/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="localPort">自分のポート</param>
public RemoteHost(int localPort, DebugWindow debugwindow, TerminalConnection.TerminalConnection TC)
{
try
{
this.UP_Cliant = new UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT(localPort);
this.UP_Encoder = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.UP_Decoder = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
this.id = localPort;
this.CTS = new CancellationTokenSource();
this.mytask = new Task(() => this.Main_Task(), CTS.Token);
this.mytask.Start();
this.fpsa = new FPSAdjuster.FPSAdjuster();
this.debugwindow = debugwindow;
this.debugwindow.DebugLog = "[Port:" + localPort.ToString() + "]受信を開始します";
this.TC = TC;
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
}
private void connect(ref int port)
{
try
{
for (int current_port = Definitions.PORT_START_NUMBER; current_port < Definitions.PORT_START_NUMBER + max_connect_num; current_port++)
{
if (!this.LstPort.Contains(current_port))
{
port = current_port;
this.LstPort.Add(current_port);
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc += Definitions.CONNECTION_OK;
this.enc += current_port;
this.client.Send(this.enc.data);
this.debugwindow.DebugLog = "[RemoteHostServer]接続要求がきました．解放ポートを通知します．ポート番号：" + port.ToString();
break;
}
}
}catch (Exception ex)
{
debugwindow.DebugLog = ex.Message + "コネクトの段階でエラーが発生しました。";
}
}
/// <summary>
/// 接続を切断します。
/// </summary>
public void disconnect()
{
try
{
this.debugwindow.DebugLog = "[Port:" + this.ID.ToString() + "]切断します．";
UP_Cliant.Close();
this.data = null;
if (this.connect_host != null)
{
this.connect_host.connect_host = null;
this.connect_host = null;
}
CTS.Cancel();
isConnected = false;
this.UP_Encoder = null;
this.UP_Decoder = null;
this.UP_Cliant = null;
this.DataReceived = null;
}
catch (Exception ex)
{
Console.WriteLine(ex.Message + "接続の切断に失敗しました。");
}
finally
{
}
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="localPort">自分のポート</param>
public RemoteHost(int localPort, DebugWindow debugwindow/*, TerminalConnection.TerminalConnection TC*/)
{
try
{
this.UP_Cliant = new UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT(localPort);
this.UP_Encoder = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.UP_Decoder = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
this.id = localPort;
this.CTS = new CancellationTokenSource();
this.mytask = new Task(() => this.Main_Task(), CTS.Token);
this.mytask.Start();
this.fpsa = new FPSAdjuster.FPSAdjuster();
this.debugwindow = debugwindow;
this.debugwindow.DebugLog = "[Port:" + localPort.ToString() + "]受信を開始します";
//this.TC = TC;
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
}
/// <summary>
///
/// </summary>
/// <param name="data"></param>
public void Send(byte[] data)
{
if (this.Datalength != data.LongLength) return;
byte[] buffer = new byte[this.DPP];
byte[] senddata;
for (int i = 0; i < data.LongLength / this.DPP; i++)
{
try
{
if (i < data.LongLength / this.DPP - 1)
{
Array.Copy(data, i * this.DPP, buffer, 0, this.DPP);
}
else
{
if (this.Datalength % this.DPP == 0) return;
Array.Copy(data, i * this.DPP, buffer, 0, this.Datalength % this.DPP);
}
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += i;
enc += buffer;
senddata = enc.data;
this.client.Update(ref senddata);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message + this.DPP);
}
}
}
//座標算出
void SendLEDPtData(ref UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc)
{
CameraSpacePoint LEDPt = this.calib.GetLEDPositinon(this.imageWidth,
this.imageHeigt,
this.colors,
new OpenCvSharp.CPlusPlus.Scalar(30, 93, 93),
this.depthBuffer);
this.calib.MakeSaveData(this.calibMode, LEDPt);
enc += LEDPt.X;
enc += LEDPt.Y;
enc += LEDPt.Z;
Console.WriteLine("X:" + LEDPt.X.ToString());
Console.WriteLine("Y:" + LEDPt.Y.ToString());
Console.WriteLine("Z:" + LEDPt.Z.ToString());
//キャリブレーション画像表示
OpenCvSharp.CPlusPlus.Mat calibMat = calib.GetCalibrationImage().Clone();
this.calibrationImage.Source = OpenCvSharp.Extensions.WriteableBitmapConverter.ToWriteableBitmap(calibMat);
this.CalibrationImageTable.IsSelected = true;
//送信データ表示
this.message.Content = "LEDPosition " + "X:" + LEDPt.X.ToString() + " Y:" + LEDPt.Y.ToString() + " Z:" + LEDPt.Z.ToString();
//データ送信モード変更
this.SendData_LEDPt.IsChecked = false;
this.SendData_Body.IsChecked = true;
}
//データ送信
void SendData()
{
//CIPCに送信
#region
try
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
if (this.SendData_Body.IsChecked == true)
{
