LampInspectionMachine/Cameralibs/HKCamera/MvCamera.cs

using Cognex.VisionPro;
using LampInspectionMachine.Interfaces;
using LampInspectionMachine.Log4xml;
using LampInspectionMachine.Model;
using Microsoft.Win32;
using MvCamCtrl.NET;
using MvCameraControl;
using SqlSugar.DistributedSystem.Snowflake;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Data.SqlTypes;
using System.Diagnostics;
using System.Drawing.Imaging;
using System.Drawing;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Media.Media3D;

namespace LampInspectionMachine.Cameralibs.HKCamera
{
    public class MvCamera : ICamera, INotifyPropertyChanged
    {
        #region 字段
        private IDevice m_MyCamera = null;
        private Thread m_hReceiveThread;
        #endregion

        #region 属性

        public CameraBrand CameraBrand { get => CameraBrand.HikRobot_MVS; }

        public string Name { get; private set; }
        public Guid ID { get; private set; }
        public string ManufacturerName { get; private set; }

        public string ModelName { get; private set; }

        public string SerialNumber { get; private set; }

        public CameraType CameraType { get; private set; }

        public IDeviceInfo CameraInfo { get; private set; }

        public UInt32 ImageWidth { get; private set; }

        public UInt32 ImageHeight { get; private set; }

        public MvGvspPixelType PixelType { get; private set; }

        private bool _IsGrabbing;

        /// <summary>
        /// 正在采集
        /// </summary>
        public bool IsGrabbing
        {
            get { return _IsGrabbing; }
            private set { SetProperty(ref _IsGrabbing, value); }
        }

        private ICogImage _Image;

        public ICogImage Image
        {
            get { return _Image; }
            private set { SetProperty(ref _Image, value); }
        }

        public bool IsConnected { get; private set; }

        private bool IsHaveCamera = false;

        /// <summary>
        /// 采集用时
        /// </summary>
        public TimeSpan TotalTime { get; private set; }

        /// <summary>
        /// 错误信息
        /// </summary>
        public string ErrorMessage { get; private set; }
        #endregion

        #region 事件
        /// <summary>
        /// 手动采集图像回调事件
        /// </summary>
        public event Action<ICogImage, TimeSpan, string> ImageCallbackEvent;
        /// <summary>
        /// 触发取图回调事件
        /// </summary>
        public event Action<ICogImage> GrabImageCallbackEvent;
        public event Action<Guid, bool> CameraConnectChangedEvent;
        #endregion

        public MvCamera(Guid _ID, string _Name, string _SerialNumber)
        {
            ID = _ID;
            Name = _Name;
            SerialNumber = _SerialNumber;
            // ch: 初始化 SDK | en: Initialize SDK
            SDKSystem.Initialize();

            List<IDeviceInfo> devInfoList = new List<IDeviceInfo>();
            // ch:枚举设备 | en:Enum device
            int nRet = DeviceEnumerator.EnumDevices(DeviceTLayerType.MvGigEDevice | DeviceTLayerType.MvVirGigEDevice | DeviceTLayerType.MvGenTLGigEDevice | DeviceTLayerType.MvUsbDevice | DeviceTLayerType.MvVirUsbDevice, out devInfoList);
            if (nRet != MvError.MV_OK)
            {
                throw new Exception($"Enumerate devices fail: {nRet:x8}");
            }
            foreach (var devInfo in devInfoList)
            {
                if (devInfo.TLayerType == DeviceTLayerType.MvGigEDevice || devInfo.TLayerType == DeviceTLayerType.MvVirGigEDevice || devInfo.TLayerType == DeviceTLayerType.MvGenTLGigEDevice)
                {
                    IGigEDeviceInfo gigeDevInfo = devInfo as IGigEDeviceInfo;
                    uint nIp1 = ((gigeDevInfo.CurrentIp & 0xff000000) >> 24);
                    uint nIp2 = ((gigeDevInfo.CurrentIp & 0x00ff0000) >> 16);
                    uint nIp3 = ((gigeDevInfo.CurrentIp & 0x0000ff00) >> 8);
                    uint nIp4 = (gigeDevInfo.CurrentIp & 0x000000ff);
                    Console.WriteLine("DevIP: {0}.{1}.{2}.{3}", nIp1, nIp2, nIp3, nIp4);
                    if (string.Equals(devInfo.SerialNumber, _SerialNumber))
                    {
                        ManufacturerName = devInfo.ManufacturerName;
                        ModelName = devInfo.ModelName;
                        SerialNumber = devInfo.SerialNumber;
                        CameraType = CameraType.GIGE;
                        CameraInfo = devInfo;
                        IsHaveCamera = true;
                        break;
                    }
                }
                else if (devInfo.TLayerType == DeviceTLayerType.MvUsbDevice || devInfo.TLayerType == DeviceTLayerType.MvVirUsbDevice)
                {
                    if (string.Equals(devInfo.SerialNumber, _SerialNumber))
                    {
                        ManufacturerName = devInfo.ManufacturerName;
                        ModelName = devInfo.ModelName;
                        SerialNumber = devInfo.SerialNumber;
                        CameraType = CameraType.USB;
                        CameraInfo = devInfo;
                        IsHaveCamera = true;
                        break;
                    }
                }
            }
            IsConnected = false;
        }

