TeamAAS-2.5/TeamAAS.Core/TeamAAS.Camera/Cameras/BaslerCamera.cs

using Basler.Pylon;
using System.ComponentModel;
using Microsoft.Win32;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Imaging;
using System.Runtime.InteropServices;
using TeamAAS.Camera.Images;
using TeamAAS.Camera.Models;
using TeamAAS.Camera.Attributes;
using TeamAAS.Camera.Enums;
namespace TeamAAS.Camera.Cameras
{
    /// <summary>
    /// 巴斯勒 Pylon 相机
    /// </summary>
    [Camera("Basler Pylon", "巴斯勒 Pylon")]
    public class BaslerCamera : CameraBase
    {
        #region 字段
        private Basler.Pylon.Camera m_MyCamera;
        UInt32 m_nRowStep = 0;
        private PixelDataConverter converter = new PixelDataConverter();
        [Browsable(false)]
        public ICameraInfo CameraInfo { get; private set; }
        #endregion

        [Browsable(false)]
        public override string CameraBrand => "巴斯勒 Pylon";

        public BaslerCamera(Guid id, int index, string name, string serialNumber, string cameraIp, bool isFindByIp)
            : base(id, index, name, serialNumber, cameraIp, isFindByIp)
        {
            List<Basler.Pylon.ICameraInfo> allCameraInfos = Basler.Pylon.CameraFinder.Enumerate();
            foreach (ICameraInfo cameraInfo in allCameraInfos)
            {
                if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("gige"))
                {
                    if (IsFindByIp)
                    {
                        if (cameraInfo[CameraInfoKey.DeviceIpAddress] == CameraIp)
                        {
                            CameraInfo = cameraInfo;
                            m_MyCamera = new Basler.Pylon.Camera(cameraInfo);
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                            ModelName = cameraInfo[CameraInfoKey.ModelName];
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                            CameraType = CameraType.GIGE;
                            m_MyCamera.Parameters[PLCameraInstance.GrabCameraEvents].SetValue(true);
                            m_MyCamera.CameraOpened += Configuration.AcquireContinuous;
                            m_MyCamera.CameraOpened += M_MyCamera_CameraOpened;
                            m_MyCamera.CameraClosed += M_MyCamera_CameraClosed;
                            break;
                        }
                    }
                    else
                    {
                        if (cameraInfo[CameraInfoKey.SerialNumber] == SerialNumber)
                        {
                            CameraInfo = cameraInfo;
                            m_MyCamera = new Basler.Pylon.Camera(cameraInfo);
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                            ModelName = cameraInfo[CameraInfoKey.ModelName];
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                            CameraType = CameraType.GIGE;
                            CameraIp = cameraInfo[CameraInfoKey.DeviceIpAddress];
                            m_MyCamera.Parameters[PLCameraInstance.GrabCameraEvents].SetValue(true);
                            m_MyCamera.CameraOpened += Configuration.AcquireContinuous;
                            m_MyCamera.CameraOpened += M_MyCamera_CameraOpened;
                            m_MyCamera.CameraClosed += M_MyCamera_CameraClosed;
                            break;
                        }
                    }
                }
                else
                {
                    if (cameraInfo[CameraInfoKey.SerialNumber] == SerialNumber)
                    {
                        CameraInfo = cameraInfo;
                        m_MyCamera = new Basler.Pylon.Camera(cameraInfo);
                        ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                        ModelName = cameraInfo[CameraInfoKey.ModelName];
                        SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                        CameraType = CameraType.USB;
                        m_MyCamera.Parameters[PLCameraInstance.GrabCameraEvents].SetValue(true);
                        m_MyCamera.CameraOpened += Configuration.AcquireContinuous;
                        m_MyCamera.CameraOpened += M_MyCamera_CameraOpened;
                        m_MyCamera.CameraClosed += M_MyCamera_CameraClosed;
                        break;
                    }
                }
            }
            IsConnected = false;
        }

