GrabBag/Device/IKapDevice/Src/IKapDevice.cpp

#include "IKapDevice.h"
#include <cstring>
#include <iostream>

// 静态工厂方法实现
int IIKapDevice::CreateObject(IIKapDevice** ppDevice)
{
    if (ppDevice == nullptr)
        return -1;

    *ppDevice = new CIKapDevice();
    return (*ppDevice) ? 0 : -1;
}

CIKapDevice::CIKapDevice()
    : m_hDevice(nullptr)
    , m_hStream(nullptr)
    , m_bIsGrabbing(false)
    , m_bLibInitialized(false)
    , m_imageCallback(nullptr)
    , m_pUserData(nullptr)
    , m_nDeviceIndex(0)
    , m_bDeviceOpened(false)
{
}

CIKapDevice::~CIKapDevice()
{
    // 确保资源被释放
    if (m_bIsGrabbing.load())
    {
        StopGrabbing();
    }

    if (m_bDeviceOpened)
    {
        CloseDevice();
    }

    if (m_bLibInitialized.load())
    {
        TerminateLibrary();
    }
}

int CIKapDevice::InitLibrary()
{
    if (m_bLibInitialized.load())
        return 0;

    ITKSTATUS status = ItkManInitialize();
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkManInitialize failed, status: " << status << std::endl;
        return -1;
    }

    m_bLibInitialized.store(true);
    return 0;
}

int CIKapDevice::TerminateLibrary()
{
    if (!m_bLibInitialized.load())
        return 0;

    ITKSTATUS status = ItkManTerminate();
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkManTerminate failed, status: " << status << std::endl;
        return -1;
    }

    m_bLibInitialized.store(false);
    return 0;
}

int CIKapDevice::EnumerateDevices(unsigned int& nCount)
{
    if (!m_bLibInitialized.load())
    {
        std::cerr << "Library not initialized" << std::endl;
        return -1;
    }

    ITKSTATUS status = ItkManGetDeviceCount(&nCount);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkManGetDeviceCount failed, status: " << status << std::endl;
        return -1;
    }

    return 0;
}

int CIKapDevice::GetDeviceInfo(unsigned int nIndex, IKapDeviceInfo& deviceInfo)
{
    if (!m_bLibInitialized.load())
    {
        std::cerr << "Library not initialized" << std::endl;
        return -1;
    }

    ITKDEV_INFO devInfo;
    memset(&devInfo, 0, sizeof(devInfo));

    ITKSTATUS status = ItkManGetDeviceInfo(nIndex, &devInfo);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkManGetDeviceInfo failed, status: " << status << std::endl;
        return -1;
    }

    // 复制设备信息
    strncpy(deviceInfo.vendorName, devInfo.VendorName, sizeof(deviceInfo.vendorName) - 1);
    deviceInfo.vendorName[sizeof(deviceInfo.vendorName) - 1] = '\0';
    strncpy(deviceInfo.modelName, devInfo.ModelName, sizeof(deviceInfo.modelName) - 1);
    deviceInfo.modelName[sizeof(deviceInfo.modelName) - 1] = '\0';
    strncpy(deviceInfo.serialNumber, devInfo.SerialNumber, sizeof(deviceInfo.serialNumber) - 1);
    deviceInfo.serialNumber[sizeof(deviceInfo.serialNumber) - 1] = '\0';
    strncpy(deviceInfo.userDefinedName, devInfo.UserDefinedName, sizeof(deviceInfo.userDefinedName) - 1);
    deviceInfo.userDefinedName[sizeof(deviceInfo.userDefinedName) - 1] = '\0';

    return 0;
}

int CIKapDevice::OpenDevice(unsigned int nIndex, int accessMode)
{
    std::lock_guard<std::mutex> lock(m_mutex);

    if (m_bDeviceOpened)
    {
        std::cerr << "Device already opened" << std::endl;
        return -1;
    }

    if (!m_bLibInitialized.load())
    {
        std::cerr << "Library not initialized" << std::endl;
        return -1;
    }

    // 打开设备
    ITKSTATUS status = ItkDevOpen(nIndex, accessMode, &m_hDevice);
    if (status != ITKSTATUS_OK || m_hDevice == nullptr)
    {
        std::cerr << "ItkDevOpen failed, status: " << status << std::endl;
        return -1;
    }

    m_nDeviceIndex = nIndex;
    m_bDeviceOpened = true;