        #region 方法

        /// <summary>
        /// 获取设备
        /// </summary>
        /// <returns></returns>
        public static CameraInfo[] GetDevices()
        {
            List<CameraInfo> cameras = new List<CameraInfo>();
            try
            {
                if (!CheckSoftwareInstalled().isInstalled)
                {
                    //LogHelper.WriteLogInfo("未安装MVS");
                    return cameras.ToArray();
                }

                // ch: 初始化 SDK | en: Initialize SDK
                SDKSystem.Initialize();

                List<IDeviceInfo> devInfoList = new List<IDeviceInfo>();
                // ch:枚举设备 | en:Enum device
                int nRet = DeviceEnumerator.EnumDevices(DeviceTLayerType.MvGigEDevice | DeviceTLayerType.MvVirGigEDevice | DeviceTLayerType.MvGenTLGigEDevice | DeviceTLayerType.MvUsbDevice | DeviceTLayerType.MvVirUsbDevice, out devInfoList);
                if (nRet != MvError.MV_OK)
                {
                    throw new Exception($"Enumerate devices fail: {nRet:x8}");
                }

                foreach (var devInfo in devInfoList)
                {
                    if (devInfo.TLayerType == DeviceTLayerType.MvGigEDevice || devInfo.TLayerType == DeviceTLayerType.MvVirGigEDevice || devInfo.TLayerType == DeviceTLayerType.MvGenTLGigEDevice)
                    {
                        IGigEDeviceInfo gigeDevInfo = devInfo as IGigEDeviceInfo;
                        uint nIp1 = ((gigeDevInfo.CurrentIp & 0xff000000) >> 24);
                        uint nIp2 = ((gigeDevInfo.CurrentIp & 0x00ff0000) >> 16);
                        uint nIp3 = ((gigeDevInfo.CurrentIp & 0x0000ff00) >> 8);
                        uint nIp4 = (gigeDevInfo.CurrentIp & 0x000000ff);
                        Console.WriteLine("DevIP: {0}.{1}.{2}.{3}", nIp1, nIp2, nIp3, nIp4);
                        cameras.Add(new CameraInfo()
                        {
                            CameraName = "",
                            CameraBrand = CameraBrand.HikRobot_MVS,
                            CameraType = CameraType.GIGE,
                            Id = Guid.NewGuid(),
                            ManufacturerName = devInfo.ManufacturerName,
                            Model = devInfo.ModelName,
                            SerialNumber = devInfo.SerialNumber,
                            CameraIp = $"{nIp1}.{nIp2}.{nIp3}.{nIp4}",
                        });
                    }
                    else if (devInfo.TLayerType == DeviceTLayerType.MvUsbDevice || devInfo.TLayerType == DeviceTLayerType.MvVirUsbDevice)
                    {
                        cameras.Add(new CameraInfo()
                        {
                            CameraName = "",
                            CameraBrand = CameraBrand.HikRobot_MVS,
                            CameraType = CameraType.USB,
                            Id = Guid.NewGuid(),
                            ManufacturerName = devInfo.ManufacturerName,
                            Model = devInfo.ModelName,
                            SerialNumber = devInfo.SerialNumber,
                            CameraIp = "",
                        });
                    }
                }
            }
            catch (Exception ex)
            {
               // LogHelper.WriteLogError("搜索海康相机列表时出错！", ex);
            }

            return cameras.ToArray();
        }

        /// <summary>
        /// 检查相机软件是否安装
        /// </summary>
        /// <returns></returns>
        public static (bool isInstalled, string version) CheckSoftwareInstalled()
        {
            string softwareName = "MVS";
            string softwareVersion = "4.5.0";
            string[] registryPaths = new[]
            {
                @"SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall",
                @"SOFTWARE\WOW6432Node\Microsoft\Windows\CurrentVersion\Uninstall"
            };
            foreach (var path in registryPaths)
            {
                using (RegistryKey key = Registry.LocalMachine.OpenSubKey(path))
                {
                    if (key == null) continue;

                    foreach (string subKeyName in key.GetSubKeyNames())
                    {
                        using (RegistryKey subKey = key.OpenSubKey(subKeyName))
                        {
                            string displayName = subKey.GetValue("DisplayName")?.ToString();
                            if (displayName != null && displayName.Contains(softwareName))
                            {
                                string version = subKey.GetValue("DisplayVersion")?.ToString();
                                Version v1 = new Version(version);
                                Version v2 = new Version(softwareVersion);
                                if (v1 >= v2)
                                {
                                    return (true, version);
                                }
                                else
                                {
                                    return (false, version);
                                }
                            }
                        }
                    }
                }
            }
            return (false, "");
        }

