RealSys.MotionPlat/Rs.Camera/HikCamera.cs

using HalconDotNet;
using MvCamCtrl.NET;
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.Camera
{
    /// <summary>
    /// 方向
    /// </summary>
    public enum EDir
    {
        X,
        Y
    }
    public enum ECameraErrorCode
    {
        Ok,
        CameraNoExist,
        EnumDevicesFail,
        CreateDeviceFail,
        OpenDeviceFail,
        GevSCPSPacketSizeFail,
        SetTriggerModeFail,
        SetTriggerSourceFail,
        RegisterImageCallBackExFail,
        StartGrabbingFail
    }

    public enum ETriggerMode
    {
        /// <summary>
        /// 手动触发
        /// </summary>
        Manual,
        /// <summary>
        /// 自动触发
        /// </summary>
        Auto
    }
    public class HikCamera
    {
        private static HikCamera instance;
        public static HikCamera Instance
        {
            get
            {
                if (instance == null)
                    instance = new HikCamera();
                return instance;
            }
        }

        private ETriggerMode m_triggerMode = ETriggerMode.Manual;

        private HikCamera()
        {
            cbImage = new MyCamera.cbOutputExdelegate(ImageCallBack);
        }

        MyCamera.MV_CC_DEVICE_INFO_LIST m_pDeviceList;
        Dictionary<string, MyCamera> cameraDic = new Dictionary<string, MyCamera>();
        Dictionary<string, int> cameraIDs = new Dictionary<string, int>();
        Dictionary<int, ETriggerMode> camTrigger = new Dictionary<int, ETriggerMode>();
        int apiResult = 0;
        MyCamera.cbOutputExdelegate cbImage;
        public event Action<int, HObject> AutoGrabOkEvent;
        public event Action<int,HObject> ManualGrabOkEvent;
        IntPtr m_BufForDriver = IntPtr.Zero;

        private void ImageCallBack(IntPtr pData, ref MyCamera.MV_FRAME_OUT_INFO_EX pFrameInfo, IntPtr pUser)
        {
            int nIndex = (int)pUser;
            HObject image = new HObject();
            //m_BufForDriver = Marshal.AllocHGlobal((Int32)pFrameInfo.nFrameLen);
            //CopyMemory(m_BufForDriver, pData, pFrameInfo.nFrameLen);
            HOperatorSet.GenImage1(out image, "byte", pFrameInfo.nWidth, pFrameInfo.nHeight, pData);
            //HOperatorSet.RotateImage(image, out HObject rotateImage, 270, "constant");
            if (camTrigger!=null && camTrigger.ContainsKey(nIndex))
            {
                if (camTrigger[(int)pUser] == ETriggerMode.Manual)
                {
                    //ImageProcess.AddManualTrigger(image);
                    if (ManualGrabOkEvent != null)
                    {
                        //ManualGrabOkEvent(nIndex, image);
                        ImageProcess.AddManualTrigger(image);
                    }
                }
                else if (camTrigger[(int)pUser] == ETriggerMode.Auto)
                {
                    ImageProcess.AddAutoTrigger(image);
                    //if (AutoGrabOkEvent != null)
                    //{
                    //    AutoGrabOkEvent(nIndex, image);
                    //    ImageProcess.AddAutoTrigger(image);
                    //}
                }
                //Marshal.FreeHGlobal(pData);
            }
        }

        [DllImport("kernel32.dll", EntryPoint = "RtlMoveMemory", SetLastError = false)]
        private static extern void CopyMemory(IntPtr dest, IntPtr src, uint count);

        public List<string> GetCameras()
        {
            List<string> list = new List<string>();
            foreach (KeyValuePair<string,MyCamera> camera in cameraDic)
            {
                list.Add(camera.Key);
            }
            return list;
        }

