TeamAAS-2.5/TeamAAS.Plugins/Plugins.Halcon/Views/HalconWindow.xaml.cs

using System;
using System.Collections.Generic;
using System.IO;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Input;
using System.Windows.Media;
using HalconDotNet;

namespace Plugins.Halcon.Views
{
    /// <summary>HALCON 画面框的显示结果类型（OK/NG/无）。</summary>
    public enum HalconResultType { Null, OK, NG }

    /// <summary>双击放大回调（与 VppWindow.MouseDoubleDelegate 对等）。</summary>
    public delegate void HalconMouseDoubleDelegate(HalconWindow window, int number);

    /// <summary>
    /// 单个 HALCON 画面框（镜像 VppWindow/VmWindow 的角色）：标题、状态圆点、图像区。
    /// 图像区用 HALCON 原生 WPF 控件 <see cref="HSmartWindowControlWPF"/>（内置缩放/平移）：
    ///  - RefreshImage(image, overlay)：经典模式——单底图 + 单叠加（主页画面框用）；
    ///  - ShowLayers(layers)：图层模式——底图 + 多彩色叠加（编辑器大显示窗按图层筛选渲染）；
    ///  - 鼠标移动实时读取 行/列/灰度；支持拖入图片文件、右键保存图片、适应窗体；
    ///  - 右键菜单可交互绘制 矩形/旋转矩形/圆形 ROI（HDrawingObject），结果存 <see cref="LastRoi"/>。
    /// 所有 HALCON 调用集中在 <see cref="HalconRuntime"/> 或本类；显示操作统一切到 UI 线程。
    /// 所有权规则：外部传入的 HObject 只引用不释放；由本窗体从 GenImage 转换出的副本（owned）在本窗体负责释放。
    /// </summary>
    public partial class HalconWindow : UserControl
    {
        /// <summary>双击放大/还原回调（由 UCDispHalcon 挂接）。</summary>
        public HalconMouseDoubleDelegate MouseDouble { get; set; }

        /// <summary>画面框编号（1 起）。</summary>
        public int Number { get; }

        // HALCON 显示面与右键菜单改为 code-behind 防御式创建（见 InitHalconSurface）：
        // 机器缺 halcon.dll 等原生运行库时，XAML 声明式创建 + WPF 渲染期会抛出
        // DllNotFoundException（首次可被吞掉，二次渲染异常直接致命闪退）。
        private HSmartWindowControlWPF MyHwindow;
        private ContextMenu MyMenu;

        // —— 经典模式状态（单图 + 单叠加） ——
        private HObject _image;
        private bool _imageOwned;
        private HObject _overlay;
        private bool _overlayOwned;
        private int _imgW, _imgH;
        private bool _hasImage;

        // —— 图层模式状态（底图 + 多叠加） ——
        private readonly List<HObject> _layerOwnedCopies = new List<HObject>();   // 本窗体自有的转换副本（释放责任在本窗体）
        private HObject _layerBaseImage;
        private bool _layerBaseOwned;
        private readonly List<KeyValuePair<HObject, string>> _layerOverlays = new List<KeyValuePair<HObject, string>>();
        private int _layerImgW, _layerImgH;
        private bool _layerMode;

        /// <summary>图层缺省配色（按叠加顺序取色，可用 LayerItem.Color 覆盖）。</summary>
        private static readonly string[] LayerPalette = { "red", "green", "blue", "yellow", "cyan", "magenta", "orange" };

        // ROI 交互绘制
        private HDrawingObject _drawing;
        private bool _drawingBusy;

        /// <summary>最近一次交互绘制得到的 ROI（供节点读取；未绘制时为 null）。</summary>
        public Models.HalconRoi LastRoi { get; private set; }

        public HalconWindow() : this(1) { }

        public HalconWindow(int number)
        {
            Number = number;
            InitializeComponent();
            CaptionText.Text = $"画面 {number}";
            InitHalconSurface();
            SizeChanged += (s, e) => { if (e.NewSize.Width > 1) { FitCurrent(); } };
        }

