Tuo Wenbo / WeiQ_Mianfang

/********************************************************************************
** 类名称： CameraBl
** 描述  ： 用于相机处理的业务类
** 作者  ： 丁书杰
** 创建时间：2019/03/26
** 版权所有 (C) :中科视语（北京）科技有限公司
*********************************************************************************/
using Jai_FactoryDotNET;
using OpenCvSharp;
using OS.Spin.Common;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Text;
using System.Threading;
//using TIS.Imaging;

namespace OS.Spin.BusinessLayer.SubBusiness
{
    public class CameraBl
    {
        #region 变量
        /// <summary>
        /// 图像搜集完成
        /// </summary>
        /// <param name="cameraId">相机编号</param>
        /// <param name="img">搜集的图片</param>
        public delegate void EventRecivedImg(int cameraId, Modle.Sdk.StructInfos.DATA_IMAGE1 img);
        // 图像收集完成回调
        public EventRecivedImg SendRecivedImg;
        // 三通道数据
        private Mat _threeChannelsMat = null;
        // 相机编号
        private int _cameraId = 0;
        // 单通道转三通道线程
        private Thread _channelMerge;
        // 单通道数据
        private Mat _cameraMat = null;
        private bool _channelMatOk = false;
        private const int CacheNo = 100;
        private bool _isDebug = true;
        private int SnapCount = 0;
        private int SavaCount = 0;
        //当前相机对象
        CCamera myCamera = null;

        Stopwatch s;
        // =======
        #endregion
        private string _directory = string.Empty;
        private int _imageId = 0;

        public CameraBl(int cId)
        {
            try
            {
                _cameraId = cId;
                _directory = Path.Combine(System.IO.Directory.GetCurrentDirectory(), string.Format(@"running\camera\{0}", cId));
                _dry = Path.Combine(System.IO.Directory.GetCurrentDirectory(), "test-temp");

                if (Directory.Exists(_directory))
                {
                    Directory.Delete(_directory, true);
                }
                Directory.CreateDirectory(_directory);
                s = new Stopwatch();

                if (_isDebug)
                {
                    return;
                }
                // 相机参数及软触发配置
                InitCamera();
                LogisTrac.WriteLog(string.Format("相机{0}初始化", _cameraId));
            }
            catch (Exception ex)
            {
                LogisTrac.WriteLog(string.Format("CameraBl:{0}", ex.Message));
            }
        }

        public Mat ThreeChannelMat
        {
            get
            {
                while (!_channelMatOk)
                {
                    Thread.Sleep(5);
                }

                return _threeChannelsMat;
            }
        }

        private CNode _gainNode;

        private CameraBl()
        {

        }

        private string _dry = @"D:\工作\WeiQ_Mianfang\WeiQ_Mianfang\OS.Spin\OS.Spin\bin\Debug\test-temp";

        private List<string> _flaws = new List<string>() { "20200106174905495_{0}.jpg", "20200106174905495_{0}.jpg", "20200106174905495_{0}.jpg" };
        private string _noFlaws = "20200106174905495_{0}.jpg";
        //private string _noFlaws = "20181029094657_3_{0}ren.jpg";
        /// <summary>
        /// 相机图像收集事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void MyCamera_NewImageDelegate(ref Jai_FactoryWrapper.ImageInfo ImageInfo)
        {

            try
            {
                LogisTrac.WriteInfoLog(String.Format("[拍照] 开始 ={0}======", _cameraId));
                if (_isDebug)
                {
                    var file = _noFlaws;
                    //if (_imageId == 15)
                    //{
                    //    file = _flaws[0];
                    //}

                    //if (_imageId == 43)
                    //{
                    //    file = _flaws[1];
                    //}

