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

using Cognex.VisionPro;
using GxIAPINET;
using MathNet.Numerics.LinearAlgebra;
using Microsoft.Win32;
using NPOI.Util;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Imaging;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using TeamAAS_VP.Core.GalaxyMethod;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;

namespace TeamAAS_VP.Core.Cameras
{
    public class GalaxyCamera : CameraBase, ICamera, INotifyPropertyChanged
    {
        #region 字段
        private Thread m_hReceiveThread;
        static IGXFactory m_objIGXFactory = null; //Factory对像
        IGXDevice m_objIGXDevice = null; //设备对像
        IGXStream m_objIGXStream = null; //流对像
        static List<IGXDeviceInfo> m_listIGXDeviceInfo = new List<IGXDeviceInfo>(); //设备信息列表
        IGXFeatureControl m_objIGXFeatureControl = null; //远端设备属性控制器对像
        IGXFeatureControl m_objIGXStreamFeatureControl = null; //流层属性控制器对象
        IntPtr m_pOutBuffer = IntPtr.Zero;  //图像质量提升或图像格式转换输出Buffer
        IntPtr m_pBitmapInfo = IntPtr.Zero;
        bool m_bIsColor = false;               ///<是否支持彩色相机
        byte[] m_byMonoBuffer = null;                ///<黑白相机buffer
        byte[] m_byColorBuffer = null;                ///<彩色相机buffer
        int m_nWidth = 0;                   ///<图像宽度
        int m_nHeight = 0;                   ///<图像高度
        IGXImageFormatConvert m_objImageFormatConvert = null;   ///<IGXImageFormatConvert对象，仅供图像格式转换使用
        CWin32Bitmaps.BITMAPINFO m_objBitmapInfo = new CWin32Bitmaps.BITMAPINFO();
        #endregion

        #region 属性
        /// <summary>
        /// 是否是3D相机
        /// </summary>
        public bool Is3D { get; } = false;
        public string Name { get; private set; }

        public Guid ID { get; private set; }
        public int Index { get; set; }

        public CameraBrand CameraBrand { get => CameraBrand.Galaxy; }
        public bool IsFindByIp { get; private set; }
        public string ManufacturerName { 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; }

        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; }

        public TimeSpan TotalTime { get; private set; }

        public string ErrorMessage { get; private set; }

        public uint ImageWidth { get; private set; }

        public uint ImageHeight { 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 GalaxyCamera(Guid id, int index, string name, string serialNumber, string cameraip, bool isFindByIp)
        {
            ID = id;
            Name = serialNumber;
            Index = index;
            CameraIp = cameraip;
            SerialNumber = serialNumber;
            IsFindByIp = isFindByIp;
            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 = CameraType.GIGE;
                            break;
                        }
                    }
                    else
                    {
                        if (device.SerialNumber == serialNumber)
                        {
                            IsHaveCamera = true;
                            ManufacturerName = device.ManufacturerName;
                            ModelName = device.Model;
                            SerialNumber = device.SerialNumber;
                            CameraType = CameraType.GIGE;
                            break;
                        }
                    }
                }
                else
                {
                    if (device.SerialNumber == serialNumber)
                    {
                        IsHaveCamera = true;
                        ManufacturerName = device.ManufacturerName;
                        ModelName = device.Model;
                        SerialNumber = device.SerialNumber;
                        CameraType = CameraType.GIGE;
                        break;
                    }
                }
            }
            IsConnected = false;
        }

