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 systemgoAcceleratorMgr.SetSystem(system);// start Accelerator managergoAcceleratorMgr.Start();//Set Parameters for AccelerationGoAcceleratorMgrSensorParam 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 sensorsgoAcceleratorMgr.Accelerate(sensor1.Id, goAcceleratorMgrSensorParam1);goAcceleratorMgr.Accelerate(sensor2.Id, goAcceleratorMgrSensorParam2);//Check accelerated status of sensor1for (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 sensor2for (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 toolsdataSet = 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 accelerationgoAcceleratorMgr.Decelerate(sensor1.Id);goAcceleratorMgr.Decelerate(sensor2.Id);}catch (KException ex){Console.WriteLine(\"Error: {0}\", ex.ToString());}// wait for ENTER keyConsole.WriteLine(\"\\nPress ENTER to continue\");while (Console.ReadKey().Key != ConsoleKey.Enter) { }return 1;}}}