ezb

using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Threading.Tasks;
using System.Web;
using EZ_B;
using Microsoft.AspNet.SignalR;
using System.Drawing;
using System.Drawing.Imaging;
using System.Threading;

namespace ArscolorVr.Hubs
{
    public class VrHub : Hub
    {
        public static EZB Ezb { get; set; }
        public static Camera Camera { get; set; }

        public override Task OnConnected()
        {
            Ezb = new EZB();
            Ezb.OnConnectionChange += Ezb_OnConnectionChange;
            var availablePort = EZB.GetAvailableCommunicationPorts(false).LastOrDefault();
            if (availablePort != null)
            {
                Ezb.Connect(availablePort);
                if (Camera == null)
                {
                    Camera = new Camera(Ezb);
                    Camera.OnNewFrame += Camera_OnNewFrame;
                    var devices = Camera.GetVideoCaptureDevices();
                    if (devices.Any())
                        Camera.StartCamera(devices.Last(), 640, 480);
                }
            }
            return base.OnConnected();
        }

        public override Task OnDisconnected(bool stopCalled)
        {
            Ezb.Servo.SetServoPosition(Servo.ServoPortEnum.D2, 50);
            Ezb.Servo.SetServoPosition(Servo.ServoPortEnum.D1, 50);
            Thread.Sleep(1000);
            Ezb.Servo.ReleaseAllServos();
            Ezb.Disconnect();
            return base.OnDisconnected(stopCalled);
        }

        public void ChangePosition(int x, int y)
        {
            if (Ezb == null || !Ezb.IsConnected) return;

            x = 180 - x;
            x = x + 30;
            y = y + 30;
            x = MyRound(x * 80 / 180);
            y = MyRound(y * 80 / 180);

            if (x > 10 && x < 90)
                Ezb.Servo.SetServoPosition(Servo.ServoPortEnum.D2, x);
            if (y > 10 && y < 90)
                Ezb.Servo.SetServoPosition(Servo.ServoPortEnum.D1, y);
        }

        private void Ezb_OnConnectionChange(bool isConnected)
        {
            if (isConnected)
            {
                Ezb.Servo.SetServoPosition(Servo.ServoPortEnum.D2, 50);
                Ezb.Servo.SetServoPosition(Servo.ServoPortEnum.D1, 50);
            }
            else
            {
                if (Camera != null)
                {
                    Camera.StopCamera();
                    Camera.OnNewFrame -= Camera_OnNewFrame;
                    Thread.Sleep(1000);
                    Camera.Dispose();
                    Camera = null;
                }
                Ezb.Dispose();
            }
        }

        private void Camera_OnNewFrame()
        {
            if (Camera == null || !Camera.IsActive)
                return;
            var base64Image = ImageToBase64(Camera.GetCurrentBitmap, ImageFormat.Jpeg);
            Clients.All.getImage(base64Image);
        }

        private static int MyRound(double d)
        {
            return (int)(d + 0.5);
        }

        private string ImageToBase64(Image image, ImageFormat format)
        {
            using (var ms = new MemoryStream())
            {
                image.Save(ms, format);
                var imageBytes = ms.ToArray();

                var base64String = Convert.ToBase64String(imageBytes);
                return base64String;
            }
        }
    }
}