public void ConfigureClient(KinectClient client, KinectStreamerConfig config)
{
StateObject state = clientStateObjectDictionary[client];
ClientConfigurationMessage msg = new ClientConfigurationMessage()
{
Configuration = config
};
SerializeAndSendMessage(msg, state.WorkSocket);
}
public void AddOrUpdateWorkspace(string workspaceId, Workspace workspace, KinectClient client)
{
if (!workspaceDictionary.Keys.Contains(workspaceId))
{
workspaceDictionary.Add(workspaceId, workspace);
workspaceClientDictionary.Add(workspaceId, client);
}
else
{
workspaceDictionary[workspace.ID] = workspace;
}
}
public void AddWorkspace(Workspace workspace, KinectClient client)
{
StateObject state = clientStateObjectDictionary[client];
if (state == null)
{
state = stateObjectClientDictionary.Keys.First();
}
WorkspaceMessage message = new WorkspaceMessage()
{
ID = workspace.ID,
Name = workspace.Name,
Vertices = workspace.Vertices.ToArray()
};
SerializeAndSendMessage(message, state.WorkSocket);
}
private void ProcessCalibrationDataMessage(object obj, KinectClient sender)
{
CalibrationDataMessage msg = (CalibrationDataMessage) obj;
dataStore.AddCalibrationBody(sender, msg.CalibrationBody);
if (ConfigurationMessageArrived != null)
{
ConfigurationMessageArrived(msg, sender);
}
}
private void kinectServer_TextMessageArrived(KinectDemoMessage message, KinectClient client)
{
Dispatcher.Invoke(() =>
{
//ClientMessageBox.Text += "\nFrom " + client.Name + ":\n" + ((TextMessage)message).Text;
});
}
private void ClientSettingsChanged(KinectClient client, KinectStreamerConfig config)
{
KinectServer.Instance.ConfigureClient(client, config);
}
private void ProcessWorkspaceMessage(object obj, KinectClient sender)
{
WorkspaceMessage msg = (WorkspaceMessage)obj;
Workspace workspace = dataStore.GetWorkspace(msg.ID);
workspace.Name = msg.Name;
workspace.Vertices = new ObservableCollection<Point>(msg.Vertices);
workspace.Vertices3D = msg.Vertices3D;
workspace.VertexDepths = msg.VertexDepths;
WorkspaceProcessor.SetWorkspaceCloudRealVerticesAndCenter(workspace, depthFrameSize);
WorkspaceUpdated((WorkspaceMessage)obj, sender);
}
private void ProcessPointCloudStreamMessage(object obj, KinectClient client)
{
bool coloredPointCloud = false;
PointCloudStreamMessage msg = (PointCloudStreamMessage)obj;
if (obj is ColoredPointCloudStreamMessage)
{
coloredPointCloud = true;
}
double[] doubleArray = msg.PointCloud;
NullablePoint3D[] pointArray = new NullablePoint3D[doubleArray.Length / 3];
for (int i = 0; i < doubleArray.Length; i += 3)
{
if (double.IsNegativeInfinity(doubleArray[i]))
{
pointArray[i / 3] = null;
}
else
{
pointArray[i / 3] = new NullablePoint3D(doubleArray[i], doubleArray[i + 1], doubleArray[i + 2]);
}
}
PointCloud pointCloud = new PointCloud() {Points = pointArray};
if (coloredPointCloud)
{
pointCloud.ColorBytes = ((ColoredPointCloudStreamMessage) msg).ColorPixels;
}
dataStore.AddOrUpdatePointCloud(client, pointCloud);
if (PointCloudMessageArrived != null)
{
PointCloudMessageArrived(msg, client);
}
if (coloredPointCloud && ColoredPointCloudMessageArrived != null)
{
ColoredPointCloudMessageArrived(msg, client);
}
}
private void ProcessConfigurationData(object obj, KinectClient sender)
{
dataStore.AddOrUpdateConfiguration(sender, ((ClientConfigurationMessage) obj).Configuration);
ClientConfigurationMessage msg = (ClientConfigurationMessage) obj;
if (ConfigurationMessageArrived != null)
{
ConfigurationMessageArrived(msg, sender);
}
}
public NullablePoint3D[] GetPointCloudForClient(KinectClient client)
{
try
{
return clientPointCloudDictionary[client].Points;
}
catch
{
return null;
}
}
// Returns with the next kinect client to given currentClient in the clients list.
