Dispenser/DispenserDriver.CameraMV/Impl/CameraMVDriver.cs

using DispenserCommon.Utils;
using DispenserHal.Camera.DTO;
using DispenserHal.Camera.Enum;
using DispenserHal.Camera.Interface;
using DispenserHal.Camera.VO;
using DispenserUI.Exceptions;
using MvCamCtrl.NET;
using MvCamCtrl.NET.CameraParams;
using Serilog;

namespace DispenserDriver.CameraMV.Impl;

public class CameraMVDriver : AbstractCamera
{
    private CCameraInfo _cameraInfo;
    private cbOutputExdelegate _cbOutputExdelegate;
    private readonly CCamera _mvCamera = new();

    public CameraMVDriver(string sn, Dictionary<ParamTypeEnum, string> paramMap) : base(sn, paramMap)
    {
    }

    protected override CameraResponseVO DoConnect(long timeout)
    {
        _cameraInfo = EnumDeviceBySn(SN);
        if (_cameraInfo == null) return CameraResponseVO.OfFailed($"无法找到{SN}相机");

        if (!CSystem.IsDeviceAccessible(ref _cameraInfo, MV_ACCESS_MODE.MV_ACCESS_CONTROL))
            return CameraResponseVO.OfFailed($"{SN}相机不可访问");

        var createHandleResult = _mvCamera.CreateHandle(ref _cameraInfo);
        if (!IsSuccess(createHandleResult)) return CameraResponseVO.OfFailed($"{SN}创建句柄失败");

        var openDeviceResult = _mvCamera.OpenDevice();
        if (!IsSuccess(openDeviceResult))
        {
            _mvCamera.DestroyHandle();
            CameraResponseVO.OfFailed($"打开{SN}相机失败");
        }

        _cbOutputExdelegate = ImageCallbackFunc;
        var registerImageCallbackResult =
            _mvCamera.RegisterImageCallBackEx(_cbOutputExdelegate, IntPtr.Zero);
        if (!IsSuccess(registerImageCallbackResult))
        {
            Close();
            CameraResponseVO.OfFailed("注册回调函数失败");
        }

        return CameraResponseVO.OfSuccess($"连接{SN}相机成功");
    }

    protected override CameraResponseVO DoClose()
    {
        StopSteaming();
        _mvCamera.CloseDevice();
        _mvCamera.DestroyHandle();
        MarkConnect(false);
        return CameraResponseVO.OfSuccess($"关闭{SN}相机成功");
    }


    protected override CameraResponseVO DoStartSteaming()
    {
        var result = _mvCamera.StartGrabbing();
        if (!IsSuccess(result)) return CameraResponseVO.OfFailed($"{SN}开启采集失败,错误码{result}");

        Started = true;
        return CameraResponseVO.OfSuccess($"{SN}开启采集成功");
    }

    protected override CameraResponseVO DoStopSteaming()
    {
        var result = _mvCamera.StopGrabbing();
        if (!IsSuccess(result)) return CameraResponseVO.OfFailed($"{SN}关闭采集失败,错误码{result}");

        Started = false;
        return CameraResponseVO.OfSuccess($"{SN}关闭采集成功");
    }

    /// <summary>
    ///     获取一帧的图像
    /// </summary>
    /// <returns></returns>
    protected override CameraResponseVO DoTokePhoto()
    {
        var resp = SwitchSoftwareTriggerMode();
        // 现切换到软触发模式
        if (resp.IsSuccess())
            // 进行软触发拍照
            SoftwareTrigger();

        // 拍完之后切换到硬触发状态
        SwitchHardTriggerMode();

        return CameraResponseVO.OfSuccess();
    }

    /// <summary>
    ///     开始连续采集
    /// </summary>
    /// <returns></returns>
    protected override CameraResponseVO DoStartCaptureVideo()
    {
        _mvCamera.SetEnumValue("TriggerMode", 0);
        CapturingVideo = true;
        return CameraResponseVO.OfSuccess();
    }

    /// <summary>
    ///     停止连续采集
    /// </summary>
    /// <returns></returns>
    protected override CameraResponseVO DoStopCaptureVideo()
    {
        SetAcquisitionControlToHardTrigger();
        CapturingVideo = false;
        return CameraResponseVO.OfSuccess();
    }

    public override bool GetBoolValue(string key)
    {
        var value = false;
        _mvCamera.GetBoolValue(key, ref value);
        return value;
    }

    public override IntValue GetIntValue(string key)
    {
        var value = new CIntValue();
        _mvCamera.GetIntValue(key, ref value);
        return BeanUtil.CopyProperties<IntValue>(value);
    }

    public override StringValue? GetStringValue(string key)
    {
        var value = new CStringValue();
        _mvCamera.GetStringValue(key, ref value);
        return BeanUtil.CopyProperties<StringValue>(value);
    }

    public override EnumItem GetEnumEntrySymbolic(string key, uint supportIndex)
    {
        var entry = new CEnumEntry();
        entry.Value = supportIndex;
        _mvCamera.GetEnumEntrySymbolic(key, ref entry);
        return BeanUtil.CopyProperties<EnumItem>(entry);
    }

    public override EnumValue? GetEnumValue(string key)
    {
        var value = new CEnumValue();
        _mvCamera.GetEnumValue(key, ref value);
        return BeanUtil.CopyProperties<EnumValue>(value);
    }

    public override FloatValue? GetFloatValue(string key)
    {
        var value = new CFloatValue();
        _mvCamera.GetFloatValue(key, ref value);
        return BeanUtil.CopyProperties<FloatValue>(value);
    }

    public override CameraResponseVO SwitchHardTriggerMode()
    {
        SetDigitalIOControlToHardTrigger();