        /// <summary>
        /// 打开相机
        /// </summary>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public bool OpenDevice()
        {
            if (!IsHaveCamera)
            {

                List<IDeviceInfo> devInfoList = new List<IDeviceInfo>();
                // ch:枚举设备 | en:Enum device
                int nRet = DeviceEnumerator.EnumDevices(DeviceTLayerType.MvGigEDevice | DeviceTLayerType.MvVirGigEDevice | DeviceTLayerType.MvGenTLGigEDevice | DeviceTLayerType.MvUsbDevice | DeviceTLayerType.MvVirUsbDevice, out devInfoList);
                if (nRet != MvError.MV_OK)
                {
                    throw new Exception($"Enumerate devices fail: {nRet:x8}");
                }
                foreach (var devInfo in devInfoList)
                {
                    if (devInfo.TLayerType == DeviceTLayerType.MvGigEDevice || devInfo.TLayerType == DeviceTLayerType.MvVirGigEDevice || devInfo.TLayerType == DeviceTLayerType.MvGenTLGigEDevice)
                    {
                        IGigEDeviceInfo gigeDevInfo = devInfo as IGigEDeviceInfo;
                        uint nIp1 = ((gigeDevInfo.CurrentIp & 0xff000000) >> 24);
                        uint nIp2 = ((gigeDevInfo.CurrentIp & 0x00ff0000) >> 16);
                        uint nIp3 = ((gigeDevInfo.CurrentIp & 0x0000ff00) >> 8);
                        uint nIp4 = (gigeDevInfo.CurrentIp & 0x000000ff);
                        Console.WriteLine("DevIP: {0}.{1}.{2}.{3}", nIp1, nIp2, nIp3, nIp4);
                        if (string.Equals(devInfo.SerialNumber, SerialNumber))
                        {
                            ManufacturerName = devInfo.ManufacturerName;
                            ModelName = devInfo.ModelName;
                            SerialNumber = devInfo.SerialNumber;
                            CameraType = CameraType.GIGE;
                            CameraInfo = devInfo;
                            IsHaveCamera = true;
                            break;
                        }
                    }
                    else if (devInfo.TLayerType == DeviceTLayerType.MvUsbDevice || devInfo.TLayerType == DeviceTLayerType.MvVirUsbDevice)
                    {
                        if (string.Equals(devInfo.SerialNumber, SerialNumber))
                        {
                            ManufacturerName = devInfo.ManufacturerName;
                            ModelName = devInfo.ModelName;
                            SerialNumber = devInfo.SerialNumber;
                            CameraType = CameraType.USB;
                            CameraInfo = devInfo;
                            IsHaveCamera = true;
                            break;
                        }
                    }
                }
                if (!IsHaveCamera)
                {
                    throw new Exception("没有发现相机");
                }
            }

            if (m_MyCamera == null)
            {
                // ch:创建设备 | en:Create device
                try
                {
                    m_MyCamera = DeviceFactory.CreateDevice(CameraInfo);
                }
                catch (Exception)
                {
                    return false;
                }

                //m_MyCamera.RegisterExceptionCallBack(pCallBackFunc, IntPtr.Zero);
            }

            int nRet1 = m_MyCamera.Open(DeviceAccessMode.AccessControl, 0);
            if (nRet1 != MvError.MV_OK)
            {
                m_MyCamera.Dispose();
                return false;
            }

            CameraConnectChangedEvent?.Invoke(ID, true);
            // ch:探测网络最佳包大小(只对GigE相机有效) | en:Detection network optimal package size(It only works for the GigE camera)
            if (CameraType == CameraType.GIGE)
            {
                int packetSize;
                int ret = (m_MyCamera as IGigEDevice).GetOptimalPacketSize(out packetSize);
                if (packetSize > 0)
                {
                    ret = m_MyCamera.Parameters.SetIntValue("GevSCPSPacketSize", packetSize);
                    if (ret != MvError.MV_OK)
                    {
                        Console.WriteLine("Warning: Set Packet Size failed {0:x8}", ret);
                    }
                    else
                    {
                        Console.WriteLine("Set PacketSize to {0}", packetSize);
                    }
                }
                else
                {
                    Console.WriteLine("Warning: Get Packet Size failed {0:x8}", ret);
                }
            }

