Termite Detector

using System;
using WalabotAPI_NET;

namespace InWallApp_SampleCode
{
    class InWallSampleCode
    {
        WalabotAPI walabot;
        string versions;

        static void Main()
        {
            InWallSampleCode inWall = new InWallSampleCode();
            inWall.InWall_SampleCode();
        }

        void PrintImagingTargets(ImagingTarget[] targets, int numTargets)
        {   //Clean screen
            //Console.Clear();

            //  MEF
            Console.WriteLine("Walabot Versions:\n"+ versions);

            //print targets values
            if (numTargets > 0)
                for (int targetIdx = 0; targetIdx < numTargets; targetIdx++)
                    Console.WriteLine("Target #" + targetIdx + ":\n\t\t type " + (targets[targetIdx].type == TARGET_TYPE.TARGET_TYPE_PIPE ? "Pipe" : "Unknown") + ",\n\t\t angleDeg = " + targets[targetIdx].angleDeg + ",\n\t\t xPosCm = " + targets[targetIdx].xPosCm + ",\n\t\t yPosCm = " + targets[targetIdx].yPosCm + ",\n\t\t zPosCm = " + targets[targetIdx].zPosCm + ",\n\t\t wPosCm = " + targets[targetIdx].widthCm + ",\n\t\t amplitude = " + targets[targetIdx].amplitude + "\n ");
            else
                Console.WriteLine("No targets detected");
        }

        void PrintSensorTargets(SensorTarget[] targets, int numTargets)
        {   //Clean screen
            //Console.Clear();

            //  MEF
            Console.WriteLine("Walabot Versions:\n" + versions);

            if (numTargets > 0)
                for (int targetIdx = 0; targetIdx < numTargets; targetIdx++)
                    Console.WriteLine("Target #" + targetIdx + ":\n\t\t" + ",+ ","\n\t\t xPosCm = " + targets[targetIdx].xPosCm + ",\n\t\t yPosCm = " + targets[targetIdx].yPosCm + ",\n\t\t zPosCm = " + targets[targetIdx].zPosCm + ",\n\t\t amplitude = " + targets[targetIdx].amplitude + "\n ");
            else
                Console.WriteLine("No targets detected");
        }
        //
        void PrintBreathingEnergy(double energy)
        {
            Console.Clear();
            energy *= 1e7;
            Console.WriteLine("Energy = " + energy + "\n ");
        }
        
        //
        public void InWall_SampleCode()
        {
            walabot = new WalabotAPI();
            // --------------------
            // Variable definitions
            // --------------------          
            // Walabot_GetStatus - output parameters
            APP_STATUS appStatus;

            double calibrationProcess; // Percentage of calibration completed, if status is STATUS_CALIBRATING

            // Walabot_GetImagingTargets - output parameters
            ImagingTarget[] targets1;
            SensorTarget[] targets2;
            int numTargets1;
            int numTargets2;

            // Walabot_GetRawImageSlice - output parameters
            int sizeX;
            int sizeY;
            double sliceDepth;
            double power;
            // Walabot_GetImageEnergy 
            double energy;

            // ------------------------
            // Initialize configuration
            // ------------------------
            double zArenaMin = 3;
            double zArenaMax = 8;
            double zArenaRes = 0.5;

            double xArenaMin = -3;
            double xArenaMax = 4;
            double xArenaRes = 0.5;

            double yArenaMin = -6;
            double yArenaMax = 4;
            double yArenaRes = 0.5;

            // ----------------------
            // Sample Code Starts Here
            // ----------------------

            /*
            For an image to be received by the application, the following need to happen :
                1) Connect
                2) Configure
                3) Calibrate
                4) Start
                5) Trigger
                6) Get action
                7) Stop/Disconnect
            */

            // Configure Walabot database install location (for windows)
            walabot.SetSettingsFolder(@"C:\ProgramData\Walabot\WalabotSDK");

            //	1) Connect : Establish communication with Walabot.
            //	==================================================
            walabot.ConnectAny();
            versions = walabot.GetVersion();


            //  2) Configure : Set scan profile and arena
            //	=========================================

            // Set Profile - short range . 
            //			Walabot recording mode is configure with the following attributes:
            //			-> Distance scanning through air; 
            //			-> lower - resolution images for a fast capture rate (useful for tracking 
            //  PROF_SHORT_RANGE_IMAGING
            //  PROF_SHORT_RANGE_SINGLE_LINE            
            walabot.SetProfile(APP_PROFILE.PROF_SHORT_RANGE_IMAGING);


            // Set arena by Cartesian coordinates, with arena resolution :
            walabot.SetArenaX(xArenaMin, xArenaMax, xArenaRes);
            walabot.SetArenaY(yArenaMin, yArenaMax, yArenaRes);
            walabot.SetArenaZ(zArenaMin, zArenaMax, zArenaRes);

            // Walabot filtering disable 
            walabot.SetDynamicImageFilter(FILTER_TYPE.FILTER_TYPE_NONE);

            //	3) Start: Start the system in preparation for scanning.
            //	=======================================================
            walabot.Start();

            // calibrates scanning to ignore or reduce the signals
            walabot.StartCalibration();

            //	4) Trigger: Scan(sense) according to profile and record signals to be available
            //	for processing and retrieval.
            //	================================================================================
            bool recording = true;

            while (recording)
            {
                // calibrates scanning to ignore or reduce the signals
                walabot.GetStatus(out appStatus, out calibrationProcess);

                //	5) Trigger: Scan(sense) according to profile and record signals to be 
                //	available for processing and retrieval.
                //	====================================================================
                walabot.Trigger();

                //	6) 	Get action : retrieve the last completed triggered recording 
                //	================================================================                
                targets1 = walabot.GetImagingTargets();
                targets2 = walabot.GetSensorTargets();


                //public int[,,] GetRawImage(out int sizeX, out int sizeY, out int sizeZ, out double power);
                //public int[,] GetRawImageSlice(out int sizeX, out int sizeY, out double sliceDepth, out double power);

                walabot.GetRawImageSlice(out sizeX, out sizeY, out sliceDepth, out power);
                energy = walabot.GetImageEnergy();

                //	******************************
                //	TODO: add processing code here
                //	******************************
                PrintBreathingEnergy(energy);
                //
                numTargets1 = targets1.Length;
                numTargets2 = targets2.Length;
                PrintImagingTargets(targets1, numTargets1);
                PrintSensorTargets(targets2, numTargets2);
            }

            //	7) Stop and Disconnect.
            //	======================
            walabot.Stop();
            walabot.Disconnect();
        }
    }
}