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

using Cognex.VisionPro;
using CSScripting;
using Microsoft.Win32;
using MvCamCtrl.NET;
using MvCamCtrl.NET.CameraParams;
using NPOI.SS.Formula.Functions;
using NPOI.Util;
using NPOI.XSSF.Model;
using OpenCvSharp.Dnn;
using Org.BouncyCastle.Asn1.Tsp;
using OxyPlot;
using Sdcb.OpenVINO;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Media.Media3D;
using TeamAAS_VP;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;

namespace TeamAAS_VP.Core.Cameras
{
    public class MvCamera : ICamera, INotifyPropertyChanged
    {
        #region 字段
        private Thread m_hReceiveThread;
        // 用于序列化对同一相机实例的操作，防止同一实例被并发操作
        private readonly SemaphoreSlim _operationSemaphore = new SemaphoreSlim(1, 1);
        // 用于保护状态变量（例如 IsGrabbing）的并发访问
        private readonly object _stateLock = new object();
        #endregion

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

        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; }

        MvCameraAcqTool.MvCameraAcqTool mvCameraAcq;

        public MyCamera.MV_CC_DEVICE_INFO CameraInfo { get; private set; }

        public UInt32 ImageWidth { get; private set; }

        public UInt32 ImageHeight { get; private set; }

        public MvGvspPixelType PixelType { 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; }

        private bool IsHaveCamera = false;

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

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

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

        public MvCamera(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 MvCameraAcqTool.MvCameraAcqTool();
            MyCamera.MV_CC_DEVICE_INFO_LIST stDeviceList = default(MyCamera.MV_CC_DEVICE_INFO_LIST);
            mvCameraAcq.EnumDeivce(ref stDeviceList);
            MyCamera.MV_CC_DEVICE_INFO device = default(MyCamera.MV_CC_DEVICE_INFO);
            for (int i = 0; i < stDeviceList.nDeviceNum; i++)
            {
                device = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(stDeviceList.pDeviceInfo[i], typeof(MyCamera.MV_CC_DEVICE_INFO));
                if (device.nTLayerType == CSystem.MV_GIGE_DEVICE)
                {
                    MV_GIGE_DEVICE_INFO stGigEDeviceInfo = (MV_GIGE_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stGigEInfo, typeof(MV_GIGE_DEVICE_INFO));
                    uint nIp1 = ((stGigEDeviceInfo.nCurrentIp & 0xff000000) >> 24);
                    uint nIp2 = ((stGigEDeviceInfo.nCurrentIp & 0x00ff0000) >> 16);
                    uint nIp3 = ((stGigEDeviceInfo.nCurrentIp & 0x0000ff00) >> 8);
                    uint nIp4 = (stGigEDeviceInfo.nCurrentIp & 0x000000ff);
                    string ip= string.Format("{0}.{1}.{2}.{3}", nIp1, nIp2, nIp3, nIp4);
                    
