简化相机逻辑，支持手动数据处理

C3032

2026-01-08 5ddadba291ea2d9dba78259973594a4664b94f57

 LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs

@@ -13,6 +13,15 @@

namespace LB_VisionProcesses.Cameras.LBCameras
{
    public class LBCameraEventArgs : CameraEventArgs
    {
        public bool IsComplete { get; set; }
        public LBCameraEventArgs(string sn, Bitmap bitmap, bool isComplete) : base(sn, bitmap)
        {
            IsComplete = isComplete;
        }
    }

    /// <summary>
    /// LB3D工业相机实现类
    /// 基于PHM6000系列封装
@@ -21,14 +30,25 @@
    {
        private IntPtr _cameraHandle = IntPtr.Zero;
        private PHM6000SensorConfig _sensorConfig;
        
        // 采集回调
        private AcquisitionCallbackZA _acquisitionCallback;
        private AcquisitionCompletedCallback _acquisitionCompletedCallback;
        
        private bool _isConnected = false;
        private int _frameCount = 0; // 采集帧计数

        // 图像缓冲
        private List<byte[]> _lineDataBuffer = new List<byte[]>();
        private readonly object _bufferLock = new object();
        private byte[] _rawPixelBuffer = null; // 用于存储整张图的像素数据 (8bpp)
        private int _currentBitmapHeight = 0;
        private int _currentBitmapWidth = 0;
        private int _currentLineCount = 0;
        private object _bufferLock = new object();
        private bool _isBufferReady = false;

        // 临时行缓冲，用于接收回调数据
        private byte[] _tempLineBuffer = null;
        private bool _isContinuous = false;

        public LBCamera()
        {
@@ -40,6 +60,12 @@

        public override bool InitDevice(string sn, object handle = null)
        {
            // 如果已连接，直接返回true
            if (_isConnected && _cameraHandle != IntPtr.Zero)
            {
                return true;
            }

            IntPtr tempHandle = IntPtr.Zero;
            try
            {
@@ -70,9 +96,8 @@
                    {
                        string currentSn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0');
                        
                        // 如果传入的 sn 是 IP 地址，则直接尝试匹配 IP
                        // 或者匹配序列号
                        if (currentSn == sn || sn.Contains(currentSn)) // 简单匹配逻辑
                        // 匹配SN或IP
                        if (currentSn == sn || sn.Contains(currentSn))
                        {
                            byte[] addressBytes = new byte[64];
                            int port = 0;
@@ -87,17 +112,15 @@
                    }
                }

                // 销毁临时句柄
                PHM6000Profiler.DestroyCameraEntry(tempHandle);
                tempHandle = IntPtr.Zero;

                if (!found)
                {
                    // 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）
                    if (System.Net.IPAddress.TryParse(sn, out _))
                    {
                        targetIp = sn;
                        targetPort = 5577; // 默认端口
                        targetPort = 5577; 
                    }
                    else
                    {
@@ -119,14 +142,24 @@
                    // 加载相机当前参数到 _sensorConfig
                    SyncConfigFromCamera();

                    // 初始化回调
                    _acquisitionCallback = new AcquisitionCallbackZA(OnLineReceived);
                    _acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
                    
                    // 初始化并注册采集回调 (获取数据用)
                    _acquisitionCallback = new AcquisitionCallbackZA(OnAcquisitionCallbackZA);
                    PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);

                    // 初始化并注册采集完成回调 (状态通知用)
                    _acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
                    PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
                    

                    // 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）
                    UpdateSensorConfig(_sensorConfig);