        #region 设备发现

        public static CameraInfo[] GetDevices()
        {
            List<CameraInfo> cameras = new List<CameraInfo>();
            try
            {
                if (!CheckSoftwareInstalled().isInstalled)
                {
                    return cameras.ToArray();
                }
                List<Basler.Pylon.ICameraInfo> allCameraInfos = Basler.Pylon.CameraFinder.Enumerate();
                int i = 0;
                foreach (ICameraInfo cameraInfo in allCameraInfos)
                {
                    if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("gige"))
                    {
                        cameras.Add(new CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = cameraInfo[CameraInfoKey.FullName],
                            CameraBrand = "巴斯勒 Pylon",
                            CameraType = CameraType.GIGE,
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = cameraInfo[CameraInfoKey.DeviceIpAddress],
                            IsFindByIp = true,
                        });
                    }
                    else if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("usb"))
                    {
                        cameras.Add(new CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = cameraInfo[CameraInfoKey.FullName],
                            CameraBrand = "巴斯勒 Pylon",
                            CameraType = CameraType.USB,
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = "",
                        });
                    }
                    else if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("link"))
                    {
                        cameras.Add(new CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = cameraInfo[CameraInfoKey.FullName],
                            CameraBrand = "巴斯勒 Pylon",
                            CameraType = CameraType.Link,
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = "",
                        });
                    }
                    else
                    {
                        cameras.Add(new CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = cameraInfo[CameraInfoKey.FullName],
                            CameraBrand = "巴斯勒 Pylon",
                            CameraType = CameraType.Unknown,
                            ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo],
                            Model = cameraInfo[CameraInfoKey.ModelName],
                            SerialNumber = cameraInfo[CameraInfoKey.SerialNumber],
                            CameraIp = "",
                        });
                    }
                    i++;
                }
            }
            catch (Exception)
            {
            }

            return cameras.ToArray();
        }

        public static (bool isInstalled, string version) CheckSoftwareInstalled()
        {
            string softwareName = "pylon 7 Camera Software";
            string softwareVersion = "7.5.0.15658";
            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, "");
        }

        #endregion

        #region SDK 实现

        public override bool OpenDevice()
        {
            using (WriteLockScope())
            {
                if (m_MyCamera == null)
                {
                    List<Basler.Pylon.ICameraInfo> allCameraInfos = Basler.Pylon.CameraFinder.Enumerate();
                    foreach (ICameraInfo cameraInfo in allCameraInfos)
                    {
                        if (cameraInfo[CameraInfoKey.DeviceType].ToLower().Contains("gige"))
                        {
                            if (IsFindByIp)
                            {
                                if (cameraInfo[CameraInfoKey.DeviceIpAddress] == CameraIp)
                                {
                                    CameraInfo = cameraInfo;
                                    m_MyCamera = new Basler.Pylon.Camera(cameraInfo);
                                    ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                                    ModelName = cameraInfo[CameraInfoKey.ModelName];
                                    SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                                    CameraType = CameraType.GIGE;
                                    m_MyCamera.Parameters[PLCameraInstance.GrabCameraEvents].SetValue(true);
                                    m_MyCamera.CameraOpened += Configuration.AcquireContinuous;
                                    m_MyCamera.CameraOpened += M_MyCamera_CameraOpened;
                                    m_MyCamera.CameraClosed += M_MyCamera_CameraClosed;
                                    break;
                                }
                            }
                            else
                            {
                                if (cameraInfo[CameraInfoKey.SerialNumber] == SerialNumber)
                                {
                                    CameraInfo = cameraInfo;
                                    m_MyCamera = new Basler.Pylon.Camera(cameraInfo);
                                    ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                                    ModelName = cameraInfo[CameraInfoKey.ModelName];
                                    SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                                    CameraType = CameraType.GIGE;
                                    CameraIp = cameraInfo[CameraInfoKey.DeviceIpAddress];
                                    m_MyCamera.Parameters[PLCameraInstance.GrabCameraEvents].SetValue(true);
                                    m_MyCamera.CameraOpened += Configuration.AcquireContinuous;
                                    m_MyCamera.CameraOpened += M_MyCamera_CameraOpened;
                                    m_MyCamera.CameraClosed += M_MyCamera_CameraClosed;
                                    break;
                                }
                            }
                        }
                        else
                        {
                            if (cameraInfo[CameraInfoKey.SerialNumber] == SerialNumber)
                            {
                                CameraInfo = cameraInfo;
                                m_MyCamera = new Basler.Pylon.Camera(cameraInfo);
                                ManufacturerName = cameraInfo[CameraInfoKey.ManufacturerInfo];
                                ModelName = cameraInfo[CameraInfoKey.ModelName];
                                SerialNumber = cameraInfo[CameraInfoKey.SerialNumber];
                                CameraType = CameraType.USB;
                                m_MyCamera.Parameters[PLCameraInstance.GrabCameraEvents].SetValue(true);
                                m_MyCamera.CameraOpened += Configuration.AcquireContinuous;
                                m_MyCamera.CameraOpened += M_MyCamera_CameraOpened;
                                m_MyCamera.CameraClosed += M_MyCamera_CameraClosed;
                                break;
                            }
                        }
                    }
                    if (m_MyCamera == null)
                    {
                        throw new Exception("没有识别到相机");
                    }
                }

