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;
            if (args.Length > 0 && args[0] == "zcurve")
                return ZCurve(args);
            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\TestData\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;
        }

        /// <summary>
        /// Z清晰度曲线扫描：移到指定well的EEPROM水平位置，从zLo到zHi逐层抓帧算清晰度，
        /// 同时记录灰度均值(验证亮度归一化是否带偏)，每层存图。
        /// 用法：WellSpacing.exe zcurve <COM> <相机idx> <well> [zLo=20000] [zHi=120000] [zStep=2000] [曝光=60]
        /// </summary>
        static int ZCurve(string[] a)
        {
            string port = a.Length > 1 ? a[1] : "COM11";
            int camIdx = a.Length > 2 && int.TryParse(a[2], out int ci) ? ci : 2;
            int well = a.Length > 3 && int.TryParse(a[3], out int wv) ? wv : 1;
            int zLo = a.Length > 4 && int.TryParse(a[4], out int v4) ? v4 : 20000;
            int zHi = a.Length > 5 && int.TryParse(a[5], out int v5) ? v5 : 120000;
            int zStep = a.Length > 6 && int.TryParse(a[6], out int v6) ? v6 : 2000;
            int exposure = a.Length > 7 && int.TryParse(a[7], out int v7) ? v7 : 60;
            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 = $@"C:\claudeFile\TL\AutoFocusTool\TestData\zcurve_w{well}_{stamp}";
            Directory.CreateDirectory(outDir);
            L($"==== Z清晰度曲线 well{well}  {port} cam#{camIdx}  Z[{zLo},{zHi}] step{zStep} 曝光{exposure} ====");
            L($"存图: {outDir}");

            var motor = new HouseMotor(port) { Log = null };
            if (!motor.Open()) { L($"✗ 打开 {port} 失败"); return 1; }
            motor.MotorDelayMs = 1500;
            int sn = motor.ShakeHands();
            L($"握手 houseSn={sn}");
            int hpos = motor.ReadWellHorizontalPos(well);
            if (hpos < 0) { L("✗ 读well水平位置失败"); motor.Close(); return 1; }

            var cam = new SerialCamera(camIdx, camW, camH, exposure);
            if (cam.Init() != 0) { L("✗ 相机初始化失败"); motor.Close(); return 2; }
            cam.SetOpMode(0); cam.SetExposure(exposure);
            motor.OpenLED(); Thread.Sleep(300);
            motor.HorizontalMoveTo(hpos, 1500);
            L($"已移到 well{well} 水平={hpos}");

            double bestScore = -1; int bestZ = zLo;
            try
            {
                for (int z = zLo; z <= zHi; z += zStep)
                {
                    motor.VerticalMoveTo(z, 1500);
                    Thread.Sleep(150);
                    cam.GrabRgb(); Thread.Sleep(80); cam.GrabRgb();
                    byte[] buf = cam.GetSourceBuffer();

                    int roiW = (int)(camW * 0.4), roiH = (int)(camH * 0.4);
                    var roi = new System.Drawing.Rectangle((camW - roiW) / 2, (camH - roiH) / 2, roiW, roiH);
                    double score = Sharpness.Compute(buf, camW, camH, roi);
                    double mean = GrayMean(buf, camW, camH, roi);
                    L($"z={z,6}  归一化分={score:F5}  亮度均值={mean:F1}");
                    if (score > bestScore) { bestScore = score; bestZ = z; }

                    ImageConverter.SaveBmp(buf, camW, camH,
                        Path.Combine(outDir, $"z{z}_s{score:F4}.bmp"));
                }
            }
            finally { motor.CloseLED(); cam.Dispose(); motor.Close(); }

            L($"==== 峰值 z={bestZ} 分={bestScore:F5}  图在 {outDir} ====");
            return 0;
        }

        /// <summary>中央ROI灰度均值(BGR→灰度，行优先)。</summary>
        static double GrayMean(byte[] bgr, int W, int H, System.Drawing.Rectangle roi)
        {
            long sum = 0; int n = 0; int stride = W * 3;
            for (int y = roi.Y; y < roi.Y + roi.Height && y < H; y++)
                for (int x = roi.X; x < roi.X + roi.Width && x < W; x++)
                {
                    int p = y * stride + x * 3;
                    sum += (bgr[p] * 29 + bgr[p + 1] * 150 + bgr[p + 2] * 77) >> 8;
                    n++;
                }
            return n > 0 ? (double)sum / n : 0;
        }
    }
}