Z714System/外科辅料和患者防护罩激光抗性测试仪/BasicDemo/AutoCameraForm.cs

using MvCamCtrl.NET;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace BasicDemo
{
    public partial class AutoCameraForm : Form
    {
        [DllImport("kernel32.dll", EntryPoint = "RtlMoveMemory", SetLastError = false)]
        private static extern void CopyMemory(IntPtr dest, IntPtr src, uint count);

        // 支持最多3个相机
        private const int MAX_CAMERAS = 3;

        // 相机相关对象数组
        private MyCamera[] cameras = new MyCamera[MAX_CAMERAS];
        private bool[] grabbingFlags = new bool[MAX_CAMERAS];
        private Thread[] grabThreads = new Thread[MAX_CAMERAS];
        private MyCamera.MV_FRAME_OUT_INFO_EX[] frameInfos = new MyCamera.MV_FRAME_OUT_INFO_EX[MAX_CAMERAS];

        // 图像显示相关
        private Bitmap[] displayBitmaps = new Bitmap[MAX_CAMERAS];
        private IntPtr[] displayBufs = new IntPtr[MAX_CAMERAS];
        private UInt32[] displayBufSizes = new UInt32[MAX_CAMERAS];

        // 设备列表
        private MyCamera.MV_CC_DEVICE_INFO_LIST deviceList = new MyCamera.MV_CC_DEVICE_INFO_LIST();

        // UI控件
        private PictureBox[] pictureBoxes = new PictureBox[MAX_CAMERAS];
        private Label[] statusLabels = new Label[MAX_CAMERAS];

        // 锁对象，用于线程同步
        private static readonly object[] locks = new object[MAX_CAMERAS] { new object(), new object(), new object() };

        // 状态回调
        public delegate bool GetRunStatusDelegate();
        private GetRunStatusDelegate _getRunStatusCallback;
        private Thread _statusCheckThread;

        // 添加：定义返回事件委托
        public delegate void ReturnToPreviousFormDelegate();
        public event ReturnToPreviousFormDelegate OnReturnRequested;

        // 控制变量
        private bool _shouldCapture = false;
        private bool _camerasInitialized = false;

        // 视频录制相关变量（修复后的版本）
        private bool[] recordingFlags = new bool[MAX_CAMERAS];
        private string[] recordingPaths = new string[MAX_CAMERAS];
        private int _frameRate = 30;
        private string _videoSavePath = @"D:\CameraRecordings\";
        private List<string>[] imagePaths = new List<string>[MAX_CAMERAS]; // 临时保存图片路径
        private int[] frameCounters = new int[MAX_CAMERAS]; // 帧计数器

        // 添加：帧队列用于异步保存（可选）
        private ConcurrentQueue<Bitmap>[] frameQueues = new ConcurrentQueue<Bitmap>[MAX_CAMERAS];
        private Thread[] saveThreads = new Thread[MAX_CAMERAS];
        private bool[] saveThreadRunning = new bool[MAX_CAMERAS];
        // 添加视频录制状态标签
        private Label[] recordingStatusLabels = new Label[MAX_CAMERAS];

        public AutoCameraForm(GetRunStatusDelegate getRunStatusCallback, ReturnToPreviousFormDelegate returnCallback = null)
        {
            _getRunStatusCallback = getRunStatusCallback;
            if (returnCallback != null)
            {
                OnReturnRequested += returnCallback;
            }

            InitializeComponent();
            Control.CheckForIllegalCrossThreadCalls = false;

            // 设置窗体大小
            this.Size = new Size(1900, 1000);
            this.Text = "三相机自动监控系统";
            this.StartPosition = FormStartPosition.CenterScreen;
            this.FormClosing += AutoCameraForm_FormClosing;

            // 初始化UI
            InitializeUI();

            // 初始化队列
            for (int i = 0; i < MAX_CAMERAS; i++)
            {
                imagePaths[i] = new List<string>();
                frameQueues[i] = new ConcurrentQueue<Bitmap>();
            }

            // 异步初始化相机，不阻塞窗体显示
            this.Shown += (s, e) =>
            {
                Task.Run(() => InitializeCameras());
            };
        }

        /// <summary>
        /// 初始化UI界面
        /// </summary>
        private void InitializeUI()
        {
            this.BackColor = Color.FromArgb(240, 240, 240);

            // 创建标题
            Label titleLabel = new Label
            {
                Text = "三相机自动监控系统",
                Font = new Font("Microsoft YaHei", 20, FontStyle.Bold),
                ForeColor = Color.FromArgb(0, 112, 192),
                Size = new Size(500, 40),
                Location = new Point(700, 20),
                TextAlign = ContentAlignment.MiddleCenter
            };
            this.Controls.Add(titleLabel);

            // 创建三个相机显示区域 - 减小高度，为状态栏留出空间
            int pictureWidth = 620;
            int pictureHeight = 780; // 从850减小到780
            int margin = 20;

            for (int i = 0; i < MAX_CAMERAS; i++)
            {
                // 创建容器面板 - 减小高度
                Panel cameraPanel = new Panel
                {
                    BackColor = Color.White,
                    BorderStyle = BorderStyle.FixedSingle,
                    Size = new Size(pictureWidth, 830), // 从900减小到830
                    Location = new Point(margin + i * (pictureWidth + margin), 80)
                };
                this.Controls.Add(cameraPanel);

