public PersonControl(PairablePerson pairablePerson)
{
InitializeComponent();
person = pairablePerson;
//Setup Events
pairablePerson.LocationChanged += OnLocationChanged;
pairablePerson.OrientationChanged += OnOrientationChanged;
pairablePerson.PairingStateChanged += OnPairingStateChanged;
pairablePerson.CalibrationStateChanged += onCalibrationStateChanged;
//Setup the person's 'dot'
PersonEllipse.StrokeThickness = DrawingResources.STROKE_WIDTH;
PersonEllipse.Stroke = DrawingResources.unpairedBrush;
// Assuming people have a diameter of about 0.5m
double personWidth = 0.5 * MainWindow.SharedCanvas.ActualWidth / DrawingResources.ROOM_WIDTH;
PersonEllipse.Width = personWidth;
PersonEllipse.Height = personWidth;
//Setup the person's identifier
IdentifierLabel.Content = "ID: " + pairablePerson.Identifier;
IdentifierLabel.HorizontalContentAlignment = System.Windows.HorizontalAlignment.Right;
IdentifierLabel.Width = 100;
Canvas.SetTop(IdentifierLabel, 130);
Canvas.SetLeft(IdentifierLabel, -5);
//Setup the person's identifier
CoordinatesLabel.Content = pairablePerson.Identifier;
CoordinatesLabel.HorizontalContentAlignment = System.Windows.HorizontalAlignment.Right;
CoordinatesLabel.Width = 300;
Canvas.SetTop(CoordinatesLabel, 150);
Canvas.SetLeft(CoordinatesLabel, -150);
}
public void DeviceLost(IADevice iaDevice)
{
List <PairablePerson> pairablePersons = locator.Persons.OfType <PairablePerson>().ToList <PairablePerson>();
List <PairableDevice> pairableDevices = locator.Devices.OfType <PairableDevice>().ToList <PairableDevice>();
// Find and remove the pairable device from the Locator's list of devices
PairableDevice pairableDevice = pairableDevices.Find(d => d.Identifier.Equals(iaDevice.Name));
locator.Devices.Remove(pairableDevice);
// If the device was paired, we mark its corresponding person unpaired.
PairablePerson person = pairablePersons.Find(p => p.Identifier.Equals(pairableDevice.HeldByPersonIdentifier));
if (person != null)
{
//Remove the pairing information associated with the Perpon
person.HeldDeviceIdentifier = null;
person.PairingState = PairingState.NotPaired;
}
pairableDevice.HeldByPersonIdentifier = null;
if (pairableDevice == null)
{
System.Diagnostics.Debug.WriteLine("ERROR: tried to remove nonexistent pairable device.");
}
if (DeviceRemoved != null)
{
DeviceRemoved(this, pairableDevice);
}
}
//TODO Deal with the cause where more then two Devices (or persons) are Attempting to Pair
//TODO Consider how the timer
/// <summary>
/// This function attempts to pair a Person and a Device. This occurs if both have had their states
/// sets to 'PairingAttempt'.
/// </summary>
/// <param name="devices"> The list of current devices</param>
/// <param name="persons"> The list of current persons</param>
/// <returns></returns>
internal bool AttemptPairing(List <PairableDevice> devices, List <PairablePerson> persons)
{
//Find a device set to PairingAttempt
PairableDevice pairingDevice = devices.Find(device => device.PairingState == PairingState.PairingAttempt);
//Find a person set to PairingAttempt
PairablePerson pairingPerson = persons.Find(person => person.PairingState == PairingState.PairingAttempt);
//Check Device & Person
if (pairingDevice == null)
{
logger.TraceEvent(TraceEventType.Error, 0, "Cannot Pair Because No Device Is Marked For Pairing");
}
if (pairingPerson == null)
{
logger.TraceEvent(TraceEventType.Error, 0, "Cannot Pair Because No Person Is Marked For Pairing");
}
//Debug Intermittent Failure
String deviceExists = (pairingDevice != null) ? "Pairing Device" : "Null";
String personExists = (pairingPerson != null) ? "Pairing Person" : "Null";
logger.TraceEvent(TraceEventType.Verbose, 0, "Device: {0} and Person: {1}", deviceExists, personExists);
if (pairingDevice != null && pairingPerson != null)
{
Pair(pairingDevice, pairingPerson);
return(true);
}
else
{
return(false);
}
}
public void onCalibrationStateChanged(PairablePerson pairablePerson)
{
//Dispatch Brush Change to Main Thread
Application.Current.Dispatcher.BeginInvoke(new Action(() =>
{
//Set Color of Ellipse to Appropriate Color
PersonEllipse.Stroke = DrawingResources.GetBrushFromCalibrationState(pairablePerson.CalibrationState);
}));
}
private void RemovePerson(List <PairablePerson> vanishedPersons, PairablePerson person)
{
//Remove Held-Device Identifier
person.HeldDeviceIdentifier = null;
vanishedPersons.Add(person);
