/// <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;
}
}
}
}