        SetAcquisitionControlToHardTrigger();

        return CameraResponseVO.OfSuccess();
    }

    public override CameraResponseVO SwitchContinuousMode()
    {
        //开启触发模式 0:OFF, 1: ON
        _mvCamera.SetEnumValue("TriggerMode", 0);
        return CameraResponseVO.OfSuccess();
    }

    public override CameraResponseVO SwitchSoftwareTriggerMode()
    {
        //开启触发模式 0:OFF, 1: ON
        _mvCamera.SetEnumValue("TriggerMode", 1);
        //0:Line0 
        //1:Line1 
        //2:Line2 
        //3.Line3 
        //4:Counter0 
        //7:Software 
        //8:FrequencyConverter 
        _mvCamera.SetEnumValue("TriggerSource", 7);

        return CameraResponseVO.OfSuccess();
    }

    public override CameraResponseVO SoftwareTrigger()
    {
        var nRet = _mvCamera.SetCommandValue("TriggerSoftware");
        if (CErrorDefine.MV_OK != nRet)
        {
            Log.Error($"{SN}软触发失败");
            return CameraResponseVO.OfFailed($"{SN}软触发失败");
        }

        return CameraResponseVO.OfSuccess();
    }

    public override CameraResponseVO SetEnumValue(string strKey, uint nvalue)
    {
        _mvCamera.SetEnumValue(strKey, nvalue);
        return CameraResponseVO.OfSuccess();
    }

    public override CameraResponseVO SetIntValue(string strKey, long nvalue)
    {
        _mvCamera.SetIntValue(strKey, nvalue);
        return CameraResponseVO.OfSuccess();
    }

    public override CameraResponseVO SetBoolValue(string strKey, bool nvalue)
    {
        _mvCamera.SetBoolValue(strKey, nvalue);
        return CameraResponseVO.OfSuccess();
    }

    public override CameraResponseVO SetFloatValue(string strKey, float nvalue)
    {
        _mvCamera.SetFloatValue(strKey, nvalue);
        return CameraResponseVO.OfSuccess();
    }

    private void SetAcquisitionControlToHardTrigger()
    {
        //开启触发模式 0:OFF, 1: ON
        _mvCamera.SetEnumValue("TriggerMode", 1);
        //0:Line0 
        //1:Line1 
        //2:Line2 
        //3.Line3 
        //4:Counter0 
        //7:Software 
        //8:FrequencyConverter 
        _mvCamera.SetEnumValue("TriggerSource", 0);
        //0:RisingEdge 触发上升沿
        //1:FallingEdge 下降沿
        //2:LevelHigh 高电平
        //3:LevelLow 低电平等 
        _mvCamera.SetEnumValue("TriggerActivation", 0);
    }

    /// <summary>
    ///     光源控制器IO硬触发设置
    /// </summary>
    private void SetDigitalIOControlToHardTrigger()
    {
        //IO触发源
        //0:Line0 
        //1:Line1 
        //2:Line2 
        //3:Line3 
        //4:Line4 
        _mvCamera.SetEnumValue("LineSelector", 1);

        //LineMode 
        //0:Input 
        //1:Output 
        //2:Trigger 
        //8:Strobe 频闪模式
        _mvCamera.SetEnumValue("LineMode", 8);

        //开启频闪模式
        _mvCamera.SetBoolValue("StrobeEnable", true);
    }

    private void ImageCallbackFunc(IntPtr pData, ref MV_FRAME_OUT_INFO_EX pFrameInfo, IntPtr pUser)
    {
        var bitmap = _mvCamera.ImageToBitmap(pData, ref pFrameInfo);
        Callback(SN, bitmap);
    }

    private CCameraInfo? EnumDeviceBySn(string sn)
    {
        var deviceList = new List<CCameraInfo>();
        var result = CSystem.EnumDevices(CSystem.MV_GIGE_DEVICE | CSystem.MV_USB_DEVICE, ref deviceList);
        if (!IsSuccess(result)) return null;

        CCameraInfo _currentCamera = null;
        foreach (var cCameraInfo in deviceList)
        {
            var _sn = FindSn(cCameraInfo);
            if (sn.Equals(_sn))
            {
                _currentCamera = cCameraInfo;
                break;
            }
        }

        return _currentCamera;
    }

    private string FindSn(CCameraInfo cCameraInfo)
    {
        if (cCameraInfo.nTLayerType == CSystem.MV_USB_DEVICE)
            return ((CUSBCameraInfo)cCameraInfo).chSerialNumber;
        if (cCameraInfo.nTLayerType == CSystem.MV_GIGE_DEVICE)
            return ((CGigECameraInfo)cCameraInfo).chSerialNumber;
        if (cCameraInfo.nTLayerType == CSystem.MV_CAMERALINK_DEVICE)
            return ((CCamLCameraInfo)cCameraInfo).chSerialNumber;
        throw new BizException($"不支持的相机类型{cCameraInfo.nTLayerType}");
    }

    private bool IsSuccess(int result)
    {
        return result == CErrorDefine.MV_OK;
    }
}