static int Main(string[] args)
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
GoSystem system = new GoSystem();
GoSensor sensor;
GoDataSet dataSet = new GoDataSet();
KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP);
sensor = system.FindSensorByIpAddress(ipAddress);
sensor.Connect();
system.EnableData(true);
GoSetup setup = sensor.Setup;
setup.AlignmentType = GoAlignmentType.Stationary;
setup.AlignmentStationaryTarget = GoAlignmentTarget.None;
sensor.Align();
Console.WriteLine("Waiting for alignment calibration data to be collected...");
dataSet = system.ReceiveData(30000000);
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoAlignMsg dataItem = (GoAlignMsg)dataSet.Get(i);
if (dataItem.MessageType == GoDataMessageType.Alignment)
{
if (dataItem.Status == KStatus.Ok)
{
Console.WriteLine("Alignment calibration successful!");
}
else
{
Console.WriteLine("Alignment calibration failed.");
}
}
}
system.Stop();
}
catch (KException ex)
{
if (ex.Status == KStatus.ErrorTimeout)
{
Console.WriteLine("Failed to collect data for calibration within timeout limit...");
}
else if (ex.Status != KStatus.Ok)
{
Console.WriteLine("Error:{0}", ex.Status);
}
}
// wait for Enter key
Console.WriteLine("\nPress ENTER to continue");
do
{
System.Threading.Thread.Sleep(100);
} while (Console.Read() != (int)ConsoleKey.Enter);
return(1);
}
static int Main(string[] args)
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
GoSystem system = new GoSystem();
GoSensor sensor;
KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP);
sensor = system.FindSensorByIpAddress(ipAddress);
sensor.Connect();
system.EnableData(true);
//retrieve setup handle
GoSetup setup = sensor.Setup;
//retrieve tools handle
GoTools tools = sensor.Tools;
// add ProfilePosition tool, retreive tool handle
GoProfilePosition profilePositionTool = (GoProfilePosition)tools.AddTool(GoToolType.ProfilePosition);
// set name for tool
profilePositionTool.Name = "Profile position Test";
// add Z measurement for ProfilePosition tool
GoProfilePositionZ zProfileMeasurementTop = profilePositionTool.ZMeasurement;
zProfileMeasurementTop.Enabled = true;
zProfileMeasurementTop.Id = 0;
//set ProfilePosition feature to top
GoProfileFeature profileFeature = profilePositionTool.Feature;
profileFeature.FeatureType = GoProfileFeatureType.MaxZ;
// set the ROI to fill the entire active area
GoProfileRegion regionTop = profileFeature.Region;
regionTop.X = setup.GetTransformedDataRegionX(GoRole.Main);
regionTop.Z = setup.GetTransformedDataRegionZ(GoRole.Main);
regionTop.Height = setup.GetTransformedDataRegionHeight(GoRole.Main);
regionTop.Width = setup.GetTransformedDataRegionWidth(GoRole.Main);
// enable Ethernet output for measurement tool
GoOutput output = sensor.Output;
GoEthernet ethernetOutput = output.GetEthernet();
ethernetOutput.ClearAllSources();
ethernetOutput.AddSource(GoOutputSource.Measurement, 0);
}
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);
}
Rect GetXZROI()
{
GoSetup _setup = _sensor.Setup;
GoRole role = _sensor.Role;
string jobName = _sensor.DefaultJob;
_syncContext.Post(delegate { jobFile.Content = jobName; }, null);
System.Windows.Point topLeft = new System.Windows.Point(_setup.GetActiveAreaXLimitMin(role), _setup.GetActiveAreaZLimitMax(role));
System.Windows.Point bottomRight = new System.Windows.Point(_setup.GetActiveAreaXLimitMax(role), _setup.GetActiveAreaZLimitMin(role));
Rect rect = new Rect(topLeft, bottomRight);
return(rect);
}
public int GetExposure(ref double exposureValue)
{
int rtn = 9;
try
{
