// Connect to SRV-1
private bool Connect(string host, int port)
{
bool result = true;
try
{
srv.Connect(host, port);
srv.EnableFailsafeMode(0, 0);
srv.FlipVideo(false);
srv.SetQuality(7);
srv.SetResolution(SRV1.VideoResolution.Small);
// start left camera
SRV1Camera camera = srv.GetCamera( );
cameraPlayer.VideoSource = camera;
cameraPlayer.Start( );
versionLabel.Text = srv.GetVersion( );
receivedFirstDrivingCommand = false;
// reset statistics
statIndex = statReady = 0;
// start timer
timer.Start( );
}
catch
{
result = false;
Disconnect( );
}
return(result);
}
// Connect to SVS
private bool Connect(string host)
{
bool result = true;
try
{
svs.Connect(host);
svs.EnableFailsafeMode(0, 0);
svs.FlipVideo(false);
svs.SetQuality(7);
svs.SetResolution(SRV1.VideoResolution.Small);
// start left camera
SRV1Camera leftCamera = svs.GetCamera(SVS.Camera.Left);
leftCameraPlayer.VideoSource = leftCamera;
leftCameraPlayer.Start( );
// start right camera
SRV1Camera rightCamera = svs.GetCamera(SVS.Camera.Right);
rightCameraPlayer.VideoSource = rightCamera;
rightCameraPlayer.Start( );
versionLabel.Text = svs.GetVersion( );
receivedFirstDrivingCommand = false;
// reset statistics
statIndex = statReady = 0;
// start timer
timer.Start( );
}
catch
{
result = false;
Disconnect( );
}
return(result);
}
/// <summary>
/// Get SVS's camera.
/// </summary>
///
/// <param name="camera">SVS camera to get.</param>
///
/// <returns>Returns <see cref="SRV1Camera"/> object, which is connected to SVS's Blackfin camera.
/// Use <see cref="SRV1Camera.Start"/> method to start the camera and start receiving video
/// frames from it.</returns>
///
/// <remarks><para>The method provides an instance of <see cref="SRV1Camera"/>, which can be used
/// for receiving continuous video frames from the SVS board.
/// In the case if only one image is required, the <see cref="GetImage"/> method can be used.</para>
///
/// <para>Sample usage:</para>
/// <code>
/// // get SRV-1 camera
/// SRV1Camera camera = svs.GetCamera( SVS.Camera.Left );
/// // set NewFrame event handler
/// camera.NewFrame += new NewFrameEventHandler( video_NewFrame );
/// // start the video source
/// camera.Start( );
/// // ...
///
/// private void video_NewFrame( object sender, NewFrameEventArgs eventArgs )
/// {
/// // get new frame
/// Bitmap bitmap = eventArgs.Frame;
/// // process the frame
/// }
/// </code>
/// </remarks>
///
/// <exception cref="NotConnectedException">Not connected to SVS. Connect to SVS board before using
/// this method.</exception>
///
public SRV1Camera GetCamera( Camera camera )
{
if ( camera == Camera.Left )
{
if ( leftCamera == null )
{
leftCamera = SafeGetCommunicator1( ).GetCamera( );
}
return leftCamera;
}
if ( rightCamera == null )
{
rightCamera = SafeGetCommunicator2( ).GetCamera( );
}
return rightCamera;
}
/// <summary>
/// Disconnect from SVS device.
/// </summary>
///
/// <remarks><para>The method disconnects from SVS board making all other methods
/// unavailable (except <see cref="Connect"/> method). In the case if user
/// obtained instance of left or right camera using <see cref="GetCamera"/>
/// method, the video will be stopped automatically (and those <see cref="SRV1Camera"/>
/// instances should be discarded).
