/// <summary>
/// Call this method to resolve full path to GeometryFactoryAssembly
/// assembly, given the root folder and the version. This method throws
/// an exception if either of the folders/assembly cannot be found.
/// </summary>
/// <param name="rootFolder">Full path of the directory that contains
/// LibG_xxx folder, where 'xxx' represents the library version. In a
/// typical setup this would be the same directory that contains Dynamo
/// core modules. This must represent a valid directory.</param>
/// <param name="version">Version number of the targeted geometry library.
/// If the resulting folder does not exist, this method throws an
/// FileNotFoundException.</param>
/// <returns>The full path to GeometryFactoryAssembly assembly.</returns>
///
public static string GetGeometryFactoryPath(string rootFolder, LibraryVersion version)
{
if (string.IsNullOrEmpty(rootFolder))
{
throw new ArgumentNullException("rootFolder");
}
if (!Directory.Exists(rootFolder))
{
// Root directory must be specified and valid.
throw new DirectoryNotFoundException(string.Format(
"Directory not found: {0}", rootFolder));
}
var libGFolderName = string.Format("libg_{0}", ((int)version));
var libGFolder = Path.Combine(rootFolder, libGFolderName);
if (!Directory.Exists(libGFolder))
{
// LibG_xxx folder must be valid.
throw new DirectoryNotFoundException(string.Format(
"Directory not found: {0}", libGFolder));
}
var assemblyPath = Path.Combine(libGFolder, GeometryFactoryAssembly);
if (!File.Exists(assemblyPath))
{
throw new FileNotFoundException(string.Format(
"File not found: {0}", assemblyPath));
}
return(assemblyPath);
}
public Preloader(string rootFolder, string shapeManagerPath, LibraryVersion version)
{
if (string.IsNullOrEmpty(rootFolder))
{
throw new ArgumentNullException("rootFolder");
}
if (!Directory.Exists(rootFolder))
{
throw new DirectoryNotFoundException(rootFolder);
}
if (string.IsNullOrEmpty(shapeManagerPath))
{
throw new ArgumentNullException("shapeManagerPath");
}
if (!Directory.Exists(shapeManagerPath))
{
throw new DirectoryNotFoundException(shapeManagerPath);
}
if (version == LibraryVersion.None)
{
throw new ArgumentOutOfRangeException("version");
}
this.version = MapLibGVersionEnumToFullVersion(version);
this.shapeManagerPath = shapeManagerPath;
var libGFolderName = string.Format("libg_{0}_{1}_{2}", this.version.Major, this.version.Minor, this.version.Build);
preloaderLocation = Path.Combine(rootFolder, libGFolderName);
geometryFactoryPath = Path.Combine(preloaderLocation,
Utilities.GeometryFactoryAssembly);
}
/// <summary>
/// Constructs a preloader object to help preload a specific version of
/// shape manager.
/// </summary>
/// <param name="rootFolder">Full path of the directory that contains
/// LibG_xxx folder, where 'xxx' represents the library version. In a
/// typical setup this would be the same directory that contains Dynamo
/// core modules. This must represent a valid directory.
/// </param>
/// <param name="versions">A list of version numbers to check for in order
/// of preference. This argument cannot be null or empty.</param>
///
public Preloader(string rootFolder, IEnumerable <LibraryVersion> versions)
{
if (string.IsNullOrEmpty(rootFolder))
{
throw new ArgumentNullException("rootFolder");
}
if (!Directory.Exists(rootFolder))
{
throw new DirectoryNotFoundException(rootFolder);
}
if ((versions == null) || !versions.Any())
{
throw new ArgumentNullException("versions");
}
var versionList = versions.ToList();
shapeManagerPath = string.Empty; // Folder that contains ASM binaries.
version = Utilities.GetInstalledAsmVersion(versionList, ref shapeManagerPath, rootFolder);
var libGFolderName = string.Format("libg_{0}", ((int)version));
preloaderLocation = Path.Combine(rootFolder, libGFolderName);
geometryFactoryPath = Path.Combine(preloaderLocation,
Utilities.GeometryFactoryAssembly);
}
private void _UpdateFromLegacy()
{
// Search for the appropriate JMSML Library elements, given the older/legacy (2525C, 2525B, etc.)
// SIDC for this Symbol.
