using Cognex.VisionPro;
using CSScripting;
using Microsoft.Win32;
using MVSDK_Net;
using NPOI.Util;
using NPOI.XSSF.Model;
using OpenCvSharp.Dnn;
using Org.BouncyCastle.Asn1.Tsp;
using OxyPlot;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data.SqlTypes;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Media.Media3D;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP;
using static MVSDK_Net.IMVDefine;

namespace TeamAAS_VP.Core.Cameras
{
    public class AHuaCamera : CameraBase, ICamera, INotifyPropertyChanged
    {
        #region 字段
        private Thread m_hReceiveThread;
        #endregion

        #region 属性
        /// <summary>
        /// 是否是3D相机
        /// </summary>
        public bool Is3D { get; } = false;
        public CameraBrand CameraBrand { get => CameraBrand.IRayple; }

        public string Name { get; private set; }
        public Guid ID { get; private set; }
        public int Index { get; set; }
        public string ManufacturerName { get; private set; }
        public bool IsFindByIp { get; private set; }

        public string ModelName { get; private set; }

        public string SerialNumber { get; private set; }

        public string CameraIp { get; private set; }

        public CameraType CameraType { get; private set; }

        MVSDK_Net.MyCamera mvCameraAcq;

        public UInt32 ImageWidth { get; private set; }

        public UInt32 ImageHeight { 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; }

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

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

        private bool IsHaveCamera = false;
        #endregion

        #region 事件
        public event Action<ICogImage, TimeSpan, string, Guid> ImageCallbackEvent;
        public event Action<Guid, bool> CameraConnectChangedEvent;
        #endregion

        public AHuaCamera(Guid id, int index, string name, string serialNumber, string cameraip, bool isFindByIp)
        {
            ID = id;
            Name = serialNumber;
            Index = index;
            CameraIp = cameraip;
            SerialNumber = serialNumber;
            IsFindByIp = isFindByIp;
            mvCameraAcq = new MVSDK_Net.MyCamera();
            var list = GetDevices();
            foreach (var device in list)
            {
                if (device.CameraType == CameraType.GIGE)
                {
                    if (IsFindByIp)
                    {
                        if (device.CameraIp == CameraIp)
                        {
                            IsHaveCamera = true;
                            ManufacturerName = device.ManufacturerName;
                            ModelName = device.Model;
                            SerialNumber = device.SerialNumber;
                            CameraType = device.CameraType;
                            int res = mvCameraAcq.IMV_CreateHandle(IMVDefine.IMV_ECreateHandleMode.modeByCameraKey, 0, serialNumber);
                            if (res == IMVDefine.IMV_OK)
                            {

                            }
                            break;
                        }
                    }
                    else
                    {
                        if (device.SerialNumber == serialNumber)
                        {
                            IsHaveCamera = true;
                            ManufacturerName = device.ManufacturerName;
                            ModelName = device.Model;
                            SerialNumber = device.SerialNumber;
                            CameraType = device.CameraType;
                            CameraIp = device.CameraIp;
                            int res = mvCameraAcq.IMV_CreateHandle(IMVDefine.IMV_ECreateHandleMode.modeByCameraKey, 0, serialNumber);
                            if (res == IMVDefine.IMV_OK)
                            {

                            }
                            break;
                        }
                    }
                }
                else
                {
                    if (device.SerialNumber == serialNumber)
                    {
                        IsHaveCamera = true;
                        ManufacturerName = device.ManufacturerName;
                        ModelName = device.Model;
                        SerialNumber = device.SerialNumber;
                        CameraType = device.CameraType;
                        int res = mvCameraAcq.IMV_CreateHandle(IMVDefine.IMV_ECreateHandleMode.modeByCameraKey, 0, serialNumber);
                        if (res == IMVDefine.IMV_OK)
                        {

                        }
                        break;
                    }
                }

            }

            IsConnected = false;
        }

        #region 方法

        /// <summary>
        /// 获取设备
        /// </summary>
        /// <returns></returns>
        public static CameraInfo[] GetDevices()
        {
            List<CameraInfo> cameras = new List<CameraInfo>();
            if (!CheckSoftwareInstalled().isInstalled)
            {
                LogHelper.WriteLogInfo("未安装MV Viewer");
                return cameras.ToArray();
            }
            // 设备搜索 
            // device search 
            IMVDefine.IMV_DeviceList deviceList = new IMVDefine.IMV_DeviceList();
            IMVDefine.IMV_EInterfaceType interfaceTp = IMVDefine.IMV_EInterfaceType.interfaceTypeAll;
            int res = MyCamera.IMV_EnumDevices(ref deviceList, (uint)interfaceTp);

