private void StartButton_Click(object sender, EventArgs e)
{
UpdateAcquisitionGrid();
//AcquirePanorama(Params.StartPosX, Params.StartPosX + Params.numX * Params.deltaX, Params.deltaX, Params.StartPosY, Params.StartPosY + Params.numY * Params.deltaY, Params.deltaY, Params.MoveModus);
PanoramaWorker.AcquirePanorama(Params.StartPosX, Params.StartPosX + Params.numX * Params.deltaX, Params.deltaX, Params.StartPosY, Params.StartPosY + Params.numY * Params.deltaY, Params.deltaY, Params.MoveModus);
PapyWizardHelper.ClosePositionDataXMLFiles();
}
private void StopButton_Click(object sender, EventArgs e)
{
Params.StopAcquisition = true;
SystemSounds.Beep.Play();
CommentRTB.AppendText("Pano acquisition stopped" + "\n");
CommentRTB.Focus();
CommentRTB.ScrollToCaret();
PapyWizardHelper.ClosePositionDataXMLFiles();
}
private void Worker_AcquirePanorama(object sender, DoWorkEventArgs e)
{
if (backgroundWorker.CancellationPending == true)
{
e.Cancel = true;
return;
}
PanoramaWorker.AcquirePanorama(Params.StartPosX, Params.StartPosX + Params.numX * Params.deltaX, Params.deltaX, Params.StartPosY, Params.StartPosY + Params.numY * Params.deltaY, Params.deltaY, Params.MoveModus, this.backgroundWorker, sender, e);
PapyWizardHelper.ClosePositionDataXMLFiles();
//todo: here is the problem
// ((BackgroundWorker)sender).ReportProgress(progress);
}
private void GetAndSaveAngleCoords()
{
//Save the coordinates of the pan and the tilt axis after an image was taken - either Sensor data or expected positions
//If UseAngleSensor=true acquire pan and tilt-angle from the angle sensors
if (Params.UseAngleSensor == true)
{
//Read pan axis position
muControllerInterface.panAvailable = false; //Clear position data available flag
muControllerInterface.myPort.Write(new byte[] { 0xFD }, 0, 1);
while (!(muControllerInterface.panAvailable == true))
{
Thread.Sleep(100);
muControllerInterface.myPort.Write(new byte[] { 0xFD }, 0, 1);
}
; //Wait with reading until position data is available
Params.panAngle = Params.PanAngleSensorOffset - muControllerInterface.InputValAbs_x;
muControllerInterface.InputValAbs_x = 0;
//Read Tilt axis position
muControllerInterface.tiltAvailable = false;
muControllerInterface.myPort.Write(new byte[] { 0xFC }, 0, 1); //Wait with reading until position data is available
while (!(muControllerInterface.tiltAvailable == true))
{
}
;
Params.tiltAngle = Params.TiltAngleSensorOffset - muControllerInterface.InputValAbs_y;
muControllerInterface.InputValAbs_y = 0;
UpdateServoPosWithParams(Params.panAngle, Params.tiltAngle, _sender);
PapyWizardHelper.SaveCoords(-Params.panAngle, -Params.tiltAngle, Params.ImageNum, 1); //Save the coordinates where the image was taken!
//Output Positions: MeasurePos-TargetPos
var dx = Params.panAngle - Params.Target_x;
var dy = Params.tiltAngle - Params.Target_y;
ShowNewCommentInGUI("TargetPos X " + Params.Target_x.ToString() + " Pos X " + Params.panAngle.ToString() + " Delta_x " + dx.ToString() + "\n", _sender);
ShowNewCommentInGUI("TargetPos Y" + Params.Target_y.ToString() + " Pos y " + Params.tiltAngle.ToString() + " Delta_y " + dy.ToString() + "\n", _sender);
}
else //save the servo-coordinates
{
PapyWizardHelper.SaveCoords(Params.CurServoPosX, Params.CurServoPosY, Params.ImageNum, 0); //Save the coordinates where the image was taken!
