RealSys.MotionPlat/Rs.Cameras/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.Cameras
{
    
    public class HikCameras
    {
        private static HikCameras instance;
        public static HikCameras Instance
        {
            get
            {
                if (instance == null)
                    instance = new HikCameras();
                return instance;
            }
        }


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

        MyCamera.MV_CC_DEVICE_INFO_LIST m_pDeviceList;
        int apiResult = 0;
        MyCamera.cbOutputExdelegate cbImage;
        IntPtr m_BufForDriver = IntPtr.Zero;
        List<CameraInfo> cameraInfos = new List<CameraInfo>();

        private void ImageCallBack(IntPtr pData, ref MyCamera.MV_FRAME_OUT_INFO_EX pFrameInfo, IntPtr pUser)
        {
            LogHelper.Debug("收到相机数据");
            HObject image;
            HOperatorSet.GenEmptyObj(out image);
            image.Dispose();
            int nIndex = (int)pUser;
            HOperatorSet.GenImage1(out image, "byte", pFrameInfo.nWidth, pFrameInfo.nHeight, pData);
            CameraInfo ci = GetCameraInfo(nIndex);
            if (ci != null)
            {
                ci.AddImage(image);
            }
        }

        public List<CameraInfo> Init()
        {
            int nRet = MyCamera.MV_CC_EnumDevices_NET(MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE, ref m_pDeviceList);
            if (nRet != 0)
            {
                LogHelper.Debug($"MV_CC_EnumDevices_NET ret = {nRet}");
                //未找到任何相机
                return null;
            }
            else if (m_pDeviceList.nDeviceNum>0)
            {
                for (int i = 0; i < m_pDeviceList.nDeviceNum; i++)
                {
                    string cameraInfo = string.Empty;
                    ///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));
                        if(!string.IsNullOrEmpty(gigeInfo.chUserDefinedName))
                        {
                            cameraInfo = gigeInfo.chUserDefinedName;
                        }// gigeInfo.chModelName + " (" + gigeInfo.chSerialNumber + ")";
                        else
                        {
                            cameraInfo = gigeInfo.chSerialNumber;
                        }
                    }
                    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));
                        if (!string.IsNullOrEmpty(usbInfo.chUserDefinedName))
                        {
                            cameraInfo = usbInfo.chUserDefinedName;
                        }
                        else
                        {
                            cameraInfo = usbInfo.chSerialNumber;
                        }
                    }
                    
                    MyCamera camera = new MyCamera();
                    apiResult = camera.MV_CC_CreateDevice_NET(ref device);
                    if (apiResult != 0)
                    {
                        LogHelper.Debug($"MV_CC_CreateDevice_NET ret = {apiResult}");
                        //MV_CC_CreateDevice_NET fail;
                        //return ECameraErrorCode.CreateDeviceFail;
                        continue;
                    }
                    apiResult = camera.MV_CC_OpenDevice_NET();
                    if (apiResult != 0)
                    {
                        LogHelper.Debug($"MV_CC_OpenDevice_NET ret = {apiResult}");
                        //return ECameraErrorCode.OpenDeviceFail;
                        continue;
                    }
                    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)
                            {
                                LogHelper.Debug($"MV_CC_SetIntValue_NET  GevSCPSPacketSize ret = {apiResult}");
                                //return ECameraErrorCode.GevSCPSPacketSizeFail;
                                continue;
                            }
                        }
                        else
                        {
                            //return ECameraErrorCode.GevSCPSPacketSizeFail;
                            continue;
                        }
                    }
                    apiResult = camera.MV_CC_SetEnumValue_NET("TriggerMode", (uint)MyCamera.MV_CAM_TRIGGER_MODE.MV_TRIGGER_MODE_ON);
                    if (nRet != MyCamera.MV_OK)
                    {
                        LogHelper.Debug($"MV_CC_SetIntValue_NET  TriggerMode ret = {apiResult}");
                        //return ECameraErrorCode.SetTriggerModeFail;
                        continue;
                    }
                    apiResult = camera.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_SOFTWARE);
                    if (nRet != MyCamera.MV_OK)
                    {
                        LogHelper.Debug($"MV_CC_SetIntValue_NET  TriggerSource ret = {apiResult}");
                        //return ECameraErrorCode.SetTriggerSourceFail;
                        continue;
                    }
                    apiResult = camera.MV_CC_RegisterImageCallBackEx_NET(cbImage, (IntPtr)i);
                    if (apiResult != 0)
                    {
                        LogHelper.Debug($"MV_CC_RegisterImageCallBackEx_NET  ret = {apiResult}");
                        continue;
                        //return ECameraErrorCode.RegisterImageCallBackExFail;
                    }
                    CameraInfo ci = new CameraInfo();
                    ci.Camera = camera;
                    ci.CameraName = cameraInfo;
                    ci.Index = i;
                    cameraInfos.Add(ci);
                    LogHelper.Debug($"Find camera {cameraInfo}");
                }
                