if (PersonRemoved != null)
{
PersonRemoved(this, person);
}
}
// #region Process Persons Tests
internal PairablePerson CreateTestPerson(int newId, int? holdsId = null)
{
PairablePerson person = new PairablePerson
{
Identifier = newId.ToString(),
HeldDeviceIdentifier = holdsId.ToString() ?? null,
Location = null,
Orientation = null,
PairingState = PairingState.NotPaired
};
return person;
}
internal void PersonPairAttempt(String SkeletonId, List <PairablePerson> Persons)
{
//Set the Person involved to the AttemptingPair state
//PairablePerson p = Persons.Find(person => person.Identifier.Equals(SkeletonId));
PairablePerson p = Persons.Find(person => SkeletonId.Equals(person.Identifier));
//Because the pairing can overlap, we do not want to reset a paired state
if (p != null && p.PairingState != PairingState.Paired)
{
p.PairingState = PairingState.PairingAttempt;
}
AttemptPairing();
logger.TraceEvent(TraceEventType.Information, 0, "Kinect Wave Gesture Recognized");
}
public void UnpairDevice(PairableDevice pairingDevice)
{
if (pairingDevice.PairingState != PairingState.NotPaired)
{
List <PairablePerson> pPersons = locator.Persons.OfType <PairablePerson>().ToList <PairablePerson>();
PairablePerson pairingPerson = pPersons.Find(p => p.HeldDeviceIdentifier == pairingDevice.Identifier);
pairingDevice.HeldByPersonIdentifier = null;
pairingDevice.PairingState = PairingState.NotPaired;
pairingPerson.PairingState = PairingState.NotPaired;
pairingPerson.HeldDeviceIdentifier = null;
// Dispatch a message to the device
IARequest request = new IARequest(Routes.BecomeUnpairedRoute);
// Find the IntAirAct device matching the current device.
IADevice iaDevice = intAirAct.Devices.Find(d => d.Name == pairingDevice.Identifier);
intAirAct.SendRequest(request, iaDevice);
System.Diagnostics.Debug.WriteLine(iaDevice.Name + " " + iaDevice.Host);
}
}
public void Pair(PairableDevice pairingDevice, PairablePerson pairingPerson)
{
//Change the Pairing State
pairingDevice.PairingState = PairingState.Paired;
pairingPerson.PairingState = PairingState.Paired;
//Create a Holds-Device and Held-By-Person Relationship
pairingPerson.HeldDeviceIdentifier = pairingDevice.Identifier;
pairingDevice.HeldByPersonIdentifier = pairingPerson.Identifier;
List<IADevice> devices = intAirAct.Devices;
IADevice device = devices.Find(d => d.Name == pairingDevice.Identifier);
if (device != null)
{
IARequest request = new IARequest(Routes.BecomePairedRoute);
intAirAct.SendRequest(request, device, delegate(IAResponse response, Exception exception)
{
logger.TraceEvent(TraceEventType.Information, 0, "Error notifying Device {0} that it became paired.", pairingDevice.Identifier, pairingPerson.Identifier);
});
}
logger.TraceEvent(TraceEventType.Information, 0, "Pairing Succeeded with Device {0} and Person {1}", pairingDevice.Identifier, pairingPerson.Identifier);
}
public void Pair(PairableDevice pairingDevice, PairablePerson pairingPerson)
{
//Change the Pairing State
pairingDevice.PairingState = PairingState.Paired;
pairingPerson.PairingState = PairingState.Paired;
//Create a Holds-Device and Held-By-Person Relationship
pairingPerson.HeldDeviceIdentifier = pairingDevice.Identifier;
pairingDevice.HeldByPersonIdentifier = pairingPerson.Identifier;
List <IADevice> devices = intAirAct.Devices;
IADevice device = devices.Find(d => d.Name == pairingDevice.Identifier);
if (device != null)
{
IARequest request = new IARequest(Routes.BecomePairedRoute);
intAirAct.SendRequest(request, device, delegate(IAResponse response, Exception exception)
{
logger.TraceEvent(TraceEventType.Information, 0, "Error notifying Device {0} that it became paired.", pairingDevice.Identifier, pairingPerson.Identifier);
});
}
logger.TraceEvent(TraceEventType.Information, 0, "Pairing Succeeded with Device {0} and Person {1}", pairingDevice.Identifier, pairingPerson.Identifier);
}
private void RemovePerson(List<PairablePerson> vanishedPersons, PairablePerson person)
{
//Remove Held-Device Identifier
person.HeldDeviceIdentifier = null;
vanishedPersons.Add(person);
if (PersonRemoved != null)
PersonRemoved(this, person);
}
private void AddNewPeople(List<Skeleton> skeletons, List<PairablePerson> pairablePersons, String kinectID)
{
//if a skeleton is very close to an existing person, that kinect will be added to the person's list of TrackerIDwithSkeletonID
//this is how one person can be tracked by multiple kinects.