}
}
private void StopButton_Click(object sender, EventArgs e)
{
Params.StopAcquisition = true;
SystemSounds.Beep.Play();
CommentRTB.AppendText("Pano acquisition stopped" + "\n");
CommentRTB.Focus();
CommentRTB.ScrollToCaret();
PapyWizardHelper.ClosePositionDataXMLFiles();
if (backgroundWorker.IsBusy)
{
backgroundWorker.CancelAsync();
}
StartButton.Enabled = true;
StopButton.Enabled = false;
PauseButton.Enabled = false;
ContinueButton.Enabled = false;
}
//Parameters in angle degrees
public void AcquirePanorama(double start_X, double end_X, double delta_X, double start_Y, double end_Y, double delta_Y, int panoAcquisitionMode)
{
double xPos, yPos;
int waitTime;
Params.StopAcquisition = false;
Params.ImageNum = 0;
double acVar = 100000;
//if there is no valid StartPos set - use the current position
if (Params.ValidStartPosSet == false)
{
Params.StartPosX = Params.CurServoPosX;
Params.StartPosY = Params.CurServoPosY;
}
PapyWizardHelper.CreatePositionDataXMLFiles(); //Create a Datafile with Timestamp. Here we save Angle coordinates in papywizard format
//Move Servo to StartPos - Slowly and Wait for long enough
double servx = Params.StartPosX * Params.ConvFacX;
double servy = Params.StartPosY * Params.ConvFacY;
muControllerInterface.MoveServo(Params.COMPortName, Params.BTbaudrate, 0, Params.StartPosX);
Params.CurServoPosX = Params.StartPosX; //Update Current Servo Position
UpdateServoPosition();
Thread.Sleep(4000);
muControllerInterface.MoveServo(Params.COMPortName, Params.BTbaudrate, 1, Params.StartPosY);
Params.CurServoPosY = Params.StartPosY; //Update Current Servo Position
UpdateServoPosition();
Thread.Sleep(2000);
//panoAcquisitionMode = scanModeComboBox.SelectedIndex;
//****Mode 1 : ROW PANORAMA
if (panoAcquisitionMode == 1) //move in rows with CR
{
double MTFactor = 0.45;
for (int ny = 0; ny < Params.numY; ny++)
{
for (int nx = 0; nx < Params.numX; nx++)
{
if (Params.ColumnBack == true) //Move Back one Row (the identical formalism is used for rows)
{
Params.ColumnBack = false; //Reset Flag
if (nx > 2)
{
nx = nx - 2; //Reduce Row counter by one
}
}
while (Params.paused == true) //In case of a pause wait here
{
Thread.Sleep(250);
//Application.DoEvents(); //Allow to update the Form to refresh the text labels and to react to input
if (Params.StopAcquisition == true)
{
break;
}
}
xPos = Params.StartPosX + nx * Params.deltaX;
yPos = Params.StartPosY + ny * Params.deltaY;
String OutputString = "nx: " + nx.ToString() + " ny: " + ny.ToString() + "\n";
ShowNewCommentInGUI(OutputString);
waitTime = Convert.ToInt32((Params.VibrationDelay + Params.ExposureDelay) * 1000);
if (nx == 0)
{
muControllerInterface.MoveServosToPosition(xPos, yPos);
//Wenn LSM303 ausgewählt ist: solange warten bis Stillstand
if (Params.LSM303_On == true)
{
Thread.Sleep(100); //Wait some time for movement
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(100);
acVar = 100000;
while (acVar > Params.MovementThreshold * MTFactor)
{
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
}
//Repeat that step
Thread.Sleep(100); //Wait some time for movement
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(100);
acVar = 100000;
while (acVar > Params.MovementThreshold * MTFactor)
{
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
}
//AccTestLabel.Text = acVar.ToString();
//Application.DoEvents();
Thread.Sleep(Convert.ToInt32((Params.SensorVibDelay) * 1000));
