feat:增加拍照相关接口并实现

build.gradle

@@ -41,7 +41,7 @@ dependencies {
     implementation 'jakarta.annotation:jakarta.annotation-api:3.0.0'
     implementation 'com.fazecast:jSerialComm:2.11.0'
     implementation 'com.opencsv:opencsv:5.11'
-    implementation files('lib/modbus4j-3.1.0.jar')
+    implementation fileTree(dir: 'lib', include: '*.jar')
 
     compileOnly 'org.projectlombok:lombok'
     annotationProcessor 'org.projectlombok:lombok'

src/main/java/com/iflytop/gd/app/controller/PhotoController.java

@@ -8,6 +8,7 @@ import com.iflytop.gd.app.service.api.PhotosService;
 import com.iflytop.gd.common.base.BasePageQuery;
 import com.iflytop.gd.common.result.PageResult;
 import com.iflytop.gd.common.result.Result;
+import com.iflytop.gd.hardware.drivers.CameraBaslerDriver;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;
@@ -25,7 +26,6 @@ import org.springframework.web.bind.annotation.RestController;
 @RequiredArgsConstructor
 @Slf4j
 public class PhotoController {
-
     private final PhotosService photosService;
 
     @Operation(summary = "照片列表")
@@ -40,7 +40,7 @@ public class PhotoController {
     @Operation(summary = "拍摄一张照片")
     @GetMapping("/take")
     public Result<String> take() {
-        return Result.success("http://127.0.0.1/photos/temp/1.png");
+        return Result.success(photosService.take());
     }
 
 

src/main/java/com/iflytop/gd/app/core/runner/BaslerCameraApplicationRunner.java

@@ -0,0 +1,46 @@
+package com.iflytop.gd.app.core.runner;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.core.annotation.Order;
+import org.springframework.stereotype.Component;
+
+@Slf4j
+@Order(2)
+@Component
+public class BaslerCameraApplicationRunner implements ApplicationRunner {
+    @Value("${opencv.library-path}")
+    private String opencvLibraryPath;
+
+    @Value("${pylon.library-path}")
+    private String pylonLibraryPath;
+
+    @Value("${pylon.wrapper-path}")
+    private String pylonWrapperPath;
+
+    @Override
+    public void run(ApplicationArguments args) throws Exception {
+        try {
+            System.load(this.opencvLibraryPath);
+            log.info("成功加载OpenCV库: {}", this.opencvLibraryPath);
+        } catch (UnsatisfiedLinkError | SecurityException e) {
+            log.error("加载OpenCV库失败: {}", this.opencvLibraryPath, e);
+        }
+
+        try {
+            System.load(this.pylonLibraryPath);
+            log.info("成功加载pylon库: {}", this.pylonLibraryPath);
+        } catch (UnsatisfiedLinkError | SecurityException e) {
+            log.error("加载pylon库失败: {}", this.pylonLibraryPath, e);
+        }
+        try {
+            System.load(this.pylonWrapperPath);
+            log.info("成功加载pylon wrapper库: {}", this.pylonWrapperPath);
+        } catch (UnsatisfiedLinkError | SecurityException e) {
+            log.error("加载pylon wrapper库失败: {}", this.pylonWrapperPath, e);
+        }
+
+    }
+}

src/main/java/com/iflytop/gd/app/service/api/PhotosService.java

@@ -3,7 +3,9 @@ package com.iflytop.gd.app.service.api;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.iflytop.gd.app.mapper.PhotosMapper;
 import com.iflytop.gd.app.model.entity.Photos;
+import com.iflytop.gd.hardware.drivers.CameraBaslerDriver;
 import lombok.RequiredArgsConstructor;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
 /**
@@ -12,6 +14,19 @@ import org.springframework.stereotype.Service;
 @Service
 @RequiredArgsConstructor
 public class PhotosService extends ServiceImpl<PhotosMapper, Photos> {
+    private final CameraBaslerDriver driver;
 
+    @Value("${photo.url}")
+    private String url;
+    @Value("${photo.path}")
+    private String path;
 