                    //if (_imageId == 85)
                    //{
                    //    file = _flaws[2];
                    //}
                    //if (_imageId == 115)
                    //{
                    //    file = _flaws[3];
                    //}
                    //var f = string.Format(file, _cameraId);
                    //string rF = Path.Combine(_dry, f);
                    //_cameraMat = Cv2.ImRead(rF, ImreadModes.Unchanged);
                    //byte[] cData = new byte[_cameraMat.Width * _cameraMat.Height * 3];
                    //OS.Spin.SdkLayer.SdkMyCode.Flaw_ReadImg(rF, cData);
                    //_cameraMat = new Mat(_cameraMat.Height, _cameraMat.Width, MatType.CV_8UC3, cData);

                    var f = string.Format(file, _cameraId);
                    _cameraMat = Cv2.ImRead(Path.Combine(_dry, f), ImreadModes.Unchanged);
                }
                else
                {
                    var realHeight = (int)ImageInfo.SizeY;
                    var realWidth = (int)ImageInfo.SizeX;
                    var _mat = ((new Mat(realHeight, realWidth, MatType.CV_8UC1, ImageInfo.ImageBuffer)));
                    _cameraMat = new Mat(realHeight, realWidth, MatType.CV_8UC3).Clone();
                    Cv2.CvtColor(_mat, _cameraMat, ColorConversionCodes.BayerRG2RGB);
                    //_mat.Release();
                }
                _threeChannelsMat = _cameraMat.Clone();
                _channelMerge = new Thread(new ParameterizedThreadStart(SingleChannel2ThreeChannels));
                _channelMerge.Start(_imageId);
                s.Stop();
                var t = s.ElapsedMilliseconds.ToString();
                // 更新当前缓存图片Id
                OS.Spin.Running.Cache.GetInstance().CacheImgId = _imageId;
                _imageId++;
                //Cv2.Split(_cameraMat, out Mat[] mats);
                Modle.Sdk.StructInfos.DATA_IMAGE1 data = new Modle.Sdk.StructInfos.DATA_IMAGE1
                {
                    channel = 3,
                    data = _cameraMat.Data,
                    height = _cameraMat.Height,
                    width = _cameraMat.Width
                };
                SendRecivedImg(_cameraId, data);
                LogisTrac.WriteInfoLog(String.Format("[拍照] 结束 ={0}======", _cameraId));
                //_cameraMat.Release();
            }
            catch (Exception ex)
            {
                LogisTrac.WriteLog(string.Format("MyCamera_NewImageDelegate:{0}", ex.Message));
            }
        }

        /// <summary>
        /// 单通道转三通道处理
        /// </summary>
        /// <param name="data">单通道数据</param>
        private void SingleChannel2ThreeChannels(object oId)
        {
            try
            {
                var id = (int)oId;

                if (!Directory.Exists(_directory))
                {
                    Directory.CreateDirectory(_directory);
                }
                _channelMatOk = false;
                //LogisTrac.WriteInfoLog(String.Format("[合图] 开始 ={0}======", id));
                if (_threeChannelsMat.Height * _threeChannelsMat.Width == 0)
                {
                    _threeChannelsMat = null;
                    _channelMatOk = true;
                    return;
                }

                var file = Path.Combine(_directory, string.Format("{0}.jpg", id));
                Cv2.ImWrite(file, _threeChannelsMat);
                //图片缓存成功
                SavaCount++;
                if (id >= CacheNo)
                {
                    var oldFile = Path.Combine(_directory, string.Format("{0}.jpg", id - CacheNo));

                    // 判断旧图是否存在
                    if (File.Exists(oldFile))
                    {
                        File.Delete(oldFile);
                    }
                }
                //LogisTrac.WriteInfoLog(String.Format("[合图] 结束 ={0}======", id));
                _channelMatOk = true;
            }
            catch (Exception ex)
            {
                LogisTrac.WriteLog(string.Format("SingleChannel2ThreeChannels:{0}", ex.Message));
            }
        }

        /// <summary>
        /// bitmap 位图转为mat类型 
        /// </summary>
        /// <param name="bitmap"></param>
        /// <returns></returns>
        private Mat Bitmap2Mat(Bitmap bitmap)
        {
            Mat source = null;
            MemoryStream s2_ms = null;
            try
            {
                using (s2_ms = new MemoryStream())
                {
                    bitmap.Save(s2_ms, ImageFormat.Bmp);
                    source = Mat.FromStream(s2_ms, ImreadModes.AnyColor);
                }
            }
            catch (Exception ex)
            {
                LogisTrac.WriteLog(string.Format("Bitmap2Mat:{0}", ex.Message));
                return null;
            }
            finally
            {
                if (s2_ms != null)
                {
                    s2_ms.Close();
                    s2_ms = null;
                }
                GC.Collect();
            }
            return source.Clone();
        }

