public long GetSensorEncode()
{
long encode = 0;
GoSdkWrapper.GoSensor_Encoder(go_sensor, ref encode);
return(encode);
}
public bool IsConnected(ref string errMsg)
{
//设置掉线报警
if (go_sensor == IntPtr.Zero)
{
return(false);
}
return(GoSdkWrapper.GoSensor_IsConnected(go_sensor));
}
public bool DisConnect(ref string errMsg)
{
try
{
state = GoSdkWrapper.GoSystem_Disconnect(go_system);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_DisConnect Error:{0}", state);
return(false);
}
return(true);
}
catch (Exception ex)
{
errMsg = string.Format("GoSystem_DisConnect Error:{0}", ex.Message);
return(false);
}
}
public bool CutJob(string jobName, ref string errMsg)
{
try
{
state = GoSdkWrapper.GoSensor_CopyFile(go_sensor, jobName + ".job", "_live.job");
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSensor_CopyFile Error:{0}", state);
return(false);
}
return(true);
}
catch (Exception ex)
{
errMsg = string.Format("GoSensor_CopyFile Error:{0}", ex.Message);
return(false);
}
}
public bool Stop(ref string errMsg)
{
try
{
state = GoSdkWrapper.GoSystem_Stop(go_system);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Stop Error:{0}", state);
return(false);
}
ProfileRecFinish?.Invoke();
MeasurementRecFinish?.Invoke();
return(true);
}
catch (Exception ex)
{
errMsg = string.Format("GoSystem_Stop Error:{0}", ex.Message);
return(false);
}
}
public bool Download3dFile(string destpath, ref string errMsg)
{
try
{
state = GoSdkWrapper.GoSensor_DownloadFile(go_sensor, "_live.job", destpath + ".job");
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSensor_DownloadJob Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSensor_DownloadFile(go_sensor, "_live.rec", destpath + ".rec");
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSensor_DownloadRec Error:{0}", state);
return(false);
}
return(true);
}
catch (Exception ex)
{
errMsg = string.Format("GoSensor_DownloadFile Error:{0}", ex.Message);
return(false);
}
}
public bool connect(ref string errMsg)
{
if (gocatorIp != null)
{
state = GoSdkWrapper.GoSdk_Construct(ref go_api);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Construct Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_Construct(ref go_system, IntPtr.Zero);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Construct Error:{0}", state);
return(false);
}
addrPtr = Marshal.AllocHGlobal(Marshal.SizeOf(addr));
Marshal.StructureToPtr(addr, addrPtr, false);
state = GoSdkWrapper.kIpAddress_Parse(addrPtr, gocatorIp);
if (state != kStatus.kOK)
{
errMsg = string.Format("kIpAddress_Parse Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_FindSensorByIpAddress(go_system, addrPtr, ref go_sensor);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_FindSensorByIpAddress Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_Connect(go_system);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Connect Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_EnableData(go_system, true);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_EnableData Error:{0}", state);
return(false);
}
Setup = GoSdkWrapper.GoSensor_Setup(go_sensor);
zRange = GoSdkWrapper.GoSetup_ActiveAreaHeight(Setup, GoRole.GO_ROLE_MAIN);
z_byte_resolution = 255 / zRange;
zStart = GoSdkWrapper.GoSetup_ActiveAreaZ(Setup, GoRole.GO_ROLE_MAIN);
ondatatype = new onDataType(OnData);
state = GoSdkWrapper.GoSystem_SetDataHandler(go_system, ondatatype, context);
GC.KeepAlive(ondatatype);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_SetDataHandler Error:{0}", state);
