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.

  • Visual Studio 2017 or later.

  • .NET Framework 4.7.2 or later.

  • Mech-Vision is installed and can run properly.

Sample Overview

The C# samples are located in development/csharp/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

  1. Open the .sln solution file in the sample directory with Visual Studio.

  2. Right-click the project and select Add Reference. Add the following DLL files in development/csharp/lib as project references:

    • MMind.Vision.dll

    • Other dependency DLL files (if any)

  3. Update the solution path in code (see the example below), then build the solution (F6).

Run Samples

  1. Ensure that Mech-Vision is running.

  2. Update the solution path in sample code:

    string path = "D:/path/to/your/solution";

  3. Press F5 to run, or run the executable file generated in bin/Release/.

Code Examples

Open a Solution and Get Project Information (solution_basic)

using MMind.Vision;
using System.Collections.Generic;

class Program
{
    static void Main(string[] args)
    {
        MmindVision.Initialize();

        // Open a solution
        var solution = new Solution();
        var error = solution.Open("D:/data/vision_sdk_example",
                                  string.Empty, string.Empty);

        // Get solution information
        var solutionInfo = new SolutionInfo();
        error = solution.GetInfo(ref solutionInfo);
        System.Console.WriteLine($"Solution: {solutionInfo.Name}");

        // Get project information list
        var projectInfos = new List<ProjectInfo>();
        error = solution.GetAllProjectInfos(ref projectInfos);
        foreach (var info in projectInfos)
            System.Console.WriteLine($"  Project: {info.Name}");

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

        MmindVision.Uninitialize();
    }
}

Run a Project and Get Output Data (project_basic)

using MMind.Vision;
using System.Collections.Generic;
using Newtonsoft.Json.Linq;

class Example
{
    static void Run()
    {
        var solution = new Solution();
        solution.Open("D:/data/vision_sdk_example", string.Empty, string.Empty);

        // Get project name
        var projectInfos = new List<ProjectInfo>();
        solution.GetAllProjectInfos(ref projectInfos);
        var project = new Project(projectInfos[0].Name);

        // Register running-state callback
        project.SetRunningChangedCallback((cbData) => {
            System.Console.WriteLine($"Project running: {cbData.IsRunning}");
        });

        // Run the project (wait until it finishes)
        var projectResult = new ProjectResult();
        project.Run(ProjectRunWaitState.Finished, "request_1", ref projectResult);

        // Parse output data
        var joOutput = JObject.Parse(projectResult.OutputJson);
        var jaPickPoints = joOutput["workobject_data"]["pick_points"] as JArray;
    }
}

Read and Set Step Parameters (step_props)

using MMind.Vision;
using Newtonsoft.Json.Linq;

class Example
{
    static void Run()
    {
        var solution = new Solution();
        solution.Open("D:/data/vision_sdk_example", string.Empty, string.Empty);

        var step = new Step("3D Matching_1", "Matching");

        // Read step parameters
        var jaPropNames = new JArray { "confidenceThreshold" };
        string propsJson = string.Empty;
        step.GetPropertiesJson(jaPropNames.ToString(), ref propsJson);

        // Set step parameters
        var joProps = new JObject { { "confidenceThreshold", 0.8 } };
        step.SetPropertiesJson(joProps.ToString());
    }
}

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