/// <summary>
/// initialize /Connect sensor
/// </summary>
/// <returns></returns>
public bool Go_Init_Sensor()
{
bool rtn = false;
try
{
KApiLib.Construct();
GoSdkLib.Construct();
system_main = new GoSystem();
accelerator = new GoAccelerator();
accelerator.Start();
KIpAddress ipAddress = KIpAddress.Parse(SENSOR_MAIN_IP);
sensor_main = system_main.FindSensorByIpAddress(ipAddress);
accelerator.Attach(sensor_main);
sensor_main.Connect();
system_main.EnableData(true);
system_main.SetDataHandler(AsyncReceiveData);
system_main.Start();
}
catch (Exception ex)
{
rtn = true;
}
return(rtn);
}
static int Main(string[] args)
{
try
{
KApiLib.Construct();
GoSdkLib.Construct();
GoSystem system = new GoSystem();
GoAccelerator accelerator = new GoAccelerator();
GoSensor sensor;
KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP);
GoDataSet dataSet = new GoDataSet();
accelerator.Start();
sensor = system.FindSensorByIpAddress(ipAddress);
accelerator.Attach(sensor);
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();
accelerator.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);
}
