public IEnumerator <ITask> UpdateBinHandler(UpdateBin update)
{
ColorBin existing = _state.ColorBins.Find(
delegate(ColorBin test)
{
return(test.Name == update.Body.Name);
}
);
if (existing != null)
{
int index = _state.ColorBins.IndexOf(existing);
_state.ColorBins[index] = update.Body;
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
SendNotification(_subMgrPort, update);
SaveState(_state);
}
else
{
update.ResponsePort.Post(
Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.UnknownEntry,
"A Color Bin named " + update.Body.Name + " could not be found."
)
);
}
yield break;
}
public IEnumerator <ITask> InsertBinHandler(InsertBin insert)
{
ColorBin existing = _state.ColorBins.Find(
delegate(ColorBin test)
{
return(test.Name == insert.Body.Name);
}
);
if (existing == null)
{
_state.ColorBins.Add(insert.Body);
insert.ResponsePort.Post(DefaultInsertResponseType.Instance);
SendNotification(_subMgrPort, insert);
SaveState(_state);
}
else
{
insert.ResponsePort.Post(
Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.DuplicateEntry,
"A Color Bin named " + insert.Body.Name + " already exists."
)
);
}
yield break;
}
IEnumerator <ITask> ProcessImage(List <ColorBin> bins)
{
Fault fault = null;
cam.QueryFrameRequest request = new cam.QueryFrameRequest();
request.Format = Guid.Empty;// new Guid("b96b3cae-0728-11d3-9d7b-0000f81ef32e");
byte[] frame = null;
DateTime timestamp = DateTime.MinValue;
int height = 0;
int width = 0;
yield return(Arbiter.Choice(
_camPort.QueryFrame(request),
delegate(cam.QueryFrameResponse response)
{
timestamp = response.TimeStamp;
frame = response.Frame;
width = response.Size.Width;
height = response.Size.Height;
},
delegate(Fault f)
{
fault = f;
}
));
ImageProcessedRequest processed = new ImageProcessedRequest();
if (fault != null)
{
_mainPort.Post(new ImageProcessed(processed));
yield break;
}
int size = width * height * 3;
processed.TimeStamp = timestamp;
List <FoundBlob> results = processed.Results;
foreach (ColorBin bin in bins)
{
FoundBlob blob = new FoundBlob();
blob.Name = bin.Name;
blob.XProjection = new int[width];
blob.YProjection = new int[height];
results.Add(blob);
}
int offset;
for (int y = 0; y < height; y++)
{
offset = y * width * 3;
for (int x = 0; x < width; x++, offset += 3)
{
int r, g, b;
b = frame[offset];
g = frame[offset + 1];
r = frame[offset + 2];
for (int i = 0; i < bins.Count; i++)
{
ColorBin bin = bins[i];
if (bin.Test(r, g, b))
{
results[i].AddPixel(x, y);
}
}
}
}
foreach (FoundBlob blob in results)
{
if (blob.Area > 0)
{
blob.MeanX = blob.MeanX / blob.Area;
blob.MeanY = blob.MeanY / blob.Area;
blob.CalculateMoments();
}
}
_mainPort.Post(new ImageProcessed(processed));
}
