TeamAAS-2.5/TeamAAS.Plugins/Plugins.Halcon/HalconRuntime.cs

using System;
using System.Drawing;
using System.Drawing.Imaging;
using System.Runtime.InteropServices;
using System.Windows.Media.Imaging;
using HalconDotNet;
using TeamAAS.Camera.Images;

namespace Plugins.Halcon
{
    /// <summary>
    /// HALCON SDK 适配层（唯一允许出现 HalconDotNet 调用的地方）。
    ///
    /// 设计目的：把与 HALCON 强耦合的调用（图像互转、算子）全部收敛到这一层，插件/模型/视图只依赖本类的
    /// SDK 无关签名（object / GenImage / 基元类型），从而：
    ///  - 更换/升级 HALCON 版本时只改这一处；
    ///  - 插件类型本身不直接暴露 HObject，保证 PluginLoader 反射扫描(GetTypes)时不会强制加载 HALCON 原生库；
    ///  - 与 Plugins.Vm 的 VmRuntime 隔离思路一致（区别：本机已装 HALCON 23.11，此处为真实实现而非骨架）。
    ///
    /// 环境：工程内 HalconSdk\ 放 halcondotnet.dll（托管，随生成复制到 EXE\win-x64\Plugins\）；
    /// 运行期还需 HALCON 原生运行库(halcon.dll 等)+授权——由本机安装 HALCON 提供（HALCONROOT/PATH 已配）。
    /// </summary>
    public static class HalconRuntime
    {
        #region 图像互转：外部图像 → HObject

        /// <summary>
        /// 把上游传入的图像对象统一转换为 HALCON 的 <see cref="HObject"/> 图像。
        /// 支持：已是 HObject（原样返回）、<see cref="GenImage"/>（主流程标准图像）、
        /// <see cref="Bitmap"/>、<see cref="BitmapSource"/>。无法识别时抛异常（由插件 try/catch 兜住）。
        /// </summary>
        public static HObject ToHObject(object image)
        {
            if (image == null)
                throw new ArgumentNullException(nameof(image), "输入图像为 null");

            if (image is HObject ho)
            {
                if (!ho.IsInitialized())
                    throw new ArgumentException("输入的 HObject 未初始化");
                return ho;
            }

            GenImage gi = image as GenImage;
            if (gi == null)
            {
                Bitmap bmp = image as Bitmap;
                if (bmp == null && image is BitmapSource bms)
                    bmp = BitmapSourceToBitmap(bms);
                if (bmp != null)
                    gi = GenImage.FromBitmap(bmp);
            }
            if (gi == null)
                throw new ArgumentException($"无法识别的图像类型：{image.GetType().Name}（支持 GenImage/Bitmap/BitmapSource/HObject）");

            return GenImageToHObject(gi);
        }

        /// <summary>
        /// GenImage（原始像素）→ HObject。灰度用 gen_image1，彩色拆三通道用 gen_image3；
        /// 生成后立即 copy_image 让 HALCON 拥有像素副本，再释放固定内存（gen_image1/3 只是包裹外部指针，不拷贝）。
        /// </summary>
        private static HObject GenImageToHObject(GenImage gi)
        {
            int w = gi.Width;
            int h = gi.Height;
            int stride = gi.ActualStride;
            byte[] src = gi.Data;

            switch (gi.Format)
            {
                case PixelType.Grey8:
                    return GenMono(src, stride, w, h, 1, "byte");
                case PixelType.Grey16:
                case PixelType.Depth16:
                    return GenMono(src, stride, w, h, 2, "uint2");

                case PixelType.RGB24:
                    return GenColor(src, stride, w, h, 3, 0, 1, 2);   // R,G,B
                case PixelType.BGR24:
                    return GenColor(src, stride, w, h, 3, 2, 1, 0);   // B,G,R → 传 R,G,B
                case PixelType.BGRA32:
                    return GenColor(src, stride, w, h, 4, 2, 1, 0);   // B,G,R,A → 传 R,G,B

                case PixelType.Depth16Conf8:
                case PixelType.Depth16Intensity8:
                default:
                    // 其它复合格式：走标准 Bitmap 路径（GenImage.ToBitmap 会做伪彩/格式归一）
                    using (var bmp = gi.ToBitmap())
                    {
                        var gi2 = GenImage.FromBitmap(bmp);
                        if (gi2.Format == PixelType.Grey8)
                            return GenMono(gi2.Data, gi2.ActualStride, gi2.Width, gi2.Height, 1, "byte");
                        return GenColor(gi2.Data, gi2.ActualStride, gi2.Width, gi2.Height, 3, 0, 1, 2);
                    }
            }
        }