system_main_setup = sensor_main.Setup;
exposureValue = system_main_setup.GetExposure(GoRole.Main); //get exposure/获取曝光
rtn = 0;
}
catch (KException ex)
{
rtn = (int)ex.Status;
}
return(rtn);
}
int CalibrationSensor(int goalignmentType, int alignmentmovingTarget, double diskDiameter, double diskHeight)
{
try
{
GoSetup setup = sensor_main.Setup;
setup.AlignmentType = GoAlignmentType.Moving;
setup.AlignmentMovingTarget = GoAlignmentTarget.Disk;
setup.DiskDiameter = diskDiameter;
setup.DiskHeight = diskHeight;
setup.AlignmentEncoderCalibrateEnabled = true;
sensor_main.Align(); //wait for calibration disk to be scanned
dataSet = system_main.ReceiveData(300000000);
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoAlignMsg dataItem = (GoAlignMsg)dataSet.Get(i);
if (dataItem.MessageType == GoDataMessageType.Alignment)
{
if (dataItem.Status == KStatus.Ok)
{
calibrationSuccessfulBl = true;
}
else
{
calibrationSuccessfulBl = false;
}
}
}
}
catch (KException ex)
{
if (ex.Status == KStatus.ErrorTimeout)
{
errorInformation.Add(DateTime.Now.ToString("yyyy:MM:dd HHmmss") + "calibration disk time out");
}
else if (ex.Status != KStatus.Ok)
{
errorInformation.Add(DateTime.Now.ToString("yyyy:MM:dd HHmmss") + "calibration error code" + ex.Status);
}
}
return(0);
}
public int SetExposure(double currentExposureAdd)
{
int rtn = 9;
try
{
system_main_setup = sensor_main.Setup;
currentExposre = system_main_setup.GetExposure(GoRole.Main); //set exposure/获取曝光
system_main_setup.SetExposure(GoRole.Main, currentExposre + currentExposureAdd);
sensor_main.Flush();
rtn = 0;
}
catch (KException ex)
{
rtn = (int)ex.Status;
}
return(rtn);
}
static int Main(string[] args)
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
GoSystem system = new GoSystem();
GoSensor sensor;
double currentExposure, newExposure;
KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP);
sensor = system.FindSensorByIpAddress(ipAddress);
sensor.Connect();
GoSetup setup = sensor.Setup;
currentExposure = setup.GetExposure(GoRole.Main);
Console.WriteLine("Current Parameters:");
Console.WriteLine("-------------------");
Console.WriteLine("Exposure: {0}", currentExposure);
setup.SetExposure(GoRole.Main, currentExposure + 200);
sensor.Flush();
newExposure = setup.GetExposure(GoRole.Main);
Console.WriteLine("New Parameters:");
Console.WriteLine("-------------------");
Console.WriteLine("Exposure: {0}", newExposure);
sensor.CopyFile("_live.job", "newExposure.job");
sensor.DefaultJob = "newExposure.job";
setup.SetExposure(GoRole.Main, currentExposure);
}
catch (KException ex)
{
Console.WriteLine("Error: {0}", ex.Status);
}
// wait for Enter key
Console.WriteLine("\nPress ENTER to continue");
do
{
System.Threading.Thread.Sleep(100);
} while (Console.Read() != (int)ConsoleKey.Enter);
return(1);
}
void goRun()
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
system = new GoSystem();
GoSensor sensor;
KIpAddress ipAddress = KIpAddress.Parse(IPAddress);
GoDataSet dataSet = new GoDataSet();
sensor = system.FindSensorByIpAddress(ipAddress);
sensor.Connect();
infoTxt.Text = "Conn" + Environment.NewLine;
GoSetup setup = sensor.Setup;
setup.ScanMode = GoMode.Surface;
system.EnableData(true);
system.SetDataHandler(OnDataReceived);
infoTxt.Text += "Binding data handler" + Environment.NewLine;
system.Start();
infoTxt.Text += "System Started" + Environment.NewLine;
infoTxt.Text += "Waiting Data" + Environment.NewLine;
GoActiveAreaConfig goActiveAreaConfig = new GoActiveAreaConfig();
sensor.Setup.GetActiveAreaLength(GoRole.Main);
GoSetup set = sensor.Setup;
setup.