        /// <summary>
        /// 初始化相机
        /// </summary>
        /// <param name="cId"></param>
        public void InitCamera()
        {
            try
            {
                Jai_FactoryWrapper.EFactoryError error = Jai_FactoryWrapper.EFactoryError.Success;

                myCamera = OS.Spin.Common.Camera.JaiCamera.GetInstance().GetCameraByChannel(_cameraId);

                LogisTrac.WriteInfoLog(String.Format("打开相机[{0}] ===========", _cameraId));

                if (error == Jai_FactoryWrapper.EFactoryError.Success && null != myCamera)
                {
                    LogisTrac.WriteInfoLog(String.Format("打开相机[{0}]成功 ===========", _cameraId));

                    SetFramegrabberPixelFormat();

                    myCamera.NewImageDelegate += MyCamera_NewImageDelegate; ;

                    error = myCamera.Open();

                    if (error == Jai_FactoryWrapper.EFactoryError.Success)
                    {
                        if (myCamera.GetNode("TriggerSelector") != null)
                        {
                            myCamera.GetNode("TriggerSelector").Value = "FrameStart";
                            myCamera.GetNode("TriggerMode").Value = "Off";
                        }

                        if (myCamera.GetNode("TriggerSelector") != null)
                        {
                            myCamera.GetNode("TriggerSelector").Value = "FrameStart";
                            myCamera.GetNode("TriggerMode").Value = "On";
                            myCamera.GetNode("TriggerSource").Value = "Software";
                        }
                        else
                        {
                            myCamera.GetNode("ExposureMode").Value = "EdgePreSelect";

                            // Set Line Selector to "Camera Trigger 0"
                            myCamera.GetNode("LineSelector").Value = "CameraTrigger0";

                            // Set Line Source to "Software Trigger 0"
                            myCamera.GetNode("LineSource").Value = "SoftwareTrigger0";

                            // .. and finally set the Line Polarity (LineInverter) to "Active High"
                            myCamera.GetNode("LineInverter").Value = "ActiveHigh";
                        }

                        //SetFramegrabberValue("Gain", 2);
                        myCamera.StartImageAcquisition(false, 1);
                    }
                }
            }
            catch (Exception ex)
            {
                LogisTrac.WriteLog(string.Format("InitCamera:{0}", ex.Message));
            }
        }

        private double _gainValue = -1;

        public void SetCameraCainValue(double gValue)
        {
            if (null == myCamera)
            {
                return;
            }
            try
            {
                SetFramegrabberValue("Gain", gValue);
                _gainValue = gValue;
            }
            catch (Exception ex)
            {
                LogisTrac.WriteLog(ex);
            }
            finally
            {
                //var time = 0;

                //while(myCamera.StartImageAcquisition(false, 1) == Jai_FactoryWrapper.EFactoryError.Error && time< 3)
                //{
                //    Thread.Sleep(1);
                //    time++;
                //}
            }
        }
        /// <summary>
        /// 相机软触发
        /// </summary>
        public void Trigger()
        {
            try
            {
                LogisTrac.WriteInfoLog(string.Format("Camera_{0}:{1}:{2}", _cameraId, SnapCount, SavaCount));
                //拍照执行次数大于保存照片次数
                if (SnapCount - SavaCount > 0)
                {
                    LogisTrac.WriteInfoLog(string.Format("照片保存情况{0}:{1}", SnapCount, SavaCount));
                    LogisTrac.WriteLog(string.Format("相机{0}重启", _cameraId));
                    myCamera.Close();
                    myCamera.Dispose();
                    InitCamera();
                    SnapCount = 0;
                    SavaCount = 0;
                }

                LogisTrac.WriteInfoLog(String.Format("[触发拍照] ====={0}======", _cameraId));
                if (_isDebug)
                {
                    Jai_FactoryWrapper.ImageInfo imageInfo = new Jai_FactoryWrapper.ImageInfo();
                    MyCamera_NewImageDelegate(ref imageInfo);
                    SnapCount++;
                }
                else
                {
                    if (null == myCamera)
                    {
                        return;
                    }
                    // But we have 2 ways of sending a software trigger: JAI and GenICam SNC
                    // The GenICam SFNC software trigger is available if a node called
                    // TriggerSoftware is available
                    if (myCamera.GetNode("TriggerSoftware") != null)
                    {
                        myCamera.GetNode("TriggerSelector").Value = "FrameStart";
                        myCamera.GetNode("TriggerSoftware").ExecuteCommand();
                    }
                    else
                    {
                        // We need to "pulse" the Software Trigger feature in order to trigger the camera!
                        myCamera.GetNode("SoftwareTrigger0").Value = 0;
                        myCamera.GetNode("SoftwareTrigger0").Value = 1;
                        myCamera.GetNode("SoftwareTrigger0").Value = 0;
                    }

