TURBO-568：修复PLC连接和相机连接时序问题导致的内存访问异常

XplorePlane/App.xaml.cs

@@ -150,6 +150,22 @@ namespace XplorePlane
                 Log.Error(ex, "射线源资源释放失败");
             }
 
+            // 先停止导航相机实时采集，再释放资源，避免回调死锁
+            try
+            {
+                var bootstrapper = AppBootstrapper.Instance;
+                if (bootstrapper != null)
+                {
+                    var cameraVm = bootstrapper.Container.Resolve<NavigationPropertyPanelViewModel>();
+                    cameraVm?.Dispose();
+                    Log.Information("导航相机 ViewModel 已释放");
+                }
+            }
+            catch (Exception ex)
+            {
+                Log.Error(ex, "导航相机 ViewModel 释放失败");
+            }
+
             // 释放导航相机服务资源
             try
             {
@@ -232,6 +248,8 @@ namespace XplorePlane
 
         private bool _modulesInitialized = false;
 
+        private string? _cameraError;
+
         protected override Window CreateShell()
         {
             // 提前初始化模块，确保硬件服务在 MainWindow XAML 解析前已注册
@@ -241,46 +259,55 @@ namespace XplorePlane
                 _modulesInitialized = true;
             }
 
-            // 在主窗口显示前完成导航相机连接，避免窗口弹出后再检索导致卡顿
+            var shell = Container.Resolve<MainWindow>();
-            TryConnectCamera();
 
-            return Container.Resolve<MainWindow>();
+            // 主窗口加载完成后再连接相机，确保所有模块和原生 DLL 已完成初始化
+            shell.Loaded += (s, e) =>
+            {
+                TryConnectCamera();
+
+                // 通知 ViewModel 相机状态已确定，启动实时预览或显示错误
+                try
+                {
+                    var cameraVm = Container.Resolve<NavigationPropertyPanelViewModel>();
+                    cameraVm.OnCameraReady();
+                }
+                catch (Exception ex)
+                {
+                    Log.Error(ex, "通知相机 ViewModel 失败");
+                }
+
+                if (_cameraError != null)
+                {
+                    HexMessageBox.Show(_cameraError, MessageBoxButton.OK, MessageBoxImage.Error);
+                }
+            };
+
+            return shell;
         }
 
         /// <summary>
-        /// 在独立 MTA 线程中检索并连接导航相机，带 10 秒超时。
+        /// 在主线程上检索并连接导航相机。
-        /// 连接成功后 NavigationPropertyPanelViewModel 构造时拿到的就是已连接的导航相机。
+        /// pylon SDK 要求在主线程（STA）上操作，不能放到后台线程。
         /// </summary>
         private void TryConnectCamera()
         {
             var camera = Container.Resolve<ICameraController>();
-            CameraInfo? info = null;
-            Exception? error = null;
 
-            var thread = new System.Threading.Thread(() =>
+            try
             {
-                try { info = camera.Open(); }
+                var info = camera.Open();
-                catch (Exception ex) { error = ex; }
+                Log.Information("导航相机已连接: {ModelName} (SN: {SerialNumber})", info.ModelName, info.SerialNumber);
-            });
-            thread.IsBackground = true;
-            thread.SetApartmentState(System.Threading.ApartmentState.MTA);
-            thread.Start();
-
-            bool completed = thread.Join(TimeSpan.FromSeconds(10));
-
-            if (!completed)
-            {
-                Log.Warning("导航相机检索超时 (10s)，跳过自动连接");
-                HexMessageBox.Show("导航相机检索超时（10秒），请检查导航相机连接后重启软件。", MessageBoxButton.OK, MessageBoxImage.Error);
             }
-            else if (error != null)
+            catch (DeviceNotFoundException)
             {
-                Log.Warning(error, "导航相机自动连接失败: {Message}", error.Message);
+                Log.Warning("未检测到导航相机");
-                HexMessageBox.Show($"导航相机连接失败: {error.Message}", MessageBoxButton.OK, MessageBoxImage.Error);
+                _cameraError = "未检测到导航相机，请检查连接后重启软件。";
             }
-            else
+            catch (Exception ex)
             {
-                Log.Information("导航相机已连接: {ModelName} (SN: {SerialNumber})", info!.ModelName, info.SerialNumber);
+                Log.Warning(ex, "导航相机自动连接失败: {Message}", ex.Message);
+                _cameraError = $"导航相机连接失败: {ex.Message}";
             }
         }
 

