geboshi_V1/LeatherProject/LeatherApp/Device/CamerCardDev2.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
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 LeatherApp.Interface;
using Newtonsoft.Json.Linq;
using OpenCvSharp;
using OpenCvSharp.Dnn;
using ErrorCode = IKapBoardClassLibrary.ErrorCode;

namespace LeatherApp.Device
{
    public class CamerCardDev2 : ABSCamerCardDev,IDisposable
    { 
        [DllImport("user32.dll")]
        [return: MarshalAs(UnmanagedType.Bool)]
        private static extern bool IsWindow(IntPtr hWnd);

        [DllImport("kernel32.dll", EntryPoint = "RtlCopyMemory", SetLastError = false)]
        public static extern void CopyMemory(IntPtr dest, IntPtr src, uint count);
        [DllImport("User32.dll")]
        public extern static System.IntPtr GetDC(System.IntPtr hWnd);

        [DllImport("user32.dll")]
        private static extern int ReleaseDC(IntPtr hWnd, IntPtr hDC);
         
        //显示图像控件句柄
        private PictureBox previewHwnd = null; 
        //
        // 采集卡设备句柄。 
        public IntPtr m_hBoard = new IntPtr(-1);
        // 当前帧索引。 
        public int m_nCurFrameIndex = 0;
        // 图像缓冲区申请的帧数。 
        public int m_nTotalFrameCount = 1;
        // 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;
  

        /// <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)
         
        public CamerCardDev2( )
        {  
        }
        public override bool open(int cardIndex = 0,int scannerIndex = 0)
        {
            if (IsInit) return true;

            //m_stIFInfoList = _m_stIFInfoList;
            _scannerCardIndex = cardIndex;
            _scannerIndex = scannerIndex;
            System.GC.Collect();
            try
            {
                int ret = (int)ErrorCode.IK_RTN_OK;
                uint nPCIeDevCount = 0; 
                StringBuilder resourceName; 
                uint resourceNameSize = 0;
                IKapBoard.IKAPERRORINFO tIKei = new IKapBoard.IKAPERRORINFO();

                // 获取连接的采集卡数量。 
                ret = IKapBoard.IKapGetBoardCount((int)BoardType.IKBoardPCIE, ref nPCIeDevCount);
                CheckIKapBoard(ret); 

                // 当没有连接的采集卡时。 
                if (nPCIeDevCount == 0 || nPCIeDevCount< cardIndex+1)
                {
                    WarningEvent?.Invoke(WarningEnum.High, "Get board count 0");
                    return false; 
                }

                // 获取采集卡名称。 
                for (uint i = 0; i < nPCIeDevCount; i++)
                {
                    resourceNameSize = 0;
                    resourceName = new StringBuilder(0);
                    IKapBoard.IKapGetBoardName((uint)BoardType.IKBoardPCIE, i, resourceName, ref resourceNameSize);
                    IKapBoard.IKapGetLastError(ref tIKei, true);
                    if (tIKei.uErrorCode == (uint)ErrorCode.IKStatus_BufferTooSmall)
                    {
                        resourceName = new StringBuilder((int)resourceNameSize);
                        IKapBoard.IKapGetBoardName((uint)BoardType.IKBoardPCIE, i, resourceName, ref resourceNameSize);
                    }
                    IKapBoard.IKapGetLastError(ref tIKei, true);
                    if (tIKei.uErrorCode != (uint)ErrorCode.IKStatus_Success)
                    {
                        WarningEvent?.Invoke(WarningEnum.High, "Get Device Name Fail. Error Code:"+tIKei.uErrorCode);
                        return false;
                    }
                    string sMesg = string.Concat("PCIE Device- ", i.ToString("d"), "\nName: ", resourceName);
               
                }

                // 打开采集卡。
                //
                // Open frame grabber.
                m_hBoard = IKapBoard.IKapOpen((int)BoardType.IKBoardPCIE, 0);//采集卡索引0-n
                if (m_hBoard.Equals(-1))
                { 
                    WarningEvent?.Invoke(WarningEnum.High, "Open device failure!");
                    return false;
                } 

                // 导入配置文件。  
                string configFileName = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location) + "\\DevCfg\\"+ Config.CarmerConfigFilePath;
                if (!File.Exists(configFileName)) 
                { 
                    WarningEvent?.Invoke(WarningEnum.High, "Fail to get configuration, using default setting!");
                    return false;
                } 
                ret = IKapBoard.IKapLoadConfigurationFromFile(m_hBoard, configFileName);
                CheckIKapBoard(ret); 

                // 设置图像缓冲区帧数。
                //
                // Set frame count of buffer.
                ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_FRAME_COUNT, m_nTotalFrameCount);
                CheckIKapBoard(ret);

                // 设置超时时间。
                //
                // Set time out time.
                int timeout = -1;
                ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_TIME_OUT, timeout);
                CheckIKapBoard(ret);

                // 设置采集模式。
                //
                // Set grab mode.
                int grab_mode = (int)GrabMode.IKP_GRAB_NON_BLOCK;//非阻塞StartGrab
                ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_GRAB_MODE, grab_mode);
                CheckIKapBoard(ret);

