public override void Run(string initial_command)
{
bool cameras_started = true;
bool retry = true;
int tries = 0;
usage.Update("Run, SurveyorVisionStereo, Run");
while ((retry) && (tries < 4))
{
tries++;
// start running the cameras
for (int cam = 0; cam < 2; cam++)
{
camera[cam].fps = fps;
if (cam == 0)
{
camera[cam].send_command = initial_command;
}
camera[cam].Start(host, port_number[cam]);
if (camera[cam].Running)
{
camera[cam].StartStream();
usage.Update("Camera " + cam.ToString() + " stream sterted, SurveyorVisionStereo, Run");
}
else
{
usage.Update("Camera " + cam.ToString() + " not running, SurveyorVisionStereo, Run");
Console.WriteLine("Camera " + cam.ToString() + " not running");
cameras_started = false;
break;
}
}
if (cameras_started)
{
// create a thread to send the master pulse
grab_frames = new SurveyorVisionThreadGrabFrameMulti(new WaitCallback(FrameGrabCallbackMulti), this);
sync_thread = new Thread(new ThreadStart(grab_frames.Execute));
sync_thread.Priority = ThreadPriority.Normal;
Running = true;
sync_thread.Start();
retry = false;
Console.WriteLine("Stereo camera active on " + host);
usage.Update("Stereo camera active, SurveyorVisionStereo, Run");
}
else
{
usage.Update("Stereo camera not started, SurveyorVisionStereo, Run");
Console.WriteLine("Cameras not started");
}
}
}
public override void Run(string initial_command)
{
bool cameras_started = true;
bool retry = true;
int tries = 0;
usage.Update("Run, SurveyorVisionStereo, Run");
while ((retry) && (tries < 4))
{
tries++;
// start running the cameras
for (int cam = 0; cam < 2; cam++)
{
camera[cam].fps = fps;
if (cam == 0) camera[cam].send_command = initial_command;
camera[cam].Start(host, port_number[cam]);
if (camera[cam].Running)
{
camera[cam].StartStream();
usage.Update("Camera " + cam.ToString() + " stream sterted, SurveyorVisionStereo, Run");
}
else
{
usage.Update("Camera " + cam.ToString() + " not running, SurveyorVisionStereo, Run");
Console.WriteLine("Camera " + cam.ToString() + " not running");
cameras_started = false;
break;
}
}
if (cameras_started)
{
// create a thread to send the master pulse
grab_frames = new SurveyorVisionThreadGrabFrameMulti(new WaitCallback(FrameGrabCallbackMulti), this);
sync_thread = new Thread(new ThreadStart(grab_frames.Execute));
sync_thread.Priority = ThreadPriority.Normal;
Running = true;
sync_thread.Start();
retry = false;
Console.WriteLine("Stereo camera active on " + host);
usage.Update("Stereo camera active, SurveyorVisionStereo, Run");
}
else
{
usage.Update("Stereo camera not started, SurveyorVisionStereo, Run");
Console.WriteLine("Cameras not started");
}
}
}