this.SendBodyData(ref enc, this.bodies, this.NumberofPlayer);
}
else if (this.SendData_LEDPt.IsChecked == true)
{
this.SendLEDPtData(ref enc);
}
if (this.cipcMain != null && enc.data != null)
{
this.cipcMain.send(enc.data);
//Console.WriteLine("sendDat");
}
if (this.UDPclientWidow != null && enc.data != null)
{
this.UDPclientWidow.Send(enc.data);
//Console.WriteLine("sendDat");
}
}
catch
{
this.ErrorPoint(System.Reflection.MethodBase.GetCurrentMethod().Name.ToString());
}
#endregion
}
public NoticePort(int Port)
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
//OK
this.enc += (int)0;
this.enc += (int)Port;
this.SendData = this.enc.data;
}
public NoticePort(int Port)
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
//OK
this.enc += (int)0;
this.enc += (int)Port;
this.SendData = this.enc.data;
}
/// <summary>
/// リモートホストと接続します。
/// </summary>
/// <returns>接続先のＩＰエンドポイント</returns>
private IPEndPoint Connect()
{
try
{
while (true)
{
if (this.UP_Cliant.Received_Data != null)
{
this.UP_Decoder.Source = this.UP_Cliant.Received_Data;
break;
}
}
if (this.UP_Decoder.get_int() == Definitions.CONNECTION_DEMANDS)
{
this.FPS = this.UP_Decoder.get_int();
this.fpsa.Fps = this.FPS;
this.fpsa.Start();
switch (this.UP_Decoder.get_int())
{
case Definitions.CONNECTION_MODE_SEND:
this.cstate = ConnectionState.Sender;
this.UP_Cliant.DataReceived += UP_Cliant_DataReceived;
break;
case Definitions.CONNECTION_MODE_RECEIVE:
this.cstate = ConnectionState.Receiver;
break;
default:
throw new Exception("CONNECTION_MODE が無効です。senderの設定を確かめてください。");
}
name = this.UP_Decoder.get_string();
Thread.Sleep(100);
this.UP_Encoder = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.UP_Encoder += Definitions.CONNECTION_OK;
this.UP_Cliant.Send(this.UP_Encoder.data);
this.isConnected = true;
}
else
{
throw new Exception("コネクションの際に例外が発生しました。");
}
return(UP_Cliant.RemoteEP);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
finally
{
this.UP_Cliant.DataReset();
}
return(UP_Cliant.RemoteEP);
}
public RemoteHostServer()
{
try
{
client = new UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT(myPort);
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
try
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
this.LstPort = new List <int>();
mytask = new Task(() => this.MAIN_TASK());
mytask.Start();
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
try
{
#region create remotehost servers list and one remotehost server
this.List_remotehost = new List <RemoteHost>();
#endregion
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
}
public DirectConnect_NoticePort(CIPCServer.ClientStatus clientstatus)
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
//OK
this.enc += (int)0;
this.enc += clientstatus.ReceiverIP;
this.enc += clientstatus.ReceiverPort;
this.enc += clientstatus.Name;
this.SendData = this.enc.data;
}
public static void DisconnectByUserPort(int SenderUserPort, int ReceiverUserPort, string RemoteIP, int RemotePort, int myPort)
{
UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT client = new UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT(RemoteIP, RemotePort, myPort);
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += (int)14;
enc += SenderUserPort;
enc += ReceiverUserPort;
client.Send(enc.data);
client.Close();
}
public static void Connect(int SenderID, int ReceiverID, string RemoteIP, int RemotePort, int myPort)
{
UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT client = new UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT(RemoteIP, RemotePort, myPort);
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += (int)5;
enc += SenderID;
enc += ReceiverID;
client.Send(enc.data);
client.Close();
}
public static void Disconnect(int SenderID, int ReceiverID, string RemoteIP, int RemotePort, int myPort)
{
UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT client = new UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT(RemoteIP, RemotePort, myPort);
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += (int)6;
enc += SenderID;
enc += ReceiverID;
client.Send(enc.data);
client.Close();
}
public static void ConnectByUserPort(int SenderUserPort, int ReceiverUserPort, string RemoteIP, int RemotePort, int myPort)
{
UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT client = new UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT(RemoteIP, RemotePort, myPort);
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += (int)13;
enc += SenderUserPort;
enc += ReceiverUserPort;
