/// <summary>
/// constructor
/// </summary>
public robotSurveyorThread(
WaitCallback callback,
robotSurveyor state)
{
if (callback == null) throw new ArgumentNullException("callback");
_callback = callback;
this.state = state;
}
/// <summary>
/// constructor
/// </summary>
public robotSurveyorThread(
WaitCallback callback,
robotSurveyor state)
{
if (callback == null)
{
throw new ArgumentNullException("callback");
}
_callback = callback;
this.state = state;
}
/// <summary>
///
/// </summary>
/// <param name="stereo_camera_IP">IP address of the SVS</param>
/// <param name="leftport">port number of the left camera</param>
/// <param name="rightport">port number of the right camera</param>
public MainWindow (
string stereo_camera_IP,
int leftport,
int rightport): base (Gtk.WindowType.Toplevel)
{
Build ();
robot = new robotSurveyor();
this.stereo_camera_IP = stereo_camera_IP;
string version = String.Format("{0}", AssemblyVersion);
Console.WriteLine("surveyorstereo GUI version " + version);
Console.WriteLine("SVS IP: " + stereo_camera_IP.ToString());
Console.WriteLine("Left camera port: " + leftport.ToString());
Console.WriteLine("Right camera port: " + rightport.ToString());
//SaveHpolarLookup();
if (BaseVisionStereo.IsWindows()) zip_utility = "zip";
byte[] img = new byte[image_width * image_height * 3];
Bitmap left_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
Bitmap right_bmp = new Bitmap(image_width, image_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
sluggish.utilities.BitmapArrayConversions.updatebitmap_unsafe(img, left_bmp);
sluggish.utilities.BitmapArrayConversions.updatebitmap_unsafe(img, right_bmp);
GtkBitmap.setBitmap(left_bmp, leftimage);
GtkBitmap.setBitmap(right_bmp, rightimage);
stereo_camera = new SurveyorVisionStereoGtk(stereo_camera_IP, leftport, rightport, broadcast_port, fps, this);
stereo_camera.temporary_files_path = temporary_files_path;
stereo_camera.recorded_images_path = recorded_images_path;
stereo_camera.display_image[0] = leftimage;
stereo_camera.display_image[1] = rightimage;
stereo_camera.Run("M");
txtLogging.Text = path_identifier;
txtReplay.Text = replay_path_identifier;
motors_active = true;
starting = false;
// enable motors
//SendCommand("M");
}