public void KeyInputIsSentAfterHandsInput_KeyInputIsNotIgnored()
{
var skinColorHandsDetectorMock = new Mock <ISkinColorHandsDetector>();
skinColorHandsDetectorMock.Setup(schd => schd.Tuned).Returns(true);
var left = new NormalizedHand(0.15, 0.2, 0.18);
var right = new NormalizedHand(0.85, 0.2, 0.18);
var hands = new NormalizedHands(left, right);
var handsDetectorResult = new HandsDetectorResult(hands, null);
skinColorHandsDetectorMock.Setup(schd => schd.DetectHands(It.IsAny <BgrImage>()))
.Returns(handsDetectorResult);
var keyInputEvaluator = new GeneralDroneKeyInputEvaluator();
var handsInputEvaluator = new DroneControllerHandsInputEvaluator();
var neutralLeft = new NormalizedHand(0.15, 0.5, 0.18);
var neutralRight = new NormalizedHand(0.85, 0.5, 0.18);
var neutralHands = new NormalizedHands(neutralLeft, neutralRight);
handsInputEvaluator.Tune(neutralHands);
this.caduhdApp = new CaduhdApp(null, skinColorHandsDetectorMock.Object, this.tello, keyInputEvaluator, handsInputEvaluator);
this.caduhdApp.Input(BgrImage.GetBlank(1, 1, Color.Black));
this.udpClient.Client.ReceiveTimeout = 1000;
string response = string.Empty;
bool handsInputIgnored = false;
try
{
response = this.udpClient.Receive(ref this.anyEndPoint).AsString();
Assert.Equal($"rc 0 0 {this.tello.Speed} 0", response);
}
catch (SocketException)
{
}
this.caduhdApp.Input(new KeyInfo(Key.D, KeyState.Down));
try
{
response = this.udpClient.Receive(ref this.anyEndPoint).AsString();
}
catch (SocketException e)
{
if (e.SocketErrorCode == SocketError.TimedOut)
{
handsInputIgnored = true;
}
}
this.tello.Dispose();
Assert.False(handsInputIgnored);
Assert.Equal($"rc 0 0 0 {this.tello.Speed}", response);
}
/// <summary>
/// This is the entry point of the hands into the Caduhd App.
/// </summary>
/// <param name="image">The image, possibly containing hands.</param>
public void Input(BgrImage image)
{
if (Interlocked.CompareExchange(ref this.isWebCameraFrameProcessorBusy, YES, NO) == NO)
{
if (this.handsAnalyzer != null)
{
this.uiConnector.SetHandsAnalyzerState(this.handsAnalyzer.State);
}
BgrImage frame = image;
MoveCommand moveCommand = null;
if (this.skinColorHandsDetector.Tuned)
{
HandsDetectorResult result = this.skinColorHandsDetector.DetectHands(frame);
frame = result.Image;
var hands = result.Hands;
moveCommand =
(this.handsDroneController.ProcessHandsInput(hands) as DroneControllerHandsInputProcessResult)?.Result;
}
else
{
if (this.handsAnalyzer.State == HandsAnalyzerState.ReadyToAnalyzeLeft || this.handsAnalyzer.State == HandsAnalyzerState.AnalyzingLeft)
{
if (this.handsAnalyzer.State == HandsAnalyzerState.AnalyzingLeft)
{
this.handsAnalyzer.AnalyzeLeft(frame, this.handsDroneController.HandsInputEvaluator.TunerHands["left"]["poi"]);
this.handsAnalyzer.AdvanceState();
}
frame.MarkPoints(this.handsDroneController.HandsInputEvaluator.TunerHands["left"]["outline"], Color.Yellow);
}
else if (this.handsAnalyzer.State == HandsAnalyzerState.ReadyToAnalyzeRight || this.handsAnalyzer.State == HandsAnalyzerState.AnalyzingRight)
{
if (this.handsAnalyzer.State == HandsAnalyzerState.AnalyzingRight)
{
this.handsAnalyzer.AnalyzeRight(frame, this.handsDroneController.HandsInputEvaluator.TunerHands["right"]["poi"]);
this.handsAnalyzer.AdvanceState();
}
frame.MarkPoints(this.handsDroneController.HandsInputEvaluator.TunerHands["right"]["outline"], Color.Yellow);
}
else if (this.handsAnalyzer.State == HandsAnalyzerState.Tuning)
{
HandsAnalyzerResult result = this.handsAnalyzer.Result;
NormalizedHands neutralHands = this.skinColorHandsDetector.Tune(result);
this.handsDroneController.HandsInputEvaluator.Tune(neutralHands);
}
}
