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
///
///
///
/// 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);
}
}
}
}
}
