geboshi_V1/LeatherProject/LeatherApp/Device/CamerCardDevIK.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Timers;
using System.Windows.Forms;
using IKapBoardClassLibrary;
using IKapC.NET;
using LeatherApp.Device.CamerUtil;
using LeatherApp.Interface;
using Newtonsoft.Json.Linq;
using OpenCvSharp;
using OpenCvSharp.Dnn;
using ErrorCode = IKapBoardClassLibrary.ErrorCode;

namespace LeatherApp.Device
{
    public class CamerCardDevIK : ABSCamerCardDev,IDisposable
    { 
        [DllImport("user32.dll")]
        [return: MarshalAs(UnmanagedType.Bool)]
        private static extern bool IsWindow(IntPtr hWnd);

        [DllImport("kernel32.dll")]
        public static extern void CopyMemory(IntPtr Destination, IntPtr Source, int Length);
        // 相机句柄
        //private IKDeviceCL m_pDev = new IKDeviceCL();
        public IntPtr m_pDev = new IntPtr(-1);
        // 采集卡句柄
        public IntPtr m_pBoard = new IntPtr(-1);
        // 用户缓冲区，用于图像数据转换
        public IntPtr m_pUserBuffer = new IntPtr(-1);
        // 是否正在采集
        public volatile bool m_bGrabingImage = false;
        // 是否已更新用户缓冲区
        public volatile bool m_bUpdateImage = false;
        // 相机类型，0为GV相机，1为CL相机，2为CXP相机
        public int m_nType = -1;
        // 图像宽度
        public int m_nWidth = -1;
        // 图像高度
        public int m_nHeight = -1;
        // 像素位数
        public int m_nDepth = 8;
        // 图像通道数
        public int m_nChannels = 1;
        // 相机索引
        public int m_nDevIndex = -1;
        // 采集卡索引
        public int m_nBoardIndex = -1;
        // 相机缓冲区个数
        public int m_nFrameCount = 2;//只能1
        // 当前帧索引
        public int m_nCurFrameIndex = 0;
        // 相机缓冲区大小
        public int m_nBufferSize = 0; 
        // 用户缓冲区锁
        public object m_mutexImage = new object();


        //显示图像控件句柄
        private PictureBox previewHwnd = null; 
        //  
        // 保存图像的文件名。 
        public string m_strFileName = "C:\\CSharpImage.bmp";

        //
        private int scanIndex = 0; //实际拍照从1开始命名，因先加的1
        private string bmpSavePath;

        private Thread readerThread;
        private Queue<MyData> frameQueue =new Queue<MyData>();
        /// <summary>
        /// 曝光 3.00-10000.00
        /// </summary>
        public float ExposureTime { get; private set; }
        /// <summary>
        /// 增益 0-23.981199
        /// </summary>
        public float Gain { get; private set; }
        /// <summary>
        /// 帧率 0-429496.718750
        /// </summary>
        public float ResultingFrameRate { get; private set; }
        /// <summary>
        /// 图片大小
        /// </summary>
        public System.Drawing.Size size { get; private set; } 
        /// <summary>
        /// 是否打开设备成功
        /// </summary>
        public bool IsInit { get; private set; } = false;
        //public string ErrInfo { get; private set; }
        //private System.Timers.Timer timer = new System.Timers.Timer();
        private int _scannerCardIndex = 0;//采集卡索引
        private int _scannerIndex=0;//相机索引(一个采集卡上可插多个相机)
        private IKDeviceInfo devInfo;
        BufferToImage hBuffer;