            }
            else
            {
                //未找到任何相机
                return null;
            }
            return cameraInfos;
        }

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

        /// <summary>
        /// 根据索引获取相机
        /// </summary>
        /// <param name="index"></param>
        /// <returns></returns>
        private CameraInfo GetCameraInfo(int index)
        {
            return cameraInfos.Where(c => c.Index == index).FirstOrDefault();
        }

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

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

    /// <summary>
    /// 相机信息
    /// </summary>
    public class CameraInfo
    {
        public MyCamera Camera { get; set; }
        public string CameraName { get; set; }

        public int Index { get; set; }

        private List<HObject> Images;

        int apiResult = -1;

        public CameraInfo()
        {
            Images = new List<HObject>();
        }

        public void Deinit()
        {
            if(Camera != null)
            {
                Camera.MV_CC_CloseDevice_NET();
                Camera.MV_CC_DestroyDevice_NET();
            }
        }
        /// <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 int Grab()
        {
            if (Camera != null)
                return Camera.MV_CC_SetCommandValue_NET("TriggerSoftware");
            return -1;
        }

        public int StartGrabbing()
        {
            if (Camera != null)
                return Camera.MV_CC_StartGrabbing_NET();
            return -1;
        }

        public void AddImage(HObject image)
        {
            lock (this)
            {
                Images.Add(image);
            }
            
        }

        /// <summary>
        /// 设置曝光时间
        /// </summary>
        /// <param name="timer"></param>
        /// <returns></returns>
        public int SetExposure(float timer)
        {
            if (Camera != null)
            {
                apiResult = Camera.MV_CC_SetEnumValue_NET("ExposureAuto", 0);
                if (apiResult != 0)
                {

                    return apiResult;
                }
                apiResult = Camera.MV_CC_SetFloatValue_NET("ExposureTime", timer);
                if (apiResult != 0)
                {
                    return apiResult;
                }
            }
            else
            {
                return -1;
            }
            return 0;
        }

        /// <summary>
        /// 设置相机增益
        /// </summary>
        /// <param name="camName"></param>
        /// <param name="gain"></param>
        /// <returns></returns>
        public int SetGain(float gain)
        {
            if (Camera != null)
            {
                apiResult = Camera.MV_CC_SetEnumValue_NET("GainAuto", 0);
                if (apiResult != 0)
                {
                    return apiResult;
                }
                apiResult = Camera.MV_CC_SetFloatValue_NET("Gain", gain);
                if (apiResult != 0)
                {
                    return apiResult;
                }
            }
            else
            {
                return -1;
            }
            return 0;
        }

        /// <summary>
        /// 设置相机的触发模式
        /// </summary>
        /// <param name="camName"></param>
        /// <param name="triggerSource"></param>
        /// <returns></returns>
        public int SetTrigger(ETriggerSource triggerSource = ETriggerSource.Line0)
        {
            if(Camera!=null)
            {
                if (triggerSource == ETriggerSource.Line0)
                {
                    apiResult = Camera.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_LINE0);
                    if (apiResult != 0)
                    {
                        apiResult = Camera.MV_CC_SetEnumValue_NET("TriggerActivation", 0);//设置上升沿触发
                        if (apiResult != 0)
                        {
                            return apiResult;
                        }
                    }
                    else
                    {
                        return apiResult;
                    }
                }
                else
                {
                    apiResult = Camera.MV_CC_SetEnumValue_NET("TriggerSource", (uint)MyCamera.MV_CAM_TRIGGER_SOURCE.MV_TRIGGER_SOURCE_SOFTWARE);
                    if (apiResult != 0)
                    {
                        return apiResult;
                    }
                }
            }
            else
            {
                return -1;
            }
            return 0;
        }

        /// <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)
                {
                    apiResult = Camera.MV_CC_SetBoolValue_NET("ReverseX", reverse);
                    if (apiResult != 0)
                        return apiResult;
                }
                else
                {
                    apiResult =  Camera.MV_CC_SetBoolValue_NET("ReverseY", reverse);
                    if (apiResult != 0)
                        return apiResult;
                }
            }
            else
            {
                return -1;
            }
            return 0;
        }

        /// <summary>
        /// 获取最后一张图片
        /// </summary>
        /// <returns></returns>
        public HObject 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<HObject> 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;
            }
        }
    }
}