public static void GetProfile(out double[] adValueX, out double[] adValueZ)
{
int iRetValue;
uint uiLostProfiles = 0;
adValueX = new double[m_uiResolution];
adValueZ = new double[m_uiResolution];
//Resize the profile buffer to the maximal profile size
byte[] abyProfileBuffer = new byte[m_uiResolution * 4 + 16];
byte[] abyTimestamp = new byte[16];
CLLTI.TransferProfiles(m_hLLT, CLLTI.TTransferProfileType.NORMAL_TRANSFER, 1);
//Sleep for a while to warm up the transfer
System.Threading.Thread.Sleep(12);
//Gets 1 profile in "polling-mode" and PURE_PROFILE configuration
CLLTI.GetActualProfile(m_hLLT, abyProfileBuffer, abyProfileBuffer.GetLength(0), CLLTI.TProfileConfig.PURE_PROFILE, ref uiLostProfiles);
iRetValue = CLLTI.ConvertProfile2Values(m_hLLT, abyProfileBuffer, m_uiResolution, CLLTI.TProfileConfig.PURE_PROFILE, m_tscanCONTROLType,
0, 1, null, null, null, adValueX, adValueZ, null, null);
//if (((iRetValue & CLLTI.CONVERT_X) == 0) || ((iRetValue & CLLTI.CONVERT_Z) == 0)) {
// Console.WriteLine("Error during Converting of profile data", iRetValue);
// return;
//}
}
// Display the timestamp
static void DisplayTimestamp(byte[] abyTimestamp)
{
double dShutterOpen = 0, dShutterClose = 0;
uint uiProfileCount = 0;
//Decode the timestamp
CLLTI.Timestamp2TimeAndCount(abyTimestamp, ref dShutterOpen, ref dShutterClose, ref uiProfileCount);
Console.WriteLine("ShutterOpen: " + dShutterOpen + " ShutterClose: " + dShutterClose);
Console.WriteLine("ProfileCount: " + uiProfileCount);
}
// Display the error text
static void OnError(string strErrorTxt, int iErrorValue)
{
byte[] acErrorString = new byte[200];
Console.WriteLine(strErrorTxt);
if (CLLTI.TranslateErrorValue(m_hLLT, iErrorValue, acErrorString, acErrorString.GetLength(0))
>= CLLTI.GENERAL_FUNCTION_OK)
{
Console.WriteLine(System.Text.Encoding.ASCII.GetString(acErrorString, 0, acErrorString.GetLength(0)));
}
}
public static void WriteCommand(uint command, uint data)
{
CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SHARPNESS,
(uint)(command << 9) + (toggle << 8) + data);
if (toggle == 1)
{
toggle = 0;
}
else
{
toggle = 1;
}
}
public static void Init()
{
uint[] auiFirewireInterfaces = new uint[MAX_INTERFACE_COUNT];
uint[] auiResolutions = new uint[MAX_RESOULUTIONS];
uint uiShutterTime = 11;
uint uiIdleTime = 900;
m_hLLT = 0;
m_uiResolution = 0;
m_hLLT = CLLTI.CreateLLTDevice(CLLTI.TInterfaceType.INTF_TYPE_ETHERNET);
CLLTI.SetDeviceInterface(m_hLLT, 3232240897, 0);
CLLTI.Connect(m_hLLT);
uint t = 0;
//Console.WriteLine("FFFFFFFFFFFFFF");
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_MEASURINGFIELD, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_MEASURINGFIELD, t);
//Console.WriteLine(t);
Type tt = typeof(CLLTI);
var mas = tt.GetFields();
foreach (var item in mas)
{
if (item.Name.Contains("FEATURE") || item.Name.Contains("INQUIRY"))
{
FieldInfo fi = typeof(CLLTI).GetField(item.Name);
object fieldValue = fi.GetValue(t);
CLLTI.GetFeature(m_hLLT, (uint)fieldValue, ref t);
CLLTI.SetFeature(m_hLLT, (uint)fieldValue, t);
//Console.WriteLine($"{item.Name}");
}
//Console.WriteLine($"{item.Name}");
}
//Console.WriteLine("FFFFFFFFFFFFFF");
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_LASERPOWER, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_LASERPOWER, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_MEASURINGFIELD, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_MEASURINGFIELD, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_TRIGGER, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_TRIGGER, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SHUTTERTIME, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SHUTTERTIME, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_IDLETIME, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_IDLETIME, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_PROCESSING_PROFILEDATA, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_PROCESSING_PROFILEDATA, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_THRESHOLD, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_THRESHOLD, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_MAINTENANCEFUNCTIONS, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_MAINTENANCEFUNCTIONS, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_ANALOGFREQUENCY, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_ANALOGFREQUENCY, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_ANALOGOUTPUTMODES, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_ANALOGOUTPUTMODES, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_CMMTRIGGER, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_CMMTRIGGER, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_REARRANGEMENT_PROFILE, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_REARRANGEMENT_PROFILE, t);
// Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_PROFILE_FILTER, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_PROFILE_FILTER, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_RS422_INTERFACE_FUNCTION, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_RS422_INTERFACE_FUNCTION, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SATURATION, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SATURATION, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_TEMPERATURE, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_TEMPERATURE, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_CAPTURE_QUALITY, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_CAPTURE_QUALITY, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SHARPNESS, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SHARPNESS, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_LASERPOWER, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_LASERPOWER, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_MEASURINGFIELD, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_MEASURINGFIELD, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_TRIGGER, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_TRIGGER, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_SHUTTERTIME, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_SHUTTERTIME, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_IDLETIME, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_IDLETIME, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_PROCESSING_PROFILEDATA, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_PROCESSING_PROFILEDATA, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_THRESHOLD, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_THRESHOLD, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_MAINTENANCEFUNCTIONS, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_MAINTENANCEFUNCTIONS, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_ANALOGFREQUENCY, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_ANALOGFREQUENCY, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_ANALOGOUTPUTMODES, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_ANALOGOUTPUTMODES, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_CMMTRIGGER, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_CMMTRIGGER, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_REARRANGEMENT_PROFILE, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_REARRANGEMENT_PROFILE, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_PROFILE_FILTER, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_PROFILE_FILTER, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_RS422_INTERFACE_FUNCTION, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_RS422_INTERFACE_FUNCTION, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_SATURATION, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_SATURATION, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_TEMPERATURE, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_TEMPERATURE, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_CAPTURE_QUALITY, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_CAPTURE_QUALITY, t);