                    if (myCamera.GetNode("TriggerSoftware") != null)
                    {
                        myCamera.GetNode("TriggerSelector").Value = "FrameStart";
                        myCamera.GetNode("TriggerSoftware").ExecuteCommand();
                    }
                    else
                    {
                        // We need to "pulse" the Software Trigger feature in order to trigger the camera!
                        myCamera.GetNode("SoftwareTrigger0").Value = 0;
                        myCamera.GetNode("SoftwareTrigger0").Value = 1;
                        myCamera.GetNode("SoftwareTrigger0").Value = 0;
                    }
                    //调用相机触发拍照
                    SnapCount++;
                    s.Start();
                }
            }
            catch (Exception ex)
            {
                LogisTrac.WriteLog(string.Format("Trigger:{0}", ex.Message));
            }

        }

        /// <summary>
        /// 根据节点名称设置属性
        /// </summary>
        /// <param name="nodeName"></param>
        /// <param name="int64Val"></param>
        private void SetFramegrabberValue(String nodeName, Int64 int64Val)
        {
            try
            {
                if (null == myCamera || int64Val == _gainValue)
                {
                    return;
                }

                IntPtr hDevice = IntPtr.Zero;
                Jai_FactoryWrapper.EFactoryError error = Jai_FactoryWrapper.J_Camera_GetLocalDeviceHandle(myCamera.CameraHandle, ref hDevice);
                if (Jai_FactoryWrapper.EFactoryError.Success != error)
                {
                    return;
                }

                if (IntPtr.Zero == hDevice)
                {
                    return;
                }

                IntPtr hNode;
                error = Jai_FactoryWrapper.J_Camera_GetNodeByName(hDevice, nodeName, out hNode);
                if (Jai_FactoryWrapper.EFactoryError.Success != error)
                {
                    return;
                }

                if (IntPtr.Zero == hNode)
                {
                    return;
                }
                myCamera.GetNode("Gain").Value = int64Val;
                //error = Jai_FactoryWrapper.J_Node_SetValueInt64(hNode, false, int64Val);
                //if (Jai_FactoryWrapper.EFactoryError.Success != error)
                //{
                //    return;
                //}

                //Special handling for Active Silicon CXP boards, which also has nodes prefixed
                //with "Incoming":
                if ("Width" == nodeName || "Height" == nodeName)
                {
                    string strIncoming = "Incoming" + nodeName;
                    IntPtr hNodeIncoming;
                    error = Jai_FactoryWrapper.J_Camera_GetNodeByName(hDevice, strIncoming, out hNodeIncoming);
                    if (Jai_FactoryWrapper.EFactoryError.Success != error)
                    {
                        return;
                    }
                    if (IntPtr.Zero == hNodeIncoming)
                    {
                        return;
                    }
                    error = Jai_FactoryWrapper.J_Node_SetValueInt64(hNodeIncoming, false, int64Val);
                }
            }
            catch (Exception ex)
            {
                LogisTrac.WriteLog(string.Format("SetFramegrabberValue(String nodeName, Int64 int64Val):{0}", ex.Message));
            }
        }

        /// <summary>
        /// 设置增益值
        /// </summary>
        /// <param name="nodeName"></param>
        /// <param name="doubleVal"></param>
        private void SetFramegrabberValue(String nodeName, double doubleVal)
        {
            if (null == myCamera)
            {
                return;
            }

            try
            {
                if (null != myCamera.GetNode("Gain"))
                {
                    myCamera.GetNode("Gain").Value = doubleVal;
                }
            }
            catch (Exception)
            {
                try
                {
                    var gainRaw = myCamera.GetNode("Gain");
                    if (null != gainRaw)
                    {
                        gainRaw.Value = doubleVal;
                    }
                }
                catch (Exception ex)
                {
                    LogisTrac.WriteInfoLog(String.Format("[增益设置失败] ====={0}======", ex.Message));
                    return;
                }
                LogisTrac.WriteInfoLog(String.Format("[Gain增益写入] =====[{0}]======", doubleVal));
            }
            LogisTrac.WriteInfoLog(String.Format("[增益写入] =====[{0}]======", doubleVal));
            return;

