public override ScanData DoTask(ScanData source)
{
if (!HardwareAvailable)
{
throw new Exception(string.Format("HardWare missing : TURNTABLE:{0} LASER:{1} CAMERA:{2}", HardwarePresentTrace(TurnTable), HardwarePresentTrace(Laser), HardwarePresentTrace(Camera)));
}
RotationStep = (double)Math.Round(TurnTable.MinimumRotation() + (15f - TurnTable.MinimumRotation()) * ((100 - Precision) / 100f), 2);
Settings settings = Settings.Get <Settings>();
CameraLoc.X = settings.Read(Settings.CAMERA, Settings.X, 0f);
CameraLoc.Y = settings.Read(Settings.CAMERA, Settings.Y, 270f);
CameraLoc.Z = settings.Read(Settings.CAMERA, Settings.Z, 70f);
double thres = settings.Read(Settings.LASER_COMMON, Settings.MAGNITUDE_THRESHOLD, 10);
int min = settings.Read(Settings.LASER_COMMON, Settings.MIN_WIDTH, 1);
int max = settings.Read(Settings.LASER_COMMON, Settings.MAX_WIDTH, 60);
ICameraProxy camera = Settings.Get <ICameraProxy>();
ImageProcessor = new ImageProcessor(thres, min, max);
SizeF tableSize = new SizeF(
(float)settings.Read(Settings.TABLE, Settings.DIAMETER, 20f),
(float)settings.Read(Settings.TABLE, Settings.HEIGHT, 15f)
);
Lasers = new List <LaserInfo>(LaserId.Length);
for (int i = 0; i < LaserId.Length; i++)
{
Lasers.Add(new LaserInfo(LaserId[i], CameraLoc, tableSize));
}
ScanData ret = new ScanData();
UpdatePercent(0, ret);
int fadeTime = settings.Read(Settings.LASER_COMMON, Settings.FADE_DELAY, 100);
TurnTable.InitialiseRotation();
int laserCount = Lasers.Count;
// Scan all laser location,
for (double currentAngle = 0; currentAngle < 360f; currentAngle += RotationStep)
{
if (this.CancelPending)
{
return(ret);
}
Laser.TurnAll(false); // All laser off
Thread.Sleep(fadeTime); // wait fade laser
Bitmap imgoff = GetCapture();
for (int laserIndex = 0; laserIndex < laserCount; laserIndex++)
{
Laser.Turn(Lasers[laserIndex].Id, true);
Thread.Sleep(fadeTime); // wait fade laser
Bitmap imgon = GetCapture();
Laser.Turn(Lasers[laserIndex].Id, false);
List <PointF> laserloc = ImageProcessor.Process(imgoff, imgon, null);
Point3DList samplePoints = Lasers[laserIndex].MapPoints(laserloc, UseTexture ? imgoff : null, UseCorrectionMatrix);
PositionPostProcess(ref samplePoints, -Utils.DEGREES_TO_RADIANS(currentAngle));
ScanLine line = new ScanLine(laserIndex, samplePoints);
line.DisplayAsLine = true;
ret.Add(line);
}
int percent = (int)((currentAngle / 360f) * 100f);
UpdatePercent(percent, ret);
TurnTable.Rotate(currentAngle, false);
}
LineSort lineSort = new LineSort();
ret = lineSort.Run(ret, CallerControl, this.Worker, this.WorkerArg);
if (!string.IsNullOrEmpty(FileName))
{
string path = Path.Combine(Program.UserDataPath, FileName);
ScanDataIO.Write(path, ret);
}
return(ret);
}
protected virtual void Save(ScanData source)
{
ScanDataIO.Write(Filename, source);
}