using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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using HalconDotNet;
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using MvCamCtrl.NET;
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using System;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.Runtime.InteropServices;
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using System.Threading;
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using System.Threading.Tasks;
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namespace Bro.Device.HikCamera
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{
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[Device("HikCamera", "海康相机", EnumHelper.DeviceAttributeType.Device)]
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public class HikCameraDriver : CameraBase
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{
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#region CameraBase
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public override IOperationConfig GetOperationConfigFromDevice()
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{
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HikCameraOperationConfig opConfig = new HikCameraOperationConfig();
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MyCamera.MVCC_FLOATVALUE stParam = new MyCamera.MVCC_FLOATVALUE();
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int nRet = device.MV_CC_GetFloatValue_NET("ExposureTime", ref stParam);
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if (MyCamera.MV_OK == nRet)
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{
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opConfig.Exposure = stParam.fCurValue;
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}
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nRet = device.MV_CC_GetFloatValue_NET("Gain", ref stParam);
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if (MyCamera.MV_OK == nRet)
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{
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opConfig.Gain = stParam.fCurValue;
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}
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return opConfig;
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}
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float _lastExposure = 0;
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float _lastGain = 0;
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public override void UploadOperationConfig(IOperationConfig config)
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{
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if (CurrentState != EnumHelper.DeviceState.DSOpen)
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return;
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CameraOprerationConfigBase opConfig = config as CameraOprerationConfigBase;
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int nRet;
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if (opConfig.Exposure != 0 && opConfig.Exposure != _lastExposure)
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{
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device.MV_CC_SetEnumValue_NET("ExposureAuto", 0);
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nRet = device.MV_CC_SetFloatValue_NET("ExposureTime", opConfig.Exposure);
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if (nRet != MyCamera.MV_OK)
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{
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throw new Exception($"Exposure set failed:{nRet}");
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}
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_lastExposure = opConfig.Exposure;
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}
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if (opConfig.Gain != 0 && opConfig.Gain != _lastGain)
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{
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device.MV_CC_SetEnumValue_NET("GainAuto", 0);
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nRet = device.MV_CC_SetFloatValue_NET("Gain", opConfig.Gain);
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if (nRet != MyCamera.MV_OK)
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{
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throw new Exception($"Gain set failed:{nRet}");
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}
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_lastGain = opConfig.Gain;
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}
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}
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protected override void Init()
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{
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stDevInfo.nTLayerType = MyCamera.MV_GIGE_DEVICE;
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MyCamera.MV_GIGE_DEVICE_INFO stGigEDev = new MyCamera.MV_GIGE_DEVICE_INFO();
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pCallBackFunc = new MyCamera.cbExceptiondelegate(cbExceptiondelegate);
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string strCurrentIp = IConfig.CameraIP;// ch:需要连接的相机ip(根据实际填充)
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string strNetExport = IConfig.ComputerIP; // ch:相机对应的网卡ip(根据实际填充)
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var parts = strCurrentIp.Split('.');
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int nIp1 = Convert.ToInt32(parts[0]);
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int nIp2 = Convert.ToInt32(parts[1]);
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int nIp3 = Convert.ToInt32(parts[2]);
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int nIp4 = Convert.ToInt32(parts[3]);
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stGigEDev.nCurrentIp = (uint)((nIp1 << 24) | (nIp2 << 16) | (nIp3 << 8) | nIp4);
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parts = strNetExport.Split('.');
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nIp1 = Convert.ToInt32(parts[0]);
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nIp2 = Convert.ToInt32(parts[1]);
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nIp3 = Convert.ToInt32(parts[2]);
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nIp4 = Convert.ToInt32(parts[3]);
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stGigEDev.nNetExport = (uint)((nIp1 << 24) | (nIp2 << 16) | (nIp3 << 8) | nIp4);
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IntPtr stGigeInfoPtr = Marshal.AllocHGlobal(216);
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Marshal.StructureToPtr(stGigEDev, stGigeInfoPtr, false);
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stDevInfo.SpecialInfo.stGigEInfo = new Byte[540];
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Marshal.Copy(stGigeInfoPtr, stDevInfo.SpecialInfo.stGigEInfo, 0, 540);
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}
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protected override void Pause()
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{
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}
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protected override void Resume()
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{
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}
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protected override void Start()
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{
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base.Start();
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// ch:创建设备 | en: Create device
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nRet = device.MV_CC_CreateDevice_NET(ref stDevInfo);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"Create device failed:{nRet:x8}");
