internal static Standalone Create(StandaloneType type,string arguments,bool log = false)
{
Standalone executable = new Standalone();
switch(type)
{
case StandaloneType.Calibration:
executable.StartInfo = new ProcessStartInfo()
{
FileName = CalibrationExe,
Arguments = arguments,
WorkingDirectory = CalibrationWorkingDir,
UseShellExecute = false,
RedirectStandardOutput = true,
RedirectStandardError = true,
CreateNoWindow = true
};
break;
case StandaloneType.Reconstruction:
var workingdir = Path.GetDirectoryName(ReconstructionExe);
executable.StartInfo = new ProcessStartInfo()
{
FileName = ReconstructionExe,
WorkingDirectory = workingdir,
//Arguments = workingdir + " " + arguments,
Arguments = arguments + DefaultReconstructionParameters,
UseShellExecute = false,
RedirectStandardOutput = true,
RedirectStandardError = true,
//CreateNoWindow = true
};
break;
case StandaloneType.Synchronization:
executable.StartInfo = new ProcessStartInfo()
{
FileName = SynchronizationExe,
Arguments = arguments,
UseShellExecute = false,
RedirectStandardOutput = true,
RedirectStandardError = true,
CreateNoWindow = true
};
break;
// case StandaloneType.Evaluation:
// break;
case StandaloneType.None:
default:
break;
}
if(log)
{
executable.IsLogging = true;
executable.logger = new StreamWriter(Path.Combine(arguments.Split(new string[]{" "},StringSplitOptions.RemoveEmptyEntries)[1],LogFile));
executable.process.OutputDataReceived += (sender, e) =>
{
executable.logger.WriteLine(e.Data);
Console.Standalone.Log(e.Data);
};
executable.process.ErrorDataReceived += (sender, e) =>
{
executable.logger.WriteLine(e.Data);
Console.Standalone.Error(e.Data);
};
}
return executable;
}
private void InitStateMachine()
{
this.State = KinectState.None;
this.machine = new StateMachine<KinectState,KinectAction>(() => this.State,(state) => this.State = state);
// No State Config
this.machine.Configure(KinectState.None)
.OnEntry(() =>
{
StartCoroutine("AcceptConnections");
StopCoroutine("AcceptMessages");
})
.Permit(KinectAction.Init,KinectState.Idle);
// Idle State Config
this.machine.Configure(KinectState.Idle)
.OnEntryFrom(KinectAction.Init,() => StartCoroutine("AcceptMessages"))
.Permit(KinectAction.Reinit,KinectState.None)
.Permit(KinectAction.Reconstruct,KinectState.Reconstructing)
.Permit(KinectAction.Calibrate,KinectState.Calibrating)
.Permit(KinectAction.Sync,KinectState.Syncing)
.Permit(KinectAction.Record,KinectState.Recording);
// Calibrating State Config
this.machine.Configure(KinectState.Calibrating)
.OnEntryFrom(KinectAction.Calibrate,() =>
{
StartCoroutine("WaitCapture",KinectAction.Calibrate);
this.SendToAll(new Message(MessageType.Start,MessageParameter.Calibrate));
this.doneReceivedNeeded = this.config.ClientCount;
})
.OnExit(() =>
{
})
.PermitDynamic(KinectAction.Stop,() =>
{
this.SendToAll(new Message(MessageType.Stop,MessageParameter.Calibrate));
return KinectState.StopCalibrating;
})
.Permit(KinectAction.Reinit,KinectState.None)
.PermitDynamic(KinectAction.Done,() => --this.doneReceivedNeeded == 0 ? KinectState.WaitingCalibratingTransfer : KinectState.Calibrating);
// Stop Calibrating State Config
this.machine.Configure(KinectState.StopCalibrating)
.OnEntryFrom(KinectAction.Stop,() =>
{
this.doneReceivedNeeded = this.config.ClientCount;
StopCoroutine("WaitCapture");
this.CurrentCaptureProgress = 0.0f;
})
.PermitDynamic(KinectAction.Done,() => --this.doneReceivedNeeded == 0 ? KinectState.Idle : KinectState.StopCalibrating);
// Waiting Calibration Transfer State Config
this.machine.Configure(KinectState.WaitingCalibratingTransfer)
.OnEntryFrom(KinectAction.Done,() =>
{
this.SendToAll(new Message(MessageType.Merge,MessageParameter.Calibrate));
this.doneReceivedNeeded = this.config.ClientCount;
})
.Permit(KinectAction.Reinit,KinectState.None)
.Permit(KinectAction.Stop,KinectState.Idle)
.PermitDynamic(KinectAction.Merge,() => --this.doneReceivedNeeded == 0 ? KinectState.CalibratingTransfer : KinectState.WaitingCalibratingTransfer);
// Transfering Calibration State Config
this.machine.Configure(KinectState.CalibratingTransfer)
.OnEntryFrom(KinectAction.Merge,() =>