        #region 方法
        /// <summary>
        /// 获取设备
        /// </summary>
        /// <returns></returns>
        public static CameraInfo[] GetDevices()
        {
            m_objIGXFactory = IGXFactory.GetInstance();
            m_objIGXFactory.Init();//相机初始化
            List<CameraInfo> cameras = new List<CameraInfo>();
            if (!CheckSoftwareInstalled().isInstalled)
            {
                LogHelper.WriteLogInfo("未安装Galaxy Viewer");
                return cameras.ToArray();
            }
            m_listIGXDeviceInfo.Clear();
            if (null != m_objIGXFactory)
            {
                m_objIGXFactory.UpdateAllDeviceList(200, m_listIGXDeviceInfo);
            }
            // 判断当前连接设备个数
            if (m_listIGXDeviceInfo.Count <= 0)
            {
                LogHelper.WriteLogInfo("未检测到设备,请确保设备正常连接然后重启程序!");
                return cameras.ToArray();
            }
            for (int i = 0; i < m_listIGXDeviceInfo.Count; i++)
            {
                var deviceType = m_listIGXDeviceInfo[i].GetDeviceClass();
                if (deviceType == GX_DEVICE_CLASS_LIST.GX_DEVICE_CLASS_GEV)
                {
                    cameras.Add(new Models.CameraInfo()
                    {
                        CameraNo = i + 1,
                        CameraName = m_listIGXDeviceInfo[i].GetDisplayName(),
                        CameraBrand = CameraBrand.Galaxy,
                        CameraType = CameraType.GIGE,
                        ManufacturerName = m_listIGXDeviceInfo[i].GetVendorName(),
                        Model = m_listIGXDeviceInfo[i].GetModelName(),
                        SerialNumber = m_listIGXDeviceInfo[i].GetSN(),
                        CameraIp = m_listIGXDeviceInfo[i].GetIP(),
                        IsFindByIp=true,
                    });
                }
                else if (deviceType == GX_DEVICE_CLASS_LIST.GX_DEVICE_CLASS_USB2 || deviceType == GX_DEVICE_CLASS_LIST.GX_DEVICE_CLASS_U3V)
                {
                    cameras.Add(new Models.CameraInfo()
                    {
                        CameraNo = i + 1,
                        CameraName = m_listIGXDeviceInfo[i].GetDisplayName(),
                        CameraBrand = CameraBrand.Galaxy,
                        CameraType = CameraType.USB,
                        ManufacturerName = m_listIGXDeviceInfo[i].GetVendorName(),
                        Model = m_listIGXDeviceInfo[i].GetModelName(),
                        SerialNumber = m_listIGXDeviceInfo[i].GetSN(),
                        CameraIp = "",
                    });
                }
                else if (deviceType == GX_DEVICE_CLASS_LIST.GX_DEVICE_CLASS_UNKNOWN)
                {
                    cameras.Add(new Models.CameraInfo()
                    {
                        CameraNo = i + 1,
                        CameraName = m_listIGXDeviceInfo[i].GetDisplayName(),
                        CameraBrand = CameraBrand.Galaxy,
                        CameraType = CameraType.Unknown,
                        ManufacturerName = m_listIGXDeviceInfo[i].GetVendorName(),
                        Model = m_listIGXDeviceInfo[i].GetModelName(),
                        SerialNumber = m_listIGXDeviceInfo[i].GetSN(),
                        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 = "Galaxy";
            string softwareVersion = "2.4.2504";
            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("DisplayName")?.ToString();
                                var match = Regex.Match(version, @"\d+(?:\.\d+)+");
                                if (match.Success)
                                {
                                    version = match.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, "");
        }
        public void CloseDevice()
        {
            EnterOperation();
            try
            {
                try
                {
                    if (null != m_objIGXFeatureControl)
                    {
                        m_objIGXFeatureControl.GetCommandFeature("AcquisitionStop").Execute();
                        m_objIGXFeatureControl = null;
                    }
                    //停止流通道、注销采集回调和关闭流
                    if (null != m_objIGXStream)
                    {
                        m_objIGXStream.StopGrab();
                        //注销采集回调函数
                        m_objIGXStream.UnregisterCaptureCallback();
                        m_objIGXStream.Close();
                        m_objIGXStream = null;
                        m_objIGXStreamFeatureControl = null;
                    }
                    //关闭设备
                    if (null != m_objIGXDevice)
                    {
                        m_objIGXDevice.Close();
                        m_objIGXDevice = null;
                    }

                    //反初始化
                    if (null != m_objIGXFactory)
                    {
                        m_objIGXFactory.Uninit();
                    }
                }
                catch (Exception)
                {
                }

