From 8ed1e9f752bfd9c3a224015c3c3b537189d9959c Mon Sep 17 00:00:00 2001
From: C3204 <zhengyabo@lanpucloud.cn>
Date: 星期五, 16 一月 2026 14:08:02 +0800
Subject: [PATCH] 在运动控制界面添加可配置的PLC相关参数。
---
LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs | 665 ++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 464 insertions(+), 201 deletions(-)
diff --git a/LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs b/LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs
index a5128a4..810ffd3 100644
--- a/LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs
+++ b/LB_VisionProcesses/Cameras/LBCameras/LBCamera.cs
@@ -1,18 +1,29 @@
+using LB_SmartVisionCameraDevice.PHM6000;
+using LB_SmartVisionCameraSDK.PHM6000;
+using LB_SmartVisionCommon;
+using LB_VisionProcesses.Cameras;
+using Sunny.UI.Win32;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
+using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
-using LB_SmartVisionCameraSDK.PHM6000;
-using LB_VisionProcesses.Cameras;
-using LB_SmartVisionCommon;
-using LB_SmartVisionCameraDevice.PHM6000;
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宸ヤ笟鐩告満瀹炵幇绫�
/// 鍩轰簬PHM6000绯诲垪灏佽
@@ -21,20 +32,27 @@
{
private IntPtr _cameraHandle = IntPtr.Zero;
private PHM6000SensorConfig _sensorConfig;
+
+ // 閲囬泦鍥炶皟
private AcquisitionCallbackZA _acquisitionCallback;
private AcquisitionCompletedCallback _acquisitionCompletedCallback;
+
private bool _isConnected = false;
+ private int _frameCount = 0; // 閲囬泦甯ц鏁�
// 鍥惧儚缂撳啿
- private List<byte[]> _lineDataBuffer = new List<byte[]>();
- private readonly object _bufferLock = new object();
+ private byte[] _rawPixelBuffer = null; // 鐢ㄤ簬瀛樺偍鏁村紶鍥剧殑鍍忕礌鏁版嵁 (8bpp)
+ private int _currentBitmapHeight = 0;
+ private int _currentBitmapWidth = 0;
private int _currentLineCount = 0;
+ private object _bufferLock = new object();
+ private bool _isBufferReady = false;
- // 鏄剧ず鍙ユ焺鍜屽嚱鏁帮紙涓嶭LSystem绀轰緥淇濇寔涓�鑷达級
- private IntPtr _lightPic = IntPtr.Zero;
- private IntPtr _deepPic = IntPtr.Zero;
- private IntPtr _pointPic = IntPtr.Zero;
- private IntPtr _outlinePic = IntPtr.Zero;
+ // 涓存椂琛岀紦鍐诧紝鐢ㄤ簬鎺ユ敹鍥炶皟鏁版嵁
+ private byte[] _tempLineBuffer = null;
+ private bool _isContinuous = false;
+ // 鏂板锛欳ollectedImages鎿嶄綔閿侊紝淇濊瘉绾跨▼瀹夊叏
+ private readonly object _collectedImagesLock = new object();
public LBCamera()
{
@@ -46,6 +64,12 @@
public override bool InitDevice(string sn, object handle = null)
{
+ // 濡傛灉宸茶繛鎺ワ紝鐩存帴杩斿洖true
+ if (_isConnected && _cameraHandle != IntPtr.Zero)
+ {
+ return true;
+ }
+
IntPtr tempHandle = IntPtr.Zero;
try
{
@@ -76,9 +100,8 @@
{
string currentSn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0');
- // 濡傛灉浼犲叆鐨� sn 鏄� IP 鍦板潃锛屽垯鐩存帴灏濊瘯鍖归厤 IP
- // 鎴栬�呭尮閰嶅簭鍒楀彿
