/// <summary>
/// Connects to the camera on the NAO robot
/// </summary>
/// <param name="ip"> the ip address of the robot </param>
/// <param name="format"> the video format desired </param>
/// <param name="ColorSpace"> the video color space </param>
/// <param name="FPS"> the FPS of the video </param>
public void connect(string ip, NaoCamImageFormat format, int ColorSpace, int FPS)
{
try
{
if (naoCamera != null)
{
Disconnect();
}
naoCamera = new VideoDeviceProxy(ip, 9559);
// Attempt to unsubscribe incase program was not shut down properly
try
{
naoCamera.unsubscribe("NAO Camera");
}
catch (Exception)
{
}
// subscribe to NAO Camera for easier access to camera memory
naoCamera.subscribe("NAO Camera", format.id, ColorSpace, FPS);
}
catch (Exception e)
{
// display error message and write exceptions to a file
MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt");
naoCamera = null;
System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt",e.ToString());
}
}
/// <summary>
/// Connects to the camera on the NAO robot
/// </summary>
/// <param name="ip"> the ip address of the robot </param>
/// <param name="format"> the video format desired </param>
/// <param name="ColorSpace"> the video color space </param>
/// <param name="FPS"> the FPS of the video </param>
public void connect(string ip, NaoCamImageFormat format, int ColorSpace, int FPS)
{
try
{
if (naoCamera != null)
{
Disconnect();
}
naoCamera = new VideoDeviceProxy(ip, 9559);
// Attempt to unsubscribe incase program was not shut down properly
try
{
naoCamera.unsubscribe("NAO Camera");
}
catch (Exception)
{
}
// subscribe to NAO Camera for easier access to camera memory
naoCamera.subscribe("NAO Camera", format.id, ColorSpace, FPS);
}
catch (Exception e)
{
// display error message and write exceptions to a file
MessageBox.Show("Exception occurred, error log in C:\\NAOserver\\exception.txt");
naoCamera = null;
System.IO.File.WriteAllText(@"C:\\NAOserver\\exception.txt", e.ToString());
}
}
/// <summary>
/// Disconnects from the NAO camera
/// </summary>
public void Disconnect()
{
try
{
if (naoCamera != null)
{
// unsubscribe so the NAO knows we do not need data from the camera anymore
naoCamera.unsubscribe("NAO Camera");
}
}
catch
{
}
naoCamera = null;
}
public void initializeProxies()
{
fdp = new FaceDetectionProxy(this.ip, 9559);
fdp.enableTracking(true);
vdp = new VideoDeviceProxy(this.ip, 9559);
mp = new MemoryProxy(this.ip, 9559);
}
/// <summary>
/// Connects to the camera on the NAO robot
/// </summary>
/// <param name="ip"> the ip address of the robot </param>
/// <param name="format"> the video format desired </param>
/// <param name="ColorSpace"> the video color space </param>
/// <param name="FPS"> the FPS of the video </param>
public void connect(string ip, NaoCamImageFormat format, int ColorSpace,
int FPS)
{
try
{
if (naoCamera != null)
{
Disconnect();
}
naoCamera = new VideoDeviceProxy(ip, 9559);
// Attempt to unsubscribe incase program was not shut down properly
try
{
naoCamera.unsubscribe("NAO Camera");
}
catch (Exception)
{
}
// subscribe to NAO Camera for easier access to camera memory
naoCamera.subscribe("NAO Camera", format.id, ColorSpace, FPS);
// naoCamera.subscribe("NAO Camera", format.id, ColorSpace, FPS);
}
catch (Exception e)
{
// display error message and write exceptions to a file
// MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt");
naoCamera = null;
System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt",
e.ToString());
}
}
/// <summary>
/// Disconnects from the NAO camera
/// </summary>
public void Disconnect()
{
try
{
if (naoCamera != null)
{
// unsubscribe so the NAO knows we do not need data from the camera anymore
naoCamera.unsubscribe("NAO Camera");
}
}
catch
{ }
naoCamera = null;
}
public bool connect(string ip, bool onlymotion = false)
{
this.IP = ip;
bool b = false;
try
{
proxyMotion = new MotionProxy(ip, Port);
if (onlymotion == false)
{
bool bc = proxyMotion.setCollisionProtectionEnabled("Arms", false);
if (!bc)
Console.WriteLine("Failed to disable collision protection");
StartMotorMonitor();
proxyBehaviorManager = new BehaviorManagerProxy(ip, Port);
// Turn off the LEDs
proxyLed = new LedsProxy(ip, Port);
List<string> ledgroups = proxyLed.listGroups();
foreach (string ledgroup in ledgroups)
{
proxyLed.off(ledgroup);
}
// Speech
proxyTTS = new TextToSpeechProxy(ip, Port);
if (ip != "127.0.0.1")
{
// Sentinel
proxySentinel = new SentinelProxy(ip, Port);
// Turning off "Motor hot!"
proxySentinel.enableHeatMonitoring(false);
}
// camera
proxyCamera = new VideoDeviceProxy(ip, Port);
// IdleMovement
InitIdleMovement();
}
b = true;
}
catch (Exception e)
{
Console.WriteLine("MotionProxy.Connect Exception: " + e);
b = false;
}
IsConnected = b;
return b;
}
/// <summary>
/// Disconnects from the NAO camera
/// </summary>
public void Disconnect()
{
try
{
if (naoCamera != null)
{
// unsubscribe so the NAO knows we do not need data from the camera anymore
naoCamera.unsubscribe("NAO Camera");
}
}
catch
{ }
naoCamera = null;
}
/// <summary>
/// Creates a new instance using given subscriber-ID.
/// </summary>
/// <param name="subID">The ID under which to subscribe to the Nao's video proxy.</param>
/// <exception cref="UnavailableConnectionException">If not connected to any Nao.</exception>
public Camera(string subID)
{
subscriberID = subID;
videoProxy = Proxies.GetProxy<VideoDeviceProxy>();
Unsubscribe(); //Make sure that there is no other subscriber with this ID
}
/// <summary>
/// Creates a new instance using given subscriber-ID.
/// </summary>
/// <param name="subID">The ID under which to subscribe to the Nao's video proxy.</param>
/// <exception cref="UnavailableConnectionException">If not connected to any Nao.</exception>
public Camera(string subID)
{
subscriberID = subID;
videoProxy = Proxies.GetProxy <VideoDeviceProxy>();
Unsubscribe(); //Make sure that there is no other subscriber with this ID
}
/// <summary>
/// Disconnects from the NAO camera
/// </summary>
public void Disconnect()
{
try
{
if (naoCameraUpper != null )
{
// unsubscribe so the NAO knows we do not need data from the camera anymore
naoCameraUpper.unsubscribe(subsNameUpper);
}
}
catch
{ }
naoCameraUpper = null;
}