}
else
{
Thread.Sleep(Convert.ToInt32((Params.VibrationDelay) * 2000));
}
CamShutter();
waitTime = Convert.ToInt32((Params.ExposureDelay) * 1000);
Thread.Sleep(waitTime);
}
else
{
muControllerInterface.MoveServosToPosition(xPos, yPos);
//Wait until vibrations get unter a threshold value
if (Params.LSM303_On == true)
{
Thread.Sleep(100); //Wait some time for movement
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(100);
acVar = 100000;
while (acVar > Params.MovementThreshold * MTFactor)
{
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
}
//Check again if the movement is stopped
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
while (acVar > Params.MovementThreshold * MTFactor)
{
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
}
//AccTestLabel.Text = acVar.ToString();
//Application.DoEvents();
Thread.Sleep(Convert.ToInt32((Params.SensorVibDelay) * 1000));
}
else
{
Thread.Sleep(Convert.ToInt32((Params.VibrationDelay) * 1000));
}
CamShutter();
waitTime = Convert.ToInt32((Params.ExposureDelay) * 1000);
Thread.Sleep(waitTime);
}
GetAndSaveAngleCoords();
//Application.DoEvents(); //Allow to the Form to refresh the text labels
if (Params.StopAcquisition == true)
{
break;
}
}
if (Params.StopAcquisition == true)
{
break;
}
}
Params.StopAcquisition = false; //reset the flag
}
//**** Mode 0: Column Panorama (most common mode)
if (panoAcquisitionMode == 0) //move in columns with CR
{
var readyToMove = true;
Params.AcquisitionRunning = true;
for (int nx = 0; nx < Params.numX; nx++)
{
for (int ny = 0; ny < Params.numY; ny++)
{
if (Params.ColumnBack == true) //Move Back one Column
{
Params.ColumnBack = false; //Reset Flag
if (nx > 0)
{
nx = nx - 2; //Reduce Column counter by one
ny = Params.numY;
continue;
}
}
while (Params.paused == true) //In case of a pause wait here
{
Thread.Sleep(Params.pauseInterval);
//Application.DoEvents(); //Allow to the Form to refresh the text labels
if (Params.StopAcquisition == true)
{
Params.AcquisitionRunning = false;
break;
}
}
if (ny == 1)
{
}
xPos = Params.StartPosX + nx * Params.deltaX;
yPos = Params.StartPosY + ny * Params.deltaY;
Params.Target_x = xPos; //Make TargetPos globally available
Params.Target_y = yPos;
String OutputString = "nx: " + nx.ToString() + " ny: " + ny.ToString() + "\n";
ShowNewCommentInGUI(OutputString);
while (!readyToMove)
{
}
Thread.Sleep(1000);
muControllerInterface.MoveServosToPosition(xPos, yPos);
//Wait until target position is reached
var totalTime = 0;
while (!TargetReached(0))
{
Thread.Sleep(50); totalTime = totalTime + 50; if (totalTime == 12000)
{
break;
}
if (Params.StopAcquisition == true)
{
break;
}
}
totalTime = 0;
while (!TargetReached(1))
{
Thread.Sleep(50); totalTime = totalTime + 50; if (totalTime == 12000)
{
break;
}
if (Params.StopAcquisition == true)
{
break;
}
}
if (ny == 0) //After changing the row and going back from bottom to top we need to wait longer
{
waitTime = Convert.ToInt32((Params.VibrationDelay) * 1000);
if (waitTime < 750)
{
waitTime = waitTime + 1500;
}
Thread.Sleep(waitTime);
}
else
{
waitTime = Convert.ToInt32((Params.VibrationDelay) * 1000);
Thread.Sleep(waitTime);
}
//Logics: Repeat Shutter until we get a response from the flash
//Only after this we can leave the loop to go to the next image position
//if we don't get a response within the timeout time, repeat triggering the shutter...