            // 添加设备信息
            // Add device info
            if (res == IMVDefine.IMV_OK && deviceList.nDevNum > 0)
            {
                for (int i = 0; i < deviceList.nDevNum; i++)
                {
                    IMVDefine.IMV_DeviceInfo deviceInfo =
                        (IMVDefine.IMV_DeviceInfo)
                            Marshal.PtrToStructure(
                                deviceList.pDevInfo + Marshal.SizeOf(typeof(IMVDefine.IMV_DeviceInfo)) * i,
                                typeof(IMVDefine.IMV_DeviceInfo));
                    if (deviceInfo.nCameraType == IMV_ECameraType.typeGigeCamera)
                    {
                        IMVDefine.IMV_GigEDeviceInfo gigEDeviceInfo =
                        (IMVDefine.IMV_GigEDeviceInfo)
                            ByteToStruct(deviceInfo.deviceSpecificInfo.gigeDeviceInfo,
                                typeof(IMVDefine.IMV_GigEDeviceInfo));

                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = deviceInfo.cameraName,
                            CameraBrand = CameraBrand.IRayple,
                            CameraType = CameraType.GIGE,
                            ManufacturerName = deviceInfo.manufactureInfo,
                            Model = deviceInfo.modelName,
                            SerialNumber = deviceInfo.serialNumber,
                            CameraIp = gigEDeviceInfo.ipAddress,
                            IsFindByIp = true,
                        });
                    }
                    else if (deviceInfo.nCameraType == IMV_ECameraType.typeU3vCamera)
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = deviceInfo.cameraName,
                            CameraBrand = CameraBrand.IRayple,
                            CameraType = CameraType.USB,
                            ManufacturerName = deviceInfo.cameraName,
                            Model = deviceInfo.modelName,
                            SerialNumber = deviceInfo.serialNumber,
                            CameraIp = "",
                        });
                    }
                    else if (deviceInfo.nCameraType == IMV_ECameraType.typeCLCamera)
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = deviceInfo.cameraName,
                            CameraBrand = CameraBrand.IRayple,
                            CameraType = CameraType.Link,
                            ManufacturerName = deviceInfo.cameraName,
                            Model = deviceInfo.modelName,
                            SerialNumber = deviceInfo.serialNumber,
                            CameraIp = "",
                        });
                    }
                    else
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = deviceInfo.cameraName,
                            CameraBrand = CameraBrand.IRayple,
                            CameraType = CameraType.Unknown,
                            ManufacturerName = deviceInfo.cameraName,
                            Model = deviceInfo.modelName,
                            SerialNumber = deviceInfo.serialNumber,
                            CameraIp = "",
                        });
                    }
                }
            }
            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 = "MV Viewer";
            string softwareVersion = "2.5.1.1";
            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();
                                var match = Regex.Match(version, @"^(\d+\.\d+\.\d+\.\d+)");
                                if (match.Success)
                                {
                                    version = match.Groups[1].Value;
                                }
                                else
                                {
                                    continue;
                                }
                                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()
        {
            EnterOperation();
            try
            {
                IsConnected = false;
                //if (!IsHaveCamera)
                //{
                var list = GetDevices();
                foreach (var device in list)
                {
                    if (device.CameraType == CameraType.GIGE)
                    {
                        if (IsFindByIp)
                        {
                            if (device.CameraIp == CameraIp)
                            {
                                IsHaveCamera = true;
                                ManufacturerName = device.ManufacturerName;
                                ModelName = device.Model;
                                SerialNumber = device.SerialNumber;
                                CameraType = device.CameraType;
                                int res = mvCameraAcq.IMV_CreateHandle(IMVDefine.IMV_ECreateHandleMode.modeByCameraKey, 0, SerialNumber);
                                if (res == IMVDefine.IMV_OK)
                                {

                                }
                                break;
                            }
                        }
                        else
                        {
                            if (device.SerialNumber == SerialNumber)
                            {
                                IsHaveCamera = true;
                                ManufacturerName = device.ManufacturerName;
                                ModelName = device.Model;
                                SerialNumber = device.SerialNumber;
                                CameraType = device.CameraType;
                                CameraIp = device.CameraIp;
                                int res = mvCameraAcq.IMV_CreateHandle(IMVDefine.IMV_ECreateHandleMode.modeByCameraKey, 0, SerialNumber);
                                if (res == IMVDefine.IMV_OK)
                                {