                if (!m_MyCamera.IsOpen)
                {
                    m_MyCamera.Open();
                    // 按当前触发模式下发（默认软触发，与历史硬编码行为一致）
                    ApplyTriggerToHardware(TriggerMode);
                }
                IsConnected = m_MyCamera.IsConnected;

                return IsConnected;
            }
        }

        public override void CloseDevice()
        {
            using (WriteLockScope())
            {
                if (m_MyCamera != null)
                {
                    if (m_MyCamera.IsOpen)
                    {
                        m_MyCamera.Close();
                        m_MyCamera.CameraOpened -= Configuration.AcquireContinuous;
                        m_MyCamera.CameraOpened -= M_MyCamera_CameraOpened;
                        m_MyCamera.CameraClosed -= M_MyCamera_CameraClosed;
                        IsConnected = m_MyCamera.IsConnected;
                        m_MyCamera.Dispose();
                    }
                }
            }
        }

        public override GenImage Grab()
        {
            using (WriteLockScope())
            {
                var sw = Stopwatch.StartNew();
                if (!m_MyCamera.IsOpen)
            {
                m_MyCamera.Open();
                ApplyTriggerToHardware(TriggerMode);
            }
            if (!m_MyCamera.StreamGrabber.IsGrabbing)
            {
                m_MyCamera.StreamGrabber.Start();
            }

            bool Succeed = false;
            IGrabResult grabResult = null;
            for (int i = 0; i < 5; i++)
            {
                try
                {
                    // 仅软触发需主动发触发命令；连续采集自由出图，硬触发等外部信号
                    if (IsSoftwareTrigger)
                        m_MyCamera.ExecuteSoftwareTrigger();
                    grabResult = m_MyCamera.StreamGrabber.RetrieveResult(1000, TimeoutHandling.ThrowException);
                    if (grabResult != null && grabResult.GrabSucceeded)
                    {
                        ErrorMessage = "";
                        Succeed = true;
                        break;
                    }
                    else
                    {
                        ErrorMessage = grabResult.ErrorDescription;
                    }
                }
                catch (Exception ex)
                {
                    ErrorMessage = ex.Message;
                    m_MyCamera.Close();
                    m_MyCamera.CameraOpened -= M_MyCamera_CameraOpened;
                    m_MyCamera.CameraClosed -= M_MyCamera_CameraClosed;
                    m_MyCamera.Open();
                    ApplyTriggerToHardware(TriggerMode);
                    IsConnected = m_MyCamera.IsConnected;
                }
            }

            if (!Succeed)
            {
                if (IsConnected)
                {
                    IsConnected = false;
                    OnConnectChanged(false);
                }
                return null;
            }

            Image = GrabResult2GenImage(grabResult);
            ImageWidth = (uint)Image.Width;
            ImageHeight = (uint)Image.Height;
            ApplyGammaToImage(Image);
            GC.Collect();
            grabResult.Dispose();
            TotalTime = sw.Elapsed;
            return Image;
        }}

        #region 触发模式

        /// <summary>Basler 支持连续/软触发/硬触发（Line0）全部模式</summary>
        public override IReadOnlyList<CameraTriggerMode> SupportedTriggerModes => FullTriggerModes;

        /// <summary>历史行为：OpenDevice 硬编码 TriggerMode=On + TriggerSource=Software，故默认软触发</summary>
        protected override CameraTriggerMode DefaultTriggerMode => CameraTriggerMode.软触发;

        protected override bool ApplyTriggerMode(CameraTriggerMode mode)
        {
            using (WriteLockScope())
                return ApplyTriggerToHardware(mode);
        }

