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
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Shi.Ji
@@ -0,0 +1,287 @@
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using MainShell.Common;
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using MainShell.Hardware;
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using MainShell.Log;
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using MainShell.Models;
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using MaxwellFramework.Core.Attributes;
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using MwFramework.Device;
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using MwFramework.Device.Model;
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using System;
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using System.Threading;
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using System.Threading.Tasks;
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using AppCameraType = MainShell.Common.CameraType;
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namespace MainShell.Vision
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{
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/// <summary>
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/// ???????????????? HardwareManager ??????????????????????????<3F><>???????
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/// </summary>
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[Singleton]
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public class ImageCaptureService : IImageCaptureService
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{
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private readonly HardwareManager _hardwareManager;
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private readonly object _upCameraCaptureLock = new object();
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private readonly object _downCameraCaptureLock = new object();
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private readonly object _mapCameraCaptureLock = new object();
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private readonly object _upWsCameraCaptureLock = new object();
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private readonly object _upWideCameraCaptureLock = new object();
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public ImageCaptureService(HardwareManager hardwareManager)
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{
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_hardwareManager = hardwareManager ?? throw new ArgumentNullException(nameof(hardwareManager));
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}
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/// <summary>
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/// ??????????????????????
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/// </summary>
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public Task<ImageCaptureResult> CaptureAsync(
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AppCameraType source,
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int timeoutMilliseconds,
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CameraCaptureMode captureMode = CameraCaptureMode.Stream,
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CancellationToken cancellationToken = default(CancellationToken))
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{
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CameraCaptureOptions options = new CameraCaptureOptions();
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options.TimeoutMilliseconds = timeoutMilliseconds;
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options.CaptureMode = captureMode;
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return CaptureAsync(source, options, cancellationToken);
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}
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/// <summary>
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/// ?????????????????
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/// ????????????????????????????????????????????????????????<3F><>??
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/// </summary>
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public Task<ImageCaptureResult> CaptureAsync(
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AppCameraType source,
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CameraCaptureOptions options,
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CancellationToken cancellationToken = default(CancellationToken))
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{
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if (options == null)
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{
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throw new ArgumentNullException(nameof(options));
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}
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int timeoutMilliseconds = options.TimeoutMilliseconds;
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if (timeoutMilliseconds <= 0)
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{
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timeoutMilliseconds = 5000;
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}
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MwCamera camera = GetCamera(source);
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if (camera == null)
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{
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string message = string.Format("ImageCaptureService: camera '{0}' not found in HardwareManager.", source);
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message.LogSysError();
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return Task.FromResult(ImageCaptureResult.Failure(
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ImageCaptureStatus.CameraNotFound,
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VisionErrorCode.CameraNotFound,
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VisionFailureCategory.Capture,
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VisionAlarmIds.CameraNotFound,
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MessageKey.VisionCameraNotFound,
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source,
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options.CaptureMode,
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message));
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}
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if (!camera.IsOpen)
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{
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string message = string.Format("ImageCaptureService: camera '{0}' is not open.", source);
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message.LogSysError();
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return Task.FromResult(ImageCaptureResult.Failure(
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ImageCaptureStatus.CameraNotOpen,
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VisionErrorCode.CameraNotOpen,
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VisionFailureCategory.Capture,
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VisionAlarmIds.CameraNotOpen,
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MessageKey.VisionCameraNotOpen,
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source,
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options.CaptureMode,
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message));
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}
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if (!camera.IsGrabbing)
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{
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string message = string.Format(
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"ImageCaptureService: camera '{0}' is not grabbing. Capture mode '{1}' requires grabbing to be prepared by caller.",
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source,
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options.CaptureMode);
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message.LogSysError();
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return Task.FromResult(ImageCaptureResult.Failure(
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ImageCaptureStatus.CameraNotGrabbing,
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VisionErrorCode.CameraNotGrabbing,
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VisionFailureCategory.Capture,
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VisionAlarmIds.CameraNotGrabbing,
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MessageKey.VisionCameraNotGrabbing,
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source,
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options.CaptureMode,
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message));
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}
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string.Format(
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"ImageCaptureService: capturing from '{0}' (mode={1}, timeout={2}ms).",
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source,
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options.CaptureMode,
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timeoutMilliseconds).LogInfo();
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object captureLock = GetCaptureLock(source);
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try
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{
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CameraData data;
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lock (captureLock)
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{
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cancellationToken.ThrowIfCancellationRequested();
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switch (options.CaptureMode)
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{
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case CameraCaptureMode.SoftTrigger:
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data = ExecuteSoftTriggerSync(camera, source, timeoutMilliseconds, out bool softTriggerFailed);
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if (softTriggerFailed)
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{
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string softTriggerFailureMessage = string.Format(
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"ImageCaptureService: soft trigger capture failed for camera '{0}' (timeout={1}ms).",
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source,
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timeoutMilliseconds);