foreach (Skeleton skeleton in skeletons)
{
Point skeletonInRoomSpace = locator.Trackers.Find(x => x.Identifier.Equals(kinectID)).ConvertSkeletonToRoomSpace(new Vector(skeleton.Position.Z, skeleton.Position.X));
foreach (PairablePerson pairablePerson in pairablePersons)
{
if (skeletonInRoomSpace.X < (pairablePerson.Location.Value.X + PROXIMITYDISTANCE) &&
skeletonInRoomSpace.X > (pairablePerson.Location.Value.X - PROXIMITYDISTANCE) &&
skeletonInRoomSpace.Y < (pairablePerson.Location.Value.Y + PROXIMITYDISTANCE) &&
skeletonInRoomSpace.Y > (pairablePerson.Location.Value.Y - PROXIMITYDISTANCE))
{
if (!pairablePerson.TrackerIDwithSkeletonID.ContainsKey(kinectID))
{
pairablePerson.TrackerIDwithSkeletonID.Add(kinectID, skeleton.TrackingId.ToString());
}
break;
}
}
}
// Then, test each new skeleton to see if it matches an occluded person
foreach (Skeleton skeleton in skeletons)
{
//if (pairablePersons.Find(x => x.Identifier.Equals(skeleton.TrackingId.ToString())) == null)
if (pairablePersons.Find(x => skeleton.TrackingId.ToString().Equals(x.Identifier)) == null)
{
foreach (PairablePerson pairablePerson in pairablePersons)
{
if (pairablePerson.PairingState == PairingState.PairedButOccluded)
{
Point skeletonInRoomSpace = locator.Trackers.Find(x => x.Identifier.Equals(kinectID)).ConvertSkeletonToRoomSpace(new Vector(skeleton.Position.Z, skeleton.Position.X));
if (skeletonInRoomSpace.X < (pairablePerson.Location.Value.X + SAVINGDISTANCE) &&
skeletonInRoomSpace.X > (pairablePerson.Location.Value.X - SAVINGDISTANCE) &&
skeletonInRoomSpace.Y < (pairablePerson.Location.Value.Y + SAVINGDISTANCE) &&
skeletonInRoomSpace.Y > (pairablePerson.Location.Value.Y - SAVINGDISTANCE))
{
// "Repair them"
pairablePerson.Identifier = skeleton.TrackingId.ToString();
pairablePerson.PairingState = PairingState.Paired;
PairableDevice device = (PairableDevice)locator.Devices.Find(x => x.Identifier == pairablePerson.HeldDeviceIdentifier);
device.HeldByPersonIdentifier = pairablePerson.Identifier;
}
}
}
}
}
// For any skeletons that could not be matched to an existing person or if it wasn't matched to an occluded person, we create a new PairablePerson
foreach (Skeleton skeleton in skeletons)
{
if (skeleton.TrackingId == 0)
continue;
//New Skeleton Found
if(pairablePersons.Find(x => x.TrackerIDwithSkeletonID.ContainsValue(skeleton.TrackingId.ToString())) == null)
{
PairablePerson person = new PairablePerson
{
Location = new Point(0, 0),
Orientation = 0.0,
Identifier = skeleton.TrackingId.ToString(),
PairingState = PairingState.NotPaired,
CalibrationState = PairablePerson.CallibrationState.NotUsedCalibration,
TrackerIDwithSkeletonID = new Dictionary<string, string>(),
TrackedByIdentifier = kinectID
};
//add the tracker id to the top of the list
person.TrackerIDwithSkeletonID.Add(kinectID,skeleton.TrackingId.ToString());
pairablePersons.Add(person);
if (PersonAdded != null)
PersonAdded(this, person);
}
}
}
public static Brush GetBrushFromCalibrationState(PairablePerson.CallibrationState state)
{
switch (state)
{
case (PairablePerson.CallibrationState.UsedForCalibration): return Brushes.Blue;
case(PairablePerson.CallibrationState.NotUsedCalibration): return Brushes.DarkRed;
default: return Brushes.White;
}
}
private void AddNewPeople(List <Skeleton> skeletons, List <PairablePerson> pairablePersons, String kinectID)
{
//if a skeleton is very close to an existing person, that kinect will be added to the person's list of TrackerIDwithSkeletonID
//this is how one person can be tracked by multiple kinects.
