MainWindow.xaml.cs

﻿//------------------------------------------------------------------------------
// <copyright file="MainWindow.xaml.cs" company="Microsoft">
//     Copyright (c) Microsoft Corporation.  All rights reserved.
// </copyright>
//------------------------------------------------------------------------------

namespace Microsoft.Samples.Kinect.BodyBasics
{
    using System;
    using System.Collections.Generic;
    using System.ComponentModel;
    using System.Diagnostics;
    using System.Globalization;
    using System.IO;
    using System.Windows;
    using System.Windows.Media;
    using System.Windows.Media.Imaging;
    using Microsoft.Kinect;
    using System.Net;
    using System.Text;
    using System.Net.Sockets;

    /// <summary>
    /// Interaction logic for MainWindow
    /// </summary>
    public partial class MainWindow : Window, INotifyPropertyChanged
    {
        Socket soc;
        /// <summary>
        /// Radius of drawn hand circles
        /// </summary>
        private const double HandSize = 30;

        /// <summary>
        /// Thickness of drawn joint lines
        /// </summary>
        private const double JointThickness = 3;

        /// <summary>
        /// Thickness of clip edge rectangles
        /// </summary>
        private const double ClipBoundsThickness = 10;

        /// <summary>
        /// Constant for clamping Z values of camera space points from being negative
        /// </summary>
        private const float InferredZPositionClamp = 0.1f;

        /// <summary>
        /// Brush used for drawing hands that are currently tracked as closed
        /// </summary>
        private readonly Brush handClosedBrush = new SolidColorBrush(Color.FromArgb(128, 255, 0, 0));

        /// <summary>
        /// Brush used for drawing hands that are currently tracked as opened
        /// </summary>
        private readonly Brush handOpenBrush = new SolidColorBrush(Color.FromArgb(128, 0, 255, 0));

        /// <summary>
        /// Brush used for drawing hands that are currently tracked as in lasso (pointer) position
        /// </summary>
        private readonly Brush handLassoBrush = new SolidColorBrush(Color.FromArgb(128, 0, 0, 255));

        /// <summary>
        /// Brush used for drawing joints that are currently tracked
        /// </summary>
        private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));

        /// <summary>
        /// Brush used for drawing joints that are currently inferred
        /// </summary>        
        private readonly Brush inferredJointBrush = Brushes.Yellow;

        /// <summary>
        /// Pen used for drawing bones that are currently inferred
        /// </summary>        
        private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1);

        /// <summary>
        /// Drawing group for body rendering output
        /// </summary>
        private DrawingGroup drawingGroup;

        /// <summary>
        /// Drawing image that we will display
        /// </summary>
        private DrawingImage imageSource;

        /// <summary>
        /// Active Kinect sensor
        /// </summary>
        private KinectSensor kinectSensor = null;

        /// <summary>
        /// Coordinate mapper to map one type of point to another
        /// </summary>
        private CoordinateMapper coordinateMapper = null;

        /// <summary>
        /// Reader for body frames
        /// </summary>
        private BodyFrameReader bodyFrameReader = null;

        /// <summary>
        /// Array for the bodies
        /// </summary>
        private Body[] bodies = null;

        /// <summary>
        /// definition of bones
        /// </summary>
        private List<Tuple<JointType, JointType>> bones;

        /// <summary>
        /// Width of display (depth space)
        /// </summary>
        private int displayWidth;

        /// <summary>
        /// Height of display (depth space)
        /// </summary>
        private int displayHeight;

        /// <summary>
        /// List of colors for each body tracked
        /// </summary>
        private List<Pen> bodyColors;

        /// <summary>
        /// Current status text to display
        /// </summary>
        private string statusText = null;

        /// <summary>
        /// Initializes a new instance of the MainWindow class.
        /// </summary>
        /// 

        private Socket handler;

        public MainWindow()
        {

            using (StreamWriter sw = new StreamWriter("file.txt", false, System.Text.Encoding.Default)) {
            }

            IPEndPoint ipPoint = new IPEndPoint(IPAddress.Parse("192.168.0.18"), 8080);

