添加 MX-PD-盘古项目文件

将 MX-PD-盘古 - new 目录下的所有文件添加到主仓库
2026-05-18 11:43:09 +08:00
parent 03632a379d
commit e31d3560bb
739 changed files with 99783 additions and 0 deletions
--- a/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/CameraCaptureMode.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/CameraCaptureMode.cs
@@ -0,0 +1,18 @@
+namespace MainShell.Vision
+{
+    /// <summary>
+    /// 图像采集模式
+    /// </summary>
+    public enum CameraCaptureMode
+    {
+        /// <summary>
+        /// 从连续流中取图：相机持续采图，从内部缓冲区取最新一帧（SnapImage）
+        /// </summary>
+        Stream,
+
+        /// <summary>
+        /// 软触发单帧采集：发出软触发命令后等待相机响应帧（ExcuteSoftTrigger）
+        /// </summary>
+        SoftTrigger,
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/CameraCaptureOptions.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/CameraCaptureOptions.cs
@@ -0,0 +1,68 @@
+using MwFramework.Device;
+
+namespace MainShell.Vision
+{
+    /// <summary>
+    /// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼѡ<CDBC>
+    /// <20>ö<EFBFBD><C3B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ץ<EFBFBD><D7A5>״̬<D7B4><CCAC>Ӳ<EFBFBD><D3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3><CABD>
+    /// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽӦ<CABD><D3A6><EFBFBD>ϲ<EFBFBD><CFB2>ڲ<EFBFBD>ͼǰ<CDBC><C7B0><EFBFBD><EFBFBD>׼<EFBFBD><D7BC><EFBFBD><EFBFBD>
+    /// </summary>
+    public class CameraCaptureOptions
+    {
+        public static CameraCaptureOptions CreateSoftTrigger(int timeoutMilliseconds = 5000)
+        {
+            CameraCaptureOptions options = new CameraCaptureOptions();
+            options.CaptureMode = CameraCaptureMode.SoftTrigger;
+            options.TimeoutMilliseconds = timeoutMilliseconds;
+            return options;
+        }
+
+        public static CameraCaptureOptions CreateStream(int timeoutMilliseconds = 5000)
+        {
+            CameraCaptureOptions options = new CameraCaptureOptions();
+            options.CaptureMode = CameraCaptureMode.Stream;
+            options.TimeoutMilliseconds = timeoutMilliseconds;
+            return options;
+        }
+
+        public CameraCaptureOptions()
+        {
+            CaptureMode = CameraCaptureMode.Stream;
+            TimeoutMilliseconds = 5000;
+            AutoStartGrabbing = false;
+            TriggerMode = null;
+            TriggerSource = null;
+            TriggerDelay = null;
+        }
+
+        /// <summary>
+        /// <20>ɼ<EFBFBD><C9BC><EFBFBD>ʽ<EFBFBD><CABD>
+        /// </summary>
+        public CameraCaptureMode CaptureMode { get; set; }
+
+        /// <summary>
+        /// <20><>ʱʱ<CAB1>䣨<EFBFBD><E4A3A8><EFBFBD>룩<EFBFBD><EBA3A9>
+        /// </summary>
+        public int TimeoutMilliseconds { get; set; }
+
+        /// <summary>
+        /// <20><><EFBFBD>ݾɵ<DDBE><C9B5>ñ<EFBFBD><C3B1><EFBFBD><EFBFBD>ֶΡ<D6B6><CEA1><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٸ<EFBFBD><D9B8>ݸ<EFBFBD>ֵ<EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>ץ<EFBFBD><D7A5><EFBFBD><EFBFBD>
+        /// </summary>
+        public bool AutoStartGrabbing { get; set; }
