添加运动控制菜单

C3204

2026-01-15 a987bb05357a451c8476098067573059287dc008

 LB_VisionProcesses/Cameras/HRCameras/HRCamera.cs

@@ -1,5 +1,6 @@
using HalconDotNet;
using LB_SmartVisionCommon;
using LB_VisionProcesses.Cameras.LBCameras;
using MVSDK_Net;
using System;
using System.Collections.Generic;
@@ -28,6 +29,8 @@
        private Thread _callbackThread; // 回调处理线程
        private List<IMVDefine.IMV_Frame> _frameList; // 图像缓存列表
        private readonly object _frameLock = new object(); // 帧缓存锁
        // 新增：CollectedImages操作锁，保证线程安全
        private readonly object _collectedImagesLock = new object();
        private IMVDefine.IMV_EPixelType type = IMVDefine.IMV_EPixelType.gvspPixelMono8;
        private IMVDefine.IMV_PixelConvertParam stPixelConvertParam = new IMVDefine.IMV_PixelConvertParam();

@@ -217,25 +220,132 @@
            }
            try
            {
                // 1. 将帧转换为Bitmap
                Bitmap bitmap = ConvertFrameToBitmap(frame);

                // 释放帧数据
                // release frame
                // 释放原始帧数据（SDK层面释放）
                _camera.IMV_ReleaseFrame(ref frame);
                CallBackImg = (Bitmap)bitmap.Clone();
                if (CallBackImg == null)

                // 2. 空值校验：转换失败则直接返回
                if (bitmap == null)
                {
                    AsyncLogHelper.Warn(SN + "帧转换为Bitmap失败，跳过处理");
                    return;
                }
                if (GetTriggerMode(out TriggerMode mode, out TriggerSource source))
                // 3. 线程安全地将Bitmap添加到CollectedImages字典
                lock (_collectedImagesLock)
                {
                    if (mode == TriggerMode.On && source != TriggerSource.Software)
                        TriggerRunMessageReceived?.Invoke(SN, source.ToString());  // 触发运行事件
                    // 确保当前相机SN对应的列表存在
                    if (!CollectedImages.ContainsKey(SN))
                    {
                        CollectedImages[SN] = new List<Bitmap>();
                    }
                    CollectedImages[SN].Add(bitmap);
                    AsyncLogHelper.Info(SN + $"图像已加入缓存，当前缓存数量：{CollectedImages[SN].Count}");
                }
                bitmap.Dispose();

                // 4. 处理CollectedImages中的图像：遍历消费列表第一个元素直到为空
                ProcessCollectedImages();
                //Task.Factory.StartNew(() =>
                //{
                //    CallBackImg = (Bitmap)bitmap.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
                //    }
                //    bitmap.Dispose();
                //});
            }
            catch { }
            AsyncLogHelper.Info(SN + "Get frame blockId = {0}" + frame.frameInfo.blockId);
        }

        /// <summary>
        /// 处理CollectedImages中的缓存图像
        /// 核心逻辑：遍历取第一个图像 -> 赋值给CallBackImg -> 触发事件 -> 释放并移除
        /// </summary>
        private void ProcessCollectedImages()
        {
            Task.Factory.StartNew(() =>
            {
                // 加锁保证线程安全，防止多线程同时操作列表
                lock (_collectedImagesLock)
                {
                    // 校验当前相机的图像列表是否存在且有数据
                    if (!CollectedImages.ContainsKey(SN) || CollectedImages[SN].Count == 0)
                    {
                        AsyncLogHelper.Info(SN + "当前无缓存图像，跳过处理");
                        return;
                    }
                    // 循环处理：直到列表为空
                    while (CollectedImages[SN].Count > 0)
                    {
                        try
                        {
                            // 1 取列表第一个索引的图像赋值给CallBackImg
                            Bitmap firstBitmap = CollectedImages[SN][0];
                            ImageGrabbed?.Invoke(this, new LBCameraEventArgs(SN, firstBitmap, true));
                            CallBackImg = (Bitmap)firstBitmap.Clone(); // 克隆避免原对象被释放后引用失效

                            // 2 获取触发模式并判断是否触发运行事件
                            if (GetTriggerMode(out TriggerMode mode, out TriggerSource source))
                            {
                                // 硬触发模式下触发运行事件
                                if (mode == TriggerMode.On && source != TriggerSource.Software)
                                {
                                    AsyncLogHelper.Info(SN + $"触发硬触发事件，触发源：{source}");
                                    TriggerRunMessageReceived?.Invoke(SN, source.ToString());
                                }
                            }
                            else
                            {
                                AsyncLogHelper.Warn(SN + "获取触发模式失败，跳过事件触发");
                            }

                            // 3 释放第一个图像资源并从列表移除
                            // 先释放Bitmap内存，再移除列表元素
                            firstBitmap.Dispose();
                            CollectedImages[SN].RemoveAt(0);
                            AsyncLogHelper.Info(SN + $"已消费缓存图像，剩余缓存数量：{CollectedImages[SN].Count}");
                        }
                        catch (Exception ex)
                        {
                            AsyncLogHelper.Error(SN + $"处理缓存图像异常：{ex.Message}", ex);
                            // 单个图像处理失败时，移除该图像避免阻塞后续处理
                            if (CollectedImages[SN].Count > 0)
                            {
                                try
                                {
                                    CollectedImages[SN][0]?.Dispose(); // 尝试释放
                                    CollectedImages[SN].RemoveAt(0);
                                }
                                catch (Exception innerEx)
                                {
                                    AsyncLogHelper.Error(SN + $"清理异常图像失败：{innerEx.Message}", innerEx);
                                }
                            }
                            // 单个图像处理失败不终止循环，继续处理下一个
                            // 4. 所有图像处理完成后，清空CallBackImg
                            if (CallBackImg != null)
                            {
                                CallBackImg.Dispose();
                                CallBackImg = null;
                            }
                            continue;
                        }
                        // 4. 所有图像处理完成后，清空CallBackImg
                        if (CallBackImg != null)
                        {
                            CallBackImg.Dispose();
                            CallBackImg = null;
                        }
                    }
                }
            });
        }

        /// <summary>
@@ -1412,6 +1522,11 @@
            config.Params.Inputs.Add("增益", gain);
        }

        public override bool StartContinuousGrab()
        {
            return true;
        }

        #endregion
    }
}