private unsafe HRESULT CodeSpec(byte *memStream, uint size)
{
switch (mDecoderStatus)
{
case kStatus.Finished:
return(HRESULT.S_OK);
case kStatus.Error:
return(HRESULT.S_FALSE);
case kStatus.NeedInit:
//_inStream.Init();
if (!PPMD.Ppmd7z_RangeDec_Init(mRangeDecoder))
{
mDecoderStatus = kStatus.Error;
return(HRESULT.S_FALSE);
}
mDecoderStatus = kStatus.Normal;
PPMD.Ppmd7_Init(mState, mSettingOrder);
break;
}
/* if (mLength.HasValue) */
{
var rem = mLength - mPosition;
if (size > rem)
{
size = (uint)rem;
}
}
uint i;
int sym = 0;
for (i = 0; i != size; i++)
{
sym = PPMD.Ppmd7_DecodeSymbol(mState, mRangeDecoder);
if (mExceededInput || sym < 0)
{
break;
}
memStream[i] = (byte)sym;
}
mPosition += i;
if (mExceededInput)
{
mDecoderStatus = kStatus.Error;
return(HRESULT.E_FAIL);
}
if (sym < 0)
{
mDecoderStatus = (sym < -1) ? kStatus.Error : kStatus.Finished;
}
return(HRESULT.S_OK);
}
public bool DisConnect(ref string errMsg)
{
try
{
state = GoSdkWrapper.GoSystem_Disconnect(go_system);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_DisConnect Error:{0}", state);
return(false);
}
return(true);
}
catch (Exception ex)
{
errMsg = string.Format("GoSystem_DisConnect Error:{0}", ex.Message);
return(false);
}
}
public bool CutJob(string jobName, ref string errMsg)
{
try
{
state = GoSdkWrapper.GoSensor_CopyFile(go_sensor, jobName + ".job", "_live.job");
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSensor_CopyFile Error:{0}", state);
return(false);
}
return(true);
}
catch (Exception ex)
{
errMsg = string.Format("GoSensor_CopyFile Error:{0}", ex.Message);
return(false);
}
}
public bool Stop(ref string errMsg)
{
try
{
state = GoSdkWrapper.GoSystem_Stop(go_system);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Stop Error:{0}", state);
return(false);
}
ProfileRecFinish?.Invoke();
MeasurementRecFinish?.Invoke();
return(true);
}
catch (Exception ex)
{
errMsg = string.Format("GoSystem_Stop Error:{0}", ex.Message);
return(false);
}
}
public bool Download3dFile(string destpath, ref string errMsg)
{
try
{
state = GoSdkWrapper.GoSensor_DownloadFile(go_sensor, "_live.job", destpath + ".job");
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSensor_DownloadJob Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSensor_DownloadFile(go_sensor, "_live.rec", destpath + ".rec");
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSensor_DownloadRec Error:{0}", state);
return(false);
}
return(true);
}
catch (Exception ex)
{
errMsg = string.Format("GoSensor_DownloadFile Error:{0}", ex.Message);
return(false);
}
}
public bool connect(ref string errMsg)
{
if (gocatorIp != null)
{
state = GoSdkWrapper.GoSdk_Construct(ref go_api);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Construct Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_Construct(ref go_system, IntPtr.Zero);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Construct Error:{0}", state);
return(false);
}
addrPtr = Marshal.AllocHGlobal(Marshal.SizeOf(addr));
Marshal.StructureToPtr(addr, addrPtr, false);
state = GoSdkWrapper.kIpAddress_Parse(addrPtr, gocatorIp);
if (state != kStatus.kOK)
{
errMsg = string.Format("kIpAddress_Parse Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_FindSensorByIpAddress(go_system, addrPtr, ref go_sensor);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_FindSensorByIpAddress Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_Connect(go_system);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Connect Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_EnableData(go_system, true);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_EnableData Error:{0}", state);
return(false);
}
Setup = GoSdkWrapper.GoSensor_Setup(go_sensor);
zRange = GoSdkWrapper.GoSetup_ActiveAreaHeight(Setup, GoRole.GO_ROLE_MAIN);
z_byte_resolution = 255 / zRange;