    // 创建数据流和Buffer
    if (CreateStreamAndBuffer() != 0)
    {
        CloseDevice();
        return -1;
    }

    return 0;
}

int CIKapDevice::CloseDevice()
{
    std::lock_guard<std::mutex> lock(m_mutex);

    if (!m_bDeviceOpened)
        return 0;

    // 释放数据流和Buffer
    ReleaseStreamAndBuffer();

    // 关闭设备
    if (m_hDevice != nullptr)
    {
        ITKSTATUS status = ItkDevClose(m_hDevice);
        if (status != ITKSTATUS_OK)
        {
            std::cerr << "ItkDevClose failed, status: " << status << std::endl;
        }
        m_hDevice = nullptr;
    }

    m_bDeviceOpened = false;
    return 0;
}

int CIKapDevice::IsConnected(bool& bConnected)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        bConnected = false;
        return 0;
    }

#ifdef _WIN32
    // Windows 平台：使用新版 API
    bool connected = false;
    ITKSTATUS status = ItkDevIsConnected(m_hDevice, &connected);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkDevIsConnected failed, status: " << status << std::endl;
        return -1;
    }
    bConnected = connected;
#else
    // Linux/ARM 平台：旧版 SDK 没有 IsConnected 接口，简化实现
    // 假设设备打开后就是连接状态
    bConnected = (m_hDevice != nullptr);
#endif

    return 0;
}

int CIKapDevice::CreateStreamAndBuffer()
{
    if (m_hDevice == nullptr)
        return -1;

    // 获取数据流数量
    uint32_t streamCount = 0;
    ITKSTATUS status = ItkDevGetStreamCount(m_hDevice, &streamCount);
    if (status != ITKSTATUS_OK || streamCount == 0)
    {
        std::cerr << "ItkDevGetStreamCount failed or no stream available" << std::endl;
        return -1;
    }

#ifdef _WIN32
    // Windows 平台：使用新版 API ItkDevAllocStreamEx（自动分配buffer）
    status = ItkDevAllocStreamEx(m_hDevice, 0, m_nBufferCount, &m_hStream);
    if (status != ITKSTATUS_OK || m_hStream == nullptr)
    {
        std::cerr << "ItkDevAllocStreamEx failed, status: " << status << std::endl;
        return -1;
    }

    // 获取所有 Buffer
    m_vecBuffers.resize(m_nBufferCount);
    for (unsigned int i = 0; i < m_nBufferCount; ++i)
    {
        status = ItkStreamGetBuffer(m_hStream, i, &m_vecBuffers[i]);
        if (status != ITKSTATUS_OK)
        {
            std::cerr << "ItkStreamGetBuffer failed for index " << i << std::endl;
            ReleaseStreamAndBuffer();
            return -1;
        }
    }
#else
    // Linux/ARM 平台：使用旧版 API ItkDevAllocStream（需要手动创建buffer）
    // 旧版 API 需要传入单个 buffer，简化实现：使用 nullptr 让SDK自动分配
    status = ItkDevAllocStream(m_hDevice, 0, nullptr, &m_hStream);
    if (status != ITKSTATUS_OK || m_hStream == nullptr)
    {
        std::cerr << "ItkDevAllocStream failed, status: " << status << std::endl;
        return -1;
    }

    // ARM 版本不支持 GetBuffer，buffer 由 SDK 内部管理
    m_vecBuffers.clear();
#endif

    return 0;
}

int CIKapDevice::ReleaseStreamAndBuffer()
{
    // 清空 Buffer 列表
    m_vecBuffers.clear();

    // 释放数据流
    if (m_hStream != nullptr)
    {
        ItkDevFreeStream(m_hStream);
        m_hStream = nullptr;
    }

    return 0;
}

int CIKapDevice::GrabSingleFrame(ImageData& imageData, unsigned int nTimeout)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr || m_hStream == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

#ifdef _WIN32
    // Windows 平台：使用主动取图 API
    // 开始采集单帧
    ITKSTATUS status = ItkStreamStart(m_hStream, 1);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkStreamStart failed, status: " << status << std::endl;
        return -1;
    }

