[Fact] public void Div_Int()
{
Data_Generator dg = new Data_Generator();
Hand_Generator hg = new Hand_Generator(dg);
var dat_j1 = hg.newJoints();
var dat_f = dg.newInt(100);
var exp_j = hg.newJoints();
var mock_vh = new Mock <IVectorHelper>();
mock_vh.Setup(m => m.divList(dat_j1.pinky, dat_f)).Returns(exp_j.pinky);
mock_vh.Setup(m => m.divList(dat_j1.ring, dat_f)).Returns(exp_j.ring);
mock_vh.Setup(m => m.divList(dat_j1.middle, dat_f)).Returns(exp_j.middle);
mock_vh.Setup(m => m.divList(dat_j1.index, dat_f)).Returns(exp_j.index);
mock_vh.Setup(m => m.divList(dat_j1.thumb, dat_f)).Returns(exp_j.thumb);
mock_vh.Setup(m => m.div(dat_j1.palm, dat_f)).Returns(exp_j.palm);
JointsHelper jh = new JointsHelper(mock_vh.Object);
var act_j = jh.div(dat_j1, dat_f);
mock_vh.Verify(m => m.divList(dat_j1.pinky, dat_f), Times.Once());
mock_vh.Verify(m => m.divList(dat_j1.ring, dat_f), Times.Once());
mock_vh.Verify(m => m.divList(dat_j1.middle, dat_f), Times.Once());
mock_vh.Verify(m => m.divList(dat_j1.index, dat_f), Times.Once());
mock_vh.Verify(m => m.divList(dat_j1.thumb, dat_f), Times.Once());
mock_vh.Verify(m => m.div(dat_j1.palm, dat_f), Times.Once());
test.jointsEqual(exp_j, act_j);
}
[Fact] public void Add()
{
Data_Generator dg = new Data_Generator();
Hand_Generator hg = new Hand_Generator(dg);
var dat_j1 = hg.newJoints();
var dat_j2 = hg.newJoints();
var exp_j = hg.newJoints();
var mock_vh = new Mock <IVectorHelper>();
mock_vh.Setup(m => m.addList(dat_j1.pinky, dat_j2.pinky)).Returns(exp_j.pinky);
mock_vh.Setup(m => m.addList(dat_j1.ring, dat_j2.ring)).Returns(exp_j.ring);
mock_vh.Setup(m => m.addList(dat_j1.middle, dat_j2.middle)).Returns(exp_j.middle);
mock_vh.Setup(m => m.addList(dat_j1.index, dat_j2.index)).Returns(exp_j.index);
mock_vh.Setup(m => m.addList(dat_j1.thumb, dat_j2.thumb)).Returns(exp_j.thumb);
mock_vh.Setup(m => m.add(dat_j1.palm, dat_j2.palm)).Returns(exp_j.palm);
JointsHelper jh = new JointsHelper(mock_vh.Object);
var act_j = jh.add(dat_j1, dat_j2);
mock_vh.Verify(m => m.addList(dat_j1.pinky, dat_j2.pinky), Times.Once());
mock_vh.Verify(m => m.addList(dat_j1.ring, dat_j2.ring), Times.Once());
mock_vh.Verify(m => m.addList(dat_j1.middle, dat_j2.middle), Times.Once());
mock_vh.Verify(m => m.addList(dat_j1.index, dat_j2.index), Times.Once());
mock_vh.Verify(m => m.addList(dat_j1.thumb, dat_j2.thumb), Times.Once());
mock_vh.Verify(m => m.add(dat_j1.palm, dat_j2.palm), Times.Once());
test.jointsEqual(exp_j, act_j);
}
[Fact] public void Pow()
{
Data_Generator dg = new Data_Generator();
Hand_Generator hg = new Hand_Generator(dg);
var dat_j1 = hg.newJoints();
var exp_j = hg.newJoints();
var mock_vh = new Mock <IVectorHelper>();
mock_vh.Setup(m => m.powList(dat_j1.pinky, 2)).Returns(exp_j.pinky);
mock_vh.Setup(m => m.powList(dat_j1.ring, 2)).Returns(exp_j.ring);
mock_vh.Setup(m => m.powList(dat_j1.middle, 2)).Returns(exp_j.middle);
mock_vh.Setup(m => m.powList(dat_j1.index, 2)).Returns(exp_j.index);
mock_vh.Setup(m => m.powList(dat_j1.thumb, 2)).Returns(exp_j.thumb);
mock_vh.Setup(m => m.pow(dat_j1.palm, 2)).Returns(exp_j.palm);
JointsHelper jh = new JointsHelper(mock_vh.Object);
var act_j = jh.pow(dat_j1, 2);
mock_vh.Verify(m => m.powList(dat_j1.pinky, 2), Times.Once());
mock_vh.Verify(m => m.powList(dat_j1.ring, 2), Times.Once());
mock_vh.Verify(m => m.powList(dat_j1.middle, 2), Times.Once());
mock_vh.Verify(m => m.powList(dat_j1.index, 2), Times.Once());
mock_vh.Verify(m => m.powList(dat_j1.thumb, 2), Times.Once());
mock_vh.Verify(m => m.pow(dat_j1.palm, 2), Times.Once());
test.jointsEqual(act_j, exp_j);
}
[Fact] public void HandToJoints()
