少有人走的路CL3000是基恩士推出的同轴激光位移传感器。
相对于旧有型号的H025，H028红色点激光来说，还是有其优势的。具体可以参考使用手册。
这里勇哥只是附上测试用的代码，供大家参考。
using CL3_IF_DllSample;
using Common;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.IO;
using System.Diagnostics;
namespace WindowsFormsApplication1
{
public partial class Form1 : Form
{
public MotionCard dmc = new MotionCard();
private int CurrentDeviceId = 0;
bool netIsConnect = false;
private const int MaxRequestDataLength = 512000;
private const int MaxMeasurementDataCountPerTime = 100;
private const int MaxSequenceMeasurementData = 100000;
public Form1()
{
InitializeComponent();
}
private void button1_Click(object sender, EventArgs e)
{
CL3IF_ETHERNET_SETTING ethernetSetting = new CL3IF_ETHERNET_SETTING();
ethernetSetting.ipAddress = new byte[4];
var ipstr = textBox1.Text.Split('.');
if (!byte.TryParse(ipstr[0], out ethernetSetting.ipAddress[0]))
{
MessageBox.Show(this, "ipAddress firstSegment is Invalid Value");
return;
}
if (!byte.TryParse(ipstr[1], out ethernetSetting.ipAddress[1]))
{
MessageBox.Show(this, "ipAddress secondSegment is Invalid Value");
return;
}
if (!byte.TryParse(ipstr[2], out ethernetSetting.ipAddress[2]))
{
MessageBox.Show(this, "ipAddress thirdSegment is Invalid Value");
return;
}
if (!byte.TryParse(ipstr[3], out ethernetSetting.ipAddress[3]))
{
MessageBox.Show(this, "ipAddress fourthSegment is Invalid Value");
return;
}
if (!ushort.TryParse(textBox2.Text, out ethernetSetting.portNo))
{
MessageBox.Show(this, "ipAddress Port number is Invalid Value");
return;
}
ethernetSetting.reserved = new byte[2];
ethernetSetting.reserved[0] = 0x00;
ethernetSetting.reserved[1] = 0x00;
int returnCode = NativeMethods.CL3IF_OpenEthernetCommunication(CurrentDeviceId, ref ethernetSetting, 10000);
var f1 = dmc.Init();
if (returnCode == 0)
{
netIsConnect = true && f1;
}
else
netIsConnect = false;
richTextBox1.AppendText (returnCode.ToString());
}
private void CommunicationClose(int deviceId)
{
int returnCode = NativeMethods.CL3IF_CloseCommunication(deviceId);
}
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
{
CommunicationClose(CurrentDeviceId);
}
private void button3_Click(object sender, EventArgs e)
{
//批量采集数据
if (!netIsConnect) MessageBox.Show("先初始化激光！");
var avg = getData(10).Average();
richTextBox1.AppendText("\r\n"+avg.ToString("0.00000"));
}
private double calThick(double 陶瓷片A系数,double 陶瓷片标准值, double 上下激光头的和)
{
return 上下激光头的和 + 陶瓷片标准值 - 陶瓷片A系数;
}
/// <summary>
/// 取激光数据
/// </summary>
/// <returns></returns>
private List<double> getData(uint dataSum)
{
CL3IF_MEASUREMENT_DATA[] trendDataList = new CL3IF_MEASUREMENT_DATA[MaxSequenceMeasurementData];
byte[] buffer = new byte[MaxRequestDataLength];
uint nextIndex = 0;
uint obtainedDataCount = 0;
uint indexGet = 0;
uint sum = dataSum;
var resData = new List<double>();
uint index = 0;
int res1 = NativeMethods.CL3IF_GetTrendIndex(CurrentDeviceId, out index);
if (res1 != NativeMethods.CL3IF_RC_OK)
{
throw new ArgumentNullException("error");
}
indexGet = index;
CL3IF_OUTNO outTarget = 0;
using (PinnedObject pin = new PinnedObject(buffer))
{
int res = -1;
do
{
res = NativeMethods.CL3IF_GetTrendData(CurrentDeviceId,
indexGet,
sum,
out nextIndex, out obtainedDataCount, out outTarget, pin.Pointer);
Thread.Sleep(20);
} while (obtainedDataCount < sum);
if (res != NativeMethods.CL3IF_RC_OK)
{
throw new ArgumentNullException("error");
}
List<int> outTargetList = ConvertOutTargetList(outTarget);
int readPosition = 0;
int trendDataCount = 0;
for (uint i = 0; i < obtainedDataCount; i++)