// wait for Enter key
}
catch (KException ex)
{
}
}
public void SetupMeasurement() //Connect to Gocator system.setup measurement data under profile mode
{
system_main_setup = sensor_main.Setup; //retrieve setup handle
}
public static void takephoto(string name2)
{
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();
GoSetup setup = sensor.Setup;
setup.ScanMode = GoMode.Surface;
system.EnableData(true);
system.Start();
Console.WriteLine("Waiting for Whole Part Data...");
dataSet = system.ReceiveData(30000000);
//DataContext context = new DataContext();
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.UniformSurface:
{
GoUniformSurfaceMsg goSurfaceMsg = (GoUniformSurfaceMsg)dataObj; // 定义变量gosurfacemsg,类型gosurfacemsg
long length = goSurfaceMsg.Length; //surface长度
long width = goSurfaceMsg.Width; //surface宽度
long bufferSize = width * length;
double XResolution = goSurfaceMsg.XResolution / 1000000.0; //surface 数据X方向分辨率为nm,转为mm
double YResolution = goSurfaceMsg.YResolution / 1000000.0; //surface 数据Y方向分辨率为nm,转为mm
double ZResolution = goSurfaceMsg.ZResolution / 1000000.0; //surface 数据Z方向分辨率为nm,转为mm
double XOffset = goSurfaceMsg.XOffset / 1000.0; //接收到surface数据X方向补偿单位um，转mm
double YOffset = goSurfaceMsg.YOffset / 1000.0; //接收到surface数据Y方向补偿单位um，转mm
double ZOffset = goSurfaceMsg.ZOffset / 1000.0; //接收到surface数据Z方向补偿单位um，转mm
IntPtr bufferPointer = goSurfaceMsg.Data;
int rowIdx, colIdx;
SurfacePoints[] surfacePointCloud = new SurfacePoints[bufferSize];
short[] ranges = new short[bufferSize];
Marshal.Copy(bufferPointer, ranges, 0, ranges.Length);
FileStream fs;
string path = string.Format("D:\\Grasp\\Grasp\\EyeToHandData\\{0}.txt", name2);
//if (!File.Exists(path))
//{
fs = new FileStream(path, FileMode.Create, FileAccess.Write);
//else
//{
// fs = new FileStream(path, FileMode.Append, FileAccess.Write);
//}
StreamWriter sr = new StreamWriter(fs);
for (rowIdx = 0; rowIdx < length; rowIdx++) //row is in Y direction
{
for (colIdx = 0; colIdx < width; colIdx++) //col is in X direction
{
surfacePointCloud[rowIdx * width + colIdx].x = colIdx * XResolution + XOffset; //客户需要的点云数据X值
surfacePointCloud[rowIdx * width + colIdx].y = rowIdx * YResolution + YOffset; //客户需要的点云数据Y值
surfacePointCloud[rowIdx * width + colIdx].z = ranges[rowIdx * width + colIdx] * ZResolution + ZOffset; //客户需要的点云数据Z值
sr.WriteLine(surfacePointCloud[rowIdx * width + colIdx].x + "," + surfacePointCloud[rowIdx * width + colIdx].y + "," + surfacePointCloud[rowIdx * width + colIdx].z); //开始写入值
}
}
sr.Write("end");
//ushort[] ZValues = new ushort[ranges.Length];
//for (int k = 0; k < ranges.Length; k++)
//{
// ZValues[k] = (ushort)(ranges[k] - short.MinValue);
//}
//for (UInt32 k = 0; k < bufferSize; k++)
//{
// sr.WriteLine(surfacePointCloud[k].x.ToString() + "," + surfacePointCloud[k].y.ToString() + "," + surfacePointCloud[k].z.ToString());//开始写入值
//}
sr.Close();
fs.Close();
}
break;
case GoDataMessageType.SurfaceIntensity:
{
GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj;
long width = surfaceMsg.Width;
long height = surfaceMsg.Length;
long bufferSize = width * height;
IntPtr bufferPointeri = surfaceMsg.Data;
Console.WriteLine("Whole Part Intensity Image received:");
Console.WriteLine(" Buffer width: {0}", width);
Console.WriteLine(" Buffer height: {0}", height);
byte[] ranges = new byte[bufferSize];
Marshal.Copy(bufferPointeri, ranges, 0, ranges.Length);
}
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);
}
private void Form1_Load(object sender, EventArgs e)
{
// 主窗口大小、位置
