using MVSDK_Net;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Imaging;
using System.Linq;
using System.Runtime.InteropServices;
using System.Threading;
using System.Windows.Forms;

namespace LB_VisionProcesses.Cameras
{
    /// <summary>
    /// 华睿2D工业相机实现类
    /// 基于MVSDK_Net SDK封装
    /// </summary>
    public class HRCamera : BaseCamera
    {
        #region 私有字段
        
        private MyCamera _camera; // 华睿相机设备对象
        private Thread _grabThread; // 图像采集线程
        private bool _isGrabbing; // 采集状态标志
        private bool _threadRunning; // 线程运行标志
        private bool _handleCreated = false; // 句柄是否已创建
        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
        
        // CopyMemory API声明
        [System.Runtime.InteropServices.DllImport("kernel32.dll", EntryPoint = "RtlMoveMemory")]
        private static extern void CopyMemory(IntPtr dest, IntPtr src, uint count);
        
        #endregion

        #region 构造函数和析构函数
        
        /// <summary>
        /// 构造函数
        /// </summary>
        public HRCamera()
        {
            _camera = new MyCamera();
            _frameList = new List<IMVDefine.IMV_Frame>();
            Brand = CameraBrand.HRCamera;
            _isGrabbing = false;
            _threadRunning = false;
        }
        
        /// <summary>
        /// 析构函数
        /// </summary>
        ~HRCamera()
        {
            Dispose(false);
        }
        
        #endregion

        #region 设备管理操作
        
        /// <summary>
        /// 获取相机SN枚举列表
        /// </summary>
        /// <returns>相机SN列表</returns>
        public override List<string> GetListEnum()
        {
            List<string> cameraList = new List<string>();
            
            try
            {
                // 枚举所有设备
                IMVDefine.IMV_DeviceList deviceList = new IMVDefine.IMV_DeviceList();
                IMVDefine.IMV_EInterfaceType interfaceType = IMVDefine.IMV_EInterfaceType.interfaceTypeAll;
                
                int result = MyCamera.IMV_EnumDevices(ref deviceList, (uint)interfaceType);
                
                if (result == IMVDefine.IMV_OK && deviceList.nDevNum > 0)
                {
                    for (int i = 0; i < deviceList.nDevNum; i++)
                    {
                        IMVDefine.IMV_DeviceInfo deviceInfo = (IMVDefine.IMV_DeviceInfo)
                            Marshal.PtrToStructure(
                                deviceList.pDevInfo + Marshal.SizeOf(typeof(IMVDefine.IMV_DeviceInfo)) * i,
                                typeof(IMVDefine.IMV_DeviceInfo));
                        
                        string cameraInfo = $"{deviceInfo.cameraName}[{deviceInfo.serialNumber}]";
                        cameraList.Add(cameraInfo);
                    }
                }
                else
                {
                    // 记录日志或抛出异常
                    //throw new Exception($"枚举设备失败，错误码：{result}");
                    Debug.WriteLine("枚举设备失败！");
                }
            }
            catch (Exception ex)
            { 
                // 记录错误日志
                System.Diagnostics.Debug.WriteLine($"获取相机列表失败：{ex.Message}");
                throw;
            }
            
            return cameraList;
        }
        
        /// <summary>
        /// 初始化相机设备
        /// </summary>
        /// <param name="SN">相机序列号</param>
        /// <param name="Handle">窗口句柄（可选）</param>
        /// <returns>初始化是否成功</returns>
        public override bool InitDevice(string SN, object Handle = null)
        {
            try
            {
                // 确保彻底关闭和清理
                if (_camera != null)
                {
                    if (_camera.IMV_IsOpen())
                    {
                        _camera.IMV_Close();
                    }
                    
                    if (_handleCreated)
                    {
                        _camera.IMV_DestroyHandle();
                        _handleCreated = false;
                    }
                }
                