                    if (IsFindByIp)
                    {
                        if (CameraIp == ip)
                        {
                            ManufacturerName = stGigEDeviceInfo.chManufacturerName;
                            ModelName = stGigEDeviceInfo.chModelName;
                            SerialNumber = stGigEDeviceInfo.chSerialNumber;
                            CameraType = CameraType.GIGE;
                            CameraInfo = device;
                            IsHaveCamera = true;
                            break;
                        }
                    }
                    else
                    {
                        if (string.Equals(stGigEDeviceInfo.chSerialNumber, serialNumber))
                        {
                            ManufacturerName = stGigEDeviceInfo.chManufacturerName;
                            ModelName = stGigEDeviceInfo.chModelName;
                            SerialNumber = stGigEDeviceInfo.chSerialNumber;
                            CameraType = CameraType.GIGE;
                            CameraInfo = device;
                            IsHaveCamera = true;
                            break;
                        }
                    }
                }
                else if (device.nTLayerType == CSystem.MV_USB_DEVICE)
                {
                    MV_USB3_DEVICE_INFO usbInfo = (MV_USB3_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stUsb3VInfo, typeof(MV_USB3_DEVICE_INFO));
                    if (string.Equals(usbInfo.chSerialNumber, serialNumber))
                    {
                        ManufacturerName = usbInfo.chManufacturerName;
                        ModelName = usbInfo.chModelName;
                        SerialNumber = usbInfo.chSerialNumber;
                        CameraType = CameraType.USB;
                        CameraInfo = device;
                        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>();
            try
            {
                if (!CheckSoftwareInstalled().isInstalled)
                {
                    LogHelper.WriteLogInfo("未安装MVS");
                    return cameras.ToArray();
                }
                List<CCameraInfo> m_ltDeviceList = new List<CCameraInfo>();
                int nRet = CSystem.EnumDevices(CSystem.MV_GIGE_DEVICE | CSystem.MV_USB_DEVICE, ref m_ltDeviceList);
                if (0 != nRet)
                {
                    return cameras.ToArray();
                }
                for (int i = 0; i < m_ltDeviceList.Count; i++)
                {
                    if (m_ltDeviceList[i].nTLayerType == CSystem.MV_GIGE_DEVICE)
                    {
                        CGigECameraInfo gigeInfo = (CGigECameraInfo)m_ltDeviceList[i];
                        uint nIp1 = ((gigeInfo.nCurrentIp & 0xff000000) >> 24);
                        uint nIp2 = ((gigeInfo.nCurrentIp & 0x00ff0000) >> 16);
                        uint nIp3 = ((gigeInfo.nCurrentIp & 0x0000ff00) >> 8);
                        uint nIp4 = (gigeInfo.nCurrentIp & 0x000000ff);
                        string ip = string.Format("{0}.{1}.{2}.{3}", nIp1, nIp2, nIp3, nIp4);
                        cameras.Add(new CameraInfo()
                        {
                            CameraNo= i + 1,
                            CameraName = gigeInfo.UserDefinedName,
                            CameraBrand = CameraBrand.HikRobot_MVS,
                            CameraType = CameraType.GIGE,
                            ManufacturerName = gigeInfo.chManufacturerName,
                            Model = gigeInfo.chModelName,
                            SerialNumber = gigeInfo.chSerialNumber,
                            CameraIp = ip,
                            IsFindByIp=true,
                        });
                    }
                    else if (m_ltDeviceList[i].nTLayerType == CSystem.MV_USB_DEVICE)
                    {
                        CUSBCameraInfo usbInfo = (CUSBCameraInfo)m_ltDeviceList[i];
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = usbInfo.UserDefinedName,
                            CameraBrand = CameraBrand.HikRobot_MVS,
                            CameraType = CameraType.USB,
                            ManufacturerName = usbInfo.chManufacturerName,
                            Model = usbInfo.chModelName,
                            SerialNumber = usbInfo.chSerialNumber,
                            CameraIp = "",
                        });
                    }
                    else if (m_ltDeviceList[i].nTLayerType == CSystem.MV_CAMERALINK_DEVICE)
                    {
                        CCamLCameraInfo Info = (CCamLCameraInfo)m_ltDeviceList[i];
                        cameras.Add(new Models.CameraInfo()
                        {
                            CameraNo = i + 1,
                            CameraName = Info.chModelName,
                            CameraBrand = CameraBrand.HikRobot_MVS,
                            CameraType = CameraType.USB,
                            ManufacturerName = Info.chManufacturerName,
                            Model = Info.chModelName,
                            SerialNumber = Info.chSerialNumber,
                            CameraIp = "",
                        });
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("搜索海康相机列表时出错！", ex);
            }