+
+        /// <summary>
+        /// <20><><EFBFBD>ݾɵ<DDBE><C9B5>ñ<EFBFBD><C3B1><EFBFBD><EFBFBD>ֶΡ<D6B6><CEA1><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٸ<EFBFBD><D9B8>ݸ<EFBFBD>ֵ<EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD>ô<EFBFBD><C3B4><EFBFBD>ģʽ<C4A3><CABD>
+        /// </summary>
+        public CameraTriggerMode? TriggerMode { get; set; }
+
+        /// <summary>
+        /// <20><><EFBFBD>ݾɵ<DDBE><C9B5>ñ<EFBFBD><C3B1><EFBFBD><EFBFBD>ֶΡ<D6B6><CEA1><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٸ<EFBFBD><D9B8>ݸ<EFBFBD>ֵ<EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD>ô<EFBFBD><C3B4><EFBFBD>Դ<EFBFBD><D4B4>
+        /// </summary>
+        public CameraTriggerSource? TriggerSource { get; set; }
+
+        /// <summary>
+        /// <20><><EFBFBD>ݾɵ<DDBE><C9B5>ñ<EFBFBD><C3B1><EFBFBD><EFBFBD>ֶΡ<D6B6><CEA1><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٸ<EFBFBD><D9B8>ݸ<EFBFBD>ֵ<EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+        /// </summary>
+        public double? TriggerDelay { get; set; }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/IImageCaptureService.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/IImageCaptureService.cs
@@ -0,0 +1,30 @@
+using MainShell.Common;
+using System.Threading;
+using System.Threading.Tasks;
+using AppCameraType = MainShell.Common.CameraType;
+
+namespace MainShell.Vision
+{
+    /// <summary>
+    /// ͼ<><CDBC><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿڡ<D3BF>
+    /// </summary>
+    public interface IImageCaptureService
+    {
+        /// <summary>
+        /// <20><>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ򻯲<CDBC><F2BBAFB2><EFBFBD><EFBFBD>ɼ<EFBFBD>һ֡ͼ<D6A1><CDBC><EFBFBD><EFBFBD>
+        /// </summary>
+        Task<ImageCaptureResult> CaptureAsync(
+            AppCameraType source,
+            int timeoutMilliseconds,
+            CameraCaptureMode captureMode = CameraCaptureMode.Stream,
+            CancellationToken cancellationToken = default(CancellationToken));
+
+        /// <summary>
+        /// <20><>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>һ֡ͼ<D6A1><CDBC><EFBFBD><EFBFBD>
+        /// </summary>
+        Task<ImageCaptureResult> CaptureAsync(
+            AppCameraType source,
+            CameraCaptureOptions options,
+            CancellationToken cancellationToken = default(CancellationToken));
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/ImageCaptureResult.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/ImageCaptureResult.cs
@@ -0,0 +1,119 @@
+using MainShell.Common;
+using MainShell.Models;
+using System;
+using AppCameraType = MainShell.Common.CameraType;
+
+namespace MainShell.Vision
+{
+    /// <summary>
+    /// ????????????
+    /// </summary>
+    public enum ImageCaptureStatus
+    {
+        Success = 0,
+        Cancelled = 1,
+        CameraNotFound = 2,
+        CameraNotOpen = 3,
+        CameraNotGrabbing = 4,
+        Timeout = 5,
+        NoFrame = 6,
+        SoftTriggerFailed = 7,
+        DriverError = 8,
+    }
+
+    /// <summary>
+    /// ??????????
