Display_D_HP/TeamAAS-VM/Core/Cameras/CognexCamera.cs

using Cognex.VisionPro;
using MaterialDesignThemes.Wpf;
using Microsoft.Win32;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Diagnostics.Contracts;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP;

namespace TeamAAS_VP.Core.Cameras
{
    public class CognexCamera : 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.Cognex; }

        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; }

        ICogAcqFifo CameraAcq;

        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 CognexCamera(Guid id, int index, string name, string serialNumber, string cameraip, bool isFindByIp)
        {
            ID = id;
            Name = serialNumber;
            Index = index;
            CameraIp = cameraip;
            SerialNumber = serialNumber;
            IsFindByIp = isFindByIp;
            //using (CogFrameGrabbers mFrameGrabbers = new CogFrameGrabbers())//识别已安装的帧抓取器的类//帧抓取器:相机
            //{
            //    foreach (ICogFrameGrabber item in mFrameGrabbers)
            //    {
            //        if (item.SerialNumber == SerialNumber)
            //        {
            //            var videoFormat = item.AvailableVideoFormats[0];

            //            foreach (string format in item.AvailableVideoFormats)
            //            {
            //                if (format == "Generic GigEVision (Mono)")
            //                {
            //                    videoFormat = format;
            //                    break;
            //                }

            //                if (format != "Generic GigEVision (Bayer Color)") continue;
            //                videoFormat = format;
            //                break;
            //            }
            //            CameraAcq = item.CreateAcqFifo(videoFormat, CogAcqFifoPixelFormatConstants.Format8Grey, 0,
            //            true);
            //            //CameraAcq.OwnedExposureParams.Exposure = exposure;
            //            //CameraAcq.OwnedBrightnessParams.Brightness = brightness;
            //            //CameraAcq.OwnedContrastParams.Contrast = contrast;
            //            //
            //            CameraAcq.OwnedTriggerParams.TriggerEnabled = true;
            //            CameraAcq.OwnedTriggerParams.TriggerModel = CogAcqTriggerModelConstants.FreeRun;
            //            IsHaveCamera = true;
            //            break;
            //        }

            //    }
            //}

            IsConnected = false;
        }

        #region 方法

        /// <summary>
        /// 获取设备
        /// </summary>
        /// <returns></returns>
        public static CameraInfo[] GetDevices()
        {
            List<CameraInfo> cameras = new List<CameraInfo>();
            if (!CheckSoftwareInstalled().isInstalled)
            {
                LogHelper.WriteLogInfo("未安装Cognex VisionPro");
                return cameras.ToArray();
            }
            using (CogFrameGrabbers mFrameGrabbers = new CogFrameGrabbers())//识别已安装的帧抓取器的类//帧抓取器:相机
            {
                int i = 0;
                foreach (ICogFrameGrabber item in mFrameGrabbers)
                {
                    string[] bf1 = item.Name.Split(':');
                    string manufacturerName=item.Name;
                    string model = item.Name;
                    CameraType type = CameraType.GIGE;
                    if (bf1.Length==3)
                    {
                        manufacturerName = bf1[1].Trim();
                        model = bf1[2].Trim();
                        if (bf1[0].ToLower().Trim().Contains("gige"))
                        {
                            type = CameraType.GIGE;
                        }
                        else if (bf1[0].ToLower().Trim().Contains("usb"))
                        {
                            type = CameraType.USB;
                        }
                        else
                        {
                            type = CameraType.Unknown;
                        }
                    }
                    if (type== CameraType.GIGE)
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = item.Name,
                            CameraBrand = CameraBrand.Cognex,
                            CameraType = type,
                            ManufacturerName = manufacturerName,
                            Model = model,
                            SerialNumber = item.SerialNumber,
                            CameraIp = item.OwnedGigEAccess.CurrentIPAddress,
                            IsFindByIp=true,
                        });
                    }
                    else
                    {
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = "",
                            CameraBrand = CameraBrand.Cognex,
                            CameraType = type,
                            ManufacturerName = manufacturerName,
                            Model = model,
                            SerialNumber = item.SerialNumber,
                            CameraIp = item.Name,
                        });
                    }
                    i++;
                }
            }
            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 = "Cognex VisionPro";
            string softwareVersion = "90.0.5";
            string[] registryPaths = new[]
            {
                @"SOFTWARE\\Microsoft\\Windows\\CurrentVersion\\Uninstall",
                @"SOFTWARE\\WOW6432Node\\Microsoft\\Windows\\CurrentVersion\\Uninstall"
            };
            foreach (var path in registryPaths)
            {
                using (RegistryKey key = Registry.LocalMachine.OpenSubKey(path))
                {
                    if (key == null) continue;

