public void displayFrame(Mat mat) {
if (processSub) {
if (autofocus.isRunning()) {
autofocus.displayFrame(mat);
}
if (calibrator.isRunning()) {
calibrator.displayFrame(mat);
}
}
}
/** Sets the navigator to move along x and y by X and Y. */
public void setTarget(double x, double y) {
if (!calibrator.isCalibrated()) return;
MathUtils.set(target, x, y);
MathUtils.set(offtarget, target);
calibrator.getRequiredSteps(target);
targetSet = true;
steps.x = (steps.x > 0) ? (int) (steps.x + 0.5) : (int) (steps.x - 0.5); // round no. of steps
steps.y = (steps.y > 0) ? (int) (steps.y + 0.5) : (int) (steps.y - 0.5);
calibrator.adjustBacklash(steps);
}
/** The navigator will move to the target specified by setTarget() */
public void start() {
System.out.println("initiate navigation");
if (!calibrator.isCalibrated()
|| !stage.bluetoothConnected()
|| calibrator.isRunning()
|| autofocus.isRunning()
|| isRunning()
|| !targetSet) return;
System.out.println("prerequisites fulfilled");
targetSet = false;
moving = true;
tracker.start();
}
private void init(StepCalibrator calib, Autofocus focus, FovTracker track) {
stage = calib.getStageController();
calibrator = calib;
autofocus = focus;
tracker = track;
tracker.addCallback(this);
target = new Point();
offtarget = new Point();
callbacks = new ArrayList<NavigationCallback>();
}