            Socket listenSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
            try {
                listenSocket.Bind(ipPoint);

                listenSocket.Listen(10);

                handler = listenSocket.Accept();
                /*byte[] data = new byte[256];

                string message = "message";
                data = Encoding.UTF8.GetBytes(message);
                handler.Send(data);*/
                //handler.Shutdown(SocketShutdown.Both);
                //handler.Close();
            }
            catch (Exception ex) {
                Console.WriteLine(ex.Message);
            }


            // one sensor is currently supported
            this.kinectSensor = KinectSensor.GetDefault();

            // get the coordinate mapper
            this.coordinateMapper = this.kinectSensor.CoordinateMapper;

            // get the depth (display) extents
            FrameDescription frameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;

            // get size of joint space
            this.displayWidth = frameDescription.Width;
            this.displayHeight = frameDescription.Height;

            // open the reader for the body frames
            this.bodyFrameReader = this.kinectSensor.BodyFrameSource.OpenReader();

            // a bone defined as a line between two joints
            this.bones = new List<Tuple<JointType, JointType>>();

            // Torso
            this.bones.Add(new Tuple<JointType, JointType>(JointType.Head, JointType.Neck));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.Neck, JointType.SpineShoulder));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.SpineMid));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineMid, JointType.SpineBase));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipLeft));

            // Right Arm
            this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderRight, JointType.ElbowRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowRight, JointType.WristRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.HandRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.HandRight, JointType.HandTipRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.ThumbRight));

            // Left Arm
            this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderLeft, JointType.ElbowLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowLeft, JointType.WristLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.HandLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.HandLeft, JointType.HandTipLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.ThumbLeft));

            // Right Leg
            this.bones.Add(new Tuple<JointType, JointType>(JointType.HipRight, JointType.KneeRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeRight, JointType.AnkleRight));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.AnkleRight, JointType.FootRight));

            // Left Leg
            this.bones.Add(new Tuple<JointType, JointType>(JointType.HipLeft, JointType.KneeLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeLeft, JointType.AnkleLeft));
            this.bones.Add(new Tuple<JointType, JointType>(JointType.AnkleLeft, JointType.FootLeft));

            // populate body colors, one for each BodyIndex
            this.bodyColors = new List<Pen>();

            this.bodyColors.Add(new Pen(Brushes.Red, 6));
            this.bodyColors.Add(new Pen(Brushes.Orange, 6));
            this.bodyColors.Add(new Pen(Brushes.Green, 6));
            this.bodyColors.Add(new Pen(Brushes.Blue, 6));
            this.bodyColors.Add(new Pen(Brushes.Indigo, 6));
            this.bodyColors.Add(new Pen(Brushes.Violet, 6));

            // set IsAvailableChanged event notifier
            this.kinectSensor.IsAvailableChanged += this.Sensor_IsAvailableChanged;

            // open the sensor
            this.kinectSensor.Open();

            // set the status text
            this.StatusText = this.kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText
                                                            : Properties.Resources.NoSensorStatusText;

            // Create the drawing group we'll use for drawing
            this.drawingGroup = new DrawingGroup();

            // Create an image source that we can use in our image control
            this.imageSource = new DrawingImage(this.drawingGroup);

            // use the window object as the view model in this simple example
            this.DataContext = this;

            // initialize the components (controls) of the window
            this.InitializeComponent();
        }

        /// <summary>
        /// INotifyPropertyChangedPropertyChanged event to allow window controls to bind to changeable data
        /// </summary>
        public event PropertyChangedEventHandler PropertyChanged;

        /// <summary>
        /// Gets the bitmap to display
        /// </summary>
        public ImageSource ImageSource
        {
            get
            {
                return this.imageSource;
            }
        }

        /// <summary>
        /// Gets or sets the current status text to display
        /// </summary>
        public string StatusText
        {
            get
            {
                return this.statusText;
            }

            set
            {
                if (this.statusText != value)
                {
                    this.statusText = value;

                    // notify any bound elements that the text has changed
                    if (this.PropertyChanged != null)
                    {
                        this.PropertyChanged(this, new PropertyChangedEventArgs("StatusText"));
                    }
                }
            }
        }

        /// <summary>
        /// Execute start up tasks
        /// </summary>
        /// <param name="sender">object sending the event</param>
        /// <param name="e">event arguments</param>
        private void MainWindow_Loaded(object sender, RoutedEventArgs e)
        {
            if (this.bodyFrameReader != null)
            {
                this.bodyFrameReader.FrameArrived += this.Reader_FrameArrived;
            }
        }

