public PuzzleBot(IHost host)
{
_host = host;
_host.WriteLogMessage(c_componentName, "Initializing PuzzleBot comm. channels.");
_machine = new CncMachine(_host);
_upwardCamera = new OpenCV.CaptureEngine(
$"http://{_host.GetParam<string>("MachineHostName")}:{_host.GetParam<int>("UpCameraPort")}/?action=stream");
_downwardCamera = new OpenCV.CaptureEngine(
$"http://{_host.GetParam<string>("MachineHostName")}:{_host.GetParam<int>("DownCameraPort")}/?action=stream");
_upwardCameraView = _host.CreateCameraView("Upward Camera");
_downwardCameraView = _host.CreateCameraView("Downward Camera");
_downwardCameraIntrinsic = _host.GetParam<JObject>("IntrinsticCalib").ToMat();
_downwardCameraExtrinstic = _host.GetParam<JObject>("ExtrinsticCalib").ToMat();
_viewUpdateThread = new Thread(CameraViewUpdater);
_viewUpdateThread.Start();
_host.WriteLogMessage(c_componentName, "Press enter to home...");
_host.ReadLine();
_machine.PerformMechanicalHome();
AttachKeyHandlers();
MainControlLoop();
}
public CncMachine(IHost host)
{
Contract.Assert(host != null);
_host = host;
_client = new NetworkSerialClient(
_host.GetParam<string>("MachineHostName"),
_host.GetParam<int>("MachinePort"),
OnMsg
);
_coordSystem = new IdentityTranslator(
new MachineCoordSystem(
new Coord(0, 0, -_host.GetParam<double>("MaxZ"), 0),
new Coord(
_host.GetParam<double>("MaxX"),
_host.GetParam<double>("MaxY"),
0,
_host.GetParam<double>("MaxA")
)
)
);
// We need to request status a few times when the TinyG controller first boots
// up for *some* reason.
RequestStatus();
RequestStatus();
RequestStatus();
}