//Console.WriteLine(t);
//CLLTI.GetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_SHARPNESS, ref t);
//CLLTI.SetFeature(m_hLLT, CLLTI.INQUIRY_FUNCTION_SHARPNESS, t);
//Console.WriteLine(t);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SERIAL, 214020058);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_LASERPOWER, 2);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_MEASURINGFIELD, 0);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_TRIGGER, 16777316); //0
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SHUTTERTIME, 1); //1
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_IDLETIME, 3900); //3999
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_PROCESSING_PROFILEDATA, 623);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_THRESHOLD, 3200);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_MAINTENANCEFUNCTIONS, 2);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_ANALOGFREQUENCY, 2);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_ANALOGOUTPUTMODES, 2);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_CMMTRIGGER, 0);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_REARRANGEMENT_PROFILE, 2149096449);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_PROFILE_FILTER, 0);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_RS422_INTERFACE_FUNCTION, 4);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SATURATION, 4);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_TEMPERATURE, 3034);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_CAPTURE_QUALITY, 3034);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SHARPNESS, 0);
//// CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_MEASURINGFIELD, 0);
CLLTI.GetLLTType(m_hLLT, ref m_tscanCONTROLType);
CLLTI.GetResolutions(m_hLLT, auiResolutions, auiResolutions.GetLength(0));
m_uiResolution = auiResolutions[0];
CLLTI.SetResolution(m_hLLT, m_uiResolution);
CLLTI.SetProfileConfig(m_hLLT, CLLTI.TProfileConfig.PROFILE);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SHUTTERTIME, uiShutterTime);
//CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_IDLETIME, uiIdleTime);
//ushort start_z = 20000;
//ushort size_z = 25000;
//ushort start_x = 20000;
//ushort size_x = 25000;
//WriteCommand(0, 0); // Reset
//WriteCommand(0, 0); // Initialization
//WriteCommand(2, 8); // Navigate in register
//WriteValue2Register(start_z);
//WriteValue2Register(size_z);
//WriteValue2Register(start_x);
//WriteValue2Register(size_x);
// WriteCommand(0, 0); // Stop writing process
}
public static void scanCONTROL_Sample()
{
uint[] auiInterfaces = new uint[MAX_INTERFACE_COUNT];
uint[] auiResolutions = new uint[MAX_RESOULUTIONS];
StringBuilder sbDevName = new StringBuilder(100);
StringBuilder sbVenName = new StringBuilder(100);
uint uiBufferCount = 20, uiMainReflection = 0, uiPacketSize = 1024;
int iInterfaceCount = 0;
int iRetValue;
bool bOK = true;
bool bConnected = false;
ConsoleKeyInfo cki;
m_hLLT = 0;
m_uiResolution = 0;
Console.WriteLine("----- Connect to scanCONTROL -----\n");
//Create a Ethernet Device -> returns handle to LLT device
m_hLLT = CLLTI.CreateLLTDevice(CLLTI.TInterfaceType.INTF_TYPE_ETHERNET);
if (m_hLLT != 0)
{
Console.WriteLine("CreateLLTDevice OK");
}
else
{
Console.WriteLine("Error during CreateLLTDevice\n");
}
// Get the available interfaces from the scanCONTROL-device
iInterfaceCount = 1;
if (iInterfaceCount <= 0)
{
Console.WriteLine("FAST: There is no scanCONTROL connected");
}
else if (iInterfaceCount == 1)
{
Console.WriteLine("FAST: There is 1 scanCONTROL connected ");
}
else
{
Console.WriteLine("FAST: There are " + iInterfaceCount + " scanCONTROL's connected");
}
if (iInterfaceCount >= 1)
{