client.Send(enc.data);
client.Close();
}
void Send(int localport, int newclientport)
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += true;
enc += localport;
enc += newclientport;
byte[] data = enc.data;
if (this.server != null)
{
this.server.BeginSend(data, data.Length, this.clientIP, this.clientPort, this.sendCallBack, this.server);
}
}
public void Access()
{
try
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += true;
byte[] data = enc.data;
this.client.BeginSend(data, data.Length, this.serverIP, this.serverPort, this.AccesSsendCallBack, this.client);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
private void disconnect(int port)
{
try
{
this.debugwindow.DebugLog = "[RemoteHostServer]切断要求がきました．ポート番号：" + port.ToString();
destroyport = port;
this.LstPort.Remove(port);
this.List_remotehost.RemoveAll(check_remotehosts);
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc += Definitions.CONNECTION_END;
this.client.Send(this.enc.data);
}
catch (Exception ex)
{
debugwindow.DebugLog = ex.Message + "接続を終了する段階でエラーが発生しました。";
}
}
/// <summary>
///
/// </summary>
/// <param name="data"></param>
public void Send(byte[] data)
{
if (this.Datalength != data.LongLength)
{
return;
}
byte[] buffer = new byte[this.DPP];
byte[] senddata;
for (int i = 0; i < data.LongLength / this.DPP; i++)
{
try
{
if (i < data.LongLength / this.DPP - 1)
{
Array.Copy(data, i * this.DPP, buffer, 0, this.DPP);
}
else
{
if (this.Datalength % this.DPP == 0)
{
return;
}
Array.Copy(data, i * this.DPP, buffer, 0, this.Datalength % this.DPP);
}
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += i;
enc += buffer;
senddata = enc.data;
this.client.Update(ref senddata);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message + this.DPP);
}
}
}
private void SendSKST_DivData(byte[][] DivinedData)
{
if (DivinedData == null)
{
return;
}
if (DivinedData.Length == 0)
{
return;
}
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
string str = "DivStart";
enc += str;
enc += DivinedData.Length;//分割数
enc += DivinedData[0].Length;//一パケットあたりの長さ
enc += DivinedData[DivinedData.Length - 1].Length;//あまり
byte[] data = enc.data;
this.SKST.networkstream.Write(data, 0, data.Length);
Thread.Sleep(200);
for (int i = 0; i < DivinedData.Length; i++)
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER _enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
string _str = "DivData";
_enc += _str;
_enc += i;
_enc += DivinedData[i];
byte[] _data = _enc.data;
this.SKST.networkstream.Write(_data, 0, _data.Length);
Thread.Sleep(200);
}
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER __enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
string __str = "DivFinish";
__enc += __str;
byte[] __data = __enc.data;
this.SKST.networkstream.Write(__data, 0, __data.Length);
}
private void SendSKST_3Dmodel_Pos()
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
string str = "3DModel1";
enc += str;
enc += (int)this.mesh_3dmodel.Positions.Count / this.databit_3Dmodel;
Console.WriteLine("clear");
for (int i = 0; i < this.mesh_3dmodel.Positions.Count / this.databit_3Dmodel; i++)
{
float x = (float)this.mesh_3dmodel.Positions[i].X;
float y = (float)this.mesh_3dmodel.Positions[i].Y;
float z = (float)this.mesh_3dmodel.Positions[i].Z;
float _x = x;
float _y = (float)(Math.Cos(-(float)this.CS.rx) * y - Math.Sin(-(float)this.CS.rx) * z);
float _z = (float)(Math.Sin(-(float)this.CS.rx) * y + Math.Cos(-(float)this.CS.rx) * z);
x = (float)(Math.Cos((float)this.CS.rz) * _x - Math.Sin((float)this.CS.rz) * _y);
y = (float)(Math.Sin((float)this.CS.rz) * _x + Math.Cos((float)this.CS.rz) * _y);
z = _z;
_x = (float)(Math.Cos((float)this.CS.ry) * x - Math.Sin((float)this.CS.ry) * z);
_y = y;
_z = (float)(Math.Sin((float)this.CS.ry) * x + Math.Cos((float)this.CS.ry) * z);
enc += _x + this.CS.dx;
enc += _y + this.CS.dy;
enc += _z + this.CS.dz;
}
Console.WriteLine(this.mesh_3dmodel.Positions.Count / this.databit_3Dmodel);
Console.WriteLine(enc.data.Length);
byte[] data = enc.data;
this.SKST.networkstream.Write(data, 0, data.Length);
}
public void sendToAllEP(string str)
{
try
{
this.Client.IsRecast = true;
var tmp = this.Client.RemoteEP;
foreach (var p in this.m_SetIPEndPoint)
{
this.Client.RemoteEP = p;
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += str;
this.Client.Send(enc.data);
}
this.Client.RemoteEP = tmp;
}
catch (Exception ex)
{
this.debugwindow.DebugLog = "[" + this + "]" + ex.Message;
}
}
/// <summary>
/// SKSTに送信するデータを作成します。
/// </summary>