                                }
                                break;
                            }
                        }
                    }
                    else
                    {
                        if (device.SerialNumber == SerialNumber)
                        {
                            IsHaveCamera = true;
                            ManufacturerName = device.ManufacturerName;
                            ModelName = device.Model;
                            SerialNumber = device.SerialNumber;
                            CameraType = device.CameraType;
                            int res = mvCameraAcq.IMV_CreateHandle(IMVDefine.IMV_ECreateHandleMode.modeByCameraKey, 0, SerialNumber);
                            if (res == IMVDefine.IMV_OK)
                            {

                            }
                            break;
                        }
                    }
                }
                if (!IsHaveCamera)
                {
                    //throw new Exception("没有发现相机");
                    return false;
                }
                //}

                // 打开设备 
                // open device 
                int res1 = mvCameraAcq.IMV_Open();
                if (res1 != IMVDefine.IMV_OK)
                {
                    return IsConnected;
                }
                if (!IsConnected)
                {
                    CameraConnectChangedEvent?.Invoke(ID, true);
                }

                long width = 0;
                long height = 0;

                // 获取宽
                // Get Width
                res1 = mvCameraAcq.IMV_GetIntFeatureValue("Width", ref width);
                if (res1 != IMVDefine.IMV_OK)
                {
                    //MessageBox.Show("Get Width failed");
                }

                // 获取高
                // Get Height
                res1 = mvCameraAcq.IMV_GetIntFeatureValue("Height", ref height);
                if (res1 != IMVDefine.IMV_OK)
                {
                    //MessageBox.Show("Get Height failed");
                }
                ImageWidth = (uint)width;
                ImageHeight = (uint)height;
                m_picSize = width * height;

                res1 = mvCameraAcq.IMV_SetEnumFeatureSymbol("AcquisitionMode", "Continuous");
                if (res1 != IMVDefine.IMV_OK)
                {
                    //MessageBox.Show("Set AcquisitionMode failed");
                }

                // 关闭触发模式
                // set trigger mode as off     
                res1 = mvCameraAcq.IMV_SetEnumFeatureSymbol("TriggerMode", "Off");
                if (res1 != IMVDefine.IMV_OK)
                {
                    //MessageBox.Show("Set TriggerMode failed");
                }

                // 开启码流 
                // start grabbing 
                res1 = mvCameraAcq.IMV_StartGrabbing();
                if (res1 != IMVDefine.IMV_OK)
                {
                    //MessageBox.Show("Start grabbing failed!");
                }

                IsConnected = mvCameraAcq.IMV_IsOpen();
                return IsConnected;
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 打开相机异步
        /// </summary>
        /// <returns></returns>
        public Task<bool> OpenDeviceAsync()
        {
            return Task.Run(() =>
            {
                return OpenDevice();
            });
        }

        /// <summary>
        /// 关闭相机
        /// </summary>
        public void CloseDevice()
        {
            EnterOperation();
            try
            {
                if (mvCameraAcq.IMV_IsOpen())
                {
                    // ch:关闭设备 | en:Close Device
                    mvCameraAcq.IMV_Close();
                    mvCameraAcq.IMV_DestroyHandle();
                }
            }
            finally
            {
                ExitOperation();
            }
        }

        private long m_picSize = 0;
        IMVDefine.IMV_Frame frame = new IMVDefine.IMV_Frame();

        IntPtr pTemp = IntPtr.Zero;
        IntPtr pConvertDstBuffer = IntPtr.Zero;
        int nConvertBufSize = 0;
        private IMVDefine.IMV_PixelConvertParam stPixelConvertParam = new IMVDefine.IMV_PixelConvertParam();
        private IMVDefine.IMV_EPixelType type = IMVDefine.IMV_EPixelType.gvspPixelMono8;
        /// <summary>
        /// 采集图像
        /// </summary>
        /// <returns></returns>
        public ICogImage Grab(bool isRealtime = true)
        {
            EnterOperation();
            try
            {
                Byte[] byteArrImageData = new Byte[m_picSize * 3];
                Stopwatch sw = Stopwatch.StartNew();
                int res = IMVDefine.IMV_OK;
                for (int i = 0; i < 5; i++)
                {
                    try
                    {
                        if (!mvCameraAcq.IMV_IsOpen())
                        {
                            OpenDevice();
                        }
                        mvCameraAcq.IMV_ClearFrameBuffer();
                        res = mvCameraAcq.IMV_GetFrame(ref frame, 1000);
                        if (res == IMVDefine.IMV_OK)
                        {
                            try
                            {
                                // Mono图像处理
                                if (IsMonoPixelFormat(frame.frameInfo.pixelFormat))
                                {
                                    type = IMVDefine.IMV_EPixelType.gvspPixelMono8;
                                    if (frame.frameInfo.pixelFormat == IMVDefine.IMV_EPixelType.gvspPixelMono8)
                                    {
                                        pTemp = frame.pData;
                                    }
                                    else
                                    {
                                        if (pConvertDstBuffer == IntPtr.Zero || nConvertBufSize < (frame.frameInfo.width * frame.frameInfo.height))
                                        {
                                            if (pConvertDstBuffer != IntPtr.Zero)
                                            {
                                                Marshal.FreeHGlobal(pConvertDstBuffer);
                                                pConvertDstBuffer = IntPtr.Zero;
                                            }