{
Data_Generator dg = new Data_Generator();
Hand_Generator hg = new Hand_Generator(dg);
List <Vector[]> dat_vL = new List <Vector[]>()
{
dg.newVectors(5),
dg.newVectors(5),
dg.newVectors(5),
dg.newVectors(5),
dg.newVectors(5),
};
List <Finger> dat_fL = hg.newFingerList(dat_vL);
Hand dat_hand = hg.newHand(dat_fL);
Joints exp_joints = new Joints {
pinky = dat_vL[0],
ring = dat_vL[1],
middle = dat_vL[2],
index = dat_vL[3],
thumb = dat_vL[4],
palm = dat_hand.PalmPosition
};
VectorHelper vh = new VectorHelper();
JointsHelper jh = new JointsHelper(vh);
Joints act_joints = jh.handToJoints(dat_hand);
test.jointsEqual(exp_joints, act_joints);
}
[Fact] public void LowestJoint()
{
Data_Generator dg = new Data_Generator();
Hand_Generator hg = new Hand_Generator(dg);
Hand dat_hand = hg.newHand(hg.newFingerList());
Vector exp_joint = new Vector(-1, -1, -1);
dat_hand.Fingers[4].bones[3].NextJoint = exp_joint;
VectorHelper vh = new VectorHelper();
JointsHelper jh = new JointsHelper(vh);
Vector act_joint = jh.lowestJoint(dat_hand);
}
[Fact] public void FingerToVectors()
{
Data_Generator dg = new Data_Generator();
Hand_Generator hg = new Hand_Generator(dg);
Finger inp_finger = hg.newFinger(dg.newVectors(5));
Vector[] exp_vL = new Vector[] {
inp_finger.bones[0].PrevJoint,
inp_finger.bones[1].PrevJoint,
inp_finger.bones[2].PrevJoint,
inp_finger.bones[3].PrevJoint,
inp_finger.bones[3].NextJoint,
};
VectorHelper vh = new VectorHelper();
JointsHelper jh = new JointsHelper(vh);
Vector[] act_vL = jh.fingerToVectors(inp_finger);
test.vectorsEqual(exp_vL, act_vL);
}
[Fact] public void Emit()
{
Data_Generator dg = new Data_Generator();
Hand_Generator hg = new Hand_Generator(dg);
VectorHelper vh = new VectorHelper();
JointsHelper jh = new JointsHelper(vh);
AmplitudeModulationEmitter mock_emitter = new AmplitudeModulationEmitter("MockDevice:U5;logfile=log.txt");
var j = hg.newJoints();
bool exp = false;
bool act = false;
var haptic = new Haptic(jh, mock_emitter);
var point = haptic.AquireTarget(j);
var points = new List <AmplitudeModulationControlPoint>();
points.Add(point);
exp = mock_emitter.update(points);
act = haptic.Emit(points);
Assert.Equal(exp, act);
}
[Fact] public void MinMax()
{
Data_Generator dg = new Data_Generator();
Hand_Generator hg = new Hand_Generator(dg);
(Joints min, Joints max, Joints j)dat;
dat.j = hg.newJoints();
dat.min = new Joints(dg.newMinVectors(5), dg.newMinVectors(5), dg.newMinVectors(5), dg.newMinVectors(5),
dg.newMinVectors(5), dg.newMinVector(), dg.newFloat(100));
dat.max = new Joints(dg.newZeroVectors(5), dg.newZeroVectors(5), dg.newZeroVectors(5), dg.newZeroVectors(5),
dg.newZeroVectors(5), dg.newZeroVector(), dg.newFloat(100));
(Joints min, Joints max)exp;
exp.min = dat.min;
exp.max = dat.j;
var vH = new VectorHelper();
var jH = new JointsHelper(vH);
var act = jH.minMax(dat.min, dat.max, dat.j);
test.jointsEqual(exp.min, act.min);
test.jointsEqual(exp.max, act.max);
}
public Haptic(JointsHelper hand, AmplitudeModulationEmitter emitter)
{
jh = hand;
ee = emitter;
}
public static void Main()
{
Thread newWindowThread = new Thread(new ThreadStart(() =>
{
// create and show the window
App obj = new App();
// start the Dispatcher processing
System.Windows.Threading.Dispatcher.Run();
}));
newWindowThread.SetApartmentState(ApartmentState.STA);
newWindowThread.IsBackground = true;
newWindowThread.Start();
while (!GBL.DONE_EDITING)
{
System.Threading.Thread.Sleep(1000);
}
// Connect to LeapMotion Controller
Console.WriteLine("Initializing Leap...");
var leapMotion = new Controller();
do
{
System.Threading.Thread.Sleep(1000);