        /// <summary>
        /// 把触发模式下发到 Pylon。AcquisitionMode 恒为 Continuous，仅触发项随模式变化。
        /// 调用方需已持有写锁（OpenDevice/Grab 内部已在锁内；锁可重入）。
        /// </summary>
        private bool ApplyTriggerToHardware(CameraTriggerMode mode)
        {
            if (m_MyCamera == null || !m_MyCamera.IsOpen) return false;

            m_MyCamera.Parameters[PLCamera.AcquisitionMode].SetValue(PLCamera.AcquisitionMode.Continuous);

            switch (mode)
            {
                case CameraTriggerMode.连续采集:
                    m_MyCamera.Parameters[PLCamera.TriggerMode].SetValue(PLCamera.TriggerMode.Off);
                    break;

                case CameraTriggerMode.软触发:
                    m_MyCamera.Parameters[PLCamera.TriggerSource].SetValue(PLCamera.TriggerSource.Software);
                    m_MyCamera.Parameters[PLCamera.TriggerMode].SetValue(PLCamera.TriggerMode.On);
                    break;

                case CameraTriggerMode.硬触发上升沿:
                case CameraTriggerMode.硬触发下降沿:
                    // 本版 Pylon 的 TriggerSource 枚举无 Line0，Basler 机型光耦输入惯例为 Line1；
                    // 边沿名为 RisingEdge/FallingEdge（非 GenICam 通用的 Rising/Falling）。
                    m_MyCamera.Parameters[PLCamera.TriggerSource].SetValue(PLCamera.TriggerSource.Line1);
                    m_MyCamera.Parameters[PLCamera.TriggerActivation].SetValue(
                        mode == CameraTriggerMode.硬触发上升沿
                            ? PLCamera.TriggerActivation.RisingEdge
                            : PLCamera.TriggerActivation.FallingEdge);
                    m_MyCamera.Parameters[PLCamera.TriggerMode].SetValue(PLCamera.TriggerMode.On);
                    break;

                default: // 跟随相机：不下发，沿用相机自身配置
                    break;
            }
            return true;
        }

        #endregion

        public override bool SetExposureTime(float exposureTime)
        {
        using (WriteLockScope())
        {
            if (m_MyCamera.Parameters.Contains(PLCamera.ExposureTimeAbs))
            {
                m_MyCamera.Parameters[PLCamera.ExposureTimeAbs].SetValue(exposureTime);
            }
            else
                m_MyCamera.Parameters[PLCamera.ExposureTime].SetValue(exposureTime);
            return true;
        }}

        public override float GetExposureTime()
        {
        using (ReadLockScope())
        {
            if (m_MyCamera.Parameters.Contains(PLCamera.ExposureTimeAbs))
            {
                return (float)m_MyCamera.Parameters[PLCamera.ExposureTimeAbs].GetValue();
            }
            else
                return (float)m_MyCamera.Parameters[PLCamera.ExposureTime].GetValue();
        }}

        public override bool SetGain(float gain)
        {
        using (WriteLockScope())
        {
            if (m_MyCamera.Parameters.Contains(PLCamera.Gain))
            {
                m_MyCamera.Parameters[PLCamera.Gain].SetValue(gain);
            }
            else if (m_MyCamera.Parameters.Contains(PLCamera.GainRaw))
            {
                m_MyCamera.Parameters[PLCamera.GainRaw].SetValue((int)gain);
            }
            else if (m_MyCamera.Parameters.Contains(PLCamera.GainAbs))
            {
                m_MyCamera.Parameters[PLCamera.GainAbs].SetValue(gain);
            }
            return true;
        }}

        public override float GetGain()
        {
            using (ReadLockScope())
            {
                if (m_MyCamera == null) return 0;
                if (m_MyCamera.Parameters.Contains(PLCamera.Gain))
                    return (float)m_MyCamera.Parameters[PLCamera.Gain].GetValue();
                if (m_MyCamera.Parameters.Contains(PLCamera.GainAbs))
                    return (float)m_MyCamera.Parameters[PLCamera.GainAbs].GetValue();
                return (float)m_MyCamera.Parameters[PLCamera.GainRaw].GetValue();
            }
        }

        public override bool SetGamma(float gamma)
        {
            using (WriteLockScope())
            {
                try
                {
                    if (m_MyCamera != null && m_MyCamera.Parameters.Contains(PLCamera.Gamma))
                    {
                        m_MyCamera.Parameters[PLCamera.Gamma].SetValue(gamma);
                        return true;
                    }
                }
                catch { }
                Gamma = gamma;
                return true;
            }
        }

        public override float GetGamma()
        {
            using (ReadLockScope())
            {
                try
                {
                    if (m_MyCamera != null && m_MyCamera.Parameters.Contains(PLCamera.Gamma))
                        return (float)m_MyCamera.Parameters[PLCamera.Gamma].GetValue();
                }
                catch { }
                return Gamma;
            }
        }

