/*public void saveToCSV(string step)
* {
* var csv = new StringBuilder();
*
* // check if scnes dir exists
* if (!Directory.Exists(ProjectConstants.STUDY_DIR))
* {
* // if not create it
* Directory.CreateDirectory(ProjectConstants.STUDY_DIR);
* }
* string path = ProjectConstants.STUDY_DIR+ "\\PBD_"+ this.m_CsvNameTime +".csv";
*
*
* //var newLine = string.Format("{0},{1},{2}{3}", PBDManager.Instance.StartTime.ToString(), PBDManager.Instance.EndTime.ToString(), PBDManager.Instance.DurationTime.ToString(), Environment.NewLine);
* long now = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
* var newLine = string.Format("{0},{1},{2}{3}", step, now, now - m_CsvNameTime, Environment.NewLine);
* csv.Append(newLine);
*
* // File.WriteAllText( path, csv.ToString());
* File.AppendAllText(path, csv.ToString());
* }*/
public void checkAutomaticallyForAssemblyStep()
{
// PDB active?
if (StateManager.Instance.State == AllEnums.State.RECORD && !m_BlockAssemblyCheck && !m_BlockUntilObjectIsBackAgain)
{
long now = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
if (now - m_LlastWithdrawlTimestampInMillis > 10000) // was last withdrawl at least 10 seconds ago?
{
if (now - m_lastWorkingTimestampInMillis > 3000) //threshold
{
//did we already take a snapshot of this period
if (!m_AlreadyDetectedAssembly)
{
// user might be waiting for automatically created step
// check if something happened
AssemblyZone z = AssemblyZoneManager.Instance.createAssemblyZoneFromChanges();
if (z != null)
{
// block assembly until next pick
m_BlockAssemblyCheck = true;
// create a scene for displaying assemblyzone and add it to workflow
Scene.Scene autoScene = new Scene.Scene();
autoScene.Add(z.getDrawable(true));
AdaptiveScene adaptiveScene = new AdaptiveScene(autoScene, AdaptivityLevel.AdaptivityLevels.FirstOrDefault());
EditWorkflowManager.Instance.createStep(AllEnums.PBD_Mode.ASSEMBLY_DONE, adaptiveScene, "Zone-" + z.Id, z.TriggerMessage);
AssemblyZoneManager.Instance.CurrentLayout.AssemblyZones.Add(z);
m_AlreadyDetectedAssembly = true;
// temporarilty display feedback that zone was detected
Scene.Scene feedbackScene = new Scene.Scene();
Scene.SceneText text = new Scene.SceneText(0.5 * KinectManager.Instance.ImageSize.Width, 0.5 * KinectManager.Instance.ImageSize.Height, "Step created", System.Windows.Media.Color.FromRgb(255, 255, 255), 10.0, new System.Windows.Media.FontFamily("Arial"));
feedbackScene.Add(text);
SceneManager.Instance.TemporaryFeedbackScene = feedbackScene;
SceneManager.Instance.DisplayTempFeedback = true;
m_CreatedFeedbackTimestampInMillis = now;
}
// create a new snapshot
if (!m_IsUserWorking)
{
AssemblyZoneManager.Instance.createDepthSnapshot();
}
}
}
}
}
// maybe find a better place for this:
// check if the feedback should still be displayed
long nower = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
if (nower - m_CreatedFeedbackTimestampInMillis > m_FeedbackShow_Time)
{
SceneManager.Instance.DisplayTempFeedback = false;
SceneManager.Instance.TemporaryFeedbackScene.Clear();
}
}
private AllEnums.Direction isMouseOnObj(System.Windows.Point pPoint, AssemblyZone pRect)
{
if (pPoint.X >= pRect.X && pPoint.X <= (pRect.X + pRect.Width) &&
pPoint.Y >= pRect.Y - (BOX_BORDERWIDTH / 2) &&
pPoint.Y <= pRect.Y + (BOX_BORDERWIDTH / 2))
{
return(AllEnums.Direction.NORTH);