        private class MyData
        {
            public MyData(int _index,Mat _mat)
            {
                index= _index;
                mat = _mat;  
            }
            public int index;
            public Mat mat;
        }
        // 设备类型枚举
        enum IKDeviceType
        {
            DEVICE_NIL = 0,
            DEVICE_CML,
            DEVICE_CXP,
            DEVICE_USB,
            DEVICE_GIGEVISION
        }
        // 设备信息结构体
        struct IKDeviceInfo
        {
            public IKDeviceType nType;
            public int nDevIndex;
            public int nBoardIndex;
            public string sDevName;
        }
        /// <summary>
        /// 读取缓存队列线程
        /// </summary>
        private void readDataThread()
        {
            MyData mydate; 
            while (IsInit)
            {
                if (frameQueue.Count > 0) // 如果队列不为空则从队列中获取元素
                {
                    lock (frameQueue)
                    {
                        mydate = frameQueue.Dequeue();
                    }
                    PhotoNumCacheEvent?.Invoke(frameQueue.Count); 
                    WarningEvent?.BeginInvoke(DateTime.Now,WarningEnum.Normal, $"相机({_scannerCardIndex})从缓存队列提取一帧图像({mydate.index})，开始回调(队列剩余帧数:{frameQueue.Count})...", null, null);
                    ScanEvent?.Invoke(mydate.index, mydate.mat, _scannerCardIndex);
                    WarningEvent?.BeginInvoke(DateTime.Now,WarningEnum.Normal, $"相机({_scannerCardIndex})图像({mydate.index})回调完成.", null, null);
                }
                else
                {
                    Thread.Sleep(10);
                } 
            }
        }
        public CamerCardDevIK( )
        {
            m_nType = 1;
        }
        public override bool open(int nBoardIndex,int nDevIndex)
        {
            if (IsInit) return true;
            _scannerCardIndex = nBoardIndex; 
            WarningEvent?.BeginInvoke(DateTime.Now,WarningEnum.Normal, "open ....",null,null);
            try
            {
                closeDevice(); 
                scanIndex = 0;
                devInfo = new IKDeviceInfo();
                readerThread = new Thread(readDataThread); // 创建读取线程
                //
                uint nDevCount = 2;
                uint res = IKapCLib.ItkManGetDeviceCount(ref nDevCount);
                if (res != (uint)ItkStatusErrorId.ITKSTATUS_OK)
                {
                    WarningEvent?.Invoke(DateTime.Now,WarningEnum.High, "ItkManGetDeviceCount failed");
                    return false;
                }
                
                IKapCLib.ITKDEV_INFO pDevInfo = new IKapCLib.ITKDEV_INFO(); 
                IKapCLib.ITK_CL_DEV_INFO pClDevInfo = new IKapCLib.ITK_CL_DEV_INFO();
                for (uint i = 0; i < nDevCount; ++i)
                { 
                    IKapCLib.ItkManGetDeviceInfo(i, ref pDevInfo); 
                    if (pDevInfo.DeviceClass.CompareTo("CameraLink") == 0)
                    { 
                        res = IKapCLib.ItkManGetCLDeviceInfo(i, ref pClDevInfo);
                        //if (res != (uint)ItkStatusErrorId.ITKSTATUS_OK)
                        //    return;
                        if ((int)pClDevInfo.BoardIndex == nBoardIndex)
                        { 
                            devInfo.nType = IKDeviceType.DEVICE_CML;
                            devInfo.nDevIndex = (int)i;
                            devInfo.nBoardIndex = (int)pClDevInfo.BoardIndex;
                            devInfo.sDevName = pDevInfo.FullName;
                        }
                    } 
                }
                if(devInfo.nType != IKDeviceType.DEVICE_CML)
                {
                    WarningEvent?.Invoke(DateTime.Now,WarningEnum.High, "对应索引相机不存在 failed");
                    return false;
                }
                //
                res = IKapCLib.ItkDevOpen((uint)devInfo.nDevIndex
                    , (int)(ItkDeviceAccessMode.ITKDEV_VAL_ACCESS_MODE_CONTROL)
                    , ref m_pDev);
                if (!Check(res))
                {
                    WarningEvent?.Invoke(DateTime.Now,WarningEnum.High, "Camera error:Open camera failed"); 
                    return false;
                }
                