_librarian.ResetStatusCode();
_version = _librarian.Version(1, 0);
_affiliation = _librarian.Affiliation(_legacySIDC.Substring(1, 1), _legacySIDC.Substring(2, 1));
if (_affiliation != null)
{
_context = _librarian.Context(_affiliation.ContextID);
_standardIdentity = _librarian.StandardIdentity(_affiliation.StandardIdentityID);
}
_dimension = _librarian.DimensionByLegacyCode(_legacySIDC.Substring(2, 1));
if (_dimension != null)
{
_symbolSet = _librarian.SymbolSet(_dimension.ID, _legacySIDC.Substring(4, 6));
}
_status = _librarian.Status(_legacySIDC.Substring(3, 1));
_hqTFDummy = _librarian.HQTFDummy(_legacySIDC.Substring(10, 1));
if (_context != null && _affiliation != null)
{
_contextAmplifier = _librarian.ContextAmplifier(_context, _affiliation.Shape);
}
_amplifier = _librarian.Amplifier(_legacySIDC.Substring(11, 1));
if (_amplifier != null)
{
_amplifierGroup = _librarian.AmplifierGroup(_amplifier);
}
if (_symbolSet != null)
{
_legacySymbol = _librarian.LegacySymbol(_symbolSet, _legacySIDC.Substring(4, 6), _legacySIDC.Substring(0, 1), _legacySIDC.Substring(2, 1));
}
if (_legacySymbol != null)
{
_entity = _librarian.Entity(_symbolSet, _legacySymbol.EntityID);
_entityType = _librarian.EntityType(_entity, _legacySymbol.EntityTypeID);
_entitySubType = _librarian.EntitySubType(_entityType, _legacySymbol.EntitySubTypeID);
_modifierOne = _librarian.ModifierOne(_symbolSet, _legacySymbol.ModifierOneID);
_modifierTwo = _librarian.ModifierTwo(_symbolSet, _legacySymbol.ModifierTwoID);
}
_librarian.LogConversionResult(_legacySIDC);
_ValidateStatus();
}
private void Startup(LibraryMode mode)
{
var version = new LibraryVersion();
var result = link.Startup(version, mode);
logger.Information("link.Startup({Mode}) => {Result}", mode, result);
logger.Information("LibraryVersion {@Version}", new { version.major, version.minor, version.maintenance, version.release });
}
/// <summary>
/// A TestSessionConfiguration specifies test session configuration properties
/// for a test.
/// </summary>
/// <param name="dynamoCoreDirectory">The location of Dynamo's core directory. If the config file
/// contains a value for DynamoBasePath, then this parameter will be ignored.</param>
/// <param name="configFileDirectory">The location of the directory containing the TestServices.dll.config file.
/// If this parameter is null, the value of dynamoCoreDirectory will be used.</param>
public TestSessionConfiguration(string dynamoCoreDirectory, string configFileDirectory = null)
{
string configPath;
if (configFileDirectory == null || !Directory.Exists(configFileDirectory))
{
configPath = Path.Combine(dynamoCoreDirectory, CONFIG_FILE_NAME);
}
else
{
configPath = Path.Combine(configFileDirectory, CONFIG_FILE_NAME);
}
// If a config file cannot be found, fall back to
// using the executing assembly's directory for core
// and version 219 for the shape manager.
if (!File.Exists(configPath))
{
DynamoCorePath = dynamoCoreDirectory;
var versions = new List <LibraryVersion>
{
LibraryVersion.Version223,
LibraryVersion.Version222,
LibraryVersion.Version221,
LibraryVersion.Version220
};
var shapeManagerPath = string.Empty;
RequestedLibraryVersion = Utilities.GetInstalledAsmVersion(versions, ref shapeManagerPath, dynamoCoreDirectory);
return;
}
// Adjust the config file map because the config file
// might not always be in the same directory as the dll.
var map = new ExeConfigurationFileMap {
ExeConfigFilename = configPath
};
var config = ConfigurationManager.OpenMappedExeConfiguration(map, ConfigurationUserLevel.None);
var dir = GetAppSetting(config, "DynamoBasePath");
DynamoCorePath = string.IsNullOrEmpty(dir) ? dynamoCoreDirectory : dir;
var versionStr = GetAppSetting(config, "RequestedLibraryVersion");
LibraryVersion version;
RequestedLibraryVersion = LibraryVersion.TryParse(versionStr, out version) ?
version : LibraryVersion.Version220;
}
internal static Version MapLibGVersionEnumToFullVersion(LibraryVersion libVersion)
{
Version version;
if (ASMLibVersionToVersion.TryGetValue(libVersion, out version))
{
return(version);
}
else
{
version = new Version((int)libVersion, 0, 0);
Console.WriteLine("Could not find a full version mapping for LibGVersion: " + libVersion + "returning: " + version.ToString());
return(version);
}
}
internal LibraryVersion Version(ushort codeOne, ushort codeTwo)
{
LibraryVersion retObj = null;
foreach (LibraryVersion lObj in this._library.Versions)
{
if (lObj.VersionCode.DigitOne == codeOne &&
lObj.VersionCode.DigitTwo == codeTwo)
{
return(lObj);
}
}
_statusFlag -= 1;
return(retObj);
}
/// <summary>
/// A TestSessionConfiguration specifies test session configuration properties
/// for a test.
/// </summary>
/// <param name="dynamoCoreDirectory">The location of Dynamo's core directory. If the config file
/// contains a value for DynamoBasePath, then this parameter will be ignored.</param>
/// <param name="configFileDirectory">The location of the directory containing the TestServices.dll.config file.
