private Color ReadColorAtPosition(ReadPosition pos)
{
if (currentFABitmap.BitmapIsValid())
{
int absoluteX = Convert.ToInt32(pos.RelativeX * currentFABitmap.Width);
int absoluteY = Convert.ToInt32(pos.RelativeY * currentFABitmap.Height);
Color colorAtPos = currentFABitmap.ReadPixel(absoluteX - ReadRadius, absoluteY - ReadRadius, ReadRadius * 2 + 1, ReadRadius * 2 + 1);
return(colorAtPos);
}
return(Color.Empty);
}
public static Ellipse CircleByIndicies(int faceIndex, int rowIndex, int colIndex)
{
for (int i = 0; i < PositionsToReadAt.GetLength(0); i++)
{
for (int j = 0; j < PositionsToReadAt.GetLength(1); j++)
{
ReadPosition tempPosition = PositionsToReadAt[i, j];
if (tempPosition.RowIndex == rowIndex && tempPosition.ColIndex == colIndex && tempPosition.FaceIndex == faceIndex)
{
return(tempPosition.Circle);
}
}
}
return(null);
}
private static void SortAndValidateColors()
{
List <ReadPosition> allPositions = AllReadPositions();
// Positions left to assign
List <ReadPosition> positions = new List <ReadPosition>(allPositions);
// Assign color percentages to each color
for (int i = 0; i < positions.Count; i++)
{
positions[i].Percentages = ColorIdentification.CalculateColorPercentages(positions[i].Color);
}
for (int i = 0; i < 6; i++)
{
CubeColor currentCubeColor = (CubeColor)i;
int[] maxIndicies = ColorIdentification.Max8Indicies(currentCubeColor, positions);
for (int j = 0; j < maxIndicies.Length; j++)
{
ReadPosition currentPosition = positions[maxIndicies[j]];
// Assign tiles to the cube
MainWindow.cube.SetTile((CubeFace)(currentPosition.FaceIndex), currentPosition.RowIndex * 3 + currentPosition.ColIndex, currentCubeColor);
currentPosition.AssumedCubeColor = currentCubeColor;
// Dye the circle of the readposition in the corresponding color
Application.Current.Dispatcher.Invoke(() => {
// Change circle color of the current position on the gui
CircleByIndicies(currentPosition.FaceIndex, currentPosition.RowIndex, currentPosition.ColIndex).Fill = Helper.ColorBrush(currentCubeColor);
});
}
// Sort maxIndicies -> highest value at index=0
maxIndicies = maxIndicies.OrderByDescending(c => c).ToArray();
// Remove all positions, that were assigned to the cube in this loop cycle
for (int j = 0; j < maxIndicies.Length; j++)
{
positions.RemoveAt(maxIndicies[j]);
}
}
}
private static Ellipse DrawCircleAtPosition(ReadPosition pos, Canvas canvas)
{
Ellipse circle = null;
Application.Current.Dispatcher.Invoke(() => {
circle = GenerateCircle(pos.AssumedCubeColor);
circle.ToolTip = string.Format("{0}[{1},{2}]", (CubeColor)pos.FaceIndex, pos.RowIndex, pos.ColIndex);
circle.MouseUp += Circle_MouseUp;
// Set position of circle on canvas
Canvas.SetLeft(circle, pos.RelativeX * canvas.ActualWidth - ReadRadius);
Canvas.SetTop(circle, pos.RelativeY * canvas.ActualHeight - ReadRadius);
// Add circle to the canvas over the camera stream
canvas.Children.Add(circle);
});
return(circle);
}
public static string AddPosition(ReadPosition readPosition, int cameraIndex)
{
List <ReadPosition> slice = GetSlice(cameraIndex);
if (PositionExists(readPosition.FaceIndex, readPosition.RowIndex, readPosition.ColIndex))
{
return("Position not added: Entered Tile is already being scanned");
}
else if (slice.Count >= MAXPOSITIONSPERCAMERA)
{
return(string.Format("Position not added: Camera already has {0} Tiles to scan", MAXPOSITIONSPERCAMERA));
}
else
{
pendingPositions[cameraIndex].Enqueue(readPosition);
return("Position added");
}
}
private static bool PositionExists(int faceIndex, int rowIndex, int colIndex)
{
for (int i = 0; i < PositionsToReadAt.GetLength(0); i++)
{
for (int j = 0; j < PositionsToReadAt.GetLength(1); j++)
{
ReadPosition pos = PositionsToReadAt[i, j];
if (pos == null)
{
continue;
}
else if (pos.FaceIndex == faceIndex && pos.RowIndex == rowIndex && pos.ColIndex == colIndex)
{
return(true);
}
}
}
return(false);
}
private void Run()
{
while (!threadShouldStop)
{
long loopStart = Helper.CurrentTimeMillis();
long loopEnd = loopStart + 1000 / ticksPerSecond;
// Code in while loop
// Handle all frameUpdates
if (frameToDisplay != null)
{
currentFABitmap.SetBitmap(new Bitmap(frameToDisplay));
frameToDisplay.Dispose();
frameToDisplay = null;
}
// Add all pendingPositions to PositionsToReadAt and draw their circles
while (pendingPositions[cameraIndex].Count > 0)
{
ReadPosition pos = pendingPositions[cameraIndex].Dequeue();
for (int i = 0; i < PositionsToReadAt.GetLength(1); i++)
{
if (PositionsToReadAt[cameraIndex, i] == null)
{
pos.Circle = DrawCircleAtPosition(pos, drawingCanvas);
PositionsToReadAt[cameraIndex, i] = pos;
TotalPositionCount++;
break;
}
}
}
// Read all colors from positions in readPositions
for (int i = 0; i < PositionsToReadAt.GetLength(1); i++)
{
if (PositionsToReadAt[cameraIndex, i] == null)
{
continue;
}
PositionsToReadAt[cameraIndex, i].Color = ReadColorAtPosition(PositionsToReadAt[cameraIndex, i]);
}
// This block will be only executed by the primary webcamcontrol
if (cameraIndex == 0)
{
// If the whole cube is scanned, send the cube-configuration to the cube solver
if (CubeIsFullyScanned())
{
SortAndValidateColors();
}
lastCubeGeneration = Helper.CurrentTimeMillis();
}
// Code in while loop
if (GC.GetTotalMemory(true) > 500 * Math.Pow(10, 6))
{
GC.Collect();
}
while (Helper.CurrentTimeMillis() < loopEnd)
{
Thread.Sleep(Convert.ToInt32(loopEnd - Helper.CurrentTimeMillis()));
}
}
}