foreach (Skeleton skeleton in skeletons)
{
Point skeletonInRoomSpace = locator.Trackers.Find(x => x.Identifier.Equals(kinectID)).ConvertSkeletonToRoomSpace(new Vector(skeleton.Position.Z, skeleton.Position.X));
foreach (PairablePerson pairablePerson in pairablePersons)
{
if (skeletonInRoomSpace.X < (pairablePerson.Location.Value.X + PROXIMITYDISTANCE) &&
skeletonInRoomSpace.X > (pairablePerson.Location.Value.X - PROXIMITYDISTANCE) &&
skeletonInRoomSpace.Y < (pairablePerson.Location.Value.Y + PROXIMITYDISTANCE) &&
skeletonInRoomSpace.Y > (pairablePerson.Location.Value.Y - PROXIMITYDISTANCE))
{
if (!pairablePerson.TrackerIDwithSkeletonID.ContainsKey(kinectID))
{
pairablePerson.TrackerIDwithSkeletonID.Add(kinectID, skeleton.TrackingId.ToString());
}
break;
}
}
}
// Then, test each new skeleton to see if it matches an occluded person
foreach (Skeleton skeleton in skeletons)
{
//if (pairablePersons.Find(x => x.Identifier.Equals(skeleton.TrackingId.ToString())) == null)
if (pairablePersons.Find(x => skeleton.TrackingId.ToString().Equals(x.Identifier)) == null)
{
foreach (PairablePerson pairablePerson in pairablePersons)
{
if (pairablePerson.PairingState == PairingState.PairedButOccluded)
{
Point skeletonInRoomSpace = locator.Trackers.Find(x => x.Identifier.Equals(kinectID)).ConvertSkeletonToRoomSpace(new Vector(skeleton.Position.Z, skeleton.Position.X));
if (skeletonInRoomSpace.X < (pairablePerson.Location.Value.X + SAVINGDISTANCE) &&
skeletonInRoomSpace.X > (pairablePerson.Location.Value.X - SAVINGDISTANCE) &&
skeletonInRoomSpace.Y < (pairablePerson.Location.Value.Y + SAVINGDISTANCE) &&
skeletonInRoomSpace.Y > (pairablePerson.Location.Value.Y - SAVINGDISTANCE))
{
// "Repair them"
pairablePerson.Identifier = skeleton.TrackingId.ToString();
pairablePerson.PairingState = PairingState.Paired;
PairableDevice device = (PairableDevice)locator.Devices.Find(x => x.Identifier == pairablePerson.HeldDeviceIdentifier);
device.HeldByPersonIdentifier = pairablePerson.Identifier;
}
}
}
}
}
// For any skeletons that could not be matched to an existing person or if it wasn't matched to an occluded person, we create a new PairablePerson
foreach (Skeleton skeleton in skeletons)
{
if (skeleton.TrackingId == 0)
{
continue;
}
//New Skeleton Found
if (pairablePersons.Find(x => x.TrackerIDwithSkeletonID.ContainsValue(skeleton.TrackingId.ToString())) == null)
{
PairablePerson person = new PairablePerson
{
Location = new Point(0, 0),
Orientation = 0.0,
Identifier = skeleton.TrackingId.ToString(),
PairingState = PairingState.NotPaired,
CalibrationState = PairablePerson.CallibrationState.NotUsedCalibration,
TrackerIDwithSkeletonID = new Dictionary <string, string>(),
TrackedByIdentifier = kinectID
};
//add the tracker id to the top of the list
person.TrackerIDwithSkeletonID.Add(kinectID, skeleton.TrackingId.ToString());
pairablePersons.Add(person);
if (PersonAdded != null)
{
PersonAdded(this, person);
}
}
}
}
public void calibrate()
{
List <PairablePerson> pairablePersons = locator.Persons.OfType <PairablePerson>().ToList <PairablePerson>();
List <PairablePerson> personsUsedForCalibration = pairablePersons.FindAll(x => x.CalibrationState == PairablePerson.CallibrationState.UsedForCalibration);
if (personsUsedForCalibration.Count > 1)
{
Dictionary <PairablePerson, Tracker> personsAndTheirTrackers = new Dictionary <PairablePerson, Tracker>();
