AcquisitionMultipleThread_CSharp¶
AcquisitionMultipleThread_CSharp.cs shows how to capture images from multiple cameras simultaneously on multiple threads. It relies on information provided in the Enumeration_CSharp, Acquisition_CSharp, and NodeMapInfo_CSharp examples.
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/**
* @example AcquisitionMultipleThread_CSharp.cs
*
* @brief AcquisitionMultipleThread_CSharp.cs shows how to capture images from
* multiple cameras simultaneously on multiple threads. It relies on information
* provided in the Enumeration_CSharp, Acquisition_CSharp, and NodeMapInfo_CSharp examples.
*
* This example reads similarly to the Acquisition_CSharp example, except that
* loops and vectors are used to allow for simultaneous acquisitions.
*
* Please leave us feedback at: https://www.surveymonkey.com/r/TDYMVAPI
* More source code examples at: https://github.com/Teledyne-MV/Spinnaker-Examples
* Need help? Check out our forum at: https://teledynevisionsolutions.zendesk.com/hc/en-us/community/topics
*/
using System;
using System.IO;
using System.Collections.Generic;
using System.Threading;
using System.Threading.Tasks;
using SpinnakerNET;
using SpinnakerNET.GenApi;
using System.ComponentModel;
namespace AcquisitionMultipleThread_CSharp
{
class Program
{
List<BackgroundWorker>bgws = new List<BackgroundWorker>();
AutoResetEvent workersDoneEvent = new AutoResetEvent(false);
bool workerHasError = false;
void DoWork(object sender, DoWorkEventArgs e)
{
e.Result = 0;
BackgroundWorker wk = (BackgroundWorker) sender;
IManagedCamera cam = (IManagedCamera) e.Argument; // the 'argument' parameter resurfaces here
// Retrieve TL device nodemap
INodeMap nodeMapTLDevice = cam.GetTLDeviceNodeMap();
String deviceSerialNumber = "";
IString iDeviceSerialNumber = nodeMapTLDevice.GetNode<IString>("DeviceSerialNumber");
if (iDeviceSerialNumber != null && iDeviceSerialNumber.IsReadable)
{
deviceSerialNumber = iDeviceSerialNumber.Value;
}
Console.WriteLine("Camera {0} - BeginAcquisition()", deviceSerialNumber);
// Print device information
PrintDeviceInfo(nodeMapTLDevice);
// Initialize camera
cam.Init();
// Set acquisition mode to continuous
IEnum iAcquisitionMode = cam.GetNodeMap().GetNode<IEnum>("AcquisitionMode");
if (iAcquisitionMode == null || !iAcquisitionMode.IsWritable)
{
Console.WriteLine(
"Unable to set acquisition mode to continuous (node retrieval camera {0}). Aborting...\n",
deviceSerialNumber);
return;
}
IEnumEntry iAcquisitionModeContinuous = iAcquisitionMode.GetEntryByName("Continuous");
if (iAcquisitionModeContinuous == null || !iAcquisitionModeContinuous.IsReadable)
{
Console.WriteLine(
"Unable to set acquisition mode to continuous (enum entry retrieval camera {0}). Aborting...\n",
deviceSerialNumber);
return;
}
iAcquisitionMode.Value = iAcquisitionModeContinuous.Symbolic;
Console.WriteLine("Camera {0} acquisition mode set to continuous...", deviceSerialNumber);
#if DEBUG
// Disable heartbeat for GEV camera for Debug mode
if (DisableGVCPHeartbeat(cam) != 0)
#else
// Reset heartbeat for GEV camera for Release mode
if (ResetGVCPHeartbeat(cam) != 0)
#endif
{
return;
}
try
{
// Begin capturing images
cam.BeginAcquisition();
}
catch (SpinnakerException se)
{
if (se.ErrorCode == Error.SPINNAKER_ERR_RESOURCE_IN_USE)
{
// Expected case where camera is already streaming
Console.WriteLine(
"Camera {0} - Expected Camera is already streaming : {1}", deviceSerialNumber, se.Message);
}
else
{
Console.WriteLine("Camera {0} - Unexpected Exception : {1}", deviceSerialNumber, se.Message);
e.Result = -1;
}
}
Console.WriteLine("Camera {0} - GetNextImage()", deviceSerialNumber);
int numImages = 100;
for (int i = 0; i < numImages; i++)
{
try
{
using(IManagedImage rawImage = cam.GetNextImage(1000))
{
// Check Inconsistency Errors
