public void AsyncReceiveData(KObject data)
{
GoDataSet dataset = (GoDataSet)data;
for (UInt32 i = 0; i < dataset.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataset.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
getStamp.FrameIndex = stamp.FrameIndex;
getStamp.Timestamp = stamp.Timestamp;
getStamp.Encoder = stamp.Encoder;
get_stamp_FrameIndex.Add(stamp.FrameIndex);
get_stamp_TimeStamp.Add(stamp.Timestamp);
get_stamp_EncoderValue.Add(stamp.Encoder);
}
dataReceivedFlag.Stamp = 1;
}
break;
case GoDataMessageType.Measurement:
{
GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj;
for (UInt32 k = 0; k < measurementMsg.Count; k++)
{
GoMeasurementData measurementData = measurementMsg.Get(k);
getMeasurement.Id = measurementMsg.Id;
getMeasurement.value = measurementData.Value;
getMeasurement.decison = measurementData.Decision;
get_measurementMsg_Id.Add(measurementMsg.Id);
get_measurementMsg_Value.Add(measurementData.Value);
get_measurementMsg_Decison.Add(measurementData.Decision);
}
dataReceivedFlag.Measurement = 1;
}
break;
case GoDataMessageType.Alignment:
{
GoAlignMsg dataItem = (GoAlignMsg)dataSet.Get(i);
if (dataItem.Status == KStatus.Ok)
{
calibrationSuccessfulBl = true;
}
else
{
calibrationSuccessfulBl = false;
}
}
break;
}
}
}
public void onData(KObject data)
{
GoDataSet dataSet = (GoDataSet)data;
//var dataWithID = new Dictionary<string, string>();
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
//Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
//Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
//Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
}
}
break;
case GoDataMessageType.Measurement:
{
GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj;
for (UInt32 k = 0; k < measurementMsg.Count; ++k)
{
GoMeasurementData measurementData = measurementMsg.Get(k);
//Console.WriteLine("ID: {0}", measurementMsg.Id);
//Console.WriteLine("Value: {0}", measurementData.Value);
//Console.WriteLine("Decision: {0}", measurementData.Decision);
//dataWithID.Add(measurementMsg.Id.ToString(), measurementData.Value.ToString());
}
}
break;
}
}
Publish(new LMIData()); //TODO Data Shell
}
static int Main(string[] args)
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
GoSystem system = new GoSystem();
GoSensor sensor;
KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP);
GoDataSet dataSet = new GoDataSet();
sensor = system.FindSensorByIpAddress(ipAddress);
sensor.Connect();
system.EnableData(true);
system.Start();
// refer to SetupMeasurement.cs for setting up of the measurement tools
dataSet = system.ReceiveData(30000000);
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
switch (dataObj.MessageType)
{
case GoDataMessageType.Stamp:
{
GoStampMsg stampMsg = (GoStampMsg)dataObj;
for (UInt32 j = 0; j < stampMsg.Count; j++)
{
GoStamp stamp = stampMsg.Get(j);
Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
}
}
break;
case GoDataMessageType.Measurement:
{
GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj;
for (UInt32 k = 0; k < measurementMsg.Count; ++k)
{
GoMeasurementData measurementData = measurementMsg.Get(k);
Console.WriteLine("ID: {0}", measurementMsg.Id);
Console.WriteLine("Value: {0}", measurementData.Value);
Console.WriteLine("Decision: {0}", measurementData.Decision);
}
}
break;
}
}
system.Stop();
}
catch (KException ex)
{
Console.WriteLine("Error: {0}", ex.Status);
}
// wait for ESC key
Console.WriteLine("\nPress ENTER to continue");
do
{
System.Threading.Thread.Sleep(100);
} while (Console.Read() != (int)ConsoleKey.Enter);
return(1);
}