        /// <summary>单通道图像生成（bpp=1→byte / bpp=2→uint2）。</summary>
        private static HObject GenMono(byte[] src, int stride, int w, int h, int bpp, string halconType)
        {
            byte[] tight = TightRows(src, stride, w, h, bpp);
            var gc = GCHandle.Alloc(tight, GCHandleType.Pinned);
            try
            {
                HOperatorSet.GenImage1(out HObject tmp, halconType, w, h, new HTuple(gc.AddrOfPinnedObject()));
                HOperatorSet.CopyImage(tmp, out HObject copy);
                tmp.Dispose();
                return copy;
            }
            finally { gc.Free(); }
        }

        /// <summary>三通道彩色图像生成：按通道下标拆分交织数据为 R/G/B 三个紧凑缓冲，再 gen_image3。</summary>
        private static HObject GenColor(byte[] src, int stride, int w, int h, int bpp, int rIdx, int gIdx, int bIdx)
        {
            int plane = w * h;
            var r = new byte[plane];
            var g = new byte[plane];
            var b = new byte[plane];
            for (int y = 0; y < h; y++)
            {
                int rowStart = y * stride;
                int oBase = y * w;
                for (int x = 0; x < w; x++)
                {
                    int p = rowStart + x * bpp;
                    int o = oBase + x;
                    r[o] = src[p + rIdx];
                    g[o] = src[p + gIdx];
                    b[o] = src[p + bIdx];
                }
            }

            var gcr = GCHandle.Alloc(r, GCHandleType.Pinned);
            var gcg = GCHandle.Alloc(g, GCHandleType.Pinned);
            var gcb = GCHandle.Alloc(b, GCHandleType.Pinned);
            try
            {
                HOperatorSet.GenImage3(out HObject tmp, "byte", w, h,
                    new HTuple(gcr.AddrOfPinnedObject()),
                    new HTuple(gcg.AddrOfPinnedObject()),
                    new HTuple(gcb.AddrOfPinnedObject()));
                HOperatorSet.CopyImage(tmp, out HObject copy);
                tmp.Dispose();
                return copy;
            }
            finally { gcr.Free(); gcg.Free(); gcb.Free(); }
        }

        /// <summary>按行拷贝出去掉行填充(stride)的紧凑像素缓冲；stride 已等于 width*bpp 时直接返回原数组。</summary>
        private static byte[] TightRows(byte[] src, int stride, int w, int h, int bpp)
        {
            int rowBytes = w * bpp;
            if (stride == rowBytes && src.Length >= rowBytes * h)
                return src;
            var dst = new byte[rowBytes * h];
            for (int y = 0; y < h; y++)
            {
                int from = y * stride;
                int to = y * rowBytes;
                int n = Math.Min(rowBytes, src.Length - from);
                if (n <= 0) break;
                Buffer.BlockCopy(src, from, dst, to, n);
            }
            return dst;
        }

        /// <summary>BitmapSource → Bitmap（WPF 图像兜底转换；主流程一般已是 GenImage，很少走到这里）。</summary>
        private static Bitmap BitmapSourceToBitmap(BitmapSource source)
        {
            var enc = new PngBitmapEncoder();
            enc.Frames.Add(BitmapFrame.Create(source));
            using (var ms = new System.IO.MemoryStream())
            {
                enc.Save(ms);
                ms.Position = 0;
                return new Bitmap(ms);
            }
        }

