int main(int argc, char* argv[])
{
// The exit code of the sample application.
int exitCode = 0;
// Automagically call PylonInitialize and PylonTerminate to ensure the pylon runtime system
// is initialized during the lifetime of this object.
Pylon::PylonAutoInitTerm autoInitTerm;
try
{
// Declare a local counter used for waiting.
int loopCount = 0;
// Get the transport layer factory.
CTlFactory& tlFactory = CTlFactory::GetInstance();
// Create an instant camera object with the camera device found first.
CInstantCamera camera( tlFactory.CreateFirstDevice());
// Print the camera information.
cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
cout << "Friendly Name: " << camera.GetDeviceInfo().GetFriendlyName() << endl;
cout << "Full Name : " << camera.GetDeviceInfo().GetFullName() << endl;
cout << "SerialNumber : " << camera.GetDeviceInfo().GetSerialNumber() << endl;
cout << endl;
// For demonstration purposes only, register another configuration event handler that handles device removal.
camera.RegisterConfiguration( new CSampleConfigurationEventHandler, RegistrationMode_Append, Cleanup_Delete);
// For demonstration purposes only, add a sample configuration event handler to print out information
// about camera use.
camera.RegisterConfiguration( new CConfigurationEventPrinter, RegistrationMode_Append, Cleanup_Delete);
// Open the camera. Camera device removal is only detected while the camera is open.
camera.Open();
// Now, try to detect that the camera has been removed:
// Ask the user to disconnect a device
loopCount = c_loopCounterInitialValue;
cout << endl << "Please disconnect the device (timeout " << loopCount / 4 << "s) " << endl;
/////////////////////////////////////////////////// don't single step beyond this line (see comments above)
// Before testing the callbacks, we manually set the heartbeat timeout to a short value when using GigE cameras.
// Since for debug versions the heartbeat timeout has been set to 5 minutes, it would take up to 5 minutes
// until detection of the device removal.
CHearbeatHelper heartbeatHelper(camera);
heartbeatHelper.SetValue(1000); // 1000 ms timeout
try
{
// Get a camera parameter using generic parameter access.
GenApi::CIntegerPtr width(camera.GetNodeMap().GetNode("Width"));
// The following loop accesses the camera. It could also be a loop that is
// grabbing images. The device removal is handled in the exception handler.
while ( loopCount > 0)
{
// Print a "." every few seconds to tell the user we're waiting for the callback.
if (--loopCount % 4 == 0)
{
cout << ".";
cout.flush();
}
WaitObject::Sleep(250);
// Change the width value in the camera depending on the loop counter.
// Any access to the camera like setting parameters or grabbing images
// will fail throwing an exception if the camera has been disconnected.
width->SetValue( width->GetMax() - (width->GetInc() * (loopCount % 2)));
}
}
catch (GenICam::GenericException &e)
{
if ( camera.IsCameraDeviceRemoved())
{
// The camera device has been removed. This caused the exception.
cout << endl;
cout << "The camera has been removed from the PC." << endl;
cout << "The camera device removal triggered an exception:" << endl
<< e.GetDescription() << endl;
}
else
{
// An unexpected error has occurred.
// In this example it is handled by exiting the program.
throw;
}
}
if ( !camera.IsCameraDeviceRemoved())
cout << endl << "Timeout expired" << endl;
/////////////////////////////////////////////////// Safe to use single stepping (see comments above).
// Now try to find the detached camera after it has been attached again:
// Create a device info object for remembering the camera properties.
CDeviceInfo info;
// Remember the camera properties that allow detecting the same camera again.
info.SetDeviceClass( camera.GetDeviceInfo().GetDeviceClass());
info.SetSerialNumber( camera.GetDeviceInfo().GetSerialNumber());
// Destroy the Pylon Device representing the detached camera device.
// It cannot be used anymore.
camera.DestroyDevice();
// Ask the user to connect the same device.
loopCount = c_loopCounterInitialValue;
cout << endl << "Please connect the same device to the PC again (timeout " << loopCount / 4 << "s) " << endl;
// Create a filter containing the CDeviceInfo object info which describes the properties of the device we are looking for.
DeviceInfoList_t filter;
filter.push_back( info);
for ( ; loopCount > 0; --loopCount)
{
// Print a . every few seconds to tell the user we're waiting for the camera to be attached
if ( loopCount % 4 == 0)
{
cout << ".";
cout.flush();
}
// Try to find the camera we are looking for.
DeviceInfoList_t devices;
if ( tlFactory.EnumerateDevices(devices, filter) > 0 )
{
// Print two new lines, just for improving printed output.
cout << endl << endl;
// The camera has been found. Create and attach it to the Instant Camera object.
camera.Attach( tlFactory.CreateDevice( devices[0]));
//Exit waiting
break;
}
WaitObject::Sleep(250);
}
// If the camera has been found.
if ( camera.IsPylonDeviceAttached())
{
// Print the camera information.
cout << endl;
cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
cout << "Friendly Name: " << camera.GetDeviceInfo().GetFriendlyName() << endl;
cout << "Full Name : " << camera.GetDeviceInfo().GetFullName() << endl;
cout << "SerialNumber : " << camera.GetDeviceInfo().GetSerialNumber() << endl;
cout << endl;
// All configuration objects and other event handler objects are still registered.
