C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/VisionSystem/VisionSystemMainForm.cs

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using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Diagnostics;
using System.Runtime.InteropServices;

namespace VisionSystem {
    public partial class VisionSystemMainForm : Form {

        public delegate void updateUiEventHandler();
        public event updateUiEventHandler updateUiEvent;
                public delegate void updateDataEventHandler();
                public event updateDataEventHandler updateDataEvent;
                public delegate void updateErrorEventHandler(Exception error);
                public event updateErrorEventHandler updateErrorEvent;
                public delegate void cameraEventHandler();
                public event cameraEventHandler stopCameraEvent;
                public event cameraEventHandler startCameraEvent;
                protected Stopwatch _watchdogTimer;

                VisionData _data;
                public VisionData Data {
                        get { return _data; }
                }

                string _status = "";
                public string Status {
                        get { return _status; }
                }

                bool _silent = true;
                public bool Silent {
                        get { return _silent; }
                        set { _silent = value; }
                }

                Bitmap _filtered;

        public VisionSystemMainForm() {
            InitializeComponent();
                        initializeObject(198, 46, 48);
        }

                public VisionSystemMainForm(int red, int green, int blue) {
                        InitializeComponent();
                        initializeObject(red, green, blue);
                }

                private void initializeObject(int red, int green, int blue) {
                        _filtered = new Bitmap((int)cameraDsCapture.VideoSize.Width
                                , (int)cameraDsCapture.VideoSize.Height);
                        _data = new VisionData(ref _filtered);
                        updateUiEvent += updateUI;
                        startCameraEvent += startCamera;
                        stopCameraEvent += stopCamera;
                        rTextBox.Text = _data.Orange.R.ToString();
                        gTextBox.Text = _data.Orange.G.ToString();
                        bTextBox.Text = _data.Orange.B.ToString();
                        rTTextBox.Text = _data.RedT.ToString();
                        gTTextBox.Text = _data.GrnT.ToString();
                        bTTextBox.Text = _data.BluT.ToString();
                        setColor(Color.FromArgb(red, green, blue));
                        _watchdogTimer = new Stopwatch();
                        _watchdogTimer.Start();
                }

                private void updateUI() {
                        if (coneAquiredTextBox.InvokeRequired) {
                                try {
                                        this.Invoke(updateUiEvent);
                                } catch (Exception e) {
                                        if(updateErrorEvent != null) updateErrorEvent.Invoke(e);
                                        _status = e.Message;
                                }
                        } else {
                                try {
                                        filteredConePictureBox.Image = _filtered;
                                        coneAquiredTextBox.Text = _data.ConeAquired.ToString();
                                        turnMagnitudeTextBox.Text = _data.TurnMagnitude.ToString();
                                        turnDierectionTextBox.Text = _data.TurnDirection;
                                        deltaTextBox.Text = _data.DeltaX.ToString();
                                        leftSlopeTextBox.Text = Math.Round(_data.LeftSlope, 2).ToString();
                                        rightSlopeTextBox.Text = Math.Round(_data.RightSlope, 2).ToString();
                                        scaleFactorTextBox.Text = _data.ScaleFactor.ToString();
                                        brightnessTextBox.Text = _data.Brightness.ToString();
                                        dataUpdateRateTextBox.Text = _watchdogTimer.ElapsedMilliseconds.ToString();
                                } catch (Exception e) {
                                        if (updateErrorEvent != null)
                                                updateErrorEvent.Invoke(e);
                                        _status = e.Message;
                                }
                        }
                }

                private void coneGenericFilter_ProcessData(object Sender
                        , Mitov.VideoLab.VideoProcessDataEventArgs Args) {
                        unfilteredConePictureBox.Image = Args.InBuffer.ToBitmap();
                        _data.processData(Args.InBuffer);
                        //_data.calibrateCamera(Args.InBuffer);
                        if (!_silent) {
                                