        /// <summary>
        /// 防御式创建 HALCON 显示面：先做一次原生调用探测（缺 halcon.dll 等运行库时立即失败），
        /// 可用才创建 HSmartWindowControlWPF 并挂事件/右键菜单；不可用则显示错误占位。
        /// 保证 Halcon 流程编辑器等宿主在无原生运行库的机器上照常打开，不闪退。
        /// </summary>
        private void InitHalconSurface()
        {
            if (!TryProbeHalconNative(out var probeError))
            {
                NativeErrorText.Text = "HALCON 原生运行库不可用\n\n" +
                                       $"原因：{probeError}\n\n" +
                                       "请检查 Runtime\\dll\\x64 下的 halcon.dll 及配套运行库是否完整，" +
                                       "或安装 HALCON 运行时。流程画布与属性编辑不受影响。";
                NativeErrorText.Visibility = Visibility.Visible;
                return;
            }

            try
            {
                var hw = new HSmartWindowControlWPF
                {
                    HDoubleClickToFitContent = false,
                    AllowDrop = true,
                    Cursor = Cursors.Cross
                };
                hw.HMouseMove += MyHwindow_HMouseMove;
                hw.MouseLeave += MyHwindow_MouseLeave;
                hw.MouseRightButtonDown += MyHwindow_MouseRightButtonDown;
                hw.Drop += MyHwindow_Drop;
                hw.DragEnter += MyHwindow_DragEnter;
                MyMenu = BuildContextMenu();
                hw.ContextMenu = MyMenu;
                MyHwindow = hw;
                HwindowHost.Content = hw;
            }
            catch (Exception ex)
            {
                MyHwindow = null;
                NativeErrorText.Text = $"HALCON 显示控件创建失败：{ex.Message}";
                NativeErrorText.Visibility = Visibility.Visible;
            }
        }

        /// <summary>原生运行库探测：一次无副作用的 HALCON 调用，失败=缺原生 DLL。</summary>
        private static bool TryProbeHalconNative(out string error)
        {
            try
            {
                HOperatorSet.GetSystem("version", out HTuple version);
                error = null;
                return true;
            }
            catch (Exception ex)
            {
                error = ex.Message;
                return false;
            }
        }

        /// <summary>构建显示区右键菜单（缩放/适应/保存/ROI 绘制）。</summary>
        private ContextMenu BuildContextMenu()
        {
            var menu = new ContextMenu();
            void AddHandler(string header, RoutedEventHandler onClick)
            {
                var mi = new MenuItem { Header = header };
                mi.Click += onClick;
                menu.Items.Add(mi);
            }
            AddHandler("放大", MenuZoomIn_Click);
            AddHandler("缩小", MenuZoomOut_Click);
            AddHandler("适应窗体", MenuFit_Click);
            AddHandler("保存图片", MenuSave_Click);
            menu.Items.Add(new Separator());
            AddHandler("绘制矩形ROI", MenuRoiRect1_Click);
            AddHandler("绘制旋转矩形ROI", MenuRoiRect2_Click);
            AddHandler("绘制圆形ROI", MenuRoiCircle_Click);
            AddHandler("清除ROI", MenuRoiClear_Click);
            return menu;
        }

        /// <summary>HALCON 窗口句柄（控件初始化后才有效；用前判空）。</summary>
        private HWindow Hwn
        {
            get { try { return MyHwindow?.HalconWindow; } catch { return null; } }
        }

        #region 引擎/显示插件调用的公共接口（与 VmWindow 对齐）

        public void SetCaption(string caption)
        {
            if (!Dispatcher.CheckAccess()) { Dispatcher.Invoke(() => SetCaption(caption)); return; }
            CaptionText.Text = string.IsNullOrWhiteSpace(caption) ? $"画面 {Number}" : caption;
        }

        public void SetStatusDotVisible(bool visible)
        {
            if (!Dispatcher.CheckAccess()) { Dispatcher.Invoke(() => SetStatusDotVisible(visible)); return; }
            StatusDot.Visibility = visible ? Visibility.Visible : Visibility.Collapsed;
        }

        /// <summary>按 OK/NG 刷状态圆点颜色（并置为可见）。</summary>
        public void SetLable(HalconResultType type)
        {
            if (!Dispatcher.CheckAccess()) { Dispatcher.Invoke(() => SetLable(type)); return; }
            StatusDot.Visibility = Visibility.Visible;
            switch (type)
            {
                case HalconResultType.OK: StatusDot.Fill = new SolidColorBrush(Color.FromRgb(0x4C, 0xAF, 0x50)); break;
                case HalconResultType.NG: StatusDot.Fill = new SolidColorBrush(Color.FromRgb(0xF4, 0x43, 0x36)); break;
                default: StatusDot.Fill = new SolidColorBrush(Color.FromRgb(0x88, 0x88, 0x88)); break;
            }
        }