- if (currentSn == sn || sn.Contains(currentSn)) // 绠�鍗曞尮閰嶉�昏緫
+ // 鍖归厤SN鎴朓P
+ if (currentSn == sn || sn.Contains(currentSn))
{
byte[] addressBytes = new byte[64];
int port = 0;
@@ -93,17 +116,15 @@
}
}
- // 閿�姣佷复鏃跺彞鏌�
PHM6000Profiler.DestroyCameraEntry(tempHandle);
tempHandle = IntPtr.Zero;
if (!found)
{
- // 濡傛灉娌℃壘鍒颁絾 sn 鏈韩鐪嬭捣鏉ュ儚 IP锛屽皾璇曠洿鎺ヨ繛鎺�
if (System.Net.IPAddress.TryParse(sn, out _))
{
targetIp = sn;
- targetPort = 5577; // 榛樿绔彛
+ targetPort = 5577;
}
else
{
@@ -125,14 +146,24 @@
// 鍔犺浇鐩告満褰撳墠鍙傛暟鍒� _sensorConfig
SyncConfigFromCamera();
- // 鍒濆鍖栧洖璋�
- _acquisitionCallback = new AcquisitionCallbackZA(OnLineReceived);
+ // 鍒濆鍖栧苟娉ㄥ唽閲囬泦鍥炶皟 (鑾峰彇鏁版嵁鐢�)
+ _acquisitionCallback = new AcquisitionCallbackZA(OnAcquisitionCallbackZA);
+ PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
+
+ // 鍒濆鍖栧苟娉ㄥ唽閲囬泦瀹屾垚鍥炶皟 (鐘舵�侀�氱煡鐢�)
_acquisitionCompletedCallback = new AcquisitionCompletedCallback(OnAcquisitionCompleted);
-
- //PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, _acquisitionCallback, IntPtr.Zero);
PHM6000Profiler.RegisterAcquisitionCompletedCallback(_cameraHandle, _acquisitionCompletedCallback, IntPtr.Zero);
-
+
+ // 寮哄埗搴旂敤褰撳墠閰嶇疆锛堢‘淇濊Е鍙戞ā寮忕瓑鍙傛暟姝ｇ‘锛岄伩鍏嶇浉鏈哄浜庢湭鐭ョ姸鎬侊級
+ 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)
@@ -151,6 +182,7 @@
PHM6000Profiler.DestroyCameraEntry(_cameraHandle);
_cameraHandle = IntPtr.Zero;
_isConnected = false;
+ AsyncLogHelper.Info($"LBCamera[{SN}]: Closed");
}
return true;
}
@@ -172,8 +204,6 @@
if (PHM6000Profiler.GetCameraInformation(tempHandle, i, moduleTypeBytes, serialNumberBytes) == 0)
{
string sn = Encoding.UTF8.GetString(serialNumberBytes).TrimEnd('\0');
- string type = Encoding.UTF8.GetString(moduleTypeBytes).TrimEnd('\0');
- // 鏍煎紡鍙傝�冿細PHM6000[SN123456]
if (!string.IsNullOrEmpty(sn))
{
cameraList.Add(sn);
@@ -184,7 +214,7 @@
}
catch (Exception ex)
{
- AsyncLogHelper.Error($"LBCamera: GetListEnum寮傚父 - {ex.Message}");
+ AsyncLogHelper.Error($"LBCamera: 鑾峰彇璁惧鍒楄〃寮傚父 - {ex.Message}");
}
finally
{
@@ -194,48 +224,37 @@
return cameraList;
}
- public override bool StartGrabbing()
+ private void InitBuffer()
{
- if (!_isConnected) return false;
lock (_bufferLock)
{
- _lineDataBuffer.Clear();
+ _currentBitmapHeight = _sensorConfig.ScanLineCount > 0 ? _sensorConfig.ScanLineCount : 5000;
+ // 瀹藉害鍦ㄧ涓�琛屾暟鎹埌杈炬椂纭畾
+ _currentBitmapWidth = 0;
+ _rawPixelBuffer = null;
_currentLineCount = 0;
+ _isBufferReady = false;
}
-
- // 绂佺敤琛屽洖璋�
- PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);
-
- // 璁剧疆閲囬泦妯″紡锛�1=鎵弿妯″紡锛�1=杩炵画妯″紡
- PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
- int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
- if (result == 0)
- {
- isGrabbing = true;
- return true;
- }
- return false;