                                            pConvertDstBuffer = Marshal.AllocHGlobal((int)(frame.frameInfo.width * frame.frameInfo.height));
                                            if (pConvertDstBuffer == IntPtr.Zero)
                                            {
                                                break;
                                            }
                                            nConvertBufSize = (int)(frame.frameInfo.width * frame.frameInfo.height);
                                        }
                                        // 其他格式Mono转为Mono8
                                        stPixelConvertParam.nWidth = frame.frameInfo.width;
                                        stPixelConvertParam.nHeight = frame.frameInfo.height;
                                        stPixelConvertParam.ePixelFormat = frame.frameInfo.pixelFormat;
                                        stPixelConvertParam.pSrcData = frame.pData;
                                        stPixelConvertParam.nSrcDataLen = frame.frameInfo.size;
                                        stPixelConvertParam.nPaddingX = frame.frameInfo.paddingX;
                                        stPixelConvertParam.nPaddingY = frame.frameInfo.paddingY;
                                        stPixelConvertParam.eBayerDemosaic = IMVDefine.IMV_EBayerDemosaic.demosaicNearestNeighbor;
                                        stPixelConvertParam.eDstPixelFormat = IMVDefine.IMV_EPixelType.gvspPixelMono8;
                                        stPixelConvertParam.pDstBuf = pConvertDstBuffer;
                                        stPixelConvertParam.nDstBufSize = frame.frameInfo.width * frame.frameInfo.height;

                                        res = mvCameraAcq.IMV_PixelConvert(ref stPixelConvertParam);
                                        if (res != IMVDefine.IMV_OK)
                                        {
                                            break;
                                        }
                                        pTemp = pConvertDstBuffer;
                                    }
                                }
                                // 彩色图像处理
                                else if (IsColorPixelFormat(frame.frameInfo.pixelFormat))
                                {
                                    type = IMVDefine.IMV_EPixelType.gvspPixelRGB8;
                                    if (frame.frameInfo.pixelFormat == IMVDefine.IMV_EPixelType.gvspPixelRGB8)
                                    {
                                        pTemp = frame.pData;
                                    }
                                    else
                                    {
                                        if (pConvertDstBuffer == IntPtr.Zero || nConvertBufSize < (frame.frameInfo.width * frame.frameInfo.height * 3))
                                        {
                                            if (pConvertDstBuffer != IntPtr.Zero)
                                            {
                                                Marshal.FreeHGlobal(pConvertDstBuffer);
                                                pConvertDstBuffer = IntPtr.Zero;
                                            }

                                            pConvertDstBuffer = Marshal.AllocHGlobal((int)(frame.frameInfo.width * frame.frameInfo.height * 3));
                                            if (pConvertDstBuffer == IntPtr.Zero)
                                            {
                                                break;
                                            }
                                            nConvertBufSize = (int)(frame.frameInfo.width * frame.frameInfo.height * 3);
                                        }

                                        // 其他格式彩色图像转为RGB
                                        stPixelConvertParam.nWidth = frame.frameInfo.width;
                                        stPixelConvertParam.nHeight = frame.frameInfo.height;
                                        stPixelConvertParam.ePixelFormat = frame.frameInfo.pixelFormat;
                                        stPixelConvertParam.pSrcData = frame.pData;
                                        stPixelConvertParam.nSrcDataLen = frame.frameInfo.size;
                                        stPixelConvertParam.nPaddingX = frame.frameInfo.paddingX;
                                        stPixelConvertParam.nPaddingY = frame.frameInfo.paddingY;
                                        stPixelConvertParam.eBayerDemosaic = IMVDefine.IMV_EBayerDemosaic.demosaicNearestNeighbor;
                                        stPixelConvertParam.eDstPixelFormat = IMVDefine.IMV_EPixelType.gvspPixelRGB8;
                                        stPixelConvertParam.pDstBuf = pConvertDstBuffer;
                                        stPixelConvertParam.nDstBufSize = frame.frameInfo.width * frame.frameInfo.height * 3;