private void DataCreate_SKST()
{
try
{
if (this.kinectsensor == null)
return;
if (!this.kinectsensor.IsRunning)
return;
this.TrackingLevel = 0;
this.enc_shadow = null;
this.enc_shadow = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc_shadow += 2;
this.enc_shadow += this.FrameSkeletons.Length;
if (true)//bodydirectionを入れると幸せになる場所
{
for (int i = 0; i < FrameSkeletons.Length; i++)
{
this.enc_shadow += i;
this.make_send_joint(i, JointType.HipCenter);
this.make_send_joint(i, JointType.Spine);
this.make_send_joint(i, JointType.ShoulderCenter);
this.make_send_joint(i, JointType.Head);
this.make_send_joint(i, JointType.ShoulderLeft);
this.make_send_joint(i, JointType.ElbowLeft);
this.make_send_joint(i, JointType.WristLeft);
this.make_send_joint(i, JointType.HandLeft);
this.make_send_joint(i, JointType.ShoulderRight);
this.make_send_joint(i, JointType.ElbowRight);
this.make_send_joint(i, JointType.WristRight);
this.make_send_joint(i, JointType.HandRight);
this.make_send_joint(i, JointType.HipLeft);
this.make_send_joint(i, JointType.KneeLeft);
this.make_send_joint(i, JointType.AnkleLeft);
this.make_send_joint(i, JointType.FootLeft);
this.make_send_joint(i, JointType.HipRight);
this.make_send_joint(i, JointType.KneeRight);
this.make_send_joint(i, JointType.AnkleRight);
this.make_send_joint(i, JointType.FootRight);
}
}
else
{
for (int i = 0; i < FrameSkeletons.Length; i++)
{
this.enc_shadow += i;
this.make_send_joint(i, JointType.HipCenter);
this.make_send_joint(i, JointType.Spine);
this.make_send_joint(i, JointType.ShoulderCenter);
this.make_send_joint(i, JointType.Head);
this.make_send_joint(i, JointType.ShoulderRight);
this.make_send_joint(i, JointType.ElbowRight);
this.make_send_joint(i, JointType.WristRight);
this.make_send_joint(i, JointType.HandRight);
this.make_send_joint(i, JointType.ShoulderLeft);
this.make_send_joint(i, JointType.ElbowLeft);
this.make_send_joint(i, JointType.WristLeft);
this.make_send_joint(i, JointType.HandLeft);
this.make_send_joint(i, JointType.HipRight);
this.make_send_joint(i, JointType.KneeRight);
this.make_send_joint(i, JointType.AnkleRight);
this.make_send_joint(i, JointType.FootRight);
this.make_send_joint(i, JointType.HipLeft);
this.make_send_joint(i, JointType.KneeLeft);
this.make_send_joint(i, JointType.AnkleLeft);
this.make_send_joint(i, JointType.FootLeft);
}
}
this.enc_shadow += (float)kinectsensor.AccelerometerGetCurrentReading().X;
this.enc_shadow += (float)kinectsensor.AccelerometerGetCurrentReading().Y;
this.enc_shadow += (float)kinectsensor.AccelerometerGetCurrentReading().Z;
this.enc_shadow += (int)this.TrackingLevel;
this.data_shadow = this.enc_shadow.data;
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
/// <summary>
/// 接続を切断します。
/// </summary>
public void disconnect()
{
try
{
this.debugwindow.DebugLog = "[Port:" + this.ID.ToString() + "]切断します．";
UP_Cliant.Close();
this.data = null;
if (this.connect_host != null)
{
this.connect_host.connect_host = null;
this.connect_host = null;
}
CTS.Cancel();
isConnected = false;
this.UP_Encoder = null;
this.UP_Decoder = null;
this.UP_Cliant = null;
this.DataReceived = null;
}
catch (Exception ex)
{
Console.WriteLine(ex.Message + "接続の切断に失敗しました。");
}
finally
{
}
}
public RemoteHostServer()
{
try
{
this.Eventer = new TerminalConnectionSettings.CommandEventer();
client = new UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT(myPort);
this.remoteOperator = new RemoteOperater(client);
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
try
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
this.LstPort = new List<int>();
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
try
{
#region create remotehost servers list and one remotehost server
this.List_remotehost = new List<RemoteHost>();
#endregion
client.DataReceived += client_DataReceived;
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
}
private void SendSKST_3Dmodel_Indecsis()
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
string str = "3DModel2";
enc += str;
enc += (int)this.mesh_3dmodel.TriangleIndices.Count;
Console.WriteLine("clear");
for (int i = 0; i < this.mesh_3dmodel.TriangleIndices.Count; i++)
{
enc += (int)this.mesh_3dmodel.TriangleIndices[i];
}
Console.WriteLine(this.mesh_3dmodel.TriangleIndices.Count.ToString());
byte[] data = enc.data;
this.SKST.networkstream.Write(data, 0, data.Length);
}
public CloseResponse()
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc += (int)9;
this.data = this.enc.data;
}
public void Access()