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

        /// <summary>
        /// 打开相机
        /// </summary>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public bool OpenDevice()
        {
            EnterOperation();
            try
            {
                IsConnected = false;
                if (!IsHaveCamera || CameraAcq==null)
                {
                    using (CogFrameGrabbers mFrameGrabbers = new CogFrameGrabbers())//识别已安装的帧抓取器的类//帧抓取器:相机
                    {
                        foreach (ICogFrameGrabber item in mFrameGrabbers)
                        {
                            string[] bf1 = item.Name.Split(':');
                            CameraType type = CameraType.GIGE;
                            if (bf1.Length == 3)
                            {
                                if (bf1[0].ToLower().Trim().Contains("gige"))
                                {
                                    type = CameraType.GIGE;
                                }
                                else if (bf1[0].ToLower().Trim().Contains("usb"))
                                {
                                    type = CameraType.USB;
                                }
                                else
                                {
                                    type = CameraType.Unknown;
                                }
                            }
                            if (type== CameraType.GIGE)
                            {
                                if (IsFindByIp)
                                {
                                    if (CameraIp== item.OwnedGigEAccess.CurrentIPAddress)
                                    {
                                        var videoFormat = item.AvailableVideoFormats[0];

                                        foreach (string format in item.AvailableVideoFormats)
                                        {
                                            if (format == "Generic GigEVision (Mono)")
                                            {
                                                videoFormat = format;
                                                break;
                                            }

                                            if (format != "Generic GigEVision (Bayer Color)") continue;
                                            videoFormat = format;
                                            break;
                                        }
                                        CameraAcq = item.CreateAcqFifo(videoFormat, CogAcqFifoPixelFormatConstants.Format8Grey, 0,
                                        true);
                                        //CameraAcq.OwnedExposureParams.Exposure = exposure;
                                        //CameraAcq.OwnedBrightnessParams.Brightness = brightness;
                                        //CameraAcq.OwnedContrastParams.Contrast = contrast;
                                        //
                                        CameraAcq.OwnedTriggerParams.TriggerEnabled = true;
                                        CameraAcq.OwnedTriggerParams.TriggerModel = CogAcqTriggerModelConstants.FreeRun;

                                        string manufacturerName = item.Name;
                                        string model = item.Name;
                                        manufacturerName = bf1[1].Trim();
                                        model = bf1[2].Trim();
                                        ManufacturerName = manufacturerName;
                                        ModelName = model;
                                        CameraIp = item.OwnedGigEAccess.CurrentIPAddress;
                                        IsHaveCamera = true;
                                        break;
                                    }
                                }
                                else
                                {
                                    if (item.SerialNumber == SerialNumber)
                                    {
                                        var videoFormat = item.AvailableVideoFormats[0];

                                        foreach (string format in item.AvailableVideoFormats)
                                        {
                                            if (format == "Generic GigEVision (Mono)")
                                            {
                                                videoFormat = format;
                                                break;
                                            }

                                            if (format != "Generic GigEVision (Bayer Color)") continue;
                                            videoFormat = format;
                                            break;
                                        }
                                        CameraAcq = item.CreateAcqFifo(videoFormat, CogAcqFifoPixelFormatConstants.Format8Grey, 0,
                                        true);
                                        //CameraAcq.OwnedExposureParams.Exposure = exposure;
                                        //CameraAcq.OwnedBrightnessParams.Brightness = brightness;
                                        //CameraAcq.OwnedContrastParams.Contrast = contrast;
                                        //
                                        CameraAcq.OwnedTriggerParams.TriggerEnabled = true;
                                        CameraAcq.OwnedTriggerParams.TriggerModel = CogAcqTriggerModelConstants.FreeRun;

                                        string manufacturerName = item.Name;
                                        string model = item.Name;
                                        manufacturerName = bf1[1].Trim();
                                        model = bf1[2].Trim();
                                        ManufacturerName = manufacturerName;
                                        ModelName = model;
                                        CameraIp = item.OwnedGigEAccess.CurrentIPAddress;
                                        IsHaveCamera = true;
                                        break;
                                    }
                                }
                            }
                            else
                            {
                                if (item.SerialNumber == SerialNumber)
                                {
                                    var videoFormat = item.AvailableVideoFormats[0];