/// If this parameter is null, the value of dynamoCoreDirectory will be used.</param>
public TestSessionConfiguration(string dynamoCoreDirectory, string configFileDirectory = null)
{
string configPath;
if (configFileDirectory == null || !Directory.Exists(configFileDirectory))
{
configPath = Path.Combine(dynamoCoreDirectory, CONFIG_FILE_NAME);
}
else
{
configPath = Path.Combine(configFileDirectory, CONFIG_FILE_NAME);
}
// If a config file cannot be found, fall back to
// using the executing assembly's directory for core
// and version 219 for the shape manager.
if (!File.Exists(configPath))
{
DynamoCorePath = dynamoCoreDirectory;
var versions = new List<LibraryVersion>
{
LibraryVersion.Version220,
LibraryVersion.Version221,
LibraryVersion.Version222
};
var shapeManagerPath = string.Empty;
RequestedLibraryVersion = Utilities.GetInstalledAsmVersion(versions, ref shapeManagerPath, dynamoCoreDirectory);
return;
}
// Adjust the config file map because the config file
// might not always be in the same directory as the dll.
var map = new ExeConfigurationFileMap { ExeConfigFilename = configPath };
var config = ConfigurationManager.OpenMappedExeConfiguration(map, ConfigurationUserLevel.None);
var dir = GetAppSetting(config, "DynamoBasePath");
DynamoCorePath = string.IsNullOrEmpty(dir) ? dynamoCoreDirectory : dir;
var versionStr = GetAppSetting(config, "RequestedLibraryVersion");
LibraryVersion version;
RequestedLibraryVersion = LibraryVersion.TryParse(versionStr, out version) ?
version : LibraryVersion.Version220;
}
private void _SetInvalidSymbolProps()
{
// If a symbol can't be recognized, this method sets up
// the current symbol to represent the special Invalid symbol.
_version = _librarian.Version(1, 0);
_context = _librarian.Context(0);
_dimension = _librarian.Dimension("INTERNAL");
_standardIdentity = _librarian.StandardIdentity(1);
_symbolSet = _librarian.SymbolSet(9, 8);
_status = _librarian.Status(0);
_hqTFDummy = _librarian.HQTFDummy(0);
_amplifierGroup = _librarian.AmplifierGroup(0);
_amplifier = _librarian.Amplifier(_amplifierGroup, 0);
_affiliation = _librarian.Affiliation("REALITY", "INTERNAL", "SI_UNKNOWN");
_entity = _librarian.Entity(_symbolSet, "INVALID");
_entityType = null;
_entitySubType = null;
_modifierOne = null;
_modifierTwo = null;
}
public override int GetHashCode()
{
int hash = 1;
if (LibraryVersion != 0)
{
hash ^= LibraryVersion.GetHashCode();
}
if (Compressed != false)
{
hash ^= Compressed.GetHashCode();
}
if (Data.Length != 0)
{
hash ^= Data.GetHashCode();
}
if (_unknownFields != null)
{
hash ^= _unknownFields.GetHashCode();
}
return(hash);
}
/// <summary>
/// Call this method to resolve full path to GeometryFactoryAssembly
/// assembly, given the root folder and the version. This method throws
/// an exception if either of the folders/assembly cannot be found.
/// </summary>
/// <param name="rootFolder">Full path of the directory that contains
/// LibG_xxx folder, where 'xxx' represents the library version. In a
/// typical setup this would be the same directory that contains Dynamo
/// core modules. This must represent a valid directory.</param>
/// <param name="version">Version number of the targeted geometry library.
/// If the resulting folder does not exist, this method throws an
/// FileNotFoundException.</param>
/// <returns>The full path to GeometryFactoryAssembly assembly.</returns>
///
public static string GetGeometryFactoryPath(string rootFolder, LibraryVersion version)
{
if (string.IsNullOrEmpty(rootFolder))
throw new ArgumentNullException("rootFolder");
if (!Directory.Exists(rootFolder))
{
// Root directory must be specified and valid.
throw new DirectoryNotFoundException(string.Format(
"Directory not found: {0}", rootFolder));
}
var libGFolderName = string.Format("libg_{0}", ((int) version));
var libGFolder = Path.Combine(rootFolder, libGFolderName);
if (!Directory.Exists(libGFolder))
{
// LibG_xxx folder must be valid.
throw new DirectoryNotFoundException(string.Format(
"Directory not found: {0}", libGFolder));
}
var assemblyPath = Path.Combine(libGFolder, GeometryFactoryAssembly);
if (!File.Exists(assemblyPath))
{
throw new FileNotFoundException(string.Format(
"File not found: {0}", assemblyPath));
}
return assemblyPath;
}
/// <summary>
/// Constructs a preloader object to help preload the specified version
/// of shape manager from the given directory.