                // 相机标题
                Label cameraTitle = new Label
                {
                    Text = $"相机 {i + 1}",
                    Font = new Font("Microsoft YaHei", 14, FontStyle.Bold),
                    ForeColor = Color.FromArgb(0, 112, 192),
                    Size = new Size(200, 30),
                    Location = new Point(10, 10),
                    TextAlign = ContentAlignment.MiddleLeft
                };
                cameraPanel.Controls.Add(cameraTitle);

                // 状态标签
                statusLabels[i] = new Label
                {
                    Text = "状态：未连接",
                    Font = new Font("Microsoft YaHei", 10),
                    ForeColor = Color.Red,
                    Size = new Size(200, 25),
                    Location = new Point(10, 45), // Y坐标：45
                    TextAlign = ContentAlignment.MiddleLeft
                };
                cameraPanel.Controls.Add(statusLabels[i]);

                // 录制状态标签 - 调整位置
                recordingStatusLabels[i] = new Label
                {
                    Text = "录制状态：等待开始",
                    Font = new Font("Microsoft YaHei", 9),
                    ForeColor = Color.Gray,
                    Size = new Size(580, 20), // 加宽以适应长文本
                    Location = new Point(10, 70), // Y坐标：70（在状态标签下方）
                    TextAlign = ContentAlignment.MiddleLeft
                };
                cameraPanel.Controls.Add(recordingStatusLabels[i]);

                // 图像显示区域 - 调整位置
                pictureBoxes[i] = new PictureBox
                {
                    Size = new Size(pictureWidth - 40, pictureHeight),
                    Location = new Point(20, 95), // Y坐标：95（在录制状态标签下方）
                    BackColor = Color.Black,
                    SizeMode = PictureBoxSizeMode.StretchImage,
                    BorderStyle = BorderStyle.FixedSingle
                };
                cameraPanel.Controls.Add(pictureBoxes[i]);
            }

            // 创建状态栏 - 保持在底部
            Panel statusBar = new Panel
            {
                BackColor = Color.FromArgb(0, 112, 192),
                Size = new Size(1900, 30),
                Location = new Point(0, 970)
            };
            this.Controls.Add(statusBar);

            Label statusText = new Label
            {
                Text = "系统状态：正在初始化...",
                Font = new Font("Microsoft YaHei", 10),
                ForeColor = Color.White,
                Size = new Size(300, 25),
                Location = new Point(10, 2),
                TextAlign = ContentAlignment.MiddleLeft
            };
            statusBar.Controls.Add(statusText);

            // 添加返回按钮
            AddBackButton();
        }
        private void AddBackButton()
        {
            Button btnBack = new Button
            {
                Text = "返回",
                Size = new Size(100, 40),
                Location = new Point(1750, 30),
                Font = new Font("Microsoft YaHei", 12),
                BackColor = Color.FromArgb(0, 112, 192),
                ForeColor = Color.White,
                FlatStyle = FlatStyle.Flat
            };

            btnBack.Click += (s, e) =>
            {
                // 触发返回事件
                OnReturnRequested?.Invoke();

                // 关闭当前窗体
                this.Close();
            };

            this.Controls.Add(btnBack);
        }

        private void InitializeCameras()
        {
            try
            {
                // 在UI线程更新状态
                this.Invoke(new Action(() => UpdateSystemStatus("正在初始化SDK...")));

                // 1. 初始化SDK
                int ret = MyCamera.MV_CC_Initialize_NET();
                if (ret != MyCamera.MV_OK)
                {
                    this.Invoke(new Action(() =>
                        MessageBox.Show($"SDK初始化失败，错误代码: {ret}", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error)));
                    return;
                }

                this.Invoke(new Action(() => UpdateSystemStatus("正在枚举设备...")));

                // 2. 枚举设备
                ret = MyCamera.MV_CC_EnumDevices_NET(
                    MyCamera.MV_GIGE_DEVICE | MyCamera.MV_USB_DEVICE,
                    ref deviceList);

                if (ret != MyCamera.MV_OK)
                {
                    this.Invoke(new Action(() =>
                        MessageBox.Show($"设备枚举失败，错误代码: {ret}", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error)));
                    return;
                }

                // 3. 检查设备数量
                if (deviceList.nDeviceNum < MAX_CAMERAS)
                {
                    this.Invoke(new Action(() =>
                        MessageBox.Show($"检测到 {deviceList.nDeviceNum} 个设备，需要至少 {MAX_CAMERAS} 个相机",
                            "错误", MessageBoxButtons.OK, MessageBoxIcon.Error)));
                    return;
                }

                this.Invoke(new Action(() => UpdateSystemStatus($"检测到 {deviceList.nDeviceNum} 个设备，准备初始化相机...")));

                // 4. 并行初始化相机（加快速度）
                List<Task> initTasks = new List<Task>();

                for (int i = 0; i < MAX_CAMERAS; i++)
                {
                    int index = i; // 创建本地变量
                    initTasks.Add(Task.Run(() =>
                    {
                        if (InitializeSingleCamera(index))
                        {
                            this.Invoke(new Action(() =>
                                UpdateCameraStatus(index, "设备已就绪", Color.Blue)));
                        }
                    }));
                }