                                        res = mvCameraAcq.IMV_PixelConvert(ref stPixelConvertParam);
                                        if (res != IMVDefine.IMV_OK)
                                        {
                                            break;
                                        }
                                        pTemp = pConvertDstBuffer;
                                    }

                                    unsafe
                                    {
                                        byte* pBufForSaveImage = (byte*)pTemp;

                                        UInt32 nSupWidth = (uint)((frame.frameInfo.width + (UInt32)3) & 0xfffffffc);

                                        for (int nRow = 0; nRow < frame.frameInfo.height; nRow++)
                                        {
                                            for (int col = 0; col < frame.frameInfo.width; col++)
                                            {
                                                byteArrImageData[nRow * nSupWidth + col] = pBufForSaveImage[nRow * frame.frameInfo.width * 3 + (3 * col)];
                                                byteArrImageData[frame.frameInfo.width * frame.frameInfo.height + nRow * nSupWidth + col] = pBufForSaveImage[nRow * frame.frameInfo.width * 3 + (3 * col + 1)];
                                                byteArrImageData[frame.frameInfo.width * frame.frameInfo.height * 2 + nRow * nSupWidth + col] = pBufForSaveImage[nRow * frame.frameInfo.width * 3 + (3 * col + 2)];
                                            }
                                        }
                                        pTemp = Marshal.UnsafeAddrOfPinnedArrayElement(byteArrImageData, 0);
                                    }
                                }
                                else
                                {
                                    continue;
                                }

                                Image = ConvertImage(frame.frameInfo.width, frame.frameInfo.height, pTemp, type);
                                if (Image != null)
                                {
                                    ErrorMessage = "";
                                    TotalTime = sw.Elapsed;
                                    return Image;
                                }
                            }
                            catch (Exception)
                            {

                            }
                            finally
                            {
                                // 释放帧数据
                                // release frame
                                mvCameraAcq.IMV_ReleaseFrame(ref frame);
                            }
                        }
                        else
                        {
                            ErrorMessage = res.ToString();
                            CloseDevice();
                            OpenDevice();
                        }
                    }
                    catch (Exception ex)
                    {
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = ex.Message;
                    }
                }
                if (IsConnected)
                {
                    IsConnected = false;
                    CameraConnectChangedEvent?.Invoke(ID, false);
                }
                return null;
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 采集图像
        /// </summary>
        /// <returns></returns>
        public ICogImage Grab2(bool isRealtime = true)
        {
            EnterOperation();
            try
            {
                Byte[] byteArrImageData = new Byte[m_picSize * 3];
                Stopwatch sw = Stopwatch.StartNew();
                int res = IMVDefine.IMV_OK;
                for (int i = 0; i < 5; i++)
                {
                    try
                    {
                        if (!mvCameraAcq.IMV_IsOpen())
                        {
                            OpenDevice();
                        }
                        mvCameraAcq.IMV_ClearFrameBuffer();
                        res = mvCameraAcq.IMV_GetFrame(ref frame, 1000);
                        if (res == IMVDefine.IMV_OK)
                        {
                            try
                            {
                                // Mono图像处理
                                if (IsMonoPixelFormat(frame.frameInfo.pixelFormat))
                                {
                                    type = IMVDefine.IMV_EPixelType.gvspPixelMono8;
                                    if (frame.frameInfo.pixelFormat == IMVDefine.IMV_EPixelType.gvspPixelMono8)
                                    {
                                        pTemp = frame.pData;
                                    }
                                    else
                                    {
                                        if (pConvertDstBuffer == IntPtr.Zero || nConvertBufSize < (frame.frameInfo.width * frame.frameInfo.height))
                                        {
                                            if (pConvertDstBuffer != IntPtr.Zero)
                                            {
                                                Marshal.FreeHGlobal(pConvertDstBuffer);
                                                pConvertDstBuffer = IntPtr.Zero;
                                            }