        /// <summary>
        /// Execute shutdown tasks
        /// </summary>
        /// <param name="sender">object sending the event</param>
        /// <param name="e">event arguments</param>
        private void MainWindow_Closing(object sender, CancelEventArgs e)
        {
            if (this.bodyFrameReader != null)
            {
                // BodyFrameReader is IDisposable
                this.bodyFrameReader.Dispose();
                this.bodyFrameReader = null;
            }

            if (this.kinectSensor != null)
            {
                this.kinectSensor.Close();
                this.kinectSensor = null;
            }
            handler.Shutdown(SocketShutdown.Both);
            handler.Close();
        }

        private void sendToServer(String message) {
            WebRequest request = WebRequest.Create("http://www.contoso.com/PostAccepter.aspx");
            // Set the Metod property of the request to POST.
            request.Method = "POST";
            // Create POST data and convert it to a byte array.
            string postData = message;
            byte[] byteArray = Encoding.UTF8.GetBytes(postData);
            // Set the ContentType property of the WebRequest.
            request.ContentType = "application/x-www-form-urlencoded";
            // Set the ContentLength property of the WebRequest.
            request.ContentLength = byteArray.Length;
            // Get the request stream.
            Stream dataStream = request.GetRequestStream();
            // Write the data to the request stream.
            dataStream.Write(byteArray, 0, byteArray.Length);
            // Close the Stream object
            dataStream.Close();
            // Get the response.
            WebResponse response = request.GetResponse();
            // Display the status.
            Console.WriteLine(((HttpWebResponse)response).StatusDescription);
            // Get the stream containing content returned by the server.
            dataStream = response.GetResponseStream();
            // Open the stream using a StreamReader for easy access.
            StreamReader reader = new StreamReader(dataStream);
            // Read the content.
            string responseFromServer = reader.ReadToEnd();
            // Display the content.
            Console.WriteLine(responseFromServer);
            // Clean up the streams.
            reader.Close();
            dataStream.Close();
            response.Close();
        }

        private void toFilie(string s) {
            using (StreamWriter sw = new StreamWriter("file.txt", true, System.Text.Encoding.Default)) {
                sw.WriteLine(s);
            }
        }

        float getAngle(IReadOnlyDictionary<JointType, Joint> joints, JointType a, JointType b, JointType c) {
            float dx1 = joints[a].Position.X - joints[b].Position.X;
            float dy1 = joints[a].Position.Y - joints[b].Position.Y;
            float dz1 = joints[a].Position.Z - joints[b].Position.Z;

            float dx2 = joints[b].Position.X - joints[c].Position.X;
            float dy2 = joints[b].Position.Y - joints[c].Position.Y;
            float dz2 = joints[b].Position.Z - joints[c].Position.Z;

            float scal = (dx1 * dx2 + dy1 * dy2 + dz1 * dz2) / (float)(Math.Sqrt(dx1 * dx1 + dy1 * dy1 + dz1 * dz1) * (Math.Sqrt(dx2 * dx2 + dy2 * dy2 + dz2 * dz2)));
            float ang = (float)Math.Acos(scal);
            return ang;
        }

        String getVector(IReadOnlyDictionary<JointType, Joint> joints, JointType a, JointType b) {
            float x1 = joints[a].Position.X;
            float y1 = joints[a].Position.Y;
            float z1 = joints[a].Position.Z;

            float x2 = joints[b].Position.X;
            float y2 = joints[b].Position.Y;
            float z2 = joints[b].Position.Z;

            float x = x2 - x1;
            float y = y2 - y1;
            float z = z2 - z1;

            float dx = x / (float)(Math.Sqrt(x * x + y * y + z * z));
            float dy = y / (float)(Math.Sqrt(x * x + y * y + z * z));
            float dz = z / (float)(Math.Sqrt(x * x + y * y + z * z));
            string ind = "[" + dx + ";" + dy + ";"  + dz + "]";

            return ind;
        }

        private String jointsToJSON(IReadOnlyDictionary<JointType, Joint> joints) {
            string vec1 = getVector(joints, JointType.ShoulderLeft, JointType.ElbowLeft);
            string vec2 = getVector(joints, JointType.ElbowLeft, JointType.WristLeft);
            string vec3 = getVector(joints, JointType.ShoulderRight, JointType.ElbowRight);
            string vec4 = getVector(joints, JointType.ElbowRight, JointType.WristRight);