if (rawImage.IsIncomplete)
{
Console.WriteLine(
"Camera {0} - incomplete image : {1}",
deviceSerialNumber,
ManagedImage.GetImageStatusDescription(rawImage.ImageStatus));
}
Console.WriteLine("Camera {0} - Grabbed image {1}", deviceSerialNumber, i);
}
}
catch (SpinnakerException se)
{
if (se.ErrorCode == Error.SPINNAKER_ERR_IO)
{
// The first thread to call EndAcquisition() would have stopped streaming for all other threads
// as well
if (!cam.IsStreaming())
{
Console.WriteLine(
"Camera {0} - expected SPINNAKER_ERR_IO because EndAcquisition() was called",
deviceSerialNumber);
}
else
{
Console.WriteLine("Camera {0} - unexpected SPINNAKER_ERR_IO", deviceSerialNumber);
e.Result = -1;
}
}
else if (se.ErrorCode == Error.SPINNAKER_ERR_TIMEOUT)
{
// If a thread has already called EndAcquisition() and another thread was in the process of
// getting an image event, the event will time out
if (!cam.IsStreaming())
{
Console.WriteLine(
"Camera {0} - expected SPINNAKER_ERR_TIMEOUT because EndAcquisition() was called",
deviceSerialNumber);
}
else
{
Console.WriteLine("Camera {0} - unexpected SPINNAKER_ERR_TIMEOUT", deviceSerialNumber);
e.Result = -1;
}
}
else if (se.ErrorCode == Error.SPINNAKER_ERR_INVALID_BUFFER)
{
// If a thread has already called EndAcquisition() then images may have already been released
if (!cam.IsStreaming())
{
Console.WriteLine(
"Camera {0} - expected SPINNAKER_ERR_INVALID_BUFFER because EndAcquisition() was called",
deviceSerialNumber);
}
else
{
Console.WriteLine(
"Camera {0} - unexpected SPINNAKER_ERR_INVALID_BUFFER", deviceSerialNumber);
e.Result = -1;
}
}
else
{
Console.WriteLine(
"Camera {0} - unexpected expectation retrieving image {1}", deviceSerialNumber, se.Message);
}
if ((int) e.Result == -1)
{
break;
}
}
}
Console.WriteLine("Camera {0} - EndAcquisition()", deviceSerialNumber);
try
{
cam.EndAcquisition();
}
catch (SpinnakerException se)
{
if (se.ErrorCode == Error.SPINNAKER_ERR_NOT_INITIALIZED)
{
// If a thread has already called EndAcquisition() when other threads try to call EndAcquisition()
// it will be expected to throw the message: camera is not started
Console.WriteLine("Camera {0} - Trying to End Acquisition: {1}", deviceSerialNumber, se.Message);
}
else
{
e.Result = -1;
Console.WriteLine(
"Camera {0} - Unexpected error Stopping Acquisition: {1}", deviceSerialNumber, se.Message);
return;
}
}
#if DEBUG
// Reset heartbeat for GEV camera
ResetGVCPHeartbeat(cam);
#endif
try
{
cam.DeInit();
}
catch (SpinnakerException se)
{
Console.WriteLine("Camera {0} - Trying to DeInit: {1}", deviceSerialNumber, se.Message);
}
Console.WriteLine("Camera {0} - End Grab", deviceSerialNumber);
}
private void RunWorkerCompleted(object sender, RunWorkerCompletedEventArgs e)
{
if ((int) e.Result == -1)
{
workerHasError = true;
}
BackgroundWorker bgw = (BackgroundWorker) sender;
bgws.Remove(bgw);
bgw.Dispose();
if (bgws.Count == 0)
{
workersDoneEvent.Set();
}
}
// Disables or enables heartbeat on GEV cameras so debugging does not incur timeout errors
static int ConfigureGVCPHeartbeat(IManagedCamera cam, bool enableHeartbeat)
{
//
// Write to boolean node controlling the camera's heartbeat
//
// *** NOTES ***
// This applies only to GEV cameras.
//
// GEV cameras have a heartbeat built in, but when debugging applications the
// camera may time out due to its heartbeat. Disabling the heartbeat prevents
// this timeout from occurring, enabling us to continue with any necessary
// debugging.
//
// *** LATER ***
// Make sure that the heartbeat is reset upon completion of the debugging.
// If the application is terminated unexpectedly, the camera may not locked
// to Spinnaker indefinitely due to the the timeout being disabled. When that
// happens, a camera power cycle will reset the heartbeat to its default setting.