                                            pConvertDstBuffer = Marshal.AllocHGlobal((int)(frame.frameInfo.width * frame.frameInfo.height));
                                            if (pConvertDstBuffer == IntPtr.Zero)
                                            {
                                                break;
                                            }
                                            nConvertBufSize = (int)(frame.frameInfo.width * frame.frameInfo.height);
                                        }
                                        // 其他格式Mono转为Mono8
                                        stPixelConvertParam.nWidth = frame.frameInfo.width;
                                        stPixelConvertParam.nHeight = frame.frameInfo.height;
                                        stPixelConvertParam.ePixelFormat = frame.frameInfo.pixelFormat;
                                        stPixelConvertParam.pSrcData = frame.pData;
                                        stPixelConvertParam.nSrcDataLen = frame.frameInfo.size;
                                        stPixelConvertParam.nPaddingX = frame.frameInfo.paddingX;
                                        stPixelConvertParam.nPaddingY = frame.frameInfo.paddingY;
                                        stPixelConvertParam.eBayerDemosaic = IMVDefine.IMV_EBayerDemosaic.demosaicNearestNeighbor;
                                        stPixelConvertParam.eDstPixelFormat = IMVDefine.IMV_EPixelType.gvspPixelMono8;
                                        stPixelConvertParam.pDstBuf = pConvertDstBuffer;
                                        stPixelConvertParam.nDstBufSize = frame.frameInfo.width * frame.frameInfo.height;

                                        res = mvCameraAcq.IMV_PixelConvert(ref stPixelConvertParam);
                                        if (res != IMVDefine.IMV_OK)
                                        {
                                            break;
                                        }
                                        pTemp = pConvertDstBuffer;
                                    }
                                }
                                // 彩色图像处理
                                else if (IsColorPixelFormat(frame.frameInfo.pixelFormat))
                                {
                                    type = IMVDefine.IMV_EPixelType.gvspPixelRGB8;
                                    if (frame.frameInfo.pixelFormat == IMVDefine.IMV_EPixelType.gvspPixelRGB8)
                                    {
                                        pTemp = frame.pData;
                                    }
                                    else
                                    {
                                        if (pConvertDstBuffer == IntPtr.Zero || nConvertBufSize < (frame.frameInfo.width * frame.frameInfo.height * 3))
                                        {
                                            if (pConvertDstBuffer != IntPtr.Zero)
                                            {
                                                Marshal.FreeHGlobal(pConvertDstBuffer);
                                                pConvertDstBuffer = IntPtr.Zero;
                                            }

                                            pConvertDstBuffer = Marshal.AllocHGlobal((int)(frame.frameInfo.width * frame.frameInfo.height * 3));
                                            if (pConvertDstBuffer == IntPtr.Zero)
                                            {
                                                break;
                                            }
                                            nConvertBufSize = (int)(frame.frameInfo.width * frame.frameInfo.height * 3);
                                        }

                                        // 其他格式彩色图像转为RGB
                                        stPixelConvertParam.nWidth = frame.frameInfo.width;
                                        stPixelConvertParam.nHeight = frame.frameInfo.height;
                                        stPixelConvertParam.ePixelFormat = frame.frameInfo.pixelFormat;
                                        stPixelConvertParam.pSrcData = frame.pData;
                                        stPixelConvertParam.nSrcDataLen = frame.frameInfo.size;
                                        stPixelConvertParam.nPaddingX = frame.frameInfo.paddingX;
                                        stPixelConvertParam.nPaddingY = frame.frameInfo.paddingY;
                                        stPixelConvertParam.eBayerDemosaic = IMVDefine.IMV_EBayerDemosaic.demosaicNearestNeighbor;
                                        stPixelConvertParam.eDstPixelFormat = IMVDefine.IMV_EPixelType.gvspPixelRGB8;
                                        stPixelConvertParam.pDstBuf = pConvertDstBuffer;
                                        stPixelConvertParam.nDstBufSize = frame.frameInfo.width * frame.frameInfo.height * 3;

                                        res = mvCameraAcq.IMV_PixelConvert(ref stPixelConvertParam);
                                        if (res != IMVDefine.IMV_OK)
                                        {
                                            break;
                                        }
                                        pTemp = pConvertDstBuffer;
                                    }

                                    unsafe
                                    {
                                        byte* pBufForSaveImage = (byte*)pTemp;

                                        UInt32 nSupWidth = (uint)((frame.frameInfo.width + (UInt32)3) & 0xfffffffc);

                                        for (int nRow = 0; nRow < frame.frameInfo.height; nRow++)
                                        {
                                            for (int col = 0; col < frame.frameInfo.width; col++)
                                            {
                                                byteArrImageData[nRow * nSupWidth + col] = pBufForSaveImage[nRow * frame.frameInfo.width * 3 + (3 * col)];
                                                byteArrImageData[frame.frameInfo.width * frame.frameInfo.height + nRow * nSupWidth + col] = pBufForSaveImage[nRow * frame.frameInfo.width * 3 + (3 * col + 1)];
                                                byteArrImageData[frame.frameInfo.width * frame.frameInfo.height * 2 + nRow * nSupWidth + col] = pBufForSaveImage[nRow * frame.frameInfo.width * 3 + (3 * col + 2)];
                                            }
                                        }
                                        pTemp = Marshal.UnsafeAddrOfPinnedArrayElement(byteArrImageData, 0);
                                    }
                                }
                                else
                                {
                                    continue;
                                }

