/// <summary>
/// Main working method - runs in loop on Start
/// </summary>
public override void Job()
{
Initialize();
//Detach from streamer
_publisher.Detach(this);
//get current ball coordinates
BallCoordinates coordinates = SampleCoordinates();
//show current ball coordinates on screen and GUI
System.Drawing.PointF p = TransformAgent.Data.InvertTransform(new System.Drawing.PointF(_x, _y));
Marks.DrawBall(new Point(p.X, p.Y), _ballRadius);
Statistics.TryUpdateBasicImageProcessingInfo(String.Format("Generated coordinates: {0}x{1}", _x, _y));
//set current coordinates to update
ImagingData.BallCoords = coordinates;
//set current coordinates and publish new ball coordinates
BallLocationUpdater.UpdateAndNotify();
//attach back to streamer
_publisher.Attach(this);
}
/// <summary>
/// Update Last Know Location and Calculate new ball coordinates
/// </summary>
/// <param name="xLocation">Calculated X location [Foosbot world coordinates]</param>
/// <param name="yLocation">Calculated Y location [Foosbot world coordinates]</param>
/// <param name="timeStamp">Current image time stamp</param>
/// <param name="detectionColor">Color to draw ball on screen</param>
private void UpdateCoordinates(double xLocation, double yLocation, DateTime timeStamp, SolidColorBrush detectionColor)
{
ImagingData.LastKnownBallLocation = new BallLocation(xLocation, yLocation, timeStamp);
int x = ImagingData.LastKnownBallLocation.X + OffsetX;
int y = ImagingData.LastKnownBallLocation.Y + OffsetY;
Marks.DrawBall(new System.Windows.Point(x, y), Convert.ToInt32(20), detectionColor);
System.Drawing.PointF coordinates = TransformAgent.Data.Transform(new System.Drawing.PointF(x, y));
ImagingData.BallCoords = new BallCoordinates(Convert.ToInt32(coordinates.X), Convert.ToInt32(coordinates.Y), timeStamp);
Statistics.TryUpdateBallCoordinates(
String.Format("[IP Unit] Ball coordinates: {0}x{1}", ImagingData.BallCoords.X, ImagingData.BallCoords.Y));
}
/// <summary>
/// Main Method of Vector Calculation Unit
/// </summary>
public override void Job()
{
try
{
_publisher.Detach(this);
if (_stabilizer == null)
{
int ballRadius = (_imagingData.BallRadius < 0) ? 5 : _imagingData.BallRadius;
_stabilizer = new CoordinatesStabilizer(ballRadius);
}
//Get data and remove noise
BallCoordinates newCoordinates = _publisher.Data;
BallCoordinates ballCoordinates = _stabilizer.Stabilize(newCoordinates, _storedBallCoordinates);
//Draw coordinates from stabilizer
if (ballCoordinates.IsDefined)
{
double x, y;
TransformAgent.Data.InvertTransform(ballCoordinates.X, ballCoordinates.Y, out x, out y);
}
else
{
//Delete old locations
Marks.DrawBall(new System.Windows.Point(0, 0), 0);
}
ballCoordinates.Vector = VectorCalculationAlgorithm(ballCoordinates);
if (ballCoordinates.IsDefined && ballCoordinates.Vector.IsDefined)
{
try
{
(_coordinatesUpdater as BallCoordinatesUpdater).LastBallCoordinates = ballCoordinates;
LastBallLocationPublisher.UpdateAndNotify();
Marks.DrawBallVector(new Point(ballCoordinates.X, ballCoordinates.Y),
new Point(Convert.ToInt32(ballCoordinates.Vector.X), Convert.ToInt32(ballCoordinates.Vector.Y)));
}
catch (Exception e)
{
Log.Print(String.Format("{0} [{1}]", e.Message, ballCoordinates.ToString()), eCategory.Error, LogTag.VECTOR);
}
}
else
{
Marks.DrawBallVector(new Point(0, 0), new Point(0, 0), false);
}
}
catch (ThreadInterruptedException)
{
/* new data received */
}
catch (Exception e)
{
Log.Print(String.Format("Error in vector calculation. Reason: {0}", e.Message), eCategory.Error, LogTag.VECTOR);
}
finally
{
_publisher.Attach(this);
}
}