readyToMove = false;
var ExposureNotInTheBox = true; //The exposure is not yet in the box
var loopCount = 0;
while (ExposureNotInTheBox)
{
CamShutter();
//Console.WriteLine("Shutter released");
loopCount++;
//Console.WriteLine(loopCount);
//Wait until we get an answer from the camera - that the flash has fired - or until the waitTime is over
var totalDelayTime = 0;
if (Params.UseFlashResponse == false)
{
waitTime = Convert.ToInt32((Params.ExposureDelay) * 1000);
Thread.Sleep(waitTime);
ExposureNotInTheBox = false;
}
else //Wait for response from camera hotshoe (flash)
{
waitTime = Convert.ToInt32((Params.ExposureDelay) * 3000);
var CamStatus = muControllerInterface.ReqCameraStatus();
if (CamStatus)
{
muControllerInterface.ResetCameraStatus(); //Handshake after the exposure was confirmed reset camerastatus on the micro controller
ExposureNotInTheBox = false;
}
if (Params.StopAcquisition == true)
{
break;
}
while (!CamStatus)
{
if (Params.StopAcquisition == true)
{
break;
}
Thread.Sleep(100);
totalDelayTime = totalDelayTime + 100;
if (totalDelayTime >= waitTime)
{
Console.WriteLine("Warning: Timeout - no exposure response from camera");
ShowNewCommentInGUI("Warning: Timeout - no exposure response from camera" + "\n");
ExposureNotInTheBox = true;
break;
}
CamStatus = muControllerInterface.ReqCameraStatus();
if (CamStatus)
{
muControllerInterface.ResetCameraStatus(); //Handshake after the exposure was confirmed reset camerastatus on the microcontroller
ExposureNotInTheBox = false;
}
}
}
}
readyToMove = true;
GetAndSaveAngleCoords();
//Application.DoEvents(); //Allow to the Form to refresh the text labels
if (Params.StopAcquisition == true)
{
break;
}
}
if (Params.StopAcquisition == true)
{
Params.AcquisitionRunning = false;
break;
}
}
Params.StopAcquisition = false; //reset the flag
Params.AcquisitionRunning = false;
ShowNewCommentInGUI("Panorama acquisition stopped\n");
}
//***** Mode 2: Row meander panorama
if (panoAcquisitionMode == 2) //move in rows without CR (meander)
{
for (int ny = 0; ny < Params.numY; ny = ny + 1)
{
//forward row
for (int nx = 0; nx < Params.numX; nx++)
{
xPos = Params.StartPosX + nx * Params.deltaX;
yPos = Params.StartPosY + ny * Params.deltaY;
String OutputString = "nx: " + nx.ToString() + " ny: " + ny.ToString() + "\n";
ShowNewCommentInGUI(OutputString);
muControllerInterface.MoveServosToPosition(xPos, yPos);
Thread.Sleep(Convert.ToInt32((Params.VibrationDelay) * 1000));
CamShutter();
waitTime = Convert.ToInt32((Params.ExposureDelay) * 1000);
Thread.Sleep(waitTime);
GetAndSaveAngleCoords();
//Application.DoEvents(); //Allow to the Form to refresh the text labels
while (Params.paused == true) //In case of a pause wait here
{
Thread.Sleep(Params.pauseInterval);
if (Params.StopAcquisition == true)
{
break;
}
}
if (Params.StopAcquisition == true)
{
break;
}
}
//backward row
ny = ny + 1; //Shift by one row
for (int nx = (Params.numX - 1); nx >= 0; nx--)
{
while (Params.paused == true) //In case of a pause wait here
{
Thread.Sleep(1000);
if (Params.StopAcquisition == true)
{
break;
}
}
if (Params.StopAcquisition == true)
{
break;
}
xPos = Params.StartPosX + nx * Params.deltaX;
yPos = Params.StartPosY + ny * Params.deltaY;
String OutputString = "nx: " + nx.ToString() + " ny: " + ny.ToString() + "\n";
