C++ Sample Usage Guide

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This section introduces how to configure and run C++ samples of Mech-Vision SDK on Windows.

Prerequisites

  • SDK environment setup has been completed.

  • CMake 3.20 or later.

  • Visual Studio 2017 or later (with the MSVC compiler).

  • Mech-Vision is installed and can run properly.

Sample Overview

The C++ samples are located in development/cpp/examples/ and include:

Sample directory Description

solution_basic

Open, close, save, and rename solutions; get solution information and project information lists.

project_basic

Register project running-state and acquisition-finished callbacks, run projects, and get output data (pick point poses).

project_data_storage

Operate project data storage and read/write stored data.

project_param_recipe

Get parameter recipe lists and switch the current parameter recipe.

solution_comm_config

Get and modify communication configurations of a solution (TCP/IP, Modbus, and so on).

solution_device_status

Get camera status information in a solution, such as connection status, temperature, and transfer rate.

solution_global_variable

Read and write global variables in a solution (integer, floating-point, string, queue, and so on).

step_basic

Get Step information, pin Step output ports, and get Step output data (such as point poses) after running a project.

step_props

Read and set Step parameters in JSON format (including access to multi-level parameters).

production_interface

Production Interface operations.

production_interface_com

Production Interface communication operations.

Configure and Build Samples

The following steps use solution_basic as an example.

  1. Open CMakeLists.txt in the sample directory and set VISION_SDK_DIR to the actual SDK path:

    set(VISION_SDK_DIR path/to/development/cpp)

  2. Create a build directory in the sample directory and run CMake:

    mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..

  3. Open the generated .sln file with Visual Studio, or build with the command below:

    cmake --build . --config Release

Run Samples

  1. Make sure Mech-Vision is running, or start the Vision service through SDK APIs (see Start the Vision service).

  2. Update the solution path in sample code by replacing "D:/data/vision_sdk_example" with the actual path:

    error = solution.open("D:/path/to/your/solution");

  3. Run the compiled executable file.

Code Examples

Open a Solution and Get Project Information (solution_basic)

#include "vision_sdk/vision_sdk.h"
using namespace mmind;

int main()
{
    vision::initialize();

    vision::ErrorStatus error;

    // Open a solution
    vision::Solution solution;
    error = solution.open("D:/data/vision_sdk_example");

    // Get solution information
    vision::SolutionInfo solutionInfo;
    error = solution.getInfo(solutionInfo);

    // Get project information list
    std::vector<vision::ProjectInfo> projectInfos;
    error = solution.getAllProjectInfos(projectInfos);
    for (const auto& info : projectInfos) {
        // Process project information
    }

    // Save and close the solution
    error = solution.save();
    error = solution.close();

    vision::uninitialize();
    return 0;
}

Run a Project and Get Output Data (project_basic)

#include "vision_sdk/vision_sdk.h"
#include <QJsonDocument>
#include <QJsonObject>
#include <QJsonArray>
using namespace mmind;

void example()
{
    vision::Solution solution;
    solution.open("D:/data/vision_sdk_example");

    // Get project name
    std::vector<vision::ProjectInfo> projectInfos;
    solution.getAllProjectInfos(projectInfos);
    vision::Project project(projectInfos.front().name);

    // Register running-state callback
    project.setRunningChangedCallback(
        [](const vision::ProjectRunningChangedCallbackData& cbData) {
            // Handle running-state changes
        });

    // Run the project (wait until it finishes)
    vision::ProjectResult projectResult;
    project.run(vision::ProjectRunWaitState::Finished, "request_1", projectResult);

    // Parse output data (JSON format)
    const auto joOutput =
        QJsonDocument::fromJson(projectResult.outputJson.c_str()).object();
    const auto jaPickPoints =
        joOutput["workobject_data"].toObject()["pick_points"].toArray();
}

Read and Set Step Parameters (step_props)

#include "vision_sdk/vision_sdk.h"
#include <QJsonDocument>
#include <QJsonArray>
using namespace mmind;

void example()
{
    vision::Solution solution;
    solution.open("D:/data/vision_sdk_example");

    // Get the confidence threshold of a 3D Matching step
    vision::Step step("3D Matching_1", "Matching");
    std::string propsJson;
    step.getPropertiesJson(R"(["confidenceThreshold"])", propsJson);

    // Set step parameters
    step.setPropertiesJson(R"({"confidenceThreshold": 0.8})");
}

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