}
- /// <summary>
- /// 鍗曟閲囬泦妯″紡锛堥�傜敤浜庣嚎鎵浉鏈猴級
- /// 璁剧疆閲囬泦妯″紡涓烘壂鎻忔ā寮忥紝鍗曟瑙﹀彂
- /// </summary>
+ public override bool StartGrabbing()
+ {
+ // 榛樿杩炵画妯″紡
+ return StartSingleGrab();
+ }
+
public bool StartSingleGrab()
{
if (!_isConnected) return false;
- lock (_bufferLock)
- {
- _lineDataBuffer.Clear();
- _currentLineCount = 0;
- }
+
+ _isContinuous = false;
+ InitBuffer();
+ AsyncLogHelper.Info($"LBCamera[{SN}]: 寮�濮嬪崟娆￠噰闆�");
- // 绂佺敤琛屽洖璋冿紙涓庣ず渚嬩竴鑷达級
- PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);
-
- // 璁剧疆閲囬泦妯″紡锛�1=鎵弿妯″紡锛�0=鍗曟妯″紡
+ // 1=鎵弿妯″紡, 0=鍗曟
PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 0);
int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
+
if (result == 0)
{
isGrabbing = true;
@@ -244,25 +263,18 @@
return false;
}
- /// <summary>
- /// 杩炵画閲囬泦妯″紡锛堥�傜敤浜庣嚎鎵浉鏈猴級
- /// 璁剧疆閲囬泦妯″紡涓烘壂鎻忔ā寮忥紝杩炵画瑙﹀彂
- /// </summary>
- public bool StartContinuousGrab()
+ public override bool StartContinuousGrab()
{
if (!_isConnected) return false;
- lock (_bufferLock)
- {
- _lineDataBuffer.Clear();
- _currentLineCount = 0;
- }
- // 绂佺敤琛屽洖璋冿紙涓庣ず渚嬩竴鑷达級
- PHM6000Profiler.SetAcquisitionCallbackZA(_cameraHandle, IntPtr.Zero, IntPtr.Zero);
+ _isContinuous = true;
+ InitBuffer();
+ AsyncLogHelper.Info($"LBCamera[{SN}]:寮�濮嬭繛缁噰闆�");
- // 璁剧疆閲囬泦妯″紡锛�1=鎵弿妯″紡锛�1=杩炵画妯″紡
+ // 1=鎵弿妯″紡, 1=杩炵画
PHM6000Profiler.SetAcquisitionMode(_cameraHandle, 1, 1);
int result = PHM6000Profiler.StartAcquisition(_cameraHandle, 0, 0, 0.0);
+
if (result == 0)
{
isGrabbing = true;
@@ -273,41 +285,62 @@
public override bool StopGrabbing()
{
+ _isContinuous = false;
if (!_isConnected) return true;
PHM6000Profiler.StopAcquisition(_cameraHandle);
+
+ // 鍋滄鏃跺鏋滄湁鏈樉绀虹殑缂撳瓨鏁版嵁锛屽皢鍏舵樉绀哄嚭鏉ワ紙鏀寔鏄剧ず涓嶅畬鏁寸殑甯э級
+ lock (_bufferLock)
+ {
+ if (_currentLineCount > 0)
+ {
+ AsyncLogHelper.Info($"LBCamera[{SN}]: Flushing partial buffer ({_currentLineCount} lines) on stop");
+ CreateAndFireBitmap();
+ _currentLineCount = 0;
+ }
+ }
+
isGrabbing = false;
return true;
}
- public override bool StartWith_SoftTriggerModel()
- {
- // 瀵逛簬LBCamera锛堢嚎鎵浉鏈猴級锛岃蒋浠惰Е鍙戣繛缁噰闆嗕娇鐢ㄨ繛缁噰闆嗘ā寮�
- return StartContinuousGrab();
- }
+ public override bool StartWith_SoftTriggerModel() => StartContinuousGrab();
- public override bool StartWith_HardTriggerModel(TriggerSource hardtriggeritem = TriggerSource.Line0)
- {
- // 瀵逛簬LBCamera锛堢嚎鎵浉鏈猴級锛岀‖浠惰Е鍙戜篃浣跨敤杩炵画閲囬泦妯″紡
- // 澶栭儴纭欢淇″彿浼氳Е鍙戠浉鏈哄紑濮嬮噰闆�
- return StartContinuousGrab();
- }
+ public override bool StartWith_HardTriggerModel(TriggerSource hardtriggeritem = TriggerSource.Line0) => StartSingleGrab();
- public override bool SoftTrigger()
- {
- // 绾挎壂鐩告満閫氬父涓嶉渶瑕佷紶缁熻蒋瑙﹀彂锛屼絾鍦ㄦ煇浜涙ā寮忎笅鍙ā鎷�
- return true;
- }
+ public override bool SoftTrigger() => true;
#region 鍙傛暟璁剧疆鏄犲皠