                    AsyncLogHelper.Info($"LBCamera[{SN}]: Connected and initialized successfully (Manual Data Mode)");

                    return true;
                }
                else
                {
                    AsyncLogHelper.Error($"LBCamera[{SN}]: ConnectToCamera failed, result={result}");
                }
            }
            catch (Exception ex) 
@@ -145,6 +178,7 @@
                PHM6000Profiler.DestroyCameraEntry(_cameraHandle);
                _cameraHandle = IntPtr.Zero;
                _isConnected = false;
                AsyncLogHelper.Info($"LBCamera[{SN}]: Closed");
            }
            return true;
        }
@@ -166,8 +200,6 @@
                        if (PHM6000Profiler.GetCameraInformation(tempHandle, i, moduleTypeBytes, serialNumberBytes) == 0)
                        {
                            string sn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0');
                            string type = Encoding.UTF8.GetString(moduleTypeBytes).TrimEnd('\0');
                            // 格式参考：PHM6000[SN123456]
                            if (!string.IsNullOrEmpty(sn))
                            {
                                cameraList.Add(sn);
@@ -178,7 +210,7 @@
            }
            catch (Exception ex)
            {
                AsyncLogHelper.Error($"LBCamera: GetListEnum异常 - {ex.Message}");
                AsyncLogHelper.Error($"LBCamera: 获取设备列表异常 - {ex.Message}");
            }
            finally
            {
@@ -188,18 +220,57 @@
            return cameraList;
        }

        public override bool StartGrabbing()
        private void InitBuffer()
        {
            if (!_isConnected) return false;
            lock (_bufferLock)
            {
                _lineDataBuffer.Clear();
                _currentBitmapHeight = _sensorConfig.ScanLineCount > 0 ? _sensorConfig.ScanLineCount : 5000;
                // 宽度在第一行数据到达时确定
                _currentBitmapWidth = 0;
                _rawPixelBuffer = null;
                _currentLineCount = 0;
                _isBufferReady = false;
            }
        }

            // 设置采集模式：1=扫描模式，1=连续模式
        public override bool StartGrabbing()
        {
            // 默认连续模式
            return StartSingleGrab();
        }

        public bool StartSingleGrab()
        {
            if (!_isConnected) return false;
            
            _isContinuous = false;
            InitBuffer();
            AsyncLogHelper.Info($"LBCamera[{SN}]: 开始单次采集");

            // 1=扫描模式, 0=单次
            PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 0);
            int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);

            if (result == 0)
            {
                isGrabbing = true;
                return true;
            }
            return false;
        }

        public override bool StartContinuousGrab()
        {
            if (!_isConnected) return false;

            _isContinuous = true;
            InitBuffer();
            AsyncLogHelper.Info($"LBCamera[{SN}]:开始连续采集");

            // 1=扫描模式, 1=连续
            PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
            int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);

            if (result == 0)
            {
                isGrabbing = true;
@@ -210,17 +281,30 @@

        public override bool StopGrabbing()
        {
            _isContinuous = false;
            if (!_isConnected) return true;
            PHM6000Profiler.StopAcquisition(_cameraHandle);
            
            // 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）
            lock (_bufferLock)
            {
                if (_currentLineCount > 0)
                {
                    AsyncLogHelper.Info($"LBCamera[{SN}]: Flushing partial buffer ({_currentLineCount} lines) on stop");
                    CreateAndFireBitmap();
                    _currentLineCount = 0;
                }
            }
            
            isGrabbing = false;
            return true;
        }

        public override bool SoftTrigger()
        {
            // 线扫相机通常不需要传统软触发，但在某些模式下可模拟
            return true;
        }
        public override bool StartWith_SoftTriggerModel() => StartContinuousGrab();

        public override bool StartWith_HardTriggerModel(TriggerSource hardtriggeritem = TriggerSource.Line0) => StartSingleGrab();

        public override bool SoftTrigger() => true;

        #region 参数设置映射

@@ -229,9 +313,30 @@
        public override bool SetGain(double gain) => SetParam(EnumNameId.AnalogGain, (float)gain);
        public override bool GetGain(out double gain) { float v; bool r = GetParam(EnumNameId.AnalogGain, out v); gain = v; return r; }