                // 枚举设备并匹配SN
                List<string> cameraList = GetListEnum();
                int cameraIndex = -1;
                
                for (int i = 0; i < cameraList.Count; i++)
                {
                    if (cameraList[i].Contains(SN))
                    {
                        cameraIndex = i;
                        break;
                    }
                }
                
                if (cameraIndex == -1)
                {
                    throw new Exception($"未找到序列号为 {SN} 的相机");
                }
                
                // 创建设备句柄
                int result = _camera.IMV_CreateHandle(IMVDefine.IMV_ECreateHandleMode.modeByIndex, cameraIndex);
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"创建设备句柄失败，错误码：{result}");
                }
                _handleCreated = true;
                
                // 打开设备
                result = _camera.IMV_Open();
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"打开相机失败，错误码：{result}");
                }
                
                // 设置设备属性
                this.SN = SN;
                isGrabbing = false;
                
                // 设置缓存个数为8
                _camera.IMV_SetBufferCount(8);
                
                return true;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"初始化相机失败：{ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 关闭相机设备
        /// </summary>
        /// <returns>关闭是否成功</returns>
        public override bool CloseDevice()
        {
            try
            {
                if (_camera == null)
                    return true;
                
                // 停止采集
                if (_camera.IMV_IsGrabbing())
                {
                    StopGrabbing();
                }
                
                // 关闭设备
                if (_camera.IMV_IsOpen())
                {
                    int result = _camera.IMV_Close();
                    if (result != IMVDefine.IMV_OK)
                    {
                        System.Diagnostics.Debug.WriteLine($"关闭相机失败，错误码：{result}");
                    }
                }

                // 销毁句柄
                if (_handleCreated)
                {
                    _camera.IMV_DestroyHandle();
                    _handleCreated = false;
                }
                
                // 释放资源
                _isGrabbing = false;
                isGrabbing = false;
                
                // 清理帧缓存
                lock (_frameLock)
                {
                    foreach (var frame in _frameList)
                    {
                        var tempFrame = frame; // 创建临时变量
                        _camera.IMV_ReleaseFrame(ref tempFrame);
                    }
                    _frameList.Clear();
                }
                
                return true;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"关闭相机失败：{ex.Message}");
                return false;
            }
        }
        
        #endregion

        #region 图像采集操作
        
        /// <summary>
        /// 开始图像采集
        /// </summary>
        /// <returns>采集启动是否成功</returns>
        public override bool StartGrabbing()
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen())
                {
                    throw new Exception("相机未打开");
                }
                
                // 停止现有采集
                if (_isGrabbing)
                {
                    StopGrabbing();
                }
                
                // 启动采集
                int result = _camera.IMV_StartGrabbing();
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"启动采集失败，错误码：{result}");
                }
                
                _isGrabbing = true;
                isGrabbing = true;
                
                // 启动采集线程
                _threadRunning = true;
                _grabThread = new Thread(GrabThreadProc);
                _grabThread.IsBackground = true;
                _grabThread.Start();
                
                return true;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"启动采集失败：{ex.Message}");
                _isGrabbing = false;
                isGrabbing = false;
                return false;
            }
        }
        
        /// <summary>
        /// 停止图像采集
        /// </summary>
        /// <returns>停止是否成功</returns>
        public override bool StopGrabbing()
        {
            try
            {
                if (_camera == null || !_isGrabbing)
                    return true;
                
                // 停止线程
                _threadRunning = false;
                if (_grabThread != null && _grabThread.IsAlive)
                {
                    _grabThread.Join(1000);
                    _grabThread = null;
                }
                
                // 停止采集
                int result = _camera.IMV_StopGrabbing();
                if (result != IMVDefine.IMV_OK)
                {
                    System.Diagnostics.Debug.WriteLine($"停止采集失败，错误码：{result}");
                }
                
                _isGrabbing = false;
                isGrabbing = false;
                
