Provides access to video stream from Surveyor SRV-1 Blackfin camera.

The class allows to continuously receive video frames from Surveyor SRV-1 Blackfin camera. It creates a background thread and periodically requests new video frames from SRV-1 robot/camera, which are provided to user through NewFrame event. The video frame rate can be configured using FrameInterval property, which sets time interval between frames.

In order to get instance of this class, use SRV1.GetCamera or SVS.GetCamera methods.

Sample usage:

// get SRV-1 camera SRV1Camera camera = srv.GetCamera( ); // in the case you work with Surveyor SVS board // the next line can be use // 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 }
Inheritance: IVideoSource
Esempio n. 1
0
        /// <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);
            }
        }
Esempio n. 2
0
        /// <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);
        }
Esempio n. 3
0
        /// <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;
                }
            }
        }
Esempio n. 4
0
        /// <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;
        }
Esempio n. 5
0
        /// <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;
                    }
                }
            }
        }
Esempio n. 6
0
        /// <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;
            }
        }
Esempio n. 7
0
        /// <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;
                }
            }
        }
Esempio n. 8
0
        /// <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;
                    }
                }
            }
        }