/// <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>
/// 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 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 (var 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 (var 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;
}
}
}
/// <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;
}
}
}
/// <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 (var 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 (var 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;
}
}
}
}
