RealSys.MotionPlat/Rs.Cameras/DaHengCameras.cs

using GxIAPINET;
using HalconDotNet;
using Rs.Framework;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace Rs.Cameras
{

    public class DaHengCameras
    {
        private static DaHengCameras instance;
        public static DaHengCameras Instance
        {
            get
            {
                if (instance == null)
                    instance = new DaHengCameras();
                return instance;
            }
        }


        private DaHengCameras()
        {
        }

        List<DaHengCameraInfo> cameraInfos = new List<DaHengCameraInfo>();

        public List<DaHengCameraInfo> Init()
        {
            IGXFactory.GetInstance().Init();
            List<IGXDeviceInfo> infos = new List<IGXDeviceInfo>();
            IGXFactory.GetInstance().UpdateAllDeviceList(1000, infos);
            if(infos!=null && infos.Count>0)
            {
                foreach (IGXDeviceInfo devInfo in infos)
                {
                    try
                    {
                        string userID = string.Empty;
                        userID = devInfo.GetUserID();
                        if(!string.IsNullOrEmpty(userID))
                        {
                            IGXDevice dev = IGXFactory.GetInstance().OpenDeviceByUserID(userID, GX_ACCESS_MODE.GX_ACCESS_EXCLUSIVE);
                            IGXFeatureControl featureControl = dev.GetRemoteFeatureControl();
                            IGXStream stream = dev.OpenStream(0);
                            IGXFeatureControl streamFeatureControl = stream.GetFeatureControl();

                            GX_DEVICE_CLASS_LIST objDeviceClass = dev.GetDeviceInfo().GetDeviceClass();
                            if (GX_DEVICE_CLASS_LIST.GX_DEVICE_CLASS_GEV == objDeviceClass)
                            {
                                // 判断设备是否支持流通道数据包功能
                                if (true == featureControl.IsImplemented("GevSCPSPacketSize"))
                                {
                                    // 获取当前网络环境的最优包长值
                                    uint nPacketSize = stream.GetOptimalPacketSize();
                                    // 将最优包长值设置为当前设备的流通道包长值
                                    featureControl.GetIntFeature("GevSCPSPacketSize").SetValue(nPacketSize);
                                }
                            }
                            featureControl.GetEnumFeature("AcquisitionMode").SetValue("Continuous");
                            //m_objIGXStreamFeatureControl = stream.GetFeatureControl();
                            DaHengCameraInfo camInfo = new DaHengCameraInfo(userID, dev, featureControl, stream, streamFeatureControl);
                            cameraInfos.Add(camInfo);
                            camInfo.SetTrigger(ETriggerSource.Line0);
                            camInfo.SetExposure(50);
                            camInfo.SetGain(10);
                            camInfo.StartGrabbing();
                            MessageQueue.Instance.Insert($"Camera {userID} opened success");
                        }
                    }
                    catch (Exception ex)
                    {
                        MessageQueue.Instance.Warn(ex.Message);
                    }
                }
            }
            else
            {
                LogHelper.Debug($"cann't find camera");
            }
            return cameraInfos;
        }

        /// <summary>
        /// 根据相机名称获取相机
        /// </summary>
        /// <param name="cameraName"></param>
        /// <returns></returns>
        public DaHengCameraInfo GetCameraInfo(string cameraName)
        {
            return cameraInfos.Where(c => c.CameraName == cameraName).FirstOrDefault();
        }


        /// <summary>
        /// 获取所有的相机
        /// </summary>
        /// <returns></returns>
        public List<DaHengCameraInfo> GetAllCameras()
        {
            return cameraInfos;
        }

        public void Deinit()
        {
            foreach (DaHengCameraInfo ci in cameraInfos)
            {
                ci.Deinit();
            }
        }
    }

    /// <summary>
    /// 相机信息
    /// </summary>
    public class DaHengCameraInfo
    {
        public IGXDevice Camera { get; set; }
        /// <summary>
        /// 属性控制
        /// </summary>
        IGXFeatureControl featureControl;
        IGXStream stream;
        IGXFeatureControl streamFeatureControl;
        public string CameraName { get; set; }

        public int Index { get; set; }

        private List<TakePicResult> Images;

        public event Action<TakePicResult> OnImageLoaded;



        public DaHengCameraInfo(string userID,IGXDevice _dev, IGXFeatureControl _featureControl, IGXStream _stream, IGXFeatureControl _streamFeatureControl)
        {
            CameraName = userID;
            this.Camera = _dev;
            this.featureControl = _featureControl;
            this.stream = _stream;
            streamFeatureControl = _streamFeatureControl;
            Images = new List<TakePicResult>();
        }

        public void Deinit()
        {
            if (Camera != null)
            {
                featureControl.GetCommandFeature("AcquisitionStop").Execute();
                stream.StopGrab();
                //注销采集回调函数
               // m_objIGXStream.UnregisterCaptureCallback();
                stream.Close();
                stream = null;
                featureControl = null;
                Camera.Close();
            }
        }
        /// <summary>
        /// 清除内存中的图片
        /// </summary>
        public void ClearImage()
        {
            lock (this)
            {
                if (Images != null)
                {
                    Images.Clear();
                }
            }

        }

        /// <summary>
        /// 取图
        /// </summary>
        /// <returns></returns>
        public void Grab()
        {
            if (Camera != null)
            {
                featureControl.GetCommandFeature("TriggerSoftware").Execute();
            }
        }

        public void StartGrabbing()
        {
            if (Camera != null && streamFeatureControl!=null && stream!=null)
            {
                streamFeatureControl.GetEnumFeature("StreamBufferHandlingMode").SetValue("OldestFirst");
                stream.RegisterCaptureCallback(this, CaptureCallbackPro);
                stream.StartGrab();
                featureControl.GetCommandFeature("AcquisitionStart").Execute();
            }
        }