{
try
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += true;
byte[] data = enc.data;
this.client.BeginSend(data, data.Length, this.serverIP, this.serverPort, this.AccesSsendCallBack, this.client);
}
catch(Exception ex)
{
Console.WriteLine(ex.Message);
}
}
/// <summary>
/// opti data send
/// TODO:人数直す
/// </summary>
private void CIPC_SEND_OPTI()
{
try
{
if (m_FrameQueue.Count != 0)
{
m_FrameOfData = m_FrameQueue.Dequeue();
m_FrameQueue.Clear();
Vector3D[] buffer = new Vector3D[20];
this.enc_shadow = null;
this.enc_shadow = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc_shadow += 3;
this.enc_shadow += 1;
foreach (NatNetML.SkeletonData sk in m_FrameOfData.Skeletons)
{
foreach (NatNetML.RigidBodyData rbd in sk.RigidBodies)
{
int uniqueId = 1000 * HighWord(rbd.ID) + LowWord(rbd.ID);
RigidBodyWithKinectID rigidBodyWithKinectID;
if (m_rigidBodyDefinitions.TryGetValue(uniqueId, out rigidBodyWithKinectID))
{
int kinectId = rigidBodyWithKinectID.KinectID;
if (kinectId == 6 || kinectId == 10)
{
//rotate offset
float offsetX = rigidBodyWithKinectID.RigidBody.offsetx;
float offsetY = rigidBodyWithKinectID.RigidBody.offsety;
float offsetZ = rigidBodyWithKinectID.RigidBody.offsetz;
Vector3D newVector = RotateFunctions.Rotate(offsetX, offsetY, offsetZ, rbd.qx, rbd.qy, rbd.qz, rbd.qw);
//送信
Vector3D pos = new Vector3D
{
x = rbd.x + newVector.x / 2.0f,
y = rbd.y + newVector.y / 2.0f,
z = rbd.z + newVector.z / 2.0f
};
buffer[kinectId + 1] = pos;
}
if (kinectId == 3)
{
Vector3D pos = new Vector3D
{
x = rbd.x,
y = rbd.y,
z = rbd.z
};
buffer[kinectId - 1] = pos;
//rotate offset
float offsetX = 0.0f;
float offsetY = 20.0f;
float offsetZ = 0.0f;
Vector3D newVector = RotateFunctions.Rotate(offsetX, offsetY, offsetZ, rbd.qx, rbd.qy, rbd.qz, rbd.qw);
//送信
pos = new Vector3D
{
x = rbd.x + newVector.x / 2.0f,
y = rbd.y + newVector.y / 2.0f,
z = rbd.z + newVector.z / 2.0f
};
buffer[kinectId] = pos;
}
else
{
Vector3D pos = new Vector3D
{
x = rbd.x,
y = rbd.y,
z = rbd.z
};
buffer[kinectId] = pos;
}
}
}
}
this.enc_shadow += 0;
for (int i = 0; i < 20; i++)
{
this.enc_shadow += buffer[i].x;
this.enc_shadow += buffer[i].y;
this.enc_shadow += buffer[i].z;
this.enc_shadow += 2;
}
//this.enc_shadow += (float)0.0f;
//this.enc_shadow += (float)0.0f;
//this.enc_shadow += (float)0.0f;
//byte[] data = this.enc_shadow.data;
//this.cipc_shadow.Update(ref data);
//Thread.Sleep(5);
this.data_shadow = this.enc_shadow.data;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message + ex.TargetSite + ex.Source);
}
}
private void disconnect(int port)
{
try
{
this.debugwindow.DebugLog = "[RemoteHostServer]切断要求がきました．ポート番号：" + port.ToString();
destroyport = port;
this.LstPort.Remove(port);
this.List_remotehost.RemoveAll(check_remotehosts);
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc += Definitions.CONNECTION_END;
this.client.Send(this.enc.data);
}
catch (Exception ex)
{
debugwindow.DebugLog = ex.Message + "接続を終了する段階でエラーが発生しました。";
}
}
/// <summary>
/// CIPCから深度情報を送信します．
/// </summary>
private void CIPC_SEND_DEPTH()
{
try
{
this.enc_shadow = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
foreach (var p in this.DepthImagePixelData_short)
{
this.enc_shadow += p;
}
byte[] arraydata = this.enc_shadow.data;
int divnum = this.enc_shadow.data.Length / sendsize;
for (int t = 0; t < divnum; t++)
{
var senddata = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
senddata += (int)1;
senddata += (int)enc_shadow.data.Length;
senddata += (int)this.DepthImageRect.Width;
senddata += (int)this.DepthImageRect.Height;
senddata += (int)sendsize;
senddata += (int)t;
for (int k = t * sendsize; k < (t + 1) * sendsize; k++)
{
byte a = arraydata[k];
senddata += a;
}
this.data_shadow = senddata.data;
//this.cipc_shadow.Update(ref this.data_shadow);
//Thread.Sleep(5);
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message + ex.TargetSite + ex.Source);
}
}
void SendBodyData(ref UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc, Body[] bodies, int numberofplayer)
{
try
{
//UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
List <string> str = new List <string>();
str.Add(bodies.Length.ToString());
byte MoP = (byte)bodies.Length;
enc += MoP; //MaxofPlayer
str.Add(numberofplayer.ToString());
byte NoP = (byte)numberofplayer;
enc += NoP; //NumberOfPlayer
int NumberofBody = 0;
int NumberofJoint = 0;
foreach (var body in bodies.Where(b => b.IsTracked))
{
NumberofBody++;
byte NoB = (byte)body.Joints.ToArray().Length;
enc += NoB;
