562 lines
24 KiB
C#
562 lines
24 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.IO;
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using System.Linq;
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using System.Reflection;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Timers;
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using System.Windows.Forms;
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using IKapBoardClassLibrary;
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using LeatherApp.Interface;
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using Newtonsoft.Json.Linq;
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using OpenCvSharp;
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using OpenCvSharp.Dnn;
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using ErrorCode = IKapBoardClassLibrary.ErrorCode;
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namespace LeatherApp.Device
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{
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public class CamerCardDev2 : ABSCamerCardDev,IDisposable
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{
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[DllImport("user32.dll")]
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[return: MarshalAs(UnmanagedType.Bool)]
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private static extern bool IsWindow(IntPtr hWnd);
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[DllImport("kernel32.dll", EntryPoint = "RtlCopyMemory", SetLastError = false)]
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public static extern void CopyMemory(IntPtr dest, IntPtr src, uint count);
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[DllImport("User32.dll")]
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public extern static System.IntPtr GetDC(System.IntPtr hWnd);
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[DllImport("user32.dll")]
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private static extern int ReleaseDC(IntPtr hWnd, IntPtr hDC);
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//显示图像控件句柄
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private PictureBox previewHwnd = null;
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//
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// 采集卡设备句柄。
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public IntPtr m_hBoard = new IntPtr(-1);
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// 当前帧索引。
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public int m_nCurFrameIndex = 0;
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// 图像缓冲区申请的帧数。
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public int m_nTotalFrameCount = 1;
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// 保存图像的文件名。
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public string m_strFileName = "C:\\CSharpImage.bmp";
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//
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private int scanIndex = 0; //实际拍照从1开始命名，因先加的1
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private string bmpSavePath;
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/// <summary>
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/// 曝光 3.00-10000.00
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/// </summary>
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public float ExposureTime { get; private set; }
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/// <summary>
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/// 增益 0-23.981199
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/// </summary>
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public float Gain { get; private set; }
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/// <summary>
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/// 帧率 0-429496.718750
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/// </summary>
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public float ResultingFrameRate { get; private set; }
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/// <summary>
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/// 图片大小
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/// </summary>
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public System.Drawing.Size size { get; private set; }
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/// <summary>
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/// 是否打开设备成功
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/// </summary>
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public bool IsInit { get; private set; } = false;
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//public string ErrInfo { get; private set; }
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//private System.Timers.Timer timer = new System.Timers.Timer();
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private int _scannerCardIndex = 0;//采集卡索引
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private int _scannerIndex=0;//相机索引(一个采集卡上可插多个相机)
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public CamerCardDev2( )
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{
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}
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public override bool open(int cardIndex = 0,int scannerIndex = 0)
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{
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if (IsInit) return true;
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//m_stIFInfoList = _m_stIFInfoList;
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_scannerCardIndex = cardIndex;
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_scannerIndex = scannerIndex;
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System.GC.Collect();
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try
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{
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int ret = (int)ErrorCode.IK_RTN_OK;
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uint nPCIeDevCount = 0;
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StringBuilder resourceName;
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uint resourceNameSize = 0;
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IKapBoard.IKAPERRORINFO tIKei = new IKapBoard.IKAPERRORINFO();
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// 获取连接的采集卡数量。
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ret = IKapBoard.IKapGetBoardCount((int)BoardType.IKBoardPCIE, ref nPCIeDevCount);
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CheckIKapBoard(ret);
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// 当没有连接的采集卡时。
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if (nPCIeDevCount == 0 || nPCIeDevCount< cardIndex+1)
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{
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WarningEvent?.Invoke(WarningEnum.High, "Get board count 0");
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return false;
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}
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// 获取采集卡名称。
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for (uint i = 0; i < nPCIeDevCount; i++)
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{
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resourceNameSize = 0;
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resourceName = new StringBuilder(0);
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IKapBoard.IKapGetBoardName((uint)BoardType.IKBoardPCIE, i, resourceName, ref resourceNameSize);
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IKapBoard.IKapGetLastError(ref tIKei, true);
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if (tIKei.uErrorCode == (uint)ErrorCode.IKStatus_BufferTooSmall)
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{
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resourceName = new StringBuilder((int)resourceNameSize);
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IKapBoard.IKapGetBoardName((uint)BoardType.IKBoardPCIE, i, resourceName, ref resourceNameSize);
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}
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IKapBoard.IKapGetLastError(ref tIKei, true);
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if (tIKei.uErrorCode != (uint)ErrorCode.IKStatus_Success)
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{
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WarningEvent?.Invoke(WarningEnum.High, "Get Device Name Fail. Error Code:"+tIKei.uErrorCode);
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return false;
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}
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string sMesg = string.Concat("PCIE Device- ", i.ToString("d"), "\nName: ", resourceName);
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}
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// 打开采集卡。
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//
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// Open frame grabber.