{
CL3IF_MEASUREMENT_DATA measurementData = new CL3IF_MEASUREMENT_DATA();
measurementData.outMeasurementData = new CL3IF_OUTMEASUREMENT_DATA[outTargetList.Count];
measurementData.addInfo = (CL3IF_ADD_INFO)Marshal.PtrToStructure(pin.Pointer + readPosition, typeof(CL3IF_ADD_INFO));
readPosition += Marshal.SizeOf(typeof(CL3IF_ADD_INFO));
for (int j = 0; j < outTargetList.Count; j++)
{
measurementData.outMeasurementData[j] = (CL3IF_OUTMEASUREMENT_DATA)Marshal.PtrToStructure(pin.Pointer + readPosition, typeof(CL3IF_OUTMEASUREMENT_DATA));
readPosition += Marshal.SizeOf(typeof(CL3IF_OUTMEASUREMENT_DATA));
}
trendDataList[i] = measurementData;
var v1 = measurementData.outMeasurementData[0].measurementValue;
if (v1 < 0 || v1>60000)
resData.Add(0);
else
resData.Add(double.Parse("0." + v1.ToString()));
trendDataCount++;
}
return resData;
}
}
private void OutputLogMessage(string msg)
{
richTextBox1.AppendText(msg);
}
private List<int> ConvertOutTargetList(CL3IF_OUTNO outTarget)
{
byte mask = 1;
List<int> outList = new List<int>();
for (int i = 0; i < NativeMethods.CL3IF_MAX_OUT_COUNT; i++)
{
if (((ushort)outTarget & mask) != 0)
{
outList.Add(i + 1);
}
mask = (byte)(mask << 1);
}
return outList;
}
double 系数A = 0;
private void button4_Click(object sender, EventArgs e)
{
//读陶瓷片A系数
if (!netIsConnect) MessageBox.Show("先初始化激光！");
系数A = 取陶瓷片系数(int.Parse(tbTcpPos.Text));
richTextBox1.AppendText("\r\n" + 系数A.ToString("0.00000"));
}
private void button5_Click(object sender, EventArgs e)
{
//读测量物厚度
if (!netIsConnect) MessageBox.Show("先初始化激光！");
goSpecifyPT(int.Parse(tbClwPos.Text));
Thread.Sleep(1000);
var avg = getData(10).Average();
richTextBox1.AppendText("\r\n" + calThick(系数A, 0.50, avg).ToString("0.0000"));
}
public double 取陶瓷片系数(int pos)
{
goSpecifyPT(pos);
系数A = getData(10).Average();
return 系数A;
}
public void ResetToHome()
{
dmc.Stop();
//dmc.Home(0);
dmc.Home(0, 0, 15, 3);
}
public void goSpecifyPT(int position)
{
dmc.SetMoveSpeed(0, 199000);
dmc.A_Move(0, position);
dmc.waitStop(0);
}
private void button2_Click(object sender, EventArgs e)
{
int pos = 0;
int.TryParse(tbDis.Text, out pos);
goSpecifyPT(pos);
}
private void button6_Click(object sender, EventArgs e)
{
ResetToHome();
}
private void button7_Click(object sender, EventArgs e)
{
dmc.Stop(0);
}
private void Form1_Load(object sender, EventArgs e)
{
}
private void button8_Click(object sender, EventArgs e)
{
//var ary1 = new List<double>();
//for (int i = 0; i < 100;i++ )
//{
// ary1.Add(i + 1);
//}
//saveSegmentData(ary1, 0.5, 10);
//return;
var dataAry = new List<double>();
Stopwatch sb1 = new Stopwatch();
float speed = 120000;
float.TryParse(tbSpeed.Text, out speed);
dmc.SetMoveSpeed(0, speed);
var xs= 取陶瓷片系数(45);
dmc.A_Move(0, 80);
dmc.waitStop(0);
dmc.A_Move(0, 430);
sb1.Restart();
for (int i = 0; i < 2; i++)
{
dataAry.AddRange(getData(7677));
}
var s1 = sb1.ElapsedMilliseconds;
sb1.Stop();
saveCSV(dataAry,xs,checkBox2.Checked,"go");
dmc.waitStop(0);
richTextBox1.AppendText("\r\n OK.");
}
/// <summary>
/// 保存分段数据
/// </summary>
/// <param name="data">一个单边的数据</param>
/// <param name="xs">系数A</param>
/// <param name="ds">分段数量</param>
private void saveSegmentData(List<double> data,double xs,int ds)
{
double d = 0;
var ary1 = new List<double>();
var resAry = new List<double>();
foreach(var m in data)
{
d=calThick(xs, 0.5, m);
if (d <= 0) continue;
ary1.Add(d);
}
var s1 = ary1.Count / ds;
var tmp1 = new List<double>();
for(int i=0;i<ds;i++)
{
tmp1.Clear();
for (int k = 0; k < s1; k++)