                ReleaseBuffer();
            }
            finally
            {
                ExitOperation();
            }
        }
        public float GetExposureTime()
        {
            EnterOperation();
            try
            {
                if (null != m_objIGXFeatureControl)
                {
                    double dCurShuter = m_objIGXFeatureControl.GetFloatFeature("ExposureTime").GetValue();
                    return (float)dCurShuter;
                }
                else
                { return 0; }
            }
            finally
            {
                ExitOperation();
            }
        }
        public float GetGain()
        {
            EnterOperation();
            try
            {
                if (null != m_objIGXFeatureControl)
                {
                    double dCurGain = m_objIGXFeatureControl.GetFloatFeature("Gain").GetValue();
                    return (float)dCurGain;
                }
                else
                { return 0; }
            }
            finally
            {
                ExitOperation();
            }
        }
        public ICogImage Grab(bool isRealtime = true)
        {
            EnterOperation();
            try
            {
                IImageData objIImageData = null;
                Stopwatch sw = Stopwatch.StartNew();
                for (int j = 0; j < 5; j++)
                {
                    try
                    {
                        if (null == m_objIGXDevice)
                        {
                            OpenDevice();
                        }
                        //开启采集流通道
                        if (null != m_objIGXStream)
                        {
                            m_objIGXStream.StartGrab();
                        }
                        //发送开采命令
                        if (null != m_objIGXFeatureControl)
                        {
                            m_objIGXFeatureControl.GetCommandFeature("AcquisitionStart").Execute();
                        }
                        objIImageData = m_objIGXStream.GetImageNoThrow(500);

                        //===================================
                        GX_VALID_BIT_LIST emValidBits = GX_VALID_BIT_LIST.GX_BIT_0_7;
                        if (null != objIImageData)
                        {
                            emValidBits = GetBestValudBit(objIImageData.GetPixelFormat());
                            if (GX_FRAME_STATUS_LIST.GX_FRAME_STATUS_SUCCESS == objIImageData.GetStatus())
                            {
                                if (m_bIsColor)
                                {
                                    IntPtr pRGB24Buffer = IntPtr.Zero;
                                    if (objIImageData.GetPixelFormat() == GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BGR8)
                                    {
                                        byte[] byColorBufferTmp = new byte[__GetStride(m_nWidth, m_bIsColor) * m_nHeight];
                                        Marshal.Copy(objIImageData.GetBuffer(), byColorBufferTmp, 0, __GetStride(m_nWidth, m_bIsColor) * m_nHeight);
                                        pRGB24Buffer = objIImageData.GetBuffer();
                                        //BGR8格式需要翻转数据后显示
                                        for (int i = 0; i < m_nHeight; i++)
                                        {
                                            Buffer.BlockCopy(byColorBufferTmp, (m_nHeight - i - 1) * m_nWidth * 3, m_byColorBuffer, i * m_nWidth * 3, m_nWidth * 3);
                                        }
                                    }
                                    else
                                    {
                                        // 设置目标像素格式
                                        m_objImageFormatConvert.SetDstFormat(GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BGR8);

                                        // 获取目标像素格式Buffer大小
                                        UInt64 i64DstBufferize = m_objImageFormatConvert.GetBufferSizeForConversion(objIImageData);

                                        // 设置目标有效位数
                                        m_objImageFormatConvert.SetValidBits(emValidBits);

                                        // 进行图像格式转换
                                        m_objImageFormatConvert.Convert(objIImageData, m_pOutBuffer, i64DstBufferize, true);
                                        Marshal.Copy(m_pOutBuffer, m_byColorBuffer, 0, __GetStride(m_nWidth, m_bIsColor) * m_nHeight);
                                        pRGB24Buffer = m_pOutBuffer;
                                    }
                                    Image = ConvertImage((uint)m_nWidth, (uint)m_nHeight, pRGB24Buffer, GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BGR8);
                                }
                                else
                                {
                                    IntPtr pRaw8Buffer = IntPtr.Zero;
                                    if (__IsPixelFormat8(objIImageData.GetPixelFormat()))
                                    {
                                        byte[] byMonoBufferTmp = new byte[__GetStride(m_nWidth, m_bIsColor) * m_nHeight];
                                        Marshal.Copy(objIImageData.GetBuffer(), byMonoBufferTmp, 0, __GetStride(m_nWidth, m_bIsColor) * m_nHeight);
                                        pRaw8Buffer = objIImageData.GetBuffer();
                                        // 黑白相机需要翻转数据后显示
                                        for (int i = 0; i < m_nHeight; i++)
                                        {
                                            Buffer.BlockCopy(byMonoBufferTmp, (m_nHeight - i - 1) * m_nWidth, m_byMonoBuffer, i * m_nWidth, m_nWidth);
                                        }
                                    }
                                    else
                                    {
                                        // 设置目标像素格式
                                        m_objImageFormatConvert.SetDstFormat(GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO8);