                // 等待所有相机初始化完成
                Task.WaitAll(initTasks.ToArray());

                _camerasInitialized = true;

                this.Invoke(new Action(() =>
                    UpdateSystemStatus("所有相机已初始化就绪，等待测试开始...")));

                // 5. 启动状态检查线程
                StartStatusCheckThread();
            }
            catch (Exception ex)
            {
                this.Invoke(new Action(() =>
                    MessageBox.Show($"初始化系统时发生异常: {ex.Message}", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error)));
            }
        }

        /// <summary>
        /// 启动状态检查线程
        /// </summary>
        private void StartStatusCheckThread()
        {
            _statusCheckThread = new Thread(CheckRunStatusLoop)
            {
                IsBackground = true
            };
            _statusCheckThread.Start();
        }

        /// <summary>
        /// 状态检查循环 - 添加异常处理
        /// </summary>
        private void CheckRunStatusLoop()
        {
            bool lastStatus = false;

            while (!this.IsDisposed && _camerasInitialized)
            {
                try
                {
                    bool currentStatus = _getRunStatusCallback?.Invoke() ?? false;

                    if (currentStatus != lastStatus)
                    {
                        lastStatus = currentStatus;

                        // 使用TryInvoke避免窗体已关闭时的异常
                        if (!this.IsDisposed && this.IsHandleCreated)
                        {
                            this.BeginInvoke(new Action(() =>
                            {
                                try
                                {
                                    if (currentStatus)
                                    {
                                        StartAllCamerasCapture();
                                    }
                                    else
                                    {
                                        StopAllCamerasCapture();
                                    }
                                }
                                catch (Exception ex)
                                {
                                    Console.WriteLine($"状态切换异常: {ex.Message}");
                                }
                            }));
                        }
                    }

                    Thread.Sleep(1000); // 延长检查间隔，减少CPU使用
                }
                catch
                {
                    // 忽略异常
                }
            }
        }

        /// <summary>
        /// 开始所有相机采集
        /// </summary>
        private void StartAllCamerasCapture()
        {
            if (!_camerasInitialized) return;

            UpdateSystemStatus("测试开始，正在启动相机采集...");

            for (int i = 0; i < MAX_CAMERAS; i++)
            {
                if (cameras[i] != null && !grabbingFlags[i])
                {
                    StartSingleCameraCapture(i);
                }
            }

            UpdateSystemStatus("所有相机已开始采集");
        }

        /// <summary>
        /// 停止所有相机采集
        /// </summary>
        private void StopAllCamerasCapture()
        {
            if (!_camerasInitialized) return;

            UpdateSystemStatus("测试结束，正在停止相机采集...");

            for (int i = 0; i < MAX_CAMERAS; i++)
            {
                if (cameras[i] != null && grabbingFlags[i])
                {
                    StopSingleCameraCapture(i);
                }
            }

            UpdateSystemStatus("所有相机已停止采集");
        }

        private bool InitializeSingleCamera(int cameraIndex)
        {
            try
            {
                // 延迟启动，避免同时打开冲突
                Thread.Sleep(cameraIndex * 200);

                this.Invoke(new Action(() =>
                    UpdateCameraStatus(cameraIndex, "正在打开...", Color.Orange)));

                // 1. 创建设备信息
                MyCamera.MV_CC_DEVICE_INFO device =
                    (MyCamera.MV_CC_DEVICE_INFO)Marshal.PtrToStructure(
                        deviceList.pDeviceInfo[cameraIndex], typeof(MyCamera.MV_CC_DEVICE_INFO));

                // 2. 创建相机对象
                cameras[cameraIndex] = new MyCamera();

                // 3. 创建设备
                int ret = cameras[cameraIndex].MV_CC_CreateDevice_NET(ref device);
                if (ret != MyCamera.MV_OK)
                {
                    this.Invoke(new Action(() =>
                        UpdateCameraStatus(cameraIndex, $"创建设备失败: {ret}", Color.Red)));
                    return false;
                }

                // 4. 打开设备（设置超时时间）
                ret = cameras[cameraIndex].MV_CC_OpenDevice_NET();
                if (ret != MyCamera.MV_OK)
                {
                    cameras[cameraIndex].MV_CC_DestroyDevice_NET();
                    this.Invoke(new Action(() =>
                        UpdateCameraStatus(cameraIndex, $"打开设备失败: {ret}", Color.Red)));
                    return false;
                }

                // 5. 简化设置，只设置必要的参数
                cameras[cameraIndex].MV_CC_SetEnumValue_NET("AcquisitionMode",
                    (uint)MyCamera.MV_CAM_ACQUISITION_MODE.MV_ACQ_MODE_CONTINUOUS);
                cameras[cameraIndex].MV_CC_SetEnumValue_NET("TriggerMode",
                    (uint)MyCamera.MV_CAM_TRIGGER_MODE.MV_TRIGGER_MODE_OFF);

                return true;
            }
            catch (Exception ex)
            {
                this.Invoke(new Action(() =>
                    UpdateCameraStatus(cameraIndex, $"异常: {ex.Message}", Color.Red)));
                return false;
            }
        }

        private void StartSingleCameraCapture(int cameraIndex)
        {
            try
            {
                if (cameras[cameraIndex] == null || grabbingFlags[cameraIndex])
                    return;