                                Image = ConvertImage(frame.frameInfo.width, frame.frameInfo.height, pTemp, type);
                                if (Image != null)
                                {
                                    ErrorMessage = "";
                                    TotalTime = sw.Elapsed;
                                    return Image;
                                }
                            }
                            catch (Exception)
                            {

                            }
                            finally
                            {
                                // 释放帧数据
                                // release frame
                                mvCameraAcq.IMV_ReleaseFrame(ref frame);
                            }
                        }
                        else
                        {
                            ErrorMessage = res.ToString();
                            CloseDevice();
                            OpenDevice();
                        }
                    }
                    catch (Exception ex)
                    {
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = ex.Message;
                    }
                }
                if (IsConnected)
                {
                    IsConnected = false;
                    CameraConnectChangedEvent?.Invoke(ID, false);
                }
                return null;
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 开始采集图像
        /// </summary>
        public void StartGrabbing()
        {
            lock (_stateLock)
            {
                if (IsGrabbing)
                    return;
                IsGrabbing = true;
            }
            m_hReceiveThread = new Thread(GetStreamThreadProc) { IsBackground = true };
            m_hReceiveThread.Start();
        }

        /// <summary>
        /// 停止采集图像
        /// </summary>
        public void StopGrabbing()
        {
            try
            {
                lock (_stateLock)
                {
                    IsGrabbing = false;
                }
                Thread.Sleep(1000);
                if (m_hReceiveThread != null)
                {
                    m_hReceiveThread.Abort();
                    m_hReceiveThread = null;
                }
            }
            catch (Exception)
            {

            }
        }

        /// <summary>
        /// 设置曝光时间
        /// </summary>
        /// <param name="ExposureTime"></param>
        /// <returns></returns>
        public bool SetExposureTime(float ExposureTime)
        {
            if (!mvCameraAcq.IMV_IsOpen())
                return false;
            if (GetExposureTime() != ExposureTime)
            {
                bool success = false;
                for (int i = 0; i < 5; i++)
                {
                    int res = mvCameraAcq.IMV_SetDoubleFeatureValue("ExposureTime", (double)ExposureTime);
                    if (IMVDefine.IMV_OK == res)
                    {
                        success = true;
                        Thread.Sleep(100);
                        break;
                    }
                }
                return success;
            }
            return true;
        }

        /// <summary>
        /// 获取曝光时间
        /// </summary>
        /// <returns></returns>
        public float GetExposureTime()
        {
            if (!mvCameraAcq.IMV_IsOpen())
                return 0;
            // 获取曝光值
            // set ExposureTime 
            double exposureTime = 0;
            int res = mvCameraAcq.IMV_GetDoubleFeatureValue("ExposureTime", ref exposureTime);
            if (IMVDefine.IMV_OK != res)
            {
                return 0;
            }
            return (float)exposureTime;
        }

        /// <summary>
        /// 设置增益
        /// </summary>
        /// <param name="Gain"></param>
        /// <returns></returns>
        public bool SetGain(float Gain)
        {
            if (!mvCameraAcq.IMV_IsOpen())
                return false;
            if (GetGain() != Gain)
            {
                // 设置增益 
                // set Gain 
                bool success = false;
                for (int i = 0; i < 5; i++)
                {
                    int res = mvCameraAcq.IMV_SetDoubleFeatureValue("GainRaw", (double)Gain);
                    if (IMVDefine.IMV_OK == res)
                    {
                        success = true;
                        break;
                    }
                }
                return success;
            }
            return true;
        }

        /// <summary>
        /// 获取增益
        /// </summary>
        /// <returns></returns>
        public float GetGain()
        {
            if (!mvCameraAcq.IMV_IsOpen())
                return 0;
            // 获取增益
            double gain = 0;
            int res = mvCameraAcq.IMV_GetDoubleFeatureValue("GainRaw", ref gain);
            if (IMVDefine.IMV_OK != res)
            {
                return 0;
            }
            return (float)gain;
        }

        private void GetStreamThreadProc()
        {
            while (IsGrabbing)
            {
                try
                {
                    Grab();
                    ImageCallbackEvent?.Invoke(Image, TotalTime, ErrorMessage, ID);
                }
                catch (Exception)
                {

                }
                Thread.Sleep(10);
            }
            IsGrabbing = false;
        }