public override bool SetExpouseTime(double value) => SetParam(EnumNameId.ExposureTime, (float)value);
public override bool GetExpouseTime(out double value) { float v; bool r = GetParam(EnumNameId.ExposureTime, out v); value = v; return r; }
- 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; }
+ public override bool SetGain(double gain) => SetParam(EnumNameId.AnalogGain, (int)gain);
+ public override bool GetGain(out double gain) { int v; bool r = GetParam(EnumNameId.AnalogGain, out v); gain = v; return r; }
- // 鍏朵粬鎺ュ彛鍗犱綅瀹炵幇
- 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.鍥哄畾棰戠巼;
+ _sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.杞Е鍙�;
+ }
+ else
+ {
+ _sensorConfig.LineScanTriggerSource = EnumLineScanTriggerSource.缂栫爜鍣�;
+ _sensorConfig.DataAcquisitionTriggerSource = EnumDataAcquisitionTriggerSource.澶栭儴瑙﹀彂;
+ }
+ UpdateSensorConfig(_sensorConfig);
+ return true;
+ }
+
+ public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source)
+ {
+ mode = TriggerMode.On;
+ source = _sensorConfig.DataAcquisitionTriggerSource == EnumDataAcquisitionTriggerSource.杞Е鍙� ? 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;
@@ -318,55 +351,63 @@
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;
-
- // 涓嶅疄鐜扮殑鏂规硶
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)
+ public override bool GetImageWithSoftTrigger(out Bitmap bitmap, int outtime = 3000)
{
+ // 绠�鍗曞疄鐜帮細杞Е鍙戠瓑寰�
bitmap = null;
- if (!_isConnected) return false;
+ if(!_isConnected) return false;
+ // 璁＄畻鐞嗚鏈�灏忚�楁椂 (浠呭綋浣跨敤鍥哄畾棰戠巼瑙﹀彂鏃�)
+ int minTime = 0;
+ if (_sensorConfig.LineScanTriggerSource == EnumLineScanTriggerSource.鍥哄畾棰戠巼)
+ {
+ float rate = _sensorConfig.SoftwareTriggerRate > 0 ? _sensorConfig.SoftwareTriggerRate : 1000f;
+ int lines = _sensorConfig.ScanLineCount > 0 ? _sensorConfig.ScanLineCount : 5000;
+ minTime = (int)((lines / rate) * 1000);
+ }
+
+ // 濡傛灉浼犲叆瓒呮椂鏃堕棿涓嶅锛岃嚜鍔ㄥ欢闀�
+ int actualTimeout = outtime;
+ if (actualTimeout < minTime + 2000)
+ {
+ actualTimeout = minTime + 3000; // 棰勭暀3绉掍綑閲�
+ AsyncLogHelper.Warn($"LBCamera: Provided timeout {outtime}ms is too short for {minTime}ms scan. Extended to {actualTimeout}ms.");
+ }
+
using (AutoResetEvent waitHandle = new AutoResetEvent(false))
{
- Bitmap captured = null;
- EventHandler<CameraEventArgs> handler = (s, e) =>
- {
- try
- {
- if (e.Bitmap != null)
- {
- captured = e.Bitmap.Clone() as Bitmap;
- }
+ Bitmap res = null;
+ EventHandler<CameraEventArgs> handler = (s, e) => {
+ if(e.Bitmap != null) {
+ res = e.Bitmap.Clone() as Bitmap;
+ waitHandle.Set();
}
- catch (Exception ex)
- {
- AsyncLogHelper.Error($"LBCamera: GetImageWithSoftTrigger clone error - {ex.Message}");
- }
- waitHandle.Set();
};
-