                // 检查相机是否已正确打开
                if (!IsCameraValid(cameraIndex))
                {
                    UpdateCameraStatus(cameraIndex, "相机未正确初始化", Color.Red);
                    return;
                }

                // 1. 准备采集资源
                if (!PrepareForGrabbing(cameraIndex))
                {
                    UpdateCameraStatus(cameraIndex, "采集准备失败", Color.Red);
                    return;
                }

                // 2. 初始化录制系统
                InitializeRecording(cameraIndex);

                // 3. 设置采集标志
                grabbingFlags[cameraIndex] = true;

                // 4. 创建采集线程
                int index = cameraIndex;
                grabThreads[cameraIndex] = new Thread(() => GrabThreadProc(index));
                grabThreads[cameraIndex].Name = $"CameraGrabThread_{cameraIndex}";
                grabThreads[cameraIndex].IsBackground = true;

                // 5. 启动保存线程（如果使用队列方式）
                StartSaveThread(cameraIndex);

                // 启动采集线程
                grabThreads[cameraIndex].Start();

                // 6. 开始采集
                int ret = cameras[cameraIndex].MV_CC_StartGrabbing_NET();
                if (ret != MyCamera.MV_OK)
                {
                    UpdateCameraStatus(cameraIndex, $"开始采集失败: {ret}", Color.Red);
                    grabbingFlags[cameraIndex] = false;
                    return;
                }

                UpdateCameraStatus(cameraIndex, "正在采集和录制...", Color.Green);
            }
            catch (Exception ex)
            {
                UpdateCameraStatus(cameraIndex, $"开始采集异常: {ex.Message}", Color.Red);
                Console.WriteLine($"启动相机{cameraIndex + 1}异常: {ex.ToString()}");
            }
        }

        private void InitializeRecording(int cameraIndex)
        {
            try
            {
                // 确保保存目录存在
                Directory.CreateDirectory(_videoSavePath);

                // 创建以时间戳命名的子目录 - 添加相机编号前缀
                string timestamp = DateTime.Now.ToString("yyyyMMdd_HHmmss");
                string cameraFolder = Path.Combine(_videoSavePath, $"Camera{cameraIndex + 1}_{timestamp}");
                recordingPaths[cameraIndex] = cameraFolder;

                // 创建frames子目录
                string framesFolder = Path.Combine(cameraFolder, "frames");
                Directory.CreateDirectory(framesFolder);

                // 初始化图片路径列表
                imagePaths[cameraIndex] = new List<string>();
                frameCounters[cameraIndex] = 0; // 重置帧计数器

                recordingFlags[cameraIndex] = true;

                // 更新录制状态
                UpdateRecordingStatus(cameraIndex, $"正在录制到: Camera{cameraIndex + 1}_{timestamp}", Color.Blue);
                Console.WriteLine($"相机{cameraIndex + 1}录制已初始化，保存路径: {cameraFolder}");
            }
            catch (Exception ex)
            {
                Console.WriteLine($"初始化录制失败（相机{cameraIndex + 1}）: {ex.Message}");
                recordingFlags[cameraIndex] = false;
                UpdateRecordingStatus(cameraIndex, "录制初始化失败", Color.Red);
            }
        }

        /// <summary>
        /// 更新录制状态显示
        /// </summary>
        private void UpdateRecordingStatus(int cameraIndex, string message, Color color)
        {
            if (recordingStatusLabels[cameraIndex].InvokeRequired)
            {
                recordingStatusLabels[cameraIndex].Invoke(new Action(() =>
                {
                    recordingStatusLabels[cameraIndex].Text = $"录制状态：{message}";
                    recordingStatusLabels[cameraIndex].ForeColor = color;
                }));
            }
            else
            {
                recordingStatusLabels[cameraIndex].Text = $"录制状态：{message}";
                recordingStatusLabels[cameraIndex].ForeColor = color;
            }
        }

        /// <summary>
        /// 启动保存线程（使用队列方式保存图片）
        /// </summary>
        private void StartSaveThread(int cameraIndex)
        {
            saveThreadRunning[cameraIndex] = true;
            saveThreads[cameraIndex] = new Thread(() => SaveImageThreadProc(cameraIndex));
            saveThreads[cameraIndex].Name = $"SaveThread_{cameraIndex}";
            saveThreads[cameraIndex].IsBackground = true;
            saveThreads[cameraIndex].Start();
        }

        /// <summary>
        /// 保存图片线程处理
        /// </summary>
        private void SaveImageThreadProc(int cameraIndex)
        {
            while (saveThreadRunning[cameraIndex] || !frameQueues[cameraIndex].IsEmpty)
            {
                try
                {
                    if (frameQueues[cameraIndex].TryDequeue(out Bitmap frame))
                    {
                        SaveFrameAsImage(cameraIndex, frame);
                        frame.Dispose();
                    }
                    else
                    {
                        Thread.Sleep(10); // 队列为空时休眠
                    }
                }
                catch (Exception ex)
                {
                    Console.WriteLine($"保存图片线程异常（相机{cameraIndex + 1}）: {ex.Message}");
                }
            }
        }

        private void SaveFrameAsImage(int cameraIndex, Bitmap frame)
        {
            try
            {
                if (!recordingFlags[cameraIndex] || string.IsNullOrEmpty(recordingPaths[cameraIndex]))
                    return;

                int currentFrame = frameCounters[cameraIndex]++;
                string framesFolder = Path.Combine(recordingPaths[cameraIndex], "frames");