/// </summary>
/// <param name="rootFolder">Full path of the directory that contains
/// LibG_xxx folder, where 'xxx' represents the library version. In a
/// typical setup this would be the same directory that contains Dynamo
/// core modules. This must represent a valid directory.
/// </param>
/// <param name="shapeManagerPath">The directory from where shape manager
/// binaries can be preloaded from.</param>
/// <param name="version">The version of shape manager.</param>
///
public Preloader(string rootFolder, string shapeManagerPath, LibraryVersion version)
{
if (string.IsNullOrEmpty(rootFolder))
throw new ArgumentNullException("rootFolder");
if (!Directory.Exists(rootFolder))
throw new DirectoryNotFoundException(rootFolder);
if (string.IsNullOrEmpty(shapeManagerPath))
throw new ArgumentNullException("shapeManagerPath");
if (!Directory.Exists(shapeManagerPath))
throw new DirectoryNotFoundException(shapeManagerPath);
if (version == LibraryVersion.None)
throw new ArgumentOutOfRangeException("version");
this.version = version;
this.shapeManagerPath = shapeManagerPath;
var libGFolderName = string.Format("libg_{0}", ((int) version));
preloaderLocation = Path.Combine(rootFolder, libGFolderName);
geometryFactoryPath = Path.Combine(preloaderLocation,
Utilities.GeometryFactoryAssembly);
}
public Preloader(string rootFolder, LibraryVersion version)
: this(rootFolder, new[] { version })
{
}
public Form1()
{
InitializeComponent();
// initialize multi-camera system:
system = new ManagedSystem();
// Print current Spinnaker library version info:
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine(
"Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Find all Flir cameras on the system:
managedCameras = system.GetCameras();
nCameras = managedCameras.Count;
// Finish and dispose system if no cameres are detected:
if (nCameras != 2)
{
managedCameras.Clear();
system.Dispose();
Console.WriteLine("{0} cameras detected. This application supports exactly 2 cameras. System disposed", nCameras.ToString());
}
// Create or select folder to write video data:
sessionPaths = Util.SetDataWritePaths(animalName: Util.AnimalName.Charlie, nCameras: 2);
// Initialize OryxSetupInfo Object to pass to camera constructors upon initialization:
oryxSetupInfos = new Util.OryxSetupInfo[nCameras];
for (int i = 0; i < nCameras; i++)
{
oryxSetupInfos[i] = new Util.OryxSetupInfo();
}
bool areCamerasSharingSettings = true;
if (areCamerasSharingSettings)
{
Console.WriteLine("These settings will be loaded on both cameras:");
oryxSetupInfos[0].PrintSettingsToLoad();
Console.WriteLine("\n\n");
}
// Initialize camera control message queues to control cameras from XBox controller:
camControlMessageQueues = new ConcurrentQueue <ButtonCommands> [nCameras];
for (int i = 0; i < nCameras; i++)
{
camControlMessageQueues[i] = new ConcurrentQueue <ButtonCommands>();
}
// Initialize XBox Controller
xBoxController = new XBoxController(mainForm: this, camControlMessageQueues: camControlMessageQueues);
// Initialize queue to connect output from each camera to a thread to merge camera streams:
streamQueue0 = new ConcurrentQueue <RawMat> [nCameras];
for (int i = 0; i < nCameras; i++)
{
streamQueue0[i] = new ConcurrentQueue <RawMat>();
}
// Open each camera on its own thread.
oryxCameraThreads = new Thread[nCameras];
for (int i = 0; i < nCameras; i++)
{
int _i = i;
string _sessionPath = string.Copy(sessionPaths[i]);
oryxCameraThreads[i] = new Thread(() => new OryxCamera(camNumber: _i, managedCamera: managedCameras[_i], camControlMessageQueue: camControlMessageQueues[_i],
streamOutputQueue: streamQueue0[_i], setupInfo: oryxSetupInfos[_i], sessionPath: _sessionPath));
oryxCameraThreads[i].IsBackground = false;
oryxCameraThreads[i].Priority = ThreadPriority.Highest;
oryxCameraThreads[i].Start();
}
// Initialize queue to send combined images to display form:
displayQueue = new ConcurrentQueue <Tuple <byte[], Mat> >();
// Initialize Size of camera stream output image and merged image for display:
streamFramesize = new Size(width: oryxSetupInfos[0].streamFramesize.Width, height: oryxSetupInfos[0].streamFramesize.Height);
displayFramesize = new Size(width: streamFramesize.Width, height: streamFramesize.Height * 2);
// Initialize thread to merge camera stream data into a single byte array:
Size _inputImageSize = new Size(width: streamFramesize.Width, height: streamFramesize.Height);
processingThreadMessageQueue = new ConcurrentQueue <ButtonCommands>();
mergeStreamsThread = new Thread(() => MergeStreamsThreadInit(inputQueues: streamQueue0, outputQueue: displayQueue, messageQueue: processingThreadMessageQueue, inputImgSize: _inputImageSize));
mergeStreamsThread.IsBackground = true;
mergeStreamsThread.Priority = ThreadPriority.Highest;
mergeStreamsThread.Start();
// Initialize streaming state
isStreaming = false;
// Initialize Timer:
displayTimer = new System.Windows.Forms.Timer();
displayTimer.Interval = 5;
displayTimer.Tick += DisplayTimerEventProcessor;
displayTimer.Enabled = true;
}
// Example entry point; please see Enumeration_CSharp example for more
// in-depth comments on preparing and cleaning up the system.