        /// <summary>
        /// 【经典模式】刷新显示：image=图像(HObject/GenImage/Bitmap)，overlay=可选叠加对象(区域/XLD，红色边界绘制)。
        /// 从流程传入的 HObject 只引用不释放；从 GenImage 转换的副本由本窗体负责释放。
        /// </summary>
        public void RefreshImage(object image, object overlay = null)
        {
            if (!Dispatcher.CheckAccess()) { Dispatcher.Invoke(() => RefreshImage(image, overlay)); return; }

            // 经典调用接管显示：退出图层模式
            ExitLayerMode();

            var hw = Hwn;
            if (hw == null) return;

            // image 为 null：仅更新叠加层（保留当前底图），供只产出区域的节点使用
            if (image == null)
            {
                if (overlay == null) return;
                try
                {
                    bool ovOwned = !(overlay is HObject);
                    var hover = HalconRuntime.ToHObject(overlay);
                    if (_overlayOwned) HalconRuntime.Dispose(_overlay);
                    _overlay = hover; _overlayOwned = ovOwned;
                    Redraw();
                }
                catch { }
                return;
            }

            try
            {
                bool imgOwned = !(image is HObject);
                var himg = HalconRuntime.ToHObject(image);

                HObject hover = null;
                bool overOwned = false;
                if (overlay != null)
                {
                    overOwned = !(overlay is HObject);
                    try { hover = HalconRuntime.ToHObject(overlay); } catch { hover = null; }
                }

                HOperatorSet.GetImageSize(himg, out HTuple wT, out HTuple hT);
                int w = wT.I, h = hT.I;

                // 释放上一帧「本窗体自有」的副本（流程对象不动）
                if (_imageOwned) HalconRuntime.Dispose(_image);
                if (_overlayOwned) HalconRuntime.Dispose(_overlay);
                _image = himg; _imageOwned = imgOwned;
                _overlay = hover; _overlayOwned = overOwned;
                _hasImage = true;

                bool needFit = w != _imgW || h != _imgH;
                _imgW = w; _imgH = h;
                if (needFit) FitPart();
                Redraw();
            }
            catch { /* 显示失败不影响流程 */ }
        }

        /// <summary>清空画面显示。</summary>
        public void ClearImage()
        {
            if (!Dispatcher.CheckAccess()) { Dispatcher.Invoke(new Action(ClearImage)); return; }
            try
            {
                ExitLayerMode();
                if (_imageOwned) HalconRuntime.Dispose(_image);
                if (_overlayOwned) HalconRuntime.Dispose(_overlay);
                _image = null; _overlay = null; _hasImage = false; _imgW = _imgH = 0;
                Hwn?.ClearWindow();
            }
            catch { }
        }

        #endregion

        #region 图层显示（编辑器大显示窗 / 图层筛选）

        /// <summary>
        /// 【图层模式】按图层集渲染：首个 Image 图层作底图，其余按 LayerItem.Color（缺省调色板）叠加。
        /// 图层对象的「注册表自有」部分只引用不释放；本窗体从 GenImage 转换出的副本在下次刷新/清理时释放。
        /// </summary>
        public void ShowLayers(IReadOnlyList<TeamAAS.Vision.LayerItem> layers)
        {
            if (!Dispatcher.CheckAccess()) { Dispatcher.Invoke(() => ShowLayers(layers)); return; }