                // 添加相机编号到文件名，方便识别
                string imagePath = Path.Combine(framesFolder, $"Cam{cameraIndex + 1}_frame_{currentFrame:D6}.jpg");

                // 使用高质量压缩保存图片
                ImageCodecInfo jpgEncoder = GetEncoderInfo("image/jpeg");
                EncoderParameters encoderParams = new EncoderParameters(1);
                encoderParams.Param[0] = new EncoderParameter(System.Drawing.Imaging.Encoder.Quality, 85L); // 85%质量

                lock (locks[cameraIndex])
                {
                    frame.Save(imagePath, jpgEncoder, encoderParams);
                }

                imagePaths[cameraIndex].Add(imagePath);

                // 每50帧更新一次录制状态
                if (currentFrame % 50 == 0)
                {
                    UpdateRecordingStatus(cameraIndex, $"已录制 {currentFrame} 帧", Color.Green);
                    Console.WriteLine($"相机{cameraIndex + 1}已保存 {currentFrame} 帧");
                }
            }
            catch (Exception ex)
            {
                Console.WriteLine($"保存图片失败（相机{cameraIndex + 1}）: {ex.Message}");
            }
        }

        // 获取图像编码器
        private ImageCodecInfo GetEncoderInfo(string mimeType)
        {
            ImageCodecInfo[] codecs = ImageCodecInfo.GetImageEncoders();
            foreach (ImageCodecInfo codec in codecs)
            {
                if (codec.MimeType == mimeType)
                    return codec;
            }
            return null;
        }

        /// <summary>
        /// 检查相机是否有效
        /// </summary>
        private bool IsCameraValid(int cameraIndex)
        {
            try
            {
                return cameras[cameraIndex] != null;
            }
            catch
            {
                return false;
            }
        }

        private void StopSingleCameraCapture(int cameraIndex)
        {
            try
            {
                if (cameras[cameraIndex] == null || !grabbingFlags[cameraIndex])
                    return;

                // 1. 停止采集标志
                grabbingFlags[cameraIndex] = false;

                // 2. 等待采集线程结束
                if (grabThreads[cameraIndex] != null && grabThreads[cameraIndex].IsAlive)
                {
                    grabThreads[cameraIndex].Join(1000);
                }

                // 3. 停止相机采集
                cameras[cameraIndex].MV_CC_StopGrabbing_NET();

                // 4. 清理资源
                CleanupCameraResources(cameraIndex);

                UpdateCameraStatus(cameraIndex, "已停止采集", Color.Blue);

                // 5. 创建视频文件
                if (imagePaths[cameraIndex] != null && imagePaths[cameraIndex].Count > 0)
                {
                    // 立即创建视频文件
                    string videoPath = CreateVideoFromImages(cameraIndex);

                    if (!string.IsNullOrEmpty(videoPath))
                    {
                        UpdateRecordingStatus(cameraIndex, $"视频已保存: {Path.GetFileName(videoPath)}", Color.Green);

                        // 显示视频文件位置
                        MessageBox.Show($"相机{cameraIndex + 1}视频已保存到：\n{videoPath}\n\n共录制 {imagePaths[cameraIndex].Count} 帧",
                                        "录制完成",
                                        MessageBoxButtons.OK,
                                        MessageBoxIcon.Information);
                    }
                }
                else
                {
                    Console.WriteLine($"相机{cameraIndex + 1}没有保存任何帧，跳过视频转换");
                    UpdateRecordingStatus(cameraIndex, "没有录制到帧", Color.Orange);
                }

                // 6. 停止录制标志
                recordingFlags[cameraIndex] = false;
            }
            catch (Exception ex)
            {
                UpdateCameraStatus(cameraIndex, $"停止采集异常: {ex.Message}", Color.Red);
                UpdateRecordingStatus(cameraIndex, "录制出错", Color.Red);
            }
        }

        private bool PrepareForGrabbing(int cameraIndex)
        {
            try
            {
                // 获取图像参数
                MyCamera.MVCC_INTVALUE_EX width = new MyCamera.MVCC_INTVALUE_EX();
                int ret = cameras[cameraIndex].MV_CC_GetIntValueEx_NET("Width", ref width);
                if (ret != MyCamera.MV_OK) return false;

                MyCamera.MVCC_INTVALUE_EX height = new MyCamera.MVCC_INTVALUE_EX();
                ret = cameras[cameraIndex].MV_CC_GetIntValueEx_NET("Height", ref height);
                if (ret != MyCamera.MV_OK) return false;

                MyCamera.MVCC_ENUMVALUE pixelFormat = new MyCamera.MVCC_ENUMVALUE();
                ret = cameras[cameraIndex].MV_CC_GetEnumValue_NET("PixelFormat", ref pixelFormat);
                if (ret != MyCamera.MV_OK) return false;

