bbiwarg-original/bbiwarg/Input/InputProviding/InputProviderIntel.cs

using System;
using Emgu.CV;
using Emgu.CV.Structure;
using System.Timers;
using System.Threading;

namespace BBIWARG.Input.InputProviding
{
    class InputProviderIntel : MarshalByRefObject, IInputProvider
    {
        IntelCameraWrapper wrapper;

        public int CurrentFrameID
        {
            get;
            set;
        }

        public float FieldOfViewHorizontal
        {
            get;
            set;
        }

        public float FieldOfViewVertical
        {
            get;
            set;
        }

        public int ImageWidth
        {
            get { return 640; }
        }

        public int ImageHeight
        {
            get { return 480; }
        }
        
        public bool IsActive
        {
            get;
            set;
        }

        public event DeviceStartedEventHandler DeviceStartedEvent;

        public event NewFrameEventHandler NewFrameEvent;

        public UInt16 lowConfidenceValue;
        private AppDomain domain;
        private System.Threading.Timer watchdogTimer;

        public void initialize()
        {
            CurrentFrameID = 0;

            watchdogTimer = new System.Threading.Timer(Timer_Elapsed, null, 1000, 1000);
        }

        private void Timer_Elapsed(object state)
        {
            checkExitErrorstate();

            if (wrapper != null)
                wrapper.errorstate = true;
        }

        public void start()
        {
            domain = System.AppDomain.CreateDomain(System.Guid.NewGuid().ToString());

            wrapper = (IntelCameraWrapper) domain.CreateInstanceAndUnwrap(typeof(IntelCameraWrapper).Assembly.GetName().ToString(), typeof(IntelCameraWrapper).FullName);
            wrapper.init(this);

            IsActive = true;

            if (DeviceStartedEvent != null) {
                DeviceStartedEvent(this, new EventArgs());
                DeviceStartedEvent = null; //only notify once...
            }
               

            wrapper.run();

            checkExitErrorstate();
        }

        private void checkExitErrorstate()
        {
            if (wrapper.errorstate)
            {
                //we have crashed. Kill the app domain and try again.
                Console.WriteLine("Killing AppDomain...");
                try
                {
                    System.AppDomain.Unload(domain);
                    Thread.Sleep(5000);
                }
                catch (Exception)
                {
                    Console.WriteLine("Could not unload app domain... Still trying to start again...");
                }
                
                Console.WriteLine("Starting again...");
                start();
            }
        }

        public void stop()
        {
            IsActive = false;
        }

        internal bool hasNewFrameEvent()
        {
            return NewFrameEvent != null;
        }

        internal void killAndRestart()
        {
            throw new NotImplementedException();
        }

        internal void newFrame(int currentFrameID, Image<Gray, ushort> dImg)
        {
            NewFrameEvent(this, new NewFrameEventArgs(currentFrameID, dImg));
        }
    }
}