//
// Retrieve TL device nodemap and print device information
INodeMap nodeMapTLDevice = cam.GetTLDeviceNodeMap();
// Retrieve GenICam nodemap
INodeMap nodeMap = cam.GetNodeMap();
IEnum iDeviceType = nodeMapTLDevice.GetNode<IEnum>("DeviceType");
IEnumEntry iDeviceTypeGEV = iDeviceType.GetEntryByName("GigEVision");
// We first need to confirm that we're working with a GEV camera
if (iDeviceType != null && iDeviceType.IsReadable)
{
if (iDeviceType.Value == iDeviceTypeGEV.Value)
{
if (enableHeartbeat)
{
Console.WriteLine("Resetting heartbeat");
}
else
{
Console.WriteLine("Disabling heartbeat");
}
IBool iGEVHeartbeatDisable = nodeMap.GetNode<IBool>("GevGVCPHeartbeatDisable");
if (iGEVHeartbeatDisable == null || !iGEVHeartbeatDisable.IsWritable)
{
Console.WriteLine(
"Unable to disable heartbeat on camera. Continuing with execution as this may be non-fatal...");
}
else
{
iGEVHeartbeatDisable.Value = !enableHeartbeat;
if (!enableHeartbeat)
{
Console.WriteLine("WARNING: Heartbeat has been disabled for the rest of this example run.");
Console.WriteLine(
" Heartbeat will be reset upon the completion of this run. If the ");
Console.WriteLine(
" example is aborted unexpectedly before the heartbeat is reset, the");
Console.WriteLine(" camera may need to be power cycled to reset the heartbeat.\n");
}
else
{
Console.WriteLine("Heartbeat has been reset.\n");
}
Console.WriteLine();
}
}
}
else
{
Console.WriteLine("Unable to access TL device nodemap. Aborting...");
return -1;
}
return 0;
}
static int ResetGVCPHeartbeat(IManagedCamera cam)
{
return ConfigureGVCPHeartbeat(cam, true);
}
static int DisableGVCPHeartbeat(IManagedCamera cam)
{
return ConfigureGVCPHeartbeat(cam, false);
}
static int PrintDeviceInfo(INodeMap nodeMap)
{
int result = 0;
try
{
Console.WriteLine("Printing device information for camera...\n");
ICategory category = nodeMap.GetNode<ICategory>("DeviceInformation");
if (category != null && category.IsReadable)
{
for (int i = 0; i < category.Children.Length; i++)
{
Console.WriteLine(
"{0}: {1}",
category.Children[i].Name,
(category.Children[i].IsReadable ? category.Children[i].ToString()
: "Node not available"));
}
Console.WriteLine();
}
else
{
Console.WriteLine("Device control information not available.");
}
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
return result;
}
// This function acts as the body of the example; please see
// NodeMapInfo_CSharp example for more in-depth comments on setting up
// cameras.
int RunMultipleCameras(ManagedCameraList cameraList)
{
int result = 0;
int camListSize = cameraList.Count;
// Initialize camera worker threads
for (int index = 0; index < camListSize; index++)
{
// Assign Each Task with GrabImage helper
BackgroundWorker bgw = new BackgroundWorker();
bgw.DoWork += DoWork;
bgw.RunWorkerCompleted += RunWorkerCompleted;
bgws.Add(bgw);
}
// Start all task
Console.WriteLine("Starting Tasks");
for (int index = 0; index < camListSize; index++)
{
bgws[index].RunWorkerAsync(argument : cameraList[index]);
}
// Wait for all threads to finish
Console.WriteLine("Waiting for tasks");
workersDoneEvent.WaitOne();
// Check thread return code for each camera
Console.WriteLine("Checking error code");
if (workerHasError)
{
Console.WriteLine(
"There are errors found with the grab threads.\nPlease check on-screen print outs for error details.");
result = -1;
}
return result;
}
// Example entry point; please see Enumeration_CSharp example for more
// in-depth comments on preparing and cleaning up the system.
static int Main(string[] args)
{
int result = 0;
Program program = new Program();
// Since this application saves images in the current folder
// we must ensure that we have permission to write to this folder.
// If we do not have permission, fail right away.
FileStream fileStream;
try
{
fileStream = new FileStream(@"test.txt", FileMode.Create);
fileStream.Close();
File.Delete("test.txt");
}
catch
{
Console.WriteLine("Failed to create file in current folder. Please check permissions.");
Console.WriteLine("Press enter to exit...");
Console.ReadLine();
return -1;
}
// Retrieve singleton reference to system object
ManagedSystem system = new ManagedSystem();
// Print out current library version
LibraryVersion spinVersion = system.GetLibraryVersion();
Console.WriteLine(
"Spinnaker library version: {0}.{1}.{2}.{3}\n\n",
spinVersion.major,
spinVersion.minor,
spinVersion.type,
spinVersion.build);
// Retrieve list of cameras from the system
ManagedCameraList cameraList = system.GetCameras();
Console.WriteLine("Number of cameras detected: {0}\n\n", cameraList.Count);
// Finish if there are no cameras
if (cameraList.Count == 0)
{
// Clear camera list before releasing system
cameraList.Clear();
// Release system
system.Dispose();
Console.WriteLine("Not enough cameras!");
Console.WriteLine("Done! Press Enter to exit...");
Console.ReadLine();
return -1;
}
// Run example on all cameras
Console.WriteLine("Running example for all cameras...");
try
{
result = program.RunMultipleCameras(cameraList);
}
catch (SpinnakerException ex)
{
Console.WriteLine("Error: {0}", ex.Message);
result = -1;
}
Console.WriteLine("Example complete...\n");
// Clear camera list before releasing system
cameraList.Clear();
// Release system
system.Dispose();
Console.WriteLine("\nDone! Press Enter to exit...");
Console.ReadLine();
return result;
}
}
}