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m_hBoard = IKapBoard.IKapOpen((int)BoardType.IKBoardPCIE, 0);//采集卡索引0-n
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if (m_hBoard.Equals(-1))
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{
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WarningEvent?.Invoke(WarningEnum.High, "Open device failure!");
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return false;
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}
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// 导入配置文件。
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string configFileName = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location) + "\\DevCfg\\"+ Config.CarmerConfigFilePath;
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if (!File.Exists(configFileName))
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{
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WarningEvent?.Invoke(WarningEnum.High, "Fail to get configuration, using default setting!");
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return false;
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}
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ret = IKapBoard.IKapLoadConfigurationFromFile(m_hBoard, configFileName);
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CheckIKapBoard(ret);
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// 设置图像缓冲区帧数。
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//
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// Set frame count of buffer.
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ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_FRAME_COUNT, m_nTotalFrameCount);
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CheckIKapBoard(ret);
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// 设置超时时间。
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//
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// Set time out time.
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int timeout = -1;
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ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_TIME_OUT, timeout);
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CheckIKapBoard(ret);
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// 设置采集模式。
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//
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// Set grab mode.
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int grab_mode = (int)GrabMode.IKP_GRAB_NON_BLOCK;//非阻塞StartGrab
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ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_GRAB_MODE, grab_mode);
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CheckIKapBoard(ret);
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// 设置传输模式。
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//
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// Set transfer mode.
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int transfer_mode = (int)FrameTransferMode.IKP_FRAME_TRANSFER_SYNCHRONOUS_NEXT_EMPTY_WITH_PROTECT;
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ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_FRAME_TRANSFER_MODE, transfer_mode);
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CheckIKapBoard(ret);
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// 注册回调函数
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//
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// Register callback functions.
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OnGrabStartProc = new IKapCallBackProc(OnGrabStartFunc);
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ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_GrabStart, Marshal.GetFunctionPointerForDelegate(OnGrabStartProc), m_hBoard);
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CheckIKapBoard(ret);
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OnFrameReadyProc = new IKapCallBackProc(OnFrameReadyFunc);
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ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_FrameReady, Marshal.GetFunctionPointerForDelegate(OnFrameReadyProc), m_hBoard);
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CheckIKapBoard(ret);
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OnFrameLostProc = new IKapCallBackProc(OnFrameLostFunc);
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ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_FrameLost, Marshal.GetFunctionPointerForDelegate(OnFrameLostProc), m_hBoard);
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CheckIKapBoard(ret);
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OnTimeoutProc = new IKapCallBackProc(OnTimeoutFunc);
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ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_TimeOut, Marshal.GetFunctionPointerForDelegate(OnTimeoutProc), m_hBoard);
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CheckIKapBoard(ret);
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OnGrabStopProc = new IKapCallBackProc(OnGrabStopFunc);
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ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_GrabStop, Marshal.GetFunctionPointerForDelegate(OnGrabStopProc), m_hBoard);
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CheckIKapBoard(ret);
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// 设置行触发参数。
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//SetLineTrigger();
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//
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getParam();
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IsInit = true;
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//timer.Elapsed += Timer_Elapsed;
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//timer.Interval = 100;
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//timer.Enabled = true;
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return true;
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}
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catch (Exception ex)
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{
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WarningEvent?.Invoke(WarningEnum.High, ex.Message);
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return false;
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}
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}
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public override void close()
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{
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if (!IsInit) return;
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try
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{
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IsInit = false;
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// 清除回调函数。
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UnRegisterCallback();
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// 关闭设备。
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CloseDevice();
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}
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catch { }
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="hwnd">显示图像控件句柄</param>
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/// <returns></returns>
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public override bool start(PictureBox preview_Hwnd,string bmp_save_path)
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{
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if (!IsInit) return false;
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this.previewHwnd= preview_Hwnd;
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this.bmpSavePath = bmp_save_path;
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//开始采集
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//第二个参数 nFrameCount 表示希望 IKapBoardClassLibrary 采集的帧数。
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//如果 nFrameCount = 1，IKapBoardClassLibrary 会从相机中采集一帧图像；