                //打开采集卡
                m_pBoard = IKapBoard.IKapOpen((uint)BoardType.IKBoardPCIE, (uint)devInfo.nBoardIndex); 
                if (m_pBoard == new IntPtr(-1))
                {
                    WarningEvent?.Invoke(DateTime.Now,WarningEnum.High, "IKapOpen failed");
                    return false;
                }

                IsInit = true;
                readerThread.Start();
                return true;
            }
            catch (Exception ex)
            {
                WarningEvent?.Invoke(DateTime.Now,WarningEnum.High, ex.Message);
                return false;
            } 
        }
        public override void close()
        {
            if (!IsInit) return;

            try
            {
                IsInit = false;
                // 清除回调函数。 
                UnRegisterCallback();

                // 关闭设备。 
                CloseDevice();
            }
            catch { }
        }
        /// <summary>
        /// 
        /// </summary>
        /// <param name="hwnd">显示图像控件句柄</param>
        /// <returns></returns>
        public override bool start(PictureBox preview_Hwnd,string bmp_save_path)
        { 
            if (!IsInit) return false; 
            WarningEvent?.Invoke(DateTime.Now,WarningEnum.Normal, "start ....");
            // 导入配置文件。  
            string configFileName = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location) + "\\DevCfg\\" + (_scannerCardIndex==0?Config.Carmer1ConfigFilePath: Config.Carmer2ConfigFilePath);
            if (!File.Exists(configFileName))
            {
                WarningEvent?.Invoke(DateTime.Now,WarningEnum.High, "Fail to get configuration, using default setting!");
                return false;
            } 
            var b=loadConfiguration(configFileName);
            WarningEvent?.Invoke(DateTime.Now,WarningEnum.Normal, "开始采集 ..."+b.ToString());

            this.previewHwnd= preview_Hwnd; 
            this.bmpSavePath = bmp_save_path;
            //开始采集 
            //第二个参数 nFrameCount 表示希望 IKapBoardClassLibrary 采集的帧数。
            //如果 nFrameCount = 1，IKapBoardClassLibrary 会从相机中采集一帧图像；
            //如果 nFrameCount = N 且 N> 1，则 IKapBoardClassLibrary 从相机中采集连续的 N 帧图 像；
            //如果 nFrameCount = 0，则 IKapBoardClassLibrary 开始连续采集图像。  

            int ret;
            // 设置抓取模式，IKP_GRAB_NON_BLOCK为非阻塞模式
            //int grab_mode = (int)GrabMode.IKP_GRAB_NON_BLOCK;
            //ret = IKapBoard.IKapSetInfo(m_pBoard, (uint)INFO_ID.IKP_GRAB_MODE, grab_mode);
            //if (ret != (int)ErrorCode.IK_RTN_OK)
            //    return false;

            //// 设置帧传输模式，IKP_FRAME_TRANSFER_SYNCHRONOUS_NEXT_EMPTY_WITH_PROTECT为同步保存模式
            //int transfer_mode = (int)FrameTransferMode.IKP_FRAME_TRANSFER_SYNCHRONOUS_NEXT_EMPTY_WITH_PROTECT;
            //ret = IKapBoard.IKapSetInfo(m_pBoard, (uint)INFO_ID.IKP_FRAME_TRANSFER_MODE, transfer_mode);
            //if (ret != (int)ErrorCode.IK_RTN_OK)
            //    return false;

