public Window()
{
InitializeComponent();
_um6Driver = new Um6Driver("COM1", 115200);
_um6Driver.Init();
_servoDriver = new ServoDriver();
_updateTimer = new System.Timers.Timer(50);
_updateTimer.Elapsed += _updateTimer_Elapsed;
_cameraDriver = new CameraDriver(this.Handle.ToInt64());
_cameraDriver.Init(pictureBox.Handle.ToInt64());
_cameraDriver.CameraCapture += _cameraDriver_CameraCapture;
// initialize the service
//_host = new ServiceHost(typeof(SatService));
NetTcpBinding binding = new NetTcpBinding();
binding.MaxReceivedMessageSize = 20000000;
binding.MaxBufferPoolSize = 20000000;
binding.MaxBufferSize = 20000000;
binding.Security.Mode = SecurityMode.None;
_service = new SatService(_cameraDriver);
_host = new ServiceHost(_service);
_host.AddServiceEndpoint(typeof(ISatService),
binding,
"net.tcp://localhost:8000");
_host.Open();
_stabPitchServo = 6000;
_stabYawServo = 6000;
}
public SatService(CameraDriver camDriver)
{
_camEvent = new AutoResetEvent(false);
_camDriver = camDriver;
_camDriver.CameraCapture += _camDriver_CameraCapture;
_bStabilizationChanged = false;
_servoPos = new int[10];
_servoChanged = new bool[10];
for (int ii = 0; ii < 10; ii++)
{
_servoPos[ii] = 6000;
_servoChanged[ii] = false;
}
_eulerAngles = new double[3];
}
/**
*
*/
protected override void work()
{
_logger.log("Server main loop has started");
// set default camera parameters
_service._frameRate = Constants.DEF_FPS;
_service._expTime = Constants.DEF_EXP_TIME;
_cameraDriver.setFps(Constants.DEF_FPS);
_cameraDriver.setExposureTime(Constants.DEF_EXP_TIME);
_cameraDriver.StartVideo();
while (_go && IsAlive())
{
// fetch euler angles
lock (_um6Driver)
{
_service._eulerAngles[0] = _um6Driver.Roll; // roll
_service._eulerAngles[1] = _um6Driver.Pitch; // pitch
_service._eulerAngles[2] = _um6Driver.Yaw; // yaw
}
// Transfer servo modification order to the servos
// do it with Pitch
if (_service._servoChanged[Constants.PITCH_SERVO_ADDR])
{
_service._servoChanged[Constants.PITCH_SERVO_ADDR] = false;
_servoDriver.SetServo(Constants.PITCH_SERVO_ADDR, (ushort)_service._servoPos[Constants.PITCH_SERVO_ADDR]);
}
// do it with Yaw
if (_service._servoChanged[Constants.YAW_SERVO_ADDR])
{
_service._servoChanged[Constants.YAW_SERVO_ADDR] = false;
_servoDriver.SetServo(Constants.YAW_SERVO_ADDR, (ushort)_service._servoPos[Constants.YAW_SERVO_ADDR]);
}
// check if camera parameters were changed
if (_service._expTimeChanged || _service._frameRateChanged)
{
// create a new camera drive with the new parameters
lock (this)
{
_cameraDriver.StopVideo();
_cameraDriver.ShutDown();
_cameraDriver = null;
Thread.Sleep(200); // make sure everything is cleaned (dirty)
initCameraDriver();
_cameraDriver.setExposureTime(_service._expTime);
_cameraDriver.setFps(_service._frameRate);
_cameraDriver.StartVideo();
_service._frameRateChanged = false;
_service._expTimeChanged = false;
}
}
if (_service._bStabilizationActive)
startController();
else
{
// stop controller thread if it was launched
stopController();
// place here the code for controlling manually the servo
}
}
_logger.log("Server main loop has ended");
cleanRessources();
}
/**
* Initialize the camera driver
*/
private void initCameraDriver()
{
_cameraDriver = new CameraDriver(_hWind);
_cameraDriver.Init(_hPbox);
_cameraDriver.CameraCapture += cameraCaptureHandler;
_logger.log("Camera driver successfully (re)initialized");
}