public static int Start()
{
int result = 0;
Program program = new Program();
// Ensure write permissions to current folder
try {
FileStream fileStream = new FileStream(@"test.txt", FileMode.Create);
fileStream.Close();
File.Delete("test.txt");
} catch {
Console.WriteLine("Failed to create file in current folder. Please check permissions.\n");
Console.WriteLine("\nDone! Press enter to exit...");
Console.ReadLine();
return(-1);
}
// Retrieve singleton reference to system object
ManagedSystem system = new ManagedSystem();
// Print out current library version
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine("Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Retrieve list of cameras from the system
List <IManagedCamera> camList = system.GetCameras();
Console.WriteLine("Number of cameras detected: {0}\n", camList.Count);
// Finish if there are no cameras
if (camList.Count == 0)
{
// Clear camera list before releasing system
camList.Clear();
// Release system
system.Dispose();
Console.WriteLine("Not enough cameras!");
Console.WriteLine("Done! Press Enter to exit...");
Console.ReadLine();
return(-1);
}
// Run example on each camera
int index = 0;
foreach (IManagedCamera managedCamera in camList)
{
using (managedCamera) {
Console.WriteLine("Running example for camera {0}...", index);
try {
// Run example
result = result | program.RunSingleCamera(managedCamera);
} catch (SpinnakerException ex) {
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
Console.WriteLine("Camera {0} example complete...\n", index++);
}
}
// Clear camera list before releasing system
camList.Clear();
// Release system
system.Dispose();
Console.WriteLine("\nDone! Press Enter to exit...");
Console.ReadLine();
return(result);
}
public string GetSpinnakerLibraryVersion()
{
LibraryVersion version = spinnaker.GetLibraryVersion();
return(version.major + "." + version.minor + "." + version.type + "." + version.build);
}
public static extern Result RFID_Startup
(
[In, Out] LibraryVersion pVersion,
[In] LibraryMode mode
);
public static string GetGeometryFactoryPath(string rootFolder, LibraryVersion version)
{
return(GetGeometryFactoryPath2(rootFolder, Preloader.MapLibGVersionEnumToFullVersion(version)));
}
private void _UpdateFromCurrent()
{
// Search for the appropriate JMSML Library elements, given the current (2525D)
// SIDC for this Symbol.
string first10 = _sidc.PartAString;
string second10 = _sidc.PartBString;
_librarian.ResetStatusCode();
_version = _librarian.Version(Convert.ToUInt16(first10.Substring(0, 1)),
Convert.ToUInt16(first10.Substring(1, 1)));
_context = _librarian.Context(Convert.ToUInt16(first10.Substring(2, 1)));
_standardIdentity = _librarian.StandardIdentity(Convert.ToUInt16(first10.Substring(3, 1)));
_sig = _librarian.StandardIdentityGroup(_standardIdentity);
_symbolSet = _librarian.SymbolSet(Convert.ToUInt16(first10.Substring(4, 1)), Convert.ToUInt16(first10.Substring(5, 1)));
if (_symbolSet != null)
{
_dimension = _librarian.DimensionBySymbolSet(_symbolSet.ID);
}
if (_context != null && _dimension != null && _standardIdentity != null)
{
_affiliation = _librarian.Affiliation(_context.ID, _dimension.ID, _standardIdentity.ID);
}
_status = _librarian.Status(Convert.ToUInt16(first10.Substring(6, 1)));
_hqTFDummy = _librarian.HQTFDummy(Convert.ToUInt16(first10.Substring(7, 1)));
_amplifierGroup = _librarian.AmplifierGroup(Convert.ToUInt16(first10.Substring(8, 1)));
if (_amplifierGroup != null)
{
_amplifier = _librarian.Amplifier(_amplifierGroup, Convert.ToUInt16(first10.Substring(9, 1)));
}
if (_symbolSet != null)
{
_entity = _librarian.Entity(_symbolSet, Convert.ToUInt16(second10.Substring(0, 1)), Convert.ToUInt16(second10.Substring(1, 1)));
if (_entity != null)
{
_entityType = _librarian.EntityType(_entity, Convert.ToUInt16(second10.Substring(2, 1)), Convert.ToUInt16(second10.Substring(3, 1)));
}
if (_entityType != null)
{
_entitySubType = _librarian.EntitySubType(_entityType, Convert.ToUInt16(second10.Substring(4, 1)), Convert.ToUInt16(second10.Substring(5, 1)));
if (_entitySubType == null)
{
_entitySubType = _librarian.EntitySubType(_symbolSet, Convert.ToUInt16(second10.Substring(4, 1)), Convert.ToUInt16(second10.Substring(5, 1)));
}
}
_modifierOne = _librarian.ModifierOne(_symbolSet, Convert.ToUInt16(second10.Substring(6, 1)), Convert.ToUInt16(second10.Substring(7, 1)));
_modifierTwo = _librarian.ModifierTwo(_symbolSet, Convert.ToUInt16(second10.Substring(8, 1)), Convert.ToUInt16(second10.Substring(9, 1)));
_legacySymbol = _librarian.LegacySymbol(_symbolSet, _entity, _entityType, _entitySubType, _modifierOne, _modifierTwo);
}
_librarian.LogConversionResult(_sidc.PartAString + ", " + _sidc.PartBString);
_ValidateStatus();
}
// Example entry points; this function sets up the system and retrieves
// interfaces to retrieves interfaces for the example.