                // 清理缓存
                lock (_frameLock)
                {
                    foreach (var frame in _frameList)
                    {
                        var tempFrame = frame; // 创建临时变量
                        _camera.IMV_ReleaseFrame(ref tempFrame);
                    }
                    _frameList.Clear();
                }
                
                return true;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"停止采集失败：{ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 执行软触发
        /// </summary>
        /// <returns>触发是否成功</returns>
        public override bool SoftTrigger()
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen())
                {
                    throw new Exception("相机未打开");
                }
                
                int result = _camera.IMV_ExecuteCommandFeature("TriggerSoftware");
                return result == IMVDefine.IMV_OK;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"软触发失败：{ex.Message}");
                return false;
            }
        }
        
        #endregion

        #region 参数设置和获取
        
        /// <summary>
        /// 设置触发模式
        /// </summary>
        /// <param name="mode">触发模式</param>
        /// <param name="source">触发源</param>
        /// <returns>设置是否成功</returns>
        public override bool SetTriggerMode(TriggerMode mode, TriggerSource source = TriggerSource.Line0)
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen())
                {
                    throw new Exception("相机未打开");
                }
                
                // 设置触发模式
                string triggerMode = mode == TriggerMode.On ? "On" : "Off";
                int result = _camera.IMV_SetEnumFeatureSymbol("TriggerMode", triggerMode);
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"设置触发模式失败，错误码：{result}");
                }
                
                // 设置触发源
                if (mode == TriggerMode.On)
                {
                    string triggerSource = GetTriggerSourceString(source);
                    result = _camera.IMV_SetEnumFeatureSymbol("TriggerSource", triggerSource);
                    if (result != IMVDefine.IMV_OK)
                    {
                        throw new Exception($"设置触发源失败，错误码：{result}");
                    }
                }
                
                return true;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"设置触发模式失败：{ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 获取触发模式
        /// </summary>
        /// <param name="mode">触发模式</param>
        /// <param name="source">触发源</param>
        /// <returns>获取是否成功</returns>
        public override bool GetTriggerMode(out TriggerMode mode, out TriggerSource source)
        {
            mode = TriggerMode.Off;
            source = TriggerSource.Software;
            
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen())
                {
                    throw new Exception("相机未打开");
                }
                
                // 获取触发模式
                IMVDefine.IMV_String triggerMode = new IMVDefine.IMV_String();
                int result = _camera.IMV_GetEnumFeatureSymbol("TriggerMode", ref triggerMode);
                if (result == IMVDefine.IMV_OK)
                {
                    mode = triggerMode.str == "On" ? TriggerMode.On : TriggerMode.Off;
                }
                
                // 获取触发源
                IMVDefine.IMV_String triggerSource = new IMVDefine.IMV_String();
                result = _camera.IMV_GetEnumFeatureSymbol("TriggerSource", ref triggerSource);
                if (result == IMVDefine.IMV_OK)
                {
                    source = GetTriggerSourceFromString(triggerSource.str);
                }
                
                return true;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取触发模式失败：{ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 设置曝光时间
        /// </summary>
        /// <param name="value">曝光时间（微秒）</param>
        /// <returns>设置是否成功</returns>
        public override bool SetExpouseTime(double value)
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen())
                {
                    throw new Exception("相机未打开");
                }
                
                // 验证曝光时间范围
                double minExp = 0, maxExp = 0;
                int result = _camera.IMV_GetDoubleFeatureMin("ExposureTime", ref minExp);
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"获取曝光时间最小值失败，错误码：{result}");
                }
                
                result = _camera.IMV_GetDoubleFeatureMax("ExposureTime", ref maxExp);
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"获取曝光时间最大值失败，错误码：{result}");
                }
                
                if (value < minExp || value > maxExp)
                {
                    throw new Exception($"曝光时间超出范围，有效范围：{minExp} - {maxExp}");
                }
                
                // 设置曝光时间
                result = _camera.IMV_SetDoubleFeatureValue("ExposureTime", value);
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"设置曝光时间失败，错误码：{result}");
                }
                
                return true;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"设置曝光时间失败：{ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 获取曝光时间
        /// </summary>
        /// <param name="value">曝光时间</param>
        /// <returns>获取是否成功</returns>
        public override bool GetExpouseTime(out double value)
        {
            value = 0;
            
