/// <summary>
/// initialize /Connect sensor
/// </summary>
/// <returns></returns>
public bool Go_Init_Sensor()
{
bool rtn = false;
try
{
KApiLib.Construct();
GoSdkLib.Construct();
system_main = new GoSystem();
accelerator = new GoAccelerator();
accelerator.Start();
KIpAddress ipAddress = KIpAddress.Parse(SENSOR_MAIN_IP);
sensor_main = system_main.FindSensorByIpAddress(ipAddress);
accelerator.Attach(sensor_main);
sensor_main.Connect();
system_main.EnableData(true);
system_main.SetDataHandler(AsyncReceiveData);
system_main.Start();
}
catch (Exception ex)
{
rtn = true;
}
return(rtn);
}
void initialApi()
{
KApiLib.Construct();
GoSdkLib.Construct();
KIpAddress addr = KIpAddress.Parse(IPAddr);
_system = new GoSystem();
_sensor = _system.FindSensorByIpAddress(addr);
_system.Connect();
if (_sensor.State == GoState.Ready)
{
_context.Post(delegate
{
richTextBox1.AppendText("Connected" + Environment.NewLine);
}, null);
}
else
{
_context.Post(delegate
{
richTextBox1.AppendText(@"Connect failed" + Environment.NewLine);
}, null);
}
_system.EnableData(true);
_system.SetDataHandler(OnDataReceived);
}
/// <summary>
/// 开始监听拍照数据
/// </summary>
public void StartListen()
{
if (sensor.IsConnected())
{
system.EnableData(true);
system.SetDataHandler(onData);
system.Start();
}
}
public bool InitialAcq()
{
mSystem = new GoSystem();
mSensor = mSystem.FindSensorByIpAddress(KIpAddress.Parse(IPAddr));
DeviceStatusEvent?.Invoke(this, $"Find device @ IP address {IPAddr}");
mSystem.Connect();
DeviceStatusEvent?.Invoke(this, $"Connect to {IPAddr}");
mSystem.EnableData(true);
mSystem.SetDataHandler(OnData);
return(true);
}
/// <summary>
/// initial api constructor and open data channel
/// </summary>
/// <returns></returns>
public bool InitialDevice()
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
}
catch (KException kEx)
{
Trace.WriteLine(kEx.ToString());
}
_system = new GoSystem();
KIpAddress kIpAddress = KIpAddress.Parse(IPAddress);
Trace.WriteLine($"Sonsor IP {IPAddress}");
_sensor = _system.FindSensorByIpAddress(kIpAddress);
if (_sensor.State == GoState.Ready)
{
_sensor.Connect();
Trace.WriteLine("Sonsor Connected");
}
else
{
return(false);
}
_system.EnableData(true);
Trace.WriteLine("Data channel open");
_system.SetDataHandler(onData);
if (_sensor.State == GoState.Running)
{
_system.Stop();
_system.Start();
}
else
{
_system.Start();
Trace.WriteLine("Sysem Start");
}
return(true);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//생성 :
//수정 :
//목적 : 3D 센서( Gocator )
//설명 :
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public override bool HL3DStart()
{
bool bReturn = false;
do
{
try {
m_objCameraSystem.EnableData(true);
m_objCameraSystem.SetDataHandler(ReceiveData);
m_objCameraSystem.Start();
} catch (Exception ex) {
Trace.WriteLine("HL3DStart : " + ex.ToString());
break;
}
bReturn = true;
} while(false);
return(bReturn);
}
public void GoSystemConstruct(string IPAddress, long profileCount)
{
initialApi();
_system = new GoSystem();
_profileCount = profileCount;
KIpAddress addr = KIpAddress.Parse(IPAddress);
_sensor = _system.FindSensorByIpAddress(addr);
_syncContext.Post(delegate { yRes.Content = profileCount.ToString(); }, null);
_system.Connect();
if (_sensor.IsConnected())
{
_system.EnableData(true);
_system.SetDataHandler(OnDataReceived);
_syncContext.Post(delegate { UpdateMsg("Systeme Construct successfully"); }, null);
}
else
{
_syncContext.Post(delegate { UpdateMsg("System Construct Failed"); }, null);
}
}
public void StartGetPoint()
{
if (File.Exists(strFileSave) == true)
{
File.Delete(strFileSave);
}
length = 0;
system.EnableData(true);
system.SetDataHandler(onData);
try
{
sensor.CopyFile("test.job", "_live.job");
}
catch (Exception ex)
{
System.Windows.Forms.MessageBox.Show("请检查相机连接状态");
return;
}
system.Start();
}
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)
{
}
}
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);
system.SetDataHandler(onData);
system.Start();
// wait for Enter key
Console.WriteLine("\nPress ENTER to stop");
do
{
//System.Threading.Thread.Sleep(100);
} while (Console.Read() != (int)ConsoleKey.Enter);
system.Stop();
}
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);
}
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