void canvas_MouseMove(object sender, MouseEventArgs mea)
{
try
{
Point pos = mea.GetPosition(canvasRel);
// first get it in pixels, relative to center point:
double x = pos.X - canvasRel.ActualWidth / 2.0d;
double y = -(pos.Y - canvasRel.ActualHeight / 2.0d);
// and now convert to meters, relative to robot center:
x *= metersPerPixelX;
y *= metersPerPixelY;
MapperVicinity mapperVicinity = CurrentMapper;
GeoPosition gp = new GeoPosition(mapperVicinity.robotPosition);
gp.translate(new Distance(x), new Distance(y));
RoutedEventArgsMouseMoved newEventArgs = new RoutedEventArgsMouseMoved(MapperViewControl.MouseMovedEvent)
{
xMeters = x, yMeters = y, geoPosition = gp
};
RaiseEvent(newEventArgs);
}
catch { }
}
/// <summary>
/// update map with the detected objects
/// </summary>
/// <param name="timestamp"></param>
private void updateMapperVicinity(long timestamp, SonarData p)
{
if (lastRangeReadingSetChanged && lastRangeReadingSet.sweepFrameReady && p.angles.Keys.Count == 26)
{
RangeReading rrFirst = p.getLatestReadingAt(p.angles.Keys.First());
RangeReading rrLast = p.getLatestReadingAt(p.angles.Keys.Last());
double sweepAngle = rrFirst.angleDegrees - rrLast.angleDegrees;
double forwardAngle = sweepAngle / 2.0d;
foreach (int angle in p.angles.Keys)
{
RangeReading rr = p.getLatestReadingAt(angle);
double rangeMeters = rr.rangeMeters + robotCornerDistanceMeters; // sensor is on the corner, adjust for that
double relBearing = rr.angleDegrees - forwardAngle;
GeoPosition pos1 = (GeoPosition)mapperVicinity.robotPosition.Clone();
pos1.translate(new Direction()
{
heading = mapperVicinity.robotDirection.heading, bearingRelative = relBearing
}, new Distance(rangeMeters));
DetectedObstacle dobst1 = new DetectedObstacle(pos1)
{
geoPosition = pos1,
firstSeen = timestamp,
lastSeen = timestamp,
color = Colors.Red,
detectorType = DetectorType.SONAR_SCANNING,
objectType = DetectedObjectType.Obstacle
};
mapperVicinity.Add(dobst1);
}
// make sure we have the latest heading info in the mapper, and map positions have been computed:
Direction dir = new Direction()
{
heading = lastDirData.heading, bearing = mapperVicinity.robotDirection.bearing, TimeStamp = timestamp
};
mapperVicinity.robotDirection = dir; // will call mapperVicinity.computeMapPositions();
updateMapWindow();
}
mapperTraceLabel.Content = "" + mapperVicinity.detectedObjects.Count + " objects";
}
private static double[] angles8 = { 37.5d, 62.5d, 117.5d, 142.5d, 217.5d, 242.5d, -62.5d, -37.5d }; // eight IR sensors on the corners
protected void updateMapperWithProximityData(proxibrick.ProximityDataDssSerializable proximityData)
{
double[] arrangedForMapper = new double[8];
arrangedForMapper[4] = proximityData.mfl;
arrangedForMapper[5] = proximityData.mffl;
arrangedForMapper[6] = proximityData.mffr;
arrangedForMapper[7] = proximityData.mfr;
arrangedForMapper[3] = proximityData.mbl;
arrangedForMapper[2] = proximityData.mbbl;
arrangedForMapper[1] = proximityData.mbbr;
arrangedForMapper[0] = proximityData.mbr;
for (int i = 0; i < arrangedForMapper.GetLength(0); i++)
{
double rangeMeters = arrangedForMapper[i];
if (rangeMeters < 1.4d)
{
rangeMeters += robotCornerDistanceMeters; // sensor is on the corner, adjust for that
double relBearing = angles8[i] + 90.0d;
GeoPosition pos1 = (GeoPosition)_mapperVicinity.robotPosition.Clone();
pos1.translate(new Direction()
{
heading = _mapperVicinity.robotDirection.heading, bearingRelative = relBearing
}, new Distance(rangeMeters));
DetectedObstacle dobst1 = new DetectedObstacle()
{
geoPosition = pos1,
firstSeen = proximityData.TimeStamp.Ticks,
lastSeen = proximityData.TimeStamp.Ticks,
detectorType = DetectorType.IR_DIRECTED,
objectType = DetectedObjectType.Obstacle
};
dobst1.SetColorByType();
lock (_mapperVicinity)
{
_mapperVicinity.Add(dobst1);
}
}
}
}
private const int step = 6; // for speed and given that we are actually dealing with sonar data, pick only Nth points.