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen())
                {
                    throw new Exception("相机未打开");
                }
                
                int result = _camera.IMV_GetDoubleFeatureValue("ExposureTime", ref value);
                return result == IMVDefine.IMV_OK;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取曝光时间失败：{ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 设置增益
        /// </summary>
        /// <param name="gain">增益值</param>
        /// <returns>设置是否成功</returns>
        public override bool SetGain(double gain)
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen())
                {
                    throw new Exception("相机未打开");
                }
                
                string gainFeature = _camera.IMV_FeatureIsValid("Gain") ? "Gain" : "GainRaw";
                
                // 验证增益范围
                double minGain = 0, maxGain = 0;
                int result = _camera.IMV_GetDoubleFeatureMin(gainFeature, ref minGain);
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"获取增益最小值失败，错误码：{result}");
                }
                
                result = _camera.IMV_GetDoubleFeatureMax(gainFeature, ref maxGain);
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"获取增益最大值失败，错误码：{result}");
                }
                
                if (gain < minGain) gain = minGain;
                if (gain > maxGain) gain = maxGain;
                
                // 设置增益
                result = _camera.IMV_SetDoubleFeatureValue(gainFeature, gain);
                if (result != IMVDefine.IMV_OK)
                {
                    throw new Exception($"设置增益失败，错误码：{result}");
                }
                
                return true;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"设置增益失败：{ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 获取增益值
        /// </summary>
        /// <param name="gain">增益值</param>
        /// <returns>获取是否成功</returns>
        public override bool GetGain(out double gain)
        {
            gain = 0;
            
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen())
                {
                    throw new Exception("相机未打开");
                }
                
                string gainFeature = _camera.IMV_FeatureIsValid("Gain") ? "Gain" : "GainRaw";
                int result = _camera.IMV_GetDoubleFeatureValue(gainFeature, ref gain);
                return result == IMVDefine.IMV_OK;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取增益失败：{ex.Message}");
                return false;
            }
        }
        
        /// <summary>
        /// 设置触发极性
        /// </summary>
        /// <param name="polarity">触发极性</param>
        /// <returns>是否成功</returns>
        public override bool SetTriggerPolarity(TriggerPolarity polarity)
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                string activation = (polarity == TriggerPolarity.RisingEdge || polarity == TriggerPolarity.HighLevel) 
                    ? "RisingEdge" : "FallingEdge";
                
                int result = _camera.IMV_SetEnumFeatureSymbol("TriggerActivation", activation);
                return result == IMVDefine.IMV_OK;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"设置触发极性失败：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 获取触发极性
        /// </summary>
        /// <param name="polarity">触发极性</param>
        /// <returns>是否成功</returns>
        public override bool GetTriggerPolarity(out TriggerPolarity polarity)
        {
            polarity = TriggerPolarity.RisingEdge;
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                IMVDefine.IMV_String activation = new IMVDefine.IMV_String();
                int result = _camera.IMV_GetEnumFeatureSymbol("TriggerActivation", ref activation);
                if (result == IMVDefine.IMV_OK)
                {
                    polarity = activation.str == "RisingEdge" ? TriggerPolarity.RisingEdge : TriggerPolarity.FallingEdge;
                    return true;
                }
                return false;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取触发极性失败：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 设置触发滤波时间 (us)
        /// </summary>
        public override bool SetTriggerFliter(double flitertime)
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                // 华睿相机通常使用 LineDebouncerTime 控制滤波
                if (_camera.IMV_FeatureIsValid("LineDebouncerTime"))
                {
                    int result = _camera.IMV_SetDoubleFeatureValue("LineDebouncerTime", flitertime);
                    return result == IMVDefine.IMV_OK;
                }
                return false;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"设置触发滤波失败：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 获取触发滤波时间 (us)
        /// </summary>
        public override bool GetTriggerFliter(out double flitertime)
        {
            flitertime = 0;
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                if (_camera.IMV_FeatureIsValid("LineDebouncerTime"))
                {
                    int result = _camera.IMV_GetDoubleFeatureValue("LineDebouncerTime", ref flitertime);
                    return result == IMVDefine.IMV_OK;
                }
                return false;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取触发滤波失败：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 设置触发延时 (us)
        /// </summary>
        public override bool SetTriggerDelay(double delay)
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                if (_camera.IMV_FeatureIsValid("TriggerDelay"))
                {
                    int result = _camera.IMV_SetDoubleFeatureValue("TriggerDelay", delay);
                    return result == IMVDefine.IMV_OK;
                }
                return false;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"设置触发延时失败：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 获取触发延时 (us)
        /// </summary>
        public override bool GetTriggerDelay(out double delay)
        {
            delay = 0;
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                if (_camera.IMV_FeatureIsValid("TriggerDelay"))
                {
                    int result = _camera.IMV_GetDoubleFeatureValue("TriggerDelay", ref delay);
                    return result == IMVDefine.IMV_OK;
                }
                return false;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取触发延时失败：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 设置信号线模式
        /// </summary>
        public override bool SetLineMode(IOLines line, LineMode mode)
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                // 选择线路
                int result = _camera.IMV_SetEnumFeatureSymbol("LineSelector", line.ToString());
                if (result != IMVDefine.IMV_OK) return false;
                