// If currentClients is null, returns with first client.
public KinectClient GetNextClient(KinectClient currentClient)
{
KinectClient nextClient = null;
if (kinectClients.Count == 0)
{
return null;
}
try
{
if (currentClient == null)
{
nextClient = kinectClients[0];
}
else
{
nextClient = kinectClients[kinectClients.IndexOf(currentClient) + 1];
}
}
catch (Exception)
{
nextClient = kinectClients[0];
}
return nextClient;
}
public KinectStreamerConfig GetConfigurationForClient(KinectClient client)
{
try
{
return clientConfigurationDictionary[client];
}
catch (Exception)
{
return null;
}
}
public PointCloud GetColoredPointCloudForClient(KinectClient client)
{
return clientPointCloudDictionary[client];
}
public List<SerializableBody> GetCalibrationBodiesForClient(KinectClient client)
{
return clientCalibrationBodies[client];
}
private void ProcessCalibrationMessage(object obj, KinectClient sender)
{
throw new NotImplementedException();
}
private void ProcessColorStreamMessage(object obj, KinectClient sender)
{
if (ColorMessageArrived != null)
{
ColorMessageArrived((ColorStreamMessage)obj, sender);
}
}
private KinectClient CreateClient(EndPoint endPoint)
{
KinectClient kinectClient;
kinectClient = new KinectClient(endPoint);
kinectClients.Add(kinectClient);
clientCalibrationBodies[kinectClient] = new List<SerializableBody>();
return kinectClient;
}
private void ProcessDepthStreamMessage(object obj, KinectClient sender)
{
if (DepthMessageArrived != null)
{
DepthMessageArrived((DepthStreamMessage)obj, sender);
if (depthFrameSize == null)
{
depthFrameSize = ((DepthStreamMessage)obj).DepthFrameSize;
}
}
}
public void AddCalibrationBody(KinectClient client, SerializableBody body)
{
clientCalibrationBodies[client].Add(body);
}
private void ProcessTextMessage(object obj, KinectClient sender)
{
TextMessage msg = (TextMessage)obj;
if (TextMessageArrived != null)
{
TextMessageArrived(msg, sender);
}
}
public void AddOrUpdateConfiguration(KinectClient client, KinectStreamerConfig kinectStreamerConfig)
{
clientConfigurationDictionary[client] = kinectStreamerConfig;
}
public void ProcessStreamMessage(object obj, KinectClient sender)
{
if (obj == null)
{
return;
}
if (obj is KinectClientMessage)
{
if (obj is UnifiedStreamerMessage)
{
UnifiedStreamerMessage msg = (UnifiedStreamerMessage)obj;
if (msg.BodyStreamMessage != null)
{
ProcessBodyStreamMessage(msg.BodyStreamMessage, sender);
}
if (msg.ColorStreamMessage != null)
{
ProcessColorStreamMessage(msg.ColorStreamMessage, sender);
}
if (msg.DepthStreamMessage != null)
{
ProcessDepthStreamMessage(msg.DepthStreamMessage, sender);
}
if (msg.PointCloudStreamMessage != null)
{
ProcessPointCloudStreamMessage(msg.PointCloudStreamMessage, sender);
}
}
else if (obj is DepthStreamMessage)
{
ProcessDepthStreamMessage(obj, sender);
}
else if (obj is ColorStreamMessage)
{
ProcessColorStreamMessage(obj, sender);
}
else if (obj is PointCloudStreamMessage)
{
ProcessPointCloudStreamMessage(obj, sender);
}
else if (obj is BodyStreamMessage)
{
ProcessBodyStreamMessage(obj, sender);
}
else if (obj is CalibrationDataMessage)
{
ProcessCalibrationDataMessage(obj, sender);
}
}
else if (obj is WorkspaceMessage)
{
ProcessWorkspaceMessage(obj, sender);
}
else if (obj is TextMessage)
{
ProcessTextMessage(obj, sender);
}
else if (obj is ClientConfigurationMessage)
{
ProcessConfigurationData(obj, sender);
}
else if (obj is CalibrationMessage)
{
ProcessCalibrationMessage(obj, sender);
}
}
public void AddOrUpdatePointCloud(KinectClient client, PointCloud pointCloud)
{
clientPointCloudDictionary[client] = pointCloud;
}
private void kinectServer_DepthDataArrived(KinectDemoMessage message, KinectClient client)
{
depthFrameSize = ((DepthStreamMessage)message).DepthFrameSize;
serverMessageProcessor.DepthMessageArrived -= kinectServer_DepthDataArrived;
}
private void ProcessBodyStreamMessage(object obj, KinectClient sender)
{
BodyStreamMessage msg = (BodyStreamMessage)obj;
if (BodyMessageArrived != null)
{
BodyMessageArrived(msg, sender);
}
}
private void kinectServer_WorkspaceUpdated(KinectDemoMessage message, KinectClient client)
{
WorkspaceMessage msg = (WorkspaceMessage)message;
cloudView.SetWorkspace(dataStore.GetWorkspace(msg.ID));
}
private void ObjectArrived(object obj, KinectClient sender)
{
if (obj != null)
{
Debug.WriteLine("Object from " + sender.Name + " deserialized: " + obj.GetType());
}
serverMessageProcessor.ProcessStreamMessage(obj, sender);
}
