public void PanUninitialized()
{
PanTiltController controller = PanTiltController.GetOrCreatePanTiltController();
try
{
controller.PanY(20);
Assert.Fail("Failed to throw on Pan");
}
catch (PanTiltControllerException ex)
{
//we expect an exception
Assert.IsNotNull(ex, "Exception object expected");
}
try
{
controller.PanX(20);
Assert.Fail("Failed to throw on Pan");
}
catch (PanTiltControllerException ex)
{
//we expect an exception
Assert.IsNotNull(ex, "Exception object expected");
}
}
public void PanNormalRange()
{
bool completed = false;
PanTiltController controller = PanTiltController.GetOrCreatePanTiltController();
PanTiltControllerException error = null;
controller.PanTiltReady += (sender, args) =>
{
Console.WriteLine("Pan tilt ready");
try
{
sender.PanX(20);
sender.PanY(20);
}
catch (Exception e)
{
Assert.Fail("Pan Tilt failed", e);
completed = true;
}
//Pause 2 seconds, then test servos other way
Thread.Sleep(2000);
try
{
sender.PanX(-20);
sender.PanY(-20);
}
catch (Exception e)
{
Assert.Fail("Pan Tilt failed", e);
completed = true;
}
//Pause 2 seconds to confirm directional switch
Thread.Sleep(2000);
completed = true;
};
try
{
error = controller.TryInitialize();
}
catch (Exception e)
{
Assert.Fail("TryInitialize should not throw", e);
}
Assert.AreEqual(null, error, "An error occured intializing Pan/Tilt controller - " + error);
while (!completed)
{
}
controller.Disengage();
}
public MainWindow()
{
// one sensor is currently supported
this.kinectSensor = KinectSensor.GetDefault();
// get the coordinate mapper
this.coordinateMapper = this.kinectSensor.CoordinateMapper;
// open the reader for the body frames
this.bodyFrameReader = this.kinectSensor.BodyFrameSource.OpenReader();
this.colorFrameReader = this.kinectSensor.ColorFrameSource.OpenReader();
this.audioReader = this.kinectSensor.AudioSource.OpenReader();
// get the depth (display) extents
FrameDescription jointFrameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;
FrameDescription colorFrameDescription = this.kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Bgra);
FrameDescription infraredFrameDescription = this.kinectSensor.InfraredFrameSource.FrameDescription;
colorRenderer = new ColorFrameRenderer(colorFrameDescription.Width, colorFrameDescription.Height, jointFrameDescription.Width, jointFrameDescription.Height,
infraredFrameDescription.Width, infraredFrameDescription.Height);
var drawingGroup = new DrawingGroup();
var drawingImage = new DrawingImage(drawingGroup);
hudRenderer = new HudRenderer(drawingGroup, drawingImage, colorFrameDescription.Width, colorFrameDescription.Height);
AudioSource audioSource = this.kinectSensor.AudioSource;
// Allocate 1024 bytes to hold a single audio sub frame. Duration sub frame
// is 16 msec, the sample rate is 16khz, which means 256 samples per sub frame.
// With 4 bytes per sample, that gives us 1024 bytes.
this.audioBuffer = new byte[audioSource.SubFrameLengthInBytes];
this.colorFrameReader.FrameArrived += this.Reader_ColorFrameArrived;
this.audioReader.FrameArrived += audioReader_FrameArrived;
//on startup hide the audio meter
AudioMeterVisibility = Visibility.Hidden;
this.infraredFrameReader = this.kinectSensor.InfraredFrameSource.OpenReader();
//Infrared
// open the reader for the depth frames
this.infraredFrameReader = this.kinectSensor.InfraredFrameSource.OpenReader();
// wire handler for frame arrival
this.infraredFrameReader.FrameArrived += this.colorRenderer.Reader_InfraredFrameArrived;
// set IsAvailableChanged event notifier
this.kinectSensor.IsAvailableChanged += this.Sensor_IsAvailableChanged;
// open the sensor
this.kinectSensor.Open();
// set the status text TODO: change namespace name in resources
this.StatusText = this.kinectSensor.IsAvailable ? Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.RunningStatusText
: Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.NoSensorStatusText;
// use the window object as the view model in this simple example
this.DataContext = this;
// initialize the components (controls) of the window
this.InitializeComponent();
//register the code which will tell the system what to do when keys are pressed
SetupKeyHandlers();
//initialize
panTilt = PanTiltController.GetOrCreatePanTiltController();
firingControl = FiringController.GetOrCreateFiringController();
var panTiltErr = panTilt.TryInitialize();
var firingErr = firingControl.TryInitialize();
if (panTiltErr != null)
{
//crash the app. we can't do anything if it doesn't intialize
throw panTiltErr;
}
if (firingErr != null)
{
//crash the app. we can't do anything if it doesn't intialize
throw firingErr;
}
string safetyText;
if (this.firingControl.VirtualSafetyOn)
{
safetyText = Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.SafetyDisengagedText;
}
else
{
safetyText = Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.SafetyEngagedText;
}
panTilt.TryInitialize();
//draw the headsup display initially
this.hudRenderer.RenderHud(new HudRenderingParameters()
{
CannonX = this.CannonX,
CannonY = this.CannonY,
//CannonTheta = this.CannonTheta,
StatusText = this.statusText,
SystemReady = (this.kinectSensor.IsAvailable && this.kinectSensor.IsOpen && this.panTilt.IsReady),
FrameRate = this.FrameRate,
TrackingMode = this.trackingMode,
FiringSafety = this.firingControl.VirtualSafetyOn,
FiringSafetyText = safetyText
});
//set voice synth to Hazel
this.voiceSynth.SelectVoice("Microsoft Hazel Desktop");
this.voiceSynth.SpeakAsync("Kinect Cannon Fully Initialized");
//debug start frame rate counter
FPSTimerStart();
// Try to use the controller
}