                // 设置模式
                string lineMode = mode == LineMode.Input ? "Input" : "Output";
                result = _camera.IMV_SetEnumFeatureSymbol("LineMode", lineMode);
                return result == IMVDefine.IMV_OK;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"设置信号线模式失败：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 设置信号线电平状态
        /// </summary>
        public override bool SetLineStatus(IOLines line, LineStatus linestatus)
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                // 仅对输出线路有效
                int result = _camera.IMV_SetEnumFeatureSymbol("LineSelector", line.ToString());
                if (result != IMVDefine.IMV_OK) return false;
                
                bool status = linestatus == LineStatus.Hight;
                result = _camera.IMV_SetBoolFeatureValue("UserOutputValue", status);
                return result == IMVDefine.IMV_OK;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"设置信号线状态失败：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 获取信号线电平状态
        /// </summary>
        public override bool GetLineStatus(IOLines line, out LineStatus lineStatus)
        {
            lineStatus = LineStatus.Low;
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                int result = _camera.IMV_SetEnumFeatureSymbol("LineSelector", line.ToString());
                if (result != IMVDefine.IMV_OK) return false;
                
                bool status = false;
                result = _camera.IMV_GetBoolFeatureValue("LineStatus", ref status);
                if (result == IMVDefine.IMV_OK)
                {
                    lineStatus = status ? LineStatus.Hight : LineStatus.Low;
                    return true;
                }
                return false;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取信号线状态失败：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 自动白平衡
        /// </summary>
        public override bool AutoBalanceWhite()
        {
            try
            {
                if (_camera == null || !_camera.IMV_IsOpen()) return false;
                
                if (_camera.IMV_FeatureIsValid("BalanceWhiteAuto"))
                {
                    int result = _camera.IMV_SetEnumFeatureSymbol("BalanceWhiteAuto", "Once");
                    return result == IMVDefine.IMV_OK;
                }
                return false;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"自动白平衡失败：{ex.Message}");
                return false;
            }
        }

        #endregion

        #region 采集和转换辅助方法

        /// <summary>
        /// 图像采集线程处理函数
        /// </summary>
        private void GrabThreadProc()
        {
            while (_threadRunning)
            {
                IMVDefine.IMV_Frame frame = new IMVDefine.IMV_Frame();
                try
                {
                    // 获取图像帧
                    int result = _camera.IMV_GetFrame(ref frame, 1000);

                    if (result == IMVDefine.IMV_OK)
                    {
                        // 处理图像帧
                        ProcessFrame(frame);
                    }
                    else
                    {
                        // 即使获取失败，也尝试释放帧，防止SDK内部缓存泄露
                        // 注意：frame是每次新建的，如果GetFrame没填充，这里释放应该是安全的（视SDK实现而定）
                        var tempFrame = frame;
                        _camera.IMV_ReleaseFrame(ref tempFrame);