}
else if (pPoint.X >= pRect.X && pPoint.X <= (pRect.X + pRect.Width) &&
pPoint.Y >= pRect.Y + pRect.Height - (BOX_BORDERWIDTH / 2) &&
pPoint.Y <= pRect.Y + (BOX_BORDERWIDTH / 2) + pRect.Height)
{
return(AllEnums.Direction.SOUTH);
}
else if (pPoint.Y >= pRect.Y && pPoint.Y <= (pRect.Y + pRect.Height) &&
pPoint.X >= pRect.X - (BOX_BORDERWIDTH / 2) &&
pPoint.X <= pRect.X + (BOX_BORDERWIDTH / 2))
{
return(AllEnums.Direction.WEST);
}
else if (pPoint.Y >= pRect.Y && pPoint.Y <= (pRect.Y + pRect.Height) &&
pPoint.X >= pRect.X + pRect.Width - (BOX_BORDERWIDTH / 2) &&
pPoint.X <= pRect.X + (BOX_BORDERWIDTH / 2) + pRect.Width)
{
return(AllEnums.Direction.EAST);
}
return(AllEnums.Direction.NONE);
}
public EditAssemblyZoneDialog(AssemblyZone z)
{
InitializeComponent();
m_Zone = z;
textBoxAssemblyZoneName.Text = m_Zone.Name;
inputMatchPercentageOffset.Value = (int)m_Zone.MatchPercentageOffset;
}
private float calculateCurrentMeanDepth(AssemblyZone pZone)
{
Image <Gray, Int32> img = HciLab.Kinect.CameraManager.Instance.DepthImage;
int count = 0;
long sum = 0;
for (int x = pZone.X; x < pZone.Width; x++)
{
for (int y = pZone.Y; y < pZone.Height; y++)
{
int depthval = img.Data[y, x, 0];
int real_depthval = depthval;
if (AdminView.Instance.IsKinectActive)
{
real_depthval = depthval / KinectManager.SCALE_FACTOR;
}
if (real_depthval != 0)
{
sum = sum + real_depthval;
count++;
}
}
}
if (count == 0)
{
return(0);
}
else
{
return(sum / count);
}
}
public void checkQSModeEndConditions(AssemblyZone zone)
{
bool allDone = true;
for (int i = m_CurrentWorkingStepNumber; i < m_CurrentWorkingStepNumber + m_NumQS; i++)
{
if (!m_QSFullfilled[i])
{
var step = LoadedWorkflow.WorkingSteps.ElementAt(i);
if (step.EndConditionObjectName == ("" + zone.TriggerMessage))
{
m_QSFullfilled[i] = true;
LoadQSModeScene();
}
else
{
allDone = false;
}
}
}
if (allDone)
{
m_QSMode = false;
NotifyPropertyChanged("QSModeEnabled");
m_CurrentWorkingStepNumber = m_CurrentWorkingStepNumber + m_NumQS;
LoadCurrentWorkingStep();
}
}
private void MenuItemSetTrigger_Cick(object sender, RoutedEventArgs e)
{
Object o = listBoxAssemblyZones.SelectedItem;
if (m_WorkflowListview.SelectedIndex >= 0 && o is AssemblyZone)
{
WorkingStep selectedWorkingStep = (WorkingStep)m_WorkflowListview.SelectedItem;
AssemblyZone selectedAssemblyZone = (AssemblyZone)o;
//Create new Failstate
selectedWorkingStep.EndConditionObjectName = selectedAssemblyZone.TriggerMessage;
}
}
private void MenuItemCreateErrorTrigger_Cick(object sender, RoutedEventArgs e)
{
Object o = listBoxAssemblyZones.SelectedItem;
if (m_WorkflowListview.SelectedIndex >= 0 && o is AssemblyZone)
{
WorkingStep selectedWorkingStep = (WorkingStep)m_WorkflowListview.SelectedItem;
AssemblyZone selectedAssemblyZone = (AssemblyZone)o;
//Create new Failstate
selectedWorkingStep.CreateFailState(selectedAssemblyZone.TriggerMessage);
}
}
private void buttonAssemblyZoneDetectZone_Click(object sender, RoutedEventArgs e)
{
AssemblyZone z = AssemblyZoneManager.Instance.createAssemblyZoneFromChanges();
if (z != null)
{
// Set collection to null to force refresh
Resources["checkBoxCollection"] = null;
AssemblyZoneManager.Instance.CurrentLayout.AssemblyZones.Add(z);
// Refresh checkBoxCollection in XAML
Resources["checkBoxCollection"] = AssemblyZoneManager.Instance.CurrentLayout.AssemblyZones;