+    /// </summary>
+    public class ImageCaptureResult
+    {
+        public ImageCaptureResult()
+        {
+            Status = ImageCaptureStatus.DriverError;
+            ErrorCode = VisionErrorCode.DriverError;
+            FailureCategory = VisionFailureCategory.Driver;
+            Message = string.Empty;
+            UserMessageKey = MessageKey.None;
+        }
+
+        public ImageCaptureStatus Status { get; set; }
+
+        public VisionErrorCode ErrorCode { get; set; }
+
+        public VisionFailureCategory FailureCategory { get; set; }
+
+        public int? AlarmId { get; set; }
+
+        public MessageKey UserMessageKey { get; set; }
+
+        public AppCameraType CameraSource { get; set; }
+
+        public CameraCaptureMode CaptureMode { get; set; }
+
+        public string Message { get; set; }
+
+        public Exception Exception { get; set; }
+
+        public MxImage Image { get; set; }
+
+        public bool Succeeded
+        {
+            get
+            {
+                return Status == ImageCaptureStatus.Success;
+            }
+        }
+
+        public bool IsCancelled
+        {
+            get
+            {
+                return Status == ImageCaptureStatus.Cancelled;
+            }
+        }
+
+        public static ImageCaptureResult Success(AppCameraType source, CameraCaptureMode captureMode, MxImage image)
+        {
+            return new ImageCaptureResult
+            {
+                Status = ImageCaptureStatus.Success,
+                ErrorCode = VisionErrorCode.None,
+                FailureCategory = VisionFailureCategory.None,
+                AlarmId = null,
+                UserMessageKey = MessageKey.None,
+                CameraSource = source,
+                CaptureMode = captureMode,
+                Image = image,
+                Message = string.Format(
+                    "ImageCaptureService: capture succeeded from '{0}' with mode '{1}'.",
+                    source,
+                    captureMode),
+            };
+        }
+
+        public static ImageCaptureResult Failure(
+            ImageCaptureStatus status,
+            VisionErrorCode errorCode,
+            VisionFailureCategory failureCategory,
+            int? alarmId,
+            MessageKey userMessageKey,
+            AppCameraType source,
+            CameraCaptureMode captureMode,
+            string message,
+            Exception exception = null)
+        {
+            return new ImageCaptureResult
+            {
+                Status = status,
+                ErrorCode = errorCode,
+                FailureCategory = failureCategory,
+                AlarmId = alarmId,
+                UserMessageKey = userMessageKey,
+                CameraSource = source,
+                CaptureMode = captureMode,
+                Message = message,
+                Exception = exception,
+                Image = null,
+            };
+        }
+    }
+}
--- a/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/ImageCaptureService.cs
+++ b/new/PanGu.DieBonderApp/MainShell/Vision/ImageCapture/ImageCaptureService.cs
@@ -0,0 +1,287 @@
+using MainShell.Common;
+using MainShell.Hardware;
+using MainShell.Log;
+using MainShell.Models;
+using MaxwellFramework.Core.Attributes;
+using MwFramework.Device;
+using MwFramework.Device.Model;
+using System;
+using System.Threading;
+using System.Threading.Tasks;
+using AppCameraType = MainShell.Common.CameraType;
+
+namespace MainShell.Vision
+{
+    /// <summary>
+    /// ???????????????? HardwareManager ??????????????????????????<3F><>???????
+    /// </summary>
+    [Singleton]
+    public class ImageCaptureService : IImageCaptureService
+    {
+        private readonly HardwareManager _hardwareManager;
+        private readonly object _upCameraCaptureLock = new object();
+        private readonly object _downCameraCaptureLock = new object();
+        private readonly object _mapCameraCaptureLock = new object();
+        private readonly object _upWsCameraCaptureLock = new object();
+        private readonly object _upWideCameraCaptureLock = new object();
+
+        public ImageCaptureService(HardwareManager hardwareManager)
+        {
+            _hardwareManager = hardwareManager ?? throw new ArgumentNullException(nameof(hardwareManager));
+        }
+
+        /// <summary>
+        /// ??????????????????????
+        /// </summary>
+        public Task<ImageCaptureResult> CaptureAsync(
+            AppCameraType source,
+            int timeoutMilliseconds,
+            CameraCaptureMode captureMode = CameraCaptureMode.Stream,
+            CancellationToken cancellationToken = default(CancellationToken))
+        {
+            CameraCaptureOptions options = new CameraCaptureOptions();
+            options.TimeoutMilliseconds = timeoutMilliseconds;
+            options.CaptureMode = captureMode;
+
+            return CaptureAsync(source, options, cancellationToken);
+        }
+
+        /// <summary>
+        /// ?????????????????
+        /// ????????????????????????????????????????????????????????<3F><>??