protected void updateMapperWithLaserData(sicklrf.State laserData)
{
int numRays = laserData.DistanceMeasurements.Length;
List <IDetectedObject> laserObjects = new List <IDetectedObject>(numRays / step + 5);
for (int i = 0; i < laserData.DistanceMeasurements.Length; i += step)
{
double rangeMeters = laserData.DistanceMeasurements[i] / 1000.0d; // DistanceMeasurements is in millimeters;
if (rangeMeters > minReliableRangeMeters && rangeMeters < maxReliableRangeMeters)
{
double relBearing = forwardAngle - i * 180.0d / numRays;
GeoPosition pos1 = (GeoPosition)_mapperVicinity.robotPosition.Clone();
pos1.translate(new Direction()
{
heading = _mapperVicinity.robotDirection.heading, bearingRelative = relBearing
}, new Distance(rangeMeters));
DetectedObstacle dobst1 = new DetectedObstacle()
{
geoPosition = pos1,
firstSeen = laserData.TimeStamp.Ticks,
lastSeen = laserData.TimeStamp.Ticks,
detectorType = DetectorType.SONAR_SCANNING,
objectType = DetectedObjectType.Obstacle
};
dobst1.SetColorByType();
laserObjects.Add(dobst1);
}
}
if (laserObjects.Count > 0)
{
int countBefore = 0;
lock (_mapperVicinity)
{
countBefore = _mapperVicinity.Count;
_mapperVicinity.AddRange(laserObjects);
_mapperVicinity.computeMapPositions();
}
//Tracer.Trace(string.Format("laser ready - added {0} to {1}", laserObjects.Count, countBefore));
}
}
protected double robotCornerDistanceMeters = 0.0d; // to account for robot dimensions when adding measurements from corner-located proximity sensors.
public MainWindow()
{
InitializeComponent();
routePlanner = new RoutePlanner(mapperVicinity);
this.Closing += new System.ComponentModel.CancelEventHandler(MainWindow_Closing);
//create picpxmod device.
_picpxmod = new ProximityModule(0x0925, 0x7001); // see PIC Firmware - usb_descriptors.c lines 178,179
_picpxmod.HasReadFrameEvent += pmFrameCompleteHandler;
_picpxmod.DeviceAttachedEvent += new EventHandler <ProximityModuleEventArgs>(_picpxmod_DeviceAttachedEvent);
_picpxmod.DeviceDetachedEvent += new EventHandler <ProximityModuleEventArgs>(_picpxmod_DeviceDetachedEvent);
bool deviceAttached = _picpxmod.FindTheHid();
pmValuesLabel.Content = deviceAttached ?
"Proximity Board Found" : string.Format("Proximity Board NOT Found\r\nYour USB Device\r\nmust have:\r\n vendorId=0x{0:X}\r\nproductId=0x{1:X}", _picpxmod.vendorId, _picpxmod.productId);
mapperVicinity.robotPosition = (GeoPosition)robotPositionDefault.Clone();
mapperVicinity.robotDirection = (Direction)robotDirectionDefault.Clone();
// we will need this later:
robotCornerDistanceMeters = Math.Sqrt(mapperVicinity.robotState.robotLengthMeters * mapperVicinity.robotState.robotLengthMeters + mapperVicinity.robotState.robotWidthMeters * mapperVicinity.robotState.robotWidthMeters) / 2.0d;
// --------- debug ------------
GeoPosition pos1 = (GeoPosition)mapperVicinity.robotPosition.Clone();
//pos1.translate(new Distance(1.0d), new Distance(1.0d)); // geo coordinates - East North
pos1.translate(new Direction()
{
heading = mapperVicinity.robotDirection.heading, bearingRelative = 45.0d
}, new Distance(1.0d)); // robot coordinates - forward right
DetectedObstacle dobst1 = new DetectedObstacle(pos1)
{
color = Colors.Red
};
mapperVicinity.Add(dobst1);
GeoPosition pos2 = (GeoPosition)mapperVicinity.robotPosition.Clone();
//pos2.translate(new Distance(-1.0d), new Distance(1.0d)); // geo coordinates - West North
pos2.translate(new Direction()
{
heading = mapperVicinity.robotDirection.heading, bearingRelative = -45.0d
}, new Distance(1.0d)); // robot coordinates - forward left
DetectedObstacle dobst2 = new DetectedObstacle(pos2)
{
color = Colors.Yellow
};
//mapperVicinity.Add(dobst2);
mapperVicinity.computeMapPositions();
