260 lines
9.4 KiB
C#
260 lines
9.4 KiB
C#
using Check.Main.Common;
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using Check.Main.Infer;
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using HalconTemplateMatch;
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using SkiaSharp;
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using System;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Drawing.Imaging;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading.Tasks;
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using YoloDotNet.Extensions;
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using OpenCvSharp;
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using Check.Main.Infer; // 引入 IDetector, DetectionResult
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namespace Check.Main.Camera
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{
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public class CameraProcessor : IDisposable
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{
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private readonly int _cameraIndex;
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private readonly IDetector _detector; // 替换为接口
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private readonly ModelSettings _modelSettings; // 保留模型设置以获取更多参数
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private readonly BlockingCollection<ImageData> _imageQueue = new BlockingCollection<ImageData>();
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private readonly Thread _workerThread;
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private volatile bool _isRunning = false;
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private long _imageCounter = 0;
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private readonly object _counterLock = new object(); // 用于线程安全地重置计数器
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public event EventHandler<ProcessingCompletedEventArgs> OnProcessingCompleted;
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// 构造函数现在接受 IDetector 实例和 ModelSettings
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public CameraProcessor(int cameraIndex, IDetector detector, ModelSettings modelSettings)
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{
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_cameraIndex = cameraIndex;
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_detector = detector ?? throw new ArgumentNullException(nameof(detector));
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_modelSettings = modelSettings ?? throw new ArgumentNullException(nameof(modelSettings));
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_workerThread = new Thread(ProcessQueue) { IsBackground = true, Name = $"Cam_{_cameraIndex}_Processor" };
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}
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public void Start()
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{
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_isRunning = true;
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_workerThread.Start();
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}
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public void EnqueueImage(Bitmap bmp, long productId) // 接收产品ID
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{
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if (!_isRunning)
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{
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bmp?.Dispose();
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return;
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}
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// _imageCounter 在此用于内部跟踪，不是产品ID
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// 产品ID现在由 DetectionCoordinator 生成并传递
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_imageQueue.Add(new ImageData(productId, _cameraIndex, bmp));
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}
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/// <summary>
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/// 图像处理主循环
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/// </summary>
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private void ProcessQueue()
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{
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ThreadSafeLogger.Log($"相机#{_cameraIndex} 启动处理线程，算法类型：{_modelSettings.M_AType}");
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////训练HALCON模型
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////训练阶段（相机2）
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//var trainer = new LogoTemplateTrainer();
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//trainer.TrainAndSaveTemplates(
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// new List<string>
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// {
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// @"D:\HalconTemplateMatch\train2\logo1.bmp",
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// @"D:\HalconTemplateMatch\train2\logo2.bmp",
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// @"D:\HalconTemplateMatch\train2\logo3.bmp"
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// },
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// @"D:\HalconTemplateMatch\model_2");
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////训练阶段（相机3）9.25修改！！
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//trainer.TrainAndSaveTemplates(
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// new List<string>
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// {
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// @"D:\HalconTemplateMatch\train3\3C_1.bmp",
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// @"D:\HalconTemplateMatch\train3\3C_2.bmp",
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// @"D:\HalconTemplateMatch\train3\3C_3.bmp"
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// },
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// @"D:\HalconTemplateMatch\model_3");
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//if (trainer == null)
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//{
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// ThreadSafeLogger.Log($"[错误] 相机 #{_modeId} 未加载模板，处理线程已中止。");
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// return;
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//}
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while (_isRunning)
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{
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try
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{
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// 阻塞式地从队列中取出图像，如果队列为空则等待
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ImageData data = _imageQueue.Take();
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using (data)
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{
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if (data.Image == null) continue;
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DetectionResult detectionResult = _detector.Detect(data.Image);
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ThreadSafeLogger.Log($"相机 #{_cameraIndex} 处理产品 #{data.ProductId}，结果: {(detectionResult.IsOk ? "OK" : "NG")}, 信息: {detectionResult.Message}, 得分: {detectionResult.Score:F2}");
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// 将处理结果交给协调器进行组装
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DetectionCoordinator.AssembleProduct(data.ProductId, data.CameraIndex, detectionResult.IsOk, detectionResult.ResultImage);
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// 外部订阅事件，传递结果图像
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OnProcessingCompleted?.Invoke(
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this,
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new ProcessingCompletedEventArgs
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(
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_cameraIndex,
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data.ProductId,
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detectionResult.ResultImage // 传递带有绘制结果的图像
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)
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);
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}
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}
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catch (InvalidOperationException)
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{
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// 当调用 Stop 时，会 CompleteAdding 队列，Take 会抛出此异常，是正常退出流程