                                        // 获取目标像素格式Buffer大小
                                        UInt64 i64DstBufferize = m_objImageFormatConvert.GetBufferSizeForConversion(objIImageData);

                                        // 设置目标有效位数
                                        m_objImageFormatConvert.SetValidBits(emValidBits);

                                        // 进行图像格式转换
                                        m_objImageFormatConvert.Convert(objIImageData, m_pOutBuffer, i64DstBufferize, true);
                                        Marshal.Copy(m_pOutBuffer, m_byMonoBuffer, 0, __GetStride(m_nWidth, m_bIsColor) * m_nHeight);
                                        pRaw8Buffer = m_pOutBuffer;
                                    }
                                    Image = ConvertImage((uint)m_nWidth, (uint)m_nHeight, pRaw8Buffer, GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO8);
                                }
                            }
                        }
                        if (Image != null)
                        {
                            ErrorMessage = "";
                            TotalTime = sw.Elapsed;
                            return Image;
                        }
                    }
                    catch (Exception ex)
                    {
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = ex.Message;
                    }
                    finally
                    {
                        if (null != objIImageData)
                        {
                            //用完之后释放资源
                            objIImageData.Destroy();
                        }
                    }
                }
                if (IsConnected)
                {
                    IsConnected = false;
                    CameraConnectChangedEvent?.Invoke(ID, false);
                }
                return null;
            }
            finally
            {
                ExitOperation();
            }
        }

        public ICogImage Grab2(bool isRealtime = true)
        {
            EnterOperation();
            try
            {
                IImageData objIImageData = null;
                Stopwatch sw = Stopwatch.StartNew();
                for (int j = 0; j < 5; j++)
                {
                    try
                    {
                        if (null == m_objIGXDevice)
                        {
                            OpenDevice();
                        }
                        //开启采集流通道
                        if (null != m_objIGXStream)
                        {
                            m_objIGXStream.StartGrab();
                        }
                        //发送开采命令
                        if (null != m_objIGXFeatureControl)
                        {
                            m_objIGXFeatureControl.GetCommandFeature("AcquisitionStart").Execute();
                        }
                        objIImageData = m_objIGXStream.GetImageNoThrow(500);

                        //===================================
                        GX_VALID_BIT_LIST emValidBits = GX_VALID_BIT_LIST.GX_BIT_0_7;
                        if (null != objIImageData)
                        {
                            emValidBits = GetBestValudBit(objIImageData.GetPixelFormat());
                            if (GX_FRAME_STATUS_LIST.GX_FRAME_STATUS_SUCCESS == objIImageData.GetStatus())
                            {
                                if (m_bIsColor)
                                {
                                    IntPtr pRGB24Buffer = IntPtr.Zero;
                                    if (objIImageData.GetPixelFormat() == GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BGR8)
                                    {
                                        byte[] byColorBufferTmp = new byte[__GetStride(m_nWidth, m_bIsColor) * m_nHeight];
                                        Marshal.Copy(objIImageData.GetBuffer(), byColorBufferTmp, 0, __GetStride(m_nWidth, m_bIsColor) * m_nHeight);
                                        pRGB24Buffer = objIImageData.GetBuffer();
                                        //BGR8格式需要翻转数据后显示
                                        for (int i = 0; i < m_nHeight; i++)
                                        {
                                            Buffer.BlockCopy(byColorBufferTmp, (m_nHeight - i - 1) * m_nWidth * 3, m_byColorBuffer, i * m_nWidth * 3, m_nWidth * 3);
                                        }
                                    }
                                    else
                                    {
                                        // 设置目标像素格式
                                        m_objImageFormatConvert.SetDstFormat(GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BGR8);

                                        // 获取目标像素格式Buffer大小
                                        UInt64 i64DstBufferize = m_objImageFormatConvert.GetBufferSizeForConversion(objIImageData);

                                        // 设置目标有效位数
                                        m_objImageFormatConvert.SetValidBits(emValidBits);

