AutoFocusTool/WellSpacing/WellSpacing.cs

using System;
using System.IO;
using System.Threading;
using AutoFocusTool.Serial;
using AutoFocusTool.Imaging;
using SerialCamera = AutoFocusTool.Camera.Camera;

namespace AutoFocusTool
{
    /// <summary>
    /// 只读诊断工具：逐个 well 移动到其 EEPROM 水平位置 → 抓帧 → 跑 WellDetector → 存图。
    /// 用于验证“每个 well 移动过去后相机实际看到的是不是对应的孔、偏差多少”。
    /// 不做对焦/不改标定，只在固定 Z(传入或默认)和固定曝光下拍一张。
    ///
    /// 用法：WellSpacing.exe [COM口=COM11] [相机index=2] [曝光=80] [Z=93000]
    /// 存图目录：calib_result\well_check_yyyyMMdd_HHmmss\
    /// </summary>
    internal class WellSpacing
    {
        [STAThread]
        static int Main(string[] args)
        {
            Console.OutputEncoding = System.Text.Encoding.UTF8;
            string port = args.Length > 0 ? args[0] : "COM11";
            int camIdx = args.Length > 1 && int.TryParse(args[1], out int ci) ? ci : 2;
            int exposure = args.Length > 2 && int.TryParse(args[2], out int ex) ? ex : 80;
            int zPos = args.Length > 3 && int.TryParse(args[3], out int z) ? z : 93000;

            int camW = 2592, camH = 1944;
            void L(string m) => Console.WriteLine($"{DateTime.Now:HH:mm:ss} {m}");

            string stamp = DateTime.Now.ToString("yyyyMMdd_HHmmss");
            string outDir = $@"C:\claudeFile\TL\AutoFocusTool\calib_result\well_check_{stamp}";
            Directory.CreateDirectory(outDir);

            L($"========== well 实拍检测  {port}  cam#{camIdx}  曝光{exposure}  Z{zPos} ==========");
            L($"存图目录: {outDir}");

            var motor = new HouseMotor(port) { Log = null };
            if (!motor.Open()) { L($"✗ 打开 {port} 失败(串口被占用?)"); return 1; }
            motor.MotorDelayMs = 1500;
            int sn = motor.ShakeHands();
            L($"握手 houseSn = {sn}");

            var cam = new SerialCamera(camIdx, camW, camH, exposure);
            int init = cam.Init();
            if (init != 0) { L($"✗ 相机#{camIdx} 初始化失败 code={init}"); motor.Close(); return 2; }
            cam.SetOpMode(0);
            cam.SetExposure(exposure);
            motor.OpenLED();
            Thread.Sleep(300);

            // 先到统一对焦 Z（所有 well 用同一 Z，只看水平是否对到不同孔）
            motor.VerticalMoveTo(zPos, 1500);

            try
            {
                for (int w = 1; w <= 16; w++)
                {
                    int hpos = motor.ReadWellHorizontalPos(w);
                    if (hpos < 0) { L($"well{w,2}: 读EEPROM位置失败,跳过"); continue; }

                    motor.HorizontalMoveTo(hpos, 1500);
                    Thread.Sleep(200);
                    cam.GrabRgb();             // 丢弃第一帧
                    Thread.Sleep(100);
                    cam.GrabRgb();
                    byte[] buf = cam.GetSourceBuffer();

                    var c = WellDetector.Detect(buf, camW, camH);
                    string tag = c.Found
                        ? $"圆心({c.Cx:F0},{c.Cy:F0}) R={c.Radius:F0} 偏移X={c.OffsetXPct:F1}% Y={c.OffsetYPct:F1}% 完整={c.Complete}"
                        : $"未检出圆[{c.RejectReason}]";
                    L($"well{w,2}: EEPROM水平={hpos,7}  {tag}");

                    string detTag = c.Found ? (c.Complete ? "OK" : "partial") : "NOCIRCLE";
                    string path = Path.Combine(outDir, $"well{w:D2}_hp{hpos}_{detTag}.bmp");
                    ImageConverter.SaveBmp(buf, camW, camH, path);
                }
            }
            finally
            {
                motor.CloseLED();
                cam.Dispose();
                motor.Close();
            }

            L($"========== 完成,图片在: {outDir} ==========");
            return 0;
        }
    }
}