ShowNewCommentInGUI(OutputString);
muControllerInterface.MoveServosToPosition(xPos, yPos);
Thread.Sleep(Convert.ToInt32((Params.VibrationDelay) * 1000));
CamShutter();
waitTime = Convert.ToInt32((Params.ExposureDelay) * 1000);
Thread.Sleep(waitTime);
GetAndSaveAngleCoords();
//Application.DoEvents(); //Allow to the Form to refresh the text labels
}
if (Params.StopAcquisition == true)
{
break;
}
}
Params.StopAcquisition = false; //reset the flag
}
//******* Mode 3: Column meander panorama
if (panoAcquisitionMode == 3) //Move in columns without CR (meander)
{
for (int nx = 0; nx < Params.numX; nx = nx + 1)
{
//forward column
for (int ny = 0; ny < Params.numY; ny++)
{
xPos = Params.StartPosX + nx * Params.deltaX;
yPos = Params.StartPosY + ny * Params.deltaY;
String OutputString = "nx: " + nx.ToString() + " ny: " + ny.ToString() + "\n";
ShowNewCommentInGUI(OutputString);
// TakePhoto(xPos, yPos, Convert.ToInt32((VibrationDelay + ExposureDelay) * 1000));
muControllerInterface.MoveServosToPosition(xPos, yPos);
Thread.Sleep(Convert.ToInt32((Params.VibrationDelay) * 1000));
CamShutter();
waitTime = Convert.ToInt32((Params.ExposureDelay) * 1000);
Thread.Sleep(waitTime);
GetAndSaveAngleCoords();
//Application.DoEvents(); //Allow to the Form to refresh the text labels
while (Params.paused == true) //In case of a pause wait here
{
Thread.Sleep(Params.pauseInterval);
if (Params.StopAcquisition == true)
{
break;
}
}
if (Params.StopAcquisition == true)
{
break;
}
}
//backward column
nx = nx + 1; //Shift (pan) by 1 column
for (int ny = (Params.numY - 1); ny >= 0; ny--)
{
while (Params.paused == true) //In case of a pause wait here
{
Thread.Sleep(Params.pauseInterval);
if (Params.StopAcquisition == true)
{
break;
}
}
if (Params.StopAcquisition == true)
{
break;
}
xPos = Params.StartPosX + nx * Params.deltaX;
yPos = Params.StartPosY + ny * Params.deltaY;
muControllerInterface.MoveServosToPosition(xPos, yPos);
Thread.Sleep(Convert.ToInt32((Params.VibrationDelay) * 1000));
CamShutter();
waitTime = Convert.ToInt32((Params.ExposureDelay) * 1000);
Thread.Sleep(waitTime);
GetAndSaveAngleCoords();
//Application.DoEvents(); //Allow to the Form to refresh the text labels
}
if (Params.StopAcquisition == true)
{
break;
}
}
Params.StopAcquisition = false; //reset the flagt
}
//****Mode 4 : SPHERICAL PANORAMA
if (panoAcquisitionMode == 4) //move in rows with CR
{
double theta;
double thetaStart = -60;
double thetaEnd = 75;
double deltaTheta;
double phi;
double deltaPhi; //deltaPhi at theta
double deltaPhi0; //deltaPhi at theta=0
deltaPhi0 = Params.deltaX;
deltaTheta = Params.deltaY;
double phiOffset = 385;
double thetaOffset = 385;
double MTFactor = 0.45; //Factor to reduce the MovementThreshold
int k = -1;
for (theta = thetaStart; theta < thetaEnd; theta = theta + deltaTheta)
{
k = k * -1;
deltaPhi = deltaPhi0 / Math.Cos(theta * Math.PI / 180);
for (phi = -180 * k; Math.Abs(phi) <= 180; phi = phi + deltaPhi * k)
{
while (Params.paused == true) //In case of a pause wait here
{
Thread.Sleep(Params.pauseInterval);
//Application.DoEvents(); //Allow to the Form to refresh the text labels
if (Params.StopAcquisition == true)
{
break;
}
}
xPos = phi + phiOffset;
yPos = -theta + thetaOffset;
String OutputString = "phi: " + phi.ToString() + " theta: " + theta.ToString() + "\n";