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}
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// ch:打开设备 | en:Open device
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nRet = device.MV_CC_OpenDevice_NET();
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"Open device failed:{nRet:x8}");
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}
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// ch:探测网络最佳包大小(只对GigE相机有效) | en:Detection network optimal package size(It only works for the GigE camera)
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if (stDevInfo.nTLayerType == MyCamera.MV_GIGE_DEVICE)
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{
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int nPacketSize = device.MV_CC_GetOptimalPacketSize_NET();
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if (nPacketSize > 0)
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{
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nRet = device.MV_CC_SetIntValue_NET("GevSCPSPacketSize", (uint)nPacketSize);
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if (nRet != MyCamera.MV_OK)
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{
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Console.WriteLine("Warning: Set Packet Size failed {0:x8}", nRet);
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}
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}
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else
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{
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Console.WriteLine("Warning: Get Packet Size failed {0:x8}", nPacketSize);
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}
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}
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// ch:注册异常回调函数 | en:Register Exception Callback
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nRet = device.MV_CC_RegisterExceptionCallBack_NET(pCallBackFunc, IntPtr.Zero);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"Register expection callback failed:{nRet}");
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}
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GC.KeepAlive(pCallBackFunc);
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// ch:设置采集连续模式 | en:Set Continues Aquisition Mode
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device.MV_CC_SetEnumValue_NET("AcquisitionMode", 2);// ch:工作在连续模式 | en:Acquisition On Continuous Mode
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if (IIConfig.IsContinueMode)
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{
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device.MV_CC_SetEnumValue_NET("TriggerMode", 0); // ch:连续模式 | en:Continuous
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// ch:注册回调函数 | en:Register image callback
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ImageCallback = new MyCamera.cbOutputExdelegate(ImageCallbackFunc);
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nRet = device.MV_CC_RegisterImageCallBackEx_NET(ImageCallback, IntPtr.Zero);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception("Register image callback failed!");
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}
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}
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else
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{
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// ch:设置触发模式为off || en:set trigger mode as off
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nRet = device.MV_CC_SetEnumValue_NET("TriggerMode", 1);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception("Set TriggerMode failed!");
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}
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if (IIConfig.IsHardwareTrigger)
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{
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// ch:触发源选择:0 - Line0; | en:Trigger source select:0 - Line0;
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// 1 - Line1;
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// 2 - Line2;
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// 3 - Line3;
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// 4 - Counter;
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// 7 - Software;
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nRet = device.MV_CC_SetEnumValue_NET("TriggerSource", 0);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception("Set Line0 Trigger failed!");
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}
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// ch:注册回调函数 | en:Register image callback
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ImageCallback = new MyCamera.cbOutputExdelegate(ImageCallbackFunc);
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nRet = device.MV_CC_RegisterImageCallBackEx_NET(ImageCallback, IntPtr.Zero);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception("Register image callback failed!");
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}
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}
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else
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{
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nRet = device.MV_CC_SetEnumValue_NET("TriggerSource", 7);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception("Set Software Trigger failed!");
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}
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}
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}
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// ch:开启抓图 || en: start grab image
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nRet = device.MV_CC_StartGrabbing_NET();
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"Start grabbing failed:{nRet:x8}");
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}
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IIConfig.PropertyChanged -= IIConfig_PropertyChanged;
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IIConfig.PropertyChanged += IIConfig_PropertyChanged;
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}
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private void IIConfig_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
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{
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if (e.PropertyName == "IsHardwareTrigger" && !IIConfig.IsContinueMode)
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{
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// ch:停止抓图 | en:Stop grab image
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nRet = device.MV_CC_StopGrabbing_NET();
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"Stop grabbing failed{nRet:x8}");
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}
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if (IIConfig.IsHardwareTrigger)
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{
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// ch:触发源选择:0 - Line0; | en:Trigger source select:0 - Line0;
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// 1 - Line1;
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// 2 - Line2;
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// 3 - Line3;
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// 4 - Counter;
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// 7 - Software;
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nRet = device.MV_CC_SetEnumValue_NET("TriggerSource", 0);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception("Set Line0 Trigger failed!");
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}
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// ch:注册回调函数 | en:Register image callback
