/// <summary>
/// Set video resolution for both cameras.
/// </summary>
///
/// <param name="resolution">Video resolution to set.</param>
///
/// <remarks>
/// <para><note>Setting higher <see cref="SetQuality">quality level</see> and resolution
/// may increase delays for other requests sent to SVS. So if
/// robot is used not only for video, but also for controlling servos/motors, and higher
/// response level is required, then do not set very high quality and resolution.
/// </note></para>
/// </remarks>
///
/// <exception cref="NotConnectedException">Not connected to SVS. Connect to SVS board before using
/// this method.</exception>
///
public void SetResolution( SRV1.VideoResolution resolution )
{
SafeGetCommunicator1( ).SetResolution( resolution );
SafeGetCommunicator2( ).SetResolution( resolution );
}
/// <summary>
/// Disconnect from SVS device.
/// </summary>
///
/// <remarks><para>The method disconnects from SVS board making all other methods
/// unavailable (except <see cref="Connect"/> method). In the case if user
/// obtained instance of left or right camera using <see cref="GetCamera"/>
/// method, the video will be stopped automatically (and those <see cref="SRV1Camera"/>
/// instances should be discarded).
/// </para></remarks>
///
public void Disconnect( )
{
lock ( sync1 )
{
lock ( sync2 )
{
hostAddress = null;
// signal cameras to stop
if ( leftCamera != null )
{
leftCamera.SignalToStop( );
}
if ( rightCamera != null )
{
rightCamera.SignalToStop( );
}
// wait until cameras stop or abort them
if ( leftCamera != null )
{
// wait for aroung 250 ms
for ( int i = 0; ( i < 5 ) && ( leftCamera.IsRunning ); i++ )
{
System.Threading.Thread.Sleep( 50 );
}
// abort camera if it can not be stopped
if ( leftCamera.IsRunning )
{
leftCamera.Stop( );
}
leftCamera = null;
}
if ( rightCamera != null )
{
// wait for aroung 250 ms
for ( int i = 0; ( i < 5 ) && ( rightCamera.IsRunning ); i++ )
{
System.Threading.Thread.Sleep( 50 );
}
// abort camera if it can not be stopped
if ( rightCamera.IsRunning )
{
rightCamera.Stop( );
}
rightCamera = null;
}
if ( communicator1 != null )
{
communicator1.Disconnect( );
communicator1 = null;
}
if ( communicator2 != null )
{
communicator2.Disconnect( );
communicator2 = null;
}
}
}
}
/// <summary>
/// Control motors connected to SVS board using predefined commands.
/// </summary>
///
/// <param name="command">Motor command to send to the SVS board.</param>
///
/// <remarks><para><note>Controlling SVS motors with this method is only available
/// after at least one direct motor command is sent, which is done using <see cref="StopMotors"/> or
/// <see cref="RunMotors"/> methods.</note></para></remarks>
///
/// <exception cref="NotConnectedException">Not connected to SVS. Connect to SVS board before using
/// this method.</exception>
///
public void ControlMotors( SRV1.MotorCommand command )
{
SafeGetCommunicator1( ).ControlMotors( command );
}
/// <summary>
/// Connect to SVS board.
/// </summary>
///
/// <param name="ipAddress">IP address of SVS board.</param>
///
/// <remarks><para>The method establishes connection to SVS board. If it succeeds then
/// other methods can be used to manipulate the board.</para>
///
/// <para><note>The method calls <see cref="Disconnect"/> before making any connection
/// attempts to make sure previous connection is closed.</note></para>
/// </remarks>
///
/// <exception cref="ConnectionFailedException">Failed connecting to SVS.</exception>
///
public void Connect( string ipAddress )
{
// close previous connection
Disconnect( );
lock ( sync1 )
{
lock ( sync2 )
{
try
{
communicator1 = new SRV1( );
communicator2 = new SRV1( );
communicator1.Connect( ipAddress, 10001 );
communicator2.Connect( ipAddress, 10002 );
hostAddress = ipAddress;
}
catch
{
Disconnect( );
throw new ConnectionFailedException( "Failed connecting to SVS." );
}
}
}
}