        // 其他接口占位实现
        public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0) => true;
        public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source) { mode = TriggerMode.Off; source = TriggerSource.Software; return true; }
        public override bool SetTriggerMode(TriggerMode mode, TriggerSource triggerEnum = TriggerSource.Line0)
        {
            if (!_isConnected) return false;

            if (triggerEnum == TriggerSource.Software)
            {
                _sensorConfig.LineScanTriggerSource = EnumLineScanTriggerSource.固定频率;
                _sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.软触发;
            }
            else
            {
                _sensorConfig.LineScanTriggerSource = EnumLineScanTriggerSource.编码器;
                _sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.外部触发;
            }
            UpdateSensorConfig(_sensorConfig);
            return true;
        }

        public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source)
        {
            mode = TriggerMode.On;
            source = _sensorConfig.DataAcquisitionTriggerSource == EnumDataAcquisitionTriggerSource.软触发 ? TriggerSource.Software : TriggerSource.Line0;
            return true;
        }
        public override bool SetTriggerPolarity(TriggerPolarity polarity) => true;
        public override bool GetTriggerPolarity(out TriggerPolarity polarity) { polarity = TriggerPolarity.RisingEdge; return true; }
        public override bool SetTriggerFliter(double flitertime) => true;
@@ -242,6 +347,64 @@
        public override bool SetLineStatus(IOLines line, LineStatus linestatus) => true;
        public override bool GetLineStatus(IOLines line, out LineStatus lineStatus) { lineStatus = LineStatus.Low; return true; }
        public override bool AutoBalanceWhite() => true;
        public override void SetCamConfig(CameraConfig config) { }
        public override void GetCamConfig(out CameraConfig config) { config = new CameraConfig(null); }
        public override bool GetImage(out Bitmap bitmap, int outtime = 3000) { bitmap = null; return false; }
        public override bool GetImageWithSoftTrigger(out Bitmap bitmap, int outtime = 3000) 
        {
            // 简单实现：软触发等待
            bitmap = null;
            if(!_isConnected) return false;

            // 计算理论最小耗时 (仅当使用固定频率触发时)
            int minTime = 0;
            if (_sensorConfig.LineScanTriggerSource == EnumLineScanTriggerSource.固定频率)
            {
                float rate = _sensorConfig.SoftwareTriggerRate > 0 ? _sensorConfig.SoftwareTriggerRate : 1000f;
                int lines = _sensorConfig.ScanLineCount > 0 ? _sensorConfig.ScanLineCount : 5000;
                minTime = (int)((lines / rate) * 1000);
            }

            // 如果传入超时时间不够，自动延长
            int actualTimeout = outtime;
            if (actualTimeout < minTime + 2000)
            {
                actualTimeout = minTime + 3000; // 预留3秒余量
                AsyncLogHelper.Warn($"LBCamera: Provided timeout {outtime}ms is too short for {minTime}ms scan. Extended to {actualTimeout}ms.");
            }
            
            using (AutoResetEvent waitHandle = new AutoResetEvent(false))
            {
                Bitmap res = null;
                EventHandler<CameraEventArgs> handler = (s, e) => {
                    if(e.Bitmap != null) {
                         res = e.Bitmap.Clone() as Bitmap;
                         waitHandle.Set();
                    }
                };
                ImageGrabbed += handler;
                
                if (StartSingleGrab())
                {
                    if (!waitHandle.WaitOne(actualTimeout))
                    {
                        AsyncLogHelper.Error($"LBCamera: GetImageWithSoftTrigger timeout after {actualTimeout}ms");
                    }
                }
                else
                {
                    AsyncLogHelper.Error("LBCamera: StartSingleGrab failed");
                }

                ImageGrabbed -= handler;
                
