public static bool SetCurrentThreadPriority(bool realTime, int priority)
{
int status = 0;
var ret = HALThreads.HAL_SetCurrentThreadPriority(realTime, priority, ref status);
CheckStatus(status);
return(ret);
}
public static int GetCurrentThreadPriority()
{
bool rt = false;
int status = 0;
var ret = HALThreads.HAL_GetCurrentThreadPriority(ref rt, ref status);
CheckStatus(status);
return(ret);
}
public static bool GetCurrentThreadIsRealTime()
{
bool rt = false;
int status = 0;
HALThreads.HAL_GetCurrentThreadPriority(ref rt, ref status);
CheckStatus(status);
return(rt);
}
public override void RobotInit()
{
int status = 0;
var ret = HALThreads.HAL_SetCurrentThreadPriority(true, 25, ref status);
Console.WriteLine(status);
Console.WriteLine(ret);
Thread cameraThread = new Thread(() =>
{
// Get the USB Camera from the camera server
UsbCamera camera = CameraServer.Instance.StartAutomaticCapture();
camera.SetResolution(640, 480);
// Get a CvSink. This will capture Mats from the Camera
CvSink cvSink = CameraServer.Instance.GetVideo();
// Setup a CvSource. This will send images back to the dashboard
CvSource outputStream = CameraServer.Instance.PutVideo("Rectangle", 640, 480);
// Mats are very expensive. Let's reuse this Mat.
Mat mat = new Mat();
while (true)
{
// Tell the CvSink to grab a frame from the camera and put it
// in the source mat. If there is an error notify the output.
if (cvSink.GrabFrame(mat) == 0)
{
Console.WriteLine("Timeout");
// Send the output the error.
outputStream.NotifyError(cvSink.GetError());
// skip the rest of the current iteration
continue;
}
// Put a rectangle on the image
Cv2.Rectangle(mat, new Point(100, 100), new Point(400, 400),
new Scalar(255, 255, 255), 5);
// Give the output stream a new image to display
outputStream.PutFrame(mat);
}
});
cameraThread.IsBackground = true;
cameraThread.Start();
servo = new Servo(0);
joystick = new Joystick(0);
gyro = new AnalogGyro(0);
}
