public void DataAcquisition()
{
POSITION_motors();
if (config.ReadCameraStream == true)
{
CAPTURE_cameraImage();
}
else
{
STOP_streaming();
}
if (config.READ_dataFromMotors == true)
{
if (C_State.FURTHER(e_stateProg.initialized))
{
MainWindow.Ms[iReadMotor].READ_positionSpeed();
iReadMotor++;
if (iReadMotor >= 3)
{
iReadMotor = 0;
}
}
}
}
private void CancButton_Click(object sender, EventArgs e)
{
if (IsCubicleOnEdit)
{
ResetButton.Visible = false;
SaveButton.Visible = false;
CancButton.Visible = false;
IsCubicleOnEdit = false;
//ArrowKeys used to resize the cubicle
UPArrow.Visible = false;
LeftArrow.Visible = false;
resetSize.Visible = false;
RightArrow.Visible = false;
DownArrow.Visible = false;
for (int i = 0; i < 6; i++)
{
l[i].Visible = false;
l[i].Dispose();
}
C_Name.Dispose();
CubNo.Dispose();
EmpName.Dispose();
EmpSno.Dispose();
C_State.Dispose();
Other.Dispose();
S = -1;
}
else if (IsResourceOnEdit)
{
IsResourceOnEdit = false;
ResetButton.Visible = false;
SaveButton.Visible = false;
CancButton.Visible = false;
for (int i = 0; i < 7; i++)
{
l[i].Visible = false;
l[i].Dispose();
}
AssEmpNo.Dispose();
AssCubNo.Dispose();
ResNo.Dispose();
ResType.Dispose();
ResState.Dispose();
DateOfIssue.Dispose();
OtherInfo.Dispose();
P = -1;
}
}
public void STOP_streaming()
{
if (config.cameraControl.StopGrabbing())
{
if (C_State.FURTHER(e_stateBaslerCam.initialized))
{
C_State.SET_state(e_stateBaslerCam.notStreaming);
}
}
}
public void START_streaming()
{
if (config.cameraControl.StartGrabbing())
{
timeStartedStreaming = DateTime.Now.ToLocalTime();
if (C_State.FURTHER(e_stateBaslerCam.initialized))
{
C_State.SET_state(e_stateBaslerCam.streaming);
}
}
}
public void Update_helpText()
{
HUD.AppendLine("[!]alt|[^]ctrl|[+]shift|[#]super");
HUD.AppendLine(string.Format("Control: [^M]otor={0}|", config.WRITE_dataToMotors));
HUD.AppendLine(string.Format("MotorSpeedControl: [M]{0}", config.motorSpeedControl));
HUD.AppendLine(string.Format("Read: [+M]otor={0}|[+C]amera={1}", config.READ_dataFromMotors, config.ReadCameraStream));
HUD.AppendLine(string.Format("PositionLock: [Tab]={0}|[numbers]={1}:{2}",
config.player.PositionLockActive,
(int)config.player.PositionLock, config.player.PositionLock
));
HUD.AppendLine(string.Format("RoboticArmUpdatingFromAngle: [F5,F6,F7]={0}",
ra.angleType
));
HUD.AppendLine(string.Format("roboticArmPostureOnCameraCapture: [F8]={0}",
config.roboticArmPostureOnCameraCapture
));
HUD.AppendLine("");
HUD.AppendLine("CameraArtificialDelay = " + config.cameraArtificialDelay.ToString());
if (config.cameraArtificialDelay == true)
{
HUD.AppendLine("actual queue frame length = " + queuePixelData.Count().ToString());
HUD.AppendLine("setuped cameraFrameQueueLength = " + config.cameraFrameQueueLength.ToString());
HUD.AppendLine(string.Format("Actual artificial delay = {0,9:F4} [ms]", qAct.TotalMilliseconds));
}
HUD.AppendLine(string.Format("Status: [Camera={0}][Motors={1}][SPI={2}]",
C_State.baslerCam,
C_State.mot,
C_State.Spi
));
// may be in config constructor
string name = "No camera connected - please connect the camera and restart telepresence!";
if (C_State.FURTHER(e_stateBaslerCam.initializing))
{
name = config.cameraControl.camera.CameraInfo[Basler.Pylon.CameraInfoKey.DeviceType] + " " +
config.cameraControl.camera.CameraInfo[Basler.Pylon.CameraInfoKey.ModelName]
;
HUD.AppendLine("Camera: " + name);
HUD.AppendLine(string.Format(
"Camera: [Connected={0}], [Open={1}], [Grabbing={2}]",
config.cameraControl.camera.IsConnected,
config.cameraControl.camera.IsOpen,
config.cameraControl.camera.StreamGrabber.IsGrabbing
));
HUD.AppendLine(string.Format("[U]=[textureConversionAlgorithm={0}]", textureConversionAlgorithm));
HUD.AppendLine(string.Format("[+][-]=[ExposureTime={0:F3}ms]",
config.cameraControl.ExposureTime / 1000));
}
HUD.AppendLine("");
Vector3 pos;
Vector3 rot;
pos = config.player.scout.Position;
HUD.AppendLine(string.Format("scout [XYZ]: [{0,7:0.00}|{1,7:0.00}|{2,7:0.00}]",
pos[0], pos[1], pos[2]
));
rot = config.player.body.YawPitchRoll;
HUD.AppendLine(string.Format("body YawPitchRoll [Yaw|Pitch|Roll]: [{0,7:0.00}|{1,7:0.00}|{2,7:0.00}]",
rot[0], rot[1], rot[2]
));
pos = config.player.hmd.Position;
HUD.AppendLine(string.Format("hmd [XYZ]: [{0,7:0.00}|{1,7:0.00}|{2,7:0.00}]",
pos[0], pos[1], pos[2]
));
rot = config.player.hmd.YawPitchRoll;
HUD.AppendLine(string.Format("hmd [Yaw|Pitch|Roll]: [{0,7:0.00}|{1,7:0.00}|{2,7:0.00}]",
rot[0], rot[1], rot[2]
));
pos = config.player.Position;
HUD.AppendLine(string.Format("Player [XYZ]: [{0,7:0.00}|{1,7:0.00}|{2,7:0.00}]",
pos[0], pos[1], pos[2]
));
rot = config.player.YawPitchRoll;
HUD.AppendLine(string.Format("Player [Yaw|Pitch|Roll]: [{0,7:0.00}|{1,7:0.00}|{2,7:0.00}]",
rot[0], rot[1], rot[2]
));
}