                                        // 进行图像格式转换
                                        m_objImageFormatConvert.Convert(objIImageData, m_pOutBuffer, i64DstBufferize, true);
                                        Marshal.Copy(m_pOutBuffer, m_byColorBuffer, 0, __GetStride(m_nWidth, m_bIsColor) * m_nHeight);
                                        pRGB24Buffer = m_pOutBuffer;
                                    }
                                    Image = ConvertImage((uint)m_nWidth, (uint)m_nHeight, pRGB24Buffer, GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BGR8);
                                }
                                else
                                {
                                    IntPtr pRaw8Buffer = IntPtr.Zero;
                                    if (__IsPixelFormat8(objIImageData.GetPixelFormat()))
                                    {
                                        byte[] byMonoBufferTmp = new byte[__GetStride(m_nWidth, m_bIsColor) * m_nHeight];
                                        Marshal.Copy(objIImageData.GetBuffer(), byMonoBufferTmp, 0, __GetStride(m_nWidth, m_bIsColor) * m_nHeight);
                                        pRaw8Buffer = objIImageData.GetBuffer();
                                        // 黑白相机需要翻转数据后显示
                                        for (int i = 0; i < m_nHeight; i++)
                                        {
                                            Buffer.BlockCopy(byMonoBufferTmp, (m_nHeight - i - 1) * m_nWidth, m_byMonoBuffer, i * m_nWidth, m_nWidth);
                                        }
                                    }
                                    else
                                    {
                                        // 设置目标像素格式
                                        m_objImageFormatConvert.SetDstFormat(GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO8);

                                        // 获取目标像素格式Buffer大小
                                        UInt64 i64DstBufferize = m_objImageFormatConvert.GetBufferSizeForConversion(objIImageData);

                                        // 设置目标有效位数
                                        m_objImageFormatConvert.SetValidBits(emValidBits);

                                        // 进行图像格式转换
                                        m_objImageFormatConvert.Convert(objIImageData, m_pOutBuffer, i64DstBufferize, true);
                                        Marshal.Copy(m_pOutBuffer, m_byMonoBuffer, 0, __GetStride(m_nWidth, m_bIsColor) * m_nHeight);
                                        pRaw8Buffer = m_pOutBuffer;
                                    }
                                    Image = ConvertImage((uint)m_nWidth, (uint)m_nHeight, pRaw8Buffer, GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO8);
                                }
                            }
                        }
                        if (Image != null)
                        {
                            ErrorMessage = "";
                            TotalTime = sw.Elapsed;
                            return Image;
                        }
                    }
                    catch (Exception ex)
                    {
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = ex.Message;
                    }
                    finally
                    {
                        if (null != objIImageData)
                        {
                            //用完之后释放资源
                            objIImageData.Destroy();
                        }
                    }
                }
                if (IsConnected)
                {
                    IsConnected = false;
                    CameraConnectChangedEvent?.Invoke(ID, false);
                }
                return null;
            }
            finally
            {
                ExitOperation();
            }
        }
        public bool OpenDevice()
        {
            EnterOperation();
            try
            {
                IsConnected = false;

                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 = CameraType.GIGE;
                                break;
                            }
                        }
                        else
                        {
                            if (device.SerialNumber == SerialNumber)
                            {
                                IsHaveCamera = true;
                                ManufacturerName = device.ManufacturerName;
                                ModelName = device.Model;
                                SerialNumber = device.SerialNumber;
                                CameraType = CameraType.GIGE;
                                break;
                            }
                        }
                    }
                    else
                    {
                        if (device.SerialNumber == SerialNumber)
                        {
                            IsHaveCamera = true;
                            ManufacturerName = device.ManufacturerName;
                            ModelName = device.Model;
                            SerialNumber = device.SerialNumber;
                            CameraType = CameraType.GIGE;
                            break;
                        }
                    }
                }
                if (!IsHaveCamera)
                {
                    //throw new Exception("没有发现相机");
                    return false;
                }