            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 = "MVS";
            string softwareVersion = "4.4.0";
            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.ToUpper().Trim()==softwareName.ToUpper())
                            {
                                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()
        {
            _operationSemaphore.Wait();
            try
            {
                if (!IsHaveCamera)
                {
                    mvCameraAcq = new MvCameraAcqTool.MvCameraAcqTool();
                    MyCamera.MV_CC_DEVICE_INFO_LIST stDeviceList = default(MyCamera.MV_CC_DEVICE_INFO_LIST);
                    mvCameraAcq.EnumDeivce(ref stDeviceList);
                    MyCamera.MV_CC_DEVICE_INFO device = default(MyCamera.MV_CC_DEVICE_INFO);
                    for (int i = 0; i < stDeviceList.nDeviceNum; i++)
                    {
                        device = (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(stDeviceList.pDeviceInfo[i], typeof(MyCamera.MV_CC_DEVICE_INFO));
                        if (device.nTLayerType == CSystem.MV_GIGE_DEVICE)
                        {
                            MV_GIGE_DEVICE_INFO stGigEDeviceInfo = (MV_GIGE_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stGigEInfo, typeof(MV_GIGE_DEVICE_INFO));
                            uint nIp1 = ((stGigEDeviceInfo.nCurrentIp & 0xff000000) >> 24);
                            uint nIp2 = ((stGigEDeviceInfo.nCurrentIp & 0x00ff0000) >> 16);
                            uint nIp3 = ((stGigEDeviceInfo.nCurrentIp & 0x0000ff00) >> 8);
                            uint nIp4 = (stGigEDeviceInfo.nCurrentIp & 0x000000ff);
                            string ip = string.Format("{0}.{1}.{2}.{3}", nIp1, nIp2, nIp3, nIp4);

                            if (IsFindByIp)
                            {
                                if (CameraIp == ip)
                                {
                                    ManufacturerName = stGigEDeviceInfo.chManufacturerName;
                                    ModelName = stGigEDeviceInfo.chModelName;
                                    SerialNumber = stGigEDeviceInfo.chSerialNumber;
                                    CameraType = CameraType.GIGE;
                                    CameraInfo = device;
                                    IsHaveCamera = true;
                                    break;
                                }
                            }
                            else
                            {
                                if (string.Equals(stGigEDeviceInfo.chSerialNumber, SerialNumber))
                                {
                                    ManufacturerName = stGigEDeviceInfo.chManufacturerName;
                                    ModelName = stGigEDeviceInfo.chModelName;
                                    SerialNumber = stGigEDeviceInfo.chSerialNumber;
                                    CameraType = CameraType.GIGE;
                                    CameraInfo = device;
                                    IsHaveCamera = true;
                                    break;
                                }
                            }
                        }
                        else if (device.nTLayerType == CSystem.MV_USB_DEVICE)
                        {
                            MV_USB3_DEVICE_INFO usbInfo = (MV_USB3_DEVICE_INFO)MyCamera.ByteToStruct(device.SpecialInfo.stUsb3VInfo, typeof(MV_USB3_DEVICE_INFO));
                            if (string.Equals(usbInfo.chSerialNumber, SerialNumber))
                            {
                                ManufacturerName = usbInfo.chManufacturerName;
                                ModelName = usbInfo.chModelName;
                                SerialNumber = usbInfo.chSerialNumber;
                                CameraType = CameraType.USB;
                                CameraInfo = device;
                                IsHaveCamera = true;
                                break;
                            }
                        }
                    }
                    if (!IsHaveCamera)
                    {
                        throw new Exception("没有发现相机");
                    }
                }

