using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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using Lmi3d.GoSdk;
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using Lmi3d.GoSdk.Messages;
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using Lmi3d.Zen;
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using Lmi3d.Zen.Io;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading.Tasks;
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namespace Bro.Device.Gocator
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{
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[Device("Gocator", "Gocator激光扫描仪", EnumHelper.DeviceAttributeType.Device)]
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public class GocatorDriver : CameraBase
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{
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#region CameraBase
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public override IOperationConfig GetOperationConfigFromDevice()
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{
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var opConfig = new GocatorOperationConfig();
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GoSetup setup = sensor.Setup;
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opConfig.Exposure = (float)setup.GetExposure(GoRole.Main);
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opConfig.JobName = sensor.DefaultJob;
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return opConfig;
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}
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public override void Snapshot()
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{
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if (IIConfig.IsAsyncMode)
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{
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}
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else
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{
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GoDataSet dataSet = null;
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try
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{
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dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
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}
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catch (Exception ex)
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{
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LogAsync(DateTime.Now, $"{Name}获取图像异常", ex.GetExceptionMessage());
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return;
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}
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HandleGoData(dataSet);
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}
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}
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private void HandleGoData(GoDataSet dataSet)
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{
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if (dataSet == null)
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return;
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for (UInt32 i = 0; i < dataSet.Count; i++)
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{
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GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
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switch (dataObj.MessageType)
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{
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//case GoDataMessageType.Stamp:
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// {
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// GoStampMsg stampMsg = (GoStampMsg)dataObj;
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// for (UInt32 j = 0; j < stampMsg.Count; j++)
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// {
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// GoStamp stamp = stampMsg.Get(j);
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// Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
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// Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
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// Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
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// }
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// }
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// break;
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case GoDataMessageType.Surface:
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{
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GoSurfaceMsg surfaceMsg = (GoSurfaceMsg)dataObj;
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long width = surfaceMsg.Width;
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long height = surfaceMsg.Length;
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long bufferSize = width * height;
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IntPtr bufferPointer = surfaceMsg.Data;
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//Console.WriteLine("Whole Part Height Map received:");
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//Console.WriteLine(" Buffer width: {0}", width);
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//Console.WriteLine(" Buffer height: {0}", height);
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//short[] ranges = new short[bufferSize];
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//Marshal.Copy(bufferPointer, ranges, 0, ranges.Length);
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Generate16GrayImageByPointer((int)(width / 1), (int)(height / 1), bufferPointer, "");
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}
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break;
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//case GoDataMessageType.SurfaceIntensity:
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// {
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// GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj;
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// long width = surfaceMsg.Width;
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// long height = surfaceMsg.Length;
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// long bufferSize = width * height;
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// IntPtr bufferPointeri = surfaceMsg.Data;
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// //Console.WriteLine("Whole Part Intensity Image received:");
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// //Console.WriteLine(" Buffer width: {0}", width);
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// //Console.WriteLine(" Buffer height: {0}", height);
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// //byte[] ranges = new byte[bufferSize];
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// //Marshal.Copy(bufferPointeri, ranges, 0, ranges.Length);
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// //GenerateGrayImageByPointer((int)width, (int)height, bufferPointeri, "");
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// }
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// break;
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}
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}
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}
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public override ImageSet Snapshot(IOperationConfig config)
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{
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ImageSet imgSet = base.Snapshot(config);
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return imgSet;
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}
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float _currentExposure = 0;
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string _currentJob = "";
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public override void UploadOperationConfig(IOperationConfig config)
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{
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if (config is GocatorOperationConfig opConfig)
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{
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if (opConfig.Exposure > 0 && opConfig.Exposure != _currentExposure)
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{
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sensor.Setup.SetExposure(GoRole.Main, opConfig.Exposure);
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_currentExposure = opConfig.Exposure;
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}
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if (!string.IsNullOrWhiteSpace(opConfig.JobName) && _currentJob != opConfig.JobName)
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{
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_currentJob = sensor.DefaultJob = opConfig.JobName;
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}
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sensor.Flush();
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}
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}
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protected override void Init()
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{
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KApiLib.Construct();
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GoSdkLib.Construct();
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system = new GoSystem();
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if (IIConfig.IsUseAccelerator)
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{
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accelerator = new GoAccelerator();
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}
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KIpAddress ip = KIpAddress.Parse(IConfig.CameraIP);
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if (IIConfig.IsUseAccelerator)
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{
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accelerator.Start();
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}
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sensor = system.FindSensorByIpAddress(ip);
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if (IIConfig.IsUseAccelerator)
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{
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accelerator.Attach(sensor);
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}
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sensor.Connect();
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if (IIConfig.IsUseAccelerator)
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{
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sensor.Flush();
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accelerator.Start();
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}
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sensor.Setup.ScanMode = GoMode.Surface;
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system.EnableData(true);
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if (IIConfig.IsAsyncMode)
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{
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system.SetDataHandler(onData);
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}
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_currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
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if (IIConfig.DefaultExposure > 0 && _currentExposure != IIConfig.DefaultExposure)
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{
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sensor.Setup.SetExposure(GoRole.Main, IIConfig.DefaultExposure);
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_currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
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}
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_currentJob = sensor.DefaultJob;
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if (!string.IsNullOrWhiteSpace(IIConfig.DefaultJob) && _currentJob != IIConfig.DefaultJob)
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{
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_currentJob = sensor.DefaultJob = IIConfig.DefaultJob;
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}
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sensor.Flush();
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}
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protected override void Start()
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{
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base.Start();
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if (IIConfig.IsAsyncMode)
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system.Start();
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}
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protected override void Stop()
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{
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base.Stop();
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if (IIConfig.IsAsyncMode)
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system.Stop();
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if (IIConfig.IsUseAccelerator)
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{
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accelerator.Stop();
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}
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sensor.Disconnect();
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}
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protected override void Pause()
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{
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}
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protected override void Resume()
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{
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}
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#endregion
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GoSystem system = null;
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GoAccelerator accelerator = null;
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GoSensor sensor = null;
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public GocatorInitialConfig IIConfig
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{
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get => InitialConfig as GocatorInitialConfig;
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}
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/// <summary>
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/// 异步模式获取数据
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/// </summary>
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/// <param name="data"></param>
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private void onData(KObject data)
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{
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GoDataSet dataSet = (GoDataSet)data;
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}
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}
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}
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