XplorePlane/ViewModels/Main/NavigationPropertyPanelViewModel.cs

@@ -177,23 +177,29 @@ namespace XplorePlane.ViewModels
             RefreshCameraParamsCommand = new DelegateCommand(RefreshCameraParams, () => IsCameraConnected);
             OpenCameraSettingsCommand = new DelegateCommand(OpenCameraSettings, () => IsCameraConnected);
 
-            // 相机已在 App 启动阶段连接，直接检测状态并启动实时预览
+            CameraStatusText = "正在检索相机...";
-            if (_camera.IsConnected)
+        }
-            {
-                _camera.ImageGrabbed += OnCameraImageGrabbed;
-                _camera.GrabError += OnCameraGrabError;
-                _camera.ConnectionLost += OnCameraConnectionLost;
 
-                IsCameraConnected = true;
+        /// <summary>
-                CameraStatusText = "已连接";
+        /// 相机连接完成后由外部调用，启动实时预览。
-                RefreshCameraParams();
+        /// </summary>
-                StartGrab();
+        public void OnCameraReady()
-                IsLiveViewEnabled = true;
+        {
-            }
+            if (!_camera.IsConnected)
-            else
             {
                 CameraStatusText = "未检测到相机";
+                return;
             }
+
+            _camera.ImageGrabbed += OnCameraImageGrabbed;
+            _camera.GrabError += OnCameraGrabError;
+            _camera.ConnectionLost += OnCameraConnectionLost;
+
+            IsCameraConnected = true;
+            CameraStatusText = "已连接";
+            RefreshCameraParams();
+            StartGrab();
+            IsLiveViewEnabled = true;
         }
 
         #region Camera Methods
@@ -344,15 +350,18 @@ namespace XplorePlane.ViewModels
 
         private void OnCameraImageGrabbed(object? sender, ImageGrabbedEventArgs e)
         {
+            if (_disposed) return;
+
             try
             {
                 var bitmap = PixelConverter.ToBitmapSource(e.PixelData, e.Width, e.Height, e.PixelFormat);
                 var app = Application.Current;
                 if (app == null) return;
 
-                app.Dispatcher.Invoke(() =>
+                app.Dispatcher.BeginInvoke(() =>
                 {
-                    CameraImageSource = bitmap;
+                    if (!_disposed)
+                        CameraImageSource = bitmap;
                 });
 
                 if (_liveViewRunning)
@@ -362,7 +371,8 @@ namespace XplorePlane.ViewModels
             }
             catch (Exception ex)
             {
-                _logger.Error(ex, "Failed to process camera image");
+                if (!_disposed)
+                    _logger.Error(ex, "Failed to process camera image");
             }
         }
 
@@ -372,9 +382,10 @@ namespace XplorePlane.ViewModels
             var app = Application.Current;
             if (app == null) return;
 
-            app.Dispatcher.Invoke(() =>
+            app.Dispatcher.BeginInvoke(() =>
             {
-                CameraStatusText = $"采集错误: {e.ErrorDescription}";
+                if (!_disposed)
+                    CameraStatusText = $"采集错误: {e.ErrorDescription}";
             });
         }
 
@@ -384,8 +395,9 @@ namespace XplorePlane.ViewModels
             var app = Application.Current;
             if (app == null) return;
 
-            app.Dispatcher.Invoke(() =>
+            app.Dispatcher.BeginInvoke(() =>
             {
+                if (_disposed) return;
                 IsCameraConnected = false;
                 IsCameraGrabbing = false;
                 CameraStatusText = "连接已断开";
@@ -400,12 +412,19 @@ namespace XplorePlane.ViewModels
         public void Dispose()
         {
             if (_disposed) return;
+            _disposed = true;
             _liveViewRunning = false;
 
-            try { _camera.Dispose(); }
+            // 先取消事件订阅，防止回调继续触发
-            catch (Exception ex) { _logger.Error(ex, "Error disposing camera"); }
+            _camera.ImageGrabbed -= OnCameraImageGrabbed;
+            _camera.GrabError -= OnCameraGrabError;
+            _camera.ConnectionLost -= OnCameraConnectionLost;
 
-            _disposed = true;
+            // 停止采集后再关闭连接
+            try { if (_camera.IsGrabbing) _camera.StopGrabbing(); } catch { }
+            try { _camera.Close(); } catch { }
+
+            _logger.Information("NavigationPropertyPanelViewModel disposed");
         }
 
         #endregion IDisposable