- this.ImageGrabbed += handler;
-
- try
+ ImageGrabbed += handler;
+
+ if (StartSingleGrab())
{
- if (StartSingleGrab())
+ if (!waitHandle.WaitOne(actualTimeout))
{
- if (waitHandle.WaitOne(outtime))
- {
- bitmap = captured;
- return bitmap != null;
- }
+ AsyncLogHelper.Error($"LBCamera: GetImageWithSoftTrigger timeout after {actualTimeout}ms");
}
}
- finally
+ else
{
- this.ImageGrabbed -= handler;
- StopGrabbing();
+ AsyncLogHelper.Error("LBCamera: StartSingleGrab failed");
}
+
+ ImageGrabbed -= handler;
+
+ // 纭繚鍋滄閲囬泦
+ StopGrabbing();
+
+ bitmap = res;
+ return bitmap != null;
}
- return false;
}
public PHM6000SensorConfig GetSensorConfig()
@@ -378,134 +419,337 @@
public void UpdateSensorConfig(PHM6000SensorConfig config)
{
_sensorConfig = config;
- // 绠�鍗曠ず渚嬶細璁剧疆鏇濆厜鍜屽鐩�
- SetExpouseTime(config.ExposureTime);
- SetGain((double)config.AnalogGain);
- // 鏇村鍙傛暟鍚屾閫昏緫搴斿湪姝ゅ瀹炵幇
+ 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.鍥哄畾棰戠巼)
+ {
+ 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)
{
- // 瀹炴椂鍥炶皟澶勭悊锛氱疮绉鏁版嵁
- if (!isGrabbing) return;
+ if (buffer == IntPtr.Zero || points <= 0) return;
- int lineSize = points * Marshal.SizeOf(typeof(LBPointZA));
- byte[] lineData = new byte[lineSize];
- Marshal.Copy(buffer, lineData, 0, lineSize);
-
- lock (_bufferLock)
+ lock (_bufferLock)
+ {
+ // 鍒濆鍖栫紦鍐插尯
+ if (_rawPixelBuffer == null)
{
- _lineDataBuffer.Add(lineData);
- _currentLineCount++;
+ _currentBitmapWidth = points;
+ if (_currentBitmapHeight <= 0) _currentBitmapHeight = 2000; // 榛樿闃插憜
+ _rawPixelBuffer = new byte[_currentBitmapWidth * _currentBitmapHeight];
+ _currentLineCount = 0;
}
+
+ if (_currentLineCount >= _currentBitmapHeight) return; // 缂撳啿鍖烘弧锛屽拷鐣ュ浣欐暟鎹�
+
+ // 鍑嗗涓存椂缂撳啿鍖烘帴鏀惰鏁版嵁 (LBPointZA = 8 bytes)
+ int lineBytes = points * 8;
+ if (_tempLineBuffer == null || _tempLineBuffer.Length != lineBytes)
+ {
+ _tempLineBuffer = new byte[lineBytes];
+ }
+
+ // 鎷疯礉闈炴墭绠″唴瀛樺埌鎵樼鏁扮粍
+ Marshal.Copy(buffer, _tempLineBuffer, 0, lineBytes);
+
+ // 鎻愬彇鐏板害(Intensity/Alpha)鏁版嵁濉厖鍒� _rawPixelBuffer
+ // LBPointZA缁撴瀯: float(4) + res(3) + alpha(1). Alpha鍦ㄥ亸绉�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++;
+
+ // 濡傛灉杈惧埌棰勫畾楂樺害锛岀敓鎴愬浘鍍�
+ if (_currentLineCount >= _currentBitmapHeight)
+ {
+ CreateAndFireBitmap();
+
+ // 閲嶇疆锛屽噯澶囦笅涓�甯� (濡傛灉鏄繛缁噰闆�)
+ _currentLineCount = 0;
+ // _rawPixelBuffer 鍙互澶嶇敤锛屼笉闇�瑕佺疆绌�
+ }
+ }
}
private void OnAcquisitionCompleted(IntPtr pInstance, int nOption)
{
- // 鏍规嵁SDK鏂囨。锛歯Option涓�0鏃惰〃绀轰竴鎵规暟鎹粨鏉燂紝涓�1鏃惰〃绀哄叏閮ㄩ噰闆嗗畬鎴�
- // 涓轰簡鍏煎鎬э紝涔熷鐞唍Option == 2锛堢偣浜戝氨缁級
- // 姝ゆ椂浣跨敤涓诲姩鑾峰彇鏂瑰紡鏇夸唬鍙兘浼氬鑷碿rash鐨凣enerateIntensityMap
- if (nOption == 0 || nOption == 1 || nOption == 2)
+ // nOption: 0=Batch End, 1=All End(Single), 2=Processing End