        #endregion

        #region 辅助方法

        private void M_MyCamera_CameraClosed(object sender, EventArgs e)
        {
            OnConnectChanged(false);
        }

        private void M_MyCamera_CameraOpened(object sender, EventArgs e)
        {
            OnConnectChanged(true);
        }

        private bool IsColorPixelFormat(Basler.Pylon.PixelType enType)
        {
            switch (enType)
            {
                case Basler.Pylon.PixelType.RGB8packed:
                case Basler.Pylon.PixelType.BGR8packed:
                case Basler.Pylon.PixelType.RGBA8packed:
                case Basler.Pylon.PixelType.BGRA8packed:
                case Basler.Pylon.PixelType.YUV422packed:
                case Basler.Pylon.PixelType.YUV422_YUYV_Packed:
                case Basler.Pylon.PixelType.BayerGR8:
                case Basler.Pylon.PixelType.BayerRG8:
                case Basler.Pylon.PixelType.BayerGB8:
                case Basler.Pylon.PixelType.BayerBG8:
                case Basler.Pylon.PixelType.BayerGB10:
                case Basler.Pylon.PixelType.BayerGB10pp:
                case Basler.Pylon.PixelType.BayerBG10:
                case Basler.Pylon.PixelType.BayerBG10pp:
                case Basler.Pylon.PixelType.BayerRG10:
                case Basler.Pylon.PixelType.BayerRG10pp:
                case Basler.Pylon.PixelType.BayerGR10:
                case Basler.Pylon.PixelType.BayerGR10pp:
                case Basler.Pylon.PixelType.BayerGB12:
                case Basler.Pylon.PixelType.BayerGB12p:
                case Basler.Pylon.PixelType.BayerBG12:
                case Basler.Pylon.PixelType.BayerBG12Packed:
                case Basler.Pylon.PixelType.BayerRG12:
                case Basler.Pylon.PixelType.BayerRG12Packed:
                case Basler.Pylon.PixelType.BayerGR12:
                case Basler.Pylon.PixelType.BayerGR12Packed:
                    return true;
                default:
                    return false;
            }
        }

        private bool IsMonoPixelFormat(Basler.Pylon.PixelType enType)
        {
            switch (enType)
            {
                case Basler.Pylon.PixelType.Mono8:
                case Basler.Pylon.PixelType.Mono10:
                case Basler.Pylon.PixelType.Mono10packed:
                case Basler.Pylon.PixelType.Mono12:
                case Basler.Pylon.PixelType.Mono12packed:
                    return true;
                default:
                    return false;
            }
        }

        private GenImage GrabResult2GenImage(IGrabResult grabResult)
        {
            if (grabResult == null) return null;

            int width = grabResult.Width;
            int height = grabResult.Height;
            byte[] pixelData = grabResult.PixelData as byte[];
            if (pixelData == null || pixelData.Length == 0) return null;

            // 单通道灰度
            if (IsMonoPixelFormat(grabResult.PixelTypeValue))
            {
                if (grabResult.PixelTypeValue == Basler.Pylon.PixelType.Mono8)
                {
                    return new GenImage(width, height, Images.PixelType.Grey8, pixelData, width);
                }
                // 非 Mono8 → 转 Mono8
                int bufSize = width * height;
                var buf = new byte[bufSize];
                GCHandle handle = GCHandle.Alloc(buf, GCHandleType.Pinned);
                try
                {
                    var conv = new Basler.Pylon.PixelDataConverter();
                    conv.OutputPixelFormat = Basler.Pylon.PixelType.Mono8;
                    conv.Convert(handle.AddrOfPinnedObject(), bufSize, grabResult);
                }
                finally { handle.Free(); }
                return new GenImage(width, height, Images.PixelType.Grey8, buf, width);
            }

            // 彩色 → BGRA32
            if (IsColorPixelFormat(grabResult.PixelTypeValue))
            {
                int stride = width * 4;
                var buf = new byte[stride * height];
                GCHandle handle = GCHandle.Alloc(buf, GCHandleType.Pinned);
                try
                {
                    converter.OutputPixelFormat = Basler.Pylon.PixelType.BGRA8packed;
                    converter.Convert(handle.AddrOfPinnedObject(), stride * height, grabResult);
                }
                finally { handle.Free(); }
                return new GenImage(width, height, Images.PixelType.BGRA32, buf, stride);
            }

            return null;
        }

        #endregion
    }
}