                // 如果设备已经打开则关闭，保证相机在初始化出错情况下能再次打开
                if (null != m_objIGXDevice)
                {
                    m_objIGXDevice.Close();
                    m_objIGXDevice = null;
                }
                //打开设备
                m_objIGXDevice = m_objIGXFactory.OpenDeviceBySN(SerialNumber, GxIAPINET.GX_ACCESS_MODE.GX_ACCESS_EXCLUSIVE);
                m_objIGXFeatureControl = m_objIGXDevice.GetRemoteFeatureControl();
                //打开流
                if (null != m_objIGXDevice)
                {
                    m_objIGXStream = m_objIGXDevice.OpenStream(0);
                    m_objIGXStreamFeatureControl = m_objIGXStream.GetFeatureControl();
                }
                // 建议用户在打开网络相机之后，根据当前网络环境设置相机的流通道包长值，
                // 以提高网络相机的采集性能,设置方法参考以下代码。
                GX_DEVICE_CLASS_LIST objDeviceClass = m_objIGXDevice.GetDeviceInfo().GetDeviceClass();
                if (GX_DEVICE_CLASS_LIST.GX_DEVICE_CLASS_GEV == objDeviceClass)
                {
                    // 判断设备是否支持流通道数据包功能
                    if (true == m_objIGXFeatureControl.IsImplemented("GevSCPSPacketSize"))
                    {
                        // 获取当前网络环境的最优包长值
                        uint nPacketSize = m_objIGXStream.GetOptimalPacketSize();
                        // 将最优包长值设置为当前设备的流通道包长值
                        m_objIGXFeatureControl.GetIntFeature("GevSCPSPacketSize").SetValue(nPacketSize);
                    }
                }
                //初始化相机参数
                if (null != m_objIGXFeatureControl)
                {
                    //设置采集模式连续采集
                    m_objIGXFeatureControl.GetEnumFeature("AcquisitionMode").SetValue("Continuous");
                    //设置触发模式为关
                    m_objIGXFeatureControl.GetEnumFeature("TriggerMode").SetValue("Off");
                }

                ReleaseBuffer();

                GxBitmap();

                if (null != m_objIGXStreamFeatureControl)
                {
                    try
                    {
                        //设置流层Buffer处理模式为OldestFirst
                        m_objIGXStreamFeatureControl.GetEnumFeature("StreamBufferHandlingMode").SetValue("OldestFirst");
                    }
                    catch (Exception)
                    {
                    }
                }

                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();
            });
        }

        public bool SetExposureTime(float ExposureTime)
        {
            EnterOperation();
            try
            {
                if (null == m_objIGXFeatureControl)
                    return false;
                if (GetExposureTime() != ExposureTime)
                {
                    bool success = false;
                    for (int i = 0; i < 5; i++)
                    {
                        m_objIGXFeatureControl.GetFloatFeature("ExposureTime").SetValue(ExposureTime);
                        success = true;
                    }
                    return success;
                }
                return true;
            }
            finally
            {
                ExitOperation();
            }
        }
        public bool SetGain(float Gain)
        {
            EnterOperation();
            try
            {
                if (null == m_objIGXFeatureControl)
                    return false;
                if (GetGain() != Gain)
                {
                    bool success = false;
                    for (int i = 0; i < 5; i++)
                    {
                        m_objIGXFeatureControl.GetFloatFeature("Gain").SetValue(Gain);
                        success = true;
                    }
                    return success;
                }
                return true;
            }
            finally
            {
                ExitOperation();
            }
        }
        public void StartGrabbing()
        {
            lock (_stateLock)
            {
                if (IsGrabbing)
                    return;
                IsGrabbing = true;
            }
            m_hReceiveThread = new Thread(GetStreamThreadProc) { IsBackground = true };
            m_hReceiveThread.Start();
        }
        public void StopGrabbing()
        {
            try
            {
                lock (_stateLock)
                {
                    IsGrabbing = false;
                }
                Thread.Sleep(1000);
                if (m_hReceiveThread != null)
                {
                    m_hReceiveThread.Abort();
                    m_hReceiveThread = null;
                }
            }
            catch (Exception)
            {

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

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

        #region method
        /// <summary>
        /// 初始化设备对象
        /// </summary>
        /// <param name="objIGXDevice">设备对象</param>
        public void GxBitmap()
        {
            // 初始化图像格式转换对象
            m_objImageFormatConvert = m_objIGXFactory.CreateImageFormatConvert();
            if (null != m_objIGXDevice)
            {
                m_nWidth = (int)m_objIGXDevice.GetRemoteFeatureControl().GetIntFeature("Width").GetValue();
                m_nHeight = (int)m_objIGXDevice.GetRemoteFeatureControl().GetIntFeature("Height").GetValue();

                ImageWidth = (uint)m_nWidth;
                ImageHeight = (uint)m_nHeight;
                //获取是否为彩色相机
                IsSupportColor(ref m_bIsColor);
            }