+ // 姝ゅ涓昏鐢ㄤ簬鏃ュ織鎴栫姸鎬佺洃鎺�
+ // 瀹為檯鍥惧儚鐢熸垚鍦� Data Callback 涓畬鎴�
+ if (nOption == 1) // 鍗曟閲囬泦缁撴潫
+ {
+ if (_isContinuous && isGrabbing)
{
- RetrieveDataAndGenerateImage();
+ // 濡傛灉鍦ㄨ繛缁ā寮忎笅鏀跺埌缁撴潫淇″彿锛屽皾璇曡嚜鍔ㄩ噸鍚噰闆�
+ 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($"LBCamera[{SN}]: Single grab completed by SDK");
+
+ // 鍗曟閲囬泦缁撴潫鏃讹紝濡傛灉鏈夋湭鏄剧ず鐨勭紦鍐叉暟鎹紝绔嬪嵆鐢熸垚鍥惧儚
+ // 闃叉鍥犳暟鎹噺涓嶈冻(灏忎簬ScanLineCount)瀵艰嚧GetImageWithSoftTrigger涓�鐩寸瓑寰�
+ lock (_bufferLock)
+ {
+ if (_currentLineCount > 0)
+ {
+ AsyncLogHelper.Info($"LBCamera[{SN}]: Flushing partial buffer ({_currentLineCount} lines) on completion");
+ CreateAndFireBitmap();
+
+ _currentLineCount = 0;
+ }
+ }
+ }
+ }
}
- private void RetrieveDataAndGenerateImage()
+ private void CreateAndFireBitmap()
{
- if (_cameraHandle == IntPtr.Zero) return;
-
try
{
- List<byte[]> lineBuffers = new List<byte[]>();
- ulong index = 0;
- IntPtr ptr = IntPtr.Zero;
+ int width = _currentBitmapWidth;
+ int height = _currentLineCount; // 浣跨敤瀹為檯閲囬泦鍒扮殑琛屾暟
- // 鍍忕ず渚嬩竴鏍烽�氳繃绱㈠紩鑾峰彇琛屾暟鎹�
- while ((ptr = PHM6000Profiler.GetLineDataByIndex(_cameraHandle, index)) != IntPtr.Zero)
- {
- try
- {
- LBLineDataZA lineData = PHM6000Profiler.ConvertToLBLineDataZA(ptr);
-
- // 鎻愬彇寮哄害鏁版嵁 (Alpha閫氶亾)
- if (lineData.data != null && lineData.data.Length > 0)
- {
- int lineWidth = lineData.data.Length;
- byte[] intensityLine = new byte[lineWidth];
- for (int i = 0; i < lineWidth; i++)
- {
- intensityLine[i] = lineData.data[i].alpha;
- }
- lineBuffers.Add(intensityLine);
- }
- }
- catch (Exception ex)
- {
- // 蹇界暐鍗曡杞崲閿欒
- }
- index++;
- }
-
- if (lineBuffers.Count == 0) return;
-
- int height = lineBuffers.Count;
- int width = lineBuffers[0].Length;
-
- if (width <= 0 || height <= 0) return;
+ if (width <= 0 || height <= 0 || _rawPixelBuffer == null) return;
Bitmap bmp = new Bitmap(width, height, PixelFormat.Format8bppIndexed);
-
+
// 璁剧疆鐏板害璋冭壊鏉�
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;
+ // 鎷疯礉鏁版嵁
BitmapData bmpData = bmp.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, PixelFormat.Format8bppIndexed);
- try
- {
- int stride = bmpData.Stride;
- IntPtr scan0 = bmpData.Scan0;
+ // 娉ㄦ剰锛欱itmap Stride 鍙兘涓嶇瓑浜� Width锛岄渶瑕侀�愯鎷疯礉
+ int stride = bmpData.Stride;
+ IntPtr ptr = bmpData.Scan0;
- for (int y = 0; y < height; y++)
+ for (int y = 0; y < height; y++)
+ {
+ // 纭繚涓嶈秺鐣�
+ if ((y * width) + width <= _rawPixelBuffer.Length)
{
- if (lineBuffers[y].Length == width) // 纭繚瀹藉害涓�鑷�
- {
- Marshal.Copy(lineBuffers[y], 0, scan0 + y * stride, width);
- }
+ Marshal.Copy(_rawPixelBuffer, y * width, ptr + y * stride, width);
}
}
- finally
+
+ bmp.UnlockBits(bmpData);
+
+ _frameCount++;
+ AsyncLogHelper.Info($"LBCamera[{SN}]: Frame {_frameCount} generated ({width}x{height})");