+
+    public String take() {
+        String filePath = path + "/temp/" + System.currentTimeMillis() + ".png";
+        driver.enable();
+        driver.saveColorImg(filePath);
+        driver.disable();
+        return url + filePath;
+    }
 }

src/main/java/com/iflytop/gd/camera/BaslerCameraWrapper.java

@@ -0,0 +1,130 @@
+package com.iflytop.gd.camera;
+
+public class BaslerCameraWrapper {
+    public static final int ACCESS_MODE_MONITOR = 0;
+    public static final int ACCESS_MODE_CONTROL = 1;
+    public static final int ACCESS_MODE_STREAM = (1 << 1);
+    public static final int ACCESS_MODE_EVENT = (1 << 2);
+    public static final int ACCESS_MODE_EXCLUSIVE = (1 << 3);
+
+    public static class GrabResult {
+        public byte[] imageBuffer;
+        public int payloadType;
+        public int pixelType;
+        public int sizeX;
+        public int sizeY;
+        public int offsetX;
+        public int offsetY;
+        public int paddingX;
+        public int paddingY;
+        public long PayloadSize;
+        public int ErrorCode;
+    }
+
+    /**
+     * Initializes the pylon runtime system.
+     */
+    public native void initialize();
+
+    /**
+     * Enumerates all camera devices.
+     * @return The number of found devices.
+     */
+    public native int enumerateDevices();
+
+    /**
+     * Terminates the pylon runtime system.
+     */
+    public native void terminate();
+
+    /**
+     * Creates a camera device by index.
+     * @param index The index of the camera device.
+     * @return The handle of the camera device.
+     */
+    public native long createDeviceByIndex(int index);
+
+    /**
+     * Opens the camera device.
+     * @param hDev The handle of the camera device.
+     * @param accessMode The access mode.
+     */
+    public native void deviceOpen(long hDev, int accessMode);
+
+    /**
+     * Checks if a camera device feature is readable.
+     * @param hDev The handle of the camera device.
+     * @param name The name of the feature.
+     * @return true if the feature is readable, false otherwise.
+     */
+    public native boolean deviceFeatureIsReadable(long hDev, String name);
+
+    /**
+     * Read a camera device feature to a string.
+     * @param hDev The handle of the camera device.
+     * @param name The name of the feature.
+     * @param size The size of the string buffer.
+     * @return The string value of the feature.
+     */
+    public native String deviceFeatureToString(long hDev, String name, int size);
+
+    /**
+     * Checks if a camera device feature is available.
+     * @param hDev The handle of the camera device.
+     * @param name The name of the feature.
+     * @return true if the feature is available, false otherwise.
+     */
+    public native boolean deviceFeatureIsAvailable(long hDev, String name);
+
+    /**
+     * Writes a camera device feature from a string.
+     * @param hDev The handle of the camera device.
+     * @param name The name of the feature.
+     * @param value The value of the feature.
+     */
+    public native void deviceFeatureFromString(long hDev, String name, String value);
+
+    /**
+     * Checks if a camera device feature is writable.
+     * @param hDev The handle of the camera device.
+     * @param name The name of the feature.
+     * @return true if the feature is writable, false otherwise.
+     */
+    public native boolean deviceFeatureIsWritable(long hDev, String name);
+
+    /**
+     * Writes a camera device feature from an integer.
+     * @param hDev The handle of the camera device.
+     * @param name The name of the feature.
+     * @param value The value of the feature.
+     */
+    public native void deviceSetIntegerFeature(long hDev, String name, int value);
+
+    /**
+     * Reads a camera device feature to an integer.
+     * @param hDev The handle of the camera device.
+     * @param name The name of the feature.
+     * @return The integer value of the feature.
+     */
+    public native int deviceGetIntegerFeatureInt32(long hDev, String name);
+
+    /**
+     * Grabs a single frame from the camera device.
+     * @param hDev The handle of the camera device.
+     * @param channel The channel index.
+     * @return The grab result.
+     */
+    public native GrabResult deviceGrabSingleFrame(long hDev, int channel);
+
+    /**
+     * Closes the camera device.
+     * @param hDev The handle of the camera device.
+     */
+    public native void deviceClose(long hDev);
+
+    /**
+     * Destroys the camera device.
+     * @param hDev The handle of the camera device.
+     */
+    public native void destroyDevice(long hDev);
+}