// The configuration objects will parameterize the camera device and the instant
// camera will be ready for operation again.
// Open the camera.
camera.Open();
// Now the Instant Camera object can be used as before.
}
else // Timeout
{
cout << endl << "Timeout expired." << endl;
}
}
catch (GenICam::GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
exitCode = 1;
}
// Comment the following two lines to disable waiting on exit.
cerr << endl << "Press Enter to exit." << endl;
while( cin.get() != '\n');
return exitCode;
}
int main (int argc, char **argv)
{
if(argc < 2)
{
fprintf(stdout,"Usage:\n\t%s <conf_file>\n", argv[0]);
return 1;
}
ConfigFile& cf = ConfigFile::GetInstance();
if(!cf.LoadConf(argv[1]))
{
fprintf(stdout,"load conf file %s error", argv[1]);
return 2;
}
std::string logfile = cf.Value("Global", "LogFile", "./log");
std::string ip = cf.Value("CasdConfig", "Address", "127.0.0.1");
std::string port = cf.Value("CasdConfig", "Port", "12345");
int is_top_camara = atoi(cf.Value("Global", "IsTopCamara", "0").c_str());
int bottom_image_num = atoi(cf.Value("Global", "BottomImageNum", "1").c_str());
int side_image_num = atoi(cf.Value("Global", "SideImageNum", "4").c_str());
casd_client.AddProtocol(PROTOCOL_ID_CSETCAMARASEQREQ, new CSetCamaraSeqReq());
casd_client.AddProtocol(PROTOCOL_ID_CSENDIMAGEPROCESSDATAREQ, new CSendImageProcessDataReq());
if(is_top_camara > 0)
{
// 非顶部相机需要设置连接回调, 每个物品需要拍摄底部照片和侧边照片
casd_client.SetConnectCB(ConnectCasdCB, &casd_client);
gImagesNumPerObj = bottom_image_num + side_image_num;
}
else
{
// 顶部相机每个物品只拍摄一张图片, 无需设置连接回调, 当前图片序号永远是固定的
gImagesNumPerObj = 1;
gCurImageSeq = atoi(cf.Value("Global", "TopImageSeq", "5").c_str());
}
// TODO: 居然还未在tcpclient中加入clog
// UVNET::TCPServer::StartLog(LL_DEBUG, "casd", logfile.c_str());
if(!casd_client.Connect(ip.c_str(), atoi(port.c_str())))
{
fprintf(stdout, "connect error:%s\n", casd_client.GetLastErrMsg());
}
int exitcode = 0;
// Before using any pylon methods, the pylon runtime must be initialized.
PylonInitialize();
try
{
CTlFactory& TlFactory = CTlFactory::GetInstance();
CDeviceInfo di;
di.SetSerialNumber( "20399956" );
di.SetDeviceClass( BaslerGigEDeviceClass );
IPylonDevice* device = TlFactory.CreateDevice( di );
// Create an instant camera object for the camera device found first.
// CInstantCamera camera( CTlFactory::GetInstance().CreateFirstDevice());
CInstantCamera camera( device );
// For demonstration purposes only, register another image event handler.
camera.RegisterImageEventHandler( new CSampleImageEventHandler, RegistrationMode_Append, Cleanup_Delete);
// Open the camera device.
camera.Open();
// Can the camera device be queried whether it is ready to accept the next frame trigger?
if (camera.CanWaitForFrameTriggerReady())
{
// Start the grabbing using the grab loop thread, by setting the grabLoopType parameter
// to GrabLoop_ProvidedByInstantCamera. The grab results are delivered to the image event handlers.
// The GrabStrategy_OneByOne default grab strategy is used.
camera.StartGrabbing( GrabStrategy_OneByOne, GrabLoop_ProvidedByInstantCamera);
cerr << endl << "Enter \"t\" to trigger the camera or \"e\" to exit and press enter? (t/e)" << endl << endl;
// Wait for user input to trigger the camera or exit the program.
// The grabbing is stopped, the device is closed and destroyed automatically when the camera object goes out of scope.
char key;
do
{
cin.get(key);
if ( (key == 't' || key == 'T'))
{
// Execute the software trigger. Wait up to 500 ms for the camera to be ready for trigger.
if ( camera.WaitForFrameTriggerReady( 500, TimeoutHandling_ThrowException))
{
camera.ExecuteSoftwareTrigger();
}
}
}
while ( (key != 'e') && (key != 'E'));
}
else
{
// See the documentation of CInstantCamera::CanWaitForFrameTriggerReady() for more information.
cout << endl;
cout << "This sample can only be used with cameras that can be queried whether they are ready to accept the next frame trigger.";
cout << endl;
cout << endl;
}
}
catch (const GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
exitcode = 1;
// Remove left over characters from input buffer.
cin.ignore(cin.rdbuf()->in_avail());
}
// Comment the following two lines to disable waiting on exit.
cerr << endl << "Press Enter to exit." << endl;
while( cin.get() != '\n');
// Releases all pylon resources.
PylonTerminate();
return exitcode;
}