+ //绌哄�兼牎楠岋細杞崲澶辫触鍒欑洿鎺ヨ繑鍥�
+ if (bmp == null)
{
- bmp.UnlockBits(bmpData);
+ AsyncLogHelper.Warn(SN + "甯ц浆鎹负Bitmap澶辫触锛岃烦杩囧鐞�");
+ return;
+ }
+ // 绾跨▼瀹夊叏鍦板皢Bitmap娣诲姞鍒癈ollectedImages瀛楀吀
+ lock (_collectedImagesLock)
+ {
+ // 纭繚褰撳墠鐩告満SN瀵瑰簲鐨勫垪琛ㄥ瓨鍦�
+ if (!CollectedImages.ContainsKey(SN))
+ {
+ CollectedImages[SN] = new List<Bitmap>();
+ }
+ CollectedImages[SN].Add(bmp);
+ AsyncLogHelper.Info(SN + $"鍥惧儚宸插姞鍏ョ紦瀛橈紝褰撳墠缂撳瓨鏁伴噺锛歿CollectedImages[SN].Count}");
}
- // 瑙﹀彂浜嬩欢閫氱煡 UI 鏇存柊浜害鍥�
- ImageGrabbed?.Invoke(this, new CameraEventArgs(SN, bmp));
+ // 澶勭悊CollectedImages涓殑鍥惧儚锛氶亶鍘嗘秷璐瑰垪琛ㄧ涓�涓厓绱犵洿鍒颁负绌�
+ ProcessCollectedImages();
+ //// 寮傛瑙﹀彂浜嬩欢锛岄伩鍏嶉樆濉濻DK鍥炶皟绾跨▼
+ //Task.Factory.StartNew(() =>
+ //{
+ // try
+ // {
+ // ImageGrabbed?.Invoke(this, new LBCameraEventArgs(SN, bmp, true));
+ // CallBackImg = (Bitmap)bmp.Clone();
+ // if (CallBackImg == null)
+ // {
+ // return;
+ // }
+ // if (GetTriggerMode(out TriggerMode mode, out TriggerSource source))
+ // {
+ // if (mode == TriggerMode.On && source != TriggerSource.Software)
+ // TriggerRunMessageReceived?.Invoke(SN, source.ToString()); // 瑙﹀彂杩愯浜嬩欢
+ // }
+ // bmp.Dispose();
+ // }
+ // catch (Exception ex)
+ // {
+ // AsyncLogHelper.Error($"LBCamera: Event Invoke error - {ex.Message}");
+ // bmp.Dispose(); // 寮傚父鏃堕噴鏀捐祫婧�
+ // }
+ //});
}
catch (Exception ex)
{
- AsyncLogHelper.Error($"LBCamera: 鐢熸垚鍥惧儚寮傚父 - {ex.Message}");
+ AsyncLogHelper.Error($"LBCamera: CreateBitmap error - {ex.Message}");
}
}
+ /// <summary>
+ /// 澶勭悊CollectedImages涓殑缂撳瓨鍥惧儚
+ /// 鏍稿績閫昏緫锛氶亶鍘嗗彇绗竴涓浘鍍� -> 璧嬪�肩粰CallBackImg -> 瑙﹀彂浜嬩欢 -> 閲婃斁骞剁Щ闄�
+ /// </summary>
+ private void ProcessCollectedImages()
+ {
+ Task.Factory.StartNew(() =>
+ {
+ // 鍔犻攣淇濊瘉绾跨▼瀹夊叏锛岄槻姝㈠绾跨▼鍚屾椂鎿嶄綔鍒楄〃
+ lock (_collectedImagesLock)
+ {
+ // 鏍￠獙褰撳墠鐩告満鐨勫浘鍍忓垪琛ㄦ槸鍚﹀瓨鍦ㄤ笖鏈夋暟鎹�
+ if (!CollectedImages.ContainsKey(SN) || CollectedImages[SN].Count == 0)
+ {
+ AsyncLogHelper.Info(SN + "褰撳墠鏃犵紦瀛樺浘鍍忥紝璺宠繃澶勭悊");
+ return;
+ }
+ // 寰幆澶勭悊锛氱洿鍒板垪琛ㄤ负绌�
+ while (CollectedImages[SN].Count > 0)
+ {
+ try
+ {
+ // 1 鍙栧垪琛ㄧ涓�涓储寮曠殑鍥惧儚璧嬪�肩粰CallBackImg
+ Bitmap firstBitmap = CollectedImages[SN][0];
+ ImageGrabbed?.Invoke(this, new LBCameraEventArgs(SN, firstBitmap, true));
+ CallBackImg = (Bitmap)firstBitmap.Clone(); // 鍏嬮殕閬垮厤鍘熷璞¤閲婃斁鍚庡紩鐢ㄥけ鏁�
+
+ // 2 鑾峰彇瑙﹀彂妯″紡骞跺垽鏂槸鍚﹁Е鍙戣繍琛屼簨浠�
+ if (GetTriggerMode(out TriggerMode mode, out TriggerSource source))
+ {
+ // 纭Е鍙戞ā寮忎笅瑙﹀彂杩愯浜嬩欢
+ if (mode == TriggerMode.On && source != TriggerSource.Software)
+ {
+ AsyncLogHelper.Info(SN + $"瑙﹀彂纭Е鍙戜簨浠讹紝瑙﹀彂婧愶細{source}");
+ TriggerRunMessageReceived?.Invoke(SN, source.ToString());
+ }
+ }
+ else
+ {
+ AsyncLogHelper.Warn(SN + "鑾峰彇瑙﹀彂妯″紡澶辫触锛岃烦杩囦簨浠惰Е鍙�");
+ }
+
+ // 3 閲婃斁绗竴涓浘鍍忚祫婧愬苟浠庡垪琛ㄧЩ闄�
