/// <summary>
/// Connects the given tracker.
/// </summary>
/// <returns>Identifier for the tracker. Less than 0 if starting was not successful.</returns>
/// <param name="tracker">Tracker.</param>
/// <param name="settings">Settings.</param>
public int StartTracker(IPoseTracker tracker)
{
if (tracker == null)
{
throw new ArgumentNullException("tracker");
}
lock (trackerSync) {
int id;
// find unused index
for (id = 0; id < trackers.Count; id++)
{
if (trackers[id] == null)
{
break;
}
}
// add or insert tracker
if (id < trackers.Count)
{
trackers[id] = tracker;
}
else
{
trackers.Add(tracker);
}
// the tracker signals when it has data to process
// to let it process we pick up the signal
tracker.InputAvailable += SignalStep;
if (!tracker.Start())
{
return(-1);
}
return(id);
}
}
/// <summary>
/// Executes a single iteration of all started trackers.
/// </summary>
private void StopTrackers()
{
lock (stepSync) {
while (toStep.Count > 0)
{
IPoseTracker tracker = toStep.Dequeue();
tracker.Step();
}
}
}
/// <summary>
/// Signals this instance to step the trackers due to available data to process.
/// </summary>
/// <param name="sender">Ignnored.</param>
/// <param name="args">Ignored.</param>
private void SignalStep(object sender, EventArgs args)
{
IPoseTracker tracker = sender as IPoseTracker;
if (tracker != null)
{
lock (stepSync) {
toStep.Enqueue(tracker);
}
}
invokeSignal.Set();
}
/// <summary>
/// Stops, disposes and removes the tracker specified by the given identifier.
/// </summary>
/// <returns><c>true</c>, if the tracker existed, <c>false</c> otherwise.</returns>
/// <param name="id">Tracker identifier previously returned by <see cref="StartTracker"></see>.</param>
public IPoseTracker StopTracker(int id)
{
lock (trackerSync) {
if (id < 0 || id >= trackers.Count)
{
return(null);
}
if (trackers[id] == null)
{
return(null);
}
IPoseTracker result = trackers[id];
trackers[id] = null;
result.InputAvailable -= SignalStep;
result.Stop();
return(result);
}
}
private HttpStatusCode RespondGet(JsonString requestSubject, JsonString responseSubject, int[] positions)
{
object dataSync = new object();
JsonString data;
lock (dataSync) { // TODO lock required?
data = JsonString.CreateDict();
}
var readySignal = new ManualResetEvent(false);
TrackingSystem.Instance.Invoke((object sender, EventArgs args) => {
var system = (TrackingSystem)sender;
foreach (int pos in positions)
{
var entry = JsonString.CreateDict();
IPoseTracker tracker = system.GetTracker(pos);
if (tracker == null)
{
entry.AddTerminal("inuse", "false");
}
else if (tracker is P3CapTracker)
{
var capTracker = (P3CapTracker)tracker;
EquipmentSettings settings = capTracker.GetSettings();
entry.AddTerminal("inuse", "true");
entry.AddJsonString("settings", EquipmentSettings.ToJson(settings));
}
data.AddJsonString(JsonString.Stringify(pos), entry);
}
readySignal.Set();
});
readySignal.WaitOne();
lock (dataSync) {
responseSubject.AddJsonString("data", data);
}
return(HttpStatusCode.OK);
}