return(false);
}
profileDataZ = new List <Profile>();
measurementDataList = new List <MeasurementData>();
#region 加密模块
SecretKey.License l = new SecretKey.License("license.dat", expirationTime, isStartCheck, tel);
l.GocatorId = GoSdkWrapper.GoSensor_Id(go_sensor).ToString();
l.Warn(warnStartDay, warnTime);
#endregion
context.serialNumber = GoSdkWrapper.GoSensor_Id(go_sensor);
GoRole role = GoRole.GO_ROLE_MAIN;
//context.yResolution =(double) GoSdkWrapper.GoSetup_YSpacingCount(Setup, role);
context.yResolution = GoSdkWrapper.GoSetup_EncoderSpacing(Setup);
context.xResolution = Math.Round(GoSdkWrapper.GoSetup_SpacingIntervalSystemValue(Setup, role), 3);
return(true);
}
else
{
errMsg = "Gocator ip is Empty";
return(false);
}
}
private int OnData(DataContext ctx, IntPtr sys, IntPtr data)
{
if (!SecretKey.License.SnOk)
{
string errMsg = "";
string warnMsg = "传感器试用权限已到期，传感器将停止接收数据,如有疑问请联系：" + tel;
if (DisConnect(ref errMsg))
{
warnMsg += " !";
}
MessageBox.Show(warnMsg);
return(0);
}
if (!IsOnline)
{
GoSdkWrapper.GoDestroy(data);
//GC.Collect();
return(1);
}
IntPtr dataObj = IntPtr.Zero;
IntPtr StampMsg = IntPtr.Zero;
IntPtr StampPtr = IntPtr.Zero;
GoStamp stamp = new GoStamp();
IntPtr ProfileMsgZ = IntPtr.Zero;
Profile mProfile = new Profile();
IntPtr ProfileMsgIntensity = IntPtr.Zero;
IntPtr SurfaceMsgZ = IntPtr.Zero;
IntPtr SurfaceMsgIntensity = IntPtr.Zero;
IntPtr MeasurementMsg = IntPtr.Zero;
MeasurementData measurementData = new MeasurementData();
bool isRecSurfaceZOK = false;
for (uint i = 0; i < GoSdkWrapper.GoDataSet_Count(data); i++)
{
dataObj = GoSdkWrapper.GoDataSet_At(data, i);
switch (GoSdkWrapper.GoDataMsg_Type(dataObj))
{
case GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_STAMP:
StampMsg = dataObj;
StampPtr = GoSdkWrapper.GoStampMsg_At(StampMsg, 0);
stamp = (GoStamp)Marshal.PtrToStructure(StampPtr, typeof(GoStamp));
//if (stamp.encoder == 0)
//{
// stamp.encoder = 0;
//}
Stamp = stamp;
mProfile.encoder = stamp.encoder;
break;
case GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_SURFACE:
SurfaceMsgZ = dataObj;
ctx.xResolution = (double)GoSdkWrapper.GoSurfaceMsg_XResolution(SurfaceMsgZ) / 1000000;
ctx.zResolution = (double)GoSdkWrapper.GoSurfaceMsg_ZResolution(SurfaceMsgZ) / 1000000;
ctx.yResolution = (double)GoSdkWrapper.GoSurfaceMsg_YResolution(SurfaceMsgZ) / 1000000;
ctx.xOffset = (double)GoSdkWrapper.GoSurfaceMsg_XOffset(SurfaceMsgZ) / 1000;
ctx.yOffset = (double)GoSdkWrapper.GoSurfaceMsg_YOffset(SurfaceMsgZ) / 1000;
ctx.zOffset = (double)GoSdkWrapper.GoSurfaceMsg_ZOffset(SurfaceMsgZ) / 1000;
uint surfaceWidth = GoSdkWrapper.GoSurfaceMsg_Width(SurfaceMsgZ);
uint surfaceHeight = GoSdkWrapper.GoSurfaceMsg_Length(SurfaceMsgZ);
IntPtr surfacePtr = GoSdkWrapper.GoSurfaceMsg_RowAt(SurfaceMsgZ, 0);
short[] surfacePoints = new short[surfaceWidth * surfaceHeight];
float[] surfaceData = new float[surfaceWidth * surfaceHeight];
float[] surfaceDataX = new float[surfaceWidth * surfaceHeight];
float[] surfaceDataY = new float[surfaceWidth * surfaceHeight];
byte[] surfaceDataZByte = new byte[surfaceWidth * surfaceHeight];
//保存Kdat
Stopwatch sp = new Stopwatch();
sp.Start();
//if (surfacePoints.Length==0)
//{
// break;
//}
try
{
Marshal.Copy(surfacePtr, surfacePoints, 0, surfacePoints.Length);
}
catch (Exception)
{
return(1);
}
//保存dat
//if (SaveDatFileDirectory != null && !string.IsNullOrEmpty(SaveDatFileDirectory))
//{
// PointMsg pmoffset = new PointMsg() { x = ctx.xOffset, y = ctx.yOffset, z = ctx.zOffset };