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//如果 nFrameCount = N 且 N> 1，则 IKapBoardClassLibrary 从相机中采集连续的 N 帧图 像；
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//如果 nFrameCount = 0，则 IKapBoardClassLibrary 开始连续采集图像。
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var ret = IKapBoard.IKapStartGrab(m_hBoard, 0);
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return ret == (int)ErrorCode.IK_RTN_OK;
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}
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/// <summary>
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/// 停止采集
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/// </summary>
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public override void stop()
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{
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if (!IsInit) return;
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try
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{
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// 停止图像采集。
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var ret = IKapBoard.IKapStopGrab(m_hBoard);
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CheckIKapBoard(ret);
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}
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catch
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{
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return;
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}
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}
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/// <summary>
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/// num 因拍了一张后回传的，当前已经是1了
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/// </summary>
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/// <param name="num"></param>
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public override void resetScanIndex()
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{
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scanIndex = 0;//
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}
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public override void getParam()
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{
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if (!IsInit) return;
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//CParam cDeviceParam = new CParam(m_cInterface);
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//MV_FG_FLOATVALUE stParam=new MV_FG_FLOATVALUE();
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//int nRet = cDeviceParam.GetFloatValue("ExposureTime", ref stParam);
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//if (nRet == CErrorCode.MV_FG_SUCCESS) ExposureTime = stParam.fCurValue;
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//nRet = cDeviceParam.GetFloatValue("Gain", ref stParam);
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//if (nRet == CErrorCode.MV_FG_SUCCESS) Gain = stParam.fCurValue;
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//nRet = cDeviceParam.GetFloatValue("ResultingFrameRate", ref stParam);
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//if (nRet == CErrorCode.MV_FG_SUCCESS) ResultingFrameRate = stParam.fCurValue;
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="exposureTime">曝光</param>
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/// <param name="gain">增益</param>
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/// <param name="resultingFrameRate">帧率</param>
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public override bool setParam(float exposureTime, float gain =-1, float resultingFrameRate =-1)
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{
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if (!IsInit) return false;
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bool change = false;
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//CParam cDeviceParam = new CParam(m_cInterface);
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//int nRet;
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//if (exposureTime != ExposureTime && exposureTime != -1)
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//{
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// nRet = cDeviceParam.SetEnumValue("ExposureAuto", (uint)0);
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// if (CErrorCode.MV_FG_SUCCESS != nRet)
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// WarningEvent?.Invoke(WarningEnum.Low, "ExposureTime SetEnumValue(\"ExposureAuto\") res=" + nRet);
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// nRet = cDeviceParam.SetFloatValue("ExposureTime", exposureTime);
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// if (CErrorCode.MV_FG_SUCCESS != nRet)
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// WarningEvent?.Invoke(WarningEnum.Low, "ExposureTime SetFloatValue(\"ExposureTime\") res=" + nRet);
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// change = true;
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//}
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//if (gain != Gain && gain != -1)
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//{
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// //device.MV_CC_SetEnumValue_NET("GainAuto", 0);
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// //nRet = device.MV_CC_SetFloatValue_NET("Gain", gain);
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// cDeviceParam.SetEnumValue("GainAuto", (uint)0);
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// cDeviceParam.SetFloatValue("Gain", gain);
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// change = true;
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//}
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//if (resultingFrameRate != ResultingFrameRate && resultingFrameRate != -1)
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//{
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// cDeviceParam.SetFloatValue("AcquisitionFrameRate", resultingFrameRate);
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// change = true;
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//}
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//
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if (change)
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getParam();
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return change;
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}
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public void Dispose()
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{
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stop();
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close();
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}
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//---------------
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/* @brief：设置行触发参数。
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*
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* @brief：Set line trigger parameters. */
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void SetLineTrigger()
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{
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int ret = (int)ErrorCode.IK_RTN_OK;
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// 设置CC1信号源。
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//
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// Set CC1 signal source.
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ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_CC1_SOURCE, (int)CCSource.IKP_CC_SOURCE_VAL_INTEGRATION_SIGNAL1);
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CheckIKapBoard(ret);
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// 设置积分控制方法触发信号源。
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//
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// Set integration control method trigger source.