        #endregion

        #region 图像互转：HObject → GenImage（把处理结果传回主流程）

        /// <summary>
        /// HObject 图像 → <see cref="GenImage"/>（灰度→Grey8/Grey16；彩色→RGB24）。
        /// 传入的不是图像或无法解析时返回 null。
        /// </summary>
        public static GenImage ToGenImage(object hobj)
        {
            var img = hobj as HObject;
            if (img == null || !img.IsInitialized()) return null;
            try
            {
                HOperatorSet.GetImageSize(img, out HTuple wT, out HTuple hT);
                int w = wT.I;
                int h = hT.I;

                HOperatorSet.CountChannels(img, out HTuple chT);
                int channels = chT.I;

                if (channels <= 1)
                {
                    HOperatorSet.GetImagePointer1(img, out HTuple ptr, out HTuple type, out HTuple pw, out HTuple ph);
                    string t = type.S;
                    int bpp = (t == "uint2" || t == "int2" || t == "int4") ? 2 : 1;
                    var data = new byte[w * h * bpp];
                    Marshal.Copy(ptr.IP, data, 0, data.Length);
                    var pf = bpp == 1 ? PixelType.Grey8 : PixelType.Grey16;
                    return new GenImage(w, h, pf, data);
                }
                else
                {
                    HOperatorSet.GetImagePointer3(img, out HTuple pr, out HTuple pg, out HTuple pb,
                        out HTuple type3, out HTuple pw3, out HTuple ph3);
                    int plane = w * h;
                    var r = new byte[plane];
                    var g = new byte[plane];
                    var b = new byte[plane];
                    Marshal.Copy(pr.IP, r, 0, plane);
                    Marshal.Copy(pg.IP, g, 0, plane);
                    Marshal.Copy(pb.IP, b, 0, plane);
                    var data = new byte[plane * 3];
                    for (int i = 0; i < plane; i++)
                    {
                        data[i * 3] = r[i];
                        data[i * 3 + 1] = g[i];
                        data[i * 3 + 2] = b[i];
                    }
                    return new GenImage(w, h, PixelType.RGB24, data);
                }
            }
            catch
            {
                return null;
            }
        }

        #endregion

        #region 算子封装：图像处理

        /// <summary>阈值分割：灰度 ∈ [minGray,maxGray] 的像素成区域。返回单个（可能含多连通块的）区域。</summary>
        public static HObject Threshold(HObject image, double minGray, double maxGray)
        {
            HOperatorSet.Threshold(image, out HObject region, minGray, maxGray);
            return region;
        }

        /// <summary>连通域拆分：把一个区域拆成互不相连的多个独立区域。</summary>
        public static HObject Connection(HObject region)
        {
            HOperatorSet.Connection(region, out HObject connected);
            return connected;
        }

        /// <summary>对象数量（区域集中的区域个数 / 图像张数）。</summary>
        public static int CountObj(HObject obj)
        {
            if (obj == null || !obj.IsInitialized()) return 0;
            HOperatorSet.CountObj(obj, out HTuple number);
            return number.I;
        }

        /// <summary>图像尺寸。</summary>
        public static void GetImageSize(HObject image, out int width, out int height)
        {
            HOperatorSet.GetImageSize(image, out HTuple w, out HTuple h);
            width = w.I;
            height = h.I;
        }

        /// <summary>形态学-膨胀（圆形结构元）。</summary>
        public static HObject DilationCircle(HObject region, double radius)
        {
            HOperatorSet.DilationCircle(region, out HObject result, radius);
            return result;
        }

        /// <summary>形态学-腐蚀（圆形结构元）。</summary>
        public static HObject ErosionCircle(HObject region, double radius)
        {
            HOperatorSet.ErosionCircle(region, out HObject result, radius);
            return result;
        }

        /// <summary>形态学-开运算（先腐蚀后膨胀，去小噪点）。</summary>
        public static HObject OpeningCircle(HObject region, double radius)
        {
            HOperatorSet.OpeningCircle(region, out HObject result, radius);
            return result;
        }

        /// <summary>形态学-闭运算（先膨胀后腐蚀，填小孔洞）。</summary>
        public static HObject ClosingCircle(HObject region, double radius)
        {
            HOperatorSet.ClosingCircle(region, out HObject result, radius);
            return result;
        }

