protected void Initialize()
{
try
{
_apiHandle = CanInterfaceDll.Init();
}
catch (DllNotFoundException)
{
_logger.LogError("Failed to initialize motors: NTCAN drivers not installed");
PeripheralState = PeripheralState.DriversNotInstalled;
return;
}
if (_apiHandle.Equals(IntPtr.Zero))
{
PeripheralState = PeripheralState.NotConnected;
_logger.LogInformation("No physical CAN interface found");
}
else
{
_logger.LogInformation("Starting motor calibration...");
PeripheralState = PeripheralState.Initializing;
CanInterfaceDll.StartCalibration(_apiHandle, _calibrationDone);
}
}
private void CreateCamera()
{
try
{
var roi = new RegionOfInterest(XMin, YMin, Width, Height);
_cameraPtr = GenieNanoDll.CreateCamera(
_options.Value.CameraName,
roi,
_frameArrived,
_cameraConnected,
_cameraDisconnected);
}
catch (DllNotFoundException)
{
_logger.LogError(
"Failed to initialize GenieNanoCamera: The Camera SDK is not installed");
PeripheralState = PeripheralState.Error;
return;
}
if (_cameraPtr.Equals(IntPtr.Zero))
{
_logger.LogError(
"Failed to initialize GenieNanoCamera: Camera was not found on the network");
PeripheralState = PeripheralState.NotConnected;
return;
}
PeripheralState = PeripheralState.Ready;
try
{
ApplyOptions();
}
catch (KickermatException ex)
{
_logger.LogError(ex.Message);
}
}
public Camera(string id, string name, PeripheralState state)
{
Id = id;
Name = name;
PeripheralState = state;
}
protected void CalibrationDone(uint minPos, uint maxPos)
{
_logger.LogInformation("Motors successfully calibrated");
PeripheralState = PeripheralState.Ready;
}
// Device state
public PeripheralEventArgs(PeripheralState state)
{
State = state;
}
private void CameraDisconnected(string name)
{
_logger.LogInformation($"Camera {name} disconnected");
PeripheralState = PeripheralState.NotConnected;
}
public PeripheralStateChangedEventArgs(PeripheralState newState)
{
NewState = newState;
}