public static int Start()
{
int result = 0;
Program program = new Program();
//
// Retrieve singleton reference to system object
//
// *** NOTES ***
// Everything originates with the system object. It is important to
// notice that it has a singleton implementation, so it is impossible
// to have multiple system objects at the same time.
//
// *** LATER ***
// The system object should be cleared prior to program completion.
// If not released explicitly, it will be released automatically
// when all system objects go out of scope.
//
ManagedSystem system = new ManagedSystem();
// Print out current library version
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine("Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
//
// Retrieve list of interfaces from the system
//
// *** NOTES ***
// Interface lists are retrieved from the system object.
//
// *** LATER ***
// Interface lists are constructed using list objects of
// IManagedInterface objects. Lists are native to C# and must be
// cleared after use.
//
List <IManagedInterface> interfaceList = system.GetInterfaces();
Console.WriteLine("Number of interfaces detected: {0}\n", interfaceList.Count);
//
// Retrieve list of cameras from the system
//
// *** NOTES ***
// Camera lists are retrieved from the system object.
//
// *** LATER ***
// Camera lists are constructed using list objects of IManagedCamera
// objects. Lists are native to C# and must be cleared after use.
//
List <IManagedCamera> camList = system.GetCameras();
Console.WriteLine("Number of cameras detected: {0}\n", camList.Count);
// Finish if there are no cameras
if (camList.Count == 0 || interfaceList.Count == 0)
{
// Clear camera list before releasing system
camList.Clear();
// Clear interface list before releasing system
interfaceList.Clear();
// Release system
system.Dispose();
Console.WriteLine("Not enough cameras!");
Console.WriteLine("Done! Press Enter to exit...");
Console.ReadLine();
return(-1);
}
Console.WriteLine("\n*** QUERYING INTERFACES ***\n");
//
// Run example on each interface
//
// *** NOTES ***
// Managed interfaces will need to be disposed of after use in order
// to fully clean up. Using-statements help ensure that this is taken
// care of; otherwise, interfaces can be disposed of manually by calling
// Dispose().
//
foreach (IManagedInterface managedInterface in interfaceList)
{
using (managedInterface) {
try {
// Run example
result = result | program.QueryInterface(managedInterface);
} catch (SpinnakerException ex) {
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
}
}
//
// Clear camera list before releasing system
//
// *** NOTES ***
// If a camera list is not cleaned up
// manually, the system will do so when System.Dispose() is
// called.
//
camList.Clear();
//
// Clear interface list before releasing system
//
// *** NOTES ***
// If an interface list is not cleaned up
// manually, the system will do so when System.Dispose() is
// called.
//
interfaceList.Clear();
//
// Release system
//
// *** NOTES ***
// The system should be released, but if it is not, it will do so
// itself. It is often at the release of the system (whether manual
// or automatic) that unbroken references and still registered
// events will throw an exception.