ShowNewCommentInGUI(OutputString);
waitTime = Convert.ToInt32((Params.VibrationDelay + Params.ExposureDelay) * 1000);
if (phi == -180)
{
muControllerInterface.MoveServosToPosition(xPos, yPos);
//Wenn LSM303 ausgewählt ist: solange warten bis Stillstand
if (Params.LSM303_On == true)
{
Thread.Sleep(100); //Wait some time for movement
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(100);
acVar = 100000;
while (acVar > Params.MovementThreshold * MTFactor)
{
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
}
//Repeat that step
Thread.Sleep(100); //Wait some time for movement
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(100);
acVar = 100000;
while (acVar > Params.MovementThreshold * MTFactor)
{
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
}
//AccTestLabel.Text = acVar.ToString();
//Application.DoEvents();
Thread.Sleep(Convert.ToInt32((Params.SensorVibDelay) * 1000));
}
else
{
Thread.Sleep(Convert.ToInt32((Params.VibrationDelay) * 2000));
}
CamShutter();
waitTime = Convert.ToInt32((Params.ExposureDelay) * 1000);
Thread.Sleep(waitTime);
}
else
{
muControllerInterface.MoveServosToPosition(xPos, yPos);
//Wait until vibrations get unter a threshold value
if (Params.LSM303_On == true)
{
Thread.Sleep(100); //Wait some time for movement
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(100);
acVar = 100000;
while (acVar > Params.MovementThreshold * MTFactor)
{
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
}
//Check again if the movement is stopped
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
while (acVar > Params.MovementThreshold * MTFactor)
{
muControllerInterface.ReqAccelerationSensor();
Thread.Sleep(50);
acVar = muControllerInterface.InputValue;
}
//AccTestLabel.Text = acVar.ToString();
//Application.DoEvents();
Thread.Sleep(Convert.ToInt32((Params.SensorVibDelay) * 1000));
}
else
{
Thread.Sleep(Convert.ToInt32((Params.VibrationDelay) * 1000));
}
CamShutter();
waitTime = Convert.ToInt32((Params.ExposureDelay) * 1000);
Thread.Sleep(waitTime);
}
GetAndSaveAngleCoords();
//Application.DoEvents(); //Allow to the Form to refresh the text labels
if (Params.StopAcquisition == true)
{
break;
}
}
if (Params.StopAcquisition == true)
{
break;
}
}
Params.StopAcquisition = false; //reset the flag
}
//Continous acquisition mode
if (panoAcquisitionMode == 5)
{
int PanSpeedbackup = Params.PanSpeed; //keep the value of PanSpeed in this backup variable
//set tilt positon
for (int ny = 0; ny < Params.numY; ny = ny + 1)
{
if (Params.StopAcquisition == true)
{
break;
}
//move from pan start to pan end - thats a complete row in one slooow move
//move to pan start and wait until reached
Params.PanSpeed = 100;
muControllerInterface.MoveServosToPosition(Params.StartPosX, Params.StartPosY + ny * Params.deltaY);
Thread.Sleep(Params.numX * 20);
//move slowly to pan end
Params.PanSpeed = 1;
muControllerInterface.MoveServosToPosition(Params.StartPosX + Params.numX * Params.deltaX, Params.StartPosY + ny * Params.deltaY);
Thread.Sleep(50);
//loop to shoot images at cont. interval
for (int nx = 0; nx < Params.numX; nx = nx + 1)
{
//CamShutter();
Thread.Sleep(300);
//serialPort1.myPort.Write(new byte[] { 0xff }, 0, 1);
CamShutter();
}
//Go to the next tilt position
}
Params.PanSpeed = PanSpeedbackup; //Revive the old speed value
}
}