src/main/java/com/iflytop/gd/hardware/controller/BaslerCameraController.java

@@ -0,0 +1,65 @@
+package com.iflytop.gd.hardware.controller;
+
+import com.iflytop.gd.hardware.drivers.CameraBaslerDriver;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.opencv.core.Mat;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+
+@Slf4j
+@Tag(name = "Basler相机驱动控制器")
+@RestController
+@RequestMapping("/api/basler")
+@RequiredArgsConstructor
+public class BaslerCameraController {
+
+    @Autowired
+    private CameraBaslerDriver driver;
+
+    // 设置相机索引
+    @PostMapping("/setIndex")
+    public ResponseEntity<String> setIndex(@RequestParam Integer index) {
+        driver.setIndex(index);
+        log.info("设置相机索引为: {}", index);
+        return ResponseEntity.ok("设置相机索引为: " + index);
+    }
+
+    // 使能相机
+    @PostMapping("/enable")
+    public ResponseEntity<String> enable() {
+        driver.enable();
+        return ResponseEntity.ok("相机已使能");
+    }
+
+    // 关闭相机
+    @PostMapping("/disable")
+    public ResponseEntity<String> disable() {
+        driver.disable();
+        return ResponseEntity.ok("相机已关闭");
+    }
+
+    // 抓取Mat对象（仅演示返回字符串，实际可自定义返回格式）
+    @GetMapping("/grabToMat")
+    public ResponseEntity<String> grabToMat() {
+        Mat mat = driver.grabToMat();
+        log.info("抓取Mat成功，尺寸: {}x{}", mat.rows(), mat.cols());
+        return ResponseEntity.ok("抓取Mat成功，尺寸: " + mat.rows() + "x" + mat.cols());
+    }
+
+    // 保存图片
+    @PostMapping("/saveImg")
+    public ResponseEntity<String> saveImg(@RequestParam String filePath) {
+        driver.saveImg(filePath);
+        return ResponseEntity.ok("图片已保存到: " + filePath);
+    }
+
+    // 保存彩色图片
+    @PostMapping("/saveColorImg")
+    public ResponseEntity<String> saveColorImg(@RequestParam String filePath) {
+        driver.saveColorImg(filePath);
+        return ResponseEntity.ok("彩色图片已保存到: " + filePath);
+    }
+}

