IEnumerator <ITask> UpdateImage(webcam.WebCamOperations webcamPort, ImageProcessingResultForm webcamForm)
{
long timestamp = _stopWatch.ElapsedMilliseconds;
byte[] rgbData = null;
Size size = new Size(0, 0);
yield return(Arbiter.Choice(webcamPort.QueryFrame(),
success =>
{
rgbData = success.Frame;
size = success.Size;
},
failure =>
{
LogError(failure.ToException());
}));
TaskQueue.Enqueue(new Task(() =>
{
if (rgbData != null)
{
ComputeGradient(ref rgbData, size);
UpdateBitmap(rgbData, size, webcamForm, timestamp);
}
}));
}
IEnumerator <ITask> UpdateWebcamHelper(webcam.WebCamOperations webcamPort, ImageProcessingResultForm webcamForm,
Port <DateTime> timerPort)
{
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
yield return(new IterativeTask(() => UpdateImage(webcamPort, webcamForm)));
Activate(Arbiter.Receive(false, timerPort, dateTime => UpdateWebcam(webcamPort,
webcamForm, timerPort)));
TaskQueue.EnqueueTimer(TimeSpan.FromMilliseconds(Math.Max(1, 60 - stopwatch.ElapsedMilliseconds)), timerPort);
yield break;
}
/// <summary>
/// See adapter documentation in the Myro 3 developer manual.
/// http://wiki.roboteducation.org/Myro_3.0_Developer_Manual
/// </summary>
public WebcamAdapter(ServiceInfoType serviceInfo)
{
ServiceInfo = serviceInfo;
opPort = DssEnvironment.ServiceForwarder<webcam.WebCamOperations>(new Uri(serviceInfo.Service));
}
void UpdateWebcam(webcam.WebCamOperations webcamPort, ImageProcessingResultForm webcamForm,
Port <DateTime> timerPort)
{
SpawnIterator <webcam.WebCamOperations, ImageProcessingResultForm, Port <DateTime> >(
webcamPort, webcamForm, timerPort, UpdateWebcamHelper);
}
IEnumerator<ITask> OnConnectWebCamHandler(OnConnectWebCam Opt)
{
Fault fault = null;
SubscribeResponseType s;
String camera = Opt.Service;
_webCamPort = ServiceForwarder<cam.WebCamOperations>(camera);
//cam.Subscribe subscribe = new cam.Subscribe();
//subscribe.NotificationPort = _webCamNotify;
yield return Arbiter.Choice(
_webCamPort.Subscribe(_webCamNotify),
// subscribe.ResponsePort,
delegate(SubscribeResponseType success)
{ s = success; },
delegate(Fault f)
{
fault = f;
}
);
if (fault != null)
{
LogError(null, "Failed to subscribe to webcam", fault);
yield break;
}
}
/// <summary>
/// See adapter documentation in the Myro 3 developer manual.
/// http://wiki.roboteducation.org/Myro_3.0_Developer_Manual
/// </summary>
public WebcamAdapter(ServiceInfoType serviceInfo)
{
ServiceInfo = serviceInfo;
opPort = DssEnvironment.ServiceForwarder <webcam.WebCamOperations>(new Uri(serviceInfo.Service));
}
// TT - New handler for connecting to WebCam
IEnumerator<ITask> OnConnectWebCamHandler(OnConnectWebCam Opt)
{
//ServiceInfoType info = null;
Fault fault = null;
SubscribeResponseType s;
String camera = Opt.Service;
_webCamPort = ServiceForwarder<cam.WebCamOperations>(camera);
//cam.Subscribe subscribe = new cam.Subscribe();
//subscribe.NotificationPort = _webCamNotify;
//_webCamPort.Post(subscribe);
yield return Arbiter.Choice(
_webCamPort.Subscribe(_webCamNotify),
// subscribe.ResponsePort,
delegate(SubscribeResponseType success)
{ s = success; },
delegate(Fault f)
{
fault = f;
}
);
if (fault != null)
{
LogError(null, "Failed to subscribe to webcam", fault);
yield break;
}
RunForm runForm = new RunForm(CreateWebCamForm);
WinFormsServicePort.Post(runForm);
yield return Arbiter.Choice(
runForm.pResult,
delegate(SuccessResult success) { },
delegate(Exception e)
{
fault = Fault.FromException(e);
}
);
if (fault != null)
{
LogError(null, "Failed to Create WebCam window", fault);
yield break;
}
// The following code falls over with a null pointer
// exception inside MainPortInterleave.CombineWith.