+        /// </summary>
+        public Task<ImageCaptureResult> CaptureAsync(
+            AppCameraType source,
+            CameraCaptureOptions options,
+            CancellationToken cancellationToken = default(CancellationToken))
+        {
+            if (options == null)
+            {
+                throw new ArgumentNullException(nameof(options));
+            }
+
+            int timeoutMilliseconds = options.TimeoutMilliseconds;
+            if (timeoutMilliseconds <= 0)
+            {
+                timeoutMilliseconds = 5000;
+            }
+
+            MwCamera camera = GetCamera(source);
+            if (camera == null)
+            {
+                string message = string.Format("ImageCaptureService: camera '{0}' not found in HardwareManager.", source);
+                message.LogSysError();
+                return Task.FromResult(ImageCaptureResult.Failure(
+                    ImageCaptureStatus.CameraNotFound,
+                    VisionErrorCode.CameraNotFound,
+                    VisionFailureCategory.Capture,
+                    VisionAlarmIds.CameraNotFound,
+                    MessageKey.VisionCameraNotFound,
+                    source,
+                    options.CaptureMode,
+                    message));
+            }
+
+            if (!camera.IsOpen)
+            {
+                string message = string.Format("ImageCaptureService: camera '{0}' is not open.", source);
+                message.LogSysError();
+                return Task.FromResult(ImageCaptureResult.Failure(
+                    ImageCaptureStatus.CameraNotOpen,
+                    VisionErrorCode.CameraNotOpen,
+                    VisionFailureCategory.Capture,
+                    VisionAlarmIds.CameraNotOpen,
+                    MessageKey.VisionCameraNotOpen,
+                    source,
+                    options.CaptureMode,
+                    message));
+            }
+
+            if (!camera.IsGrabbing)
+            {
+                string message = string.Format(
+                    "ImageCaptureService: camera '{0}' is not grabbing. Capture mode '{1}' requires grabbing to be prepared by caller.",
+                    source,
+                    options.CaptureMode);
+                message.LogSysError();
+                return Task.FromResult(ImageCaptureResult.Failure(
+                    ImageCaptureStatus.CameraNotGrabbing,
+                    VisionErrorCode.CameraNotGrabbing,
+                    VisionFailureCategory.Capture,
+                    VisionAlarmIds.CameraNotGrabbing,
+                    MessageKey.VisionCameraNotGrabbing,
+                    source,
+                    options.CaptureMode,
+                    message));
+            }
+
+            string.Format(
+                "ImageCaptureService: capturing from '{0}' (mode={1}, timeout={2}ms).",
+                source,
+                options.CaptureMode,
+                timeoutMilliseconds).LogInfo();
+
+            object captureLock = GetCaptureLock(source);
+
+            try
+            {
+                CameraData data;
+
+                lock (captureLock)
+                {
+                    cancellationToken.ThrowIfCancellationRequested();
+
+                    switch (options.CaptureMode)
+                    {
+                        case CameraCaptureMode.SoftTrigger:
+                            data = ExecuteSoftTriggerSync(camera, source, timeoutMilliseconds, out bool softTriggerFailed);
+                            if (softTriggerFailed)
+                            {
+                                string softTriggerFailureMessage = string.Format(
+                                    "ImageCaptureService: soft trigger capture failed for camera '{0}' (timeout={1}ms).",
+                                    source,
+                                    timeoutMilliseconds);
+                                softTriggerFailureMessage.LogSysError();
+                                return Task.FromResult(ImageCaptureResult.Failure(
+                                    ImageCaptureStatus.SoftTriggerFailed,
+                                    VisionErrorCode.SoftTriggerFailed,
+                                    VisionFailureCategory.Driver,
+                                    VisionAlarmIds.SoftTriggerFailed,
+                                    MessageKey.VisionSoftTriggerFailed,
+                                    source,
+                                    options.CaptureMode,
+                                    softTriggerFailureMessage));
+                            }
+                            break;
+
+                        case CameraCaptureMode.Stream:
+                            data = camera.SnapImage(timeoutMilliseconds);
+                            break;
+
+                        default:
+                            throw new NotSupportedException(string.Format("ImageCaptureService: capture mode '{0}' is not supported.", options.CaptureMode));
+                    }
+                }
+
+                cancellationToken.ThrowIfCancellationRequested();
+
+                if (data == null)
+                {