zStart = GoSdkWrapper.GoSetup_ActiveAreaZ(Setup, GoRole.GO_ROLE_MAIN);
ondatatype = new onDataType(OnData);
state = GoSdkWrapper.GoSystem_SetDataHandler(go_system, ondatatype, context);
GC.KeepAlive(ondatatype);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_SetDataHandler Error:{0}", state);
return(false);
}
profileDataZ = new List <Profile>();
measurementDataList = new List <MeasurementData>();
#region 加密模块
SecretKey.License l = new SecretKey.License("license.dat", expirationTime, isStartCheck, tel);
l.GocatorId = GoSdkWrapper.GoSensor_Id(go_sensor).ToString();
l.Warn(warnStartDay, warnTime);
#endregion
context.serialNumber = GoSdkWrapper.GoSensor_Id(go_sensor);
GoRole role = GoRole.GO_ROLE_MAIN;
//context.yResolution =(double) GoSdkWrapper.GoSetup_YSpacingCount(Setup, role);
context.yResolution = GoSdkWrapper.GoSetup_EncoderSpacing(Setup);
context.xResolution = Math.Round(GoSdkWrapper.GoSetup_SpacingIntervalSystemValue(Setup, role), 3);
return(true);
}
else
{
errMsg = "Gocator ip is Empty";
return(false);
}
}
private unsafe HRESULT CodeSpec(byte* memStream, uint size)
{
switch (mDecoderStatus)
{
case kStatus.Finished:
return HRESULT.S_OK;
case kStatus.Error:
return HRESULT.S_FALSE;
case kStatus.NeedInit:
//_inStream.Init();
if (!PPMD.Ppmd7z_RangeDec_Init(mRangeDecoder))
{
mDecoderStatus = kStatus.Error;
return HRESULT.S_FALSE;
}
mDecoderStatus = kStatus.Normal;
PPMD.Ppmd7_Init(mState, mSettingOrder);
break;
}
/* if (mLength.HasValue) */
{
var rem = mLength - mPosition;
if (size > rem)
size = (uint)rem;
}
uint i;
int sym = 0;
for (i = 0; i != size; i++)
{
sym = PPMD.Ppmd7_DecodeSymbol(mState, mRangeDecoder);
if (mExceededInput || sym < 0)
break;
memStream[i] = (byte)sym;
}
mPosition += i;
if (mExceededInput)
{
mDecoderStatus = kStatus.Error;
return HRESULT.E_FAIL;
}
if (sym < 0)
mDecoderStatus = (sym < -1) ? kStatus.Error : kStatus.Finished;
return HRESULT.S_OK;
}
public void Stop()
{
Stopwatch sw = new Stopwatch();
sw.Start();
if ((status = (kStatus)GoDestroy(dataset)) != kStatus.kOK)
throw new Exception(("GoDestroy Error: " + (int)status));
if ((status = (kStatus)GoSystem_Stop(system)) != kStatus.kOK)
throw new Exception(("GoSystem_Stop Error: " + (int)status));
sw.Stop();
Console.WriteLine("Time to stop Gocator: {0}", sw.Elapsed);
}
/// <summary>
/// Starts the scanner and returns the surface
/// </summary>
/// <returns>
/// 0 = success, errors codes can be found in gocator manual
/// -1 general error
/// </returns>
public SurfaceData GetSurfaceData()
{
Stopwatch sw1 = new Stopwatch();
sw1.Start();
SurfaceData surfaceData = new SurfaceData();
if ((status = (kStatus)GoSystem_Start(system)) != kStatus.kOK)
throw new Exception("GoSystem_Start Error: " +(int)status);
while ((status = (kStatus)GoSystem_ReceiveData(system, ref dataset, 2000000)) != kStatus.kOK) ;
if (GoDataSet_Count(dataset) == 0)
throw new Exception("GoSystem_ReceiveData Error: Data received, but it was empty. Check ethernet output settings.");
// each result can have multiple data items
// loop through all items in result message
for (UInt32 i = 0; i < GoDataSet_Count(dataset); i++)
{
dataObj = GoDataSet_At(dataset, i);
// retrieve GoStamp message
if (GoDataMsg_Type(dataObj) == GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_STAMP)
{
stampMsg = dataObj;
for (UInt32 j = 0; j < GoStampMsg_Count(stampMsg); j++)
{
stampPtr = GoStampMsg_At(stampMsg, j);
stamp = (GoStamp)Marshal.PtrToStructure(stampPtr, typeof(GoStamp));
surfaceData.Stamp = stamp;
}
}
// retrieve surface data
if (GoDataMsg_Type(dataObj) == GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_SURFACE)
{
surfaceMsg = dataObj;
surfaceData.SurfaceInfo.Width = GoSurfaceMsg_Width(surfaceMsg);
surfaceData.SurfaceInfo.Height = GoSurfaceMsg_Length(surfaceMsg);
surfaceData.SurfaceInfo.XResolution = GoSurfaceMsg_XResolution(surfaceMsg);