            //设置缓冲区格式
            ret = IKapBoard.IKapSetInfo(m_pBoard, (uint)INFO_ID.IKP_FRAME_COUNT, 1);//
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            // 设置帧超时时间
            int timeout = -1;
            ret = IKapBoard.IKapSetInfo(m_pBoard, (uint)INFO_ID.IKP_TIME_OUT, timeout);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            // 设置采集模式。
            //
            // Set grab mode.
            int grab_mode = (int)GrabMode.IKP_GRAB_NON_BLOCK;
            ret = IKapBoard.IKapSetInfo(m_pBoard, (uint)INFO_ID.IKP_GRAB_MODE, grab_mode);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            // 设置传输模式。 
            int transfer_mode = (int)FrameTransferMode.IKP_FRAME_TRANSFER_SYNCHRONOUS_NEXT_EMPTY_WITH_PROTECT;
            ret = IKapBoard.IKapSetInfo(m_pBoard, (uint)INFO_ID.IKP_FRAME_TRANSFER_MODE, transfer_mode);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            // 注册回调函数
            IntPtr hPtr = new IntPtr(-1);
            OnGrabStartProc = new IKapCallBackProc(OnGrabStartFunc);
            ret = IKapBoard.IKapRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_GrabStart, Marshal.GetFunctionPointerForDelegate(OnGrabStartProc), hPtr);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            OnFrameReadyProc = new IKapCallBackProc(OnFrameReadyFunc);
            ret = IKapBoard.IKapRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_FrameReady, Marshal.GetFunctionPointerForDelegate(OnFrameReadyProc), hPtr);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            OnFrameLostProc = new IKapCallBackProc(OnFrameLostFunc);
            ret = IKapBoard.IKapRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_FrameLost, Marshal.GetFunctionPointerForDelegate(OnFrameLostProc), hPtr);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            OnTimeoutProc = new IKapCallBackProc(OnTimeoutFunc);
            ret = IKapBoard.IKapRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_TimeOut, Marshal.GetFunctionPointerForDelegate(OnTimeoutProc), hPtr);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            OnGrabStopProc = new IKapCallBackProc(OnGrabStopFunc);
            ret = IKapBoard.IKapRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_GrabStop, Marshal.GetFunctionPointerForDelegate(OnGrabStopProc), hPtr);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            m_bUpdateImage = false;
            m_nCurFrameIndex = 0;
            ret = IKapBoard.IKapStartGrab(m_pBoard, 0);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;

            //createBuffer
             b = createBuffer();
            if (!b)
                return false;

            getParam();

            //
            m_bGrabingImage = true;
            return true;
        }
        /// <summary>
        /// 停止采集
        /// </summary>
        public override void stop()
        {
            if (!IsInit) return; 

            try
            {
                // 停止图像采集。 
                var ret = IKapBoard.IKapStopGrab(m_pBoard);
                clearBuffer();
                CheckIKapBoard(ret);
            }
            catch
            {
                return;
            }
        }
        /// <summary>
        /// num 因拍了一张后回传的，当前已经是1了 
        /// </summary>
        /// <param name="num"></param>
        public override void resetScanIndex()
        {
            scanIndex = 0;//
        }
   
        public override void getParam()
        {
            if (!IsInit) return;

            string result;
            result = getFeatureValue("ExposureTime");
            if (!string.IsNullOrEmpty(result))
                ExposureTime = Convert.ToSingle(result);

            result = getFeatureValue("Gain");
            if (!string.IsNullOrEmpty(result))
                Gain = Convert.ToSingle(result);  
        }
        /// <summary>
        /// 
        /// </summary>
        /// <param name="exposureTime">曝光</param>
        /// <param name="gain">增益</param>
        /// <param name="resultingFrameRate">帧率</param>
        public override bool setParam(float exposureTime, float gain =-1, float resultingFrameRate =-1)
        {
            if (!IsInit) return false;

            bool change = false;
            //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Normal, $"ExposureTime: {exposureTime},{ExposureTime}");
            if (exposureTime != ExposureTime && exposureTime != -1)
            {
                if(setFeatureValue("ExposureTime", exposureTime.ToString()))
                    change = true; 
            }
            //WarningEvent?.Invoke(DateTime.Now,WarningEnum.Normal, $"Gain: {gain},{Gain}");
            if (gain != Gain && gain != -1)
            {
                if (setFeatureValue("Gain", gain.ToString()))
                    change = true;
            }

