Display_D_HP/TeamAAS-VM/Core/Cameras/sr7apiclass/SR7ApiInfiniteLoopCallbackImpl.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using SR7Link;

namespace SRAPI
{
    class SR7ApiInfiniteLoopCallbackImpl : SR7ApiBase
    {
        private SR7IF_RollDataCallback RollDataCallback;

        public IntPtr LoopImgBuff32;
        public IntPtr LoopImgBuff16;
        public IntPtr LoopGrayBuff;
        public IntPtr LoopEncoder;

        public override int Open(int lDeviceId, string strIP, int timeout, ErrConnectCallBack pfErrCallBack)
        {
            ControllerID = lDeviceId;

            string[] ipTmp = strIP.Split('.');
            if (ipTmp.Length != 4)
            {
                throw new SRAPIException($"Failed to resolve IP ");
            }

            SR7IF_ETHERNET_CONFIG ethernetConfig;
            ethernetConfig.abyIpAddress = new Byte[]
            {
                    Convert.ToByte(ipTmp[0]),
                    Convert.ToByte(ipTmp[1]),
                    Convert.ToByte(ipTmp[2]),
                    Convert.ToByte(ipTmp[3])
            };

            int openRet = SR7LinkFunc.SR7IF_EthernetOpenExt(ControllerID, ref ethernetConfig, 2000, pfErrCallBack);
            if (openRet != 0)
                return openRet;
            int nCameraB = SR7LinkFunc.SR7IF_GetOnlineCameraB(ControllerID);
            CameraAOnline = true;
            CameraBOnline = (nCameraB == 0);
            return openRet;
        }

        public override int Init(int dwProfileCnt, uint ProfileBits, int nTimeout, SR7IFGetDataCallBack pfGetDataCallBack)
        {
            GetDataCallBack = pfGetDataCallBack;


            RollDataCallback = new SR7IF_RollDataCallback(SR7IFRollDataCallback);
            int ret = SR7LinkFunc.SR7IF_RollDataCallbackInitalize(ControllerID, RollDataCallback, dwProfileCnt,300000);
            return ret;
        }

        public void SR7IFRollDataCallback(IntPtr pProfileBuffer, IntPtr pIntensityBuffer, IntPtr pEncoder, int dwSize, int dwCount, int dwRet, int dwDeviceId)
        {
            LoopImgBuff32 = pProfileBuffer;
            LoopGrayBuff = pIntensityBuffer;
            LoopEncoder = pEncoder;
            GetDataCallBack(dwSize, dwCount, 1, dwRet,0);
        }

        public override int GetData(int[] pHighData, byte[] pGrayData, int[] pEncoderData, int nProfileWidth, int nHighlen, int ABCam)
        {
            if (LoopImgBuff32 == IntPtr.Zero || LoopGrayBuff == IntPtr.Zero || LoopEncoder == IntPtr.Zero)
                return -1;

            if (!CameraBOnline && ABCam == 0)//只有相机A取相机A的数据 / Only camera A can retrieve the data of camera A.
            {
                if (pHighData != null)
                    Marshal.Copy(LoopImgBuff32, pHighData, 0, nProfileWidth * nHighlen);
                if (pGrayData != null)
                    Marshal.Copy(LoopGrayBuff, pGrayData, 0, nProfileWidth * nHighlen);
            }
            else if (CameraBOnline && ABCam == 0)//双相机取相机A的数据 / Dual cameras take data from camera A
            {
                int width = nProfileWidth;
                for (int i = 0; i < nHighlen; i++)
                {
                    int new_start = i * width;
                    int old_start = i * nProfileWidth*2;

                    if (pHighData != null)
                        Marshal.Copy(IntPtr.Add(LoopImgBuff32, old_start * sizeof(int)), pHighData, new_start, width);
                    if (pGrayData != null)
                        Marshal.Copy(IntPtr.Add(LoopGrayBuff, old_start), pGrayData, new_start, width);
                }
            }
            else if (CameraBOnline && ABCam == 1) //双相机取相机B的数据 / Dual cameras get data from camera B
            {
                int width = nProfileWidth;
                for (int i = 0; i < nHighlen; i++)
                {
                    int new_start = i * width;
                    int old_start = i * nProfileWidth*2 + width;

                    if (pHighData != null)
                        Marshal.Copy(IntPtr.Add(LoopImgBuff32, old_start * sizeof(int)), pHighData, new_start, width);
                    if (pGrayData != null)
                        Marshal.Copy(IntPtr.Add(LoopGrayBuff, old_start), pGrayData, new_start, width);
                }
            }

            if (pEncoderData != null)
                Marshal.Copy(LoopEncoder, pEncoderData, 0, nHighlen);

            return 0;
        }

        public override int Start(bool bIOTrigger, int timeout)
        {
            //设置无限循环终止行数 /  Set the infinite loop termination line number
            int callbackPointRet = SR7LinkFunc.SR7IF_SetBatchRollProfilePoint(ControllerID, IntPtr.Zero, (uint)BatchPoints);
            if (callbackPointRet != 0)
            {
                return callbackPointRet;
            }
            int ret = 0;
            if (bIOTrigger)//hard trigger
                ret = SR7LinkFunc.SR7IF_StartIOTriggerMeasure(ControllerID, timeout, 0);
            else//Soft trigger
                ret = SR7LinkFunc.SR7IF_StartMeasure(ControllerID, timeout);
            return ret;
        }

        public override int Stop(int instantStop)
        {
            int ret = SR7LinkFunc.SR7IF_StopMeasure(ControllerID);
            return ret;
        }
    }
}