            //连续采集
            m_MyCamera.Parameters.SetEnumValueByString("TriggerMode", "Off");
            // ch:触发源选择:0 - Line0; | en:Trigger source select:0 - Line0;
            //           1 - Line1;
            //           2 - Line2;
            //           3 - Line3;
            //           4 - Counter;
            //           7 - Software;
           // m_MyCamera.Parameters.SetEnumValueByString("TriggerSource", "Software");
            m_MyCamera.Parameters.SetEnumValueByString("AcquisitionMode", "Continuous");
            //m_MyCamera.Parameters.SetCommandValue("TriggerSoftware");

            // ch:注册回调函数 | en:Register image callback
           // m_MyCamera.StreamGrabber.FrameGrabedEvent += FrameGrabedEventHandler;
            IsConnected = m_MyCamera.IsConnected;
            return IsConnected;
        }

        /// <summary>
        /// 关闭相机
        /// </summary>
        public void CloseDevice()
        {
            m_MyCamera.StreamGrabber.FrameGrabedEvent -= FrameGrabedEventHandler;
            // ch:关闭设备 | en:Close Device
            m_MyCamera.Close();
            m_MyCamera.Dispose();
            m_MyCamera = null;
            if (IsConnected)
            {
                IsConnected = false;
                CameraConnectChangedEvent?.Invoke(ID, IsConnected);
            }
        }

        /// <summary>
        /// 取图前的必要操作步骤
        /// </summary>
        /// <returns></returns>
        private Int32 NecessaryOperBeforeGrab()
        {
            // ch:取图像宽 | en:Get Iamge Width
            IIntValue pcWidth = null;
            int nRet = m_MyCamera.Parameters.GetIntValue("Width", out pcWidth);
            if (nRet != MvError.MV_OK)
            {
                return nRet;
            }
            ImageWidth = (UInt32)pcWidth.CurValue;


            // ch:取图像高 | en:Get Iamge Height
            IIntValue pcHeight = null;
            nRet = m_MyCamera.Parameters.GetIntValue("Height", out pcHeight);
            if (nRet != MvError.MV_OK)
            {
                return nRet;
            }
            ImageHeight = (UInt32)pcHeight.CurValue;

            // ch:取像素格式 | en:Get Pixel Format
            IEnumValue pcPixelFormat = null;
            nRet = m_MyCamera.Parameters.GetEnumValue("PixelFormat", out pcPixelFormat);
            if (nRet != MvError.MV_OK)
            {
                return nRet;
            }
            PixelType = (MvCameraControl.MvGvspPixelType)pcPixelFormat.CurEnumEntry.Value;


            return MvError.MV_OK;
        }

        /// <summary>
        /// 采集图像
        /// </summary>
        /// <returns></returns>
        public ICogImage Grab()
        {
            m_MyCamera.StreamGrabber.StartGrabbing();
            m_MyCamera.Parameters.SetEnumValueByString("AcquisitionMode", "Continuous");
            m_MyCamera.Parameters.SetEnumValueByString("TriggerMode", "Off");
            m_MyCamera.Parameters.SetFloatValue("ExposureTime", 5000); // 单位μs
            m_MyCamera.Parameters.SetIntValue("GevSCPSPacketSize", 8164);
            m_MyCamera.Parameters.SetIntValue("GevSCPD", 12000);  // 缓冲区大小
            m_MyCamera.Parameters.SetEnumValueByString("PixelFormat", "RGB8");
            IFrameOut frameOut = null;
            bool Succeed = false;
            int nRet = -1;
            Stopwatch sw = Stopwatch.StartNew();
            for (int i = 0; i < 5; i++)
            {
                try
                {
                    if (m_MyCamera == null || !m_MyCamera.IsConnected)
                    {
                        OpenDevice();
                    }
                    ErrorMessage = "";
                    // ch:前置配置 | en:pre-operation
                    nRet = NecessaryOperBeforeGrab();
                    if (nRet != MvError.MV_OK)
                    {
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = $"{nRet: x8}";
                        continue;
                    }
                    // ch:开始采集 | en:Start Grabbing
                    nRet = m_MyCamera.StreamGrabber.StartGrabbing();
                    if (nRet != MvError.MV_OK)
                    {
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = $"{nRet: x8}";
                        continue;
                    }
                   
                    nRet = m_MyCamera.StreamGrabber.GetImageBuffer(20000, out frameOut);
                    m_MyCamera.StreamGrabber.StopGrabbing();
                    if (nRet != MvError.MV_OK)
                    {
                       