            //if (resultingFrameRate != ResultingFrameRate && resultingFrameRate != -1)
            //{
            //    cDeviceParam.SetFloatValue("AcquisitionFrameRate", resultingFrameRate);
            //    change = true;
            //}

            //
            if (change)
                getParam();
            return change;
        }
 
        public void Dispose()
        {
            stop();
            close();
        }

        //---------------

        /* @brief：设置行触发参数。
         *
         * @brief：Set line trigger parameters. */
        void SetLineTrigger()
        {
            int ret = (int)ErrorCode.IK_RTN_OK;

            // 设置CC1信号源。
            //
            // Set CC1 signal source.
            ret = IKapBoard.IKapSetInfo(m_pBoard, (uint)INFO_ID.IKP_CC1_SOURCE, (int)CCSource.IKP_CC_SOURCE_VAL_INTEGRATION_SIGNAL1);
            CheckIKapBoard(ret);

            // 设置积分控制方法触发信号源。
            //
            // Set integration control method trigger source.
            ret = IKapBoard.IKapSetInfo(m_pBoard, (uint)INFO_ID.IKP_INTEGRATION_TRIGGER_SOURCE, (int)IntegrationTriggerSource.IKP_INTEGRATION_TRIGGER_SOURCE_VAL_SHAFT_ENCODER1);
            CheckIKapBoard(ret);
        }

        /* @brief：清除回调函数。
         *
         * @brief：Unregister callback functions. */
        private void UnRegisterCallback()
        {
            int ret = (int)ErrorCode.IK_RTN_OK;

            ret = IKapBoard.IKapUnRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_GrabStart);
            ret = IKapBoard.IKapUnRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_FrameReady);
            ret = IKapBoard.IKapUnRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_FrameLost);
            ret = IKapBoard.IKapUnRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_TimeOut);
            ret = IKapBoard.IKapUnRegisterCallback(m_pBoard, (uint)CallBackEvents.IKEvent_GrabStop);
        }

        /* @brief：关闭设备。
         *
         * @brief：Close device. */
        private void CloseDevice()
        {
            // 关闭采集卡设备。
            //
            // Close frame grabber device.
            if (!m_pBoard.Equals(-1))
            {
                IKapBoard.IKapClose(m_pBoard);
                m_pBoard = (IntPtr)(-1);
            }
        }

        /* @brief：判断 IKapBoard 函数是否成功调用。
        * @param[in] ret：函数返回值。
        *
        * @brief：Determine whether the IKapBoard function is called successfully.
        * @param[in] ret：Function return value. */
        static void CheckIKapBoard(int ret)
        {
            if (ret != (int)ErrorCode.IK_RTN_OK)
            {
                string sErrMsg = "";
                IKapBoard.IKAPERRORINFO tIKei = new IKapBoardClassLibrary.IKapBoard.IKAPERRORINFO();

                // 获取错误码信息。
                IKapBoard.IKapGetLastError(ref tIKei, true);

                // 打印错误信息。
                sErrMsg = string.Concat("Error",
                                        sErrMsg,
                                        "Board Type\t = 0x", tIKei.uBoardType.ToString("X4"), "\n",
                                        "Board Index\t = 0x", tIKei.uBoardIndex.ToString("X4"), "\n",
                                        "Error Code\t = 0x", tIKei.uErrorCode.ToString("X4"), "\n"
                                        );
                throw new Exception(sErrMsg);
            }
        }

        #region Callback
        delegate void IKapCallBackProc(IntPtr pParam);

        /* @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。
         *
         * @brief：This function is registered as a callback function. When starting grabbing images, the function will be called. */
        private IKapCallBackProc OnGrabStartProc;

        /* @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。
         *
         * @brief：This function is registered as a callback function. When grabbing frame lost, the function will be called. */
        private IKapCallBackProc OnFrameLostProc;