                                _data.drawOrange();
                                updateUI();
                        }
                        if (updateDataEvent != null) updateDataEvent.Invoke();
                        _watchdogTimer.Reset();
                        _watchdogTimer.Start();
                }

        private void saveOriginal_Click(object sender, EventArgs e) {
            saveRawImage();
        }

        private void saveFilter_Click(object sender, EventArgs e) {
            savefilteredImage();
        }

                public void saveRawImage() {
                        try {
                                string dt = DateTime.Now.ToString().Replace('/', '-');
                                dt = dt.Replace(':', '-');
                                toolStripStatusLabel2.Text = "saving raw image as a .bmp";
                                unfilteredConePictureBox.Image.Save(".\\images\\" + dt + "_original.bmp");
                                toolStripStatusLabel2.Text = "raw image saved";
                        } catch (Exception e) {
                                if (updateErrorEvent != null)
                                        updateErrorEvent.Invoke(e);
                        }
                }

        public void savefilteredImage() {
                        try {
                                string dt = DateTime.Now.ToString().Replace('/', '-');
                                dt = dt.Replace(':', '-');
                                toolStripStatusLabel2.Text = "saving filter image as a .bmp";
                                _filtered.Save(".\\images\\" + dt + "_filter.bmp");
                                toolStripStatusLabel2.Text = "filter image Saved";
                        } catch (Exception e) {
                                if (updateErrorEvent != null)
                                        updateErrorEvent.Invoke(e);
                        }
        }

        private void editFilterButton_Click(object sender, EventArgs e) {
            setFilter();
        }

        private void setFilter() {
            try {
                _data.setFilter(Byte.Parse(rTTextBox.Text)
                    , Byte.Parse(gTTextBox.Text)
                    , Byte.Parse(bTTextBox.Text));
                toolStripStatusLabel2.Text = "changed cilter";
            } catch (Exception e) {
                                if (updateErrorEvent != null)
                                        updateErrorEvent.Invoke(e);
                toolStripStatusLabel2.BackColor = Color.Red;
                toolStripStatusLabel2.Text
                    = "non-numeric value entered, or entry out of range";
            }
        }

        private void pickColorButton_Click(object sender, EventArgs e) {
            colorDialog1.ShowDialog();
            setColor(colorDialog1.Color);
        }

        private void videoDeviceButton_Click(object sender, EventArgs e) {
            cameraDsCapture.Stop();
            cameraDsCapture.VideoCaptureDevice.ShowDeviceSelctDialog();
            toolStripStatusLabel2.Text = "video device selected";
        }

        public void initializeCamera() {
                        cameraDsCapture.Stop();
                        cameraDsCapture.VideoCaptureDevice.DeviceName = "USB Video Device";
                        //toolStripStatusLabel2.Text = "video device selected";
        }

        private void startDeviceButton_Click(object sender, EventArgs e) {
            startCamera();
        }

                public void startCamera() {
                        if (silentCheckBox.InvokeRequired) {
                                this.Invoke(startCameraEvent);
                        } else {
                                if (!cameraDsCapture.Opened) {
                                        toolStripStatusLabel2.Text = "starting video device";
                                        //starting the device automatically opens it
                                        //but stoping it does not automatically close it.
                                        cameraDsCapture.Start();
                                        toolStripStatusLabel2.Text = "video device started";
                                        toolStripStatusLabel1.BackColor = Color.Green;
                                        toolStripStatusLabel1.Text = "vis_init";
                                }
                        }
                }

       public void stopDeviceButton_Click(object sender, EventArgs e) {
            stopCamera();
        }

           public void stopCamera() {
                   if (silentCheckBox.InvokeRequired) {
                           this.Invoke(stopCameraEvent);
                   } else {
                           if (cameraDsCapture.Opened) {
                                   silentCheckBox.Checked = true;
                                   cameraDsCapture.Stop();
                                   cameraDsCapture.Close();
                                   toolStripStatusLabel2.Text = "video device stopped";
                                   //invoke a delegate assigned to this method
                                   toolStripStatusLabel1.BackColor = Color.Red;
                                   toolStripStatusLabel1.Text = "not initialized";
                           }
                   }
           }

        private void setColor(Color c) {
            _data.setColor(c);
            rTextBox.Text = _data.Orange.R.ToString();
            gTextBox.Text = _data.Orange.G.ToString();
            bTextBox.Text = _data.Orange.B.ToString();
            toolStripStatusLabel2.Text = "color changed";
        }

        private void hideButton_Click(object sender, EventArgs e) {
            this.Hide();
        }

        private void silentCheckBox_CheckedChanged(object sender, EventArgs e) {
            Silent = silentCheckBox.Checked;    
        }

        private void unfilteredConePictureBox_MouseDoubleClick
            (object sender, MouseEventArgs e) {
            setColor(((Bitmap)(unfilteredConePictureBox.Image)).GetPixel(e.X, e.Y));
        }

                private void VisionSystemMainForm_FormClosing(object sender, FormClosingEventArgs e) {
                        stopCamera();
                }

    }
}

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