{
tmp1.Add(ary1[(i*s1)+k]);
}
resAry.Add(getAverageNoZero(tmp1));
}
DateTime t = DateTime.Now;
StringBuilder sb1 = new StringBuilder();
var path = string.Format("D:\\segData_{0}.csv", t.Year + "_" + t.Month + "_" + t.Day);
try
{
foreach (var m in resAry)
{
sb1.Append(m.ToString("0.00000"));
sb1.Append(",");
}
sb1.Append(Environment.NewLine);
File.AppendAllText(path, sb1.ToString());
}
catch (Exception ex)
{
}
}
private void saveCSV(List<double> data,double xs,bool f,string msg)
{
DateTime t=DateTime.Now;
StringBuilder sb1 = new StringBuilder();
var path = string.Format("D:\\data_{0}.csv",t.Year+"_"+t.Month+"_"+t.Day);
try
{
sb1.Append(msg + ",");
foreach (var m in data)
{
if (f)
{
sb1.Append(calThick(xs, 0.5, m).ToString("0.00000"));
}
else
{
sb1.Append(m.ToString("0.00000"));
}
sb1.Append(",");
}
sb1.Append(Environment.NewLine);
File.AppendAllText(path,sb1.ToString());
}
catch(Exception ex)
{
}
}
bool isRealDis = false;
private void checkBox1_CheckedChanged(object sender, EventArgs e)
{
if (checkBox1.Checked && 系数A != 0)
{
timer1.Interval = 100;
timer1.Enabled = true;
isRealDis = true;
}
else
{
timer1.Enabled = false;
label1.Text = "0";
isRealDis = false;
}
}
/// <summary>
/// 计算平均值，乎略0的元素
/// </summary>
/// <returns></returns>
private double getAverageNoZero(List<double> data)
{
var ary1 = new List<double>();
foreach(var m in data)
{
if (m != 0) ary1.Add(m);
}
if (ary1.Count < 1) return 0;
return ary1.Average();
}
private void timer1_Tick(object sender, EventArgs e)
{
if (isRealDis)
{
var realDisThickData = getAverageNoZero(getData(10));
label1.Text = calThick(系数A,0.5, realDisThickData).ToString("0.00000");
}
}
private void button9_Click(object sender, EventArgs e)
{
var m = dmc.getpos()/1000;
int pos = 1;
if (int.TryParse(textBox3.Text, out pos))
{
goSpecifyPT(m + pos);
}
}
private void button10_Click(object sender, EventArgs e)
{
var m = dmc.getpos()/1000;
int pos = 1;
if (int.TryParse(textBox3.Text, out pos))
{
goSpecifyPT(m -pos);
}
}
private void button11_Click(object sender, EventArgs e)
{
timer2.Interval = 12000;
timer2.Enabled = true;
timer2.Start();
}
private void timer2_Tick(object sender, EventArgs e)
{
var dataAry = new List<double>();
Stopwatch sb1 = new Stopwatch();
sb1.Start();
float speed = 120000;
float.TryParse(tbSpeed.Text, out speed);
dmc.SetMoveSpeed(0, speed);
var f1 = checkBox2.Checked;
var xs = 取陶瓷片系数(45);
dmc.A_Move(0, 80);
dmc.waitStop(0);
dmc.A_Move(0, 430);
dataAry.Clear();
for (int i = 0; i < 2; i++)
{
dataAry.AddRange(getData(7677));
}
var s1 = sb1.ElapsedMilliseconds;
saveSegmentData(dataAry, xs, 10);
saveCSV(dataAry, xs, f1,"go");
dmc.waitStop(0);
dataAry.Clear();
dmc.A_Move(0, 100);
for (int i = 0; i < 2; i++)
{
dataAry.AddRange(getData(7677));
}
dataAry.Reverse();
saveSegmentData(dataAry, xs, 10);
saveCSV(dataAry, xs, f1,"back");
dmc.waitStop(0);
richTextBox1.AppendText("\r\n"+sb1.ElapsedMilliseconds.ToString());
sb1.Stop();
}
private void button12_Click(object sender, EventArgs e)
{
timer2.Enabled = false;
}
}
public sealed class PinnedObject : IDisposable
{
private GCHandle _Handle;
public IntPtr Pointer
{
get { return _Handle.AddrOfPinnedObject(); }
}
public PinnedObject(object target)
{
_Handle = GCHandle.Alloc(target, GCHandleType.Pinned);
}
public void Dispose()
{
_Handle.Free();
_Handle = new GCHandle();
}
}
}需要源代码的朋友请下载：
https://download.csdn.net/download/suneggs/12693459
---------------------
作者：hackpig
来源：www.skcircle.com
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