// 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 readonly_angular_position(angular_position rhs)
{
pos.deep_clone(rhs);
}
public virtual void deep_clone(angular_position rhs)
{
encoder_count = rhs.encoder_count;
radians = rhs.radians;
}
public static angular_position create_from_radians(double r)
{
angular_position p = new angular_position();
p.radians = r;
return p;
}
public static angular_position create_from_encoder_count(short e)
{
angular_position p = new angular_position();
p.encoder_count = e;
return p;
}
public static angular_position create_from_degrees(double d)
{
angular_position p = new angular_position();
p.degrees = d;
return p;
}
public angular_position(angular_position rhs)
{
encoder_count = rhs.encoder_count;
radians = rhs.radians;
}
