void BlobTrackerImageProcessedHandler(bt.ImageProcessed processed)
{
if (_state.Processing || _state.Shutdown)
{
return;
}
_state.Processing = true;
SpawnIterator(processed, DoBlobTrackerImageProcessedHandler);
}
/// <summary>
/// Handles event when image is processed by the blob tracker.
/// </summary>
/// <param name="imageProcessed"></param>
#region CODECLIP 02-3
void OnImageProcessed(blob.ImageProcessed imageProcessed)
{
if (_followMe)
{
if (imageProcessed.Body.Results.Count == 1)
{
if (imageProcessed.Body.Results[0].Area > 100) //object detected
{
_drivePort.SetDrivePower(0.5, 0.5);
}
else //search object
{
_drivePort.SetDrivePower(-0.3, 0.3);
}
}
}
}
IEnumerator <ITask> DoBlobTrackerImageProcessedHandler(bt.ImageProcessed processed)
{
try
{
Fault fault = null;
FormInvoke setTracking = new FormInvoke(
delegate
{
if (!_form.IsDisposed)
{
_form.Tracking = processed.Body.Results;
}
}
);
WinFormsServicePort.Post(setTracking);
yield return(Arbiter.Choice(
setTracking.ResultPort,
delegate(EmptyValue success) { },
delegate(Exception e)
{
fault = Fault.FromException(e);
}
));
if (fault != null)
{
LogError(null, "Unable to set tracking information", fault);
yield break;
}
}
finally
{
_mainPort.Post(new UpdateProcessing(false));
}
}
