API：

using System; using System.Collections.Generic; using System.Text; using System.Runtime.InteropServices; namespace ShareMemory { public class ShareMemoryAPI { public static void WriteLog(string funName) { string logFile = GetAssemblyPath() + "BusDriverLog.txt"; int errorCode = GetLastError(); string logMsg = DateTime.Now.ToString() + "\t" + funName + "\t Code" + errorCode; System.IO.File.AppendAllText(logFile, logMsg + "\r\n"); }/// /// 获取当前运行dll的路径 /// /// 路径 public static string GetAssemblyPath() { string codeBase = System.Reflection.Assembly.GetExecutingAssembly().CodeBase; codeBase = codeBase.Substring(8, codeBase.Length - 8); // 8是file:// 的长度string[] arrSection = codeBase.Split(new char[] { '/' }); string folderPath = ""; for (int i = 0; i < arrSection.Length - 1; i++) { folderPath += arrSection[i] + "/"; }return folderPath; }[DllImport("Kernel32.dll", CharSet = CharSet.Auto)] public static extern IntPtr CreateFileMapping(int hFile, IntPtr lpAttributes, uint flProtect, uint dwMaxSizeHi, uint dwMaxSizeLow, string lpName); [DllImport("Kernel32.dll", CharSet = CharSet.Auto)] public static extern IntPtr OpenFileMapping(int dwDesiredAccess, [MarshalAs(UnmanagedType.Bool)] bool bInheritHandle, string lpName); [DllImport("Kernel32.dll", CharSet = CharSet.Auto)] public static extern IntPtr MapViewOfFile(IntPtr hFileMapping, uint dwDesiredAccess, uint dwFileOffsetHigh, uint dwFileOffsetLow, uint dwNumberOfBytesToMap); [DllImport("Kernel32.dll", CharSet = CharSet.Auto)] public static extern bool UnmapViewOfFile(IntPtr pvBaseAddress); [DllImport("Kernel32.dll", CharSet = CharSet.Auto)] public static extern bool CloseHandle(IntPtr handle); [DllImport("kernel32", EntryPoint = "GetLastError")] public static extern int GetLastError(); public const int ERROR_ALREADY_EXISTS = 183; public const int FILE_MAP_COPY = 0x0001; public const int FILE_MAP_WRITE = 0x0002; public const int FILE_MAP_READ = 0x0004; public const int FILE_MAP_ALL_ACCESS = 0x0002 | 0x0004; public const int PAGE_READONLY = 0x02; public const int PAGE_READWRITE = 0x04; public const int PAGE_WRITECOPY = 0x08; public const int PAGE_EXECUTE = 0x10; public const int PAGE_EXECUTE_READ = 0x20; public const int PAGE_EXECUTE_READWRITE = 0x40; public const int SEC_COMMIT = 0x8000000; public const int SEC_IMAGE = 0x1000000; public const int SEC_NOCACHE = 0x10000000; public const int SEC_RESERVE = 0x4000000; public const int INVALID_HANDLE_VALUE = https://www.it610.com/article/-1; }}

Memery Read：

using System; using System.Collections.Generic; using System.Text; using System.Runtime.InteropServices; using System.Drawing; namespace ShareMemory { public class ShareMemoryRead { private static object _lockerObj = new object(); /// /// 根据图片大小从共享内存中读取图片数据 /// /// /// /// public static byte[] ReadImage(string lpName, Size imageSize, int imageDepth) { lock (_lockerObj) { IntPtr hFileRead = IntPtr.Zero; try { hFileRead = ShareMemoryAPI.OpenFileMapping(ShareMemoryAPI.FILE_MAP_ALL_ACCESS, false, lpName); if (IntPtr.Zero == hFileRead) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.OpenFileMapping"); return null; }IntPtr pMemory = ShareMemoryAPI.MapViewOfFile(hFileRead, ShareMemoryAPI.FILE_MAP_READ, 0, 0, (uint)(imageSize.Width * imageSize.Height * sizeof(byte) * imageDepth / 8)); if (IntPtr.Zero == pMemory) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.MapViewOfFile"); return null; } byte[] bytes24 = new byte[imageSize.Width * imageSize.Height * imageDepth / 8]; Marshal.Copy(pMemory, bytes24, 0, imageSize.Width * imageSize.Height * imageDepth / 8); ShareMemoryAPI.UnmapViewOfFile(pMemory); return bytes24; } catch (Exception) { ShareMemoryAPI.WriteLog("ShareMemoryRead.Read"); return null; } finally { ShareMemoryAPI.CloseHandle(hFileRead); } } }/// /// 根据激光数据行列数，从共享内存中读取激光数据 /// 此激光数据只包含Z值，未经过标定 /// /// /// /// /// 返回未经标定，Z值二维数组 public static float[,] Read(string lpName, int row, int col) { lock (_lockerObj) { IntPtr hFileWrite = IntPtr.Zero; try { hFileWrite = ShareMemoryAPI.OpenFileMapping(ShareMemoryAPI.FILE_MAP_ALL_ACCESS, false, lpName); if (IntPtr.Zero == hFileWrite) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.OpenFileMapping"); return null; }IntPtr pMemory = ShareMemoryAPI.MapViewOfFile(hFileWrite, ShareMemoryAPI.FILE_MAP_WRITE, 0, 0, (uint)(row * col * sizeof(double))); if (IntPtr.Zero == pMemory) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.MapViewOfFile"); return null; } float[,] pointClode = new float[row, col]; unsafe { fixed (float* p = &pointClode[0, 0]) { float* pByter = (float*)pMemory; float* p1 = p; for (int i = 0; i < row; i++) { for (int j = 0; j < col; j++) { *p1 = *pByter; p1++; pByter++; } } } } ShareMemoryAPI.UnmapViewOfFile(pMemory); return pointClode; } catch (Exception) { ShareMemoryAPI.WriteLog("ShareMemoryRead.Read"); return null; } finally { ShareMemoryAPI.CloseHandle(hFileWrite); } } }} }