    // 等待单帧图像
    ITKBUFFER hReadyBuffer = nullptr;
    status = ItkStreamWaitOneFrameReady(m_hStream, &hReadyBuffer, (long long)nTimeout);
    if (status != ITKSTATUS_OK || hReadyBuffer == nullptr)
    {
        std::cerr << "ItkStreamWaitOneFrameReady failed or timeout, status: " << status << std::endl;
        ItkStreamStop(m_hStream);
        return -1;
    }

    // 复制图像数据
    int ret = CopyImageData(hReadyBuffer, imageData);

    // 清除buffer（返还给stream）
    ItkStreamClearBuffer(m_hStream, hReadyBuffer);

    // 停止采集
    ItkStreamStop(m_hStream);

    return ret;
#else
    // Linux/ARM 平台：旧版 SDK 不支持 WaitOneFrameReady
    // 简化实现：返回不支持错误
    std::cerr << "GrabSingleFrame not supported on ARM platform (old SDK)" << std::endl;
    return -1;
#endif
}

int CIKapDevice::CopyImageData(ITKBUFFER hBuffer, ImageData& imageData)
{
    if (hBuffer == nullptr)
        return -1;

    // 获取 Buffer 信息
    ITK_BUFFER_INFO bufferInfo;
    memset(&bufferInfo, 0, sizeof(bufferInfo));

    ITKSTATUS status = ItkBufferGetInfo(hBuffer, &bufferInfo);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkBufferGetInfo failed, status: " << status << std::endl;
        return -1;
    }

    // 填充图像数据结构
    imageData.width = static_cast<unsigned int>(bufferInfo.ImageWidth);
    imageData.height = static_cast<unsigned int>(bufferInfo.ImageHeight);
    imageData.pixelFormat = static_cast<unsigned int>(bufferInfo.PixelFormat);
    imageData.imageSize = static_cast<unsigned int>(bufferInfo.ImageSize);
    imageData.timestamp = bufferInfo.TimestampNs;
    imageData.frameID = bufferInfo.BlockID;

    // 分配内存并复制图像数据
    if (imageData.pData != nullptr)
    {
        delete[] imageData.pData;
    }
    imageData.pData = new unsigned char[imageData.imageSize];

    // 使用ItkBufferRead读取数据
    status = ItkBufferRead(hBuffer, 0, imageData.pData, (uint32_t)imageData.imageSize);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkBufferRead failed, status: " << status << std::endl;
        delete[] imageData.pData;
        imageData.pData = nullptr;
        return -1;
    }

    return 0;
}

int CIKapDevice::StartGrabbing(ImageCallback callback, void* pUser)
{
    if (m_bIsGrabbing.load())
    {
        std::cerr << "Already grabbing" << std::endl;
        return -1;
    }

    if (!m_bDeviceOpened || m_hDevice == nullptr || m_hStream == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    if (callback == nullptr)
    {
        std::cerr << "Callback is null" << std::endl;
        return -1;
    }

    m_imageCallback = callback;
    m_pUserData = pUser;
    m_bIsGrabbing.store(true);

    // 启动采集线程
    m_grabbingThread = std::thread(&CIKapDevice::GrabbingThread, this);

    return 0;
}

int CIKapDevice::StopGrabbing()
{
    if (!m_bIsGrabbing.load())
        return 0;

    // 设置停止标志
    m_bIsGrabbing.store(false);

    // 等待线程结束
    if (m_grabbingThread.joinable())
    {
        m_grabbingThread.join();
    }

    m_imageCallback = nullptr;
    m_pUserData = nullptr;

    return 0;
}

bool CIKapDevice::IsGrabbing()
{
    return m_bIsGrabbing.load();
}

void CIKapDevice::GrabbingThread()
{
    // 开始连续采集
    ITKSTATUS status = ItkStreamStart(m_hStream, 0);  // 0表示连续采集
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkStreamStart failed in thread" << std::endl;
        m_bIsGrabbing.store(false);
        return;
    }

    while (m_bIsGrabbing.load())
    {
        // 等待图像
        ITKBUFFER hReadyBuffer = nullptr;
        status = ItkStreamWaitOneFrameReady(m_hStream, &hReadyBuffer, 1000);

        if (status == ITKSTATUS_OK && hReadyBuffer != nullptr)
        {
            // 复制图像数据
            ImageData imageData;
            imageData.pData = nullptr;

            if (CopyImageData(hReadyBuffer, imageData) == 0)
            {
                // 调用回调函数
                if (m_imageCallback)
                {
                    m_imageCallback(imageData, m_pUserData);
                }