{
if(this.fileReceivers.All((receiver) => receiver.TryNext()))
{
StartCoroutine("WaitTransfer",KinectAction.Calibrate);
}//TODO: missing case
this.doneReceivedNeeded = this.config.ClientCount;
})
.OnExit(() =>
{
if(this.fileReceivers.Any((receiver) => receiver.Pending))
{
foreach(var receiver in this.fileReceivers.Where((receiver) => receiver.Pending))
{
receiver.Abort();
}
this.SendToAll(new Message(MessageType.Stop,MessageParameter.Merge));
this.CurrentTransferProgress = 0.0f;
}
})
.Permit(KinectAction.Stop,KinectState.Idle)
.Permit(KinectAction.Reinit,KinectState.None)
.PermitDynamic(KinectAction.Done,() =>--this.doneReceivedNeeded == 0 ? KinectState.ProcessingCalibration : KinectState.CalibratingTransfer);
// Processing Calibration State Config
this.machine.Configure(KinectState.ProcessingCalibration)
.OnEntry(() =>
{
this.calibrationExe = Standalone.Factory.Create(
StandaloneType.Calibration,this.FindMostRecent(this.config.CalibrationOutputDirectory),true);
StartCoroutine("WaitStandalone",this.calibrationExe);
Console.Important("<b><color=lightblue>Calibration Process Started !</color></b>");
})
.OnExit(() =>
{
StopCoroutine("WaitStandalone");
this.calibrationExe.Stop();
Console.Important("<b><color=orange>Calibration Process Ended !</color></b>");
})
.Permit(KinectAction.Reinit,KinectState.None)
.Permit(KinectAction.Done,KinectState.Idle);
// Syncing State Config
this.machine.Configure(KinectState.Syncing)
.OnEntryFrom(KinectAction.Sync,() =>
{
StartCoroutine("WaitCapture",KinectAction.Sync);
this.SendToAll(new Message(MessageType.Start,MessageParameter.Sync));
this.doneReceivedNeeded = this.config.ClientCount;
})
.PermitDynamic(KinectAction.Stop,() =>
{
this.SendToAll(new Message(MessageType.Stop,MessageParameter.Sync));
return KinectState.StopSyncing;
})
.Permit(KinectAction.Reinit,KinectState.None)
.PermitDynamic(KinectAction.Done,() =>--this.doneReceivedNeeded == 0 ? KinectState.WaitingSyncingTransfer : KinectState.Syncing);
// Stop Syncing State Config
this.machine.Configure(KinectState.StopSyncing)
.OnEntryFrom(KinectAction.Stop,() =>
{
this.doneReceivedNeeded = this.config.ClientCount;
StopCoroutine("WaitCapture");
this.CurrentCaptureProgress = 0.0f;
})
.PermitDynamic(KinectAction.Done,() => --this.doneReceivedNeeded == 0 ? KinectState.Idle : KinectState.StopSyncing);
// Waiting Syncing Transfer State Config
this.machine.Configure(KinectState.WaitingSyncingTransfer)
.OnEntryFrom(KinectAction.Done,() =>
{
this.SyncRecordingConfidence = this.kinects.Aggregate(0.0f,(seed,kinect) => seed += kinect.Elapsed.FPS / AudioNominalFPS) / this.kinects.Count;
this.SendToAll(new Message(MessageType.Merge,MessageParameter.Sync));
this.doneReceivedNeeded = this.config.ClientCount;
})
.Permit(KinectAction.Reinit,KinectState.None)
.PermitDynamic(KinectAction.Merge,() => --this.doneReceivedNeeded == 0 ? KinectState.SyncingTransfer : KinectState.WaitingSyncingTransfer);
// Transfering Syncing State Config
this.machine.Configure(KinectState.SyncingTransfer)
.OnEntryFrom(KinectAction.Merge,() =>
{
if(this.fileReceivers.All((receiver) => receiver.TryNext()))
{
StartCoroutine("WaitTransfer",KinectAction.Sync);
}
this.doneReceivedNeeded = this.config.ClientCount;
})
.OnExit(() =>
{
if(this.fileReceivers.Any((receiver) => receiver.Pending))
{
foreach(var receiver in this.fileReceivers.Where((receiver) => receiver.Pending))
{
receiver.Abort();
}
this.SendToAll(new Message(MessageType.Stop,MessageParameter.Merge));
this.CurrentTransferProgress = 0.0f;
}
})
.Permit(KinectAction.Stop,KinectState.Idle)
.Permit(KinectAction.Reinit,KinectState.None)
.PermitDynamic(KinectAction.Done,() => --this.doneReceivedNeeded == 0 ? KinectState.ProcessingSynchronization : KinectState.SyncingTransfer);
// Syncing Calibration State Config
this.machine.Configure(KinectState.ProcessingSynchronization)
.OnEntry(() =>
{
this.synchronizationExe = Standalone.Factory.Create(
StandaloneType.Synchronization,this.FindMostRecent(this.config.AudioOutputDirectory),true);
StartCoroutine("WaitStandalone",this.synchronizationExe);