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ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_INTEGRATION_TRIGGER_SOURCE, (int)IntegrationTriggerSource.IKP_INTEGRATION_TRIGGER_SOURCE_VAL_SHAFT_ENCODER1);
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CheckIKapBoard(ret);
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}
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/* @brief：清除回调函数。
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*
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* @brief：Unregister callback functions. */
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private void UnRegisterCallback()
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{
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int ret = (int)ErrorCode.IK_RTN_OK;
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ret = IKapBoard.IKapUnRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_GrabStart);
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ret = IKapBoard.IKapUnRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_FrameReady);
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ret = IKapBoard.IKapUnRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_FrameLost);
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ret = IKapBoard.IKapUnRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_TimeOut);
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ret = IKapBoard.IKapUnRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_GrabStop);
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}
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/* @brief：关闭设备。
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*
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* @brief：Close device. */
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private void CloseDevice()
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{
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// 关闭采集卡设备。
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//
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// Close frame grabber device.
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if (!m_hBoard.Equals(-1))
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{
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IKapBoard.IKapClose(m_hBoard);
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m_hBoard = (IntPtr)(-1);
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}
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}
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/* @brief：判断 IKapBoard 函数是否成功调用。
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* @param[in] ret：函数返回值。
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*
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* @brief：Determine whether the IKapBoard function is called successfully.
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* @param[in] ret：Function return value. */
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static void CheckIKapBoard(int ret)
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{
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if (ret != (int)ErrorCode.IK_RTN_OK)
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{
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string sErrMsg = "";
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IKapBoard.IKAPERRORINFO tIKei = new IKapBoardClassLibrary.IKapBoard.IKAPERRORINFO();
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// 获取错误码信息。
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IKapBoard.IKapGetLastError(ref tIKei, true);
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// 打印错误信息。
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sErrMsg = string.Concat("Error",
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sErrMsg,
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"Board Type\t = 0x", tIKei.uBoardType.ToString("X4"), "\n",
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"Board Index\t = 0x", tIKei.uBoardIndex.ToString("X4"), "\n",
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"Error Code\t = 0x", tIKei.uErrorCode.ToString("X4"), "\n"
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);
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throw new Exception(sErrMsg);
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}
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}
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#region Callback
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delegate void IKapCallBackProc(IntPtr pParam);
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/* @brief：本函数被注册为一个回调函数。当图像采集开始时，函数被调用。
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*
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* @brief：This function is registered as a callback function. When starting grabbing images, the function will be called. */
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private IKapCallBackProc OnGrabStartProc;
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/* @brief：本函数被注册为一个回调函数。当采集丢帧时，函数被调用。
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*
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* @brief：This function is registered as a callback function. When grabbing frame lost, the function will be called. */
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private IKapCallBackProc OnFrameLostProc;
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/* @brief：本函数被注册为一个回调函数。当图像采集超时时，函数被调用。
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*
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* @brief：This function is registered as a callback function. When grabbing images time out, the function will be called. */
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private IKapCallBackProc OnTimeoutProc;
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/* @brief：本函数被注册为一个回调函数。当一帧图像采集完成时，函数被调用。
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*
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* @brief：This function is registered as a callback function. When a frame of image grabbing ready, the function will be called. */
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private IKapCallBackProc OnFrameReadyProc;
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/* @brief：本函数被注册为一个回调函数。当图像采集停止时，函数被调用。
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*
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* @brief：This function is registered as a callback function. When stopping grabbing images, the function will be called. */
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private IKapCallBackProc OnGrabStopProc;
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#endregion
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#region Callback
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/* @brief：本函数被注册为一个回调函数。当图像采集开始时，函数被调用。
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* @param[in] pParam：输入参数。
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*
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* @brief：This function is registered as a callback function. When starting grabbing images, the function will be called.
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* @param[in] pParam：Input parameter. */
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public void OnGrabStartFunc(IntPtr pParam)
|
||
{
|
||
Console.WriteLine("Start grabbing image");
|
||
}
|
||
|
||
/* @brief：本函数被注册为一个回调函数。当采集丢帧时，函数被调用。
|
||
* @param[in] pParam：输入参数。
|
||
*
|
||
* @brief：This function is registered as a callback function. When grabbing frame lost, the function will be called.
|
||
* @param[in] pParam：Input parameter. */
|
||
public void OnFrameLostFunc(IntPtr pParam)
|
||
{
|
||
Console.WriteLine("Image frame lost");
|
||
}
|
||
|
||
/* @brief：本函数被注册为一个回调函数。当图像采集超时时，函数被调用。
|
||
* @param[in] pParam：输入参数。
|
||
*
|
||
* @brief：This function is registered as a callback function. When grabbing images time out, the function will be called.