this.uiConnector?.SetComputerCameraImage(frame);
this.uiConnector?.SetEvaluatedHandsInput(moveCommand);
Interlocked.Exchange(ref this.isWebCameraFrameProcessorBusy, NO);
}
}
public void DifferentHandsInputsAfterEachOther_BothSent()
{
var skinColorHandsDetectorMock = new Mock <ISkinColorHandsDetector>();
skinColorHandsDetectorMock.Setup(schd => schd.Tuned).Returns(true);
var firstLeft = new NormalizedHand(0.15, 0.2, 0.18);
var firstRight = new NormalizedHand(0.85, 0.2, 0.18);
var firstHands = new NormalizedHands(firstLeft, firstRight);
var firstHandsDetectorResult = new HandsDetectorResult(firstHands, null);
var secondLeft = new NormalizedHand(0.15, 0.8, 0.18);
var secondRight = new NormalizedHand(0.85, 0.7, 0.18);
var secondHands = new NormalizedHands(secondLeft, secondRight);
var secondandsDetectorResult = new HandsDetectorResult(secondHands, null);
skinColorHandsDetectorMock.SetupSequence(schd => schd.DetectHands(It.IsAny <BgrImage>()))
.Returns(firstHandsDetectorResult)
.Returns(secondandsDetectorResult);
var keyInputEvaluator = new GeneralDroneKeyInputEvaluator();
var handsInputEvaluator = new DroneControllerHandsInputEvaluator();
var neutralLeft = new NormalizedHand(0.15, 0.5, 0.18);
var neutralRight = new NormalizedHand(0.85, 0.5, 0.18);
var neutralHands = new NormalizedHands(neutralLeft, neutralRight);
handsInputEvaluator.Tune(neutralHands);
this.caduhdApp = new CaduhdApp(null, skinColorHandsDetectorMock.Object, this.tello, keyInputEvaluator, handsInputEvaluator);
this.caduhdApp.Input(BgrImage.GetBlank(1, 1, Color.Black));
this.caduhdApp.Input(BgrImage.GetBlank(1, 1, Color.Black));
this.udpClient.Client.ReceiveTimeout = 1000;
int counter = 0;
try
{
string response = this.udpClient.Receive(ref this.anyEndPoint).AsString();
Assert.Equal($"rc 0 0 {this.tello.Speed} 0", response);
counter++;
response = this.udpClient.Receive(ref this.anyEndPoint).AsString();
Assert.Equal($"rc 0 0 -{this.tello.Speed} 0", response);
counter++;
}
catch (SocketException)
{
}
this.tello.Dispose();
Assert.Equal(2, counter);
}
public void HandsInputAnalyzerTuned_HandsInput_MoveDownwards_HandsInputEvaluated_CorrectMoveCommandSent()
{
var skinColorHandsDetectorMock = new Mock <ISkinColorHandsDetector>();
skinColorHandsDetectorMock.Setup(schd => schd.Tuned).Returns(true);
var neutralLeft = new NormalizedHand(0.15, 0.5, 0.18);
var neutralRight = new NormalizedHand(0.85, 0.5, 0.18);
var neutralHands = new NormalizedHands(neutralLeft, neutralRight);
var left = new NormalizedHand(0.15, 0.8, 0.18);
var right = new NormalizedHand(0.85, 0.8, 0.18);
var hands = new NormalizedHands(left, right);
var handsDetectorResult = new HandsDetectorResult(hands, null);
skinColorHandsDetectorMock.Setup(schd => schd.DetectHands(It.IsAny <BgrImage>()))
.Returns(handsDetectorResult);
var keyInputEvaluator = new GeneralDroneKeyInputEvaluator();
var handsInputEvaluator = new DroneControllerHandsInputEvaluator();
handsInputEvaluator.Tune(neutralHands);
this.caduhdApp = new CaduhdApp(null, skinColorHandsDetectorMock.Object, this.tello, keyInputEvaluator, handsInputEvaluator);
string response = string.Empty;
this.caduhdApp.Input(BgrImage.GetBlank(1, 1, Color.Black));
try
{
response = this.udpClient.Receive(ref this.anyEndPoint).AsString();
}
catch (SocketException)
{
}
// it needs to be disposed of here
this.tello.Dispose();
Assert.Equal($"rc 0 0 -{this.tello.Speed} 0", response);
}
public HandsDetectorResultTests()
{
this.hands = new NormalizedHands(new NormalizedHand(), new NormalizedHand());
this.image = BgrImage.GetBlank(100, 100, Color.White);
this.handsDetectorResult = new HandsDetectorResult(this.hands, this.image);
}