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ImageCallback = new MyCamera.cbOutputExdelegate(ImageCallbackFunc);
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nRet = device.MV_CC_RegisterImageCallBackEx_NET(ImageCallback, IntPtr.Zero);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception("Register image callback failed!");
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}
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}
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else
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{
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nRet = device.MV_CC_SetEnumValue_NET("TriggerSource", 7);
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception("Set Software Trigger failed!");
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}
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}
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// ch:开启抓图 || en: start grab image
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nRet = device.MV_CC_StartGrabbing_NET();
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"Start grabbing failed:{nRet:x8}");
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}
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}
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}
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protected override void Stop()
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{
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IIConfig.PropertyChanged -= IIConfig_PropertyChanged;
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base.Stop();
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// ch:停止抓图 | en:Stop grab image
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nRet = device.MV_CC_StopGrabbing_NET();
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"Stop grabbing failed{nRet:x8}");
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}
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// ch:关闭设备 | en:Close device
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nRet = device.MV_CC_CloseDevice_NET();
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"Close device failed{nRet:x8}");
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}
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// ch:销毁设备 | en:Destroy device
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nRet = device.MV_CC_DestroyDevice_NET();
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"Destroy device failed:{nRet:x8}");
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}
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}
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#endregion
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#region HikCamera
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public MyCamera.cbOutputExdelegate ImageCallback;
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MyCamera.MV_FRAME_OUT _frame = new MyCamera.MV_FRAME_OUT();
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readonly ManualResetEvent _snapHandle = new ManualResetEvent(false);
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bool _snapFlag = false;
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void ImageCallbackFunc(IntPtr pData, ref MyCamera.MV_FRAME_OUT_INFO_EX pFrameInfo, IntPtr pUser)
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{
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if ((IIConfig.IsHardwareTrigger))
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{
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int nWidth = pFrameInfo.nWidth;
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int nHeight = pFrameInfo.nHeight;
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HImage hImage = new HImage();
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hImage.GenImage1((HTuple)"byte", nWidth, nHeight, pData);
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ImageSet set = new ImageSet
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{
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HImage = hImage
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};
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set.ImageSaveOption.DataFrom(IConfig.ImageSaveOption);
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NewImageSet(set);
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OnHImageOutput?.BeginInvoke(this, hImage, set.Id, null, null);
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Generate8GrayImageByPointer(nWidth, nHeight, pData, set.Id);
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}
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else
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{
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if (_snapFlag)
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{
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_snapFlag = false;
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_frame = new MyCamera.MV_FRAME_OUT
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{
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stFrameInfo = pFrameInfo,
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pBufAddr = pData
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};
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_snapHandle.Set();
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}
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}
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}
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public override void Snapshot()
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{
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MyCamera.MV_FRAME_OUT frameInfo = new MyCamera.MV_FRAME_OUT();
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nRet = MyCamera.MV_OK;
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if (!IIConfig.IsContinueMode)
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{
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// ch: 触发命令 || en: Trigger command
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nRet = device.MV_CC_SetCommandValue_NET("TriggerSoftware");
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"相机拍照触发失败:{nRet}");
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}
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nRet = device.MV_CC_GetImageBuffer_NET(ref frameInfo, 1000);
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nRet = device.MV_CC_FreeImageBuffer_NET(ref frameInfo);
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}
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else
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{
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_snapHandle.Reset();
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_snapFlag = true;
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_snapHandle.WaitOne();
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//lock (_imgCallBackLock)
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{
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frameInfo.stFrameInfo = _frame.stFrameInfo;
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frameInfo.pBufAddr = _frame.pBufAddr;
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}
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}
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// ch:获取一帧图像 | en:Get one image
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if (MyCamera.MV_OK == nRet)
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{
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if (frameInfo.pBufAddr != IntPtr.Zero)
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{
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if (nRet == MyCamera.MV_OK)
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{