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break;
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}
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catch (Exception ex)
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{
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ThreadSafeLogger.Log($"[ERROR] 相机 #{_cameraIndex} 处理线程异常: {ex.Message}");
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}
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}
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}
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/// <summary>
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/// 将 System.Drawing.Bitmap 安全地转换为 SkiaSharp.SKImage。
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/// </summary>
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private SKImage ConvertBitmapToSKImage(Bitmap bitmap)
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{
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if (bitmap == null) return null;
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try
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{
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// 使用 using 确保 SKBitmap 被正确释放
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using (var skBitmap = ToSKBitmapFast(bitmap))
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{
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return SKImage.FromBitmap(skBitmap);
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}
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}
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catch (Exception ex)
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{
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ThreadSafeLogger.Log($"[错误] Bitmap to SKImage 转换失败: {ex.Message}");
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return null;
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}
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}
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public static SKBitmap ToSKBitmapFast(Bitmap bitmap)
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{
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if (bitmap == null) return null;
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// 确保是 32bppArgb（BGRA 内存布局）
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Bitmap src = bitmap;
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if (bitmap.PixelFormat != PixelFormat.Format32bppArgb)
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{
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src = new Bitmap(bitmap.Width, bitmap.Height, PixelFormat.Format32bppArgb);
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using (Graphics g = Graphics.FromImage(src))
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{
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g.DrawImage(bitmap, 0, 0, bitmap.Width, bitmap.Height);
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}
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}
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var rect = new Rectangle(0, 0, src.Width, src.Height);
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var bmpData = src.LockBits(rect, ImageLockMode.ReadOnly, PixelFormat.Format32bppArgb);
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try
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{
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var info = new SKImageInfo(src.Width, src.Height, SKColorType.Bgra8888, SKAlphaType.Premul);
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var skBitmap = new SKBitmap(info);
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IntPtr destPtr = skBitmap.GetPixels(); // 目标内存
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IntPtr srcRowPtr = bmpData.Scan0; // 源行首
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int srcStride = bmpData.Stride;
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int destRowBytes = skBitmap.RowBytes;
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int copyBytesPerRow = Math.Min(srcStride, destRowBytes);
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// 使用一次分配的缓冲区并用 Marshal.Copy 行拷贝（不分配每行）
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byte[] row = new byte[copyBytesPerRow];
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for (int y = 0; y < src.Height; y++)
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{
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IntPtr s = IntPtr.Add(bmpData.Scan0, y * srcStride);
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IntPtr d = IntPtr.Add(destPtr, y * destRowBytes);
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Marshal.Copy(s, row, 0, copyBytesPerRow);
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Marshal.Copy(row, 0, d, copyBytesPerRow);
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}
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return skBitmap;
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}
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finally
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{
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src.UnlockBits(bmpData);
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if (!ReferenceEquals(src, bitmap))
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{
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src.Dispose();
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}
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}
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}
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public void Stop()
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{
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_isRunning = false;
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// 解除阻塞，让线程可以检查 _isRunning 标志并退出
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_imageQueue.CompleteAdding();
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_workerThread.Join(5000); // 等待线程结束。10.22修改，原来是500
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}
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/// <summary>
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/// 线程安全地重置该相机的图像计数器。
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/// </summary>
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public void ResetCounter()
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{
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lock (_counterLock)
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{
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_imageCounter = 0;
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}
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}
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// 别忘了在 DetectionCoordinator 中添加一个辅助方法来获取处理器
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public void Dispose()
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{
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Stop();
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_imageQueue.Dispose();
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_detector?.Dispose(); // 释放检测器资源
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}
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}
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public class ProcessingCompletedEventArgs : EventArgs, IDisposable
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{
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public int CameraIndex { get; }
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public long ProductId { get; }
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public Bitmap ResultImage { get; } // 新增：带有检测结果的图像
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public ProcessingCompletedEventArgs(int cameraIndex, long productId, Bitmap resultImage)
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{
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CameraIndex = cameraIndex;
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ProductId = productId;
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ResultImage = resultImage;
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}
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public void Dispose()
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{
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ResultImage?.Dispose();
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}
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}
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}
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