// --------- end debug ------------
}
/// <summary>
/// Main read loop
/// Read raw frame from Kinect service, then process it asynchronously, then request UI update
/// </summary>
/// <returns>A standard CCR iterator.</returns>
private IEnumerator <ITask> ReadKinectLoop()
{
// note: see frame rate at C:\Microsoft Robotics Dev Studio 4\projects\TrackRoamer\TrackRoamerServices\Config\TrackRoamer.TrackRoamerBot.Kinect.Config.xml
while (true)
{
try
{
kinectProxy.QueryRawFrameRequest frameRequest = new kinectProxy.QueryRawFrameRequest();
frameRequest.IncludeDepth = this.IncludeDepth;
frameRequest.IncludeVideo = this.IncludeVideo;
frameRequest.IncludeSkeletons = this.IncludeSkeletons;
if (!this.IncludeDepth && !this.IncludeVideo && !this.IncludeSkeletons)
{
// poll 2 times a sec if user for some reason deselected all image options (this would turn into a busy loop then)
yield return(TimeoutPort(KinectLoopWaitIntervalMs).Receive());
}
kinect.RawKinectFrames rawFrames = null;
// poll depth camera
yield return(this.kinectPort.QueryRawFrame(frameRequest).Choice(
rawFrameResponse =>
{
rawFrames = rawFrameResponse.RawFrames;
},
failure =>
{
if (!this.atLeastOneFrameQueryFailed)
{
this.atLeastOneFrameQueryFailed = true;
LogError(failure);
}
}));
this.frameProcessor.currentPanKinect = _state.currentPanKinect;
this.frameProcessor.currentTiltKinect = _state.currentTiltKinect;
this.frameProcessor.SetRawFrame(rawFrames);
if (null != rawFrames.RawSkeletonFrameData)
{
yield return(new IterativeTask(this.frameProcessor.ProcessSkeletons));
var tmpAllSkeletons = frameProcessor.AllSkeletons; // get a snapshot of the pointer to allocated array, and then take sweet time processing it knowing it will not change
if (tmpAllSkeletons != null)
{
// tmpAllSkeletons is a list of seven skeletons, those good enough for processing have IsSkeletonActive true
var skels = from s in tmpAllSkeletons
where s.IsSkeletonActive
select s;
foreach (VisualizableSkeletonInformation skel in skels)
{
// Kinect Z goes straight forward, X - to the left side, Y - up
double kZ = skel.JointPoints[nui.JointType.Spine].Z; // meters, relative to Kinect camera
double kX = skel.JointPoints[nui.JointType.Spine].X;
GeoPosition pos1 = (GeoPosition)_mapperVicinity.robotPosition.Clone();
double relBearing = Direction.to180fromRad(Math.Atan2(-kX, kZ));
double rangeMeters = Math.Sqrt(kZ * kZ + kX * kX);
pos1.translate(new Direction()
{
heading = _mapperVicinity.robotDirection.heading, bearingRelative = relBearing
}, new Distance(rangeMeters));
DetectedHuman dhum1 = new DetectedHuman()
{
geoPosition = pos1,
firstSeen = DateTime.Now.Ticks,
lastSeen = DateTime.Now.Ticks,
detectorType = DetectorType.KINECT_SKELETON,
};
lock (_mapperVicinity)
{
_mapperVicinity.Add(dhum1);
}
}
}
}
if (null != rawFrames.RawColorFrameData)
{
yield return(new IterativeTask(this.frameProcessor.ProcessImageFrame)); // RGB Video
}
if (null != rawFrames.RawDepthFrameData)
{
yield return(new IterativeTask(this.frameProcessor.ProcessDepthFrame)); // Depth information frame
}
this.UpdateUI(this.frameProcessor);
Decide(SensorEventSource.Kinect);
// poll state at low frequency to see if tilt has shifted (may happen on an actual robot due to shaking)
if (common.Utilities.ElapsedSecondsSinceStart - this.lastStateReadTime > 1)
{
yield return(this.kinectPort.Get().Choice(
kinectState =>
{
this.UpdateState(kinectState); // update value displayed in WPF window
_state.currentTiltKinect = kinectState.TiltDegrees;
},
failure =>
{
if (!this.atLeastOneTiltPollFailed)
{
this.atLeastOneTiltPollFailed = true;
LogError(failure);
}
}));
this.lastStateReadTime = common.Utilities.ElapsedSecondsSinceStart;
}
}
finally
{
}
}
}
