private Um6Driver _um6Driver; /** Driver of the sensors */
#endregion Fields
#region Constructors
/**
* Construct the server object :
* - hWind : window handle
* - pBox : the picture box on which the image must be sent
* - printOnBox : true if the server thread must set the picture in the picture box
*/
public Server(long hWind, PictureBox pBox, bool printOnPbox)
{
this._hWind = (int)hWind;
this._hPbox = (int)pBox.Handle.ToInt64();
this._pBox = pBox;
this._printOnPbox = printOnPbox;
this._container = new ThreadSafeContainer<Bitmap>();
this._logger = Logger.instance();
this._controller = null;
initCameraDriver();
initSensors();
initServos();
initService();
}
/**
* Stop the controller thread and set _controller to null
*/
private void stopController()
{
if (_controller == null)
return;
_controller.Stop();
_controller = null;
}
/**
* Start the controller thread
*/
private void startController()
{
if (_controller != null)
return;
_controller = new ControlThread(_um6Driver, _servoDriver, _service, _um6Driver.Pitch, _um6Driver.Yaw);
_controller.Start();
}