                        if ((uint)result != 0x80000001 && result != -119 && result != -102) // 超时错误代码
                        {
                            // 非超时错误
                            System.Diagnostics.Debug.WriteLine($"获取图像帧失败，错误码：{result}");
                            Thread.Sleep(10); // 出错时稍作等待
                        }
                    }
                }
                catch (Exception ex)
                {
                    System.Diagnostics.Debug.WriteLine($"采集线程异常：{ex.Message}");
                    Thread.Sleep(10);
                }

                Thread.Sleep(1);
            }
        }

        /// <summary>
        /// 处理图像帧
        /// </summary>
        /// <param name="frame">图像帧</param>
        private void ProcessFrame(IMVDefine.IMV_Frame frame)
        {
            try
            {
                // 将图像数据转换为Bitmap
                Bitmap bitmap = ConvertFrameToBitmap(frame);

                if (bitmap != null)
                {
                    // 触发图像采集事件
                    CameraEventArgs args = new CameraEventArgs(SN, bitmap);
                    ImageGrabbed?.Invoke(this, args);

                    // 更新回调图像
                    CallBackImg = bitmap;
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"处理图像帧失败：{ex.Message}");
            }
            finally
            {
                // 确保无论如何都释放帧，防止缓存占满
                var tempFrame = frame;
                _camera.IMV_ReleaseFrame(ref tempFrame);
            }
        }

        /// <summary>
        /// 将图像帧转换为Bitmap
        /// </summary>
        /// <param name="frame">图像帧</param>
        /// <returns>Bitmap对象</returns>
        private Bitmap ConvertFrameToBitmap(IMVDefine.IMV_Frame frame)
        {
            try
            {
                Bitmap bitmap = null;

                switch (frame.frameInfo.pixelFormat)
                {
                    case IMVDefine.IMV_EPixelType.gvspPixelMono8:
                        bitmap = CreateMono8Bitmap(frame);
                        break;
                    case IMVDefine.IMV_EPixelType.gvspPixelBGR8:
                        bitmap = CreateBgr8Bitmap(frame);
                        break;
                    default:
                        // 其他格式需要转换
                        bitmap = ConvertToBGR8(frame);
                        break;
                }

                return bitmap;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"图像格式转换失败：{ex.Message}");
                return null;
            }
        }

        /// <summary>
        /// 创建Mono8格式Bitmap
        /// </summary>
        private Bitmap CreateMono8Bitmap(IMVDefine.IMV_Frame frame)
        {
            Bitmap bitmap = new Bitmap((int)frame.frameInfo.width, (int)frame.frameInfo.height, PixelFormat.Format8bppIndexed);

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

            // 复制图像数据
            BitmapData bmpData = bitmap.LockBits(
                new Rectangle(0, 0, bitmap.Width, bitmap.Height),
                ImageLockMode.WriteOnly,
                bitmap.PixelFormat);

            // 使用CopyMemory API进行内存复制
            CopyMemory(bmpData.Scan0, frame.pData, (uint)Math.Min(frame.frameInfo.size, (uint)(bmpData.Stride * bitmap.Height)));

            bitmap.UnlockBits(bmpData);
            return bitmap;
        }

        /// <summary>
        /// 创建BGR8格式Bitmap
        /// </summary>
        private Bitmap CreateBgr8Bitmap(IMVDefine.IMV_Frame frame)
        {
            Bitmap bitmap = new Bitmap((int)frame.frameInfo.width, (int)frame.frameInfo.height, PixelFormat.Format24bppRgb);

            BitmapData bmpData = bitmap.LockBits(
                new Rectangle(0, 0, bitmap.Width, bitmap.Height),
                ImageLockMode.WriteOnly,
                bitmap.PixelFormat);