            //申请用于缓存图像数据的buffer
            m_byMonoBuffer = new byte[__GetStride(m_nWidth, m_bIsColor) * m_nHeight];
            m_byColorBuffer = new byte[__GetStride(m_nWidth, m_bIsColor) * m_nHeight];
            m_pOutBuffer = Marshal.AllocCoTaskMem(__GetStride(m_nWidth, m_bIsColor) * m_nHeight);

            if (m_bIsColor)
            {
                m_objBitmapInfo.bmiHeader.biSize = (uint)Marshal.SizeOf(typeof(CWin32Bitmaps.BITMAPINFOHEADER));
                m_objBitmapInfo.bmiHeader.biWidth = m_nWidth;
                m_objBitmapInfo.bmiHeader.biHeight = m_nHeight;
                m_objBitmapInfo.bmiHeader.biPlanes = 1;
                m_objBitmapInfo.bmiHeader.biBitCount = 24;
                m_objBitmapInfo.bmiHeader.biCompression = 0;
                m_objBitmapInfo.bmiHeader.biSizeImage = 0;
                m_objBitmapInfo.bmiHeader.biXPelsPerMeter = 0;
                m_objBitmapInfo.bmiHeader.biYPelsPerMeter = 0;
                m_objBitmapInfo.bmiHeader.biClrUsed = 0;
                m_objBitmapInfo.bmiHeader.biClrImportant = 0;
            }
            else
            {
                m_objBitmapInfo.bmiHeader.biSize = (uint)Marshal.SizeOf(typeof(CWin32Bitmaps.BITMAPINFOHEADER));
                m_objBitmapInfo.bmiHeader.biWidth = m_nWidth;
                m_objBitmapInfo.bmiHeader.biHeight = m_nHeight;
                m_objBitmapInfo.bmiHeader.biPlanes = 1;
                m_objBitmapInfo.bmiHeader.biBitCount = 8;
                m_objBitmapInfo.bmiHeader.biCompression = 0;
                m_objBitmapInfo.bmiHeader.biSizeImage = 0;
                m_objBitmapInfo.bmiHeader.biXPelsPerMeter = 0;
                m_objBitmapInfo.bmiHeader.biYPelsPerMeter = 0;
                m_objBitmapInfo.bmiHeader.biClrUsed = 0;
                m_objBitmapInfo.bmiHeader.biClrImportant = 0;

                m_objBitmapInfo.bmiColors = new CWin32Bitmaps.RGBQUAD[256];
                // 黑白图像需要初始化调色板
                for (int i = 0; i < 256; i++)
                {
                    m_objBitmapInfo.bmiColors[i].rgbBlue = (byte)i;
                    m_objBitmapInfo.bmiColors[i].rgbGreen = (byte)i;
                    m_objBitmapInfo.bmiColors[i].rgbRed = (byte)i;
                    m_objBitmapInfo.bmiColors[i].rgbReserved = 0;
                }
            }
            m_pBitmapInfo = Marshal.AllocHGlobal(2048);
            Marshal.StructureToPtr(m_objBitmapInfo, m_pBitmapInfo, false);
        }

        /// <summary>
        /// 释放buffer
        /// </summary>
        public void ReleaseBuffer()
        {
            // 释放输出Buffer内存
            if (m_pOutBuffer != IntPtr.Zero)
            {
                Marshal.FreeCoTaskMem(m_pOutBuffer);
                m_pOutBuffer = IntPtr.Zero;
            }

            if (m_pBitmapInfo != IntPtr.Zero)
            {
                Marshal.FreeHGlobal(m_pBitmapInfo);
                m_pBitmapInfo = IntPtr.Zero;
            }
        }
        /// <summary>
        /// 是否支持彩色
        /// </summary>
        /// <param name="bIsColorFilter">是否支持彩色</param>
        public void IsSupportColor(ref bool bIsColorFilter)
        {
            bool bIsImplemented = false;
            bool bIsMono = false;
            string strPixelFormat = "";
            uint nPixelFormatValue = 0;

            strPixelFormat = m_objIGXDevice.GetRemoteFeatureControl().GetEnumFeature("PixelFormat").GetValue();
            if (0 == string.Compare(strPixelFormat, 0, "Mono", 0, 4))
            {
                bIsMono = true;
            }
            else
            {
                bIsMono = false;
            }