// Since I don't know why, I have added the message
// to the interleave that is created at startup.
// This is a bit tacky, but does not seem to do any harm.
/*
Interleave x = Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.ReceiveWithIterator<cam.UpdateFrame>(true, _webCamNotify, CameraUpdateFrameHandler)
),
new ConcurrentReceiverGroup()
);
base.MainPortInterleave.CombineWith(x);
*/
// There is a bug in the simulated webcam. It does not
// automatically send UpdateFrame messages when you
// subscribe. If this is a simulated camera, then set
// up a timer to poke the webcam service and make it
// send a frame.
if (camera.ToLower().Contains("simul"))
{
Activate(
Arbiter.Receive(false, TimeoutPort(_state.Options.CameraInterval), CameraTimer)
);
}
yield break;
}
IEnumerator <ITask> InitializeCamera()
{
ServiceInfoType info = null;
Fault fault = null;
yield return(Arbiter.Choice(
_blobTrackerPort.DsspDefaultLookup(),
delegate(LookupResponse success)
{
info = success;
},
delegate(Fault f)
{
fault = f;
}
));
if (fault != null)
{
LogError(null, "Lookup failed on BlobTracker partner", fault);
yield break;
}
PartnerType camera = FindPartner(
new XmlQualifiedName("WebCam", bt.Contract.Identifier),
info.PartnerList
);
if (camera == null ||
string.IsNullOrEmpty(camera.Service))
{
LogError("No camera partner found for BlobTracker");
yield break;
}
_webCamPort = ServiceForwarder <cam.WebCamOperations>(camera.Service);
yield return(Arbiter.Choice(
_webCamPort.Subscribe(_webCamNotify, typeof(cam.UpdateFrame)),
delegate(SubscribeResponseType success) { },
delegate(Fault f)
{
fault = f;
}
));
if (fault != null)
{
LogError(null, "Failed to subscribe to webcam", fault);
yield break;
}
yield return(Arbiter.Choice(
_blobTrackerPort.Subscribe(_blobTrackerNotify),
delegate(SubscribeResponseType success) { },
delegate(Fault f)
{
fault = f;
}
));
if (fault != null)
{
LogError(null, "Failed to subscribe to blob tracker", fault);
yield break;
}
RunForm runForm = new RunForm(CreateVisualization);
WinFormsServicePort.Post(runForm);
yield return(Arbiter.Choice(
runForm.pResult,
delegate(SuccessResult success) { },
delegate(Exception e)
{
fault = Fault.FromException(e);
}
));
if (fault != null)
{
LogError(null, "Failed to Create Visualization window", fault);
yield break;
}
base.MainPortInterleave.CombineWith(
Arbiter.Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive <cam.UpdateFrame>(true, _webCamNotify, CameraUpdateFrameHandler),
Arbiter.Receive <bt.ImageProcessed>(true, _blobTrackerNotify, BlobTrackerImageProcessedHandler),
Arbiter.Receive <Shutdown>(true, _shutdownPort, ShutdownHandler)
),
new ConcurrentReceiverGroup(
Arbiter.Receive <bt.DeleteBin>(true, _blobTrackerNotify, EmptyHandler),
Arbiter.Receive <bt.InsertBin>(true, _blobTrackerNotify, EmptyHandler),
Arbiter.Receive <bt.UpdateBin>(true, _blobTrackerNotify, EmptyHandler)
)
)
);
}