LMI2500系列相机SDK开发包C#版

/*
 * AcceleratorReceiveMeasurement.cs
 * 
 * Gocator 2000 Sample
 * Copyright (C) 2011-2019 by LMI Technologies Inc.
 * 
 * Licensed under The MIT License.
 * Redistributions of files must retain the above copyright notice.
 *
 * Purpose: Demonstrates the simple use of the Accelerator by connecting to a sensor and receiving a measurement.
 * This allows processing to be performed on the PC rather than on the sensor.
 */

using System;
using Lmi3d.GoSdk;
using Lmi3d.Zen;
using Lmi3d.Zen.Io;
using Lmi3d.GoSdk.Messages;
using Lmi3d.GoSdk.AcceleratorMgr;
using System.Threading;

static class Constants
{
    public const string SENSOR_IP1 = "192.168.1.10"; // IP of the sensor used for sensor connection GoSystem_FindSensorByIpAddress() call.
    public const string SENSOR_IP2 = "192.168.1.11"; // IP of sensor 2
   
}

namespace AcceleratorReceiveMeasurement
{
    class AcceleratorReceiveMeasurement
    {
        static int Main(string[] args)
        {
            try
            {
                KApiLib.Construct();
                GoSdkLib.Construct();
                GoSystem system = new GoSystem();
                
                GoSensor sensor1,sensor2;
                KIpAddress ipAddress1 = KIpAddress.Parse(Constants.SENSOR_IP1);
                KIpAddress ipAddress2 = KIpAddress.Parse(Constants.SENSOR_IP2);                
                GoDataSet dataSet = new GoDataSet();
                
                sensor1 = system.FindSensorByIpAddress(ipAddress1);
                sensor2 = system.FindSensorByIpAddress(ipAddress2);

                GoAcceleratorMgr goAcceleratorMgr = new GoAcceleratorMgr();

                // create connection to system
                goAcceleratorMgr.SetSystem(system);

                // start Accelerator manager
                goAcceleratorMgr.Start();

                //Set Parameters for Acceleration 
                GoAcceleratorMgrSensorParam goAcceleratorMgrSensorParam1 = new GoAcceleratorMgrSensorParam();
                GoAccelSensorPortAllocPorts ports1 = new GoAccelSensorPortAllocPorts();

                GoAcceleratorMgrSensorParam goAcceleratorMgrSensorParam2 = new GoAcceleratorMgrSensorParam();
                GoAccelSensorPortAllocPorts ports2 = new GoAccelSensorPortAllocPorts();

                
                goAcceleratorMgrSensorParam1.PlatformIpAddress = KIpAddress.AnyV4;
                goAcceleratorMgrSensorParam1.Ports = ports1;
                
                goAcceleratorMgrSensorParam2.PlatformIpAddress = KIpAddress.AnyV4;
                goAcceleratorMgrSensorParam2.Ports = ports2;

                //Accelerate two sensors
                goAcceleratorMgr.Accelerate(sensor1.Id, goAcceleratorMgrSensorParam1);
                goAcceleratorMgr.Accelerate(sensor2.Id, goAcceleratorMgrSensorParam2);

                //Check accelerated status of sensor1
                for (UInt32 i = 0; i < 30; i++)
                {
                    GoSensorAccelState kStatus1 = sensor1.AccelerationState;
                    if (kStatus1 == 2)
                    {                      
                        Console.WriteLine("Sensor1 Accelerated");
                        break;
                    }
                    else
                    {
                        Console.WriteLine("Waiting for Sensor1 Accelerated...");
                    }
                    Thread.Sleep(1000);
                }

                //Check accelerated status of sensor2
                for (UInt32 i = 0; i < 30; i++)
                {
                    GoSensorAccelState kStatus2 = sensor2.AccelerationState;
                    if (kStatus2 == 2)
                    {
                        Console.WriteLine("Sensor2 Accelerated");
                        break;
                    }
                    else
                    {
                        Console.WriteLine("Waiting for Sensor2 Accelerated...");
                    }
                    Thread.Sleep(1000);
                }

                system.Refresh();
                
                sensor1.Connect();
                sensor2.Connect();

                system.EnableData(true);
                system.Start();
                // refer to SetupMeasurement.cs for setting up of the measurement tools
                dataSet = system.ReceiveData(300000);
                for (uint i = 0; i < dataSet.Count; i++)
                {

                    GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
                    switch (dataObj.MessageType)
                    {
                        case GoDataMessageType.Stamp:
                            {
                                GoStampMsg stampMsg = (GoStampMsg)dataObj;
                                for (uint 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 (uint 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();
                //stop acceleration
                goAcceleratorMgr.Decelerate(sensor1.Id);
                goAcceleratorMgr.Decelerate(sensor2.Id);
            }
            catch (KException ex)
            {
                Console.WriteLine("Error: {0}", ex.ToString());
            }

            // wait for ENTER key
            Console.WriteLine("\nPress ENTER to continue");
            while (Console.ReadKey().Key != ConsoleKey.Enter) { }
            return 1;
        }
    }
}