public IEnumerator <ITask> QueryFrameHandler(webcam.QueryFrame req)
{
yield return(Arbiter.Choice(_scribblerPort.GetImage(req.Body.Format),
delegate(brick.ImageResponse r)
{
try
{
var resp = new webcam.QueryFrameResponse()
{
Format = req.Body.Format,
Size = new System.Drawing.Size(r.Width, r.Height),
TimeStamp = r.Timestamp,
};
if (req.Body.Format.Equals(MyroImageType.Color.Guid))
{
resp.Frame = convertColorToRGB(r.Data, r.Width, r.Height);
}
else if (req.Body.Format.Equals(MyroImageType.Gray.Guid))
{
resp.Frame = r.Data;
}
else if (req.Body.Format.Equals(MyroImageType.JpegColor.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegColorFast.Guid))
{
resp.Frame = r.Data;
}
else if (req.Body.Format.Equals(MyroImageType.JpegGray.Guid) ||
req.Body.Format.Equals(MyroImageType.JpegGrayFast.Guid))
{
resp.Frame = r.Data;
}
else
{
throw new Exception("FlukeCam does not know how to convert this image type");
}
req.ResponsePort.Post(resp);
}
catch (Exception e)
{
req.ResponsePort.Post(RSUtils.FaultOfException(e));
}
},
delegate(Fault f)
{
req.ResponsePort.Post(f);
}));
}
public void QueryFrameHandler(webcam.QueryFrame queryFrame)
{
if (_state.Frame == null)
{
queryFrame.ResponsePort.Post(new webcam.QueryFrameResponse());
}
else if (queryFrame.Body.Format == Guid.Empty)
{
// raw image requested;
BitmapData raw = null;
try
{
raw = _state.Frame.LockBits(
new Rectangle(Point.Empty,
new Size((int)_state.ImageSize.X, (int)_state.ImageSize.Y)),
ImageLockMode.ReadOnly,
PixelFormat.Format24bppRgb);
int size = raw.Height * raw.Stride;
webcam.QueryFrameResponse response = new webcam.QueryFrameResponse();
response.TimeStamp = _state.LastFrameUpdate;
response.Frame = new byte[size];
response.Size = new Size(raw.Width, raw.Height);
response.Format = Guid.Empty;
System.Runtime.InteropServices.Marshal.Copy(raw.Scan0, response.Frame, 0, size);
queryFrame.ResponsePort.Post(response);
}
finally
{
if (raw != null)
{
_state.Frame.UnlockBits(raw);
}
}
}
else
{
ImageFormat format = new ImageFormat(queryFrame.Body.Format);
using (MemoryStream stream = new MemoryStream())
{
Size size = new Size((int)queryFrame.Body.Size.X, (int)queryFrame.Body.Size.Y);
if (size == _state.Frame.Size ||
size.Width == 0 ||
size.Height == 0 ||
size.Width >= _state.Frame.Width ||
size.Height >= _state.Frame.Height)
{
size = _state.Frame.Size;
_state.Frame.Save(stream, format);
}
else
{
using (Bitmap temp = new Bitmap(_state.Frame, size))
{
temp.Save(stream, format);
}
}
webcam.QueryFrameResponse response = new webcam.QueryFrameResponse();
response.TimeStamp = _state.LastFrameUpdate;
response.Frame = new byte[(int)stream.Length];
response.Size = size;
response.Format = format.Guid;
stream.Position = 0;
stream.Read(response.Frame, 0, response.Frame.Length);
queryFrame.ResponsePort.Post(response);
}
}
}
