public void AsyncReceiveData(KObject data)
{
GoDataSet dataset = (GoDataSet)data;
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);
getStamp.FrameIndex = stamp.FrameIndex;
getStamp.Timestamp = stamp.Timestamp;
getStamp.Encoder = stamp.Encoder;
get_stamp_FrameIndex.Add(stamp.FrameIndex);
get_stamp_TimeStamp.Add(stamp.Timestamp);
get_stamp_EncoderValue.Add(stamp.Encoder);
}
dataReceivedFlag.Stamp = 1;
}
break;
case GoDataMessageType.Measurement:
{
GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj;
for (UInt32 k = 0; k < measurementMsg.Count; k++)
{
GoMeasurementData measurementData = measurementMsg.Get(k);
getMeasurement.Id = measurementMsg.Id;
getMeasurement.value = measurementData.Value;
getMeasurement.decison = measurementData.Decision;
get_measurementMsg_Id.Add(measurementMsg.Id);
get_measurementMsg_Value.Add(measurementData.Value);
get_measurementMsg_Decison.Add(measurementData.Decision);
}
dataReceivedFlag.Measurement = 1;
}
break;
case GoDataMessageType.Alignment:
{
GoAlignMsg dataItem = (GoAlignMsg)dataSet.Get(i);
if (dataItem.Status == KStatus.Ok)
{
calibrationSuccessfulBl = true;
}
else
{
calibrationSuccessfulBl = false;
}
}
break;
}
}
}
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);
}
int CalibrationSensor(int goalignmentType, int alignmentmovingTarget, double diskDiameter, double diskHeight)
{
try
{
GoSetup setup = sensor_main.Setup;
setup.AlignmentType = GoAlignmentType.Moving;
setup.AlignmentMovingTarget = GoAlignmentTarget.Disk;
setup.DiskDiameter = diskDiameter;
setup.DiskHeight = diskHeight;
setup.AlignmentEncoderCalibrateEnabled = true;
sensor_main.Align(); //wait for calibration disk to be scanned
dataSet = system_main.ReceiveData(300000000);
for (UInt32 i = 0; i < dataSet.Count; i++)
{
GoAlignMsg dataItem = (GoAlignMsg)dataSet.Get(i);
if (dataItem.MessageType == GoDataMessageType.Alignment)
{
if (dataItem.Status == KStatus.Ok)
{
calibrationSuccessfulBl = true;
}
else
{
calibrationSuccessfulBl = false;
}
}
}
}
catch (KException ex)
{
if (ex.Status == KStatus.ErrorTimeout)
{
errorInformation.Add(DateTime.Now.ToString("yyyy:MM:dd HHmmss") + "calibration disk time out");
}
else if (ex.Status != KStatus.Ok)
{
errorInformation.Add(DateTime.Now.ToString("yyyy:MM:dd HHmmss") + "calibration error code" + ex.Status);
}
}
return(0);
}