int Desk_width = Screen.PrimaryScreen.WorkingArea.Width;
int Desk_height = Screen.PrimaryScreen.WorkingArea.Height;
Width = Desk_width;
Height = Desk_height;
Location = new Point(0, 0);
// 尝试连接ABB
NetworkScanner networkScanner = new NetworkScanner();
networkScanner.Scan();
controllers = networkScanner.Controllers;
foreach (ControllerInfo info in controllers)
{
ListViewItem item = new ListViewItem("PC");
item.SubItems.Add("ABB");
item.SubItems.Add("Detected");
item.Tag = info;
listView_Log.Items.Add(item);
ABB_Connect_OK = true;
if_ABB_init = true;
}
// 初始化内存映射
if (If_Init_mmf == false)
{
try
{
mmf = MemoryMappedFile.CreateNew(memo_file_name, memo_capacity);
}
catch (Exception Memo_e)
{
Console.WriteLine("Memo File: {0} Exception caught.", Memo_e);
return;
}
try
{
accessor = mmf.CreateViewAccessor();
}
catch (Exception Memo_e)
{
Console.WriteLine("Memo File: {0} Exception caught.", Memo_e);
return;
}
If_Init_mmf = true;
}
// Endof-初始化内存映射
// Gocator启动
// 进行Gocator初始化的相关工作
KApiLib.Construct();
GoSdkLib.Construct();
GC_system = new GoSystem();
KIpAddress ipAddress = KIpAddress.Parse(SENSOR_IP);
try
{
sensor = GC_system.FindSensorByIpAddress(ipAddress);
}
catch (Exception GC_e)
{
Console.WriteLine("XX Gocator Error XX : {0} Exception caught.", GC_e);
return;
}
sensor.Connect();
sensor_setup = sensor.Setup;
GC_system.EnableData(true);
GC_system.SetDataHandler(onData);
if_Gocator_init = true;
// Endof-Gocator启动
}// - Endof - Form1Load
/// <summary>
/// Get Point Cloud from Gocator
/// </summary>
/// <returns></returns>
private void Point3DGenerator(KObject data)
{
GoDataSet goDataSource = (GoDataSet)data;
PointCloud pc = new PointCloud();
long count = goDataSource.Count;
for (int i = 0; i < count; i++)
{
GoDataMsg dataMsg = (GoDataMsg)goDataSource.Get(i);
switch (dataMsg.MessageType)
{
case GoDataMessageType.Surface:
GoSurfaceMsg goSurfaceMsg = (GoSurfaceMsg)(dataMsg);
pc.Width = (int)goSurfaceMsg.Width;
pc.Height = (int)goSurfaceMsg.Length;
pc.XResolution = (float)goSurfaceMsg.XResolution / 1000000;
pc.YResolution = (float)goSurfaceMsg.YResolution / 1000000;
pc.ZResolution = (float)goSurfaceMsg.ZResolution / 1000000;
pc.XOffset = (float)goSurfaceMsg.XOffset / 1000;
pc.ZOffset = (float)goSurfaceMsg.ZOffset / 1000;
pc.YOffset = (float)goSurfaceMsg.YOffset / 1000;
GoSetup goSetup = _sensor.Setup;
GoRole goRole = new GoRole();
pc.ZStart = (float)goSetup.GetActiveAreaZ(goRole);
pc.XStart = (float)goSetup.GetActiveAreaX(goRole);
pc.ZRange = (float)goSetup.GetActiveAreaHeight(goRole);
///
//generate csv file for point data save
///
pc.ProfileList = new List <List <Point3D> >();
//int pointsCount = 0;
pc.Point3DArray = new Point3D[pc.Width * pc.Height];
int pointsCount = 0;
for (int j = 0; j < pc.Height; j++)
{
List <Point3D> profileList = new List <Point3D>();
for (int k = 0; k < pc.Width; k++)
{
Point3D tempPoint = new Point3D();
tempPoint.X = pc.XOffset + k * pc.XResolution;
tempPoint.Y = pc.YOffset + j * pc.YResolution;
//tempPoint.Z = (goSurfaceMsg.Get(j, k) == -32768) ? 0 : (pc.ZOffset + goSurfaceMsg.Get(j, k) * pc.ZResolution);
//No Z Start
//tempPoint.X = k * pc.XResolution;
//tempPoint.Y = j * pc.YResolution;
tempPoint.Z = (goSurfaceMsg.Get(j, k) == -32768) ? 0 : (pc.ZOffset + goSurfaceMsg.Get(j, k) * pc.ZResolution - pc.ZStart);
profileList.Add(tempPoint);
pc.Point3DArray[pointsCount] = tempPoint;
pointsCount++;
}
pc.ProfileList.Add(profileList);
}
//data.Destroy();
dataMsg.Destroy();
goSurfaceMsg.Destroy();
SerializePointCloud(pc);
break;
default:
break;
}
}
}
