void ReadFrameHandler(mdwebcam.Frame frame)
{
Bitmap old = _state.Image;
if (frame.Image != null)
{
_state.Image = new Bitmap(frame.Image);
_state.ImageSize = new Vector2(_state.Image.Size.Width, _state.Image.Size.Height);
frame.Image.Dispose();
}
else
{
_state.Image = null;
}
_state.LastFrameUpdate = DateTime.UtcNow;
if (old != null)
{
old.Dispose();
}
webcam.UpdateFrameRequest request = new webcam.UpdateFrameRequest();
request.TimeStamp = _state.LastFrameUpdate;
webcam.UpdateFrame update = new webcam.UpdateFrame();
update.Body = request;
update.ResponsePort = null;
_fwdPort.Post(update);
}
public void UpdateFrameHandler(webcam.UpdateFrame update)
{
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
#if !URT_MINCLR
SendNotification(_submgrPort, update);
#else
SendNotification(update);
#endif
}
void FrameHandler(Frame frame)
{
Frame previous = new Frame();
previous.Image = _state.Image;
previous.TimeStamp = _state.LastFrameUpdate;
_state.Image = frame.Image;
_state.ImageSize = new Microsoft.Robotics.PhysicalModel.Vector2(
_state.Image.Width,
_state.Image.Height
);
if (_state.Selected != null)
{
if (_state.Selected.Format == null ||
_state.Selected.Format.Width != _state.Image.Width ||
_state.Selected.Format.Height != _state.Image.Height)
{
_state.Selected.Format = new Format(
_state.Image.Width,
_state.Image.Height,
0,
0,
0
);
}
}
if (_captureEpoch == DateTime.MinValue)
{
_captureEpoch = DateTime.UtcNow - frame.Offset;
}
_state.LastFrameUpdate = _captureEpoch + frame.Offset;
if (previous.Image != null)
{
#if !URT_MINCLR
if (_streamPort != null)
{
_streamPort.Post(previous);
}
else
#endif
{
previous.Image.Dispose();
}
}
webcam.UpdateFrame update = new webcam.UpdateFrame(new webcam.UpdateFrameRequest(frame.TimeStamp), null);
_altFwdPort.Post(update);
}
public IEnumerator <ITask> UpdateFrameHandler(webcam.UpdateFrame update)
{
if (_entity != null)
{
PortSet <int[], Exception> result = new PortSet <int[], Exception>();
_entity.CaptureScene(result);
yield return(Arbiter.Choice(result,
delegate(int [] data)
{
var b = _entity.CreateBitmapFromArray(data);
_state.LastFrameUpdate = DateTime.Now;
_state.Image = b;
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
base.SendNotification <webcam.UpdateFrame>(_subMgrPort, update);
this.DoWebCamSensorReplace(data);
},
delegate(Exception ex)
{
update.ResponsePort.Post(Fault.FromException(ex));
}));
}
}
public void UpdateFrameHandler(webcam.UpdateFrame update)
{
update.ResponsePort.Post(DefaultUpdateResponseType.Instance);
SendNotification(_subMgrPort, update);
}