                // 释放图像数据内存
                if (imageData.pData != nullptr)
                {
                    delete[] imageData.pData;
                    imageData.pData = nullptr;
                }
            }

            // 清除buffer（返还给stream继续使用）
            ItkStreamClearBuffer(m_hStream, hReadyBuffer);
        }
    }

    // 停止采集
    ItkStreamStop(m_hStream);
}

int CIKapDevice::SetExposureTime(double exposureTime)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    ITKSTATUS status = ItkDevSetDouble(m_hDevice, "ExposureTime", exposureTime);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "SetExposureTime failed, status: " << status << std::endl;
        return -1;
    }

    return 0;
}

int CIKapDevice::GetExposureTime(double& exposureTime)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    ITKSTATUS status = ItkDevGetDouble(m_hDevice, "ExposureTime", &exposureTime);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "GetExposureTime failed, status: " << status << std::endl;
        return -1;
    }

    return 0;
}

int CIKapDevice::SetGain(double gain)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    ITKSTATUS status = ItkDevSetDouble(m_hDevice, "Gain", gain);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "SetGain failed, status: " << status << std::endl;
        return -1;
    }

    return 0;
}

int CIKapDevice::GetGain(double& gain)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    ITKSTATUS status = ItkDevGetDouble(m_hDevice, "Gain", &gain);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "GetGain failed, status: " << status << std::endl;
        return -1;
    }

    return 0;
}

int CIKapDevice::SetTriggerMode(bool bEnable)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    const char* triggerMode = bEnable ? "On" : "Off";
    ITKSTATUS status = ItkDevFromString(m_hDevice, "TriggerMode", triggerMode);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "SetTriggerMode failed, status: " << status << std::endl;
        return -1;
    }

    return 0;
}

int CIKapDevice::ExecuteSoftwareTrigger()
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    ITKSTATUS status = ItkDevExecuteCommand(m_hDevice, "TriggerSoftware");
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ExecuteSoftwareTrigger failed, status: " << status << std::endl;
        return -1;
    }

    return 0;
}

int CIKapDevice::GetWidth(unsigned int& width)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    int64_t value = 0;
    ITKSTATUS status = ItkDevGetInt64(m_hDevice, "Width", &value);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "GetWidth failed, status: " << status << std::endl;
        return -1;
    }

    width = static_cast<unsigned int>(value);
    return 0;
}

int CIKapDevice::GetHeight(unsigned int& height)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    int64_t value = 0;
    ITKSTATUS status = ItkDevGetInt64(m_hDevice, "Height", &value);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "GetHeight failed, status: " << status << std::endl;
        return -1;
    }

    height = static_cast<unsigned int>(value);
    return 0;
}

int CIKapDevice::SetROI(unsigned int offsetX, unsigned int offsetY,
                        unsigned int width, unsigned int height)
{
    if (!m_bDeviceOpened || m_hDevice == nullptr)
    {
        std::cerr << "Device not opened" << std::endl;
        return -1;
    }

    ITKSTATUS status;

    // 设置 OffsetX
    status = ItkDevSetInt64(m_hDevice, "OffsetX", offsetX);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "Set OffsetX failed" << std::endl;
        return -1;
    }

    // 设置 OffsetY
    status = ItkDevSetInt64(m_hDevice, "OffsetY", offsetY);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "Set OffsetY failed" << std::endl;
        return -1;
    }

    // 设置 Width
    status = ItkDevSetInt64(m_hDevice, "Width", width);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "Set Width failed" << std::endl;
        return -1;
    }

    // 设置 Height
    status = ItkDevSetInt64(m_hDevice, "Height", height);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "Set Height failed" << std::endl;
        return -1;
    }

    return 0;
}

int CIKapDevice::GetLibraryVersion(unsigned int& version)
{
    ITKSTATUS status = ItkManGetVersion(&version);
    if (status != ITKSTATUS_OK)
    {
        std::cerr << "ItkManGetVersion failed, status: " << status << std::endl;
        return -1;
    }

    return 0;
}