protected override void ThreadAction()
{
if (ObservedImage == null)
{
return;
}
if (m_SampleImage == null)
{
return;
}
Profiler.Start(Name);
Profiler.Start(Name + "_CloneScreen");
lock (ScreenStateThread.ScreenBmpLock)
{
BitmapUtility.Clone32BPPBitmap(ScreenStateThread.ScreenBmp, ObservedImage);
}
Profiler.Stop(Name + "_CloneScreen");
Profiler.Start(Name + "_FindMatch");
var points = FindImagePositions();
var success = ValidatePointsCorrectness(points);
Profiler.Stop(Name + "_FindMatch");
if (success)
{
PositionFound?.Invoke(points);
LastKnownPositions = points;
WasImageFound = true;
WasLastCheckSuccess = true;
TimeSinceLastFind = 0;
m_Watch.Restart();
}
else
{
WasLastCheckSuccess = false;
TimeSinceLastFind = (int)m_Watch.ElapsedMilliseconds;
}
Profiler.Stop(Name);
}
private void SetPositionAndGetReading(int position)
{
try
{
_contoller.SetPwm(PwmChannel.C0, 0, position);
Task.Delay(50).Wait();
if (_haveReading())
{
PositionFound?.Invoke(this, new PositionalDistanceEventArgs {
Angle = Angle(position), Proximity = _lastReading.Proximity, RawValue = _lastReading.RawValue
});
}
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs {
Exception = ex, Message = "An error occured setting Angle and getting distance."
});
}
}
protected virtual void OnFindPositionFound(FindByteDataEventArgs e)
{
PositionFound?.Invoke(this, e);
}