        /// <summary>
        /// 回调函数,用于获取图像信息和显示图像
        /// </summary>
        /// <param name="obj">用户自定义传入参数</param>
        /// <param name="objIFrameData">图像信息对象</param>
        private void CaptureCallbackPro(object objUserParam, IFrameData objIFrameData)
        {
            try
            {
                TakePicResult result = new TakePicResult();
                LogHelper.Debug($"{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss fff")}-> 收到相机数据");
                result.TakeTime = DateTime.Now;
                //string msg = $"{trayNum},{rowNum},{slotNum},{dt.ToString("yyyy-MM-dd HH:mm:ss fff")},{GetTimeStamp(dt,true)}\r\n";
                //File.AppendAllText("d://temp/test.csv", msg);
                HObject image;
                HOperatorSet.GenEmptyObj(out image);
                image.Dispose();
                HOperatorSet.GenImage1(out image, "byte", objIFrameData.GetWidth(), objIFrameData.GetHeight(), objIFrameData.GetBuffer());
                result.SourceImage = image;
                //HOperatorSet.WriteImage(image, "bmp", 0, $"d://temp//{trayNum}_{rowNum}_{slotNum}");
                //HOperatorSet.WriteImage(image, "tiff",0, "d://d");
                AddImage(result);
                //GxSingleCam objGxSingleCam = objUserParam as GxSingleCam;
                //objGxSingleCam.ImageShowAndSave(objIFrameData);
            }
            catch (Exception)
            {
            }
        }

        public void AddImage(TakePicResult result)
        {
            lock (this)
            {
                Images.Add(result);
                OnImageLoaded?.Invoke(result);
            }

        }

        /// <summary>
        /// 设置曝光时间
        /// </summary>
        /// <param name="timer"></param>
        /// <returns></returns>
        public void SetExposure(double timer)
        {
            if (Camera != null && featureControl != null)
            {
                featureControl.GetFloatFeature("ExposureTime").SetValue(timer);
            }
        }

        /// <summary>
        /// 设置相机增益
        /// </summary>
        /// <param name="camName"></param>
        /// <param name="gain"></param>
        /// <returns></returns>
        public void SetGain(double gain)
        {
            if (Camera != null && featureControl != null)
            {
                featureControl.GetFloatFeature("Gain").SetValue(gain);
            }
        }

        /// <summary>
        /// 设置相机的触发模式
        /// </summary>
        /// <param name="camName"></param>
        /// <param name="triggerSource"></param>
        /// <returns></returns>
        public void SetTrigger(ETriggerSource triggerSource = ETriggerSource.Line0)
        {
            if (Camera != null)
            {
                if (triggerSource == ETriggerSource.Line0)
                {
                    featureControl.GetEnumFeature("TriggerMode").SetValue("On");
                    featureControl.GetEnumFeature("TriggerSource").SetValue(ETriggerSource.Line0.ToString());
                    featureControl.GetEnumFeature("TriggerActivation").SetValue("RisingEdge");
                }
                else
                {
                    featureControl.GetEnumFeature("TriggerMode").SetValue("On");
                    featureControl.GetEnumFeature("TriggerSource").SetValue(ETriggerSource.Software.ToString());
                }
            }
        }

        /// <summary>
        /// 设置相机XY方向是否反转
        /// </summary>
        /// <param name="camName"></param>
        /// <param name="dir"></param>
        /// <param name="reverse"></param>
        /// <returns></returns>
        public int SetReverse(EDir dir = EDir.X, bool reverse = false)
        {
            if (Camera != null)
            {
                if (dir == EDir.X)
                {
                    featureControl.GetBoolFeature("ReverseX").SetValue(reverse);
                }
                else
                {
                    featureControl.GetBoolFeature("ReverseY").SetValue(reverse);
                }
            }
            else
            {
                return -1;
            }
            return 0;
        }

        /// <summary>
        /// 获取最后一张图片
        /// </summary>
        /// <returns></returns>
        public TakePicResult GetLastImage()
        {
            lock (this)
            {
                if (Images != null && Images.Count > 0)
                {
                    return Images[Images.Count - 1];
                }
                return null;
            }
        }

        /// <summary>
        /// 获取所有的图片
        /// </summary>
        /// <returns></returns>
        public List<TakePicResult> GetAllImages()
        {
            lock (this)
            {
                return Images;
            }
        }

        /// <summary>
        /// 获取图片数量
        /// </summary>
        /// <returns></returns>
        public int GetImageCount()
        {
            lock (this)
            {
                if (Images != null && Images.Count > 0)
                {
                    return Images.Count;
                }
                return 0;
            }
        }

        public static long GetTimeStamp(DateTime dt,bool ismilliseconds = false)
        {
            //时间戳 毫秒值
            //var time = new DateTimeOffset(DateTime.UtcNow);
            var time = new DateTimeOffset(dt);
            var timestamp = 0L;
            if (ismilliseconds)
            {
                timestamp = time.ToUnixTimeMilliseconds();
            }
            else
                timestamp = time.ToUnixTimeSeconds();

            return timestamp;
        }
    }

    /// <summary>
    /// 取图结果类
    /// </summary>
    public class TakePicResult
    {
        /// <summary>
        /// 原图
        /// </summary>
        public HObject SourceImage { get; set; }
        /// <summary>
        /// 相机返回图片时间
        /// </summary>
        public DateTime TakeTime { get; set; }
        /// <summary>
        /// 二维码
        /// </summary>
        public string SN { get; set; }
        public TakePicResult()
        {
            
        }

        public TakePicResult(HObject sourceImage, DateTime takeTime)
        {
            SourceImage = sourceImage;
            TakeTime = takeTime;
        }
    }
}