        /// <summary>
        /// 图像是否为Mono格式
        /// </summary>
        /// <param name="enType"></param>
        /// <returns></returns>
        private bool IsMonoPixelFormat(IMVDefine.IMV_EPixelType enType)
        {
            switch (enType)
            {
                case IMVDefine.IMV_EPixelType.gvspPixelMono8:
                case IMVDefine.IMV_EPixelType.gvspPixelMono10:
                case IMVDefine.IMV_EPixelType.gvspPixelMono10Packed:
                case IMVDefine.IMV_EPixelType.gvspPixelMono12:
                case IMVDefine.IMV_EPixelType.gvspPixelMono12Packed:
                    return true;
                default:
                    return false;
            }
        }

        /// <summary>
        /// 图像是否为彩色
        /// </summary>
        /// <param name="enType"></param>
        /// <returns></returns>
        private bool IsColorPixelFormat(IMVDefine.IMV_EPixelType enType)
        {
            switch (enType)
            {
                case IMVDefine.IMV_EPixelType.gvspPixelRGB8:
                case IMVDefine.IMV_EPixelType.gvspPixelBGR8:
                case IMVDefine.IMV_EPixelType.gvspPixelRGBA8:
                case IMVDefine.IMV_EPixelType.gvspPixelBGRA8:
                case IMVDefine.IMV_EPixelType.gvspPixelYUV422_8:
                case IMVDefine.IMV_EPixelType.gvspPixelYUV422_8_UYVY:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGR8:
                case IMVDefine.IMV_EPixelType.gvspPixelBayRG8:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGB8:
                case IMVDefine.IMV_EPixelType.gvspPixelBayBG8:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGB10:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGB10Packed:
                case IMVDefine.IMV_EPixelType.gvspPixelBayBG10:
                case IMVDefine.IMV_EPixelType.gvspPixelBayBG10Packed:
                case IMVDefine.IMV_EPixelType.gvspPixelBayRG10:
                case IMVDefine.IMV_EPixelType.gvspPixelBayRG10Packed:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGR10:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGR10Packed:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGB12:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGB12Packed:
                case IMVDefine.IMV_EPixelType.gvspPixelBayBG12:
                case IMVDefine.IMV_EPixelType.gvspPixelBayBG12Packed:
                case IMVDefine.IMV_EPixelType.gvspPixelBayRG12:
                case IMVDefine.IMV_EPixelType.gvspPixelBayRG12Packed:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGR12:
                case IMVDefine.IMV_EPixelType.gvspPixelBayGR12Packed:
                    return true;
                default:
                    return false;
            }
        }

        /// <summary>
        /// 转换图片
        /// </summary>
        /// <param name="nHeight">高</param>
        /// <param name="nWidth">宽</param>
        /// <param name="pImageBuf">图片数据</param>
        /// <param name="enPixelType">像素格式</param>
        public ICogImage ConvertImage(UInt32 nWidth, UInt32 nHeight, IntPtr pImageBuf, IMVDefine.IMV_EPixelType enPixelType)
        {
            try
            {
                if (enPixelType == IMVDefine.IMV_EPixelType.gvspPixelMono8)
                {
                    CogImage8Root cogImage8Root = new CogImage8Root();
                    cogImage8Root.Initialize((Int32)nWidth, (Int32)nHeight, pImageBuf, (Int32)nWidth, null);

                    CogImage8Grey cogImage8Grey = new CogImage8Grey();
                    cogImage8Grey.SetRoot(cogImage8Root);
                    var image = cogImage8Grey.ScaleImage((int)nWidth, (int)nHeight);
                    System.GC.Collect();
                    return image;
                }
                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_picSize);
                    image1.Initialize((int)nWidth, (int)nHeight, ptr1, (int)nWidth, null);

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

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

                    var image = colorImage.ScaleImage((int)nWidth, (int)nHeight);
                    System.GC.Collect();
                    return image;
                }
            }
            catch (System.Exception)
            {
                return null;
            }
        }

        public static object ByteToStruct(Byte[] bytes, Type type)
        {
            int size = Marshal.SizeOf(type);
            if (size > bytes.Length)
            {
                return null;
            }

            // 分配结构体内存空间
            IntPtr structPtr = Marshal.AllocHGlobal(size);

            // 将byte数组拷贝到分配好的内存空间
            Marshal.Copy(bytes, 0, structPtr, size);

            // 将内存空间转换为目标结构体
            object obj = Marshal.PtrToStructure(structPtr, type);

            // 释放内存空间
            Marshal.FreeHGlobal(structPtr);

            return obj;
        }
        #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);
        }
        #endregion
    }
}