/// </para></remarks>
///
public void Disconnect( )
{
lock ( sync1 )
{
lock ( sync2 )
{
hostAddress = null;
// signal cameras to stop
if ( leftCamera != null )
{
leftCamera.SignalToStop( );
}
if ( rightCamera != null )
{
rightCamera.SignalToStop( );
}
// wait until cameras stop or abort them
if ( leftCamera != null )
{
// wait for aroung 250 ms
for ( int i = 0; ( i < 5 ) && ( leftCamera.IsRunning ); i++ )
{
System.Threading.Thread.Sleep( 50 );
}
// abort camera if it can not be stopped
if ( leftCamera.IsRunning )
{
leftCamera.Stop( );
}
leftCamera = null;
}
if ( rightCamera != null )
{
// wait for aroung 250 ms
for ( int i = 0; ( i < 5 ) && ( rightCamera.IsRunning ); i++ )
{
System.Threading.Thread.Sleep( 50 );
}
// abort camera if it can not be stopped
if ( rightCamera.IsRunning )
{
rightCamera.Stop( );
}
rightCamera = null;
}
if ( communicator1 != null )
{
communicator1.Disconnect( );
communicator1 = null;
}
if ( communicator2 != null )
{
communicator2.Disconnect( );
communicator2 = null;
}
}
}
}
/// <summary>
/// Get camera object for the SRV-1 Blackfin robot/camera.
/// </summary>
///
/// <returns>Returns <see cref="SRV1Camera"/> object, which is connected to SRV1 Blackfin camera.
/// Use <see cref="SRV1Camera.Start"/> method to start the camera and start receiving video
/// frames it.</returns>
///
/// <remarks><para>The method provides an instance of <see cref="SRV1Camera"/>, which can be used
/// for receiving continuous video frames from the SRV-1 Blackfin camera.
/// In the case if only one image is required, the <see cref="GetImage"/> method can be used.</para>
///
/// <para>Sample usage:</para>
/// <code>
/// // get SRV-1 camera
/// SRV1Camera camera = srv.GetCamera( );
/// // set NewFrame event handler
/// camera.NewFrame += new NewFrameEventHandler( video_NewFrame );
/// // start the video source
/// camera.Start( );
/// // ...
///
/// private void video_NewFrame( object sender, NewFrameEventArgs eventArgs )
/// {
/// // get new frame
/// Bitmap bitmap = eventArgs.Frame;
/// // process the frame
/// }
/// </code>
/// </remarks>
///
/// <exception cref="NotConnectedException">Not connected to SRV-1. Connect to SRV-1 robot/camera
/// before using this method.</exception>
///
public SRV1Camera GetCamera( )
{
lock ( sync )
{
if ( socket == null )
{
// handle error
throw new NotConnectedException( "Not connected to SRV-1." );
}
if ( camera == null )
{
camera = new SRV1Camera( this );
}
return camera;
}
}
/// <summary>
/// Disconnect from SRV-1 Blackfin robot.
/// </summary>
///
/// <remarks><para>The method disconnects from SRV-1 robot making all other methods
/// unavailable (except <see cref="Connect"/> method). In the case if user
/// obtained instance of camera using <see cref="GetCamera"/> method, the video will
/// be stopped automatically (and those <see cref="SRV1Camera"/> instances should be discarded).
/// </para></remarks>
///
public void Disconnect( )
{
lock ( sync )
{
if ( thread != null )
{
// signal camera to stop
if ( camera != null )
{
camera.SignalToStop( );
}
// signal worker thread to stop
stopEvent.Set( );
requestIsAvailable.Set( );
replyIsAvailable.Set( );
// finilze the camera
if ( camera != null )
{
// wait for aroung 250 ms
for ( int i = 0; ( i < 5 ) && ( camera.IsRunning ); i++ )
{
System.Threading.Thread.Sleep( 50 );
}
// abort camera if it can not be stopped
if ( camera.IsRunning )
{
camera.Stop( );
}
camera = null;
}
// wait for aroung 1 s
for ( int i = 0; ( i < 20 ) && ( thread.Join( 0 ) == false ); i++ )
{
System.Threading.Thread.Sleep( 50 );
}
// abort thread if it can not be stopped
if ( thread.Join( 0 ) == false )
{
thread.Abort( );
}
thread = null;
// release events
stopEvent.Close( );
stopEvent = null;
requestIsAvailable.Close( );
requestIsAvailable = null;
replyIsAvailable.Close( );
replyIsAvailable = null;
}
if ( socket != null )
{
if ( socket.Connected )
{
socket.Disconnect( false );
}
socket.Close( );
socket = null;
endPoint = null;
}
}
}