Console.Important("<b><color=lightblue>Synchronization Process Started !</color></b>");
})
.OnExit(() =>
{
StopCoroutine("WaitStandalone");
this.synchronizationExe.Stop();
Console.Important("<b><color=orange>Synchronization Process Ended !</color></b>");
})
.Permit(KinectAction.Reinit,KinectState.None)
.Permit(KinectAction.Done,KinectState.Idle);
// Recording State Config
this.machine.Configure(KinectState.Recording)
.OnEntryFrom(KinectAction.Record,() =>
{
StartCoroutine("WaitCapture",KinectAction.Record);
this.SendToAll(new Message(MessageType.Start,MessageParameter.Record));
this.doneReceivedNeeded = this.config.ClientCount;
})
.Permit(KinectAction.Reinit,KinectState.None)
.Permit(KinectAction.Stop,KinectState.StopRecording);
// Stop Recording Transfer State Config
this.machine.Configure(KinectState.StopRecording)
.OnEntryFrom(KinectAction.Stop,() =>
{
this.SendToAll(new Message(MessageType.Stop,MessageParameter.Record));
this.doneReceivedNeeded = this.config.ClientCount;
StopCoroutine("WaitCapture");
this.CurrentCaptureProgress = 0.0f;
})
.Permit(KinectAction.Reinit,KinectState.None)
.PermitDynamic(KinectAction.Done,() => --this.doneReceivedNeeded == 0 ? KinectState.WaitingRecordingTransfer : KinectState.StopRecording);
// Waiting Recording Transfer State Config
this.machine.Configure(KinectState.WaitingRecordingTransfer)
.OnEntryFrom(KinectAction.Done,() =>
{
this.RecordingConfidence = this.kinects.Aggregate(0.0f,(seed,kinect) => seed += kinect.Elapsed.FPS / DepthNominalFPS) / this.kinects.Count;
this.SendToAll(new Message(MessageType.Merge,MessageParameter.Record));
this.doneReceivedNeeded = this.config.ClientCount;
})
.Permit(KinectAction.Reinit,KinectState.None)
.PermitDynamic(KinectAction.Merge,() => --this.doneReceivedNeeded == 0 ? KinectState.RecordingTransfer : KinectState.WaitingRecordingTransfer);
// Transfering Recording State Config
this.machine.Configure(KinectState.RecordingTransfer)
.OnEntryFrom(KinectAction.Merge,() =>
{
if(this.fileReceivers.All((receiver) => receiver.TryNext()))
{
StartCoroutine("WaitTransfer",KinectAction.Record);
}
this.doneReceivedNeeded = this.config.ClientCount;
})
.OnExit(() =>
{
if(this.fileReceivers.Any((receiver) => receiver.Pending))
{
foreach(var receiver in this.fileReceivers.Where((receiver) => receiver.Pending))
{
receiver.Abort();
}
this.SendToAll(new Message(MessageType.Stop,MessageParameter.Merge));
this.CurrentTransferProgress = 0.0f;
}
})
.Permit(KinectAction.Stop,KinectState.Idle)
.Permit(KinectAction.Reinit,KinectState.None)
.PermitDynamic(KinectAction.Done,() => --this.doneReceivedNeeded == 0 ? KinectState.Idle : KinectState.RecordingTransfer);
// Recording Calibration State Config
this.machine.Configure(KinectState.Reconstructing)
.OnEntry(() =>
{
var latestRecordings = this.FindMostRecent(this.config.RecordingOutputDirectory);
var latestRecordingsTime = Path.GetFileNameWithoutExtension(latestRecordings);
var meshfolder =Path.Combine(this.config.MeshOutputDirectory,latestRecordingsTime);
if(!Directory.Exists(meshfolder))
{
Directory.CreateDirectory(meshfolder);
}
var meshfile = Path.Combine(meshfolder, "raw.mesh");
this.reconstructionExe = Standalone.Factory.Create(
StandaloneType.Reconstruction,"/recordings " + latestRecordings + " /mesh " + meshfile + " /out " + meshfile + " /calibration "
+ this.FindMostRecent(this.config.CalibrationOutputDirectory) + " /sync " + this.FindMostRecent(this.config.AudioOutputDirectory),true);
StartCoroutine("WaitStandalone",this.reconstructionExe);
Console.Important("<b><color=lightblue>Recording Process Started !</color></b>");
})
.OnExit(() =>
{
StopCoroutine("WaitStandalone");
this.reconstructionExe.Stop();
Console.Important("<b><color=orange>Recording Process Ended !</color></b>");
})
.Permit(KinectAction.Reinit,KinectState.None)
.Permit(KinectAction.Done,KinectState.Idle);
// Unhandled State Config
this.machine.OnUnhandledTrigger((state,action) =>
{
Console.StateMachine.Unhandled(state.ToString(), action.ToString());
});
this.machine.OnTransitioned((trans) =>
{
Console.StateMachine.Transition(!trans.IsReentry,trans.Source.ToString(), trans.Destination.ToString());
});
}