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = $"{nRet: x8}";
                        continue;
                    }
                    m_MyCamera.StreamGrabber.FreeImageBuffer(frameOut);
                    Succeed = true;
                    break;
                }
                catch (Exception ex)
                {
                    CloseDevice();
                    OpenDevice();
                    ErrorMessage = ex.Message;
                }
            }

            if (!Succeed)
            {
                ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);
                return null;
            }

            if( frameOut !=null)
            Image = AnalyticImage(frameOut);
            TotalTime = sw.Elapsed;

            ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);
            return Image;
        }

        /// <summary>
        /// 开始采集图像
        /// </summary>
        public void StartGrabbing()
        {
            if (IsGrabbing)
                return;
            IsGrabbing = true;
            m_hReceiveThread = new Thread(GetStreamThreadProc) { IsBackground = true };
            m_hReceiveThread.Start();
        }
        /// <summary>
        /// 开始触发模式采集图像
        /// </summary>
        public void StartTriggerGrabbing()
        {
            m_MyCamera.StreamGrabber.StartGrabbing();
        }
        /// <summary>
        /// 停止采集图像
        /// </summary>
        public void StopGrabbing()
        {
            try
            {
                if ( IsGrabbing )
                {
                    IsGrabbing = false;
                    Thread.Sleep(1000);
                }
                if (m_hReceiveThread != null)
                {
                    m_hReceiveThread.Abort();
                    m_hReceiveThread = null;
                }
            }
            catch (Exception)
            {

            }
        }

        private void FrameGrabedEventHandler(object sender, FrameGrabbedEventArgs e)
        {
            GrabImageCallbackEvent?.Invoke(AnalyticImage(e.FrameOut));
            //Console.WriteLine("Get one frame: Width[{0}] , Height[{1}] , ImageSize[{2}], FrameNum[{3}]", e.FrameOut.Image.Width, e.FrameOut.Image.Height, e.FrameOut.Image.ImageSize, e.FrameOut.FrameNum);
        }

        /// <summary>
        /// Converts the image data from the specified <see cref="IFrameOut"/> object into an <see cref="ICogImage"/>
        /// format.
        /// </summary>
        /// <remarks>This method processes both color and monochrome images, converting them to a
        /// compatible format for further analysis. Unsupported pixel formats are not processed, and the method will
        /// return <see langword="null"/> in such cases. The caller is responsible for ensuring that the <paramref
        /// name="frameOut"/> parameter is valid and properly initialized.</remarks>
        /// <param name="frameOut">The frame output containing the image data to be analyzed and converted.</param>
        /// <returns>An <see cref="ICogImage"/> object representing the converted image.  Returns <see langword="null"/> if the
        /// image format is unsupported or if an error occurs during conversion.</returns>
        private ICogImage AnalyticImage(IFrameOut frameOut)
        {
            ICogImage image = null;
            int nRet = -1;
            //IntPtr pTemp = IntPtr.Zero;
            IImage pImage = frameOut.Image;
            MvCameraControl.MvGvspPixelType pixelType = frameOut.Image.PixelType;
            if (IsColorPixelFormat(frameOut.Image.PixelType))    // 彩色图像处理
            {
                if (frameOut.Image.PixelType == MvCameraControl.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed)
                {
                    //pTemp = frameOut.Image.PixelDataPtr;
                }
                else
                {
                    nRet = m_MyCamera.PixelTypeConverter.ConvertPixelType(frameOut.Image, out pImage, MvCameraControl.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed);
                    if (nRet != MvError.MV_OK)
                    {
                        frameOut.Dispose();
                        return null;
                    }
                    pixelType = MvCameraControl.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed;
                }
            }
            else if (IsMonoPixelFormat(frameOut.Image.PixelType))    // Mono图像处理
            {
                if (frameOut.Image.PixelType == MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono8)
                {
                    //pTemp = frameOut.Image.PixelDataPtr;
                }
                else
                {
                    // 其他格式Mono转为Mono8
                    nRet = m_MyCamera.PixelTypeConverter.ConvertPixelType(frameOut.Image, out pImage, MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono8);
                    if (nRet != MvError.MV_OK)
                    {
                        frameOut.Dispose();
                        return null;
                    }
                }
                pixelType = MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono8;
            }
            else
            {
                return null; // 不支持的图像格式
            }


            // 直接转换为CogImage，避免不必要的内存拷贝
            image = ConvertToICogImage(pImage.Height,pImage.Width, 
                                     pImage.PixelDataPtr, pixelType);
            ////2.申请 byte[] 
            //byte[] m_BufForDriver1 = new byte[pImage.ImageSize];

            ////3.海康相机取流 指针转 byte[]
            //Marshal.Copy(pImage.PixelDataPtr, m_BufForDriver1, 0, ((int)pImage.ImageSize));