foreach (PairablePerson person in personsUsedForCalibration)
{
Tracker tracker = locator.Trackers.Find(x => x.Identifier.Equals(person.TrackerIDwithSkeletonID.Keys.ToList()[0]));
personsAndTheirTrackers.Add(person, tracker);
}
Tracker mainTracker = null;
PairablePerson mainPerson = null;
foreach (KeyValuePair <PairablePerson, Tracker> entry in personsAndTheirTrackers)
{
if (entry.Value.State == Tracker.CallibrationState.Calibrated)
{
mainTracker = entry.Value;
mainPerson = entry.Key;
break;
}
}
if (mainTracker == null)
{
mainTracker = personsAndTheirTrackers.Values.ToList()[0];
mainPerson = personsAndTheirTrackers.Keys.ToList()[0];
}
mainTracker.State = Tracker.CallibrationState.Calibrated;
foreach (KeyValuePair <PairablePerson, Tracker> entry in personsAndTheirTrackers)
{
PairablePerson person = entry.Key;
Tracker tracker = entry.Value;
if (tracker.State == Tracker.CallibrationState.Calibrated)
{
continue;
}
double xValue = mainPerson.Location.Value.X - person.Location.Value.X;
double yValue = mainPerson.Location.Value.Y - person.Location.Value.Y;
try
{
Point newPosition = new Point(tracker.Location.Value.X + xValue, tracker.Location.Value.Y + yValue);
tracker.Location = newPosition;
tracker.State = Tracker.CallibrationState.Calibrated;
}
catch (NullReferenceException nullReferenceException)
{
System.Console.WriteLine(nullReferenceException);
}
}
foreach (PairablePerson person in personsAndTheirTrackers.Keys.ToList())
{
person.CalibrationState = PairablePerson.CallibrationState.NotUsedCalibration;
}
}
}
void personAdded(PersonManager personManager, PairablePerson pairablePerson)
{
this.Dispatcher.Invoke(new Action(delegate()
{
if (!PersonControlDictionary.ContainsKey(pairablePerson))
{
PersonControlDictionary[pairablePerson] = new PersonControl(pairablePerson);
canvas.Children.Add(PersonControlDictionary[pairablePerson]);
}
}));
}
void personRemoved(PersonManager personManager, PairablePerson pairablePerson)
{
this.Dispatcher.Invoke(new Action(delegate()
{
if (PersonControlDictionary.ContainsKey(pairablePerson))
{
canvas.Children.Remove(PersonControlDictionary[pairablePerson]);
PersonControlDictionary.Remove(pairablePerson);
}
}));
}
public void GetOffsetAngleTest()
{
Setup();
// Create a person and device, paired and positioned
PairablePerson person = new PairablePerson
{
PairingState = PairingState.Paired,
Identifier = "Bob",
Location = new Point(1, 1),
HeldDeviceIdentifier = "myPad"
};
PairableDevice device = new PairableDevice
{
HeldByPersonIdentifier = "Bob",
Identifier = "myPad",
Location = new Point(1, 1),
PairingState = PairingState.Paired
};
// Position the tracker
//Server.PersonManager.Tracker.Location = new Point(0, 2);
//Server.PersonManager.Tracker.Orientation = 270;
Server.Locator.Devices.Add(device);
Server.Locator.Persons.Add(person);
Server.Start();
Client.Start();
WaitForConnections();
IARequest request = new IARequest(Routes.GetOffsetAngleRoute);
request.Parameters["identifier"] = "myPad";
Client.SendRequest(request, Server.IntAirAct.OwnDevice, delegate(IAResponse response, Exception exception)
{
double offsetOrientation = double.Parse(response.BodyAsString());
// The angle between the device and the tracker should be 135 degrees
Assert.AreEqual(135, offsetOrientation, 0.01);
});
Teardown();
}