            ExitLayerMode();
            var hw = Hwn;
            if (hw == null || layers == null || layers.Count == 0) return;

            try
            {
                foreach (var layer in layers)
                {
                    if (layer == null || layer.Content == null) continue;

                    if (layer.Kind == TeamAAS.Vision.LayerKind.Image)
                    {
                        bool owned = !(layer.Content is HObject);
                        var himg = HalconRuntime.ToHObject(layer.Content);
                        if (owned) _layerOwnedCopies.Add(himg);
                        if (_layerBaseOwned && _layerBaseImage != null) HalconRuntime.Dispose(_layerBaseImage);
                        _layerBaseImage = himg;
                        _layerBaseOwned = owned;
                    }
                    else
                    {
                        bool owned = !(layer.Content is HObject);
                        var hobj = HalconRuntime.ToHObject(layer.Content);
                        if (owned) _layerOwnedCopies.Add(hobj);
                        var color = string.IsNullOrWhiteSpace(layer.Color)
                            ? LayerPalette[_layerOverlays.Count % LayerPalette.Length]
                            : layer.Color;
                        _layerOverlays.Add(new KeyValuePair<HObject, string>(hobj, color));
                    }
                }

                if (_layerBaseImage != null && _layerBaseImage.IsInitialized())
                {
                    HOperatorSet.GetImageSize(_layerBaseImage, out HTuple wT, out HTuple hT);
                    int w = wT.I, h = hT.I;
                    bool needFit = w != _layerImgW || h != _layerImgH;
                    _layerImgW = w; _layerImgH = h;
                    if (needFit) FitPart();
                }

                _layerMode = true;
                Redraw();
            }
            catch
            {
                ExitLayerMode();
            }
        }

        /// <summary>退出图层模式：释放本窗体自有的图层副本，恢复经典状态。</summary>
        private void ExitLayerMode()
        {
            _layerMode = false;
            foreach (var copy in _layerOwnedCopies)
                HalconRuntime.Dispose(copy);
            _layerOwnedCopies.Clear();
            if (_layerBaseOwned) HalconRuntime.Dispose(_layerBaseImage);
            _layerBaseImage = null; _layerBaseOwned = false;
            _layerOverlays.Clear();
            _layerImgW = _layerImgH = 0;
        }

        /// <summary>图层模式重绘：底图 + 多彩叠加。</summary>
        private void RedrawLayers()
        {
            var hw = Hwn;
            if (hw == null) return;
            try
            {
                HOperatorSet.SetSystem("flush_graphic", "false");
                hw.ClearWindow();
                bool hasBase = _layerBaseImage != null && _layerBaseImage.IsInitialized();
                HObject dispBase = hasBase ? ToDisplayImage(_layerBaseImage) : null;   // 位深归一化显示
                if (hasBase) { hw.SetColor("default"); hw.SetDraw("fill"); hw.DispObj(dispBase); }
                foreach (var kv in _layerOverlays)
                {
                    if (kv.Key == null || !kv.Key.IsInitialized()) continue;
                    hw.SetColor(string.IsNullOrWhiteSpace(kv.Value) ? "red" : kv.Value);
                    hw.SetDraw("margin");
                    hw.SetLineWidth(2.0);
                    hw.DispObj(kv.Key);
                }
                HOperatorSet.SetSystem("flush_graphic", "true");
                if (dispBase != null && !ReferenceEquals(dispBase, _layerBaseImage)) dispBase.Dispose();
            }
            catch { }
        }

        #endregion

        #region 显示绘制

        /// <summary>按当前模式重绘（保持当前缩放/平移的 part）。</summary>
        private void Redraw()
        {
            if (_layerMode) { RedrawLayers(); return; }

            var hw = Hwn;
            if (hw == null) return;
            bool hasImg = _image != null && _image.IsInitialized();
            bool hasOv = _overlay != null && _overlay.IsInitialized();
            if (!hasImg && !hasOv) return;
            try
            {
                HOperatorSet.SetSystem("flush_graphic", "false");
                hw.ClearWindow();
                HObject dispImg = hasImg ? ToDisplayImage(_image) : null;   // 位深归一化显示
                if (hasImg) { hw.SetDraw("fill"); hw.DispObj(dispImg); }
                if (hasOv)
                {
                    hw.SetColor("red");
                    hw.SetDraw("margin");
                    hw.SetLineWidth(2.0);
                    hw.DispObj(_overlay);
                }
                HOperatorSet.SetSystem("flush_graphic", "true");
                if (dispImg != null && !ReferenceEquals(dispImg, _image)) dispImg.Dispose();
            }
            catch { }
        }

        /// <summary>按当前模式的图像尺寸做等比适配。</summary>
        private void FitCurrent()
        {
            if (_layerMode) { FitImage(_layerImgW, _layerImgH); return; }
            FitImage(_imgW, _imgH);
        }