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softTriggerFailureMessage.LogSysError();
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return Task.FromResult(ImageCaptureResult.Failure(
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ImageCaptureStatus.SoftTriggerFailed,
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VisionErrorCode.SoftTriggerFailed,
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VisionFailureCategory.Driver,
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VisionAlarmIds.SoftTriggerFailed,
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MessageKey.VisionSoftTriggerFailed,
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source,
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options.CaptureMode,
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softTriggerFailureMessage));
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}
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break;
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case CameraCaptureMode.Stream:
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data = camera.SnapImage(timeoutMilliseconds);
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break;
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default:
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throw new NotSupportedException(string.Format("ImageCaptureService: capture mode '{0}' is not supported.", options.CaptureMode));
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}
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}
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cancellationToken.ThrowIfCancellationRequested();
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if (data == null)
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{
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string message = string.Format(
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"ImageCaptureService: no frame received from '{0}' with capture mode '{1}'.",
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source,
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options.CaptureMode);
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message.LogSysError();
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ImageCaptureStatus noFrameStatus = options.CaptureMode == CameraCaptureMode.SoftTrigger
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? ImageCaptureStatus.Timeout
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: ImageCaptureStatus.NoFrame;
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VisionErrorCode noFrameErrorCode = options.CaptureMode == CameraCaptureMode.SoftTrigger
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? VisionErrorCode.CaptureTimeout
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: VisionErrorCode.NoFrame;
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int? noFrameAlarmId = options.CaptureMode == CameraCaptureMode.SoftTrigger
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? (int?)VisionAlarmIds.CaptureTimeout
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: (int?)VisionAlarmIds.NoFrame;
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MessageKey noFrameMessageKey = options.CaptureMode == CameraCaptureMode.SoftTrigger
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? MessageKey.VisionCaptureTimeout
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: MessageKey.VisionNoFrameReturned;
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return Task.FromResult(ImageCaptureResult.Failure(
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noFrameStatus,
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noFrameErrorCode,
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VisionFailureCategory.Capture,
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noFrameAlarmId,
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noFrameMessageKey,
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source,
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options.CaptureMode,
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message));
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}
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return Task.FromResult(ImageCaptureResult.Success(source, options.CaptureMode, new MxImage(data)));
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}
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catch (OperationCanceledException ex)
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{
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string message = string.Format("ImageCaptureService: capture from '{0}' was cancelled by caller.", source);
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message.LogInfo();
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return Task.FromResult(ImageCaptureResult.Failure(
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ImageCaptureStatus.Cancelled,
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VisionErrorCode.OperationCancelled,
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VisionFailureCategory.Cancelled,
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null,
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MessageKey.VisionOperationCancelled,
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source,
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options.CaptureMode,
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message,
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ex));
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}
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catch (Exception ex)
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{
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string message = string.Format("ImageCaptureService: capture from '{0}' failed. {1}", source, ex.Message);
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message.LogSysError();
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return Task.FromResult(ImageCaptureResult.Failure(
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ImageCaptureStatus.DriverError,
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VisionErrorCode.DriverError,
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VisionFailureCategory.Driver,
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VisionAlarmIds.DriverError,
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MessageKey.VisionDriverError,
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source,
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options.CaptureMode,
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message,
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ex));
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}
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}
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private static CameraData ExecuteSoftTriggerSync(MwCamera camera, AppCameraType source, int timeoutMilliseconds, out bool softTriggerFailed)
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{
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softTriggerFailed = false;
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CameraData data = new CameraData();
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DriverLibResult result = camera.ExcuteSoftTrigger(ref data);
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if (result != DriverLibResult.DriverLibNoError)
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{
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softTriggerFailed = true;
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string.Format(
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"ImageCaptureService: soft trigger capture failed for camera '{0}' (timeout={1}ms), driver result={2}.",
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source,
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timeoutMilliseconds,
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result).LogSysError();
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return null;
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}
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if (data == null)
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{
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string.Format(
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"ImageCaptureService: soft trigger capture returned null frame for camera '{0}' (timeout={1}ms).",
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source,
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timeoutMilliseconds).LogSysError();
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return null;
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}
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return data;
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}
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private MwCamera GetCamera(AppCameraType source)
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{
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return _hardwareManager.GetCamera(source).Camera;
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}
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private object GetCaptureLock(AppCameraType source)
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{
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switch (source)
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{
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case AppCameraType.TopPositionCamera:
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return _upCameraCaptureLock;
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case AppCameraType.TopWideCamera:
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return _mapCameraCaptureLock;
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case AppCameraType.MapCamera:
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return _downCameraCaptureLock;
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case AppCameraType.TopWsCamera:
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return _upWsCameraCaptureLock;
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case AppCameraType.TopWideWsCamera:
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return _upWideCameraCaptureLock;
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default:
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throw new ArgumentOutOfRangeException(nameof(source), source, "ImageCaptureService: unknown camera type for capture lock.");
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}
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}
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}
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}
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