|
||
* @param[in] pParam：Input parameter. */
|
||
public void OnTimeoutFunc(IntPtr pParam)
|
||
{
|
||
Console.WriteLine("Grab image timeout");
|
||
}
|
||
|
||
/* @brief：本函数被注册为一个回调函数。当一帧图像采集完成时，函数被调用。
|
||
* @param[in] pParam：输入参数。
|
||
*
|
||
* @brief：This function is registered as a callback function. When a frame of image grabbing ready, the function will be called.
|
||
* @param[in] pParam：Input parameter. */
|
||
public void OnFrameReadyFunc(IntPtr pParam)
|
||
{
|
||
Console.WriteLine("Grab frame ready");
|
||
|
||
IntPtr hDev = (IntPtr)pParam;
|
||
IntPtr pUserBuffer = IntPtr.Zero;
|
||
int nFrameSize = 0;
|
||
int nFrameCount = 0;
|
||
IKapBoard.IKAPBUFFERSTATUS status = new IKapBoard.IKAPBUFFERSTATUS();
|
||
|
||
IKapBoard.IKapGetInfo(hDev, (uint)INFO_ID.IKP_FRAME_COUNT, ref nFrameCount);
|
||
IKapBoard.IKapGetBufferStatus(hDev, m_nCurFrameIndex, ref status);
|
||
|
||
// 当图像缓冲区满时。
|
||
//
|
||
// When the buffer is full.
|
||
if (status.uFull == 1)
|
||
{
|
||
// 获取一帧图像的大小。
|
||
//
|
||
// Get the size of a frame of image.
|
||
IKapBoard.IKapGetInfo(hDev, (uint)INFO_ID.IKP_FRAME_SIZE, ref nFrameSize);
|
||
|
||
// 获取缓冲区地址。
|
||
//
|
||
// Get the buffer address.
|
||
IKapBoard.IKapGetBufferAddress(hDev, m_nCurFrameIndex, ref pUserBuffer);
|
||
|
||
// === 保存图像。
|
||
//存文件
|
||
//IKapBoard.IKapSaveBuffer(hDev, m_nCurFrameIndex, m_strFileName, (int)ImageCompressionFalg.IKP_DEFAULT_COMPRESSION);
|
||
// 存到byte[]
|
||
byte[] imageBuff = new byte[nFrameSize]; // 创建字节数组
|
||
Marshal.Copy(pUserBuffer, imageBuff, 0, imageBuff.Length); // 将目标内存空间中的数据复制到结果字节数组
|
||
//存到地址
|
||
//IntPtr m_pDataBuf = Marshal.AllocHGlobal(nFrameSize); //分配空间
|
||
//CopyMemory(m_pDataBuf, pUserBuffer, (uint)nFrameSize);
|
||
//pictureBox1显示
|
||
if (this.previewHwnd != null && IsWindow(this.previewHwnd.Handle))
|
||
{
|
||
this.previewHwnd.Image = bytes2bmp(imageBuff);
|
||
}
|
||
|
||
}
|
||
m_nCurFrameIndex++;
|
||
m_nCurFrameIndex = m_nCurFrameIndex % m_nTotalFrameCount;
|
||
}
|
||
|
||
/* @brief：本函数被注册为一个回调函数。当图像采集停止时，函数被调用。
|
||
* @param[in] pParam：输入参数。
|
||
*
|
||
* @brief：This function is registered as a callback function. When stopping grabbing images, the function will be called.
|
||
* @param[in] pParam：Input parameter. */
|
||
public void OnGrabStopFunc(IntPtr pParam)
|
||
{
|
||
Console.WriteLine("Stop grabbing image");
|
||
}
|
||
#endregion
|
||
|
||
private byte[] bmp2bytes(Bitmap bmp)
|
||
{
|
||
MemoryStream ms = new MemoryStream();
|
||
bmp.Save(ms, System.Drawing.Imaging.ImageFormat.Bmp);
|
||
byte[] bytes = ms.GetBuffer(); //byte[] bytes= ms.ToArray(); 这两句都可以，至于区别么，下面有解释
|
||
ms.Close();
|
||
bmp.Dispose();
|
||
return bytes;
|
||
}
|
||
private Bitmap bytes2bmp(byte[] bytes)
|
||
{
|
||
MemoryStream ms1 = new MemoryStream(bytes);
|
||
Bitmap bm = (Bitmap)Image.FromStream(ms1);
|
||
ms1.Close();
|
||
return bm;
|
||
}
|
||
}
|
||
}
|