            ////4.转换成 CogImage
            //image = ConvertToICogImage(pImage.Width, pImage.Height, pImage.PixelDataPtr, pixelType);
            pImage.Dispose();
            frameOut.Dispose();
            return image;
        }


        /// <summary>
        /// 设置曝光时间
        /// </summary>
        /// <param name="ExposureTime"></param>
        /// <returns></returns>
        public bool SetExposureTime(float ExposureTime)
        {
            int nRet = m_MyCamera.Parameters.SetFloatValue("ExposureTime", ExposureTime);
            if (nRet != MvError.MV_OK)
            {
                return false;
            }
            else
            {
                return true;
            }
        }

        /// <summary>
        /// 获取曝光时间
        /// </summary>
        /// <returns></returns>
        public float GetExposureTime()
        {
            IFloatValue pcFloatValue = null;
            int nRet = m_MyCamera.Parameters.GetFloatValue("ExposureTime", out pcFloatValue);
            if (nRet == MvError.MV_OK)
            {
                return pcFloatValue.CurValue;
            }
            else
            {
                return 0;
            }
        }

        /// <summary>
        /// 设置增益
        /// </summary>
        /// <param name="Gain"></param>
        /// <returns></returns>
        public bool SetGain(float Gain)
        {
            int nRet = m_MyCamera.Parameters.SetFloatValue("Gain", Gain);
            if (nRet != MvError.MV_OK)
            {
                return false;
            }
            else
            {
                return true;
            }
        }

        /// <summary>
        /// 获取增益
        /// </summary>
        /// <returns></returns>
        public float GetGain()
        {
            IFloatValue pcFloatValue = null;
            int nRet = m_MyCamera.Parameters.GetFloatValue("Gain", out pcFloatValue);
            if (nRet == MvError.MV_OK)
            {
                return pcFloatValue.CurValue;
            }
            else
            {
                return 0;
            }
        }

        /// <summary>
        /// ch:获取触发模式 | en:Get Trigger Mode
        /// </summary>
        /// <returns>On/Off</returns>
        public bool GetTriggerMode()
        {
            IEnumValue enumValue;
            int result = m_MyCamera.Parameters.GetEnumValue("TriggerMode", out enumValue);
            if (result == MvError.MV_OK)
            {
                if (enumValue.CurEnumEntry.Symbolic == "On")
                {
                    return true;
                }
                return false;
            }
            return false;
        }

        /// <summary>
        /// 设置触发模式
        /// </summary>
        /// <param name="mode">触发模式</param>
        /// <param name="triggerSource">触发源0 - Line0;1 - Line1;2 - Line2;3 - Line3;4 - Counter;7 - Software;</param>
        /// <returns></returns>
        public bool SetTriggerMode(bool mode, int triggerSource)
        {
            string strmode = mode ? "On" : "Off";
            int nRet = m_MyCamera.Parameters.SetEnumValueByString("TriggerMode", strmode);
            if (nRet != MvError.MV_OK)
            {
                return false;
            }
            if (mode)
            {
                // ch:注册回调函数 | en:Register image callback
                m_MyCamera.StreamGrabber.FrameGrabedEvent += FrameGrabedEventHandler;
                return SetTriggerSource(triggerSource);
            }
            else
            {
                m_MyCamera.StreamGrabber.FrameGrabedEvent -= FrameGrabedEventHandler;
                nRet = m_MyCamera.Parameters.SetEnumValueByString("AcquisitionMode", "Continuous");
                if (nRet != MvError.MV_OK)
                {
                    return false;
                }
            }
            return true;
        }

        /// <summary>
        /// Sets the trigger source for the camera.
        /// </summary>
        /// <param name="source">0 - Line0;1 - Line1;2 - Line2;3 - Line3;4 - Counter;7 - Software;</param>
        /// <returns></returns>
        /// <exception cref="ArgumentOutOfRangeException"></exception>
        public bool SetTriggerSource(int source)
        {
            // ch:触发源选择:0 - Line0; | en:Trigger source select:0 - Line0;
            //           1 - Line1;
            //           2 - Line2;
            //           3 - Line3;
            //           4 - Counter;
            //           7 - Software;
            string sourceStr;
            switch (source)
            {
                case 0: sourceStr = "Line0"; break;
                case 1: sourceStr = "Line1"; break;
                case 2: sourceStr = "Line2"; break;
                case 3: sourceStr = "Line3"; break;
                case 4: sourceStr = "Counter"; break;
                case 7: sourceStr = "Software"; break;
                default: throw new ArgumentOutOfRangeException(nameof(source), "Invalid trigger source value");
            }
            int nRet = m_MyCamera.Parameters.SetEnumValueByString("TriggerSource", sourceStr);
            if (nRet != MvError.MV_OK)
            {
                return false;
            }
            return true;
        }