        public ECameraErrorCode Init()
        {
            int nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref m_pDeviceList);
            if (nRet != 0)
            {
                return ECameraErrorCode.EnumDevicesFail;
            }
            else if (m_pDeviceList.nDeviceNum>0)
            {
                for (int i = 0; i < m_pDeviceList.nDeviceNum; i++)
                {
                    ///获取相机信息
                    MyCamera.MV_CC_DEVICE_INFO device = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(m_pDeviceList.pDeviceInfo[i], typeof(MyCamera.MV_CC_DEVICE_INFO));
                    if (device.nTLayerType == MyCamera.MV_GIGE_DEVICE)
                    {
                        MyCamera.MV_GIGE_DEVICE_INFO gigeInfo = (MyCamera.MV_GIGE_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stGigEInfo, typeof(MyCamera.MV_GIGE_DEVICE_INFO));
                        string cameraInfo = gigeInfo.chUserDefinedName;// gigeInfo.chModelName + " (" + gigeInfo.chSerialNumber + ")";
                        MyCamera camera = new MyCamera();
                        cameraDic.Add(cameraInfo, camera);
                        apiResult = camera.MV_CC_CreateDevice_NET(ref device);
                        if (apiResult != 0)
                        {
                            return ECameraErrorCode.CreateDeviceFail;
                        }
                        apiResult = camera.MV_CC_OpenDevice_NET();
                        if (apiResult != 0)
                        {
                            return ECameraErrorCode.OpenDeviceFail;
                        }
                        if (device.nTLayerType == MyCamera.MV_GIGE_DEVICE)
                        {
                            int nPacketSize = camera.MV_CC_GetOptimalPacketSize_NET();
                            if (nPacketSize > 0)
                            {
                                nRet = camera.MV_CC_SetIntValue_NET("GevSCPSPacketSize", (uint)nPacketSize);
                                if (nRet != MyCamera.MV_OK)
                                {
                                    return ECameraErrorCode.GevSCPSPacketSizeFail;
                                }
                            }
                            else
                            {
                                return ECameraErrorCode.GevSCPSPacketSizeFail;
                            }
                        }
                        apiResult = camera.MV_CC_SetEnumValue_NET("TriggerMode", (uint)MyCamera.MV_CAM_TRIGGER_MODE.MV_TRIGGER_MODE_ON);
                        if (nRet != MyCamera.MV_OK)
                        {
                            return ECameraErrorCode.SetTriggerModeFail;
                        }
                        apiResult = camera.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_SOFTWARE);
                        if (nRet != MyCamera.MV_OK)
                        {
                            return ECameraErrorCode.SetTriggerSourceFail;
                        }
                        apiResult = camera.MV_CC_RegisterImageCallBackEx_NET(cbImage, (IntPtr)i);
                        if (apiResult != 0)
                        {
                            return ECameraErrorCode.RegisterImageCallBackExFail;
                        }
                        cameraIDs.Add(cameraInfo, i);
                        camTrigger.Add(i, ETriggerMode.Manual);
                        //apiResult = camera.MV_CC_StartGrabbing_NET();
                        if(apiResult!=0)
                        {
                            return ECameraErrorCode.StartGrabbingFail;
                        }
                       
                    }
                    else if (device.nTLayerType == MyCamera.MV_USB_DEVICE)
                    {
                        
                        MyCamera.MV_USB3_DEVICE_INFO usbInfo = (MyCamera.MV_USB3_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stGigEInfo, typeof(MyCamera.MV_USB3_DEVICE_INFO));
                        string cameraInfo = usbInfo.chUserDefinedName;// gigeInfo.chModelName + " (" + gigeInfo.chSerialNumber + ")";
                        if (string.IsNullOrEmpty(cameraInfo))
                            continue;
                        MyCamera camera = new MyCamera();
                        cameraDic.Add(cameraInfo, camera);
                        apiResult = camera.MV_CC_CreateDevice_NET(ref device);
                        if (apiResult != 0)
                        {
                            return ECameraErrorCode.CreateDeviceFail;
                        }
                        apiResult = camera.MV_CC_OpenDevice_NET();
                        if (apiResult != 0)
                        {
                            return ECameraErrorCode.OpenDeviceFail;
                        }
                        apiResult = camera.MV_CC_SetEnumValue_NET("TriggerMode", (uint)MyCamera.MV_CAM_TRIGGER_MODE.MV_TRIGGER_MODE_ON);
                        if (nRet != MyCamera.MV_OK)
                        {
                            return ECameraErrorCode.SetTriggerModeFail;
                        }
                        apiResult = camera.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_SOFTWARE);
                        if (nRet != MyCamera.MV_OK)
                        {
                            return ECameraErrorCode.SetTriggerSourceFail;
                        }
                        apiResult = camera.MV_CC_RegisterImageCallBackEx_NET(cbImage, (IntPtr)i);
                        if (apiResult != 0)
                        {
                            return ECameraErrorCode.RegisterImageCallBackExFail;
                        }
                        cameraIDs.Add(cameraInfo, i);
                        camTrigger.Add(i, ETriggerMode.Manual);
                        //apiResult = camera.MV_CC_StartGrabbing_NET();
                        if (apiResult != 0)
                        {
                            return ECameraErrorCode.StartGrabbingFail;
                        }
                    }
                }
                