+ // 鍏堥噴鏀綛itmap鍐呭瓨锛屽啀绉婚櫎鍒楄〃鍏冪礌
+ firstBitmap.Dispose();
+ CollectedImages[SN].RemoveAt(0);
+ AsyncLogHelper.Info(SN + $"宸叉秷璐圭紦瀛樺浘鍍忥紝鍓╀綑缂撳瓨鏁伴噺锛歿CollectedImages[SN].Count}");
+ }
+ catch (Exception ex)
+ {
+ AsyncLogHelper.Error(SN + $"澶勭悊缂撳瓨鍥惧儚寮傚父锛歿ex.Message}", ex);
+ // 鍗曚釜鍥惧儚澶勭悊澶辫触鏃讹紝绉婚櫎璇ュ浘鍍忛伩鍏嶉樆濉炲悗缁鐞�
+ if (CollectedImages[SN].Count > 0)
+ {
+ try
+ {
+ CollectedImages[SN][0]?.Dispose(); // 灏濊瘯閲婃斁
+ CollectedImages[SN].RemoveAt(0);
+ }
+ catch (Exception innerEx)
+ {
+ AsyncLogHelper.Error(SN + $"娓呯悊寮傚父鍥惧儚澶辫触锛歿innerEx.Message}", innerEx);
+ }
+ }
+ // 鍗曚釜鍥惧儚澶勭悊澶辫触涓嶇粓姝㈠惊鐜紝缁х画澶勭悊涓嬩竴涓�
+ // 4. 鎵�鏈夊浘鍍忓鐞嗗畬鎴愬悗锛屾竻绌篊allBackImg
+ if (CallBackImg != null)
+ {
+ CallBackImg.Dispose();
+ CallBackImg = null;
+ }
+ continue;
+ }
+ // 4. 鎵�鏈夊浘鍍忓鐞嗗畬鎴愬悗锛屾竻绌篊allBackImg
+ if (CallBackImg != null)
+ {
+ CallBackImg.Dispose();
+ CallBackImg = null;
+ }
+ }
+ }
+ });
+ }
+
private void SyncConfigFromCamera()
{
- // 浠庣浉鏈鸿鍙栨墍鏈夊弬鏁板苟濉厖鍒� _sensorConfig
- foreach (EnumNameId id in Enum.GetValues(typeof(EnumNameId)))
+ try
{
- int iVal = 0; double dVal = 0; int eVal = 0;
- if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)id, ref iVal, ref dVal, ref eVal) == 0)
+ if (!_isConnected) return;
+
+ PropertyInfo[] props = _sensorConfig.GetType().GetProperties();
+ foreach (PropertyInfo p in props)
{
- // 瀹為檯椤圭洰涓簲浣跨敤鍙嶅皠灏嗗�煎啓鍥� _sensorConfig
+ // 璺宠繃鑷畾涔夊弬鏁�
+ var iscustomAttr = p.GetCustomAttribute<IsCustomAttribute>();
+ if (iscustomAttr != null) continue;
+
+ if (Enum.TryParse(typeof(EnumNameId), p.Name, out object nameIdObj))
+ {
+ EnumNameId nameId = (EnumNameId)nameIdObj;
+ int intValue = 0;
+ double doubleValue = 0;
+ int enumValue = 0;
+
+ if (PHM6000Profiler.GetProfilerParameter(_cameraHandle, (int)nameId, ref intValue, ref doubleValue, ref enumValue) == 0)
+ {
+ if (p.PropertyType == typeof(int))
+ {
+ p.SetValue(_sensorConfig, intValue);
+ }
+ else if (p.PropertyType == typeof(float))
+ {
+ p.SetValue(_sensorConfig, (float)doubleValue);
+ }
+ else if (p.PropertyType == typeof(double))
+ {
+ p.SetValue(_sensorConfig, doubleValue);
+ }
+ else // Enum or other types
+ {
+ p.SetValue(_sensorConfig, enumValue);
+ }
+ }
+ }
}
+ }
+ catch (Exception ex)
+ {
+ AsyncLogHelper.Error($"LBCamera: SyncConfigFromCamera error - {ex.Message}");
}
}
@@ -513,6 +757,13 @@
{
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;
+ // 瀵逛簬鏋氫妇绫诲瀷锛岄�氬父閫氳繃 enumValue (鏈�鍚庝竴涓弬鏁�) 浼犻��
+ return PHM6000Profiler.SetProfilerParameter(_cameraHandle, (int)id, 0, 0, value) == 0;
}
private bool GetParam(EnumNameId id, out float value)
@@ -528,6 +779,18 @@
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
}
-}
+}
\ No newline at end of file
--
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