        /// <summary>
        /// Retrieves the current trigger source setting of the camera.
        /// </summary>
        /// <remarks>This method queries the camera's parameters to determine the current trigger source. 
        /// If the retrieval is unsuccessful or the trigger source is not recognized, the method returns -1.</remarks>
        /// <returns>An integer representing the trigger source: <list type="bullet"> <item><description>0 for
        /// "Line0".</description></item> <item><description>1 for "Line1".</description></item> <item><description>2
        /// for "Line2".</description></item> <item><description>3 for "Line3".</description></item>
        /// <item><description>4 for "Counter".</description></item> <item><description>7 for
        /// "Software".</description></item> <item><description>-1 if the trigger source is unknown or if the retrieval
        /// fails.</description></item> </list></returns>
        public int GetTriggerSource()
        {
            IEnumValue enumValue;
            int result = m_MyCamera.Parameters.GetEnumValue("TriggerSource", out enumValue);
            if (result == MvError.MV_OK)
            {
                switch (enumValue.CurEnumEntry.Symbolic)
                {
                    case "Line0": return 0;
                    case "Line1": return 1;
                    case "Line2": return 2;
                    case "Line3": return 3;
                    case "Counter": return 4;
                    case "Software": return 7;
                    default: return -1; // 未知触发源
                }
            }
            return -1; // 获取失败
        }

        /// <summary>
        /// Sends a software trigger command to the camera.
        /// </summary>
        /// <remarks>This method triggers the camera to capture an image or perform an action  based on
        /// its current configuration. Ensure the camera is properly  initialized and configured to respond to software
        /// triggers before calling this method.</remarks>
        public void TriggerSoftware()
        {
            // ch:触发软件 | en:Trigger Software
            m_MyCamera.Parameters.SetCommandValue("TriggerSoftware");
        }

        private void GetStreamThreadProc()
        {
            m_MyCamera.StreamGrabber.StartGrabbing();
            m_MyCamera.Parameters.SetEnumValueByString("AcquisitionMode", "Continuous");
            m_MyCamera.Parameters.SetEnumValueByString("TriggerMode", "Off");
            m_MyCamera.Parameters.SetFloatValue("ExposureTime", 5000); // 单位μs
            m_MyCamera.Parameters.SetIntValue("GevSCPSPacketSize", 8164);
            m_MyCamera.Parameters.SetIntValue("GevSCPD", 12000);  // 缓冲区大小
            m_MyCamera.Parameters.SetEnumValueByString("PixelFormat", "RGB8");
            while (IsGrabbing)
            {
                Stopwatch sw = Stopwatch.StartNew();
                try
                {
                    IFrameOut frameOut = null;
                    int nRet = m_MyCamera.StreamGrabber.GetImageBuffer(500, out frameOut);
                    double time1 = sw.Elapsed.TotalMilliseconds;
                    Console.WriteLine($"获取图像：{time1}ms");
                    if ( nRet == MvError.MV_OK )
                    {
                        Image = AnalyticImage(frameOut);
                        TotalTime = sw.Elapsed;
                        ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);
                        m_MyCamera.StreamGrabber.FreeImageBuffer(frameOut);
                    }
                    else
                    {
                        TotalTime = sw.Elapsed;
                        Thread.Sleep(5);
                    }
                }
                catch (Exception ex)
                {
                    TotalTime = sw.Elapsed;
                    ErrorMessage = ex.Message;
                    ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage);
                    continue;
                }
            }
            IsGrabbing = false;
        }

        /// <summary>
        /// Converts raw image data into an <see cref="ICogImage"/> object, supporting both monochrome and color pixel
        /// formats.
        /// </summary>
        /// <remarks>This method supports both monochrome (PixelType_Gvsp_Mono8) and color pixel formats. 
        /// For color images, the method processes the image data as a planar color format.</remarks>
        /// <param name="nHeight">The height of the image in pixels.</param>
        /// <param name="nWidth">The width of the image in pixels.</param>
        /// <param name="pImageBuf">A pointer to the buffer containing the raw image data.</param>
        /// <param name="enPixelType">The pixel format of the image, specified as a <see cref="MvCameraControl.MvGvspPixelType"/> value.</param>
        /// <returns>An <see cref="ICogImage"/> object representing the converted image.  Returns <see langword="null"/> if the
        /// conversion fails.</returns>
        private ICogImage ConvertToICogImage(UInt32 nHeight, UInt32 nWidth, IntPtr pImageBuf, MvCameraControl.MvGvspPixelType enPixelType)
        {
            ICogImage cogImage = null;
            // ch:获取步长 || en: Get nRowStep
            uint m_nRowStep = nWidth * nHeight;
            // ch: 显示 || display
            try
            {
                if (enPixelType == MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono8)
                {
                    CogImage8Root cogImage8Root = new CogImage8Root();
                    cogImage8Root.Initialize((Int32)nWidth, (Int32)nHeight, pImageBuf, (Int32)nWidth, null);

