private void Cerrar()
{
arduinoController.EnviarAngulosFromAngulosServos(new AngulosServos(ArduinoController.BRAZO_GB));
//videoController.FinGrabacion = DateTime.Now.Ticks;
arduinoController.CerrarPuerto();
if (null != this.sensor)
{
this.sensor.Stop();
this.sensor.Dispose();
}
}
private void WindowLoaded(object sender, RoutedEventArgs e)
{
//Asigno lo delegates
consumoHombroArribaAbajoDelegate = new ConsumoHombroArribaAbajoDelegate(SetConsumoHombroArribaAbajo);
consumoHombroAdelanteAtrasDelegate = new ConsumoHombroAdelanteAtras(SetConsumoHombroAdelanteAtras);
consumoCodoArribaAbajoDelegate = new ConsumoCodoArribaAbajo(SetConsumoCodoArribaAbajo);
consumoCodoDerechaIzquierdaDelegate = new ConsumoCodoDerechaIzquierda(SetConsumoCodoDerechaIzquierda);
// Create the drawing group we'll use for drawing
this.drawingGroup = new DrawingGroup();
// Create an image source that we can use in our image control
this.imageSource = new DrawingImage(this.drawingGroup);
// Display the drawing using our image control
Image.Source = this.imageSource;
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (null != this.sensor)
{
// Turn on the skeleton stream to receive skeleton frames
this.sensor.SkeletonStream.Enable();
this.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
this.sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
this.colorPixels = new byte[this.sensor.ColorStream.FramePixelDataLength];
this.colorBitmap = new WriteableBitmap(this.sensor.ColorStream.FrameWidth, this.sensor.ColorStream.FrameHeight, 96.0, 96.0, PixelFormats.Bgr32, null);
this.colorCoordinates = new ColorImagePoint[this.sensor.DepthStream.FramePixelDataLength];
this.depthWidth = this.sensor.DepthStream.FrameWidth;
this.depthHeight = this.sensor.DepthStream.FrameHeight;
int colorWidth = this.sensor.ColorStream.FrameWidth;
int colorHeight = this.sensor.ColorStream.FrameHeight;
this.colorToDepthDivisor = colorWidth / this.depthWidth;
this.sensor.AllFramesReady += this.SensorAllFramesReady;
this.colorToDepthDivisor = colorWidth / this.depthWidth;
depthPixels = new DepthImagePixel[sensor.DepthStream.FramePixelDataLength];
// Start the sensor!
try
{
this.sensor.Start();
}
catch (IOException)
{
this.sensor = null;
}
}
if (null == this.sensor)
{
//Image.Source = new BitmapImage(
// new Uri("pack://application:,,,/AtaxiaVision;component/Imagenes/KinectAV.png"));
//EstadoSnackBar("Kinect no lista.");
if (null != this.sensor)
{
this.sensor.Stop();
this.sensor.Dispose();
}
arduinoController.CerrarPuerto();
var win = new Inicio("Kinect no detectada, para el ejercicio de reach se requiere una. Conéctela e intente nuevamente");
win.Show();
Close();
}
else
{
if (!arduinoController.Inicializar(ArduinoController.BRAZO_GB))
{
if (null != this.sensor)
{
this.sensor.Stop();
this.sensor.Dispose();
}
arduinoController.CerrarPuerto();
var win = new Inicio("Exoesqueleto no detectado. No se puede ejecutar el ejecicio sin el mismo.");
win.Show();
Close();
}
}
TensionesServosBG();
//ReviarFaltaDeKinectOExoesqueleto();
existenciaKinectExoesqueletoDelegate = new ExistenciaKinectExoesqueletoDelegate(ReviarFaltaDeKinectOExoesqueleto);
ExistenciaKinectExoesqueletoBackgroundWorker.DoWork += ReviarFaltaDeKinectOExoesqueletoBG;
ExistenciaKinectExoesqueletoBackgroundWorker.RunWorkerAsync();
}