private void BackgroundWorker_RunWorkerCompleted(object sender, RunWorkerCompletedEventArgs e)
{
_syncContext.Post(delegate { UpdateMsg("Process Completed"); }, null);
_system.Stop();
if (_sensor.State == GoState.Ready)
{
_syncContext.Post(delegate { UpdateMsg("Please Stop System first"); }, null);
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//생성 :
//수정 :
//목적 : 초기화
//설명 :
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public override bool HLInitialize(CDeviceCameraAbstract.CInitializeParameter objInitializeParameter)
{
bool bReturn = false;
do
{
// 초기화 파라매터 복사
m_objInitializeParameter = ( CInitializeParameter )objInitializeParameter.Clone();
//m_objCamera = new Lmi3d.GoSdk.GoSensor();
KApiLib.Construct();
GoSdkLib.Construct();
m_objCameraSystem = new GoSystem();
iGCCollectCount = 0;
// 카메라 접속
SetCameraConnect();
m_objCameraSystem.Stop();
// m_objCameraSystem.EnableData( true );
// m_objCameraSystem.SetDataHandler( ReceiveData );
// m_objCamera.Setup.GetSurfaceGeneration().GenerationType = GoSurfaceGenerationType.FixedLength;
// m_objCamera.Setup.GetSurfaceGeneration().FixedLengthLength = 150;
// m_objCamera.Setup.GetSurfaceGeneration().FixedLengthStartTrigger = GoSurfaceGenerationStartTrigger.Sequential;
// 접속 스레드 시작
m_ThreadConnect = new Thread(ThreadConnect);
m_ThreadConnect.Start(this);
bReturn = true;
} while(false);
return(bReturn);
}
private void StopButton_Click(object sender, RoutedEventArgs e)
{
_system.Stop();
string sts = _sensor.State.ToString();
updateMsg("sensor current state:" + sts);
updateMsg("System stopped");
}
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);
}
/// <summary>
/// 停止监听
/// </summary>
public void StopListen()
{
try
{
system.Stop();
}
catch (Exception ex) {
Console.WriteLine("StopListen Error:" + ex.Message);
}
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
// 释放资源用
accessor.Dispose();
mmf.Dispose();
// 退出时停止Gocator
if (if_Gocator_init)
{
GC_system.Stop();
}
}
public bool Disconnect()
{
if (FrameworkExtenion.IsSimulate)
{
return(true);
}
if (sensor == null)
{
return(false);
}
if (EnableAccelerator)
{
//accelerator.Detach(sensor);
//accelerator.Stop();
//accelerator.Dispose();
}
try
{
//sensor.Disconnect();
//sensor.Dispose();
//sensor = null;
system.Stop();
system.EnableData(false);
system.Dispose();
system = null;
}
catch (Exception)
{
return(false);
}
return(true);
}
public void DisconnectSensor() //disconnectSensor and ReadDataStop
{
try
{
if (sensor_main.IsConnected())
{
sensor_main.Disconnect();
sensor_main.Dispose();
}
system_main.Stop();
}
catch (Exception ex)
{
}
}
/// <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);
}
public bool Connect()
{
if (FrameworkExtenion.IsSimulate)
{
return(true);
}
try
{
system = new GoSystem();
system.Stop();
if (EnableAccelerator)
{
KIpAddress ipAddress = KIpAddress.Parse(AcceleratorIp);
sensor = system.FindSensorByIpAddress(ipAddress);
//accelerator = new GoAccelerator();
//accelerator.Start();
//accelerator.Attach(sensor);
}
else
{
KIpAddress ipAddress = KIpAddress.Parse(IpStr);
sensor = system.FindSensorByIpAddress(ipAddress);
}
sensor.Connect();
}
catch (Exception ex)
{
LastError = "ConnectError:" + ex.Message;
return(false);
}
return(true);
}
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);
}
public void StopGetPoint()
{
system.Stop();
}
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);
}
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);
}
public void ReceiveData(KObject data)
{
// 데이터 들어오면 카메라 시스템 정지
var pDocument = DeepSight.CDocument.GetDocument;
//if( CDefine.enumTrigger.TRIGGER_OFF == pDocument.GetTrigger( ( int )CDefine.enumCamera.CAMERA_1 ) ) return;
m_objCameraSystem.Stop();
CImageData3D objImageData3D = new CImageData3D();
// 일단 해상도를 임의로 지정하자
GoDataSet dataSet = ( GoDataSet )data;
pDocument.SetUpdateLog(CDefine.enumLogType.LOG_PROCESS, "GOCATOR RECEIVE DATA : " + dataSet.Count.ToString());
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: {
#pragma warning disable CS0618 // 형식 또는 멤버는 사용되지 않습니다.
GoSurfaceMsg surfaceMsg = ( GoSurfaceMsg )dataObj;
#pragma warning restore CS0618 // 형식 또는 멤버는 사용되지 않습니다.