// PointMsg pmscale = new PointMsg() { x = ctx.xResolution, y = ctx.yResolution, z = ctx.zResolution };
// SurfaceZSaveDat ssd = new SurfaceZSaveDat() { points = surfacePoints, resolution = pmscale, offset = pmoffset,width = (int)surfaceWidth,height = (int)surfaceHeight };
// StaticTool.WriteSerializable($"{SaveDatFileDirectory}Side{RunSide}_H.dat", ssd);
//}
PointMsg pmoffset = new PointMsg()
{
x = ctx.xOffset, y = ctx.yOffset, z = ctx.zOffset
};
PointMsg pmscale = new PointMsg()
{
x = ctx.xResolution, y = ctx.yResolution, z = ctx.zResolution
};
SurfaceZSaveDat ssd = new SurfaceZSaveDat()
{
points = surfacePoints, resolution = pmscale, offset = pmoffset, width = (int)surfaceWidth, height = (int)surfaceHeight
};
if (!isRecSurfaceZOK)
{
if (SaveDatFileDirectory != null && !string.IsNullOrEmpty(SaveDatFileDirectory))
{
StaticTool.WriteSerializable($"{SaveDatFileDirectory}Side{RunSide}_L_H.dat", ssd);
}
sddList_L.Add(ssd);
if (SaveKdatDirectoy != null && !string.IsNullOrEmpty(SaveKdatDirectoy) && RunSide != null)
{
Point3d64f poffset = new Point3d64f()
{
x = ctx.xOffset, y = ctx.yOffset, z = ctx.zOffset
};
Point3d64f pscale = new Point3d64f()
{
x = ctx.xResolution, y = ctx.yResolution, z = ctx.zResolution
};
GoSurface insurface = new GoSurface()
{
data = surfacePtr, width = (int)surfaceWidth, height = (int)surfaceHeight, offset = poffset, scale = pscale
};
GoSaveSurfaceGraphic.SaveSufaceToFile($"{SaveKdatDirectoy}{DateTime.Now.ToString("yyyyMMdd_HHmmss")}_Side{RunSide}_L.kdat", ref insurface, false);
}
}
else
{
//保存dat
if (SaveDatFileDirectory != null && !string.IsNullOrEmpty(SaveDatFileDirectory))
{
//PointMsg pmoffset = new PointMsg() { x = ctx.xOffset, y = ctx.yOffset, z = ctx.zOffset };
//PointMsg pmscale = new PointMsg() { x = ctx.xResolution, y = ctx.yResolution, z = ctx.zResolution };
//SurfaceZSaveDat ssd = new SurfaceZSaveDat() { points = surfacePoints, resolution = pmscale, offset = pmoffset, width = (int)surfaceWidth, height = (int)surfaceHeight };
StaticTool.WriteSerializable($"{SaveDatFileDirectory}Side{RunSide}_S_H.dat", ssd);
}
sddList_S.Add(ssd);
if (SaveKdatDirectoy != null && !string.IsNullOrEmpty(SaveKdatDirectoy) && RunSide != null)
{
Point3d64f poffset = new Point3d64f()
{
x = ctx.xOffset, y = ctx.yOffset, z = ctx.zOffset
};
Point3d64f pscale = new Point3d64f()
{
x = ctx.xResolution, y = ctx.yResolution, z = ctx.zResolution
};
GoSurface insurface = new GoSurface()
{
data = surfacePtr, width = (int)surfaceWidth, height = (int)surfaceHeight, offset = poffset, scale = pscale
};
GoSaveSurfaceGraphic.SaveSufaceToFile($"{SaveKdatDirectoy}{DateTime.Now.ToString("yyyyMMdd_HHmmss")}_Side{RunSide}_S.kdat", ref insurface, false);
}
}
sp.Stop();
long b = sp.ElapsedMilliseconds;
sp.Start();
for (int j = 0; j < surfaceHeight; j++)
{
for (int k = 0; k < surfaceWidth; k++)
{
surfaceData[j * surfaceWidth + k] = surfacePoints[j * surfaceWidth + k] == -32768 ? -12 : (float)(ctx.zOffset + ctx.zResolution * surfacePoints[j * surfaceWidth + k]);
surfaceDataX[j * surfaceWidth + k] = (float)(ctx.xOffset + ctx.xResolution * k);
surfaceDataY[j * surfaceWidth + k] = (float)(ctx.yOffset + ctx.yResolution * j);
if (IsRecSurfaceDataZByte && (!isRecSurfaceZOK))
{
if (surfacePoints[j * surfaceWidth + k] != -32768)
{
surfaceDataZByte[j * surfaceWidth + k] = (byte)Math.Ceiling(((ctx.zOffset + ctx.zResolution * surfacePoints[j * surfaceWidth + k]) - zStart) * z_byte_resolution);
}
else
{
surfaceDataZByte[j * surfaceWidth + k] = 0;
}
}
}
}
