using HalconDotNet;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Serialization;
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using OpenCvSharp;
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using OpenCvSharp.Extensions;
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using System;
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using System.Collections.Concurrent;
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using System.Diagnostics;
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using System.Text;
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namespace LB_VisionProcesses.Cameras
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{
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[Process("相机取图", Category = "取像工具", Description = "创建相机取图工具")]
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public class CameraConfig : IProcess
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{
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/// <summary>
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/// 相机集合(Key:相机SN，Value:相机句柄)
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/// </summary>
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public ConcurrentDictionary<string, BaseCamera> dicCameras { get; set; }
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public BaseCamera Camera { get; set; }
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public CameraConfig(ConcurrentDictionary<string, BaseCamera> dicCameras = null)
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{
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this.dicCameras = dicCameras;
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strProcessName = "相机取图";
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strProcessClass = "LB_VisionProcesses.CameraConfig.CommunicatorConfig";
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Params.Inputs.Add("相机SN", "");
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Params.Inputs.Add("触发模式", TriggerMode.On);
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Params.Inputs.Add("触发方式", TriggerSource.Software);
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Params.Inputs.Add("触发极性", TriggerPolarity.RisingEdge);
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Params.Inputs.Add("触发消抖", 0);
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Params.Inputs.Add("触发延时", 0);
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Params.Inputs.Add("曝光时间", 1000);
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Params.Inputs.Add("增益", 1);
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Params.Inputs.Add("是否每次写入参数", false);
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Params.Inputs.Add("是否本地取图", false);
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Params.Inputs.Add("本地取图路径", "");
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Params.Inputs.Add("本地取图序号", 0);
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Params.Inputs.Add("超时时间", 1000);
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Params.Inputs.Add("是否失败重新取图", false);
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// 2D轮胎计数配置（默认为1，表示3D模式；2D相机设置为n）
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Params.Inputs.Add("ImagesPerTyre", 1);
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Params.Inputs.Add("当前轮胎ID", 1);
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Params.Inputs.Add("当前图像序号", 0);
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}
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/// <summary>
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/// 加载算法
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/// </summary>
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/// <param name="fullPath">完整路径带.json</param>
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/// <returns></returns>
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public override bool Load(string fullPath = null)
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{
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try
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{
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if (string.IsNullOrEmpty(fullPath))
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return false;
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if (!fullPath.Contains(".json"))
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{
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Debug.WriteLine("文件路径不完整");
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return false;
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}
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if (string.IsNullOrEmpty(fullPath) || fullPath.Trim() == "")
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{
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Debug.WriteLine("文件路径不完整");
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return false;
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}
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// 获取不带文件名的目录路径
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string directoryPath = Path.GetDirectoryName(fullPath);
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strProcessName = Path.GetFileNameWithoutExtension(fullPath);
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if (!File.Exists(fullPath))
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{
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Debug.WriteLine("文件不存在创建空文件");
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Save(directoryPath);
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return true;
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}
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string strJson = string.Empty;
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using (StreamReader streamReader = new StreamReader(fullPath, Encoding.UTF8))
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{
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strJson = streamReader.ReadToEnd();
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streamReader.Close();
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}
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Params = JsonConvert.DeserializeObject<ProcessParams>(strJson);
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if (Params == null)
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return false;
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Params.FixDeserializedData();
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#region 加载后把参数写入到相机中
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bool isLocal = Convert.ToBoolean(Params.Inputs["是否本地取图"].ToString());
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if (!isLocal)
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{
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string SN = Params.Inputs["相机SN"].ToString();
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if (dicCameras == null || !dicCameras.ContainsKey(SN))
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return false;
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BaseCamera BaseCamera = dicCameras[SN];
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if (BaseCamera == null)
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return false;
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if (!BaseCamera.isGrabbing)
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{
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if (!BaseCamera.StartGrabbing())
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return false;
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}
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BaseCamera.SetCamConfig(this);
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}
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#endregion
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return true;
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}
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catch { return false; }
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}
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/// <summary>
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/// 保存算法
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/// </summary>
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/// <param name="filePath">不带.json</param>
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/// <returns></returns>
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public override bool Save(string filePath = null)
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{
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try
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{
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if (string.IsNullOrEmpty(filePath) || filePath.Trim() == "")
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{
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Debug.WriteLine("文件路径不完整");
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return false;
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}
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string strJson = string.Empty;
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var settings = new JsonSerializerSettings
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{
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Formatting = Newtonsoft.Json.Formatting.Indented,
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// 自定义缩进（4空格）
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ContractResolver = new DefaultContractResolver
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{
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NamingStrategy = new CamelCaseNamingStrategy()
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}
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};
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strJson = JsonConvert.SerializeObject(Params, settings);
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Params = JsonConvert.DeserializeObject<ProcessParams>(strJson);
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if (Params == null)
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return false;
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//判断文件夹是否存在，防呆输入为文件名称
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if (!Directory.Exists(filePath))
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{
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try
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{
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Directory.CreateDirectory(filePath);
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}
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catch (Exception)
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{ }
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}
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File.WriteAllText(filePath + "//" + strProcessName + ".json", strJson, Encoding.UTF8);
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return true;
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}
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catch { return false; }
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}
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public override bool Run()
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{
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DateTime StartTime = DateTime.Now;
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try
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{
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InitRunParams();
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string SN = string.Empty;
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bool isLocal = Convert.ToBoolean(Params.Inputs["是否本地取图"]?.ToString());
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bool isUpParams = Convert.ToBoolean(Params.Inputs["是否每次写入参数"]?.ToString());
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bool isRegrab = Convert.ToBoolean(Params.Inputs["是否失败重新取图"]?.ToString());
