aivfo-tl-3.0/ivf_tl_operate_2.0/control/ivf_tl_ControlHost/Debug/CalibrationManager.cs

using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using IvfTl.AutoFocus.Calib;
using ivf_tl_Com;

namespace IvfTl.ControlHost.Debug
{
    /// <summary>
    /// 调试页"16 孔标定协作"管理器(D2-02 Task3.2a)。按 sid 持有每个调试会话的 CalibrationCoordinator,
    /// 把 Task3.1 的纯逻辑协作器接到真实硬件/引擎/落库:
    ///   · 标定全程复用 operate 那个 DebugSession 借到的 lease(HardwareUser.OperateDebug)——control 采集该舱已暂停,
    ///     这里【绝不再 Acquire/Release lease】,只读 s.Lease.Serial / s.Lease.Camera;
    ///   · 逐 well 注入 per-well 范围(HouseBin.ReadWellFocusRange) + 中心(DB优先,缺失回退硬件EEPROM),
    ///     调 CalibrationEngine.CalibrateWell,结果落 scene=0(调试页=出厂基准)。
    /// 线程安全:_byS id 用 ConcurrentDictionary;单次标定的并发由 CalibrationCoordinator 内部 _lock 保证。
    /// </summary>
    public sealed class CalibrationManager
    {
        private readonly DebugSessionManager _debug;
        // 按 houseSn 取该舱 HouseBin 的注入委托(Program.cs 传 sn => AppData.Instance.GetHouseBin(sn))。
        // 用委托而非直接静态依赖,便于单测注入假对象;真实 HouseBin 提供 ReadWellFocusRange/阈值/tlSn/AutofocusStore。
        private readonly Func<int, HouseBin> _houseBinOf;
        private readonly Action<string> _log;

        // 按 sid 管协作器:一个调试会话一份。Stop 后从字典移除。
        private readonly ConcurrentDictionary<string, CalibrationCoordinator> _bySid
            = new ConcurrentDictionary<string, CalibrationCoordinator>();

        // (Task3.2b) 标定时预览用的"每 sid 最新一帧 BGR + 宽高"缓冲。
        // 标定中相机被 CalibrationEngine 独占抓帧,推流线程绝不能再 GrabStable(会和标定争相机原生锁);
        // 改由引擎 OnFrame 每次抓帧把原始帧塞进这里,推流线程只读这块缓冲、不碰相机。
        // byte[] 整块引用赋值是原子的,读端拿到的要么是整块旧帧要么是整块新帧、不会撕裂,故无需锁。
        private sealed class FrameSlot
        {
            public volatile byte[] Bgr;
            public int Width;
            public int Height;
        }
        private readonly ConcurrentDictionary<string, FrameSlot> _lastFrameBySid
            = new ConcurrentDictionary<string, FrameSlot>();

        // OnFrame 高频触发(标定线程每次 Grab),存帧要轻:只做一次整块引用赋值 + 记宽高。
        private void StoreLatestFrame(string sid, byte[] bgr, int w, int h)
        {
            if (bgr == null) return;
            var slot = _lastFrameBySid.GetOrAdd(sid, _ => new FrameSlot());
            slot.Width = w;
            slot.Height = h;
            slot.Bgr = bgr;   // 最后赋 volatile 引用,保证宽高先就位再发布该帧
        }

        /// <summary>
        /// (Task3.2b) 该 sid 是否正在标定(有活跃协作器且 IsRunning)。推流线程据此决定:
        /// true→读 OnFrame 缓冲帧(不 GrabStable);false→走原 GrabStable。
        /// </summary>
        public bool IsCalibrating(string sid)
        {
            return sid != null
                && _bySid.TryGetValue(sid, out var c)
                && c.GetProgress().IsRunning;
        }

        /// <summary>
        /// (Task3.2b) 取该 sid 最新一帧(引擎 OnFrame 喂的原始 BGR)。无帧返回 false。
        /// 标定中即使此刻无帧,推流线程也绝不 GrabStable(避免争相机锁),跳过等下一帧即可。
        /// </summary>
        public bool TryGetLatestFrame(string sid, out byte[] bgr, out int w, out int h)
        {
            bgr = null; w = 0; h = 0;
            if (sid == null || !_lastFrameBySid.TryGetValue(sid, out var slot)) return false;
            var buf = slot.Bgr;   // 读 volatile 引用一次
            if (buf == null) return false;
            bgr = buf; w = slot.Width; h = slot.Height;
            return true;
        }

        public CalibrationManager(DebugSessionManager debug, Func<int, HouseBin> houseBinOf, Action<string> log = null)
        {
            _debug = debug ?? throw new ArgumentNullException(nameof(debug));
            _houseBinOf = houseBinOf ?? throw new ArgumentNullException(nameof(houseBinOf));
            _log = log ?? (_ => { });
        }

        /// <summary>
        /// 起一次 16 孔标定。校验 sid → 取该舱 HouseBin/阈值 → 构造协作器(calibrateOne 闭包接真实引擎) → Start。
        /// wells 为空默认 1..16。返回 Okay(无 result) / Fail(SESSION_EXPIRED|NO_HANDLE|BUSY)。
        /// </summary>
        public DebugCommandResult StartCalibrate(string sid, IReadOnlyList<int> wells)
        {
            if (!_debug.TryGet(sid, out var s))
                return DebugCommandResult.Fail("SESSION_EXPIRED", "会话不存在或已过期");
            if (s.Lease?.Serial == null || s.Lease?.Camera == null)
                return DebugCommandResult.Fail("NO_HANDLE", "借用串口/相机句柄为空");

            var houseBin = _houseBinOf(s.HouseSn);
            if (houseBin == null)
                return DebugCommandResult.Fail("NO_HANDLE", $"舱{s.HouseSn}无 HouseBin");