src/main/java/com/iflytop/gd/hardware/drivers/CameraBaslerDriver.java

@@ -0,0 +1,148 @@
+package com.iflytop.gd.hardware.drivers;
+
+import com.iflytop.gd.camera.BaslerCameraWrapper;
+import lombok.extern.slf4j.Slf4j;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.opencv.imgproc.Imgproc;
+import org.springframework.stereotype.Component;
+
+@Slf4j
+@Component
+public class CameraBaslerDriver {
+    // camera
+    private static BaslerCameraWrapper pylon = null;
+    // index
+    private Integer index = 0;
+    // channel
+    protected Integer channel = 0;
+    // camera handle
+    private long cam = -1;
+
+    // 设置相机索引
+    public void setIndex(Integer index) {
+        this.index = index;
+        log.info("设置相机索引为: {}", index);
+    }
+
+    // get pylon
+    private BaslerCameraWrapper getPylon() {
+        if (null == CameraBaslerDriver.pylon) {
+            CameraBaslerDriver.pylon = new BaslerCameraWrapper();
+            CameraBaslerDriver.pylon.initialize();
+            log.info("Basler相机库初始化完成");
+        }
+        return CameraBaslerDriver.pylon;
+    }
+
+    // 使能相机
+    public void enable() {
+        if (-1 != this.cam) {
+            log.info("相机已使能，句柄: {}", this.cam);
+            return;
+        }
+        try {
+            var pylon = this.getPylon();
+            int count = pylon.enumerateDevices();
+            if (this.index >= count) {
+                log.error("相机索引超出范围: {}", this.index);
+                throw new RuntimeException("相机索引超出范围: " + this.index);
+            }
+            this.cam = pylon.createDeviceByIndex(this.index);
+            pylon.deviceOpen(this.cam, BaslerCameraWrapper.ACCESS_MODE_CONTROL | BaslerCameraWrapper.ACCESS_MODE_STREAM);
+
+            boolean isFeatureReadable = pylon.deviceFeatureIsReadable(cam, "DeviceModelName");
+            if (isFeatureReadable) {
+                String name = pylon.deviceFeatureToString(cam, "DeviceModelName", 256);
+                log.info("相机型号: {}", name);
+            }
+
+//            pylon.deviceFeatureFromString(cam, "PixelFormat", "Mono8");
+            pylon.deviceFeatureFromString(cam, "PixelFormat", "BayerRG8");
+            pylon.deviceFeatureFromString(cam, "TriggerSelector", "AcquisitionStart");
+            pylon.deviceFeatureFromString(cam, "TriggerMode", "Off");
+            pylon.deviceFeatureFromString(cam, "TriggerSelector", "FrameStart");
+            pylon.deviceFeatureFromString(cam, "TriggerMode", "Off");
+            pylon.deviceSetIntegerFeature(cam, "GevSCPSPacketSize", 1500);
+            pylon.deviceFeatureFromString(cam, "ExposureAuto", "Off");
+            pylon.deviceSetIntegerFeature(cam, "ExposureTimeRaw", 27218);
+
+            log.info("相机使能成功，句柄: {}", this.cam);
+        } catch (Exception e) {
+            log.error("相机使能失败: {}", e.getMessage(), e);
+            throw new RuntimeException("相机使能失败: " + e.getMessage(), e);
+        }
+    }
+
+    // 关闭相机
+    public void disable() {
+        if (-1 == this.cam) {
+            log.info("相机未使能，无需关闭");
+            return;
+        }
+        var pylon = this.getPylon();
+        pylon.deviceClose(this.cam);
+        log.info("相机关闭，句柄: {}", this.cam);
+        this.cam = -1;
+    }
+
+    // 抓取图像为Mat
+    public Mat grabToMat() {
+        if (this.cam == -1) {
+            log.error("抓图失败：相机未使能");
+            throw new RuntimeException("抓图失败：相机未使能");
+        }
+        var pylon = this.getPylon();
+        var result = pylon.deviceGrabSingleFrame(this.cam, this.channel);
+        if (result == null || result.imageBuffer == null) {
+            log.error("抓图失败：未获取到图像数据");
+            throw new RuntimeException("抓图失败：未获取到图像数据");
+        }
+        Mat frameMat = new Mat(result.sizeY, result.sizeX, CvType.CV_8UC1);
+        frameMat.put(0, 0, result.imageBuffer);
+        log.info("抓图成功，返回Mat对象");
+        return frameMat;
+    }
+
+    // 抓图并保存图片
+    public void saveImg(String filePath) {
+        if (this.cam == -1) {
+            log.error("保存图片失败：相机未使能");
+            throw new RuntimeException("保存图片失败：相机未使能");
+        }
+        var pylon = this.getPylon();
+        var result = pylon.deviceGrabSingleFrame(this.cam, this.channel);
+        if (result == null || result.imageBuffer == null) {
+            log.error("保存图片失败：未获取到图像数据");
+            throw new RuntimeException("保存图片失败：未获取到图像数据");
+        }
+        Mat frameMat = new Mat(result.sizeY, result.sizeX, CvType.CV_8UC1);
+        frameMat.put(0, 0, result.imageBuffer);
+        Imgcodecs.imwrite(filePath, frameMat);
+        log.info("图片已保存到: {}", filePath);
+    }
+
+    // 抓图并保存彩色图片
+    public void saveColorImg(String filePath) {
+        if (this.cam == -1) {
+            log.error("保存彩色图片失败：相机未使能");
+            throw new RuntimeException("保存彩色图片失败：相机未使能");
+        }
+        var pylon = this.getPylon();
+        var result = pylon.deviceGrabSingleFrame(this.cam, this.channel);
+        if (result == null || result.imageBuffer == null) {
+            log.error("保存彩色图片失败：未获取到图像数据");
+            throw new RuntimeException("保存彩色图片失败：未获取到图像数据");
+        }
+        // 假设 result.imageBuffer 为8位单通道灰度，实际彩色需根据SDK返回格式调整
+        Mat frameMat = new Mat(result.sizeY, result.sizeX, CvType.CV_8UC1);
+        frameMat.put(0, 0, result.imageBuffer);
+
+        Mat colorMat = new Mat();
+        Imgproc.cvtColor(frameMat, colorMat, Imgproc.COLOR_BayerRG2RGB);
+
+        Imgcodecs.imwrite(filePath, colorMat);
+        log.info("彩色图片已保存到: {}", filePath);
+    }
+}

src/main/resources/application-dev.yml

@@ -18,7 +18,7 @@ spring:
 mybatis-plus:
   configuration:
     # 开启 SQL 日志输出（可选）
-#    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
+    #    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
     # 如果需要加载 XML 文件（自定义 SQL），可配置 mapper-locations：
     mapper-locations: classpath*:mapper/*.xml
 
@@ -49,3 +49,15 @@ iflytophald:
 modbus:
   port: ttyS1
   baudrate: 9600
+
+
+opencv:
+  library-path: /usr/lib/jni/libopencv_java420.so
+
+pylon:
+  library-path: /opt/pylon-8.1.0_linux-aarch64/lib/libpylonc.so.10.0.0
+  wrapper-path: /opt/basler_camera/lib/libbaslercamera.so
+
+photo:
+  url: http://192.168.8.168/static/photo
+  path: /home/firefly/package/photo