surfaceData.SurfaceInfo.YResolution = GoSurfaceMsg_YResolution(surfaceMsg);
surfaceData.SurfaceInfo.XOffset = GoSurfaceMsg_XOffset(surfaceMsg);
surfaceData.SurfaceInfo.YOffset = GoSurfaceMsg_YOffset(surfaceMsg);
surfaceData.SurfaceInfo.ZOffset = GoSurfaceMsg_ZOffset(surfaceMsg);
surfaceData.SurfaceInfo.ZResolution = GoSurfaceMsg_ZResolution(surfaceMsg);
UInt32 bufferSize = surfaceData.SurfaceInfo.Width * surfaceData.SurfaceInfo.Height;
IntPtr bufferPointer = GoSurfaceMsg_RowAt(surfaceMsg, 0);
surfaceData.ranges = new short[bufferSize];
Marshal.Copy(bufferPointer, surfaceData.ranges, 0, surfaceData.ranges.Length);
Stopwatch sw = new Stopwatch();
sw.Start();
for (int j = 0; j < bufferSize; j++)
{
// surfaceData.ranges[j] = (short)(surfaceData.SurfaceInfo.ZOffset + surfaceData.ranges[j] * surfaceData.SurfaceInfo.ZResolution);
surfaceData.ranges[j] = (short)(Math.Pow(2, 15) - Math.Abs((int)surfaceData.ranges[j]));
}
sw.Stop();
Console.WriteLine("Time to transform data: {0}", sw.Elapsed);
sw.Stop();
Console.WriteLine("Time to transform data: {0}", sw.ElapsedMilliseconds);
}
// retrieve surface data
if (GoDataMsg_Type(dataObj) == GoDataMessageTypes.GO_DATA_MESSAGE_TYPE_SURFACE_INTENSITY)
{
surfaceMsg = dataObj;
surfaceData.SurfaceIntensityInfo.Width = GoSurfaceIntensityMsg_Width(surfaceMsg);
surfaceData.SurfaceIntensityInfo.Height = GoSurfaceIntensityMsg_Length(surfaceMsg);
surfaceData.SurfaceIntensityInfo.XResolution = GoSurfaceIntensityMsg_XResolution(surfaceMsg);
surfaceData.SurfaceIntensityInfo.YResolution = GoSurfaceIntensityMsg_YResolution(surfaceMsg);
surfaceData.SurfaceIntensityInfo.XOffset = GoSurfaceIntensityMsg_XOffset(surfaceMsg);
surfaceData.SurfaceIntensityInfo.YOffset = GoSurfaceIntensityMsg_YOffset(surfaceMsg);
UInt32 bufferSize = surfaceData.SurfaceIntensityInfo.Width * surfaceData.SurfaceIntensityInfo.Height;
IntPtr bufferPointer = GoSurfaceIntensityMsg_RowAt(surfaceMsg, 0);
//short[] ranges = new short[bufferSize];
surfaceData.intensities = new byte[bufferSize];
Marshal.Copy(bufferPointer, surfaceData.intensities, 0, surfaceData.intensities.Length);
}
}
sw1.Stop();
Console.WriteLine("Time to get all data: {0}", sw1.Elapsed);
return surfaceData;
}
/// <summary>
/// Constructs GoSdk and GoSystem. Sets up pointers to unmanaged memory, finds and connects to sensor
/// </summary>
/// <param name="sensorIP">IP of Gocator Sensor</param>
/// <returns>1 = success
/// >1 = fail code
/// -1 = Error: GoSensor_Setup: Invalid Handle
/// </returns>
public void ConfigureGocator(string sensorIP)
{
if ((status = (kStatus)GoSdk_Construct(ref api)) != kStatus.kOK)
{
throw new Exception("GoSdk_Construct Error: " + (int)status);
}
if ((status = (kStatus)GoSystem_Construct(ref system, IntPtr.Zero)) != kStatus.kOK)
{
throw new Exception("GoSystem_Construct Error: " + (int)status);
}
addrPtr = Marshal.AllocHGlobal(Marshal.SizeOf(addr));
Marshal.StructureToPtr(addr, addrPtr, false);
if ((status = (kStatus)kIpAddress_Parse(addrPtr, SENSOR_IP)) != kStatus.kOK)
{
throw new Exception("kIpAddress_Parse Error: " + (int)status);
}
if ((status = (kStatus)GoSystem_FindSensorByIpAddress(system, addrPtr, ref sensor)) != kStatus.kOK)
{
throw new Exception("GoSystem_FindSensorByIpAddress Error: " + (int)status);
}
if ((status = (kStatus)GoSensor_Connect(sensor)) != kStatus.kOK)
{
throw new Exception("GoSensor_Connect Error: " + (int)status);
}
if ((status = (kStatus)GoSystem_EnableData(system, true)) != kStatus.kOK)
{
throw new Exception("GoSystem_EnableData Error: " + (int)status);
}
if ((setup = GoSensor_Setup(sensor)) == null)
{
throw new Exception("GoSensor_Setup Error: Invalid Handle");
}
this.Stop();
if ((status = (kStatus)GoSetup_SetScanMode(setup, GoMode.GO_MODE_SURFACE)) != kStatus.kOK)
{
throw new Exception("GoSetup_SetScanMode Error: " + (int)status);
}
}