                mvCameraAcq.OpenDevice(CameraInfo);
                mvCameraAcq.AutoExposure = false;
                mvCameraAcq.TriggerMode = false;
                if (!IsConnected)
                {
                    CameraConnectChangedEvent?.Invoke(ID, true);
                }
                IsConnected = mvCameraAcq.bIsOpened;
                return IsConnected;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <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()
        {
            // ch:关闭设备 | en:Close Device
            _operationSemaphore.Wait();
            try
            {
                mvCameraAcq.CloseDevice();
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 采集图像
        /// </summary>
        /// <returns></returns>
        public ICogImage Grab(bool isRealtime = true)
        {
            _operationSemaphore.Wait();
            try
            {
                Stopwatch sw = Stopwatch.StartNew();
                for (int i = 0; i < 5; i++)
                {
                    try
                    {
                        if (!mvCameraAcq.bIsOpened)
                        {
                            OpenDevice();
                        }
                        mvCameraAcq.Run();
                        if (mvCameraAcq.RunStatus.Result == CogToolResultConstants.Accept)
                        {
                            ErrorMessage = "";
                            Image = mvCameraAcq.OutputImage;
                            if (!IsConnected)
                            {
                                IsConnected = true;
                                CameraConnectChangedEvent?.Invoke(ID, true);
                            }
                            TotalTime = sw.Elapsed;

                            return Image;
                        }
                        else
                        {
                            ErrorMessage = mvCameraAcq.RunStatus.Message;
                            CloseDevice();
                            OpenDevice();
                        }
                    }
                    catch (Exception ex)
                    {
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = ex.Message;
                    }
                }
                if (IsConnected)
                {
                    IsConnected = false;
                    CameraConnectChangedEvent?.Invoke(ID, false);
                }
                return null;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }


        /// <summary>
        /// 采集图像
        /// </summary>
        /// <returns></returns>
        public ICogImage Grab2(bool isRealtime = true)
        {
            _operationSemaphore.Wait();
            try
            {
                Stopwatch sw = Stopwatch.StartNew();
                for (int i = 0; i < 5; i++)
                {
                    try
                    {
                        if (!mvCameraAcq.bIsOpened)
                        {
                            OpenDevice();
                        }
                        mvCameraAcq.Run();
                        if (mvCameraAcq.RunStatus.Result == CogToolResultConstants.Accept)
                        {
                            ErrorMessage = "";
                            Image = mvCameraAcq.OutputImage;
                            if (!IsConnected)
                            {
                                IsConnected = true;
                                CameraConnectChangedEvent?.Invoke(ID, true);
                            }
                            TotalTime = sw.Elapsed;

                            return Image;
                        }
                        else
                        {
                            ErrorMessage = mvCameraAcq.RunStatus.Message;
                            CloseDevice();
                            OpenDevice();
                        }
                    }
                    catch (Exception ex)
                    {
                        CloseDevice();
                        OpenDevice();
                        ErrorMessage = ex.Message;
                    }
                }
                if (IsConnected)
                {
                    IsConnected = false;
                    CameraConnectChangedEvent?.Invoke(ID, false);
                }
                return null;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <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)
        {
            _operationSemaphore.Wait();
            try
            {
                if (!mvCameraAcq.bIsOpened)
                    return false;
                mvCameraAcq.ExposureTime = (double)ExposureTime;
                return true;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 获取曝光时间
        /// </summary>
        /// <returns></returns>
        public float GetExposureTime()
        {
            _operationSemaphore.Wait();
            try
            {
                if (!mvCameraAcq.bIsOpened)
                    return 0;
                return (float)mvCameraAcq.ExposureTime;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 设置增益
        /// </summary>
        /// <param name="Gain"></param>
        /// <returns></returns>
        public bool SetGain(float Gain)
        {
            _operationSemaphore.Wait();
            try
            {
                if (!mvCameraAcq.bIsOpened)
                    return false;
                mvCameraAcq.AnalogGain = (double)Gain;
                return true;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        /// <summary>
        /// 获取增益
        /// </summary>
        /// <returns></returns>
        public float GetGain()
        {
            _operationSemaphore.Wait();
            try
            {
                if (!mvCameraAcq.bIsOpened)
                    return 0;
                return (float)mvCameraAcq.AnalogGain;
            }
            finally
            {
                _operationSemaphore.Release();
            }
        }

        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.
        /// </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
    }
}