/// <summary>
/// Check the hardware value 5 times per second and send a notification if it has changed.
/// </summary>
/// <param name="timeout"></param>
/// <returns></returns>
private IEnumerator <ITask> CheckForStateChange(DateTime timeout)
{
while (true)
{
if (_entity != null)
{
// get the image from the CameraEntity
PortSet <int[], Exception> result = new PortSet <int[], Exception>();
_entity.CaptureScene(result);
double averageR = 0, averageG = 0, averageB = 0;
yield return(Arbiter.Choice(result,
delegate(int[] data)
{
for (int i = 0; i < data.Length; i++)
{
int c = data[i];
int r = (0x00FF0000 & c) >> 16;
int g = (0x0000FF00 & c) >> 8;
int b = (0x000000FF & c);
averageR += r;
averageG += g;
averageB += b;
}
// calculate the average brightness, scale it to [0-1] range
averageR = averageR / (255.0 * data.Length);
averageG = averageG / (255.0 * data.Length);
averageB = averageB / (255.0 * data.Length);
},
delegate(Exception ex)
{
LogError(ex);
}
));
double SENSOR_TOLERANCE = 0.005;
if (Math.Abs(averageR - _state.NormalizedAverageRed) > SENSOR_TOLERANCE ||
Math.Abs(averageG - _state.NormalizedAverageGreen) > SENSOR_TOLERANCE ||
Math.Abs(averageB - _state.NormalizedAverageBlue) > SENSOR_TOLERANCE)
{
// send notification of state change
_state.NormalizedAverageRed = averageR;
_state.NormalizedAverageGreen = averageG;
_state.NormalizedAverageBlue = averageB;
_state.TimeStamp = DateTime.Now;
base.SendNotification <Replace>(_submgrPort, _state);
}
}
yield return(Arbiter.Receive(false, TimeoutPort(200), delegate { }));
}
}
/// <summary>
/// Check the hardware value 5 times per second and send a notification if it has changed.
/// </summary>
/// <param name="timeout"></param>
/// <returns></returns>
private IEnumerator <ITask> CheckForStateChange(DateTime timeout)
{
while (true)
{
if (_entity != null)
{
// get the image from the CameraEntity
PortSet <int[], Exception> result = new PortSet <int[], Exception>();
_entity.CaptureScene(result);
double brightness = 0;
yield return(Arbiter.Choice(result,
delegate(int[] data)
{
for (int i = 0; i < data.Length; i++)
{
int c = data[i];
int r = (0x00FF0000 & c) >> 16;
int g = (0x0000FF00 & c) >> 8;
int b = (0x000000FF & c);
brightness += (r * 0.3) + (g * 0.59) + (b * 0.11);
}
// calculate the average brightness, scale it to (0-1) range
brightness = brightness / (data.Length * 255.0);
},
delegate(Exception ex)
{
}
));
if (Math.Abs(brightness - _previousBrightness) > 0.005)
{
// send notification of state change
_state.RawMeasurement = brightness;
_state.NormalizedMeasurement = _state.RawMeasurement / _state.RawMeasurementRange;
_state.TimeStamp = DateTime.Now;
base.SendNotification <Replace>(_submgrPort, _state);
_previousBrightness = (float)brightness;
}
}
yield return(Arbiter.Receive(false, TimeoutPort(200), delegate { }));
}
}
IEnumerator <ITask> HttpHandler(HttpListenerContext context, PortSet <HttpResponseType, Fault> responsePort)
{
PostUpdateFrameIfNeeded();
HttpListenerRequest request = context.Request;
HttpListenerResponse response = context.Response;
string path = request.Url.AbsolutePath;
string type;
System.Drawing.Imaging.ImageFormat format;
if ((path.EndsWith("/jpg")) || (path.EndsWith("/jpeg")))
{
type = MediaTypeNames.Image.Jpeg;
format = System.Drawing.Imaging.ImageFormat.Jpeg;
}
else if (path.EndsWith("/bmp"))
{
type = "image/bmp";
format = System.Drawing.Imaging.ImageFormat.Bmp;
}
else if (path.EndsWith("gif"))
{
type = MediaTypeNames.Image.Gif;
format = System.Drawing.Imaging.ImageFormat.Gif;
}
else if (path.EndsWith("/png"))
{
type = "image/png";
format = System.Drawing.Imaging.ImageFormat.Png;
}
else
{
responsePort.Post(new HttpResponseType(HttpStatusCode.OK, _state, _transform));
yield break;
}
if (_entity == null)
{
responsePort.Post(Fault.FromException(new Exception("No camera entity found.")));
}
else
{
var result = new PortSet <int[], Exception>();
_entity.CaptureScene(result);
yield return(Arbiter.Choice(result,
delegate(int [] data)
{
var memStream = new MemoryStream();
using (var b = _entity.CreateBitmapFromArray(data))
{
b.Save(memStream, format);
}
memStream.Seek(0, SeekOrigin.Begin);
memStream.WriteTo(response.OutputStream);
response.AddHeader("Cache-Control", "No-cache");
response.ContentType = type;
_state.LastFrameUpdate = DateTime.Now;
Utilities.HttpClose(context);
},
delegate(Exception ex)
{
responsePort.Post(Fault.FromException(ex));
}
));
}
}