        /// <summary>均值滤波。</summary>
        public static HObject MeanImage(HObject image, double maskWidth, double maskHeight)
        {
            HOperatorSet.MeanImage(image, out HObject result, maskWidth, maskHeight);
            return result;
        }

        /// <summary>中值滤波（maskType: "circle"/"square"；margin: "mirrored"/"continued"）。</summary>
        public static HObject MedianImage(HObject image, string maskType, double radius, string margin)
        {
            HOperatorSet.MedianImage(image, out HObject result, maskType, radius, margin);
            return result;
        }

        /// <summary>高斯滤波（size 为奇数）。</summary>
        public static HObject GaussFilter(HObject image, double size)
        {
            HOperatorSet.GaussFilter(image, out HObject result, size);
            return result;
        }

        /// <summary>灰度线性变换：g' = g*mult + add（对比度/亮度调整）。</summary>
        public static HObject ScaleImage(HObject image, double mult, double add)
        {
            HOperatorSet.ScaleImage(image, out HObject result, mult, add);
            return result;
        }

        /// <summary>彩色转灰度（三通道图像→单通道）。已是单通道则原样拷贝返回。</summary>
        public static HObject RgbToGray(HObject image)
        {
            HOperatorSet.CountChannels(image, out HTuple ch);
            if (ch.I <= 1)
            {
                HOperatorSet.CopyImage(image, out HObject dup);
                return dup;
            }
            // rgb3_to_gray 需要三个「单通道」输入，先用 access_channel 拆出 R/G/B
            HOperatorSet.AccessChannel(image, out HObject cr, 1);
            HOperatorSet.AccessChannel(image, out HObject cg, 2);
            HOperatorSet.AccessChannel(image, out HObject cb, 3);
            try
            {
                HOperatorSet.Rgb3ToGray(cr, cg, cb, out HObject gray);
                return gray;
            }
            finally
            {
                cr.Dispose();
                cg.Dispose();
                cb.Dispose();
            }
        }

        #endregion

        #region 算子封装：几何测量 / 检测识别

        /// <summary>
        /// 区域特征：面积 + 重心（对区域集中的每个区域各返回一项）。
        /// </summary>
        public static void AreaCenter(HObject regions, out double[] area, out double[] row, out double[] col)
        {
            HOperatorSet.AreaCenter(regions, out HTuple a, out HTuple r, out HTuple c);
            area = SafeDoubleArr(a);
            row = SafeDoubleArr(r);
            col = SafeDoubleArr(c);
        }

        /// <summary>最小外接正矩形（行1,列1,行2,列2），取区域集的第一个区域。</summary>
        public static void SmallestRectangle1(HObject region, out double row1, out double col1, out double row2, out double col2)
        {
            HOperatorSet.SmallestRectangle1(region, out HTuple r1, out HTuple c1, out HTuple r2, out HTuple c2);
            row1 = First(r1);
            col1 = First(c1);
            row2 = First(r2);
            col2 = First(c2);
        }

        /// <summary>
        /// 形状筛选：按特征（"area"/"roundness"/"compactness"/"rect2_features"…）与阈值区间保留符合条件的区域。
        /// operation: "and"/"or"。
        /// </summary>
        public static HObject SelectShape(HObject regions, string features, string operation, double min, double max)
        {
            HOperatorSet.SelectShape(regions, out HObject selected, features, operation, min, max);
            return selected;
        }

        #endregion

        #region 工具

        /// <summary>安全释放 HObject（吞掉异常，避免流程收尾时抛出）。</summary>
        public static void Dispose(HObject obj)
        {
            try { obj?.Dispose(); } catch { }
        }

        private static double First(HTuple t)
        {
            if (t == null || t.Length == 0) return 0d;
            return t.D;
        }

        private static double[] SafeDoubleArr(HTuple t)
        {
            if (t == null || t.Length == 0) return new double[0];
            try { return t.DArr; }
            catch { return new double[0]; }
        }

        #endregion
    }
}