~

pom.xml

@@ -52,6 +52,11 @@
         <artifactId>freemarker</artifactId>
         <version>2.3.31</version>
       </dependency>
+      <dependency>
+        <groupId>org.opencv</groupId>
+        <artifactId>opencv-420</artifactId>
+        <version>4.2.0</version>
+      </dependency>
     </dependencies>
 
     <build>

src/main/java/com/iflytop/digester/StartResetTaskThread.java

@@ -8,11 +8,8 @@ import com.iflytop.digester.underframework.dao.model.UfMdbOption;
 import com.iflytop.digester.underframework.dao.model.UfMdbRuntimeVariable;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
-
 import java.util.HashMap;
 import java.util.List;
-import java.util.Map;
-
 public class StartResetTaskThread extends Thread {
     // logger
     public static final Logger LOG = LoggerFactory.getLogger(StartResetTaskThread.class);
@@ -28,15 +25,14 @@ public class StartResetTaskThread extends Thread {
         this.setProgressMessage("设备初始化...");
 
         UfCmdSnippetExecutor.execute("StartResetInitDevices");
-//        this.setupHeatingSlotCover();
-//        this.setupPeristalticPump();
+        this.setupHeatingSlotCover();
+        this.setupPeristalticPump();
         if ( this.isErrorTubeRackRequired ) {
             this.setupErrorTubeRack();
         }
 
-//        this.setProgressMessage("设备初始化 : 相机");
-//        DiActCameraBasler camera = this.getActuator(MyDevice.ACT_CAMERA, DiActCameraBasler.class);
-//        camera.setEnable(true);
+        this.setProgressMessage("设备初始化 : 相机");
+        device.camera.enable();
 
         this.setProgressMessage("设备初始化 : 定时刷新加热盘温度");
         device.heatingTurntable.temperatureMonitorStart();
@@ -50,8 +46,8 @@ public class StartResetTaskThread extends Thread {
     // 设置蠕动泵
     private void setupPeristalticPump() {
         for ( int i=0; i<16; i++ ) {
-//            this.setProgressMessage("设备初始化 : 初始化蠕动泵 " + (i+1) + "/16");
-//            UfCmdSnippetExecutor.execute(String.format("PeristalticPumpEnable.%d",i));
+            this.setProgressMessage("设备初始化 : 初始化蠕动泵 " + (i+1) + "/16");
+            UfCmdSnippetExecutor.execute(String.format("PeristalticPumpEnable.%d",i));
         }
 
         Boolean enableSetup = UfApplication.getApp().getEnv().getProperty("app.liquidPeristalticPumpPipeSetupEnable",Boolean.class);
@@ -70,10 +66,10 @@ public class StartResetTaskThread extends Thread {
         Device device = Device.getInstance();
         var tubes = List.of(0,4, 3,2, 15,11, 12,13, 1,5, 6,7, 14,10, 9,8);
         for ( int i=0; i<8; i++ ) {
-//            this.setProgressMessage("设备初始化 : 初始化加液管路 " + (i+1) + "/8");
-//            var tubeList = tubes.subList(i*2, i*2+2);
-//            var pumpList = List.of(2*i, 2*i+1);
-//            device.liquidAddition.addLiquidToTubes(tubeList, pumpList, 10000);
+            this.setProgressMessage("设备初始化 : 初始化加液管路 " + (i+1) + "/8");
+            var tubeList = tubes.subList(i*2, i*2+2);
+            var pumpList = List.of(2*i, 2*i+1);
+            device.liquidAddition.addLiquidToTubes(tubeList, pumpList, 10000);
         }
 
         // 加液管充满, 需要取出试管架

src/main/java/com/iflytop/digester/camera/DiComBaslerCamera.java

@@ -0,0 +1,129 @@
+package com.iflytop.digester.camera;
+public class DiComBaslerCamera {
+    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/digester/deviceinstance/Camera.java

@@ -1,6 +1,74 @@
 package com.iflytop.digester.deviceinstance;
+import com.iflytop.digester.camera.DiComBaslerCamera;
 import org.springframework.stereotype.Component;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
 @Component
 public class Camera {
+    // camera
+    private static DiComBaslerCamera pylon = null;
+    // index
+    protected Integer index;
+    // channel
+    protected Integer channel;
+    // camera handle
+    private long cam = -1;
 
+    // get pylon
+    private DiComBaslerCamera getPylon() {
+        if ( null == Camera.pylon ) {
+            Camera.pylon = new DiComBaslerCamera();
+            Camera.pylon.initialize();
+        }
+        return Camera.pylon;
+    }
+
+    // enable
+    public void enable( ) {
+        if ( -1 != this.cam ) {
+            return ;
+        }
+
+        var pylon = this.getPylon();
+        int count = pylon.enumerateDevices();
+        if ( this.index >= count ) {
+            throw new RuntimeException("Camera index out of range");
+        }
+
+        this.cam = pylon.createDeviceByIndex(this.index);
+        pylon.deviceOpen(this.cam, DiComBaslerCamera.ACCESS_MODE_CONTROL | DiComBaslerCamera.ACCESS_MODE_STREAM);
+
+        boolean isFeatureReadable = pylon.deviceFeatureIsReadable(cam, "DeviceModelName");
+        if ( isFeatureReadable ) {
+            String name = pylon.deviceFeatureToString(cam, "DeviceModelName", 256);
+        }
+
+        pylon.deviceFeatureFromString(cam, "PixelFormat", "Mono8");
+        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);
+    }
+
+    // disable
+    public void disable() {
+        if ( -1 == this.cam ) {
+            return ;
+        }
+        var pylon = this.getPylon();
+        pylon.deviceClose(this.cam);
+        this.cam = -1;
+    }
+
+    // grab
+    public Mat grabToMat () {
+        var pylon = this.getPylon();
+        var result = pylon.deviceGrabSingleFrame(this.cam, this.channel);
+        Mat frameMat = new Mat(result.sizeY, result.sizeX, CvType.CV_8UC1);
+        frameMat.put(0, 0, result.imageBuffer);
+        return frameMat;
+    }
 }