            // 使用CopyMemory API进行内存复制
            CopyMemory(bmpData.Scan0, frame.pData, (uint)Math.Min(frame.frameInfo.size, (uint)(bmpData.Stride * bitmap.Height)));

            bitmap.UnlockBits(bmpData);
            return bitmap;
        }

        /// <summary>
        /// 转换为BGR8格式
        /// </summary>
        private Bitmap ConvertToBGR8(IMVDefine.IMV_Frame frame)
        {
            IMVDefine.IMV_PixelConvertParam convertParam = new IMVDefine.IMV_PixelConvertParam
            {
                nWidth = frame.frameInfo.width,
                nHeight = frame.frameInfo.height,
                ePixelFormat = frame.frameInfo.pixelFormat,
                pSrcData = frame.pData,
                nSrcDataLen = frame.frameInfo.size,
                nPaddingX = frame.frameInfo.paddingX,
                nPaddingY = frame.frameInfo.paddingY,
                eBayerDemosaic = IMVDefine.IMV_EBayerDemosaic.demosaicBilinear,
                eDstPixelFormat = IMVDefine.IMV_EPixelType.gvspPixelBGR8,
                nDstBufSize = frame.frameInfo.width * frame.frameInfo.height * 3
            };

            IntPtr dstBuffer = Marshal.AllocHGlobal((int)convertParam.nDstBufSize);
            convertParam.pDstBuf = dstBuffer;

            try
            {
                int result = _camera.IMV_PixelConvert(ref convertParam);
                if (result == IMVDefine.IMV_OK)
                {
                    return CreateBgr8BitmapFromBuffer(dstBuffer, frame.frameInfo.width, frame.frameInfo.height);
                }
                return null;
            }
            finally
            {
                Marshal.FreeHGlobal(dstBuffer);
            }
        }

        /// <summary>
        /// 从缓冲区创建BGR8 Bitmap
        /// </summary>
        private Bitmap CreateBgr8BitmapFromBuffer(IntPtr buffer, uint width, uint height)
        {
            Bitmap bitmap = new Bitmap((int)width, (int)height, PixelFormat.Format24bppRgb);

            BitmapData bmpData = bitmap.LockBits(
                new Rectangle(0, 0, bitmap.Width, bitmap.Height),
                ImageLockMode.WriteOnly,
                bitmap.PixelFormat);

            // 使用CopyMemory API进行安全的内存复制
            CopyMemory(bmpData.Scan0, buffer, (uint)(width * height * 3));

            bitmap.UnlockBits(bmpData);
            return bitmap;
        }

        /// <summary>
        /// 将触发源枚举转换为字符串
        /// </summary>
        private string GetTriggerSourceString(TriggerSource source)
        {
            return source switch
            {
                TriggerSource.Software => "Software",
                TriggerSource.Line0 => "Line0",
                TriggerSource.Line1 => "Line1",
                TriggerSource.Line2 => "Line2",
                TriggerSource.Line3 => "Line3",
                TriggerSource.Line4 => "Line4",
                TriggerSource.Line5 => "Line5",
                _ => "Software"
            };
        }

        /// <summary>
        /// 将字符串转换为触发源枚举
        /// </summary>
        private TriggerSource GetTriggerSourceFromString(string source)
        {
            return source switch
            {
                "Software" => TriggerSource.Software,
                "Line0" => TriggerSource.Line0,
                "Line1" => TriggerSource.Line1,
                "Line2" => TriggerSource.Line2,
                "Line3" => TriggerSource.Line3,
                "Line4" => TriggerSource.Line4,
                "Line5" => TriggerSource.Line5,
                _ => TriggerSource.Software
            };
        }

        #endregion


        #region IDisposable实现
        
        private bool _disposed = false;
        
        protected virtual void Dispose(bool disposing)
        {
            if (!_disposed)
            {
                if (disposing)
                {
                    // 释放托管资源
                }
                
                // 释放非托管资源
                CloseDevice();
                
                _disposed = true;
            }
        }
        
        public override void Dispose()
        {
            Dispose(true);
            GC.SuppressFinalize(this);
        }
        
        #endregion
    }
}