}
}
private void MenuItem_EditCustomScene(object sender, RoutedEventArgs e)
{
var selectedItem = m_ListBoxAssemblyZoneWuerfel.SelectedItem;
if (selectedItem is AssemblyZone)
{
AssemblyZone b = (AssemblyZone)selectedItem;
// call editor
if (b != null)
{
SceneItem item;
if (b.CustomScene == null)
{
item = b.getDrawable(false);
item.Touchy = true;
SceneEditorDialog dlg;
// set Editor Mode
StateManager.Instance.SetNewState(this, HciLab.motionEAP.InterfacesAndDataModel.AllEnums.State.EDIT);
SceneManager.Instance.CurrentScene.Clear();
SceneManager.Instance.CurrentScene.Add(item);
dlg = new SceneEditorDialog(b);
dlg.Show();
}
else
{
SceneEditorDialog dlg;
// set Editor Mode
StateManager.Instance.SetNewState(this, HciLab.motionEAP.InterfacesAndDataModel.AllEnums.State.EDIT);
SceneManager.Instance.CurrentScene.Clear();
if (b.CustomScene is Scene.Scene)
{
Scene.Scene scene = (Scene.Scene)b.CustomScene;
foreach (SceneItem itemIter in scene.Items)
{
itemIter.Touchy = true;
}
SceneManager.Instance.CurrentScene = scene;
dlg = new SceneEditorDialog(b);
dlg.Show();
}
}
}
}
}
private float getPercentageMatchingDepthArray(AssemblyZone pZone)
{
int LowerTolerance = SettingsManager.Instance.Settings.AssemblyZonesInputMatchTolerance;
int UpperTolerance = SettingsManager.Instance.Settings.AssemblyZonesInputMatchTolerance;
Image <Gray, Int32> img = HciLab.Kinect.CameraManager.Instance.DepthImage;
if (pZone.DepthArray.GetLength(0) != pZone.Width || pZone.DepthArray.GetLength(1) != pZone.Height)
{
return(-1.0f);
}
int sum = 0;
int within = 0;
for (int x = pZone.X; x < pZone.X + pZone.Width; x++)
{
for (int y = pZone.Y; y < pZone.Y + pZone.Height; y++)
{
int depthval = img.Data[y, x, 0];
int matchval = pZone.DepthArray[x - pZone.X, y - pZone.Y];
int real_depth = depthval;
int real_matchval = matchval;
if (AdminView.Instance.IsKinectActive)
{
real_depth = depthval / KinectManager.SCALE_FACTOR;
real_matchval = matchval / KinectManager.SCALE_FACTOR;
}
if (real_matchval != 0 && real_depth != 0 && (!pZone.UseDepthmask || pZone.DepthMask[x - pZone.X, y - pZone.Y]))
//Skip zero values (== invalid values) // skip depth mask values
{
sum = sum + 1;
if ((real_depth < (real_matchval + UpperTolerance)) && (real_depth > (real_matchval - LowerTolerance)))
{
within = within + 1;
}
}
}
}
float percentage = 0.0f;
if (sum != 0)
{
percentage = ((float)within) / ((float)sum);
}
return(percentage);
}
private void initializeDrag(System.Windows.Point p)
{
foreach (AssemblyZone b in AssemblyZoneManager.Instance.CurrentLayout.AssemblyZones)
{
if (b.IsSelected)
{
m_DragMode = isMouseOnObj(p, b);
if (m_DragMode != AllEnums.Direction.NONE)
{
m_DraggedObj = b;
m_DragEnabled = true;
return;
}
}
}
m_DragEnabled = false;
}
/// <summary>
/// Listener which handles the deletion of one or multiple selected assemblyzones
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void MenuItem_DeleteSelectedAssemblyZone(object sender, RoutedEventArgs e)
{
// Get list with selected items. This list contains only elements which are selected
IList selectedItems = m_ListBoxAssemblyZoneWuerfel.SelectedItems;
int amountOfSelectedItems = selectedItems.Count;
for (int i = 0; i < amountOfSelectedItems; i++)
{
if (selectedItems.Count > 0)
{
if (m_ListBoxAssemblyZoneWuerfel.Items.Contains(selectedItems[0]))
{