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var pFrameInfo = frameInfo.stFrameInfo;
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uint nWidth = pFrameInfo.nWidth;
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uint nHeight = pFrameInfo.nHeight;
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//HikToBitmap(pFrameInfo, frameInfo.pBufAddr);
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Generate8GrayImageByPointer((int)nWidth, (int)nHeight, frameInfo.pBufAddr, "");
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}
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}
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}
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else
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{
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throw new Exception($"Grap Image Failed:{nRet:x8}");
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}
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}
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public override ImageSet Snapshot(IOperationConfig config)
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{
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ImageSet set = base.Snapshot(config);
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MyCamera.MV_FRAME_OUT frameInfo = new MyCamera.MV_FRAME_OUT();
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nRet = MyCamera.MV_OK;
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if (!IIConfig.IsContinueMode)
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{
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// ch: 触发命令 || en: Trigger command
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nRet = device.MV_CC_SetCommandValue_NET("TriggerSoftware");
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if (MyCamera.MV_OK != nRet)
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{
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throw new Exception($"相机拍照触发失败:{nRet}");
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}
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nRet = device.MV_CC_GetImageBuffer_NET(ref frameInfo, 500);
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nRet = device.MV_CC_FreeImageBuffer_NET(ref frameInfo);
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}
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else
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{
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_snapHandle.Reset();
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_snapFlag = true;
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_snapHandle.WaitOne();
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{
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frameInfo.stFrameInfo = _frame.stFrameInfo;
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frameInfo.pBufAddr = _frame.pBufAddr;
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}
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}
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// ch:获取一帧图像 | en:Get one image
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if (MyCamera.MV_OK == nRet)
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{
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if (frameInfo.pBufAddr != IntPtr.Zero)
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{
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if (nRet == MyCamera.MV_OK)
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{
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var pFrameInfo = frameInfo.stFrameInfo;
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uint nWidth = pFrameInfo.nWidth;
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uint nHeight = pFrameInfo.nHeight;
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HImage hImage = new HImage();
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hImage.GenImage1("byte", pFrameInfo.nWidth, pFrameInfo.nHeight, frameInfo.pBufAddr);
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set.HImage = hImage;
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Generate8GrayImageByPointer((int)nWidth, (int)nHeight, frameInfo.pBufAddr, set.Id);
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return set;
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}
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}
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}
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throw new Exception($"Grap Image Failed:{nRet:x8}");
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}
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readonly MyCamera device = new MyCamera();
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MyCamera.MV_CC_DEVICE_INFO stDevInfo = new MyCamera.MV_CC_DEVICE_INFO();
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int nRet = MyCamera.MV_OK;
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MyCamera.cbExceptiondelegate pCallBackFunc;
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public HikCameraInitialConfig IIConfig
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{
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get => InitialConfig as HikCameraInitialConfig;
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}
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// ch:回调函数 | en:Callback function
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private void cbExceptiondelegate(uint nMsgType, IntPtr pUser)
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{
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if (nMsgType == MyCamera.MV_EXCEPTION_DEV_DISCONNECT)
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{
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Thread.Sleep(1000);
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Stop();
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if (CurrentState != EnumHelper.DeviceState.DSClose)
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{
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int reTryTimes = 3;
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do
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{
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try
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{
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Start();
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reTryTimes = -1;
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}
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catch (Exception ex)
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{
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reTryTimes--;
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if (reTryTimes > 0)
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{
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//OnLog?.Invoke(DateTime.Now, this, "重新连接相机异常\r\n" + ex.GetExceptionMessage());
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LogAsync(DateTime.Now, "重新连接异常", ex.GetExceptionMessage());
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}
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else
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{
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throw ex;
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}
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}
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} while (reTryTimes > 0);
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}
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}
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}
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#endregion
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}
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}
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