IEnumerator <ITask> DoStart()
{
try
{
_utilities = DsspHttpUtilitiesService.Create(Environment);
RunForm runForm = new RunForm(CreateForm);
WinFormsServicePort.Post(runForm);
yield return(Arbiter.Choice(
runForm.pResult,
EmptyHandler,
EmptyHandler
));
FormInvoke invoke = new FormInvoke(
delegate
{
_form.Initialize(_state);
}
);
WinFormsServicePort.Post(invoke);
yield return(Arbiter.Choice(
invoke.ResultPort,
EmptyHandler,
EmptyHandler
));
}
finally
{
FinishStarting();
}
}
/// <summary>
/// Handle the Form Closed event for the Dashboard Form
/// </summary>
/// <param name="onClosed">The closed message</param>
private void OnClosedHandler(OnClosed onClosed)
{
if (onClosed.DashboardForm == this.dashboardForm)
{
LogInfo("Form Closed");
this.mainPort.Post(new DsspDefaultDrop(DropRequestType.Instance));
ControlPanelPort.Post(new DsspDefaultDrop(DropRequestType.Instance));
if (this.cameraForm != null)
{
var closeWebcam = new FormInvoke(
delegate
{
this.cameraForm.Close();
this.cameraForm = null;
});
WinFormsServicePort.Post(closeWebcam);
}
if (this.depthCameraForm != null)
{
var closeDepthcam = new FormInvoke(
delegate
{
this.depthCameraForm.Close();
this.depthCameraForm = null;
});
WinFormsServicePort.Post(closeDepthcam);
}
}
}
public IEnumerator <ITask> OnUpdateButton(UpdateButton update)
{
int index = _state.Buttons.FindIndex(update.Body.CompareId);
if (index < 0)
{
update.ResponsePort.Post(
Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.UnknownEntry,
"A button with the requested ID does not exist: " + update.Body.Id
)
);
}
else
{
bool isInternal = update.GetHeader <InternalUpdate>() != null;
if (!isInternal)
{
Fault fault = null;
FormInvoke invoke = new FormInvoke(
delegate
{
_form.UpdateButton(update.Body);
}
);
WinFormsServicePort.Post(invoke);
yield return(Arbiter.Choice(
invoke.ResultPort,
EmptyHandler,
delegate(Exception e)
{
fault = Fault.FromException(e);
}
));
if (fault != null)
{
update.ResponsePort.Post(fault);
yield break;
}
}
_state.Buttons[index] = update.Body;
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
DoSendNotification(update);
}
}
/// <summary>
/// Called on a rotate single axis.
/// </summary>
/// <param name="rotate">The rotation.</param>
private void OnRotateSingleAxis(pantilt.Rotate rotate)
{
var degrees = rotate.Body.RotateTiltRequest.TargetRotationAngleInRadians * 180 / Math.PI;
this.state.TiltAngle = Math.Round(degrees);
var angle = (int)this.state.TiltAngle;
var update = new FormInvoke(() =>
{
this.dashboardForm.TiltTextbox.Text = angle.ToString();
});
WinFormsServicePort.Post(update);
}
public void OnSetTitle(SetTitle setTitle)
{
FormInvoke invoke = new FormInvoke(
delegate
{
_form.SetTitle(setTitle.Body.Title);
}
);
WinFormsServicePort.Post(invoke);
_state.Title = setTitle.Body.Title;
setTitle.ResponsePort.Post(DefaultUpdateResponseType.Instance);
DoSendNotification(setTitle);
}
public void OnShow(Show show)
{
FormInvoke invoke = new FormInvoke(
delegate
{
_form.SetVisibility(show.Body.Show);
}
);
WinFormsServicePort.Post(invoke);
_state.Visible = show.Body.Show;
show.ResponsePort.Post(DefaultUpdateResponseType.Instance);
DoSendNotification(show);
}
public IEnumerator <ITask> OnDeleteButton(DeleteButton delete)
{
FlexButton existing = _state.Buttons.Find(delete.Body.CompareId);
if (existing == null)
{
delete.ResponsePort.Post(
Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.UnknownEntry,
"A button with the requested ID does not exist: " + delete.Body.Id
)
);
}
else
{
Fault fault = null;
FormInvoke invoke = new FormInvoke(
delegate
{
_form.DeleteButton(delete.Body);
}
);
WinFormsServicePort.Post(invoke);
yield return(Arbiter.Choice(
invoke.ResultPort,
EmptyHandler,
delegate(Exception e)
{
fault = Fault.FromException(e);
}
));
if (fault != null)
{
delete.ResponsePort.Post(fault);
