static void Main(string[] args)
{
int commandPort = args.Length > 0 ? int.Parse(args.First()) : 10500;
RemoteTCPSlave tcp = new RemoteTCPSlave(commandPort);
CancellationTokenSource ender = new CancellationTokenSource();
Console.WriteLine("Ctrl-C to exit!");
Console.CancelKeyPress += (o, e) =>
{
ender.Cancel();
};
KinectSensor sensor = KinectSensor.KinectSensors.First(s => s.Status == KinectStatus.Connected);
sensor.Start();
Task proc = tcp.ProcessIncomingClients(ender.Token);
while (!ender.IsCancellationRequested)
{
if (proc.IsCompleted)
proc = tcp.ProcessIncomingClients(ender.Token);
HandleDepthStreams(tcp, sensor);
HandleColorStreams(tcp, sensor);
HandleSkeletonStreams(tcp, sensor);
Thread.Yield();
}
tcp.Close();
}
static void HandleDepthStreams(RemoteTCPSlave tcp, KinectSensor sensor)
{
NetworkStream[] streams = tcp[Commands.Depth80];
Commands command = Commands.Depth80;
if (streams.Length == 0)
{
streams = tcp[Commands.Depth320];
if (streams.Length == 0)
{
streams = tcp[Commands.Depth640];
if (streams.Length == 0)
return;
else
command = Commands.Depth640;
}
else
command = Commands.Depth320;
}
Enable(sensor, command);
SendDepth(sensor, streams, command);
}
static void HandleSkeletonStreams(RemoteTCPSlave tcp, KinectSensor sensor)
{
var streams = tcp[Commands.Skeleton];
if (streams.Length == 0)
return;
Enable(sensor, Commands.Skeleton);
SendSkeleton(sensor, streams, Commands.Skeleton);
}
static void HandleColorStreams(RemoteTCPSlave tcp, KinectSensor sensor)
{
NetworkStream[] streams = tcp[Commands.Color640];
Commands command = Commands.Color640;
if (streams.Length == 0)
{
streams = tcp[Commands.Color1280];
if (streams.Length == 0)
{
return;
}
else
command = Commands.Color1280;
}
Enable(sensor, command);
SendColor(sensor, streams, command);
}