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int timeout = Convert.ToInt16(Params.Inputs["超时时间"]?.ToString());
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if (isLocal)
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{
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if (Params.Inputs["本地取图路径"] is List<string>)
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{
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List<string> lstPaths = Params.Inputs["本地取图路径"] as List<string>;
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if (lstPaths != null && int.TryParse(Params.Inputs["本地取图序号"]?.ToString(), out int indexPath)
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&& lstPaths.Count > indexPath)
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{
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SN = lstPaths[indexPath];
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if (lstPaths.Count > indexPath + 1)
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Params.Inputs["本地取图序号"] = indexPath + 1;
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else
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Params.Inputs["本地取图序号"] = 0;
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Mat src = Cv2.ImRead(SN);
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if (src != null && !src.Empty())
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OutputImage = src.ToBitmap();
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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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SN = Params.Inputs["相机SN"].ToString();
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if (dicCameras == null || !dicCameras.ContainsKey(SN))
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{
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Msg = $"相机[{SN}]不存在";
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Result = false;
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RunTime = (DateTime.Now - StartTime).TotalMilliseconds;
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return Result;
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}
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// 始终检查缓存的Camera对象是否与全局字典中的一致
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// 防止相机被删除并重建后(SN相同), 仍然引用旧的已销毁对象
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if (dicCameras.ContainsKey(SN))
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{
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var currentCam = dicCameras[SN];
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if (Camera != currentCam)
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{
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Camera = currentCam;
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// 如果切换了相机实例，且未开始采集，尝试开启采集
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if (Camera != null && !Camera.isGrabbing)
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{
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try { Camera.StartGrabbing(); } catch { }
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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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Camera = null;
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}
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if (Camera == null)
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{
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Msg = $"相机[{SN}]未实例化";
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Result = false;
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RunTime = (DateTime.Now - StartTime).TotalMilliseconds;
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return Result;
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}
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CameraConfig oriConfig = new CameraConfig();
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if (isUpParams)
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{
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Camera.GetCamConfig(out oriConfig);
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Camera.SetCamConfig(this);
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}
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if (!Enum.TryParse(Params.Inputs["触发方式"].ToString(), out TriggerSource TriggerSource))
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{
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Msg = $"相机[{SN}]设置的触发方式不正确,值为:{Params.Inputs["触发方式"].ToString()}";
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Result = false;
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RunTime = (DateTime.Now - StartTime).TotalMilliseconds;
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return Result;
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}
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Bitmap bitmap = null;
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int times = 5;
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do
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{
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times--;
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if (TriggerSource == TriggerSource.Software)
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{
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Camera.GetImageWithSoftTrigger(out bitmap, timeout);
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}
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else
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{
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Camera.GetImage(out bitmap, timeout);
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}
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if (bitmap != null)
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{
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break;
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}
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else if (isRegrab)
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{
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Debug.WriteLine($"取图失败,重新取图,剩余次数:{times}");
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}
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} while (times > 0 && isRegrab);
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if (isUpParams)
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{
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Camera.SetCamConfig(oriConfig);
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}
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OutputImage = bitmap;
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}
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if (OutputImage == null)
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{
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Msg = $"相机[{SN}]获取图像失败";
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Result = false;
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}
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}
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catch (Exception ex)
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{
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Msg = ex.Message;
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Result = false;
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}
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RunTime = (DateTime.Now - StartTime).TotalMilliseconds;
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return Result;
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}
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public override void InitRunParams()
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{
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Result = true;
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Msg = "";
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if (OutputImage != null)
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{
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if (OutputImage is HObject)
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((HObject)OutputImage).Dispose();
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else if (OutputImage is Mat)
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((Mat)OutputImage).Dispose();
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else if (OutputImage is Bitmap)
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((Bitmap)OutputImage).Dispose();
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OutputImage = null;
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}
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if (Record != null)
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{
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Record.Dispose();
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Record = null;
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}
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}
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public override void Dispose()
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{
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if (InputImage != null)
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{
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if (InputImage is HObject)
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((HObject)InputImage).Dispose();
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else if (InputImage is Mat)
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((Mat)InputImage).Dispose();
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else if (InputImage is Bitmap)
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((Bitmap)InputImage).Dispose();
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InputImage = null;
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}
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if (OutputImage != null)
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{
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if (OutputImage is HObject)
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((HObject)OutputImage).Dispose();
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else if (OutputImage is Mat)
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((Mat)OutputImage).Dispose();
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else if (OutputImage is Bitmap)
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((Bitmap)OutputImage).Dispose();
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OutputImage = null;
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}
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return;
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}
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public override object Clone()
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{
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try
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{
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var obj = (CameraConfig)MemberwiseClone(); // 浅拷贝
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// 手动处理引用类型
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if (OutputImage != null)
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{
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if (OutputImage is Bitmap)
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{
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obj.OutputImage = ((Bitmap)OutputImage).Clone();
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}
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}
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return obj;
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}
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catch { return (CameraConfig)MemberwiseClone(); }
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}
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}
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}
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