensityMap()
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{
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if (_cameraHandle == IntPtr.Zero) return;
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int width = 0;
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int height = 0;
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// 直接从 SDK 获取合并后的强度数据指针 (unsigned char*)
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IntPtr pIntensity = PHM6000Profiler.GetIntensityData(_cameraHandle, ref width, ref height);
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if (pIntensity == IntPtr.Zero || width <= 0 || height <= 0) return;
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try
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{
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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++) palette.Entries[i] = Color.FromArgb(i, i, i);
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bmp.Palette = palette;
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BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, PixelFormat.Format8bppIndexed);
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// 高性能内存拷贝
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int size = width * height;
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byte[] managedData = new byte[size];
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Marshal.Copy(pIntensity, managedData, 0, size);
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Marshal.Copy(managedData, 0, bmpData.Scan0, size);
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bmp.UnlockBits(bmpData);
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// 触发事件通知 UI 更新亮度图
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ImageGrabbed?.Invoke(this, new CameraEventArgs(SN, bmp));
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}
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catch (Exception ex)
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{
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AsyncLogHelper.Error($"LBCamera: 生成亮度图异常 - {ex.Message}");
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}
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}
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private void SyncConfigFromCamera()
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{
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// 从相机读取所有参数并填充到 _sensorConfig
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foreach (EnumNameId id in Enum.GetValues(typeof(EnumNameId)))
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{
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int iVal = 0; double dVal = 0; int eVal = 0;
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if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
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{
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// 实际项目中应使用反射将值写回 _sensorConfig
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}
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}
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}
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private bool SetParam(EnumNameId id, float value)
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{
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if (!_isConnected) return false;
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return PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)id, 0, value, 0) == 0;
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}
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private bool GetParam(EnumNameId id, out float value)
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{
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value = 0;
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if (!_isConnected) return false;
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int iVal = 0; double dVal = 0; int eVal = 0;
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if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
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{
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value = (float)dVal;
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return true;
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}
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return false;
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}
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#endregion
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}
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}
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