                // 创建Bitmap
                PixelFormat bitmapFormat = IsMonoPixelFormat(pixelFormat.nCurValue) ?
                    PixelFormat.Format8bppIndexed : PixelFormat.Format24bppRgb;

                // 确保清理旧的Bitmap
                if (displayBitmaps[cameraIndex] != null)
                {
                    displayBitmaps[cameraIndex].Dispose();
                    displayBitmaps[cameraIndex] = null;
                }

                // 创建新的Bitmap
                displayBitmaps[cameraIndex] = new Bitmap((int)width.nCurValue, (int)height.nCurValue, bitmapFormat);

                // 如果是8位灰度图，设置调色板
                if (bitmapFormat == PixelFormat.Format8bppIndexed)
                {
                    ColorPalette palette = displayBitmaps[cameraIndex].Palette;
                    for (int i = 0; i < palette.Entries.Length; i++)
                    {
                        palette.Entries[i] = Color.FromArgb(i, i, i);
                    }
                    displayBitmaps[cameraIndex].Palette = palette;
                }

                // 分配显示缓冲区
                uint bufferSize = bitmapFormat == PixelFormat.Format8bppIndexed ?
                    (uint)(width.nCurValue * height.nCurValue) :
                    (uint)(width.nCurValue * height.nCurValue * 3);

                // 确保清理旧的缓冲区
                if (displayBufs[cameraIndex] != IntPtr.Zero)
                {
                    Marshal.FreeHGlobal(displayBufs[cameraIndex]);
                    displayBufs[cameraIndex] = IntPtr.Zero;
                }

                displayBufs[cameraIndex] = Marshal.AllocHGlobal((int)bufferSize);
                displayBufSizes[cameraIndex] = bufferSize;

                frameInfos[cameraIndex] = new MyCamera.MV_FRAME_OUT_INFO_EX();

                return true;
            }
            catch (Exception ex)
            {
                Console.WriteLine($"准备相机{cameraIndex + 1}失败: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 判断是否为单色像素格式
        /// </summary>
        private bool IsMonoPixelFormat(uint pixelFormat)
        {
            switch (pixelFormat)
            {
                case (uint)MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8:
                case (uint)MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono10:
                case (uint)MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono12:
                case (uint)MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono10_Packed:
                case (uint)MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono12_Packed:
                    return true;
                default:
                    return false;
            }
        }

        /// <summary>
        /// 创建视频文件并返回视频路径
        /// </summary>
        private string CreateVideoFromImages(int cameraIndex)
        {
            try
            {
                string framesFolder = Path.Combine(recordingPaths[cameraIndex], "frames");

                // 检查文件夹是否存在
                if (!Directory.Exists(framesFolder))
                {
                    Console.WriteLine($"相机{cameraIndex + 1}的frames文件夹不存在: {framesFolder}");
                    return null;
                }

                // 获取所有jpg文件
                string[] imageFiles = Directory.GetFiles(framesFolder, $"Cam{cameraIndex + 1}_*.jpg");
                if (imageFiles.Length == 0)
                {
                    // 尝试查找任何jpg文件（兼容之前的命名方式）
                    imageFiles = Directory.GetFiles(framesFolder, "*.jpg");
                    if (imageFiles.Length == 0)
                    {
                        Console.WriteLine($"相机{cameraIndex + 1}没有找到jpg图片文件");
                        return null;
                    }
                }

                Console.WriteLine($"相机{cameraIndex + 1}找到 {imageFiles.Length} 张图片");

                // 创建视频文件路径
                string timestamp = DateTime.Now.ToString("yyyyMMdd_HHmmss");
                string videoPath = Path.Combine(recordingPaths[cameraIndex], $"Camera{cameraIndex + 1}_{timestamp}.mp4");

                // 创建转换批处理文件
                string batFilePath = CreateConversionBatchFile(cameraIndex, framesFolder, videoPath, imageFiles.Length);

                if (File.Exists(batFilePath))
                {
                    // 自动运行转换
                    var process = System.Diagnostics.Process.Start(batFilePath);

                    // 等待转换完成（最大等待30秒）
                    if (process != null)
                    {
                        process.WaitForExit(30000);

                        // 检查视频文件是否生成
                        if (File.Exists(videoPath))
                        {
                            FileInfo videoInfo = new FileInfo(videoPath);
                            Console.WriteLine($"视频文件已创建: {videoPath} ({videoInfo.Length / 1024 / 1024} MB)");

                            // 创建视频文件的快捷方式到根目录，方便查找
                            CreateVideoShortcut(cameraIndex, videoPath);

                            return videoPath;
                        }
                    }
                }

                return null;
            }
            catch (Exception ex)
            {
                Console.WriteLine($"创建视频失败（相机{cameraIndex + 1}）: {ex.Message}");
                return null;
            }
        }