//
system.Dispose();
Console.WriteLine("\nDone!");
//Console.ReadLine();
return(result);
}
public Form1()
{
InitializeComponent();
system = new ManagedSystem();
// Print current Spinnaker library version info:
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine(
"Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Find all Flir cameras on the system:
managedCameras = system.GetCameras();
// Assert that exactly two cameras are found:
int nCamsFound = managedCameras.Count;
if (nCamsFound != nCameras)
{
Console.WriteLine("Need exactly two cameras, but {0} cameras were found. Disposing system.", nCamsFound.ToString());
managedCameras.Clear();
system.Dispose();
}
// Create or select folder to write video data:
sessionPaths = Util.SetDataWritePaths(animalName: Util.AnimalName.Charlie);
// Initialize OryxSetupInfo Object to pass to camera constructors upon initialization:
oryxSetupInfos = new Util.OryxSetupInfo[nCameras];
for (int i = 0; i < nCameras; i++)
{
oryxSetupInfos[i] = new Util.OryxSetupInfo();
}
bool areAllCamSettingsIdentical = true;
if (areAllCamSettingsIdentical)
{
Console.WriteLine("\n\n");
Console.WriteLine("Cameras have identical settings, shown here:");
oryxSetupInfos[0].PrintSettingsToLoad();
Console.WriteLine("\n\n");
}
StreamArchitecture architecture = StreamArchitecture.ThreeLevelBasic;
threadManager = new ThreadManager(architecture: architecture, sessionPaths: sessionPaths,
managedCameras: managedCameras, oryxSetups: oryxSetupInfos);
xBoxController = new XBoxController(mainForm: this,
messageQueues: threadManager.managerBundle.messageQueues, streamGraph: threadManager.streamGraph);
displayTimer = new System.Windows.Forms.Timer();
displayTimer.Interval = 2;
displayTimer.Tick += DisplayTimerEventProcessor;
displayTimer.Enabled = true;
displayQueue = threadManager.managerBundle.mergeStreamsManager.output.displayQueue;
threadManager.StartThreads();
}
/// <summary>
/// Construct a Preloader by specifying a required library version.
/// </summary>
/// <param name="rootFolder">Full path of the directory that contains
/// LibG_xxx folder, where 'xxx' represents the library version. In a
/// typical setup this would be the same directory that contains Dynamo
/// core modules. This must represent a valid directory.
/// </param>
/// <param name="version">The version of shape manager.</param>
/// <returns></returns>
public Preloader(string rootFolder, LibraryVersion version)
: this(rootFolder, new[] { version }) { }
// Example entry point; please see Enumeration_CSharp example for more
// in-depth comments on preparing and cleaning up the system.
public static int Start()
{
int result = 0;
Program program = new Program();
// Since this application saves images in the current folder
// we must ensure that we have permission to write to this folder.
// If we do not have permission, fail right away.
FileStream fileStream;
try {
fileStream = new FileStream(@"test.txt", FileMode.Create);
fileStream.Close();
File.Delete("test.txt");
} catch {
Console.WriteLine("Failed to create file in current folder. Please check permissions.");
Console.WriteLine("Press enter to exit...");
Console.ReadLine();
return(-1);
}
// Retrieve singleton reference to system object
ManagedSystem system = new ManagedSystem();
// Print out current library version
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine("Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Retrieve list of cameras from the system
IList <IManagedCamera> camList = system.GetCameras();
Console.WriteLine("Number of cameras detected: {0}\n\n", camList.Count);
// Finish if there are no cameras
if (camList.Count == 0)
{
// Clear camera list before releasing system
camList.Clear();
// Release system
system.Dispose();
Console.WriteLine("Not enough cameras!");
Console.WriteLine("Done! Press Enter to exit...");
Console.ReadLine();
return(-1);
}
//
// Run example on each camera
//
// *** NOTES ***
// Cameras can either be retrieved as their own IManagedCamera
// objects or from camera lists using the [] operator and an index.
//
// Using-statements help ensure that cameras are disposed of when
// they are no longer needed; otherwise, cameras can be disposed of
// manually by calling Dispose(). In C#, if cameras are not disposed
// of before the system is released, the system will do so
// automatically.
//
int index = 0;
foreach (IManagedCamera managedCamera in camList)
{
using (managedCamera) {
Console.WriteLine("Running example for camera {0}...", index);
try {
// Run example
result = result | program.RunSingleCamera(managedCamera);
} catch (SpinnakerException ex) {
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
Console.WriteLine("Camera {0} example complete...\n", index++);
}
}
// Clear camera list before releasing system
camList.Clear();
// Release system
system.Dispose();
Console.WriteLine("\nDone! Press Enter to exit...");
Console.ReadLine();
return(result);
}
/// <summary>
/// Constructs a preloader object to help preload a specific version of
/// shape manager.
/// </summary>
/// <param name="rootFolder">Full path of the directory that contains
/// LibG_xxx folder, where 'xxx' represents the library version. In a
/// typical setup this would be the same directory that contains Dynamo
/// core modules. This must represent a valid directory.
