Display_D_HP/Team.FFFeederService/VibrationFrequencyDetector .cs

using Newtonsoft.Json.Linq;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace Team.FFFeederService
{
    public class VibrationFrequencyDetector : IDisposable
    {
        /// <summary>
        /// C++ DLL结构体对应C#版本
        /// </summary>
        [StructLayout(LayoutKind.Sequential)]
        public struct ST_APAFedColC
        {
            public int inFedAct;

            public UInt16 u16VoiMot0;
            public UInt16 u16VoiMot1;
            public UInt16 u16VoiMot2;
            public UInt16 u16VoiMot3;
            public UInt16 u16VoiMot4;
            public UInt16 u16VoiMot5;
            public UInt16 u16VoiMot6;
            public UInt16 u16VoiMot7;
            public UInt16 u16VoiMot8;
            public UInt16 u16VoiMot9;
            public UInt16 u16VoiMotA;
            public UInt16 u16VoiMotB;
            public UInt16 u16VoiMotC;
            public UInt16 u16VoiMotD;
            public UInt16 u16VoiMotE;
            public UInt16 u16VoiMotF;

            public UInt16 u16DuartTim;
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct ST_APAMateInf
        {
            public float fMatePosX;
            public float fMatePosY;
            public int Sta;
        }

        [StructLayout(LayoutKind.Sequential)]
        public struct ST_APAParamRe
        {
            public int Sta;
            public UInt16 u16MinAmp;
            public UInt16 u16MaxAmp;
            public UInt16 u16MinFre;
            public UInt16 u16MaxFre;
            public UInt16 u16Tim;
        }

        // 委托定义 - 对应C++回调函数
        public delegate int APAFedColCallback(ST_APAFedColC stFecColC);
        public delegate ST_APAMateInf APACoordReCallback();
        public delegate int APALogicAdjEndCallback(int enAdjSta);

        // 存储回调引用以防止垃圾回收
        /// <summary>
        /// Feeder动作执行结果回调
        /// </summary>
        private APAFedColCallback _fedColCallback;
        private APACoordReCallback _coordReCallback;
        private APALogicAdjEndCallback _logicAdjEndCallback;

        // DLL导入
        private const string DllName = "AutoParaADJ.dll";

        [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
        private static extern int APATask();

        [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
        private static extern int APAInit(
            APACoordReCallback VisCoor_cb,
            APAFedColCallback FedCol_cb,
            APALogicAdjEndCallback LogEnd_cb,
            int FedType,
            int enAct);

        [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
        private static extern int APALogicStaCol(int Sta);

        [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
        private static extern int APALogicParamSet(
            ushort u16MinAmp,
            ushort u16MaxAmp,
            ushort u16MinFre,
            ushort u16MaxFre,
            ushort u16Tim);

        [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
        private static extern ST_APAParamRe APALogicParamRe();

        // 事件 - 用于向C#代码传递回调数据
        /// <summary>
        /// 设置振动参数并执行动作后的回调事件
        /// </summary>
        public event Action<ST_APAFedColC> OnExecuteFeedervibration;
        /// <summary>
        /// 相机拍照获取物料位置回调事件
        /// </summary>
        /// <returns></returns>
        public delegate Tuple<bool, float, float> ExecutePhotoDelegate();
        public event ExecutePhotoDelegate OnExecutePhoto;

        /// <summary>
        /// 逻辑调整结束回调事件,0 :失败 1：运行中 3：完成调频 6：验证结束
        /// </summary>
        public event Action<int> OnExecuteResult;

        /// <summary>
        /// 初始化振动检测器
        /// </summary>
        /// <param name="fedType">Feeder类型</param>
        /// <param name="enAct">动作编号</param>
        /// <returns>初始化结果</returns>
        public bool Initialize(int fedType, int enAct)
        {
            // 创建并保存回调委托实例
            _coordReCallback = onExecutePhoto;

            _fedColCallback = (ST_APAFedColC stFecColC) =>
            {
                OnExecuteFeedervibration?.Invoke(stFecColC);
                return 1; // 返回成功
            };

            _logicAdjEndCallback = (int enAdjSta) =>
            {
                OnExecuteResult?.Invoke(enAdjSta);
                return 1; // 返回成功
            };

            // 调用DLL初始化函数
            int result = APAInit(_coordReCallback, _fedColCallback, _logicAdjEndCallback, fedType, enAct);
            return result == 1; // 假设0表示成功
        }

        /// <summary>
        /// 启动振动检测任务
        /// </summary>
        /// <returns>任务启动结果</returns>
        public bool StartTask()
        {
            int result = APATask();
            return result == 0; // 假设0表示成功
        }

        /// <summary>
        /// 设置逻辑参数
        /// </summary>
        /// <param name="minAmplitude">最小振幅</param>
        /// <param name="maxAmplitude">最大振幅</param>
        /// <param name="minFrequency">最小频率</param>
        /// <param name="maxFrequency">最大频率</param>
        /// <returns>设置结果</returns>
        public bool SetLogicParameters(ushort minAmplitude, ushort maxAmplitude,
                                      ushort minFrequency, ushort maxFrequency, ushort durationValue)
        {
            int result = APALogicParamSet(minAmplitude, maxAmplitude, minFrequency, maxFrequency, durationValue);
            return result == 0; // 假设0表示成功
        }

        /// <summary>
        /// 获取逻辑参数
        /// </summary>
        /// <param name="minAmplitude">最小振幅</param>
        /// <param name="maxAmplitude">最大振幅</param>
        /// <param name="minFrequency">最小频率</param>
        /// <param name="maxFrequency">最大频率</param>
        /// <returns>获取结果</returns>
        public ST_APAParamRe GetLogicParameters()
        {
            ST_APAParamRe result = APALogicParamRe();
            return result;
        }

        /// <summary>
        /// 设置逻辑状态,0:停止 1 ：启动 2：验证 3：结束
        /// </summary>
        /// <param name="state">状态值</param>
        /// <returns>设置结果</returns>
        public bool SetLogicState(int state)
        {
            int result = APALogicStaCol(state);
            return result == 0; // 假设0表示成功
        }

        /// <summary>
        /// 释放资源
        /// </summary>
        public void Dispose()
        {
            // 清理回调引用
            _fedColCallback = null;
            _coordReCallback = null;
            _logicAdjEndCallback = null;

            // 其他清理工作...
        }

        private ST_APAMateInf onExecutePhoto()
        {
            var res = OnExecutePhoto?.Invoke();

            return new ST_APAMateInf
            {
                fMatePosX = res.Item2,
                fMatePosY = res.Item3,
                Sta = res.Item1 ? 1 : 0
            };
        }
    }
}