        /// <summary>
        /// 在录制根目录创建视频文件的快捷方式（文本文件）
        /// </summary>
        private void CreateVideoShortcut(int cameraIndex, string videoPath)
        {
            try
            {
                string shortcutPath = Path.Combine(_videoSavePath, $"Camera{cameraIndex + 1}_最新视频.txt");

                using (StreamWriter sw = new StreamWriter(shortcutPath, false, Encoding.Default))
                {
                    sw.WriteLine("相机视频文件位置信息");
                    sw.WriteLine("=========================");
                    sw.WriteLine($"相机编号: {cameraIndex + 1}");
                    sw.WriteLine($"视频文件: {Path.GetFileName(videoPath)}");
                    sw.WriteLine($"文件大小: {new FileInfo(videoPath).Length / 1024 / 1024} MB");
                    sw.WriteLine($"录制时间: {DateTime.Now:yyyy-MM-dd HH:mm:ss}");
                    sw.WriteLine($"视频路径: {videoPath}");
                    sw.WriteLine();
                    sw.WriteLine("图片文件夹:");
                    sw.WriteLine($"    {Path.Combine(recordingPaths[cameraIndex], "frames")}");
                }

                Console.WriteLine($"已创建视频位置信息文件: {shortcutPath}");
            }
            catch (Exception ex)
            {
                Console.WriteLine($"创建快捷方式失败: {ex.Message}");
            }
        }
        /// <summary>
        /// 创建转换批处理文件
        /// </summary>
        private string CreateConversionBatchFile(int cameraIndex, string framesFolder, string videoPath, int imageCount)
        {
            try
            {
                string batFilePath = Path.Combine(recordingPaths[cameraIndex], $"Convert_Camera{cameraIndex + 1}.bat");

                using (StreamWriter sw = new StreamWriter(batFilePath, false, Encoding.Default))
                {
                    sw.WriteLine("@echo off");
                    sw.WriteLine($"echo 正在转换相机{cameraIndex + 1}的{imageCount}张图片为视频...");
                    sw.WriteLine($"set INPUT_PATTERN={framesFolder}\\Cam{cameraIndex + 1}_*.jpg");
                    sw.WriteLine($"set OUTPUT_FILE={videoPath}");
                    sw.WriteLine($"set FRAMERATE={_frameRate}");
                    sw.WriteLine();
                    sw.WriteLine("echo 正在转换，请稍候...");
                    sw.WriteLine("ffmpeg -framerate %FRAMERATE% -pattern_type glob -i \"%INPUT_PATTERN%\" -c:v libx264 -pix_fmt yuv420p \"%OUTPUT_FILE%\"");
                    sw.WriteLine("if %ERRORLEVEL% EQU 0 (");
                    sw.WriteLine("    echo 转换成功！");
                    sw.WriteLine("    echo 视频文件: %OUTPUT_FILE%");
                    sw.WriteLine(") else (");
                    sw.WriteLine("    echo 转换失败");
                    sw.WriteLine(")");
                }

                Console.WriteLine($"已创建转换批处理文件: {batFilePath}");
                return batFilePath;
            }
            catch (Exception ex)
            {
                Console.WriteLine($"创建批处理文件失败: {ex.Message}");
                return null;
            }
        }
        private void GrabThreadProc(int cameraIndex)
        {
            MyCamera camera = cameras[cameraIndex];
            MyCamera.MV_FRAME_OUT frameOut = new MyCamera.MV_FRAME_OUT();
            MyCamera.MV_PIXEL_CONVERT_PARAM convertParam = new MyCamera.MV_PIXEL_CONVERT_PARAM();
            MyCamera.MV_DISPLAY_FRAME_INFO displayInfo = new MyCamera.MV_DISPLAY_FRAME_INFO();

            // 帧率控制变量
            DateTime lastFrameTime = DateTime.Now;
            TimeSpan frameInterval = TimeSpan.FromMilliseconds(1000.0 / _frameRate);

            while (grabbingFlags[cameraIndex])
            {
                try
                {
                    // 获取图像缓冲区
                    int ret = camera.MV_CC_GetImageBuffer_NET(ref frameOut, 1000);
                    if (ret == MyCamera.MV_OK)
                    {
                        // 控制帧率
                        DateTime currentTime = DateTime.Now;
                        if (currentTime - lastFrameTime < frameInterval)
                        {
                            // 帧率过快，跳过此帧
                            camera.MV_CC_FreeImageBuffer_NET(ref frameOut);
                            continue;
                        }
                        lastFrameTime = currentTime;

                        Bitmap frameCopy = null;

                        lock (locks[cameraIndex])
                        {
                            // 更新帧信息
                            frameInfos[cameraIndex] = frameOut.stFrameInfo;

                            // 像素格式转换
                            convertParam.nWidth = frameOut.stFrameInfo.nWidth;
                            convertParam.nHeight = frameOut.stFrameInfo.nHeight;
                            convertParam.enSrcPixelType = frameOut.stFrameInfo.enPixelType;
                            convertParam.pSrcData = frameOut.pBufAddr;
                            convertParam.nSrcDataLen = frameOut.stFrameInfo.nFrameLen;
                            convertParam.pDstBuffer = displayBufs[cameraIndex];
                            convertParam.nDstBufferSize = displayBufSizes[cameraIndex];

                            if (displayBitmaps[cameraIndex].PixelFormat == PixelFormat.Format8bppIndexed)
                            {
                                convertParam.enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_Mono8;
                            }
                            else
                            {
                                convertParam.enDstPixelType = MyCamera.MvGvspPixelType.PixelType_Gvsp_BGR8_Packed;
                            }