                // 确保停止采集
                StopGrabbing();
                
                bitmap = res;
                return bitmap != null;
            }
        }

        public PHM6000SensorConfig GetSensorConfig()
        {
@@ -252,92 +415,185 @@
        public void UpdateSensorConfig(PHM6000SensorConfig config)
        {
            _sensorConfig = config;
            // 简单示例：设置曝光和增益
            SetExpouseTime(config.ExposureTime);
            SetGain((double)config.AnalogGain);
            // 更多参数同步逻辑应在此处实现
            if (!_isConnected) return;
            SetParam(EnumNameId.ExposureTime, (float)config.ExposureTime);
            SetParam(EnumNameId.AnalogGain, (float)config.AnalogGain);
            PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.ScanLineCount, config.ScanLineCount, 0, 0);
            PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.LineScanTriggerSource, 0, 0, (int)config.LineScanTriggerSource);
            PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.DataAcquisitionTriggerSource, 0, 0, (int)config.DataAcquisitionTriggerSource);
            if (config.LineScanTriggerSource == EnumLineScanTriggerSource.固定频率)
            {
                PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)EnumNameId.SoftwareTriggerRate, 0, config.SoftwareTriggerRate, 0);
            }
            PHM6000Profiler.SaveAllParametersToDevice(_cameraHandle);
        }

        #endregion

        
        #endregion

        #region Private Callback & Helpers
        #region Callbacks

        private void OnLineReceived(IntPtr pInstance, IntPtr buffer, int points)
        private void OnAcquisitionCallbackZA(IntPtr pInstance, IntPtr buffer, int points)
        {
            // 实时回调处理：累积行数据
            if (!isGrabbing) return;

            int lineSize = points * Marshal.SizeOf(typeof(LBPointZA));
            byte[] lineData = new byte[lineSize];
            Marshal.Copy(buffer, lineData, 0, lineSize);
            if (buffer == IntPtr.Zero || points <= 0) return;

            lock (_bufferLock)
            {
                _lineDataBuffer.Add(lineData);
                // 初始化缓冲区
                if (_rawPixelBuffer == null)
                {
                    _currentBitmapWidth = points;
                    if (_currentBitmapHeight <= 0) _currentBitmapHeight = 2000; // 默认防呆
                    _rawPixelBuffer = new byte[_currentBitmapWidth * _currentBitmapHeight];
                    _currentLineCount = 0;
                }

                if (_currentLineCount >= _currentBitmapHeight) return; // 缓冲区满，忽略多余数据

                // 准备临时缓冲区接收行数据 (LBPointZA = 8 bytes)
                int lineBytes = points * 8;
                if (_tempLineBuffer == null || _tempLineBuffer.Length != lineBytes)
                {
                    _tempLineBuffer = new byte[lineBytes];
                }

                // 拷贝非托管内存到托管数组
                Marshal.Copy(buffer, _tempLineBuffer, 0, lineBytes);

                // 提取灰度(Intensity/Alpha)数据填充到 _rawPixelBuffer
                // LBPointZA结构: float(4) + res(3) + alpha(1). Alpha在偏移7
                int bufferOffset = _currentLineCount * _currentBitmapWidth;
                
                for (int i = 0; i < points; i++)
                {
                    if (bufferOffset + i < _rawPixelBuffer.Length)
                    {
                        _rawPixelBuffer[bufferOffset + i] = _tempLineBuffer[i * 8 + 7];
                    }
                }

                _currentLineCount++;

                // 如果达到预定高度，生成图像
                if (_currentLineCount >= _currentBitmapHeight)
                {
                    CreateAndFireBitmap();
                    
                    // 重置，准备下一帧 (如果是连续采集)
                    _currentLineCount = 0;
                    // _rawPixelBuffer 可以复用，不需要置空
                }
            }
        }

        private void OnAcquisitionCompleted(IntPtr pInstance, int nOption)
        {
            // nOption: 0=一批数据结束, 1=全部完成, 2=点云就绪
            if (nOption == 1 || nOption == 0)
            // nOption: 0=Batch End, 1=All End(Single), 2=Processing End
            // 此处主要用于日志或状态监控
            // 实际图像生成在 Data Callback 中完成
            if (nOption == 1) // 单次采集结束
            {
                GenerateIntensityMap();
                if (_isContinuous && isGrabbing)
                {
                    // 如果在连续模式下收到结束信号，尝试自动重启采集
                    AsyncLogHelper.Info($"LBCamera[{SN}]: Continuous mode frame ended, restarting...");
                    Task.Run(() => 
                    {
                        if (_isContinuous && _isConnected)
                        {
                            PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
                        }
                    });
                }
                else
                {
                    isGrabbing = false;
                    AsyncLogHelper.Info($"LBCamera[{SN}]: Single grab completed by SDK");