        /* @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。
         *
         * @brief：This function is registered as a callback function. When grabbing images time out, the function will be called. */
        private IKapCallBackProc OnTimeoutProc;

        /* @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。
         *
         * @brief：This function is registered as a callback function. When a frame of image grabbing ready, the function will be called. */
        private IKapCallBackProc OnFrameReadyProc;

        /* @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。
         *
         * @brief：This function is registered as a callback function. When stopping grabbing images, the function will be called. */
        private IKapCallBackProc OnGrabStopProc;
        #endregion

        #region Callback
        /* @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。
         * @param[in] pParam：输入参数。
         *
         * @brief：This function is registered as a callback function. When starting grabbing images, the function will be called.
         * @param[in] pParam：Input parameter. */
        public void OnGrabStartFunc(IntPtr pParam)
        { 
            WarningEvent?.BeginInvoke(DateTime.Now,WarningEnum.Normal, "图像开始采集...", null, null);
        }

        /* @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)
        { 
            WarningEvent?.BeginInvoke(DateTime.Now,WarningEnum.High, $"相机({_scannerCardIndex})采集图像({scanIndex})丢帧(Image frame lost),急停告警，需结束重新开始!!!！", null, null);
        }

        /* @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)
        { 
            WarningEvent?.BeginInvoke(DateTime.Now,WarningEnum.High, $"相机({_scannerCardIndex})采集图像({scanIndex})超时(Grab image timeout),请检查采集卡！", null, null);
        }

        /* @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)
        {
            try
            {
                Stopwatch stopwatch = Stopwatch.StartNew();
                stopwatch.Start();
                int index = ++scanIndex;
                WarningEvent?.BeginInvoke(DateTime.Now, WarningEnum.Normal, $"OnFrameReadyFunc 相机({_scannerCardIndex})一帧图像({index})采集完成，正在加入队列({frameQueue.Count})...", null, null);

                IntPtr hPtr = new IntPtr(-1);
                // 获取当前帧状态
                var ret = IKapBoard.IKapGetInfo(m_pBoard, (uint)INFO_ID.IKP_CURRENT_BUFFER_INDEX, ref m_nCurFrameIndex);
                if (ret != (int)ErrorCode.IK_RTN_OK)
                    return;
                //IKapBoard.IKAPBUFFERSTATUS status = new IKapBoard.IKAPBUFFERSTATUS();
                //IKapBoard.IKapGetBufferStatus(m_pBoard, m_nCurFrameIndex, ref status);
                //var uFull = status.uFull;
                //if (uFull == 1)//指明缓冲区是否为满
                {
                    IKapBoard.IKapGetBufferAddress(m_pBoard, m_nCurFrameIndex, ref hPtr);
                    //Monitor.Enter(m_mutexImage);
                    lock (m_mutexImage)
                    {
                        CopyMemory(m_pUserBuffer, hPtr, m_nBufferSize);
                        m_bUpdateImage = true;

                        Mat mat = new Mat(m_nHeight, m_nWidth, MatType.CV_8UC3, m_pUserBuffer);
                        //var bmp = hBuffer.toBmp(m_pUserBuffer);
                        //Mat mat = OpenCvSharp.Extensions.BitmapConverter.ToMat(bmp);
                        //bmp.Dispose();
                        //bmp = null;
                        //Monitor.Enter(frameQueue);
                        lock (frameQueue)
                            frameQueue.Enqueue(new MyData(index, mat.Clone()));
                        PhotoNumCacheEvent?.BeginInvoke(frameQueue.Count, null, null);
                    }
                }
                //m_nCurFrameIndex++;
                //m_nCurFrameIndex = m_nCurFrameIndex % m_nFrameCount;
                stopwatch.Stop();
                WarningEvent?.BeginInvoke(DateTime.Now, WarningEnum.Normal, $"OnFrameReadyFunc 相机({_scannerCardIndex})一帧图像({index})已加入队列({frameQueue.Count}).缓冲区索引={m_nCurFrameIndex};用时:{stopwatch.ElapsedMilliseconds}ms", null, null);
            }
            catch (Exception ex)
            {
                WarningEvent?.BeginInvoke(DateTime.Now, WarningEnum.High, $"OnFrameReadyFunc 异常,急停告警，需结束重新开始!!!！{ex.Message}\r\n{ex.StackTrace}", null, null);
            }
        }