                            camera.MV_CC_ConvertPixelType_NET(ref convertParam);

                            // 更新Bitmap
                            BitmapData bitmapData = displayBitmaps[cameraIndex].LockBits(
                                new Rectangle(0, 0, (int)frameOut.stFrameInfo.nWidth, (int)frameOut.stFrameInfo.nHeight),
                                ImageLockMode.ReadWrite, displayBitmaps[cameraIndex].PixelFormat);

                            CopyMemory(bitmapData.Scan0, convertParam.pDstBuffer,
                                (uint)(bitmapData.Stride * displayBitmaps[cameraIndex].Height));

                            displayBitmaps[cameraIndex].UnlockBits(bitmapData);

                            // 创建帧的副本用于保存（避免共享资源）
                            if (recordingFlags[cameraIndex])
                            {
                                frameCopy = new Bitmap(displayBitmaps[cameraIndex]);
                            }
                        }

                        // 使用SDK显示
                        displayInfo.hWnd = pictureBoxes[cameraIndex].Handle;
                        displayInfo.pData = frameOut.pBufAddr;
                        displayInfo.nDataLen = frameOut.stFrameInfo.nFrameLen;
                        displayInfo.nWidth = frameOut.stFrameInfo.nWidth;
                        displayInfo.nHeight = frameOut.stFrameInfo.nHeight;
                        displayInfo.enPixelType = frameOut.stFrameInfo.enPixelType;

                        // 在UI线程中调用显示
                        if (this.InvokeRequired)
                        {
                            this.Invoke(new Action(() =>
                            {
                                camera.MV_CC_DisplayOneFrame_NET(ref displayInfo);
                            }));
                        }
                        else
                        {
                            camera.MV_CC_DisplayOneFrame_NET(ref displayInfo);
                        }

                        // 将帧添加到队列用于保存
                        if (recordingFlags[cameraIndex] && frameCopy != null)
                        {
                            frameQueues[cameraIndex].Enqueue(frameCopy);
                        }

                        // 释放图像缓冲区
                        camera.MV_CC_FreeImageBuffer_NET(ref frameOut);
                    }
                }
                catch (Exception ex)
                {
                    Console.WriteLine($"相机{cameraIndex + 1}采集异常: {ex.Message}");
                }
            }
        }

        /// <summary>
        /// 清理相机资源
        /// </summary>
        private void CleanupCameraResources(int cameraIndex)
        {
            // 清理显示缓冲区
            if (displayBufs[cameraIndex] != IntPtr.Zero)
            {
                Marshal.FreeHGlobal(displayBufs[cameraIndex]);
                displayBufs[cameraIndex] = IntPtr.Zero;
            }

            // 清理Bitmap
            if (displayBitmaps[cameraIndex] != null)
            {
                displayBitmaps[cameraIndex].Dispose();
                displayBitmaps[cameraIndex] = null;
            }

            displayBufSizes[cameraIndex] = 0;

            // 清空队列
            while (frameQueues[cameraIndex].TryDequeue(out Bitmap frame))
            {
                frame.Dispose();
            }
        }

        /// <summary>
        /// 更新相机状态显示
        /// </summary>
        private void UpdateCameraStatus(int cameraIndex, string message, Color color)
        {
            if (statusLabels[cameraIndex].InvokeRequired)
            {
                statusLabels[cameraIndex].Invoke(new Action(() =>
                {
                    statusLabels[cameraIndex].Text = $"状态：{message}";
                    statusLabels[cameraIndex].ForeColor = color;
                }));
            }
            else
            {
                statusLabels[cameraIndex].Text = $"状态：{message}";
                statusLabels[cameraIndex].ForeColor = color;
            }
        }

        /// <summary>
        /// 更新系统状态
        /// </summary>
        private void UpdateSystemStatus(string message)
        {
            // 这里可以添加系统状态栏更新逻辑
            Console.WriteLine($"系统状态: {message}");
        }

        private void AutoCameraForm_FormClosing(object sender, FormClosingEventArgs e)
        {
            try
            {
                // 停止状态检查线程
                if (_statusCheckThread != null && _statusCheckThread.IsAlive)
                {
                    _statusCheckThread.Join(1000);
                }

                // 停止所有采集和录制
                for (int i = 0; i < MAX_CAMERAS; i++)
                {
                    grabbingFlags[i] = false;
                    recordingFlags[i] = false;
                    saveThreadRunning[i] = false;

                    if (grabThreads[i] != null && grabThreads[i].IsAlive)
                    {
                        grabThreads[i].Join(1000);
                    }

                    if (saveThreads[i] != null && saveThreads[i].IsAlive)
                    {
                        saveThreads[i].Join(2000);
                    }

                    if (cameras[i] != null)
                    {
                        cameras[i].MV_CC_StopGrabbing_NET();
                        cameras[i].MV_CC_CloseDevice_NET();
                        cameras[i].MV_CC_DestroyDevice_NET();
                    }

                    CleanupCameraResources(i);
                }

                // 反初始化SDK
                MyCamera.MV_CC_Finalize_NET();
            }
            catch (Exception ex)
            {
                MessageBox.Show($"清理资源时发生异常: {ex.Message}", "警告",
                    MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
        }
    }
}