}
else
{
_state.Buttons.Remove(existing);
delete.ResponsePort.Post(DefaultDeleteResponseType.Instance);
DoSendNotification(delete);
}
}
}
public IEnumerator <ITask> OnInsertButton(InsertButton insert)
{
if (_state.Buttons.Exists(insert.Body.CompareId) ||
_state.Controls.Exists(insert.Body.CompareId))
{
insert.ResponsePort.Post(
Fault.FromCodeSubcodeReason(
FaultCodes.Receiver,
DsspFaultCodes.DuplicateEntry,
"A button with the same ID already exists: " + insert.Body.Id
)
);
}
else
{
Fault fault = null;
FormInvoke invoke = new FormInvoke(
delegate
{
_form.InsertButton(insert.Body);
}
);
WinFormsServicePort.Post(invoke);
yield return(Arbiter.Choice(
invoke.ResultPort,
EmptyHandler,
delegate(Exception e)
{
fault = Fault.FromException(e);
}
));
if (fault != null)
{
insert.ResponsePort.Post(fault);
}
else
{
_state.Buttons.Add(insert.Body);
insert.ResponsePort.Post(DefaultUpdateResponseType.Instance);
DoSendNotification(insert);
}
}
}
/// <summary>
/// Display an image in the WebCam Form
/// </summary>
/// <param name="bmp">
/// The bitmap to display
/// </param>
private void DisplayImage(Bitmap bmp)
{
Fault fault = null;
var setImage = new FormInvoke(() => this.cameraForm.CameraImage = bmp);
WinFormsServicePort.Post(setImage);
Arbiter.Choice(setImage.ResultPort, EmptyHandler, e => fault = Fault.FromException(e));
if (fault == null)
{
// LogInfo("New camera frame");
return;
}
this.LogError(null, "Unable to set camera image on form", fault);
return;
}
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));
}
}
// Display an image in the WebCam Form
bool DisplayImage(Bitmap bmp)
{
Fault fault = null;
FormInvoke setImage = new FormInvoke(
delegate()
{
_driveControl.CameraImage = bmp;
}
);
WinFormsServicePort.Post(setImage);
Arbiter.Choice(
setImage.ResultPort,
delegate(EmptyValue success) { },
delegate(Exception e)
{
fault = Fault.FromException(e);
}
);
if (fault != null)
{
LogError(null, "Unable to set camera image on form", fault);
return false;
}
else
{
// LogInfo("New camera frame");
return true;
}
}
/// <summary>
/// Update depth profile image on form
/// </summary>
private void UpdateDepthProfileImage()
{
// Update depth profile image
Bitmap image = null;
if (!this.TryCreateDepthImage(out image))
{
throw new InvalidOperationException("Unable to create depth profile image since depth sample is not available");
}
var setImage = new FormInvoke(() => this.obstacleAvoidanceForm.DepthProfileImage = image);
WinFormsServicePort.Post(setImage);
Arbiter.Choice(setImage.ResultPort, EmptyHandler, e => LogError(null, "Unable to set depth profile image on form", Fault.FromException(e)));
}
IEnumerator <ITask> DoCameraUpdateFrameHandler(cam.UpdateFrame update)
{
try
{
cam.QueryFrameResponse frame = null;
Fault fault = null;
yield return(Arbiter.Choice(
_webCamPort.QueryFrame(new cam.QueryFrameRequest()),
delegate(cam.QueryFrameResponse success)
{
frame = success;
},
delegate(Fault f)
{
fault = f;
}
));
if (fault != null)
{
LogError(null, "Failed to get frame from camera", fault);
yield break;
}
Bitmap bmp = new Bitmap(
frame.Size.Width,
frame.Size.Height,
PixelFormat.Format24bppRgb
);
BitmapData data = bmp.LockBits(
new Rectangle(0, 0, bmp.Width, bmp.Height),
ImageLockMode.WriteOnly,
PixelFormat.Format24bppRgb
);
Marshal.Copy(frame.Frame, 0, data.Scan0, frame.Frame.Length);
bmp.UnlockBits(data);
FormInvoke setImage = new FormInvoke(
delegate()
{
if (!_form.IsDisposed)
{
_form.CameraImage = bmp;
}
}
);
WinFormsServicePort.Post(setImage);
Arbiter.Choice(
setImage.ResultPort,
delegate(EmptyValue success) { },
delegate(Exception e)
{
fault = Fault.FromException(e);
}
);
if (fault != null)
{
LogError(null, "Unable to set camera image on form", fault);
yield break;
}
}
finally
{
_mainPort.Post(new UpdateProcessing(false));
}
}