            }
            else
            {
                return ECameraErrorCode.CameraNoExist;
            }
            return ECameraErrorCode.Ok;
        }

        public int Grab(string camName)
        {
            if(cameraDic.ContainsKey(camName))
            {
               apiResult = cameraDic[camName].MV_CC_SetCommandValue_NET("TriggerSoftware");
                if(apiResult==0)
                {
                    return 0;
                }
            }
            return -1;
        }

        public ECameraErrorCode Deinit()
        {
            foreach (KeyValuePair<string, MyCamera> item in cameraDic)
            {
                item.Value.MV_CC_CloseDevice_NET();
                item.Value.MV_CC_DestroyDevice_NET();
            }
            return ECameraErrorCode.Ok;
        }

        public int SetExposure(string camName,float timer) 
        {
            if (cameraDic.ContainsKey(camName))
            {
                apiResult = cameraDic[camName].MV_CC_SetEnumValue_NET("ExposureAuto", 0);
                if (apiResult != 0)
                {
                    
                    return -1;
                }
                apiResult = cameraDic[camName].MV_CC_SetFloatValue_NET("ExposureTime", timer);
                if (apiResult != 0)
                {
                    return -1;
                }
            }
            return 0;
        }

        public int SetGain(string camName, float gain)
        {
            if (cameraDic.ContainsKey(camName))
            {
                apiResult = cameraDic[camName].MV_CC_SetEnumValue_NET("GainAuto", 0);
                if (apiResult != 0)
                {
                    return -1;
                }
                apiResult = cameraDic[camName].MV_CC_SetFloatValue_NET("Gain", gain);
                if (apiResult != 0)
                {
                    return -1;
                }
            }
            return 0;
        }

        public int SetTrigger(string camName, ETriggerMode triggerMode= ETriggerMode.Manual)
        {
            if (cameraDic.ContainsKey(camName))
            {
                if (!camTrigger.ContainsKey(cameraIDs[camName]))
                {
                    return -1;
                }
                camTrigger[cameraIDs[camName]] = triggerMode;
                if (triggerMode== ETriggerMode.Auto)
                {
                    apiResult = cameraDic[camName].MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_LINE0);
                    if (apiResult != 0)
                    {
                        return -1;
                    }
                    apiResult = cameraDic[camName].MV_CC_SetEnumValue_NET("TriggerActivation", 0);//设置上升沿触发
                    if (apiResult != 0)
                    {
                        return -1;
                    }
                }
                else
                {
                    apiResult = cameraDic[camName].MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_SOFTWARE);
                    //apiResult = cameraDic[camName].MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_LINE0);
                    if (apiResult != 0)
                    {
                        return -1;
                    }
                    //apiResult = cameraDic[camName].MV_CC_SetEnumValue_NET("TriggerActivation", 0);//设置上升沿触发
                    //if (apiResult != 0)
                    //{
                    //    return -1;
                    //}
                   
                }
            }
            return 0;
        }

        public int SetReverseX(string camName,EDir dir= EDir.X,bool reverse=false)
        {
            if (cameraDic.ContainsKey(camName))
            {
                if(dir== EDir.X)
                {
                    apiResult = cameraDic[camName].MV_CC_SetBoolValue_NET("ReverseX", reverse);
                }
                else
                {
                    apiResult = cameraDic[camName].MV_CC_SetBoolValue_NET("ReverseY", reverse);
                }
                if (apiResult != 0)
                {
                    return -1;
                }
            }
            return 0;
        }

        public int StartGrab(string camName)
        {
            if (cameraDic.ContainsKey(camName))
            {
                apiResult = cameraDic[camName].MV_CC_StartGrabbing_NET();
                if (apiResult != 0)
                {
                    return -1;
                }
            }
            return 0;
        }
    }
}