                    CogImage8Grey cogImage8Grey = new CogImage8Grey();
                    cogImage8Grey.SetRoot(cogImage8Root);
                    cogImage = cogImage8Grey.ScaleImage((int)nWidth, (int)nHeight);
                    System.GC.Collect();
                }
                else
                {
                    CogImage8Root image0 = new CogImage8Root();
                    IntPtr ptr0 = new IntPtr(pImageBuf.ToInt64());
                    image0.Initialize((int)nWidth, (int)nHeight, ptr0, (int)nWidth, null);

                    CogImage8Root image1 = new CogImage8Root();
                    IntPtr ptr1 = new IntPtr(pImageBuf.ToInt64() + m_nRowStep);
                    image1.Initialize((int)nWidth, (int)nHeight, ptr1, (int)nWidth, null);

                    CogImage8Root image2 = new CogImage8Root();
                    IntPtr ptr2 = new IntPtr(pImageBuf.ToInt64() + m_nRowStep * 2);
                    image2.Initialize((int)nWidth, (int)nHeight, ptr2, (int)nWidth, null);

                    CogImage24PlanarColor colorImage = new CogImage24PlanarColor();
                    colorImage.SetRoots(image0, image1, image2);

                    cogImage = colorImage.ScaleImage((int)nWidth, (int)nHeight);
                    System.GC.Collect();
                }
            }
            catch (System.Exception ex)
            {
                ErrorMessage = $"转换ICogImage出错: {ex.Message}";
                return null;
            }
            return cogImage;
        }

        /// <summary>
        /// 图像是否为Mono格式
        /// </summary>
        /// <param name="enType"></param>
        /// <returns></returns>
        private bool IsMonoPixelFormat(MvCameraControl.MvGvspPixelType enType)
        {
            switch (enType)
            {
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono8:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono10:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono10_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono12:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono12_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_Mono16:
                    return true;
                default:
                    return false;
            }
        }

        /// <summary>
        /// 图像是否为彩色
        /// </summary>
        /// <param name="enType"></param>
        /// <returns></returns>
        private bool IsColorPixelFormat(MvCameraControl.MvGvspPixelType enType)
        {
            switch (enType)
            {
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_RGB8_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BGR8_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_RGBA8_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BGRA8_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_YUV422_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_YUV422_YUYV_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGR8:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerRG8:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGB8:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerBG8:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerRBGG8:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGB10:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGB10_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerBG10:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerBG10_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerRG10:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerRG10_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGR10:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGR10_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGB12:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGB12_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerBG12:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerBG12_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerRG12:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerRG12_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGR12:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGR12_Packed:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGR16:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerRG16:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerGB16:
                case MvCameraControl.MvGvspPixelType.PixelType_Gvsp_BayerBG16:
                    return true;
                default:
                    return false;
            }
        }

        #endregion

        #region 属性通知
        /// <summary>
        /// Occurs when a property value changes.
        /// </summary>
        public event PropertyChangedEventHandler PropertyChanged;

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <param name="onChanged">Action that is called after the property value has been changed.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, Action onChanged, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            onChanged?.Invoke();
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers
        /// that support <see cref="CallerMemberNameAttribute"/>.</param>
        protected void RaisePropertyChanged([CallerMemberName] string propertyName = null)
        {
            OnPropertyChanged(new PropertyChangedEventArgs(propertyName));
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="args">The PropertyChangedEventArgs</param>
        protected virtual void OnPropertyChanged(PropertyChangedEventArgs args)
        {
            PropertyChanged?.Invoke(this, args);
        }

        public bool CheckGrabImageCallbackEventIsHas(Action<ICogImage> action)
        {
            if ( GrabImageCallbackEvent == null ) return false;
            return GrabImageCallbackEvent.GetInvocationList().Contains(action);
        }

        public bool CheckImageCallbackEventIsHas(Action<ICogImage, TimeSpan, string> action)
        {
            if ( ImageCallbackEvent == null ) return false;
            return ImageCallbackEvent.GetInvocationList().Contains(action);
        }

        public bool CheckCameraConnectChangedEventIsHas(Action<Guid, bool> action)
        {
            if ( CameraConnectChangedEvent == null ) return false;
            return CameraConnectChangedEvent.GetInvocationList().Contains(action);
        }

       
        #endregion
    }
}