/// <summary>
/// Detects if the list of installed cameras has changed
/// since the previous run of ACAT
/// </summary>
/// <returns>true if it has</returns>
private bool hasCameraListChanged()
{
var listFromSettings = VisionActuatorSettings.CameraList;
var activeCameraList = Cameras.GetCameraNames();
if (listFromSettings == null || activeCameraList == null)
{
return(true);
}
if (listFromSettings.Length != activeCameraList.Count())
{
return(true);
}
foreach (var cameraInstalled in activeCameraList)
{
bool found = listFromSettings.Any(cameraInSettings => String.Compare(cameraInstalled, cameraInSettings, false) == 0);
if (!found)
{
return(true);
}
}
return(false);
}
/// <summary>
/// Detects cameras installed on the computer and if reqd,
/// asks the user to select from the list. Saves the
/// list of currently active cameras so if any change is detected
/// the next time ACAT is run, we can display the list again.
/// Also instructs ACAT Vision to use the selected camera
/// </summary>
/// <returns></returns>
private bool detectAndSetPreferredCamera()
{
var installedCameras = Cameras.GetCameraNames();
var preferredCamera = String.Empty;
bool retVal = true;
if (hasCameraListChanged() || !isCameraInstalled(VisionActuatorSettings.PreferredCamera))
{
VisionActuatorSettings.CameraList = installedCameras.ToArray();
// if there is more than one camera, let the user pick
if (installedCameras.Count() > 1)
{
var form = new CameraSelectForm
{
CameraNames = installedCameras,
Prompt = R.GetString("SelectCamera"),
OKButtonText = R.GetString("OK"),
CancelButtonText = R.GetString("Cancel"),
Name = _title
};
var result = form.ShowDialog();
if (result == DialogResult.Cancel)
{
MessageBox.Show(R.GetString("NoCameraSelectedVisionWillNotBeActivated"),
_title,
MessageBoxButtons.OK,
MessageBoxIcon.Warning);
retVal = false;
}
else
{
MessageBox.Show(String.Format(R.GetString("SelectedCamera"), form.SelectedCamera),
_title,
MessageBoxButtons.OK,
MessageBoxIcon.Information);
preferredCamera = form.SelectedCamera;
}
}
else
{
preferredCamera = installedCameras.ElementAt(0);
}
}
else
{
preferredCamera = VisionActuatorSettings.PreferredCamera;
}
VisionActuatorSettings.PreferredCamera = preferredCamera;
VisionActuatorSettings.Save();
VisionSensor.selectCamera(preferredCamera);
return(retVal);
}
/// <summary>
/// Form load event handler. Quit if there are no
/// cameras. If multiple cameras, let the user select
/// the preferred one to use
/// </summary>
/// <param name="sender">event sender</param>
/// <param name="e">event args</param>
private void Form1_Load(object sender, EventArgs e)
{
Text = _title;
var _installedCameras = Cameras.GetCameraNames();
if (!_installedCameras.Any())
{
MessageBox.Show("No cameras detected. Exiting",
_title,
MessageBoxButtons.OK,
MessageBoxIcon.Exclamation);
Close();
return;
}
var preferredCamera = String.Empty;
if (_installedCameras.Count() > 1)
{
var form = new CameraSelectForm
{
CameraNames = _installedCameras,
Name = _title,
Prompt = "Select Camera",
OKButtonText = "OK",
CancelButtonText = "Cancel"
};
var result = form.ShowDialog();
if (result == DialogResult.Cancel)
{
MessageBox.Show("No camera selected. Exiting", _title);
Close();
return;
}
preferredCamera = form.SelectedCamera;
}
else
{
preferredCamera = _installedCameras.ElementAt(0);
}
VisionSensor.selectCamera(preferredCamera);
Location = new Point(Screen.PrimaryScreen.WorkingArea.Width - Width,
Screen.PrimaryScreen.WorkingArea.Height - Height);
TopMost = false;
TopMost = true;
VisionSensor.SetVisionEventHandler(CallbackFromVision);
}
/// <summary>
/// Checks if the specified camera is currently active
/// </summary>
/// <param name="camera">name of the camera</param>
/// <returns>true if it is</returns>
private bool isCameraInstalled(String camera)
{
var trimmedCamera = camera.Trim();
if (String.IsNullOrEmpty(trimmedCamera))
{
return(false);
}
var activeCameraList = Cameras.GetCameraNames();
return(activeCameraList.Any(c => String.Compare(c, camera, false) == 0));
}
/// <summary>
/// Initialize the vision actuator. Detect cameras,
/// let the user select the preferred camera (if reqd),
/// spawn threads etc.
/// </summary>
/// <returns>true on success, false otherwise</returns>
public override bool Init()
{
Attributions.Add("ACAT Vision",
"Open Source Computer Vision Library (OpenCV) is licensed under the BSD license");
if (!Cameras.GetCameraNames().Any())
{
MessageBox.Show(R.GetString("NoCamerasFoundACATVisionDisabled"),
_title,
MessageBoxButtons.OK,
MessageBoxIcon.Exclamation);
OnInitDone();
return(true);
}
_initInProgress = true;
// load settings from the settings file
Settings.SettingsFilePath = UserManager.GetFullPath(SettingsFileName);
VisionActuatorSettings = Settings.Load();
VisionSensor.init();
bool retVal = detectAndSetPreferredCamera();
if (retVal)
{
showCameraStatus(R.GetString("InitializingCamera"));
_acatVisionThread = new Thread(visionThread)
{
IsBackground = true
};
_acatVisionThread.Start();
}
else
{
_initInProgress = false;
OnInitDone();
}
return(retVal);
}
/// <summary>
/// Event handler for form loader
/// </summary>
/// <param name="sender">event sender</param>
/// <param name="e">event args</param>
private void PrefChooseForm_Load(object sender, EventArgs e)
{
float currentAspectRatio = (float)ClientSize.Height / ClientSize.Width;
if (_designTimeAspectRatio != 0.0f && currentAspectRatio != _designTimeAspectRatio)
{
ClientSize = new System.Drawing.Size(ClientSize.Width, (int)(_designTimeAspectRatio * ClientSize.Width));
}
CenterToScreen();
TopMost = true;
_installedCameras = Cameras.GetCameraNames();
if (!_installedCameras.Any())
{
buttonSelectCamera.Enabled = false;
}
}