uint target4 = auiInterfaces[0] & 0x000000FF;
uint target3 = (auiInterfaces[0] & 0x0000FF00) >> 8;
uint target2 = (auiInterfaces[0] & 0x00FF0000) >> 16;
uint target1 = (auiInterfaces[0] & 0xFF000000) >> 24;
// Set the first IP address detected by GetDeviceInterfacesFast to handle
Console.WriteLine("Select the device interface: " + target1 + "." + target2 + "." + target3 + "." + target4);
if ((iRetValue = CLLTI.SetDeviceInterface(m_hLLT, auiInterfaces[0], 0)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during SetDeviceInterface", iRetValue);
bOK = false;
}
if (bOK)
{
// Connect to sensor with the device interface set before
Console.WriteLine("Connecting to scanCONTROL");
if ((iRetValue = CLLTI.Connect(m_hLLT)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during Connect", iRetValue);
bOK = false;
}
else
{
bConnected = true;
}
}
if (bOK)
{
// Get the scanCONTROL type and check if it is valid
Console.WriteLine("Get scanCONTROL type");
if ((iRetValue = CLLTI.GetLLTType(m_hLLT, ref m_tscanCONTROLType)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during GetLLTType", iRetValue);
bOK = false;
}
if (iRetValue == CLLTI.GENERAL_FUNCTION_DEVICE_NAME_NOT_SUPPORTED)
{
Console.WriteLine(" - Can't decode scanCONTROL type. Please contact Micro-Epsilon for a newer version of the LLT.dll.");
}
if (m_tscanCONTROLType >= CLLTI.TScannerType.scanCONTROL28xx_25 && m_tscanCONTROLType <= CLLTI.TScannerType.scanCONTROL28xx_xxx)
{
Console.WriteLine(" - The scanCONTROL is a scanCONTROL28xx");
}
else if (m_tscanCONTROLType >= CLLTI.TScannerType.scanCONTROL27xx_25 && m_tscanCONTROLType <= CLLTI.TScannerType.scanCONTROL27xx_xxx)
{
Console.WriteLine(" - The scanCONTROL is a scanCONTROL27xx");
}
else if (m_tscanCONTROLType >= CLLTI.TScannerType.scanCONTROL26xx_25 && m_tscanCONTROLType <= CLLTI.TScannerType.scanCONTROL26xx_xxx)
{
Console.WriteLine(" - The scanCONTROL is a scanCONTROL26xx");
}
else if (m_tscanCONTROLType >= CLLTI.TScannerType.scanCONTROL29xx_25 && m_tscanCONTROLType <= CLLTI.TScannerType.scanCONTROL29xx_xxx)
{
Console.WriteLine(" - The scanCONTROL is a scanCONTROL29xx");
}
else
{
Console.WriteLine(" - The scanCONTROL is a undefined type\nPlease contact Micro-Epsilon for a newer SDK");
}
// Get all possible resolutions for connected sensor and save them in array
Console.WriteLine("Get all possible resolutions");
if ((iRetValue = CLLTI.GetResolutions(m_hLLT, auiResolutions, auiResolutions.GetLength(0))) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during GetResolutions", iRetValue);
bOK = false;
}
// Set the max. possible resolution
m_uiResolution = auiResolutions[0];
}
// Set scanner settings to valid parameters for this example
if (bOK)
{
Console.WriteLine("\n----- Set scanCONTROL Parameters -----\n");
Console.WriteLine("Set resolution to " + m_uiResolution);
if ((iRetValue = CLLTI.SetResolution(m_hLLT, m_uiResolution)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during SetResolution", iRetValue);
bOK = false;
}
}
if (bOK)
{
Console.WriteLine("Set Profile config to PROFILE");
if ((iRetValue = CLLTI.SetProfileConfig(m_hLLT, CLLTI.TProfileConfig.PROFILE)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during SetProfileConfig", iRetValue);
bOK = false;
}
}
while (true)
{
}
if (bOK)
{
Console.WriteLine("Set trigger to internal");
if ((iRetValue = CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_TRIGGER, 0x00000000)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during SetFeature(FEATURE_FUNCTION_TRIGGER)", iRetValue);
bOK = false;
}
}
if (bOK)
{
Console.WriteLine("Set shutter time to " + m_uiShutterTime);
if ((iRetValue = CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_SHUTTERTIME, m_uiShutterTime)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during SetFeature(FEATURE_FUNCTION_SHUTTERTIME)", iRetValue);
bOK = false;
}
}
if (bOK)
{
Console.WriteLine("Set idle time to " + m_uiIdleTime);