            //Special handling for Active Silicon CXP boards, which also has nodes prefixed
            //with "Incoming":
            //if ("Width" == nodeName || "Height" == nodeName)
            //{
            //    string strIncoming = "Incoming" + nodeName;
            //    IntPtr hNodeIncoming;
            //    error = Jai_FactoryWrapper.J_Camera_GetNodeByName(hDevice, strIncoming, out hNodeIncoming);
            //    if (Jai_FactoryWrapper.EFactoryError.Success != error)
            //    {
            //        return;
            //    }

            //    if (IntPtr.Zero == hNodeIncoming)
            //    {
            //        return;
            //    }

            //    error = Jai_FactoryWrapper.J_Node_SetValueDouble(hNodeIncoming, false, doubleVal);
            //}
        }

        private void SetFramegrabberPixelFormat()
        {
            try
            {
                String nodeName = "PixelFormat";

                if (null == myCamera)
                {
                    return;
                }

                IntPtr hDevice = IntPtr.Zero;
                Jai_FactoryWrapper.EFactoryError error = Jai_FactoryWrapper.J_Camera_GetLocalDeviceHandle(myCamera.CameraHandle, ref hDevice);
                if (Jai_FactoryWrapper.EFactoryError.Success != error)
                {
                    return;
                }

                if (IntPtr.Zero == hDevice)
                {
                    return;
                }

                long pf = 0;
                error = Jai_FactoryWrapper.J_Camera_GetValueInt64(myCamera.CameraHandle, nodeName, ref pf);
                if (Jai_FactoryWrapper.EFactoryError.Success != error)
                {
                    return;
                }
                UInt64 pixelFormat = (UInt64)pf;

                UInt64 jaiPixelFormat = 0;
                error = Jai_FactoryWrapper.J_Image_Get_PixelFormat(myCamera.CameraHandle, pixelFormat, ref jaiPixelFormat);
                if (Jai_FactoryWrapper.EFactoryError.Success != error)
                {
                    return;
                }

                StringBuilder sbJaiPixelFormatName = new StringBuilder(512);
                uint iSize = (uint)sbJaiPixelFormatName.Capacity;
                error = Jai_FactoryWrapper.J_Image_Get_PixelFormatName(myCamera.CameraHandle, jaiPixelFormat, sbJaiPixelFormatName, iSize);
                if (Jai_FactoryWrapper.EFactoryError.Success != error)
                {
                    return;
                }

                IntPtr hNode;
                error = Jai_FactoryWrapper.J_Camera_GetNodeByName(hDevice, nodeName, out hNode);
                if (Jai_FactoryWrapper.EFactoryError.Success != error)
                {
                    return;
                }

                if (IntPtr.Zero == hNode)
                {
                    return;
                }

                error = Jai_FactoryWrapper.J_Node_SetValueString(hNode, false, sbJaiPixelFormatName.ToString());
                if (Jai_FactoryWrapper.EFactoryError.Success != error)
                {
                    return;
                }

                //Special handling for Active Silicon CXP boards, which also has nodes prefixed
                //with "Incoming":
                string strIncoming = "Incoming" + nodeName;
                IntPtr hNodeIncoming;
                error = Jai_FactoryWrapper.J_Camera_GetNodeByName(hDevice, strIncoming, out hNodeIncoming);
                if (Jai_FactoryWrapper.EFactoryError.Success != error)
                {
                    return;
                }

                if (IntPtr.Zero == hNodeIncoming)
                {
                    return;
                }

                error = Jai_FactoryWrapper.J_Node_SetValueString(hNodeIncoming, false, sbJaiPixelFormatName.ToString());
            }
            catch (Exception ex)
            {
                LogisTrac.WriteLog(string.Format("SetFramegrabberPixelFormat:{0}", ex.Message));
            }
        }

        /// <summary>
        /// 释放相机资源
        /// </summary>
        public void Dispose()
        {
            if (myCamera != null)
            {
                myCamera.StopImageAcquisition();
            }

            if (null != _channelMerge && _channelMerge.IsAlive)
            {
                _channelMerge.Abort();
            }
        }
    }
}