        /// <summary>按图像尺寸与控件尺寸做等比适配（set_part），不拉伸变形。</summary>
        private void FitPart()
        {
            FitImage(_layerMode ? _layerImgW : _imgW, _layerMode ? _layerImgH : _imgH);
        }

        // 首次显示时控件可能尚未完成布局（ActualWidth=0），此时 Fit 只能挂起，
        // 等布局完成补做 —— 否则显示区域(part)停在默认值，大图只露出某个角落，肉眼上"全黑"
        private bool _pendingFit;

        private void FitImage(int imgW, int imgH)
        {
            var hw = Hwn;
            if (hw == null || imgW <= 0 || imgH <= 0) return;
            double W = MyHwindow?.ActualWidth ?? 0, H = MyHwindow?.ActualHeight ?? 0;
            if (W <= 1 || H <= 1)
            {
                if (!_pendingFit)
                {
                    _pendingFit = true;
                    MyHwindow.LayoutUpdated += OnLayoutPendingFit;
                }
                return;
            }
            _pendingFit = false;
            try
            {
                double winAspect = W / H;
                double imgAspect = (double)imgW / imgH;
                double partW, partH;
                if (imgAspect > winAspect) { partW = imgW; partH = imgW / winAspect; }
                else { partH = imgH; partW = imgH * winAspect; }
                double r1 = -(partH - imgH) / 2.0;
                double c1 = -(partW - imgW) / 2.0;
                hw.SetPart(r1, c1, r1 + partH - 1, c1 + partW - 1);
            }
            catch { }
        }

        /// <summary>布局完成后补做挂起的适配（回到正确显示区域）。</summary>
        private void OnLayoutPendingFit(object sender, EventArgs e)
        {
            if (!_pendingFit) { MyHwindow.LayoutUpdated -= OnLayoutPendingFit; return; }
            int imgW = _layerMode ? _layerImgW : _imgW;
            int imgH = _layerMode ? _layerImgH : _imgH;
            if (imgW <= 0 || MyHwindow == null || MyHwindow.ActualWidth <= 1) return;
            _pendingFit = false;
            MyHwindow.LayoutUpdated -= OnLayoutPendingFit;
            FitCurrent();
            Redraw();
        }

        /// <summary>
        /// 显示用规范化：uint2/int2/int4/real 图像按实际灰度范围拉伸到 0-255 再转 byte。
        /// 背景：HALCON 显示 uint2 时灰度 100 只相当于位深的 0.15%，肉眼上"整幅是黑的"，
        /// 而灰度读数（直接取像素值）完全正常 —— 16 位相机图像黑屏即此原因。byte 原样返回。
        /// </summary>
        private static HObject ToDisplayImage(HObject img)
        {
            try
            {
                HOperatorSet.GetImageType(img, out HTuple t);
                var type = t.S;
                if (type == "byte" || type == "complex" || type == "vector_field") return img;
                HOperatorSet.MinMaxGray(img, img, 0, out HTuple mn, out HTuple mx, out HTuple _);
                double min = mn.D, range = mx.D - min;
                if (range < 1) range = 1;
                double scale = 255.0 / range;
                HOperatorSet.ScaleImage(img, out HObject scaled, scale, -min * scale);
                HOperatorSet.ConvertImageType(scaled, out HObject byteImg, "byte");
                scaled.Dispose();
                return byteImg;
            }
            catch { return img; }
        }

        #endregion

        #region 鼠标读取 / 拖放 / 双击

        private void MyHwindow_HMouseMove(object sender, HSmartWindowControlWPF.HMouseEventArgsWPF e)
        {
            try
            {
                int row = (int)e.Row, col = (int)e.Column;
                string txt = $"行:{row} 列:{col}";
                var img = _layerMode ? _layerBaseImage : _image;
                int imgH = _layerMode ? _layerImgH : _imgH;
                int imgW = _layerMode ? _layerImgW : _imgW;
                if (img != null && img.IsInitialized() &&
                    row >= 0 && col >= 0 && row < imgH && col < imgW)
                {
                    try
                    {
                        HOperatorSet.GetGrayval(img, row, col, out HTuple gray);
                        txt += $"  灰度:{gray.D:F0}";
                    }
                    catch { }
                }
                CoordText.Text = txt;
                CoordText.Visibility = Visibility.Visible;
            }
            catch { }
        }