objImageData3D.iOffsetZ = surfaceMsg.ZOffset;
objImageData3D.iResolutionX = surfaceMsg.XResolution; // * DEF_3D_DATA_MULTIPLE;
objImageData3D.iResolutionY = surfaceMsg.YResolution;
objImageData3D.iResolutionZ = surfaceMsg.ZResolution;
int lWidth = objImageData3D.iWidth = ( int )surfaceMsg.Width;
int lHeight = objImageData3D.iHeight = ( int )surfaceMsg.Length;
int bufferSize = lWidth * lHeight;
IntPtr bufferPointer = surfaceMsg.Data;
Console.WriteLine("Whole Part Height Map received:");
Console.WriteLine(" Buffer width: {0}", lWidth);
Console.WriteLine(" Buffer Height: {0}", lHeight);
objImageData3D.objHeightDataOrigin = new short[bufferSize];
Marshal.Copy(bufferPointer, objImageData3D.objHeightDataOrigin, 0, objImageData3D.objHeightDataOrigin.Length);
// SetDataToCsv("d:\\test.csv", objImageData3D.objHeightDataOrigin);
}
break;
case GoDataMessageType.SurfaceIntensity: {
GoSurfaceIntensityMsg surfaceMsg = ( GoSurfaceIntensityMsg )dataObj;
long width = surfaceMsg.Width;
long length = surfaceMsg.Length;
long bufferSize = width * length;
IntPtr bufferPointeri = surfaceMsg.Data;
Console.WriteLine("Whole Part Intensity Image received:");
Console.WriteLine(" Buffer width: {0}", width);
Console.WriteLine(" Buffer length: {0}", length);
objImageData3D.objIntensityDataOrigin = new byte[bufferSize];
Marshal.Copy(bufferPointeri, objImageData3D.objIntensityDataOrigin, 0, objImageData3D.objIntensityDataOrigin.Length);
// objImageData3D.objBitmapIntensity = CopyDataToBitmap( ( int )length, ( int )width, objImageData3D.objIntensityDataOrigin );
// objImageData3D.objBitmapIntensity.Save( "d:\\Intensity.bmp" );
}
break;
default:
break;
}
}
if (null != m_objCallback)
{
CImageData objData = new CImageData();
objData.bGrabComplete = true;
objData.bitmapImage = objImageData3D.objBitmapIntensity;
objData.objCameraData3D = objImageData3D;
m_objCallback(objData);
}
iGCCollectCount++;
if (1 < iGCCollectCount)
{
GC.Collect();
iGCCollectCount = 0;
}
}
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();
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.UniformProfile:
{
GoResampledProfileMsg profileMsg = (GoResampledProfileMsg)dataObj;
Console.WriteLine(" Resampled Profile Message batch count: {0}", profileMsg.Count);
for (UInt32 k = 0; k < profileMsg.Count; ++k)
{
int validPointCount = 0;
int profilePointCount = profileMsg.Width;
Console.WriteLine(" Item[{0}]: Profile data ({1} points)", k, profileMsg.Width);
context.xResolution = (double)profileMsg.XResolution / 1000000;
context.zResolution = (double)profileMsg.ZResolution / 1000000;
context.xOffset = (double)profileMsg.XOffset / 1000;
context.zOffset = (double)profileMsg.ZOffset / 1000;
short[] points = new short[profilePointCount];
ProfilePoint[] profileBuffer = new ProfilePoint[profilePointCount];
IntPtr pointsPtr = profileMsg.Data;
Marshal.Copy(pointsPtr, points, 0, points.Length);
for (UInt32 arrayIndex = 0; arrayIndex < profilePointCount; ++arrayIndex)
{
if (points[arrayIndex] != -32768)
{
profileBuffer[arrayIndex].x = context.xOffset + context.xResolution * arrayIndex;
profileBuffer[arrayIndex].z = context.zOffset + context.zResolution * points[arrayIndex];
validPointCount++;
}
else
{
profileBuffer[arrayIndex].x = context.xOffset + context.xResolution * arrayIndex;
profileBuffer[arrayIndex].z = -32768;
}
}
Console.WriteLine("Received {0} Range Points", profilePointCount);
Console.WriteLine("Valid Points {0}", validPointCount);
}
}
break;
case GoDataMessageType.ProfilePointCloud:
{
GoProfileMsg profileMsg = (GoProfileMsg)dataObj;
Console.WriteLine(" Profile Message batch count: {0}", profileMsg.Count);
for (UInt32 k = 0; k < profileMsg.Count; ++k)
{
int validPointCount = 0;
long profilePointCount = profileMsg.Width;
Console.WriteLine(" Item[{0}]: Profile data ({1} points)", i, profileMsg.Width);
context.xResolution = profileMsg.XResolution / 1000000;
context.zResolution = profileMsg.ZResolution / 1000000;
context.xOffset = profileMsg.XOffset / 1000;
context.zOffset = profileMsg.ZOffset / 1000;
GoPoints[] points = new GoPoints[profilePointCount];
ProfilePoint[] profileBuffer = new ProfilePoint[profilePointCount];
int structSize = Marshal.SizeOf(typeof(GoPoints));
IntPtr pointsPtr = profileMsg.Data;
for (UInt32 array = 0; array < profilePointCount; ++array)
{
IntPtr incPtr = new IntPtr(pointsPtr.ToInt64() + array * structSize);
points[array] = (GoPoints)Marshal.PtrToStructure(incPtr, typeof(GoPoints));
}
for (UInt32 arrayIndex = 0; arrayIndex < profilePointCount; ++arrayIndex)
{
if (points[arrayIndex].x != -32768)
{
profileBuffer[arrayIndex].x = context.xOffset + context.xResolution * points[arrayIndex].x;
profileBuffer[arrayIndex].z = context.xOffset + context.xResolution * points[arrayIndex].y;
validPointCount++;
}
else
{
profileBuffer[arrayIndex].x = -32768;
profileBuffer[arrayIndex].z = -32768;
}
}
Console.WriteLine("Received {0} Range Points", profilePointCount);
Console.WriteLine("Valid Points {0}", validPointCount);
}
}
break;
case GoDataMessageType.ProfileIntensity:
{
GoProfileIntensityMsg profileMsg = (GoProfileIntensityMsg)dataObj;
Console.WriteLine(" Profile Intensity Message batch count: {0}", profileMsg.Count);
for (UInt32 k = 0; k < profileMsg.Count; ++k)
{
byte[] intensity = new byte[profileMsg.Width];
IntPtr intensityPtr = profileMsg.Data;
Marshal.Copy(intensityPtr, intensity, 0, intensity.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);
return(1);
}