AssemblyZone b = (AssemblyZone)selectedItems[0];
AssemblyZoneManager.Instance.CurrentLayout.AssemblyZones.Remove(b);
}
}
}
}
private void MenuItem_EditSelectedAssemblyZone(object sender, RoutedEventArgs e)
{
var selectedItem = m_ListBoxAssemblyZoneWuerfel.SelectedItem;
if (selectedItem is AssemblyZone)
{
AssemblyZone b = (AssemblyZone)selectedItem;
EditAssemblyZoneDialog dlg = new EditAssemblyZoneDialog(b);
dlg.ShowDialog(); // blocking
if (dlg.wasOkay())
{
Resources["checkBoxCollection"] = null;
AssemblyZone editedAssemblyZone = dlg.EditedAssemblyZone;
AssemblyZoneManager.Instance.updateCurrentAssemblyZone(editedAssemblyZone);
Resources["checkBoxCollection"] = AssemblyZoneManager.Instance.CurrentLayout.AssemblyZones;
}
}
}
/// <summary>
/// Manual create a new AssemblyZone by clicking on to the GUI
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void createANewObj(object sender, MouseButtonEventArgs e)
{
Image <Gray, Int32> img = HciLab.Kinect.CameraManager.Instance.DepthImage;
if (img != null)
{
// define a new zone
AssemblyZone z = AssemblyZoneManager.Instance.createAssemblyZoneFromFactory();
z.X = (int)e.GetPosition(m_Image).X;
z.Y = (int)e.GetPosition(m_Image).Y;
z.Z = img.Data[z.Y, z.X, 0];
if (z.Z == 0)
{
AssemblyZoneManager.Instance.decreaseIDByOne();
return;
}
// check if box is bigger than depth frame
if (MANUAL_ZONE_WIDTH + z.X < img.Width)
{
z.Width = MANUAL_ZONE_WIDTH;
}
else
{
z.Width = img.Width - z.X;
}
if (MANUAL_ZONE_HEIGHT + z.Y < img.Height)
{
z.Height = MANUAL_ZONE_HEIGHT;
}
else
{
z.Height = img.Height - z.Y;
}
z.DepthArray = AssemblyZoneManager.getDepthArrayFromAssemblyZone(z);
Resources["checkBoxCollection"] = null;
AssemblyZoneManager.Instance.CurrentLayout.AssemblyZones.Add(z);
Resources["checkBoxCollection"] = AssemblyZoneManager.Instance.CurrentLayout.AssemblyZones;
}
}
private void createAssemblyButton_Click(object sender, RoutedEventArgs e)
{
Object o = listBoxAssemblyZones.SelectedItem;
if (o != null)
{
if (o is AssemblyZone)
{
AssemblyZone z = (AssemblyZone)o;
AdaptiveScene easyScene = new AdaptiveScene(EditWorkflowManager.Instance.getAssemblyZoneAutoScene(z), AdaptivityLevel.AdaptivityLevels.First());
AdaptiveScene mediumScene = new AdaptiveScene(EditWorkflowManager.Instance.getAssemblyZoneAutoScene(z), AdaptivityLevel.AdaptivityLevels.ElementAt(1));
var adaptiveScenes = new List <AdaptiveScene> {
easyScene, mediumScene
};
EditWorkflowManager.Instance.createStep(HciLab.motionEAP.InterfacesAndDataModel.AllEnums.PBD_Mode.ASSEMBLY_DONE, adaptiveScenes, "Zone-" + z.Id, z.TriggerMessage);
}
}
}
public void checkEndConditionspublic(AssemblyZone zone)
{
if (m_LoadedWorkflow != null)
{
if (m_CurrentWorkingStepNumber < m_LoadedWorkflow.WorkingSteps.Count)
{
if (m_QSMode)
{
checkQSModeEndConditions(zone);
}
else
{
WorkingStep step = m_LoadedWorkflow.WorkingSteps.ElementAt(m_CurrentWorkingStepNumber);
if (step.EndConditionObjectName == ("" + zone.TriggerMessage))
{
// trigger next step
NextWorkingStep(AllEnums.WorkingStepEndConditionTrigger.ASSEMBLY_ZONE);
}
int i = 0;
while (step.HasFailstate(i))
{
if (step.GetFailState(i).CheckForFail(zone.TriggerMessage))
{
// trigger FailEvent
OnFailStateOccured(step.GetFailState(i));
// Show Error Scene
SceneManager.Instance.CurrentScene = step.GetFailStateScene(i);
m_AssemblyErrors++;
}
i++;
}
}
}
}
}