            //return "[" + inside + "]" + "\n" + vec1 + "\n" + vec2 + "\n" + vec3 + "\n" + vec4;
            vec1 = vec1.Replace(",", ".");
            vec2 = vec2.Replace(",", ".");
            vec3 = vec3.Replace(",", ".");
            vec4 = vec4.Replace(",", ".");

            vec1 = vec1.Replace(";", ", ");
            vec2 = vec2.Replace(";", ", ");
            vec3 = vec3.Replace(";", ", ");
            vec4 = vec4.Replace(";", ", ");

   
            return "[" + vec1 + ", " + vec2 + ", " + vec3 + ", " + vec4 + "]";
        }


        /// <summary>
        /// Handles the body frame data arriving from the sensor
        /// </summary>
        /// <param name="sender">object sending the event</param>
        /// <param name="e">event arguments</param>
        private void Reader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
        {
            bool dataReceived = false;

            using (BodyFrame bodyFrame = e.FrameReference.AcquireFrame())
            {
                if (bodyFrame != null)
                {
                    if (this.bodies == null)
                    {
                        this.bodies = new Body[bodyFrame.BodyCount];
                    }

                    // The first time GetAndRefreshBodyData is called, Kinect will allocate each Body in the array.
                    // As long as those body objects are not disposed and not set to null in the array,
                    // those body objects will be re-used.
                    bodyFrame.GetAndRefreshBodyData(this.bodies);
                    dataReceived = true;
                }
            }

            if (dataReceived)
            {
                using (DrawingContext dc = this.drawingGroup.Open())
                {
                    // Draw a transparent background to set the render size
                    dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, this.displayWidth, this.displayHeight));

                    int penIndex = 0;
                    foreach (Body body in this.bodies)
                    {
                        Pen drawPen = this.bodyColors[penIndex++];

                        if (body.IsTracked)
                        {
                            //sendToServer(jointsToJSON(body.Joints));
                            //toFilie(jointsToJSON(body.Joints));
                            /*byte[] byData = System.Text.Encoding.UTF8.GetBytes(jointsToJSON(body.Joints));
                            soc.Send(byData);*/

                            byte[] data = new byte[2048];

                            string message = jointsToJSON(body.Joints) + '\n';
                            data = Encoding.UTF8.GetBytes(message);
                            handler.Send(data);

                     
                            this.DrawClippedEdges(body, dc);

                            IReadOnlyDictionary<JointType, Joint> joints = body.Joints;

                            // convert the joint points to depth (display) space
                            Dictionary<JointType, Point> jointPoints = new Dictionary<JointType, Point>();

                            foreach (JointType jointType in joints.Keys)
                            {
                                // sometimes the depth(Z) of an inferred joint may show as negative
                                // clamp down to 0.1f to prevent coordinatemapper from returning (-Infinity, -Infinity)
                                CameraSpacePoint position = joints[jointType].Position;
                                if (position.Z < 0)
                                {
                                    position.Z = InferredZPositionClamp;
                                }

                                DepthSpacePoint depthSpacePoint = this.coordinateMapper.MapCameraPointToDepthSpace(position);
                                jointPoints[jointType] = new Point(depthSpacePoint.X, depthSpacePoint.Y);
                            }

                            this.DrawBody(joints, jointPoints, dc, drawPen);

                            this.DrawHand(body.HandLeftState, jointPoints[JointType.HandLeft], dc);
                            this.DrawHand(body.HandRightState, jointPoints[JointType.HandRight], dc);
                        }
                    }

                    // prevent drawing outside of our render area
                    this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, this.displayWidth, this.displayHeight));
                }
            }
        }

        /// <summary>
        /// Draws a body
        /// </summary>
        /// <param name="joints">joints to draw</param>
        /// <param name="jointPoints">translated positions of joints to draw</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        /// <param name="drawingPen">specifies color to draw a specific body</param>
        private void DrawBody(IReadOnlyDictionary<JointType, Joint> joints, IDictionary<JointType, Point> jointPoints, DrawingContext drawingContext, Pen drawingPen)
        {
            // Draw the bones
            foreach (var bone in this.bones)
            {
                this.DrawBone(joints, jointPoints, bone.Item1, bone.Item2, drawingContext, drawingPen);
            }

