public IEnumerator<ITask> QueryFrameHandler(webcam.QueryFrame req)
{
yield return Arbiter.Choice(_scribblerPort.GetImage(req.Body.Format),
delegate(brick.ImageResponse r)
{
try
{
var resp = new webcam.QueryFrameResponse()
{
Format = req.Body.Format,
Size = new System.Drawing.Size(r.Width, r.Height),
TimeStamp = r.Timestamp,
};
if (req.Body.Format.Equals(MyroImageType.Color.Guid))
resp.Frame = convertColorToRGB(r.Data, r.Width, r.Height);
else if (req.Body.Format.Equals(MyroImageType.Gray.Guid))
resp.Frame = r.Data;
else if (req.Body.Format.Equals(MyroImageType.JpegColor.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegColorFast.Guid))
resp.Frame = r.Data;
else if (req.Body.Format.Equals(MyroImageType.JpegGray.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegGrayFast.Guid))
resp.Frame = r.Data;
else
throw new Exception("FlukeCam does not know how to convert this image type");
req.ResponsePort.Post(resp);
}
catch (Exception e)
{
req.ResponsePort.Post(RSUtils.FaultOfException(e));
}
},
delegate(Fault f)
{
req.ResponsePort.Post(f);
});
}
// Handler for new frames from the camera
IEnumerator<ITask> CameraUpdateFrameHandler(cam.UpdateFrame update)
{
cam.QueryFrameResponse frame = null;
Fault fault = null;
//cam.QueryFrame query = new cam.QueryFrame();
//_webCamPort.Post(query);
yield return Arbiter.Choice(
_webCamPort.QueryFrame(new cam.QueryFrameRequest()),
// query.ResponsePort,
delegate(cam.QueryFrameResponse success)
{
frame = success;
},
delegate(Fault f)
{
fault = f;
}
);
if (fault != null)
{
LogError(null, "Failed to get frame from camera", fault);
yield break;
}
Bitmap bmp = MakeBitmap(frame.Size.Width, frame.Size.Height, frame.Frame);
DisplayImage(bmp);
yield break;
}