+                    string message = string.Format(
+                        "ImageCaptureService: no frame received from '{0}' with capture mode '{1}'.",
+                        source,
+                        options.CaptureMode);
+                    message.LogSysError();
+                    ImageCaptureStatus noFrameStatus = options.CaptureMode == CameraCaptureMode.SoftTrigger
+                        ? ImageCaptureStatus.Timeout
+                        : ImageCaptureStatus.NoFrame;
+                    VisionErrorCode noFrameErrorCode = options.CaptureMode == CameraCaptureMode.SoftTrigger
+                        ? VisionErrorCode.CaptureTimeout
+                        : VisionErrorCode.NoFrame;
+                    int? noFrameAlarmId = options.CaptureMode == CameraCaptureMode.SoftTrigger
+                        ? (int?)VisionAlarmIds.CaptureTimeout
+                        : (int?)VisionAlarmIds.NoFrame;
+                    MessageKey noFrameMessageKey = options.CaptureMode == CameraCaptureMode.SoftTrigger
+                        ? MessageKey.VisionCaptureTimeout
+                        : MessageKey.VisionNoFrameReturned;
+
+                    return Task.FromResult(ImageCaptureResult.Failure(
+                        noFrameStatus,
+                        noFrameErrorCode,
+                        VisionFailureCategory.Capture,
+                        noFrameAlarmId,
+                        noFrameMessageKey,
+                        source,
+                        options.CaptureMode,
+                        message));
+                }
+
+                return Task.FromResult(ImageCaptureResult.Success(source, options.CaptureMode, new MxImage(data)));
+            }
+            catch (OperationCanceledException ex)
+            {
+                string message = string.Format("ImageCaptureService: capture from '{0}' was cancelled by caller.", source);
+                message.LogInfo();
+                return Task.FromResult(ImageCaptureResult.Failure(
+                    ImageCaptureStatus.Cancelled,
+                    VisionErrorCode.OperationCancelled,
+                    VisionFailureCategory.Cancelled,
+                    null,
+                    MessageKey.VisionOperationCancelled,
+                    source,
+                    options.CaptureMode,
+                    message,
+                    ex));
+            }
+            catch (Exception ex)
+            {
+                string message = string.Format("ImageCaptureService: capture from '{0}' failed. {1}", source, ex.Message);
+                message.LogSysError();
+                return Task.FromResult(ImageCaptureResult.Failure(
+                    ImageCaptureStatus.DriverError,
+                    VisionErrorCode.DriverError,
+                    VisionFailureCategory.Driver,
+                    VisionAlarmIds.DriverError,
+                    MessageKey.VisionDriverError,
+                    source,
+                    options.CaptureMode,
+                    message,
+                    ex));
+            }
+        }
+
+        private static CameraData ExecuteSoftTriggerSync(MwCamera camera, AppCameraType source, int timeoutMilliseconds, out bool softTriggerFailed)
+        {
+            softTriggerFailed = false;
+            CameraData data = new CameraData();
+            DriverLibResult result = camera.ExcuteSoftTrigger(ref data);
+            if (result != DriverLibResult.DriverLibNoError)
+            {
+                softTriggerFailed = true;
+                string.Format(
+                    "ImageCaptureService: soft trigger capture failed for camera '{0}' (timeout={1}ms), driver result={2}.",
+                    source,
+                    timeoutMilliseconds,
+                    result).LogSysError();
+                return null;
+            }
+
+            if (data == null)
+            {
+                string.Format(
+                    "ImageCaptureService: soft trigger capture returned null frame for camera '{0}' (timeout={1}ms).",
+                    source,
+                    timeoutMilliseconds).LogSysError();
+                return null;
+            }
+
+            return data;
+        }
+
+        private MwCamera GetCamera(AppCameraType source)
+        {
+            return _hardwareManager.GetCamera(source).Camera;
+        }
+
+        private object GetCaptureLock(AppCameraType source)
+        {
+            switch (source)
+            {
+                case AppCameraType.TopPositionCamera:
+                    return _upCameraCaptureLock;
+
+                case AppCameraType.TopWideCamera:
+                    return _mapCameraCaptureLock;
+
+                case AppCameraType.MapCamera:
+                    return _downCameraCaptureLock;
+                case AppCameraType.TopWsCamera:
+                    return _upWsCameraCaptureLock;
+                case AppCameraType.TopWideWsCamera:
+                        return _upWideCameraCaptureLock;
+                default:
+                    throw new ArgumentOutOfRangeException(nameof(source), source, "ImageCaptureService: unknown camera type for capture lock.");
+            }
+        }
+    }
+}