/// <summary>
/// Initializes a new instance of the <see cref="HSLFiltering"/> class.
/// </summary>
///
/// <param name="hue">Range of hue component.</param>
/// <param name="saturation">Range of saturation component.</param>
/// <param name="luminance">Range of luminance component.</param>
///
public HSLFiltering( IntRange hue, Range saturation, Range luminance ) :
this( )
{
this.hue = hue;
this.saturation = saturation;
this.luminance = luminance;
}
/// <summary>
/// Set bounds for specified servos.
/// </summary>
///
/// <param name="mask">Mask array specifying which servos need to be set.</param>
/// <param name="bounds">Array of servos' bounds. Each bound may be in [0, 255] range.</param>
///
/// <remarks><para>The method sets servos' physical bounds in which they may move.
/// See documentation to <see cref="Qwerk.Servos"/> for clarification.</para></remarks>
///
/// <exception cref="ArgumentException">Incorrect length of <paramref name="mask"/>,
/// or <paramref name="bounds"/> array.</exception>
/// <exception cref="NotConnectedException">No connection to Qwerk or its service.</exception>
/// <exception cref="ConnectionLostException">Connestion to Qwerk is lost.</exception>
///
public void SetBounds( bool[] mask, IntRange[] bounds )
{
if ( ( mask.Length != Count ) || ( bounds.Length != Count ) )
{
throw new ArgumentException( "Incorrect length of mask or positions array." );
}
// check controller
if ( servoController == null )
{
throw new NotConnectedException( "Qwerk's service is not connected." );
}
try
{
TeRKIceLib.Bounds[] nativeBounds = new TeRKIceLib.Bounds[Count];
for ( int i = 0; i < Count; i++ )
{
if ( mask[i] )
{
nativeBounds[i].min = bounds[i].Min;
nativeBounds[i].max = bounds[i].Max;
}
}
// set servos' bounds
servoController.setBounds( mask, nativeBounds );
}
catch
{
throw new ConnectionLostException( "Connection is lost." );
}
}
/// <summary>
/// Get bounds of all servos.
/// </summary>
///
/// <returns>Returns array of configured servos' bounds.</returns>
///
/// <exception cref="NotConnectedException">No connection to Qwerk or its service.</exception>
/// <exception cref="ConnectionLostException">Connestion to Qwerk is lost.</exception>
///
public IntRange[] GetBounds( )
{
// check controller
if ( servoController == null )
{
throw new NotConnectedException( "Qwerk's service is not connected." );
}
try
{
// get servos' bounds
TeRKIceLib.Bounds[] nativeBounds = servoController.getBounds( );
IntRange[] bounds = new IntRange[Count];
for ( int i = 0; i < Count; i++ )
{
bounds[i] = new IntRange( nativeBounds[i].min, nativeBounds[i].max );
}
return bounds;
}
catch
{
throw new ConnectionLostException( "Connection is lost." );
}
}
/// <summary>
/// Calculate filtering map.
/// </summary>
///
/// <param name="range">Filtering range.</param>
/// <param name="fill">Fillter value.</param>
/// <param name="fillOutsideRange">Fill outside or inside the range.</param>
/// <param name="map">Filtering map.</param>
///
private void CalculateMap( IntRange range, byte fill, bool fillOutsideRange, byte[] map )
{
for ( int i = 0; i < 256; i++ )
{
if ( ( i >= range.Min ) && ( i <= range.Max ) )
{
map[i] = ( fillOutsideRange ) ? (byte) i : fill;
}
else
{
map[i] = ( fillOutsideRange ) ? fill : (byte) i;
}
}
}
/// <summary>
/// Set bounds for the specified servo.
/// </summary>
///
/// <param name="servo">Servo to set bounds for, [0, <see cref="Servos.Count"/>).</param>
/// <param name="bound">Bounds to set for the specified servo.</param>
///
/// <remarks><para>The method sets servo's physical bounds in which it may move.