foreach (var joint in body.Joints)
{
//kinect関節名前書き出し
str.Add(joint.Value.JointType.ToString());
NumberofJoint++;
str.Add(NumberofJoint.ToString());
enc += this.Dimension;
enc += joint.Value.Position.X;
enc += joint.Value.Position.Y;
enc += joint.Value.Position.Z;
//追加
enc += body.JointOrientations[joint.Value.JointType].Orientation.X;
enc += body.JointOrientations[joint.Value.JointType].Orientation.Y;
enc += body.JointOrientations[joint.Value.JointType].Orientation.Z;
enc += body.JointOrientations[joint.Value.JointType].Orientation.W;
byte TS = (byte)joint.Value.TrackingState;
enc += TS;
#region
str.Add(this.Dimension.ToString());
str.Add(joint.Value.Position.X.ToString());
str.Add(joint.Value.Position.Y.ToString());
str.Add(joint.Value.Position.Z.ToString());
str.Add(body.JointOrientations[joint.Value.JointType].Orientation.X.ToString());
str.Add(body.JointOrientations[joint.Value.JointType].Orientation.Y.ToString());
str.Add(body.JointOrientations[joint.Value.JointType].Orientation.Z.ToString());
str.Add(body.JointOrientations[joint.Value.JointType].Orientation.W.ToString());
str.Add(joint.Value.TrackingState.ToString());
#endregion
}
}
//byte[] data = enc.data;
//csvに保存
#region
if (this.IsSave)
{
//string s2 = string.Join(",", s1);
string strdata = string.Join(",", str.ToArray());
this.streamWriter.WriteLine(strdata);
//sw.Close();
}
#endregion
//CIPCに送信
/*
#region
* if (this.cipcMain != null)
* {
* this.cipcMain.send(data);
* }
#endregion
*/
}
catch
{
this.ErrorPoint(System.Reflection.MethodBase.GetCurrentMethod().ToString());
}
}
private void SendSKST_3Dmodel_Pos_div()
{
//TODO:60kbyte以下
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
string str = "3DModel1";
enc += str;
enc += (int)this.mesh_3dmodel.Positions.Count / this.databit_3Dmodel / this.databit_3Dmodel;
Console.WriteLine("clear");
for (int i = 0; i < this.mesh_3dmodel.Positions.Count / this.databit_3Dmodel / this.databit_3Dmodel; i++)
{
float x = (float)this.mesh_3dmodel.Positions[i].X;
float y = (float)this.mesh_3dmodel.Positions[i].Y;
float z = (float)this.mesh_3dmodel.Positions[i].Z;
float _x = x;
float _y = (float)(Math.Cos(-(float)this.CS.rx) * y - Math.Sin(-(float)this.CS.rx) * z);
float _z = (float)(Math.Sin(-(float)this.CS.rx) * y + Math.Cos(-(float)this.CS.rx) * z);
x = (float)(Math.Cos((float)this.CS.rz) * _x - Math.Sin((float)this.CS.rz) * _y);
y = (float)(Math.Sin((float)this.CS.rz) * _x + Math.Cos((float)this.CS.rz) * _y);
z = _z;
_x = (float)(Math.Cos((float)this.CS.ry) * x - Math.Sin((float)this.CS.ry) * z);
_y = y;
_z = (float)(Math.Sin((float)this.CS.ry) * x + Math.Cos((float)this.CS.ry) * z);
enc += _x + this.CS.dx;
enc += _y + this.CS.dy;
enc += _z + this.CS.dz;
}
Console.WriteLine(this.mesh_3dmodel.Positions.Count / this.databit_3Dmodel / this.databit_3Dmodel);
Console.WriteLine(enc.data.Length);
byte[] data = enc.data;
int datasize = data.Length;
const int OnePacketLength = 614400;
//分割数
int div_num = datasize / OnePacketLength;
//あまり
int mod_num = datasize % OnePacketLength;
//あまりがある場合は＋１
div_num = (mod_num == 0 ? div_num : div_num + 1);
byte[][] DivinedData = new byte[div_num][];
for (int i = 0; i < div_num; i++)
{
DivinedData[i] = (i < div_num -1 ? new byte[OnePacketLength] : new byte[mod_num]);
for (int j = 0; j < DivinedData[i].Length; j++)
{
DivinedData[i][j] = data[i * OnePacketLength + j];
}
}
this.SendSKST_DivData(DivinedData);
}
public NormalResponse()
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc += (int)0;
this.data = this.enc.data;
}
private void make_send_joint(int index, JointType jt)
{
try
{
switch (this.sendto)
{
case SendTo.ShadowKinectSensorTerminal:
float x = (float)this.FrameSkeletons[index].Joints[jt].Position.X;
float y = (float)this.FrameSkeletons[index].Joints[jt].Position.Y;
float z = (float)this.FrameSkeletons[index].Joints[jt].Position.Z;
float _x = x;
float _y = (float)(Math.Cos(-(float)this.CS.rx) * y - Math.Sin(-(float)this.CS.rx) * z);
float _z = (float)(Math.Sin(-(float)this.CS.rx) * y + Math.Cos(-(float)this.CS.rx) * z);
x = (float)(Math.Cos((float)this.CS.rz) * _x - Math.Sin((float)this.CS.rz) * _y);
y = (float)(Math.Sin((float)this.CS.rz) * _x + Math.Cos((float)this.CS.rz) * _y);
z = _z;
_x = (float)(Math.Cos((float)this.CS.ry) * x - Math.Sin((float)this.CS.ry) * z);
_y = y;
_z = (float)(Math.Sin((float)this.CS.ry) * x + Math.Cos((float)this.CS.ry) * z);
this.enc_shadow += _x + this.CS.dx;
this.enc_shadow += _y + this.CS.dy;
this.enc_shadow += _z + this.CS.dz;
break;
