private void task()
{
try {
MotorControler mc = MotorControler.GetInstance(parameterManager);
Surface sur = Surface.GetInstance(parameterManager);
Camera camera = Camera.GetInstance();
Led led = Led.GetInstance();
Vector3 initialpoint = mc.GetPoint();
camera.Stop();
string txtfileName = string.Format(@"C:\img\{0}_{1}.txt",
initialpoint.X,
initialpoint.Y);
StreamWriter twriter = File.CreateText(txtfileName);
double thickness = sur.UpTop - initialpoint.Z;
int npict = (int)(thickness / 0.002) + 3;
byte[] bb = new byte[440 * 512 * npict];
string datfileName = string.Format(@"C:\img\{0}_{1}.dat",
(int)(initialpoint.X),
(int)(initialpoint.Y)
);
BinaryWriter writer = new BinaryWriter(File.Open(datfileName, FileMode.Create));
string stlog = "";
int viewcounter = 0;
Vector3 p = new Vector3();
while (viewcounter < npict)
{
mc.MoveDistance(0.002, VectorId.Z);
mc.Join();
byte[] b = Ipt.CaptureMain();
p = mc.GetPoint();
stlog += String.Format("{0} {1} {2} {3} {4}\n",
System.DateTime.Now.ToString("HHmmss\\.fff"),
(p.X * 1000).ToString("0.0"),
(p.Y * 1000).ToString("0.0"),
(p.Z * 1000).ToString("0.0"),
viewcounter);
b.CopyTo(bb, 440 * 512 * viewcounter);
viewcounter++;
}
twriter.Write(stlog);
twriter.Close();
writer.Write(bb);
writer.Flush();
writer.Close();
GC.Collect();
GC.WaitForPendingFinalizers();
GC.Collect();
camera.Start();
} catch (SystemException) {
}
}//task