/// See documentation to <see cref="Qwerk.Servos"/> for clarification.</para></remarks>
///
/// <exception cref="ArgumentOutOfRangeException">Invalid servo is specified.</exception>
/// <exception cref="NotConnectedException">No connection to Qwerk or its service.</exception>
/// <exception cref="ConnectionLostException">Connestion to Qwerk is lost.</exception>
///
public void SetBound( int servo, IntRange bound )
{
if ( ( servo < 0 ) || ( servo >= Count ) )
{
throw new ArgumentOutOfRangeException( "Invalid servo is specified." );
}
bool[] mask = new bool[Count];
IntRange[] bounds = new IntRange[Count];
mask[servo] = true;
bounds[servo] = bound;
SetBounds( mask, bounds );
}
/// <summary>
/// Check if the specified range overlaps with the range.
/// </summary>
///
/// <param name="range">Range to check for overlapping.</param>
///
/// <returns><b>True</b> if the specified range overlaps with the range or
/// <b>false</b> otherwise.</returns>
///
public bool IsOverlapping( IntRange range )
{
return ( ( IsInside( range.min ) ) || ( IsInside( range.max ) ) ||
( range.IsInside( min ) ) || ( range.IsInside( max ) ) );
}
/// <summary>
/// Initializes a new instance of the <see cref="ChannelFiltering"/> class.
/// </summary>
///
/// <param name="red">Red channel's filtering range.</param>
/// <param name="green">Green channel's filtering range.</param>
/// <param name="blue">Blue channel's filtering range.</param>
///
public ChannelFiltering( IntRange red, IntRange green, IntRange blue )
{
Red = red;
Green = green;
Blue = blue;
formatTranslations[PixelFormat.Format24bppRgb] = PixelFormat.Format24bppRgb;
formatTranslations[PixelFormat.Format32bppRgb] = PixelFormat.Format32bppRgb;
formatTranslations[PixelFormat.Format32bppArgb] = PixelFormat.Format32bppArgb;
}
/// <summary>
/// Check if the specified range is inside of the range.
/// </summary>
///
/// <param name="range">Range to check.</param>
///
/// <returns><b>True</b> if the specified range is inside of the range or
/// <b>false</b> otherwise.</returns>
///
public bool IsInside( IntRange range )
{
return ( ( IsInside( range.min ) ) && ( IsInside( range.max ) ) );
}
/// <summary>
/// Calculate conversion map.
/// </summary>
///
/// <param name="inRange">Input range.</param>
/// <param name="outRange">Output range.</param>
/// <param name="map">Conversion map.</param>
///
private void CalculateMap( IntRange inRange, IntRange outRange, ushort[] map )
{
double k = 0, b = 0;
if ( inRange.Max != inRange.Min )
{
k = (double) ( outRange.Max - outRange.Min ) / (double) ( inRange.Max - inRange.Min );
b = (double) ( outRange.Min ) - k * inRange.Min;
}
for ( int i = 0; i < 65536; i++ )
{
ushort v = (ushort) i;
if ( v >= inRange.Max )
v = (ushort) outRange.Max;
else if ( v <= inRange.Min )
v = (ushort) outRange.Min;
else
v = (ushort) ( k * v + b );
map[i] = v;
}
}
/// <summary>
/// Check if the specified range overlaps with the range.
/// </summary>
///
/// <param name="range">Range to check for overlapping.</param>
///
/// <returns><b>True</b> if the specified range overlaps with the range or
/// <b>false</b> otherwise.</returns>
///
public bool IsOverlapping(IntRange range)
{
return((IsInside(range.min)) || (IsInside(range.max)) ||
(range.IsInside(min)) || (range.IsInside(max)));
}
/// <summary>
/// Check if the specified range is inside of the range.
/// </summary>
///
/// <param name="range">Range to check.</param>
///
/// <returns><b>True</b> if the specified range is inside of the range or
/// <b>false</b> otherwise.</returns>
///
public bool IsInside(IntRange range)
{
return((IsInside(range.min)) && (IsInside(range.max)));
}
/// <summary>
/// Initializes a new instance of the <see cref="FrequencyFilter"/> class.
/// </summary>
///
/// <param name="frequencyRange">Range of frequencies to keep.</param>
///
public FrequencyFilter( IntRange frequencyRange )
{
this.frequencyRange = frequencyRange;
}
