private async void draw_Click(object sender, Windows.UI.Xaml.RoutedEventArgs e)
{
capture.IsEnabled = false;
draw.IsEnabled = false;
if (_bestSolutionSoFar.Length == 0)
{
capture.IsEnabled = true;
return;
}
// Reset the plotted bit on segments in case someone draws the same image again.
foreach (var line in _tspSegments)
{
line.wasPlotted = false;
}
_timer.Start();
await Task.Run(async() =>
{
var start = DateTime.Now;
_pen.raise();
await Task.Delay(kPenMoveTimeout);
_bot.move((int)(_tspSegments[0].start.X + plottingOffsetX), (int)(_tspSegments[0].start.Y + plottingOffsetY));
_bot.enable();
while (_bot.run())
{
;
}
_bot.disable();
TSPSegment.LineType currentType = _tspSegments[0].type;
if (currentType == TSPSegment.LineType.Draw)
{
_pen.lower();
await Task.Delay(kPenMoveTimeout);
}
foreach (var line in _tspSegments)
{
if (line.type != currentType)
{
if (line.type == TSPSegment.LineType.Draw)
{
_pen.lower();
await Task.Delay(kPenMoveTimeout);
}
else
{
_pen.raise();
await Task.Delay(kPenMoveTimeout);
}
currentType = line.type;
}
_bot.move((int)(line.end.X + plottingOffsetX), (int)(line.end.Y + plottingOffsetY));
line.wasPlotted = true;
_bot.enable();
while (_bot.run())
{
;
}
_bot.disable();
}
Debug.WriteLine("Render took: " + (DateTime.Now - start).TotalSeconds.ToString() + " seconds");
_bot.home();
_bot.enable();
while (_bot.run())
{
;
}
_bot.disable();
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
draw.IsEnabled = true;
capture.IsEnabled = true;
_timer.Stop();
});
});
}
protected override async void OnNavigatedTo(NavigationEventArgs e)
{
base.OnNavigatedTo(e);
draw.IsEnabled = false;
_timer = new DispatcherTimer();
_timer.Interval = TimeSpan.FromMilliseconds(renderTimeout);
_timer.Tick += _timer_Tick;
await Task.Run(async () =>
{
_bot = new HBot(
HBotPin_AStep, HBotPin_ADir, HBotPin_AEn,
HBotPin_BStep, HBotPin_BDir, HBotPin_BEn,
HBotPin_XHome, HBotPin_YHome);
_bot.setInfo(HBotBed_Width, HBotBed_Height, HBotBed_StepsPerMM);
_pen = new PenActuator(HBotPin_PenServo);
_pen.raise();
await Task.Delay(kPenMoveTimeout);
_bot.enable();
_bot.home();
while (_bot.run())
;
_bot.disable();
});
_mediaCaptureMgr = new Windows.Media.Capture.MediaCapture();
await _mediaCaptureMgr.InitializeAsync(new MediaCaptureInitializationSettings { StreamingCaptureMode = StreamingCaptureMode.Video });
VideoEncodingProperties smallestMedia = null;
var cameraProperties = _mediaCaptureMgr.VideoDeviceController.GetAvailableMediaStreamProperties(MediaStreamType.VideoPreview).Select(x => x as VideoEncodingProperties).ToList();
if (cameraProperties.Count >= 1)
{
foreach (var mediaEncodingProperty in cameraProperties)
{
if (smallestMedia == null ||
(smallestMedia.Width > mediaEncodingProperty.Width ||
smallestMedia.Height > mediaEncodingProperty.Height))
{
smallestMedia = mediaEncodingProperty;
}
}
}
cameraWidth = smallestMedia.Width;
cameraHeight = smallestMedia.Height;
await _mediaCaptureMgr.VideoDeviceController.SetMediaStreamPropertiesAsync(MediaStreamType.VideoPreview, smallestMedia);
CapturePreview.Width = cameraWidth;
CapturePreview.Height = cameraHeight;
CapturePreview.Source = _mediaCaptureMgr;
await _mediaCaptureMgr.StartPreviewAsync();
}
protected override async void OnNavigatedTo(NavigationEventArgs e)
{
base.OnNavigatedTo(e);
draw.IsEnabled = false;
_timer = new DispatcherTimer();
_timer.Interval = TimeSpan.FromMilliseconds(renderTimeout);
_timer.Tick += _timer_Tick;
await Task.Run(async() =>
{
_bot = new HBot(
HBotPin_AStep, HBotPin_ADir, HBotPin_AEn,
HBotPin_BStep, HBotPin_BDir, HBotPin_BEn,
HBotPin_XHome, HBotPin_YHome);
_bot.setInfo(HBotBed_Width, HBotBed_Height, HBotBed_StepsPerMM);
_pen = new PenActuator(HBotPin_PenServo);
_pen.raise();
await Task.Delay(kPenMoveTimeout);
_bot.enable();
_bot.home();
while (_bot.run())
{
;
}
_bot.disable();
});
_mediaCaptureMgr = new Windows.Media.Capture.MediaCapture();
await _mediaCaptureMgr.InitializeAsync(new MediaCaptureInitializationSettings { StreamingCaptureMode = StreamingCaptureMode.Video });
VideoEncodingProperties smallestMedia = null;
var cameraProperties = _mediaCaptureMgr.VideoDeviceController.GetAvailableMediaStreamProperties(MediaStreamType.VideoPreview).Select(x => x as VideoEncodingProperties).ToList();
if (cameraProperties.Count >= 1)
{
foreach (var mediaEncodingProperty in cameraProperties)
{
if (smallestMedia == null ||
(smallestMedia.Width > mediaEncodingProperty.Width ||
smallestMedia.Height > mediaEncodingProperty.Height))
{
smallestMedia = mediaEncodingProperty;
}
}
}
cameraWidth = smallestMedia.Width;
cameraHeight = smallestMedia.Height;
await _mediaCaptureMgr.VideoDeviceController.SetMediaStreamPropertiesAsync(MediaStreamType.VideoPreview, smallestMedia);
CapturePreview.Width = cameraWidth;
CapturePreview.Height = cameraHeight;
CapturePreview.Source = _mediaCaptureMgr;
await _mediaCaptureMgr.StartPreviewAsync();
}