        private void MyHwindow_MouseLeave(object sender, MouseEventArgs e) => CoordText.Visibility = Visibility.Collapsed;

        private void MyHwindow_DragEnter(object sender, DragEventArgs e)
            => e.Effects = e.Data.GetDataPresent(DataFormats.FileDrop) ? DragDropEffects.Copy : DragDropEffects.None;

        private void MyHwindow_Drop(object sender, DragEventArgs e)
        {
            try
            {
                if (e.Data.GetData(DataFormats.FileDrop) is string[] files && files.Length > 0)
                {
                    HOperatorSet.ReadImage(out HObject img, files[0]);
                    RefreshImage(img);   // 拖入的图像由本窗体持有
                    _imageOwned = true;
                }
            }
            catch { }
        }

        private void UserControl_MouseDoubleClick(object sender, MouseButtonEventArgs e)
            => MouseDouble?.Invoke(this, Number);

        // 绘制 ROI 时右键用于「确认」，此时抑制右键菜单；非绘制态恢复菜单
        private void MyHwindow_MouseRightButtonDown(object sender, MouseButtonEventArgs e)
        {
            if (_drawingBusy) MyHwindow.ContextMenu = null;
            else MyHwindow.ContextMenu = MyMenu;
        }

        #endregion

        #region 右键菜单：适应 / 保存

        private void MenuFit_Click(object sender, RoutedEventArgs e) { FitCurrent(); Redraw(); }

        private void MenuZoomIn_Click(object sender, RoutedEventArgs e) => ZoomBy(0.8);   // part 变小 = 放大
        private void MenuZoomOut_Click(object sender, RoutedEventArgs e) => ZoomBy(1.25);  // part 变大 = 缩小

        /// <summary>
        /// 以画面中心为基准缩放：factor&lt;1 放大、&gt;1 缩小。读写窗口 part（GetPart/SetPart），
        /// 与 HSmartWindowControlWPF 内置的鼠标滚轮缩放共用同一 part 状态，不冲突。
        /// </summary>
        public void ZoomBy(double factor)
        {
            var hw = Hwn;
            int refH = _layerMode ? _layerImgH : _imgH;
            int refW = _layerMode ? _layerImgW : _imgW;
            bool hasAny = _layerMode ? (_layerBaseImage != null && _layerBaseImage.IsInitialized()) : _hasImage;
            if (hw == null || !hasAny) return;
            try
            {
                hw.GetPart(out int r1, out int c1, out int r2, out int c2);
                double h = r2 - r1, w = c2 - c1;
                double nh = h * factor, nw = w * factor;
                if (nh < 4 || nw < 4) return;             // 放大上限保护
                if (nh > refH * 20 || nw > refW * 20) return; // 缩小上限保护
                double cr = (r1 + r2) / 2.0, cc = (c1 + c2) / 2.0;
                hw.SetPart(cr - nh / 2, cc - nw / 2, cr + nh / 2, cc + nw / 2);
                Redraw();
            }
            catch { }
        }

        private void MenuSave_Click(object sender, RoutedEventArgs e)
        {
            var img = _layerMode ? _layerBaseImage : _image;
            if (img == null || !img.IsInitialized()) return;
            var sfd = new Microsoft.Win32.SaveFileDialog
            {
                Filter = "PNG 图像|*.png|BMP 图像|*.bmp|TIFF 图像|*.tif|JPEG 图像|*.jpg",
                FileName = "halcon_image"
            };
            if (sfd.ShowDialog() != true) return;
            try
            {
                string ext = Path.GetExtension(sfd.FileName).ToLowerInvariant();
                string fmt = ext == ".bmp" ? "bmp" : ext == ".tif" || ext == ".tiff" ? "tiff" : ext == ".jpg" || ext == ".jpeg" ? "jpeg" : "png";
                string noExt = Path.Combine(Path.GetDirectoryName(sfd.FileName) ?? "", Path.GetFileNameWithoutExtension(sfd.FileName));
                HOperatorSet.WriteImage(img, fmt, 0, noExt);
            }
            catch (Exception ex) { MessageBox.Show($"保存失败：{ex.Message}"); }
        }

