// Constructors
public EVI_D70()
{
// Initialize internal variables
port = new SerialPort();
hardware_connected = false;
thread_control = new CancellationTokenSource();
initilization_error = false;
serial_channel_open = new ManualResetEventSlim(true);
socket_available = new ManualResetEventSlim(true);
command_buffer = new ObservableCollection<command>();
emergency_stop_turnstyle = new ManualResetEventSlim(false);
_pan = new angular_position();
_tilt = new angular_position();
_zoom = new zoom_position();
pan_tilt_status = DRIVE_STATUS.FULL_STOP;
zoom_status = DRIVE_STATUS.FULL_STOP;
last_inquiry_was_pan_tilt = false;
num_cmds_since_inquiry = 0;
command_buffer.CollectionChanged += new System.Collections.Specialized.NotifyCollectionChangedEventHandler(command_buffer_changed_event_handler);
command_buffer_populated = new ManualResetEventSlim(false);
failed_command = null;
last_successful_pan_tilt_cmd = null;
last_successful_zoom_cmd = null;
socket_one_cmd = null;
socket_two_cmd = null;
// Trace listener
trace_msgs = new internal_trace_listener();
Trace.Listeners.Add(trace_msgs);
position_data_error += new CameraHardwareErrorEventHandler(print_trace_log);
serial_port_error += new CameraHardwareErrorEventHandler(print_trace_log);
command_error += new CameraHardwareErrorEventHandler(print_trace_log);
// Threads
inquiry_after_stop_thread = new Thread(new ThreadStart(inquiry_after_stop));
pan_tilt_inquiry_after_stop = false;
zoom_inquiry_after_stop = false;
after_stop = new ManualResetEventSlim(false);
pan_tilt_inquiry_complete = new ManualResetEventSlim(false);
zoom_inquiry_complete = new ManualResetEventSlim(false);
dispatch_thread = new Thread(new ThreadStart(dispatch));
receive_thread = new Thread(new ThreadStart(receive));
// PID
pid_thread = new Thread(new ThreadStart(pid));
pid_turnstyle = new ManualResetEventSlim(false);
pid_data_turnstyle = new ManualResetEventSlim(true);
pid_pan_tilt_speed = (new pan_tilt_jog_command(1)).pan_tilt_speed;
pid_zoom_speed = (new zoom_jog_command(1)).zoom_speed;
_pan.position_changed += new EventHandler<EventArgs>(pid_data_changed);
_tilt.position_changed += new EventHandler<EventArgs>(pid_data_changed);
_zoom.position_changed += new EventHandler<EventArgs>(pid_data_changed);
_pid_target_pan_position.position_changed += new EventHandler<EventArgs>(pid_data_changed);
_pid_target_tilt_position.position_changed += new EventHandler<EventArgs>(pid_data_changed);
_pid_target_zoom_position.position_changed += new EventHandler<EventArgs>(pid_data_changed);
}
public bool connect(String port_name)
{
// Setup serial port values
port.BaudRate = 38400;
port.DataBits = 8;
port.NewLine = new string((char)0xFF, 1); // This is the visca terminator, we don't use "readline" but its here for clarity
port.Parity = Parity.None;
port.PortName = port_name;
port.StopBits = StopBits.One;
port.ReadTimeout = 2000;
try { port.Open(); } // Open serial connection
catch { return hardware_connected; } // No connection, nothing else to do
// Get camera number
connect_command connect_cmd = new connect_command();
port.Write(connect_cmd.raw_serial_data, 0, connect_cmd.raw_serial_data.Length);
List<int> response;
int response_type = get_response(out response);
while (response_type == VISCA_CODE.RESPONSE_ACK) // Skip acknowledge messages
response_type = get_response(out response);
if (response_type != VISCA_CODE.RESPONSE_ADDRESS) // Got camera number
return hardware_connected; // Note: if an error or timeout occurs, connected is false (as expected)
camera_num = response[2] - 1;
// Get the current pan/tilt/zoom position
// Note: This is hard coded here rather than using the dispatch thread because at this point we don't know if we are connected yet
command inquiry = new pan_tilt_inquiry_command(camera_num);
port.Write(inquiry.raw_serial_data, 0, inquiry.raw_serial_data.Length);
dispatched_cmd = inquiry;
response_type = get_response(out response); // Should only be command complete
CameraHardwareErrorEventHandler backup = position_data_error; // Backing up user event handlers
position_data_error = new CameraHardwareErrorEventHandler(initilization_error_handler);
receive_response_completed(response); // Will put the response into "pan" and "tilt"
inquiry = new zoom_inquiry_command(camera_num);
port.Write(inquiry.raw_serial_data, 0, inquiry.raw_serial_data.Length);
dispatched_cmd = inquiry;
response_type = get_response(out response); // Should only be command complete
receive_response_completed(response); // Will put the response into "zoom"
position_data_error = backup; // Restore user event handlers
// If we can't get the current positions, then we aren't connected to the camera
if (!initilization_error)
{
hardware_connected = true;
// Start the background threads
receive_thread.Start();
dispatch_thread.Start();
inquiry_after_stop_thread.Start();
pid_thread.Start();
}
return hardware_connected;
}