                                    foreach (string format in item.AvailableVideoFormats)
                                    {
                                        if (format == "Generic GigEVision (Mono)")
                                        {
                                            videoFormat = format;
                                            break;
                                        }

                                        if (format != "Generic GigEVision (Bayer Color)") continue;
                                        videoFormat = format;
                                        break;
                                    }
                                    CameraAcq = item.CreateAcqFifo(videoFormat, CogAcqFifoPixelFormatConstants.Format8Grey, 0,
                                    true);
                                    //CameraAcq.OwnedExposureParams.Exposure = exposure;
                                    //CameraAcq.OwnedBrightnessParams.Brightness = brightness;
                                    //CameraAcq.OwnedContrastParams.Contrast = contrast;
                                    //
                                    CameraAcq.OwnedTriggerParams.TriggerEnabled = true;
                                    CameraAcq.OwnedTriggerParams.TriggerModel = CogAcqTriggerModelConstants.FreeRun;

                                    string manufacturerName = item.Name;
                                    string model = item.Name;
                                    manufacturerName = bf1[1].Trim();
                                    model = bf1[2].Trim();
                                    ManufacturerName = manufacturerName;
                                    ModelName = model;
                                    IsHaveCamera = true;
                                    break;
                                }
                            }
                        }
                    }
                    if (!IsHaveCamera)
                    {
                        return false;
                    }
                }
                if (!IsConnected)
                {
                    CameraConnectChangedEvent?.Invoke(ID, true);
                }

                IsConnected = true;
                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 (CameraAcq!=null)
                {
                    CameraAcq = null;

                }
                IsConnected = false;
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 采集图像
        /// </summary>
        /// <returns></returns>
        public ICogImage Grab(bool isRealtime = true)
        {
            EnterOperation();
            try
            {
                Stopwatch sw = Stopwatch.StartNew();
                for (int i = 0; i < 5; i++)
                {
                    try
                    {
                        if (CameraAcq == null)
                        {
                            OpenDevice();
                        }

                        CameraAcq.Flush();
                        Image= CameraAcq.CompleteAcquireEx(new CogAcqInfo());
                        ImageWidth = (uint)Image.Width;
                        ImageHeight = (uint)Image.Height;
                        TotalTime = sw.Elapsed;
                        ErrorMessage = "";
                        return Image;
                    }
                    catch (Exception ex)
                    {
                        ErrorMessage = ex.Message;
                        CloseDevice();
                        Thread.Sleep(100);
                        OpenDevice();
                    }
                }
                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
            {
                Stopwatch sw = Stopwatch.StartNew();
                for (int i = 0; i < 5; i++)
                {
                    try
                    {
                        if (CameraAcq == null)
                        {
                            OpenDevice();
                        }

                        CameraAcq.Flush();
                        Image = CameraAcq.CompleteAcquireEx(new CogAcqInfo());
                        ImageWidth = (uint)Image.Width;
                        ImageHeight = (uint)Image.Height;
                        TotalTime = sw.Elapsed;
                        ErrorMessage = "";
                        return Image;
                    }
                    catch (Exception ex)
                    {
                        ErrorMessage = ex.Message;
                        CloseDevice();
                        Thread.Sleep(100);
                        OpenDevice();
                    }
                }
                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)
        {
            EnterOperation();
            try
            {
                if (CameraAcq==null)
                    return false;
                CameraAcq.OwnedExposureParams.Exposure = (double)ExposureTime;
                return true;
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 获取曝光时间
        /// </summary>
        /// <returns></returns>
        public float GetExposureTime()
        {
            EnterOperation();
            try
            {
                if (CameraAcq == null)
                    return 0;
                return (float)CameraAcq.OwnedExposureParams.Exposure;
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 设置增益
        /// </summary>
        /// <param name="Gain"></param>
        /// <returns></returns>
        public bool SetGain(float Gain)
        {
            EnterOperation();
            try
            {
                if (CameraAcq==null)
                    return false;
                // 设置增益 
                CameraAcq.OwnedBrightnessParams.Brightness = (double)Gain;
                return true;
            }
            finally
            {
                ExitOperation();
            }
        }

        /// <summary>
        /// 获取增益
        /// </summary>
        /// <returns></returns>
        public float GetGain()
        {
            EnterOperation();
            try
            {
                if (CameraAcq == null)
                    return 0;
                return (float)(CameraAcq.OwnedBrightnessParams.Brightness);
            }
            finally
            {
                ExitOperation();
            }
        }

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

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

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

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        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
    }
}