        #endregion

        #region 交互 ROI 绘制（HDrawingObject：左键拖动调整，右键确认）

        private void MenuRoiRect1_Click(object sender, RoutedEventArgs e) => _ = DrawAsync(Models.HalconRoiType.Rectangle1);
        private void MenuRoiRect2_Click(object sender, RoutedEventArgs e) => _ = DrawAsync(Models.HalconRoiType.Rectangle2);
        private void MenuRoiCircle_Click(object sender, RoutedEventArgs e) => _ = DrawAsync(Models.HalconRoiType.Circle);
        private void MenuRoiClear_Click(object sender, RoutedEventArgs e)
        {
            LastRoi = null;
            DetachDrawing();
            Redraw();
        }

        private async Task DrawAsync(Models.HalconRoiType type)
        {
            var hw = Hwn;
            var baseImg = _layerMode ? _layerBaseImage : _image;
            if (_drawingBusy || hw == null || baseImg == null || !baseImg.IsInitialized()) return;
            _drawingBusy = true;
            MyHwindow.ContextMenu = null;
            try
            {
                DetachDrawing();
                _drawing = new HDrawingObject();
                double h = _layerMode ? _layerImgH : _imgH;
                double w = _layerMode ? _layerImgW : _imgW;
                switch (type)
                {
                    case Models.HalconRoiType.Rectangle1:
                        _drawing.CreateDrawingObjectRectangle1(h * 0.25, w * 0.25, h * 0.75, w * 0.75);
                        break;
                    case Models.HalconRoiType.Rectangle2:
                        _drawing.CreateDrawingObjectRectangle2(h * 0.5, w * 0.5, 0, Math.Min(w, h) * 0.25, Math.Min(w, h) * 0.15);
                        break;
                    case Models.HalconRoiType.Circle:
                        _drawing.CreateDrawingObjectCircle(h * 0.5, w * 0.5, Math.Min(w, h) * 0.25);
                        break;
                }
                _drawing.SetDrawingObjectParams("line_width", 2.5);
                _drawing.SetDrawingObjectParams("color", "green");
                hw.AttachDrawingObjectToWindow(_drawing);

                // 后台等待右键确认（左键用于拖动 ROI 的控制点）
                await Task.Run(() =>
                {
                    int button = 0;
                    while (true)
                    {
                        hw.GetMbutton(out int r, out int c, out button);
                        if (button == 1) { while (button == 1) hw.GetMposition(out r, out c, out button); }
                        else break;
                    }
                });

                LastRoi = ReadRoi(type);
            }
            catch { }
            finally
            {
                DetachDrawing();
                _drawingBusy = false;
                MyHwindow.ContextMenu = MyMenu;
                Redraw();
            }
        }

        private Models.HalconRoi ReadRoi(Models.HalconRoiType type)
        {
            if (_drawing == null) return null;
            var roi = new Models.HalconRoi { Type = type };
            switch (type)
            {
                case Models.HalconRoiType.Rectangle1:
                    roi.Row1 = _drawing.GetDrawingObjectParams("row1").D;
                    roi.Col1 = _drawing.GetDrawingObjectParams("column1").D;
                    roi.Row2 = _drawing.GetDrawingObjectParams("row2").D;
                    roi.Col2 = _drawing.GetDrawingObjectParams("column2").D;
                    break;
                case Models.HalconRoiType.Rectangle2:
                    roi.Row = _drawing.GetDrawingObjectParams("row").D;
                    roi.Col = _drawing.GetDrawingObjectParams("column").D;
                    roi.Phi = _drawing.GetDrawingObjectParams("phi").D;
                    roi.Length1 = _drawing.GetDrawingObjectParams("length1").D;
                    roi.Length2 = _drawing.GetDrawingObjectParams("length2").D;
                    break;
                case Models.HalconRoiType.Circle:
                    roi.Row = _drawing.GetDrawingObjectParams("row").D;
                    roi.Col = _drawing.GetDrawingObjectParams("column").D;
                    roi.Radius = _drawing.GetDrawingObjectParams("radius").D;
                    break;
            }
            return roi;
        }

        private void DetachDrawing()
        {
            try
            {
                if (_drawing != null)
                {
                    Hwn?.DetachDrawingObjectFromWindow(_drawing);
                    _drawing.Dispose();
                }
            }
            catch { }
            finally { _drawing = null; }
        }

        #endregion
    }
}