using MvCamCtrl.NET;
using System;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Windows.Forms;
using Accord.Video;
using Accord.Video.FFMPEG;

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;

        // 视频保存配置（新增）
        private string _videoSavePath = @"D:\CameraRecordings\"; // 修改为你的保存路径
        private double _frameRate = 30.0; // 默认帧率

        // 构造函数
        public AutoCameraForm(GetRunStatusDelegate getRunStatusCallback, ReturnToPreviousFormDelegate returnCallback = null, string videoSavePath = null)
        {
            _getRunStatusCallback = getRunStatusCallback;
            // 如果提供了返回回调，就订阅
            if (returnCallback != null)
            {
                OnReturnRequested += returnCallback;
            }

            //// 设置视频保存路径
            //if (!string.IsNullOrEmpty(videoSavePath))
            //{
            //    _videoSavePath = videoSavePath;
            //}

            //// 确保保存目录存在
            //Directory.CreateDirectory(_videoSavePath);
            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();

            // 窗体加载时初始化相机
            this.Load += (s, e) => InitializeCameras();
        }

        /// <summary>
        /// 初始化UI界面
        /// </summary>
        private void InitializeUI()
        {
            this.BackColor = Color.FromArgb(240, 240, 240);
            //Button btnDiagnose = new Button
            //{
            //    Text = "诊断",
            //    Size = new Size(80, 30),
            //    Location = new Point(1800, 30),
            //    BackColor = Color.Yellow,
            //    ForeColor = Color.Black
            //};
            //btnDiagnose.Click += (s, e) => DiagnoseCameras();
            //this.Controls.Add(btnDiagnose);
            // 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);

            // 创建状态栏
            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);

            // 创建三个相机显示区域
            int pictureWidth = 620;
            int pictureHeight = 850;
            int margin = 20;

            for (int i = 0; i < MAX_CAMERAS; i++)
            {
                // 创建容器面板
                Panel cameraPanel = new Panel
                {
                    BackColor = Color.White,
                    BorderStyle = BorderStyle.FixedSingle,
                    Size = new Size(pictureWidth, 900),
                    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),
                    TextAlign = ContentAlignment.MiddleLeft
                };
                cameraPanel.Controls.Add(statusLabels[i]);

                // 图像显示区域
                pictureBoxes[i] = new PictureBox
                {
                    Size = new Size(pictureWidth - 40, pictureHeight),
                    Location = new Point(20, 80),
                    BackColor = Color.Black,
                    SizeMode = PictureBoxSizeMode.StretchImage,
                    BorderStyle = BorderStyle.FixedSingle
                };
                cameraPanel.Controls.Add(pictureBoxes[i]);
            }

            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);
        }


        /// <summary>
        /// 初始化相机系统
        /// </summary>
        private void InitializeCameras()
        {
            try
            {
                UpdateSystemStatus("正在初始化SDK...");

                // 等待窗体完全加载
                Application.DoEvents();
                Thread.Sleep(500);

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

                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)
                {
                    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)
                {
                    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;
                }

                UpdateSystemStatus($"检测到 {deviceList.nDeviceNum} 个设备，准备初始化前 {MAX_CAMERAS} 个相机...");

                // 4. 逐个初始化相机 - 增加间隔时间
                for (int i = 0; i < MAX_CAMERAS; i++)
                {
                    if (InitializeSingleCamera(i))
                    {
                        UpdateCameraStatus(i, "设备已就绪", Color.Blue);
                    }
                    Thread.Sleep(1000); // 增加间隔，避免同时打开冲突
                }

                _camerasInitialized = true;
                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 - 延迟启动
                Thread.Sleep(1000);
                StartStatusCheckThread();
            }
            catch (Exception ex)
            {
                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");
        }

        /// <summary>
        /// 初始化单个相机
        /// </summary>
        private bool InitializeSingleCamera(int cameraIndex)
        {
            try
            {
                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)
                {
                    UpdateCameraStatus(cameraIndex, $"创建设备失败: {ret}", Color.Red);
                    return false;
                }

                // 4. 打开设备
                ret = cameras[cameraIndex].MV_CC_OpenDevice_NET();
                if (ret != MyCamera.MV_OK)
                {
                    cameras[cameraIndex].MV_CC_DestroyDevice_NET();
                    UpdateCameraStatus(cameraIndex, $"打开设备失败: {ret}", Color.Red);
                    return false;
                }

                // 5. 如果是千兆网相机，设置最优包大小
                if (device.nTLayerType == MyCamera.MV_GIGE_DEVICE)
                {
                    int packetSize = cameras[cameraIndex].MV_CC_GetOptimalPacketSize_NET();
                    if (packetSize > 0)
                    {
                        cameras[cameraIndex].MV_CC_SetIntValueEx_NET("GevSCPSPacketSize", packetSize);
                    }
                }

                // 6. 设置采集模式
                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)
            {
                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. 设置采集标志
                grabbingFlags[cameraIndex] = true;

                // 3. 创建采集线程
                int index = cameraIndex;
                grabThreads[cameraIndex] = new Thread(() => GrabThreadProc(index));
                grabThreads[cameraIndex].Name = $"CameraGrabThread_{cameraIndex}";
                grabThreads[cameraIndex].IsBackground = true;

                // 启动线程
                grabThreads[cameraIndex].Start();

                // 等待线程启动
                Thread.Sleep(100);

                // 4. 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...", 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()}");
            }
        }


        /// <summary>
        /// 检查相机是否有效
        /// </summary>
        private bool IsCameraValid(int cameraIndex)
        {
            try
            {
                return cameras[cameraIndex] != null;
            }
            catch
            {
                return false;
            }
        }
        /// <summary>
        /// 停止单个相机采集
        /// </summary>
        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);
            }
            catch (Exception ex)
            {
                UpdateCameraStatus(cameraIndex, $"停止采集异常: {ex.Message}", 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>
        /// 采集线程处理函数 - 添加视频录制（修改）
        /// </summary>
        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（新增）
            int framesWritten = 0;
            DateTime lastWriteTime = DateTime.Now;

            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)
                    {
                        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);
                        }

              
                        // 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);
                        }

                        // 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}");
                    // 继续循环，不退出
                }
            }
        }

        /// <summary>
        /// 清理相机资源（修改）
        /// </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;


        }

        /// <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}");
        }

        /// <summary>
        /// 窗体关闭时的清理工作
        /// </summary>
        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);
                }

                // 停止所有采集线程
                for (int i = 0; i < MAX_CAMERAS; i++)
                {
                    grabbingFlags[i] = false;

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

                    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);
            }
        }

    }
}