        /* @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;
        }
        /*
        * @brief:设置相机特征值
        * @param [in] featureName:特征名[ExposureTime,Gain]
        * @param [in] featureValue:特征值
        * @return: 是否设置成功
        */
        private bool setFeatureValue(string featureName, string featureValue)
        {
            IntPtr itkFeature = new IntPtr(-1);
            uint nType = 0;
            uint res = IKapCLib.ItkDevAllocFeature(m_pDev, featureName, ref itkFeature);
            if (!Check(res))
            {
                WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"setFeatureValue({featureName},{featureValue}) Camera error:Allocate feature failed");
                return false;
            }
            res = IKapCLib.ItkFeatureGetType(itkFeature, ref nType);
            if (!Check(res))
            {
                WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"setFeatureValue({featureName},{featureValue}) Camera error:Get feature type failed");
                return false;
            }
            switch (nType)
            {
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_INT32:
                    res = IKapCLib.ItkFeatureSetInt32(itkFeature, Convert.ToInt32(featureValue));
                    break;
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_INT64:
                    res = IKapCLib.ItkFeatureSetInt64(itkFeature, Convert.ToInt64(featureValue));
                    break;
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_FLOAT:
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_DOUBLE:
                    res = IKapCLib.ItkFeatureSetDouble(itkFeature, Convert.ToDouble(featureValue));
                    break;
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_ENUM:
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_STRING:
                    res = IKapCLib.ItkFeatureFromString(itkFeature, featureValue);
                    break;
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_COMMAND:
                    res = IKapCLib.ItkFeatureExecuteCommand(itkFeature);
                    break;
            }
            if (!Check(res))
            {
                WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"setFeatureValue({featureName},{featureValue}) Camera error:Set feature failed:" + res);
                return false;
            }
            return true;
        }
        private string getFeatureValue(string featureName)
        {
            IntPtr itkFeature = new IntPtr(-1);
            uint nType = 0;
            uint res = IKapCLib.ItkDevAllocFeature(m_pDev, featureName, ref itkFeature);
            if (!Check(res))
            {
                WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"getFeatureValue({featureName}) Camera error:Allocate feature failed");
                return "";
            }
            res = IKapCLib.ItkFeatureGetType(itkFeature, ref nType);
            if (!Check(res))
            {
                WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"getFeatureValue({featureName}) Camera error:Get feature type failed");
                return "";
            }
            switch (nType)
            {
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_INT32:
                    int result = 0;
                    res = IKapCLib.ItkFeatureGetInt32(itkFeature,ref result);
                    if (!Check(res))
                    {
                        WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"getFeatureValue({featureName}) Camera error:Get feature failed:" + res);
                        return "";
                    }
                    return result.ToString(); 
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_INT64:
                    long resultL = 0;
                    res = IKapCLib.ItkFeatureGetInt64(itkFeature, ref resultL);
                    if (!Check(res))
                    {
                        WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"getFeatureValue({featureName}) Camera error:Get feature failed:" + res);
                        return "";
                    }
                    return resultL.ToString();
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_FLOAT:
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_DOUBLE:
                    double resultD = 0;
                    res = IKapCLib.ItkFeatureGetDouble(itkFeature, ref resultD);
                    if (!Check(res))
                    {
                        WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"getFeatureValue({featureName}) Camera error:Get feature failed:" + res);
                        return "";
                    }
                    return resultD.ToString();
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_ENUM:
                case (uint)ItkFeatureType.ITKFEATURE_VAL_TYPE_STRING:
                    string results = "";
                    res = IKapCLib.ItkFeatureFromString(itkFeature, results);
                    if (!Check(res))
                    {
                        WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"getFeatureValue({featureName}) Camera error:Get feature failed:" + res);
                        return "";
                    }
                    return results; 
            }
            if (!Check(res))
            {
                WarningEvent?.Invoke(DateTime.Now,WarningEnum.Low, $"getFeatureValue({featureName}) Camera error:Get feature failed:" + res);
                return "";
            }
            return "";
        }
        public override double[] getFeatureRangeValue(string featureName)
        {
            switch (featureName)
            {
                case "ExposureTime":
                    //return new double[2] {3.2,63997}; 
                    return new double[2] { 10, 200 };
                case "Gain":
                    return new double[2] { 0.01, 8.00 }; 
                default: return new double[0] { };
            }
        } 
        /*
         *@brief:检查错误码
         *@param [in] err:错误码
         *@return:是否错误
         */
        private static bool Check(uint err)
        {
            if (err != (uint)ItkStatusErrorId.ITKSTATUS_OK)
            {
                System.Diagnostics.Debug.WriteLine("Error code: {0}.\n", err.ToString("x8"));
                return false;
            }
            return true;
        }