sp.Stop();
long a = sp.ElapsedMilliseconds;
if (!isRecSurfaceZOK)
{
this.SurfaceWidth = surfaceWidth;
this.SurfaceHeight = surfaceHeight;
this.SurfaceDataZ = surfaceData;
this.SurfaceDataZByte = surfaceDataZByte;
this.surfaceDataX = surfaceDataX;
this.surfaceDataY = surfaceDataY;
isRecSurfaceZOK = true;
}
else
{
this.SurfaceAlignData = surfaceData;
this.SurfaceAlignWidth = surfaceWidth;
this.SurfaceAlignHeight = surfaceHeight;
}
break;
case GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_SURFACE_INTENSITY:
SurfaceMsgIntensity = dataObj;
IntPtr intensityPtr = GoSdkWrapper.GoSurfaceIntensityMsg_RowAt(SurfaceMsgIntensity, 0);
surfaceWidth = GoSdkWrapper.GoSurfaceIntensityMsg_Width(SurfaceMsgIntensity);
surfaceHeight = GoSdkWrapper.GoSurfaceIntensityMsg_Length(SurfaceMsgIntensity);
byte[] intensityArr = new byte[surfaceWidth * surfaceHeight];
Marshal.Copy(intensityPtr, intensityArr, 0, intensityArr.Length);
SurfaceDataIntensity = intensityArr;
SurfaceIntensitySaveDat sid = new SurfaceIntensitySaveDat()
{
points = intensityArr, width = (int)surfaceWidth, height = (int)surfaceHeight
};
if (SaveDatFileDirectory != null && !string.IsNullOrEmpty(SaveDatFileDirectory))
{
StaticTool.WriteSerializable($"{SaveDatFileDirectory}Side{RunSide}_I.dat", sid);
}
sddList_I.Add(sid);
break;
case GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_RESAMPLED_PROFILE:
if (!EnableProfle)
{
break;
}
ProfileMsgZ = dataObj;
ctx.xResolution = ((double)GoSdkWrapper.GoProfileMsg_XResolution(ProfileMsgZ)) / 1000000;
ctx.zResolution = ((double)GoSdkWrapper.GoProfileMsg_ZResolution(ProfileMsgZ)) / 1000000;
ctx.xOffset = ((double)GoSdkWrapper.GoProfileMsg_XOffset(ProfileMsgZ)) / 1000;
ctx.zOffset = ((double)GoSdkWrapper.GoProfileMsg_ZOffset(ProfileMsgZ)) / 1000;
profileWidth = GoSdkWrapper.GoProfileMsg_Width(ProfileMsgZ);
IntPtr pointPtr = GoSdkWrapper.GoResampledProfileMsg_At(ProfileMsgZ, 0);
short[] points = new short[profileWidth];
Marshal.Copy(pointPtr, points, 0, points.Length);
ProfilePoint[] profile = new ProfilePoint[profileWidth];
for (int j = 0; j < points.Length; j++)
{
profile[j].x = (float)(ctx.xOffset + ctx.xResolution * j);
profile[j].z = points[j] == -32768 ? -12 : (float)(ctx.zOffset + ctx.zResolution * points[j]);
}
mProfile.points = profile;
isRecProfileZ = true;
break;
case GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_PROFILE_INTENSITY:
if (isRecProfileZ)
{
ProfileMsgIntensity = dataObj;
profileWidth = GoSdkWrapper.GoProfileIntensityMsg_Width(ProfileMsgIntensity);
IntPtr profileIntensityPtr = GoSdkWrapper.GoProfileIntensityMsg_At(ProfileMsgIntensity, 0);
byte[] profileIntensityArr = new byte[profileWidth];
Marshal.Copy(profileIntensityPtr, profileIntensityArr, 0, profileIntensityArr.Length);
for (int j = 0; j < profileIntensityArr.Length; j++)
{
mProfile.points[j].Intensity = profileIntensityArr[j];
}
}
break;
case GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_MEASUREMENT:
MeasurementMsg = dataObj;
IntPtr measurementPtr = GoSdkWrapper.GoMeasurementMsg_At(MeasurementMsg, 0);
GoMeasurementData mData = (GoMeasurementData)Marshal.PtrToStructure(measurementPtr, typeof(GoMeasurementData));
measurementData.id = GoSdkWrapper.GoMeasurementMsg_Id(MeasurementMsg);
measurementData.value = mData.Value;
measurementDataList.Add(measurementData);
break;
default:
break;
}
}
if (isRecProfileZ)
{
profileDataZ.Add(mProfile);
this.SigleProfile = mProfile;
isRecProfileZ = false;
}
GoSdkWrapper.GoDestroy(data);
//GC.Collect();
return(1);
}