Console.WriteLine(".");
} while (!leapMotion.IsConnected);
Console.WriteLine("Leap ready.");
// Connect to UHDK5 ultrasonic emitters
Console.WriteLine("Initializing UHDK5...");
var uhdk5 = new AmplitudeModulationEmitter();
Console.WriteLine("UHDK5 ready.");
Console.WriteLine("Dog Friendly Mode: " + GBL.DOG_FRIENDLY);
// Connect virtual MIDI ports
Console.WriteLine("Initializing virtual MIDI ports...");
MIDI.logging(MIDI.TE_VM_LOGGING_MISC | MIDI.TE_VM_LOGGING_RX | MIDI.TE_VM_LOGGING_TX);
var leftManu = new Guid("aa4e075f-3504-4aab-9b06-9a4104a91cf0");
var leftProd = new Guid("bb4e075f-3504-4aab-9b06-9a4104a91cf0");
var leftMIDI = new MIDI("Air Drums Left Hand", 65535, MIDI.TE_VM_FLAGS_PARSE_RX, ref leftManu, ref leftProd);
var rightManu = new Guid("cc4e075f-3504-4aab-9b06-9a4104a91cf0");
var rightProd = new Guid("dd4e075f-3504-4aab-9b06-9a4104a91cf0");
var rightMIDI = new MIDI("Air Drums Right Hand", 65535, MIDI.TE_VM_FLAGS_PARSE_RX, ref rightManu, ref rightProd);
Console.WriteLine("MIDI resources ready.");
// Haptics resources
var hapticTargets = new List <AmplitudeModulationControlPoint>();
var hapticTimes = new List <int>();
var hapticVH = new VectorHelper();
var hapticJH = new JointsHelper(hapticVH);
var haptic = new Haptic(hapticJH, uhdk5);
// MIDI resources
var leftComTable = new Commands(true);
var leftNotes = new List <int>();
var leftTimes = new List <int>();
var leftPort = new Port(leftMIDI);
var rightComTable = new Commands(false);
var rightNotes = new List <int>();
var rightTimes = new List <int>();
var rightPort = new Port(rightMIDI);
// Classification resources
var leftVH = new VectorHelper();
var leftJH = new JointsHelper(leftVH);
var leftStats = new Stats(leftJH);
var leftClassify = new Classify(leftVH, leftStats);
var leftQueues = new Queues(leftJH);
var leftDataManager = new DataManager(leftQueues, true);
var rightVH = new VectorHelper();
var rightJH = new JointsHelper(rightVH);
var rightStats = new Stats(rightJH);
var rightClassify = new Classify(rightVH, rightStats);
var rightQueues = new Queues(rightJH);
var rightDataManager = new DataManager(rightQueues, false);
// Concurrency structures
var leftFrameStream = new ConcurrentQueue <Frame>();
var leftCommandStream = new ConcurrentQueue <int>();
var rightFrameStream = new ConcurrentQueue <Frame>();
var rightCommandStream = new ConcurrentQueue <int>();
var hapticStream = new ConcurrentQueue <Joints>();
// Processes
var data = new Proc_Data(leapMotion, leftFrameStream, rightFrameStream) as IProc;
var leftGesture = new Proc_Gesture(leftClassify, leftDataManager, leftVH, leftFrameStream, leftCommandStream, hapticStream) as IProc;
var leftCommand = new Proc_MIDI(leftPort, leftCommandStream, leftNotes, leftTimes, leftComTable) as IProc;
var rightGesture = new Proc_Gesture(rightClassify, rightDataManager, rightVH, rightFrameStream, rightCommandStream, hapticStream) as IProc;
var rightCommand = new Proc_MIDI(rightPort, rightCommandStream, rightNotes, rightTimes, rightComTable) as IProc;
var haptics = new Proc_Haptics(haptic, hapticStream, hapticTargets, hapticTimes) as IProc;
// Instantiate threads with looped pipelines
var dataThread = new Thread(data.Loop);
var leftGestureThread = new Thread(leftGesture.Loop);
var rightGestureThread = new Thread(rightGesture.Loop);
var leftCommandThread = new Thread(leftCommand.Loop);
var rightCommandThread = new Thread(rightCommand.Loop);
var hapticsThread = new Thread(haptics.Loop);
// Start threads
dataThread.Start();
leftGestureThread.Start();
rightGestureThread.Start();
leftCommandThread.Start();
rightCommandThread.Start();
hapticsThread.Start();
}