        //----
        private bool isOpen()
        {
            return m_pDev != new IntPtr(-1) && m_pBoard != new IntPtr(-1);
        }

        private bool closeDevice()
        {
            frameQueue.Clear();
            if (isOpen())
            {
                IKapBoard.IKapClose(m_pBoard);
                IKapCLib.ItkDevClose(m_pDev);
            }
            return true;
        }

        private bool loadConfiguration(string sFilePath)
        {
            int ret = IKapBoard.IKapLoadConfigurationFromFile(m_pBoard, sFilePath);
            return ret == (int)ErrorCode.IK_RTN_OK;
        }

        private bool createBuffer()
        {
            int ret = (int)ErrorCode.IK_RTN_OK;
            int nImageType = 0;
            ret = IKapBoard.IKapGetInfo(m_pBoard, (uint)INFO_ID.IKP_IMAGE_WIDTH, ref m_nWidth);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;
            ret = IKapBoard.IKapGetInfo(m_pBoard, (uint)INFO_ID.IKP_IMAGE_HEIGHT, ref m_nHeight);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;
            ret = IKapBoard.IKapGetInfo(m_pBoard, (uint)INFO_ID.IKP_IMAGE_TYPE, ref nImageType);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;
            ret = IKapBoard.IKapGetInfo(m_pBoard, (uint)INFO_ID.IKP_DATA_FORMAT, ref m_nDepth);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;
            ret = IKapBoard.IKapGetInfo(m_pBoard, (uint)INFO_ID.IKP_FRAME_SIZE, ref m_nBufferSize);
            if (ret != (int)ErrorCode.IK_RTN_OK)
                return false;
            switch (nImageType)
            {
                case 0:
                    m_nChannels = 1;
                    break;
                case 1:
                case 3:
                    m_nChannels = 3;
                    break;
                case 2:
                case 4:
                    m_nChannels = 4;
                    break;
            }
            WarningEvent?.Invoke(DateTime.Now,WarningEnum.Normal, $"图片类型:{nImageType},通道数:{m_nChannels},size:{m_nWidth}*{m_nHeight}");
            m_pUserBuffer = Marshal.AllocHGlobal(m_nBufferSize);

            //
            hBuffer = new BufferToImage(m_nBufferSize  , m_nDepth, m_nChannels  , m_nWidth, m_nHeight);
             
            return true;
        }

        private void clearBuffer()
        {
            if (m_pUserBuffer == new IntPtr(-1))
                return;
            Marshal.FreeHGlobal(m_pUserBuffer);
            m_pUserBuffer = new IntPtr(-1);
        }
    }
}