                    // 单次采集结束时，如果有未显示的缓冲数据，立即生成图像
                    // 防止因数据量不足(小于ScanLineCount)导致GetImageWithSoftTrigger一直等待
                    lock (_bufferLock)
                    {
                        if (_currentLineCount > 0)
                        {
                            AsyncLogHelper.Info($"LBCamera[{SN}]: Flushing partial buffer ({_currentLineCount} lines) on completion");
                            CreateAndFireBitmap();
                            _currentLineCount = 0;
                        }
                    }
                }
            }
        }

        private void GenerateIntensityMap()
        private void CreateAndFireBitmap()
        {
            if (_cameraHandle == IntPtr.Zero) return;

            int width = 0;
            int height = 0;
            
            // 直接从 SDK 获取合并后的强度数据指针 (unsigned char*)
            IntPtr pIntensity = PHM6000Profiler.GetIntensityData(_cameraHandle, ref width, ref height);
            
            if (pIntensity == IntPtr.Zero || width <= 0 || height <= 0) return;

            try
            {
                int width = _currentBitmapWidth;
                int height = _currentLineCount; // 使用实际采集到的行数

                if (width <= 0 || height <= 0 || _rawPixelBuffer == null) return;

                Bitmap bmp = new Bitmap(width, height, PixelFormat.Format8bppIndexed);
                

                // 设置灰度调色板
                ColorPalette palette = bmp.Palette;
                for (int i = 0; i < 256; i++) palette.Entries[i] = Color.FromArgb(i, i, i);
                for (int i = 0; i < 256; i++)
                {
                    palette.Entries[i] = Color.FromArgb(i, i, i);
                }
                bmp.Palette = palette;

                // 拷贝数据
                BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, PixelFormat.Format8bppIndexed);
                
                // 高性能内存拷贝
                int size = width * height;
                byte[] managedData = new byte[size];
                Marshal.Copy(pIntensity, managedData, 0, size);
                Marshal.Copy(managedData, 0, bmpData.Scan0, size);
                
                // 注意：Bitmap Stride 可能不等于 Width，需要逐行拷贝
                int stride = bmpData.Stride;
                IntPtr ptr = bmpData.Scan0;

                for (int y = 0; y < height; y++)
                {
                    // 确保不越界
                    if ((y * width) + width <= _rawPixelBuffer.Length)
                    {
                        Marshal.Copy(_rawPixelBuffer, y * width, ptr + y * stride, width);
                    }
                }

                bmp.UnlockBits(bmpData);

                // 触发事件通知 UI 更新亮度图
                ImageGrabbed?.Invoke(this, new CameraEventArgs(SN, bmp));
                _frameCount++;
                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.Run(() => 
                {
                    try
                    {
                        ImageGrabbed?.Invoke(this, new LBCameraEventArgs(SN, bmp, true));
                    }
                    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: 生成亮度图异常 - {ex.Message}");
                AsyncLogHelper.Error($"LBCamera: CreateBitmap error - {ex.Message}");
            }
        }

        private void SyncConfigFromCamera()
        {
            // 从相机读取所有参数并填充到 _sensorConfig
            foreach (EnumNameId id in Enum.GetValues(typeof(EnumNameId)))
            {
                int iVal = 0; double dVal = 0; int eVal = 0;
                if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
                {
                    // 实际项目中应使用反射将值写回 _sensorConfig
                    // Update _sensorConfig values here if needed
                }
            }
        }
@@ -360,7 +616,6 @@
            }
            return false;
        }

        #endregion
    }
}
}