case SendTo.CIPCServer:
this.enc_shadow += (float)this.FrameSkeletons[index].Joints[jt].Position.X;
this.enc_shadow += (float)this.FrameSkeletons[index].Joints[jt].Position.Y;
this.enc_shadow += (float)this.FrameSkeletons[index].Joints[jt].Position.Z;
break;
default:
break;
}
switch (this.FrameSkeletons[index].Joints[jt].TrackingState)
{
case JointTrackingState.NotTracked:
this.enc_shadow += 0;
this.TrackingLevel += 0;
break;
case JointTrackingState.Inferred:
this.enc_shadow += 1;
this.TrackingLevel += 1;
break;
case JointTrackingState.Tracked:
this.enc_shadow += 2;
this.TrackingLevel += 2;
break;
default:
this.enc_shadow += 9;
this.TrackingLevel += 0;
break;
}
}
catch (Exception ex)
{
throw;
}
}
private void disconnect(int port)
{
try
{
this.debugwindow.DebugLog = "[RemoteHostServer]切断要求がきました．ポート番号：" + port.ToString();
destroyport = port;
var connections = this.parent.DataConnectionServer.List_dataconnection.FindAll(p => p.SENDER.ID == port || p.RECEIVER.ID == port);
foreach (var p in connections)
{
this.parent.DataConnectionServer.delete_connection(p.SENDER, p.RECEIVER);
}
this.parent.DataConnectionServer.ListBox_update(parent.LISTBOX_DATA_CONNECTION);
this.LstPort.Remove(port);
this.List_remotehost.RemoveAll(check_remotehosts);
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc += Definitions.CONNECTION_END;
this.client.Send(this.enc.data);
}
catch (Exception ex)
{
debugwindow.DebugLog = ex.Message + "接続を終了する段階でエラーが発生しました。";
}
}
public void Udp_Send(TerminalConnectionSettings.TerminalProtocols.CIPCTerminalCommand terminalcommand)
{
try
{
if (this.IsConnectionSetupped)
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += (int)20;
enc += (string)terminalcommand.Data;
this.client.Send(enc.data);
}
else
{
throw new Exception("接続設定をしてください");
}
}
catch (Exception ex)
{
this.debuglog.DebugLogPrint = this.debuglog.DebugLogPrint = "[" + this.ToString() + "]" + ex.Message;
}
}
private void SendSKST_3Dmodel_Skeleton()
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
string str = "3DModel3";
enc += str;
if (this.skeleton_3Dmodel != null)
{
enc += (int)this.skeleton_3Dmodel.Joints.Count;
}
else
{
enc += (int)0;
}
Console.WriteLine("clear");
if (this.skeleton_3Dmodel != null)
{
for (int i = 0; i < this.skeleton_3Dmodel.Joints.Count; i++)
{
float x = (float)this.skeleton_3Dmodel.Joints[(JointType)i].Position.X;
float y = (float)this.skeleton_3Dmodel.Joints[(JointType)i].Position.Y;
float z = (float)this.skeleton_3Dmodel.Joints[(JointType)i].Position.Z;
float _x = x;
float _y = (float)(Math.Cos(-(float)this.CS.rx) * y - Math.Sin(-(float)this.CS.rx) * z);
float _z = (float)(Math.Sin(-(float)this.CS.rx) * y + Math.Cos(-(float)this.CS.rx) * z);
x = (float)(Math.Cos((float)this.CS.rz) * _x - Math.Sin((float)this.CS.rz) * _y);
y = (float)(Math.Sin((float)this.CS.rz) * _x + Math.Cos((float)this.CS.rz) * _y);
z = _z;
_x = (float)(Math.Cos((float)this.CS.ry) * x - Math.Sin((float)this.CS.ry) * z);
_y = y;
_z = (float)(Math.Sin((float)this.CS.ry) * x + Math.Cos((float)this.CS.ry) * z);
enc += _x + this.CS.dx;
enc += _y + this.CS.dy;
enc += _z + this.CS.dz;
}
}
Console.WriteLine("Finish");
byte[] data = enc.data;
this.SKST.networkstream.Write(data, 0, data.Length);
}
//データ送信
void SendData()
{
//CIPCに送信
#region
try
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
if (this.SendData_Body.IsChecked == true) this.SendBodyData(ref enc, this.bodies, this.NumberofPlayer);
else if (this.SendData_LEDPt.IsChecked == true) this.SendLEDPtData(ref enc);
if (this.cipcMain != null && enc.data != null)
{
this.cipcMain.send(enc.data);
//Console.WriteLine("sendDat");
}
if (this.UDPclientWidow != null && enc.data != null)
{
this.UDPclientWidow.Send(enc.data);
//Console.WriteLine("sendDat");
}
}
catch
{
this.ErrorPoint(System.Reflection.MethodBase.GetCurrentMethod().Name.ToString());
}
#endregion
}
/// <summary>
/// リモートホストと接続します。
/// </summary>
/// <returns>接続先のＩＰエンドポイント</returns>
private IPEndPoint Connect()
{
try
{
while (true)
{
if (this.UP_Cliant.Received_Data != null)
{
this.UP_Decoder.Source = this.UP_Cliant.Received_Data;
break;
}
}
if (this.UP_Decoder.get_int() == Definitions.CONNECTION_DEMANDS)
{
this.FPS = this.UP_Decoder.get_int();
this.fpsa.Fps = this.FPS;
this.fpsa.Start();
switch (this.UP_Decoder.get_int())
{
case Definitions.CONNECTION_MODE_SEND:
this.cstate = ConnectionState.Sender;
this.UP_Cliant.DataReceived += UP_Cliant_DataReceived;
break;
case Definitions.CONNECTION_MODE_RECEIVE:
this.cstate = ConnectionState.Receiver;