            // 通过当前像素格式判断是否为彩色相机
            CDecide.GetConvertPixelFormat(strPixelFormat, ref nPixelFormatValue);
            bIsImplemented = CDecide.GetIsGray(nPixelFormatValue);
            if ((!bIsMono) && (!bIsImplemented))
            {
                bIsColorFilter = true;
            }
            else
            {
                bIsColorFilter = false;
            }
        }
        /// <summary>
        /// 计算宽度所占的字节数
        /// </summary>
        /// <param name="nWidth">图像宽度</param>
        /// <param name="bIsColor">是否是彩色相机</param>
        /// <returns>图像一行所占的字节数</returns>
        private int __GetStride(int nWidth, bool bIsColor)
        {
            return bIsColor ? nWidth * 3 : nWidth;
        }
        /// <summary>
        /// 通过GX_PIXEL_FORMAT_ENTRY获取最优Bit位
        /// </summary>
        /// <param name="em">图像数据格式</param>
        /// <returns>最优Bit位</returns>
        public GX_VALID_BIT_LIST GetBestValudBit(GX_PIXEL_FORMAT_ENTRY emPixelFormatEntry)
        {
            GX_VALID_BIT_LIST emValidBits = GX_VALID_BIT_LIST.GX_BIT_0_7;
            switch (emPixelFormatEntry)
            {
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO8:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR8:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG8:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB8:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG8:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_RGB8:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BGR8:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_R8:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_G8:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_B8:
                    {
                        emValidBits = GX_VALID_BIT_LIST.GX_BIT_0_7;
                        break;
                    }
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO10:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO10_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO10_PACKED:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR10:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG10:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB10:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG10:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG10_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG10_PACKED:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB10_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB10_PACKED:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR10_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR10_PACKED:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG10_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG10_PACKED:
                    {
                        emValidBits = GX_VALID_BIT_LIST.GX_BIT_2_9;
                        break;
                    }
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO12:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO12_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO12_PACKED:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR12:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG12:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB12:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG12:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG12_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG12_PACKED:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB12_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB12_PACKED:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR12_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR12_PACKED:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG12_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG12_PACKED:
                    {
                        emValidBits = GX_VALID_BIT_LIST.GX_BIT_4_11;
                        break;
                    }
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO14:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR14:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG14:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB14:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG14:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG14_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB14_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR14_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG14_P:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO14_P:
                    {
                        emValidBits = GX_VALID_BIT_LIST.GX_BIT_6_13;
                        break;
                    }
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO16:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GR16:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_RG16:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_GB16:
                case GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_BAYER_BG16:
                    {
                        emValidBits = GX_VALID_BIT_LIST.GX_BIT_8_15;
                        break;
                    }
                default:
                    break;
            }
            return emValidBits;
        }
        /// <summary>
        /// 判断PixelFormat是否为8位
        /// </summary>
        /// <param name="emPixelFormatEntry">图像数据格式</param>
        /// <returns>true为8为数据，false为非8位数据</returns>
        private bool __IsPixelFormat8(GX_PIXEL_FORMAT_ENTRY emPixelFormatEntry)
        {
            const uint PIXEL_FORMATE_BIT = 0x00FF0000; //用于与当前的数据格式进行与运算得到当前的数据位数
            const uint GX_PIXEL_8BIT = 0x00080000;  //8位数据图像格式
            bool bIsPixelFormat8 = false;
            uint uiPixelFormatEntry = (uint)emPixelFormatEntry;
            if ((uiPixelFormatEntry & PIXEL_FORMATE_BIT) == GX_PIXEL_8BIT)
            {
                bIsPixelFormat8 = true;
            }
            return bIsPixelFormat8;
        }

        /// <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, GX_PIXEL_FORMAT_ENTRY enPixelType)
        {
            try
            {
                if (enPixelType == GX_PIXEL_FORMAT_ENTRY.GX_PIXEL_FORMAT_MONO8)
                {
                    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
                {
                    int stride = (int)nWidth * 3;
                    CogImage24PlanarColor cogImage24PlanarColor = new CogImage24PlanarColor(new Bitmap((int)nWidth, (int)nHeight, stride, PixelFormat.Format24bppRgb, pImageBuf));
                    var m_InputImageRgb24 = cogImage24PlanarColor.Copy(CogImageCopyModeConstants.CopyPixels);
                    return m_InputImageRgb24;
                }
            }
            catch (System.Exception)
            {
                return null;
            }
        }

        #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
    }
}