// aim targets the selected target, draws the linesh
void aim()
{
RobotLocator rl = new RobotLocator(_particlefinder);
// string targetSelection = _smartdashboard.GetString("targetSelection");
string targetSelection = "mid";
Particle target = null;
// targetSelection = "right";
switch (targetSelection) {
case "left":
target = rl.targetleft;
break;
case "right":
target = rl.targetright;
break;
case "mid":
default:
target = rl.targetmid;
break;
}
// adjustTrim();
if (rl.targetmid != null) {
_targetmid.Width = rl.targetmid.width;
_targetmid.Height = rl.targetmid.height;
Canvas.SetTop(_targetmid, rl.targetmid.top);
Canvas.SetLeft(_targetmid, rl.targetmid.left);
}
else {
_targetmid.Width = 0;
_targetmid.Height = 0;
}
if (rl.targetleft != null) {
_targetleft.Width = rl.targetleft.width;
_targetleft.Height = rl.targetleft.height;
Canvas.SetTop(_targetleft, rl.targetleft.top);
Canvas.SetLeft(_targetleft, rl.targetleft.left);
}
else {
_targetleft.Width = 0;
_targetleft.Height = 0;
}
if (rl.targetright != null) {
_targetright.Width = rl.targetright.width;
_targetright.Height = rl.targetright.height;
Canvas.SetTop(_targetright, rl.targetright.top);
Canvas.SetLeft(_targetright, rl.targetright.left);
}
else {
_targetright.Width = 0;
_targetright.Height = 0;
}
int imgcenter = (rl.imgwidth / 2);
double targetcenter = (target != null) ? target.centerx : 0;
_targetoffset = (int)Math.Round(targetcenter - imgcenter);
// we draw the lines to reflect what you want to see in the image
_targetcenter.X1 = _targetcenter.X2 = (imgcenter + _targetoffset);
_cameracenter.X1 = _cameracenter.X2 = imgcenter + _trim;
_targetoffset -= _trim;
if (target != null) {
// _smartdashboard.SetDouble("offset", (double)_targetoffset);
// _smartdashboard.SetDouble("width", (double)rl.targetmid.width);
// _smartdashboard.SetDouble("height", (double)rl.targetmid.height);
}
else {
// dang, no target
// _smartdashboard.SetDouble("offset", (double)320);
// _smartdashboard.SetDouble("width", (double)0);
// _smartdashboard.SetDouble("height", (double)0);
}
// _smartdashboard.SetDouble("frameNum", (double)_framecount);
string dir = string.Empty;
if (_targetoffset < 0)
dir = "left";
else if (_targetoffset > 0)
dir = "right";
else
dir = "centered";
_direction.Text = string.Format(" target {0} ({1})", _targetoffset.ToString(), dir);
}
// aim targets the selected target, draws the linesh
void aim()
{
RobotLocator rl = new RobotLocator(_particlefinder);
// string targetSelection = _smartdashboard.GetString("targetSelection");
string targetSelection = "mid";
Particle target = null;
// targetSelection = "right";
switch (targetSelection)
{
case "left":
target = rl.targetleft;
break;
case "right":
target = rl.targetright;
break;
case "mid":
default:
target = rl.targetmid;
break;
}
// adjustTrim();
if (rl.targetmid != null)
{
_targetmid.Width = rl.targetmid.width;
_targetmid.Height = rl.targetmid.height;
Canvas.SetTop(_targetmid, rl.targetmid.top);
Canvas.SetLeft(_targetmid, rl.targetmid.left);
}
else
{
_targetmid.Width = 0;
_targetmid.Height = 0;
}
if (rl.targetleft != null)
{
_targetleft.Width = rl.targetleft.width;
_targetleft.Height = rl.targetleft.height;
Canvas.SetTop(_targetleft, rl.targetleft.top);
Canvas.SetLeft(_targetleft, rl.targetleft.left);
}
else
{
_targetleft.Width = 0;
_targetleft.Height = 0;
}
if (rl.targetright != null)
{
_targetright.Width = rl.targetright.width;
_targetright.Height = rl.targetright.height;
Canvas.SetTop(_targetright, rl.targetright.top);
Canvas.SetLeft(_targetright, rl.targetright.left);
}
else
{
_targetright.Width = 0;
_targetright.Height = 0;
}
int imgcenter = (rl.imgwidth / 2);
double targetcenter = (target != null) ? target.centerx : 0;
_targetoffset = (int)Math.Round(targetcenter - imgcenter);
// we draw the lines to reflect what you want to see in the image
_targetcenter.X1 = _targetcenter.X2 = (imgcenter + _targetoffset);
_cameracenter.X1 = _cameracenter.X2 = imgcenter + _trim;
_targetoffset -= _trim;
if (target != null)
{
// _smartdashboard.SetDouble("offset", (double)_targetoffset);
// _smartdashboard.SetDouble("width", (double)rl.targetmid.width);
// _smartdashboard.SetDouble("height", (double)rl.targetmid.height);
}
else
{
// dang, no target
// _smartdashboard.SetDouble("offset", (double)320);
// _smartdashboard.SetDouble("width", (double)0);
// _smartdashboard.SetDouble("height", (double)0);
}
// _smartdashboard.SetDouble("frameNum", (double)_framecount);
string dir = string.Empty;
if (_targetoffset < 0)
{
dir = "left";
}
else if (_targetoffset > 0)
{
dir = "right";
}
else
{
dir = "centered";
}
_direction.Text = string.Format(" target {0} ({1})", _targetoffset.ToString(), dir);
}