if ((iRetValue = CLLTI.SetFeature(m_hLLT, CLLTI.FEATURE_FUNCTION_IDLETIME, m_uiIdleTime)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during SetFeature(FEATURE_FUNCTION_IDLETIME)", iRetValue);
bOK = false;
}
}
// Main tasks in this example
if (bOK)
{
Console.WriteLine("\n----- Poll from scanCONTROL -----\n");
GetProfiles_Poll();
}
Console.WriteLine("\n----- Disconnect from scanCONTROL -----\n");
if (bConnected)
{
// Disconnect from the sensor
Console.WriteLine("Disconnect the scanCONTROL");
if ((iRetValue = CLLTI.Disconnect(m_hLLT)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during Disconnect", iRetValue);
}
}
}
//Wait for a keyboard hit
while (true)
{
cki = Console.ReadKey();
if (cki.KeyChar != 0)
{
break;
}
}
}
/*
* Evalute reveived profiles in polling mode
*/
static void GetProfiles_Poll()
{
int iRetValue;
uint uiLostProfiles = 0;
double[] adValueX = new double[m_uiResolution];
double[] adValueZ = new double[m_uiResolution];
// Allocate profile buffer to the maximal profile size
byte[] abyProfileBuffer = new byte[m_uiResolution * 64];
byte[] abyTimestamp = new byte[16];
// Allocate buffer for multiple profiles
byte[] abyFullProfileBuffer = new byte[m_uiResolution * 64 * m_uiNeededProfileCount];
Console.WriteLine("Demonstrate the profile transfer via poll function");
// Start continous profile transmission
Console.WriteLine("Enable the measurement");
if ((iRetValue = CLLTI.TransferProfiles(m_hLLT, CLLTI.TTransferProfileType.NORMAL_TRANSFER, 1)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during TransferProfiles", iRetValue);
return;
}
//Sleep for a while to warm up the transfer
System.Threading.Thread.Sleep(100);
/*
* This shows how to get multiple Profile in polling mode with PROFILE config, which means all data is evaluated.
* To see how to get a single profiles with the PURE_PROFILE config, see the Firewire Poll example!
*/
while (m_uiRecivedProfileCount < m_uiNeededProfileCount)
{
// Get the next transmitted partial profile
if ((iRetValue = CLLTI.GetActualProfile(m_hLLT, abyProfileBuffer, abyProfileBuffer.GetLength(0), CLLTI.TProfileConfig.PROFILE, ref uiLostProfiles))
!= abyProfileBuffer.GetLength(0))
{
OnError("Error during GetActualProfile", iRetValue);
return;
}
Console.WriteLine("Get profile in polling-mode and PROFILE configuration OK");
// Copy received buffer to buffer for multiple profiles
Array.Copy(abyProfileBuffer, 0, abyFullProfileBuffer, m_uiRecivedProfileCount * m_uiResolution * 64, abyProfileBuffer.GetLength(0));
// Sleep according to scanner frequency (for high frequencies it is recommended to use the callback example)
System.Threading.Thread.Sleep((int)(m_uiShutterTime + m_uiIdleTime) / 100);
m_uiRecivedProfileCount++;
}
// Convert partial profile to x and z values
Console.WriteLine("Converting of profile data from the first reflection");
iRetValue = CLLTI.ConvertProfile2Values(m_hLLT, abyProfileBuffer, m_uiResolution, CLLTI.TProfileConfig.PROFILE, m_tscanCONTROLType, 0, 1, null, null, null, adValueX, adValueZ, null, null);
if (((iRetValue & CLLTI.CONVERT_X) == 0) || ((iRetValue & CLLTI.CONVERT_Z) == 0))
{
OnError("Error during Converting of profile data", iRetValue);
return;
}
// Display x and z values
DisplayProfile(adValueX, adValueZ, m_uiResolution);
Console.WriteLine("Display the timestamp from the profile:");
// Extract the 16-byte timestamp from the profile buffer into timestamp buffer and display it
for (int i = 1; i < m_uiNeededProfileCount; i++)
{
for (int iPos = 0; iPos < 16; iPos++)
{
abyTimestamp[iPos] = abyFullProfileBuffer[(i * m_uiResolution * 64 - 16) + iPos];
}
DisplayTimestamp(abyTimestamp);
}
// Stop continous profile transmission
Console.WriteLine("Disable the measurement");
if ((iRetValue = CLLTI.TransferProfiles(m_hLLT, CLLTI.TTransferProfileType.NORMAL_TRANSFER, 0)) < CLLTI.GENERAL_FUNCTION_OK)
{
OnError("Error during TransferProfiles", iRetValue);
return;
}
}