                // 设置传输模式。
                //
                // Set transfer mode.
                int transfer_mode = (int)FrameTransferMode.IKP_FRAME_TRANSFER_SYNCHRONOUS_NEXT_EMPTY_WITH_PROTECT;
                ret = IKapBoard.IKapSetInfo(m_hBoard, (uint)INFO_ID.IKP_FRAME_TRANSFER_MODE, transfer_mode);
                CheckIKapBoard(ret);

                // 注册回调函数
                //
                // Register callback functions.
                OnGrabStartProc = new IKapCallBackProc(OnGrabStartFunc);
                ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_GrabStart, Marshal.GetFunctionPointerForDelegate(OnGrabStartProc), m_hBoard);
                CheckIKapBoard(ret);
                OnFrameReadyProc = new IKapCallBackProc(OnFrameReadyFunc);
                ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_FrameReady, Marshal.GetFunctionPointerForDelegate(OnFrameReadyProc), m_hBoard);
                CheckIKapBoard(ret);
                OnFrameLostProc = new IKapCallBackProc(OnFrameLostFunc);
                ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_FrameLost, Marshal.GetFunctionPointerForDelegate(OnFrameLostProc), m_hBoard);
                CheckIKapBoard(ret);
                OnTimeoutProc = new IKapCallBackProc(OnTimeoutFunc);
                ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_TimeOut, Marshal.GetFunctionPointerForDelegate(OnTimeoutProc), m_hBoard);
                CheckIKapBoard(ret);
                OnGrabStopProc = new IKapCallBackProc(OnGrabStopFunc);
                ret = IKapBoard.IKapRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_GrabStop, Marshal.GetFunctionPointerForDelegate(OnGrabStopProc), m_hBoard);
                CheckIKapBoard(ret);

                // 设置行触发参数。 
                //SetLineTrigger();
                //
                getParam();

                IsInit = true;
                //timer.Elapsed += Timer_Elapsed;
                //timer.Interval = 100;
                //timer.Enabled = true;
                return true;
            }
            catch (Exception ex)
            {
                WarningEvent?.Invoke(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; 

            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。
            var ret = IKapBoard.IKapStartGrab(m_hBoard, 0);
            return ret == (int)ErrorCode.IK_RTN_OK;
        }
        /// <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_hBoard);
                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;

            //CParam cDeviceParam = new CParam(m_cInterface);

            //MV_FG_FLOATVALUE stParam=new MV_FG_FLOATVALUE();
            //int nRet =  cDeviceParam.GetFloatValue("ExposureTime", ref stParam);
            //if (nRet == CErrorCode.MV_FG_SUCCESS)  ExposureTime = stParam.fCurValue;

            //nRet = cDeviceParam.GetFloatValue("Gain", ref stParam);
            //if (nRet == CErrorCode.MV_FG_SUCCESS) Gain = stParam.fCurValue;

            //nRet = cDeviceParam.GetFloatValue("ResultingFrameRate", ref stParam);
            //if (nRet == CErrorCode.MV_FG_SUCCESS) ResultingFrameRate = stParam.fCurValue; 
        }
        /// <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;
            //CParam cDeviceParam = new CParam(m_cInterface); 
            //int nRet;
            //if (exposureTime != ExposureTime && exposureTime != -1)
            //{ 
            //    nRet = cDeviceParam.SetEnumValue("ExposureAuto", (uint)0);
            //    if (CErrorCode.MV_FG_SUCCESS != nRet) 
            //        WarningEvent?.Invoke(WarningEnum.Low, "ExposureTime SetEnumValue(\"ExposureAuto\") res=" + nRet);
            //    nRet = cDeviceParam.SetFloatValue("ExposureTime",  exposureTime);
            //    if (CErrorCode.MV_FG_SUCCESS != nRet) 
            //        WarningEvent?.Invoke(WarningEnum.Low, "ExposureTime SetFloatValue(\"ExposureTime\") res=" + nRet);
            //    change = true;
            //}

            //if (gain != Gain && gain != -1)
            //{
            //    //device.MV_CC_SetEnumValue_NET("GainAuto", 0);
            //    //nRet = device.MV_CC_SetFloatValue_NET("Gain", gain);
            //    cDeviceParam.SetEnumValue("GainAuto", (uint)0);
            //    cDeviceParam.SetFloatValue("Gain",  gain);
            //    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_hBoard, (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_hBoard, (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_hBoard, (uint)CallBackEvents.IKEvent_GrabStart);
            ret = IKapBoard.IKapUnRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_FrameReady);
            ret = IKapBoard.IKapUnRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_FrameLost);
            ret = IKapBoard.IKapUnRegisterCallback(m_hBoard, (uint)CallBackEvents.IKEvent_TimeOut);
            ret = IKapBoard.IKapUnRegisterCallback(m_hBoard, (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_hBoard.Equals(-1))
            {
                IKapBoard.IKapClose(m_hBoard);
                m_hBoard = (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)
        {
            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;
        }
    }
}