            // 合格阈值:tl_setting.focusPeakRatioThreshold ?? 1.2(与现网 CalibrationEngine 弱峰判定一致)。
            double peakThreshold = (double)(houseBin.FocusPeakRatioThreshold ?? 1.2m);
            string tlSn = houseBin.CalibTlSn;
            string port = houseBin.House?.housePort;
            string ccdSn = houseBin.House?.ccdSn;

            var targets = (wells != null && wells.Count > 0)
                ? wells.ToList()
                : Enumerable.Range(1, 16).ToList();

            // calibrateOne 闭包(逐 well 在协作器后台线程跑):范围注入 + 中心兜底 + CalibrateWell + 落 scene=0。
            Func<int, WellCalib> calibrateOne = well =>
            {
                var range = houseBin.ReadWellFocusRange(well);
                // DB优先 + 硬件兜底:DB 中心缺失(≤0)时回读硬件 EEPROM,避免中心=0 致 Z 粗扫错过真实焦面(沿用采集对焦 path B 范式)。
                int hCenter = range.HCenter > 0 ? range.HCenter : Math.Max(0, s.Lease.Serial.ReadWellHorizontalPosWait(well));
                int vCenter = range.VCenter > 0 ? range.VCenter : Math.Max(0, s.Lease.Serial.ReadWellFocusZeroWait(well));

                var engine = new CalibrationEngine(s.Lease.Serial, s.Lease.Camera)
                {
                    Log = msg => _log($"[calib][舱{s.HouseSn}][well{well}]{msg}"),
                    // (Task3.2b) 引擎每次抓帧把原始 BGR 帧喂进 per-sid 缓冲,供推流线程标定时读取(替代 GrabStable,避免争相机锁)。
                    OnFrame = buf => StoreLatestFrame(sid, buf, s.Lease.Camera.Width, s.Lease.Camera.Height),
                    HFineRange = range.HHalf,       // 水平微调半幅(围绕 HCenter)
                    ZCoarseCenter = vCenter,        // Z 粗扫中心=该 well 清晰位(取代引擎固定 90000)
                    ZCoarseHalf = range.VHalf,      // Z 粗扫半幅
                    ExpLo = range.ExpLo,            // 曝光二分下限
                    ExpHi = range.ExpHi,            // 曝光二分上限
                };
                var wc = engine.CalibrateWell(well, hCenter, vCenter);

                // 调试页一键标定 = 出厂基准 → scene=0(upsert)。存储失败不崩标定(CalibrationStore 内部已吞异常)。
                try
                {
                    houseBin.AutofocusStore?.SaveCalibration(wc, tlSn, s.HouseSn, well, scene: 0,
                        port: port, ccdSn: ccdSn);
                }
                catch (Exception ex) { _log($"[calib][舱{s.HouseSn}][well{well}] 落库失败(已忽略): {ex.Message}"); }

                return wc;
            };

            var coordinator = new CalibrationCoordinator(calibrateOne, peakThreshold,
                msg => _log($"[calib][舱{s.HouseSn}]{msg}"));
            _bySid[sid] = coordinator;
            coordinator.Start(targets);
            _log($"[calib] 起标定 sid={sid} 舱{s.HouseSn} wells=[{string.Join(",", targets)}] 阈值={peakThreshold:F2}");
            return DebugCommandResult.Okay();
        }

        /// <summary>轮询进度:返回 CalibProgress 快照(无对应 sid → SESSION_EXPIRED)。</summary>
        public DebugCommandResult GetProgress(string sid)
        {
            if (sid != null && _bySid.TryGetValue(sid, out var c))
                return DebugCommandResult.Okay(c.GetProgress());
            return DebugCommandResult.Fail("SESSION_EXPIRED", "无对应标定任务(会话不存在或未起标定)");
        }

        /// <summary>单孔重标(转调协作器 Recalibrate)。无对应 sid → SESSION_EXPIRED;批量跑中协作器自身忽略。</summary>
        public DebugCommandResult Recalibrate(string sid, int wellSn)
        {
            if (sid != null && _bySid.TryGetValue(sid, out var c))
            {
                bool ok = c.Recalibrate(wellSn);
                return DebugCommandResult.Okay(ok);
            }
            return DebugCommandResult.Fail("SESSION_EXPIRED", "无对应标定任务(会话不存在或未起标定)");
        }

        /// <summary>中止标定并从字典移除该 sid 的协作器(lease 仍由 operate 的 DebugSession 持有,这里不还)。</summary>
        public DebugCommandResult Stop(string sid)
        {
            if (sid != null && _bySid.TryRemove(sid, out var c))
            {
                c.Stop();
                _lastFrameBySid.TryRemove(sid, out _);   // (Task3.2b) 清该 sid 帧缓冲,避免陈旧帧 + 释放内存
                _log($"[calib] 停标定 sid={sid}");
            }
            return DebugCommandResult.Okay();
        }
    }
}