增加 Basler 相机执行器

src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActCameraBasler.java

@@ -0,0 +1,78 @@
+package com.my.graphiteDigesterBg.diframe.actuator;
+import com.my.graphiteDigesterBg.diframe.DiActuatorBase;
+import com.my.graphiteDigesterBg.diframe.DiCommand;
+import com.my.graphiteDigesterBg.diframe.component.baslerCamera.DiComBaslerCamera;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+public class DiActCameraBasler extends DiActuatorBase {
+    // camera
+    private static DiComBaslerCamera pylon = null;
+    // index
+    protected Integer index;
+    // channel
+    protected Integer channel;
+    // camera handle
+    private long cam = 0;
+
+    // get pylon
+    private DiComBaslerCamera getPylon() {
+        if ( null == DiActCameraBasler.pylon ) {
+            DiActCameraBasler.pylon = new DiComBaslerCamera();
+            DiActCameraBasler.pylon.initialize();
+        }
+        return DiActCameraBasler.pylon;
+    }
+
+    @Override
+    public void setEnable( Boolean enable ) {
+        if ( enable ) {
+            this.onEnable();
+        } else {
+            this.onDisable();
+        }
+        this.log("setEnable({})", enable);
+    }
+
+    @Override
+    protected void onEnable() {
+        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);
+            this.log("DeviceModelName : {}", name);
+        }
+
+        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);
+    }
+
+    @Override
+    protected void onDisable() {
+        var pylon = this.getPylon();
+        pylon.deviceClose(this.cam);
+//        pylon.destroyDevice(this.cam);
+    }
+
+    // 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;
+    }
+}