Memery Write:

using System; using System.Collections.Generic; using System.Text; using System.Runtime.InteropServices; namespace ShareMemory { public class ShareMemoryWrite { private static object _lockerObj = new object(); /// /// 将图片数据写入至共享内存 /// /// /// public static IntPtr WriteImage(string lpName, int imageWidth, int imageHeight, int imageDepth, byte[] image) { lock (_lockerObj) { IntPtr pMemory = IntPtr.Zero; try { IntPtr pFile = ShareMemoryAPI.CreateFileMapping(ShareMemoryAPI.INVALID_HANDLE_VALUE, IntPtr.Zero, ShareMemoryAPI.PAGE_READWRITE, 0, (uint)(imageWidth * imageHeight * sizeof(byte) * imageDepth / 8), lpName); if (IntPtr.Zero == pFile) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.CreateShareMemory"); return IntPtr.Zero; }pMemory = ShareMemoryAPI.MapViewOfFile(pFile, ShareMemoryAPI.FILE_MAP_WRITE, 0, 0, (uint)(imageWidth * imageHeight * sizeof(byte) * imageDepth / 8)); if (IntPtr.Zero == pMemory) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.MapViewOfFile"); } Marshal.Copy(image, 0, pMemory, image.Length); image = new byte[0]; image = null; return pFile; } catch (Exception) { ShareMemoryAPI.WriteLog("ShareMemoryWrite.WriteImage"); return IntPtr.Zero; } finally { ShareMemoryAPI.UnmapViewOfFile(pMemory); } } }/// /// 将未标定激光数据写入至共享内存， /// /// /// 未标定激光数据，只有Z值 /// 激光数据行数 /// 激光数据列数 public static void WriteLaser(string lpName, float[,] points, int row, int col) { lock (_lockerObj) { IntPtr pMemory = IntPtr.Zero; try { IntPtr pFile = ShareMemoryAPI.CreateFileMapping(ShareMemoryAPI.INVALID_HANDLE_VALUE, IntPtr.Zero, ShareMemoryAPI.PAGE_READWRITE, 0, (uint)(row * col * sizeof(double)), lpName); if (IntPtr.Zero == pFile) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.OpenFileMapping"); return; }pMemory = ShareMemoryAPI.MapViewOfFile(pFile, ShareMemoryAPI.FILE_MAP_WRITE, 0, 0, (uint)(row * col * sizeof(double))); if (IntPtr.Zero == pMemory) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.MapViewOfFile"); return; } unsafe { fixed (float* p = &points[0, 0]) { float* pByter = (float*)pMemory; float* p1 = p; for (int i = 0; i < row; i++) { for (int j = 0; j < col; j++) { *pByter = *p1; p1++; pByter++; } } } } } catch (Exception) { ShareMemoryAPI.WriteLog("ShareMemoryWrite.WriteLaser"); } finally { ShareMemoryAPI.UnmapViewOfFile(pMemory); } } }/// /// 将已标定激光数据写入至共享内存 /// /// /// 已标定激光数据X值 /// 已标定激光数据Y值 /// 已标定激光数据Z值 /// 激光数据行数 /// 【windows进程共享内存技术】激光数据列数 public static IntPtr WriteLaser(string lpName, float[,] pointsX, float[,] pointsY, float[,] pointsZ, int row, int col) { lock (_lockerObj) { IntPtr pMemory = IntPtr.Zero; try { IntPtr pFile = ShareMemoryAPI.CreateFileMapping(ShareMemoryAPI.INVALID_HANDLE_VALUE, IntPtr.Zero, ShareMemoryAPI.PAGE_READWRITE, 0, (uint)(row * col * sizeof(double) * 3), lpName); if (IntPtr.Zero == pFile) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.CreateShareMemory"); return IntPtr.Zero; } pMemory = ShareMemoryAPI.MapViewOfFile(pFile, ShareMemoryAPI.FILE_MAP_WRITE, 0, 0, (uint)(row * col * sizeof(double) * 3)); if (IntPtr.Zero == pMemory) { ShareMemoryAPI.WriteLog("ShareMemoryAPI.MapViewOfFile"); return IntPtr.Zero; } unsafe { fixed (float* pX = &pointsX[0, 0], pY = &pointsY[0, 0], pZ = &pointsZ[0, 0]) { float* pByter = (float*)pMemory; float* p1 = pX; float* p2 = pY; float* p3 = pZ; for (int i = 0; i < row; i++) { for (int j = 0; j < col; j++) { // 将当前x、y、z值依次写入共享内存 *pByter = *p1; *(pByter + 1) = *p2; *(pByter + 2) = *p3; // 共享内存指针后移3位，x、y、z数据分别后移一位 pByter += 3; p1++; p2++; p3++; } } } } return pFile; } catch (Exception) { ShareMemoryAPI.WriteLog("ShareMemoryWrite.WriteLaser"); return IntPtr.Zero; } finally { ShareMemoryAPI.UnmapViewOfFile(pMemory); } } } } }

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