break;
default:
throw new Exception("CONNECTION_MODE が無効です。senderの設定を確かめてください。");
}
name = this.UP_Decoder.get_string();
Thread.Sleep(100);
this.UP_Encoder = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.UP_Encoder += Definitions.CONNECTION_OK;
this.UP_Cliant.Send(this.UP_Encoder.data);
this.isConnected = true;
}
else
{
throw new Exception("コネクションの際に例外が発生しました。");
}
return UP_Cliant.RemoteEP;
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
finally
{
this.UP_Cliant.DataReset();
}
return UP_Cliant.RemoteEP;
}
public NormalResponse()
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc += (int)0;
this.data = this.enc.data;
}
public static void Udp_Send(UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT client, TerminalConnectionSettings.TerminalProtocols.CIPCTerminalCommand terminalcommand)
{
try
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += (int)20;
enc += (string)terminalcommand.Data;
client.Send(enc.data);
}
catch (Exception ex)
{
throw;
}
}
void Send(int localport, int newclientport)
{
UDP_PACKETS_CODER.UDP_PACKETS_ENCODER enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
enc += true;
enc += localport;
enc += newclientport;
byte[] data = enc.data;
if (this.server != null)
this.server.BeginSend(data, data.Length, this.clientIP, this.clientPort, this.sendCallBack, this.server);
}
private void connect(ref int port)
{
try
{
for (int current_port = Definitions.PORT_START_NUMBER; current_port < Definitions.PORT_START_NUMBER + max_connect_num; current_port++)
{
if (!this.LstPort.Contains(current_port))
{
port = current_port;
this.LstPort.Add(current_port);
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc += Definitions.CONNECTION_OK;
this.enc += current_port;
this.client.Send(this.enc.data);
this.debugwindow.DebugLog = "[RemoteHostServer]接続要求がきました．解放ポートを通知します．ポート番号：" + port.ToString();
break;
}
}
}catch(Exception ex)
{
debugwindow.DebugLog = ex.Message + "コネクトの段階でエラーが発生しました。";
}
}
/// <summary>
/// CIPCからSKELETONDATAを送信します．
/// </summary>
private void CIPC_SEND_SKELETON()
{
try
{
this.TrackingLevel = 0;
this.enc_shadow = null;
this.enc_shadow = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc_shadow += 2;
this.enc_shadow += this.FrameSkeletons.Length;
for (int i = 0; i < FrameSkeletons.Length; i++)
{
this.enc_shadow += i;
this.make_send_joint(i, JointType.HipCenter);
this.make_send_joint(i, JointType.Spine);
this.make_send_joint(i, JointType.ShoulderCenter);
this.make_send_joint(i, JointType.Head);
this.make_send_joint(i, JointType.ShoulderLeft);
this.make_send_joint(i, JointType.ElbowLeft);
this.make_send_joint(i, JointType.WristLeft);
this.make_send_joint(i, JointType.HandLeft);
this.make_send_joint(i, JointType.ShoulderRight);
this.make_send_joint(i, JointType.ElbowRight);
this.make_send_joint(i, JointType.WristRight);
this.make_send_joint(i, JointType.HandRight);
this.make_send_joint(i, JointType.HipLeft);
this.make_send_joint(i, JointType.KneeLeft);
this.make_send_joint(i, JointType.AnkleLeft);
this.make_send_joint(i, JointType.FootLeft);
this.make_send_joint(i, JointType.HipRight);
this.make_send_joint(i, JointType.KneeRight);
this.make_send_joint(i, JointType.AnkleRight);
this.make_send_joint(i, JointType.FootRight);
}
this.enc_shadow += (float)kinectsensor.AccelerometerGetCurrentReading().X;
this.enc_shadow += (float)kinectsensor.AccelerometerGetCurrentReading().Y;
this.enc_shadow += (float)kinectsensor.AccelerometerGetCurrentReading().Z;
this.data_shadow = this.enc_shadow.data;
//byte[] data = this.enc_shadow.data;
//this.cipc_shadow.Update(ref data);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message + ex.TargetSite + ex.Source);
}
}
public RemoteHostServer()
{
try
{
client = new UDP_PACKETS_CLIANT.UDP_PACKETS_CLIANT(myPort);
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
try
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.dec = new UDP_PACKETS_CODER.UDP_PACKETS_DECODER();
this.LstPort = new List<int>();
mytask = new Task(() => this.MAIN_TASK());
mytask.Start();
}
catch (Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
try
{
#region create remotehost servers list and one remotehost server
this.List_remotehost = new List<RemoteHost>();
#endregion
}
catch(Exception ex)
{
while (true)
{
myDialog dialog = new myDialog(ex.Message);
if (dialog.ShowDialog() == true)
{
break;
}
}
}
}
public CloseResponse()
{
this.enc = new UDP_PACKETS_CODER.UDP_PACKETS_ENCODER();
this.enc += (int)9;
this.data = this.enc.data;
}
