From aaae1139f2bb3a55910fff0aa907b3ba6395deea Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期二, 30 六月 2020 08:54:06 +0800
Subject: [PATCH] 添加goactor驱动
---
src/Bro.Device.Gocator/GocatorDriver.cs | 219 +++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 213 insertions(+), 6 deletions(-)
diff --git a/src/Bro.Device.Gocator/GocatorDriver.cs b/src/Bro.Device.Gocator/GocatorDriver.cs
index 0290bd1..bdfac10 100644
--- a/src/Bro.Device.Gocator/GocatorDriver.cs
+++ b/src/Bro.Device.Gocator/GocatorDriver.cs
@@ -1,9 +1,14 @@
锘縰sing Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
+using Lmi3d.GoSdk;
+using Lmi3d.GoSdk.Messages;
+using Lmi3d.Zen;
+using Lmi3d.Zen.Io;
using System;
using System.Collections.Generic;
using System.Linq;
+using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
@@ -12,34 +17,236 @@
[Device("Gocator", "Gocator婵�鍏夋壂鎻忎华", EnumHelper.DeviceAttributeType.Device)]
public class GocatorDriver : CameraBase
{
+ #region CameraBase
public override IOperationConfig GetOperationConfigFromDevice()
{
- throw new NotImplementedException();
+ var opConfig = new GocatorOperationConfig();
+ GoSetup setup = sensor.Setup;
+ opConfig.Exposure = (float)setup.GetExposure(GoRole.Main);
+ opConfig.JobName = sensor.DefaultJob;
+
+ return opConfig;
}
public override void Snapshot()
{
- throw new NotImplementedException();
+ if (IIConfig.IsAsyncMode)
+ {
+
+ }
+ else
+ {
+ GoDataSet dataSet = null;
+
+ try
+ {
+ dataSet = system.ReceiveData(IIConfig.SnapshotTimeout);
+ }
+ catch (Exception ex)
+ {
+ LogAsync(DateTime.Now, $"{Name}鑾峰彇鍥惧儚寮傚父", ex.GetExceptionMessage());
+ return;
+ }
+
+ HandleGoData(dataSet);
+ }
}
+ private void HandleGoData(GoDataSet dataSet)
+ {
+ if (dataSet == null)
+ return;
+
+ 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.Surface:
+ {
+ GoSurfaceMsg surfaceMsg = (GoSurfaceMsg)dataObj;
+ long width = surfaceMsg.Width;
+ long height = surfaceMsg.Length;
+ long bufferSize = width * height;
+ IntPtr bufferPointer = surfaceMsg.Data;
+
+ //Console.WriteLine("Whole Part Height Map received:");
+ //Console.WriteLine(" Buffer width: {0}", width);
+ //Console.WriteLine(" Buffer height: {0}", height);
+
+ //short[] ranges = new short[bufferSize];
+ //Marshal.Copy(bufferPointer, ranges, 0, ranges.Length);
+
+ Generate16GrayImageByPointer((int)(width / 1), (int)(height / 1), bufferPointer, "");
+ }
+ break;
+ //case GoDataMessageType.SurfaceIntensity:
+ // {
+ // GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj;
+ // long width = surfaceMsg.Width;
+ // long height = surfaceMsg.Length;
+ // long bufferSize = width * height;
+ // IntPtr bufferPointeri = surfaceMsg.Data;
+
+ // //Console.WriteLine("Whole Part Intensity Image received:");
+ // //Console.WriteLine(" Buffer width: {0}", width);
+ // //Console.WriteLine(" Buffer height: {0}", height);
+ // //byte[] ranges = new byte[bufferSize];
+ // //Marshal.Copy(bufferPointeri, ranges, 0, ranges.Length);
+ // //GenerateGrayImageByPointer((int)width, (int)height, bufferPointeri, "");
+ // }
+ // break;
+ }
+ }
+ }
+
+ public override ImageSet Snapshot(IOperationConfig config)
+ {
+ ImageSet imgSet = base.Snapshot(config);
+
+ return imgSet;
+ }
+
+
+ float _currentExposure = 0;
+ string _currentJob = "";
public override void UploadOperationConfig(IOperationConfig config)
{
- throw new NotImplementedException();
+ if (config is GocatorOperationConfig opConfig)
+ {
+ if (opConfig.Exposure > 0 && opConfig.Exposure != _currentExposure)
+ {
+ sensor.Setup.SetExposure(GoRole.Main, opConfig.Exposure);
+ _currentExposure = opConfig.Exposure;
+ }
+
+ if (!string.IsNullOrWhiteSpace(opConfig.JobName) && _currentJob != opConfig.JobName)
+ {
+ _currentJob = sensor.DefaultJob = opConfig.JobName;
+ }
+
+ sensor.Flush();
+ }
}
protected override void Init()
{
- throw new NotImplementedException();
+ KApiLib.Construct();
+ GoSdkLib.Construct();
+
+ system = new GoSystem();
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ accelerator = new GoAccelerator();
+ }
+
+ KIpAddress ip = KIpAddress.Parse(IConfig.CameraIP);
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ accelerator.Start();
+ }
+
+ sensor = system.FindSensorByIpAddress(ip);
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ accelerator.Attach(sensor);
+ }
+ sensor.Connect();
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ sensor.Flush();
+ accelerator.Start();
+ }
+
+ sensor.Setup.ScanMode = GoMode.Surface;
+
+ system.EnableData(true);
+
+ if (IIConfig.IsAsyncMode)
+ {
+ system.SetDataHandler(onData);
+ }
+
+ _currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
+ if (IIConfig.DefaultExposure > 0 && _currentExposure != IIConfig.DefaultExposure)
+ {
+ sensor.Setup.SetExposure(GoRole.Main, IIConfig.DefaultExposure);
+ _currentExposure = (float)sensor.Setup.GetExposure(GoRole.Main);
+ }
+
+ _currentJob = sensor.DefaultJob;
+ if (!string.IsNullOrWhiteSpace(IIConfig.DefaultJob) && _currentJob != IIConfig.DefaultJob)
+ {
+ _currentJob = sensor.DefaultJob = IIConfig.DefaultJob;
+ }
+
+ sensor.Flush();
+ }
+
+ protected override void Start()
+ {
+ base.Start();
+
+ if (IIConfig.IsAsyncMode)
+ system.Start();
+ }
+
+ protected override void Stop()
+ {
+ base.Stop();
+
+ if (IIConfig.IsAsyncMode)
+ system.Stop();
+
+ if (IIConfig.IsUseAccelerator)
+ {
+ accelerator.Stop();
+ }
+
+ sensor.Disconnect();
}
protected override void Pause()
{
- throw new NotImplementedException();
}
protected override void Resume()
{
- throw new NotImplementedException();
+ }
+ #endregion
+
+ GoSystem system = null;
+ GoAccelerator accelerator = null;
+ GoSensor sensor = null;
+
+ public GocatorInitialConfig IIConfig
+ {
+ get => InitialConfig as GocatorInitialConfig;
+ }
+
+ /// <summary>
+ /// 寮傛妯″紡鑾峰彇鏁版嵁
+ /// </summary>
+ /// <param name="data"></param>
+ private void onData(KObject data)
+ {
+ GoDataSet dataSet = (GoDataSet)data;
}
}
}
--
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