/// </param>
/// <param name="versions">A list of version numbers to check for in order
/// of preference. This argument cannot be null or empty.</param>
///
public Preloader(string rootFolder, IEnumerable<LibraryVersion> versions)
{
if (string.IsNullOrEmpty(rootFolder))
throw new ArgumentNullException("rootFolder");
if (!Directory.Exists(rootFolder))
throw new DirectoryNotFoundException(rootFolder);
if ((versions == null) || !versions.Any())
throw new ArgumentNullException("versions");
var versionList = versions.ToList();
shapeManagerPath = string.Empty; // Folder that contains ASM binaries.
version = Utilities.GetInstalledAsmVersion(versionList, ref shapeManagerPath, rootFolder);
var libGFolderName = string.Format("libg_{0}", ((int) version));
preloaderLocation = Path.Combine(rootFolder, libGFolderName);
geometryFactoryPath = Path.Combine(preloaderLocation,
Utilities.GeometryFactoryAssembly);
}
public MainWindow()
{
InitializeComponent();
time.Tick += new EventHandler(Time_Tick);
time.Interval = 10;
exposureControl.sliderName.Content = "曝光时间";
exposureControl.sliderCheck.Content = "手动曝光";
frameRateControl.sliderName.Content = "帧率";
frameRateControl.sliderCheck.Content = "手动帧率";
blackLevelControl.sliderName.Content = "灰度偏移";
blackLevelControl.sliderCheck.Content = "手动偏移";
GainControl.sliderName.Content = "增益";
GainControl.sliderCheck.Content = "手动增益";
acceptPointValue.sliderName.Content = "接受阈值";
acceptPointValue.sliderCheck.Content = "手动";
if (SavePath == null)
{
SavePath = "./";
}
FileStream fileStream;
try
{
fileStream = new FileStream(SavePath + "test.txt", FileMode.Create);
fileStream.Close();
File.Delete("test.txt");
}
catch
{
Console.WriteLine("权限不足");
return;
}
// 单例
system = new ManagedSystem();
// 输出当前库版本
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine("Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
//输出相机参数-0
camList = system.GetCameras();
if (camList.Count == 0)
{
camList.Clear();
system.Dispose();
Console.WriteLine("无相机！");
return;
}
cam = camList[0];
INodeMap nodeMapTLDevice = cam.GetTLDeviceNodeMap();
PrintDeviceInfo(nodeMapTLDevice);
// 为文件名检索设备序列号
// *** NOTES ***
// 设备序列号可以放置其他设备覆盖本设备图像
// 图像ID和帧ID
//
deviceSerialNumber = "";
while (true)
{
try
{
cam.Init();
break;
}
catch (SpinnakerException e)
{
Console.WriteLine("init error");
Thread.Sleep(1000);
}
}
while (cam.DeviceIndicatorMode.Value != DeviceIndicatorModeEnums.Active.ToString())
{
Thread.Sleep(1000);
}
//相机参数初始化
cam.ExposureAuto.Value = ExposureAutoEnums.Continuous.ToString();
cam.AcquisitionFrameRateEnable.Value = true;
frameRateManualDisable();
//cam.BlackLevelAuto.Value = BlackLevelAutoEnums.Continuous.ToString();
cam.GainAuto.Value = GainAutoEnums.Continuous.ToString();
Console.WriteLine("设备序列号为： {0}", cam.DeviceSerialNumber.Value);
Console.WriteLine("曝光时间设置为 {0} us", cam.ExposureTime.Value);
cam.DeviceLinkThroughputLimit.Value = cam.DeviceLinkThroughputLimit.Max;
Console.WriteLine("当前带宽：{0}", cam.DeviceLinkThroughputLimit.Value);
Console.WriteLine("当前帧率：{0} Hz", cam.AcquisitionFrameRate.Value);
#if DEBUG
// 判断是否禁用了心跳检测
if (DisableHeartbeat() != 0)
{
Console.WriteLine("心跳检测未禁用");
System.Windows.Application.Current.Shutdown();
}
#endif
//调用刷新控件
flushControl();
//接受点阈值
acceptPointValue.slider.Maximum = 255;
acceptPointValue.slider.Minimum = 0;
acceptPointValue.slider.Value = 60;
//控件委托
#region
exposureControl.setSliderEvent += () => { cam.ExposureTime.Value = exposureControl.slider.Value; };
exposureControl.setCheckedEvent += () => { cam.ExposureAuto.Value = ExposureAutoEnums.Off.ToString(); };
exposureControl.setUnCheckEvent += () => { cam.ExposureAuto.Value = ExposureAutoEnums.Continuous.ToString(); };
frameRateControl.setSliderEvent += () => { cam.AcquisitionFrameRate.Value = frameRateControl.slider.Value; };
frameRateControl.setCheckedEvent += frameRateManualEnable;
frameRateControl.setUnCheckEvent += frameRateManualDisable;
//blackLevelControl.setSliderEvent += () => { cam.BlackLevelAuto.Value = BlackLevelAutoEnums.Off.ToString(); };
blackLevelControl.slider.IsEnabled = false;
GainControl.setSliderEvent += () => { cam.Gain.Value = GainControl.slider.Value; };
GainControl.setCheckedEvent += () => { cam.GainAuto.Value = GainAutoEnums.Off.ToString(); };
GainControl.setUnCheckEvent += () => { cam.GainAuto.Value = GainAutoEnums.Continuous.ToString(); };
#endregion
acceptPointValue.sliderCheck.IsChecked = true;
}