            // Draw the joints
            foreach (JointType jointType in joints.Keys)
            {
                Brush drawBrush = null;

                TrackingState trackingState = joints[jointType].TrackingState;

                if (trackingState == TrackingState.Tracked)
                {
                    drawBrush = this.trackedJointBrush;
                }
                else if (trackingState == TrackingState.Inferred)
                {
                    drawBrush = this.inferredJointBrush;
                }

                if (drawBrush != null)
                {
                    drawingContext.DrawEllipse(drawBrush, null, jointPoints[jointType], JointThickness, JointThickness);
                }
            }
        }

        /// <summary>
        /// Draws one bone of a body (joint to joint)
        /// </summary>
        /// <param name="joints">joints to draw</param>
        /// <param name="jointPoints">translated positions of joints to draw</param>
        /// <param name="jointType0">first joint of bone to draw</param>
        /// <param name="jointType1">second joint of bone to draw</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        /// /// <param name="drawingPen">specifies color to draw a specific bone</param>
        private void DrawBone(IReadOnlyDictionary<JointType, Joint> joints, IDictionary<JointType, Point> jointPoints, JointType jointType0, JointType jointType1, DrawingContext drawingContext, Pen drawingPen)
        {
            Joint joint0 = joints[jointType0];
            Joint joint1 = joints[jointType1];

            // If we can't find either of these joints, exit
            if (joint0.TrackingState == TrackingState.NotTracked ||
                joint1.TrackingState == TrackingState.NotTracked)
            {
                return;
            }

            // We assume all drawn bones are inferred unless BOTH joints are tracked
            Pen drawPen = this.inferredBonePen;
            if ((joint0.TrackingState == TrackingState.Tracked) && (joint1.TrackingState == TrackingState.Tracked))
            {
                drawPen = drawingPen;
            }

            drawingContext.DrawLine(drawPen, jointPoints[jointType0], jointPoints[jointType1]);
        }

        /// <summary>
        /// Draws a hand symbol if the hand is tracked: red circle = closed, green circle = opened; blue circle = lasso
        /// </summary>
        /// <param name="handState">state of the hand</param>
        /// <param name="handPosition">position of the hand</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        private void DrawHand(HandState handState, Point handPosition, DrawingContext drawingContext)
        {
            switch (handState)
            {
                case HandState.Closed:
                    drawingContext.DrawEllipse(this.handClosedBrush, null, handPosition, HandSize, HandSize);
                    break;

                case HandState.Open:
                    drawingContext.DrawEllipse(this.handOpenBrush, null, handPosition, HandSize, HandSize);
                    break;

                case HandState.Lasso:
                    drawingContext.DrawEllipse(this.handLassoBrush, null, handPosition, HandSize, HandSize);
                    break;
            }
        }

        /// <summary>
        /// Draws indicators to show which edges are clipping body data
        /// </summary>
        /// <param name="body">body to draw clipping information for</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        private void DrawClippedEdges(Body body, DrawingContext drawingContext)
        {
            FrameEdges clippedEdges = body.ClippedEdges;

            if (clippedEdges.HasFlag(FrameEdges.Bottom))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(0, this.displayHeight - ClipBoundsThickness, this.displayWidth, ClipBoundsThickness));
            }

            if (clippedEdges.HasFlag(FrameEdges.Top))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(0, 0, this.displayWidth, ClipBoundsThickness));
            }

            if (clippedEdges.HasFlag(FrameEdges.Left))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(0, 0, ClipBoundsThickness, this.displayHeight));
            }

            if (clippedEdges.HasFlag(FrameEdges.Right))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(this.displayWidth - ClipBoundsThickness, 0, ClipBoundsThickness, this.displayHeight));
            }
        }

        /// <summary>
        /// Handles the event which the sensor becomes unavailable (E.g. paused, closed, unplugged).
        /// </summary>
        /// <param name="sender">object sending the event</param>
        /// <param name="e">event arguments</param>
        private void Sensor_IsAvailableChanged(object sender, IsAvailableChangedEventArgs e)
        {
            // on failure, set the status text
            this.StatusText = this.kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText
                                                            : Properties.Resources.SensorNotAvailableStatusText;
        }
    }
}