| | | 1 | | using System; |
| | | 2 | | using Implementation.Interfaces; |
| | | 3 | | using Prism.Events; |
| | | 4 | | using ReFlex.Core.Common.Components; |
| | | 5 | | using ReFlex.Core.Common.Util; |
| | | 6 | | using ReFlex.Core.Events; |
| | | 7 | | using ReFlex.Core.Tracking.Interfaces; |
| | | 8 | | using ReFlex.Core.Tracking.Util; |
| | | 9 | | |
| | | 10 | | namespace Implementation.Components |
| | | 11 | | { |
| | | 12 | | public class TrackingManager : ITrackingManager, IDisposable |
| | | 13 | | { |
| | | 14 | | private readonly IEventAggregator _eventAggregator; |
| | | 15 | | private readonly IDepthImageManager _depthImageManager; |
| | | 16 | | private bool _trackingState; |
| | | 17 | | |
| | 0 | 18 | | public IDepthCamera ChosenCamera { get; private set; } |
| | | 19 | | |
| | | 20 | | /// <summary> |
| | | 21 | | /// Gets the chosen stream configuration. |
| | | 22 | | /// </summary> |
| | | 23 | | /// <value> |
| | | 24 | | /// The chosen stream configuration. |
| | | 25 | | /// </value> |
| | | 26 | | /// <inheritdoc /> |
| | 0 | 27 | | public StreamParameter ChosenStreamConfiguration { get; private set; } |
| | | 28 | | |
| | | 29 | | public event EventHandler<TrackingStateChangedEventArgs> TrackingStateChanged; |
| | | 30 | | |
| | | 31 | | public bool TrackingState |
| | | 32 | | { |
| | 0 | 33 | | get => _trackingState; |
| | 0 | 34 | | set => _trackingState = value ? StartTracking() : StopTracking(); |
| | | 35 | | } |
| | | 36 | | |
| | 0 | 37 | | public TrackingManager(IEventAggregator eventAggregator, IDepthImageManager depthImageManager) |
| | 0 | 38 | | { |
| | 0 | 39 | | _eventAggregator = eventAggregator; |
| | 0 | 40 | | _depthImageManager = depthImageManager; |
| | | 41 | | |
| | 0 | 42 | | TrackingState = false; |
| | | 43 | | |
| | 0 | 44 | | _eventAggregator?.GetEvent<RequestChooseCameraEvent>().Subscribe(ChooseCamera); |
| | 0 | 45 | | _eventAggregator?.GetEvent<RequestToggleTrackingEvent>().Subscribe(ToggleTracking); |
| | 0 | 46 | | } |
| | | 47 | | |
| | | 48 | | public void Dispose() |
| | 0 | 49 | | { |
| | 0 | 50 | | _eventAggregator?.GetEvent<RequestChooseCameraEvent>().Unsubscribe(ChooseCamera); |
| | 0 | 51 | | _eventAggregator?.GetEvent<RequestToggleTrackingEvent>().Unsubscribe(ToggleTracking); |
| | 0 | 52 | | } |
| | | 53 | | |
| | | 54 | | public void ChooseCamera(IDepthCamera camera) |
| | 0 | 55 | | { |
| | 0 | 56 | | TrackingState = false; |
| | 0 | 57 | | ChosenCamera = camera; |
| | | 58 | | |
| | | 59 | | |
| | 0 | 60 | | } |
| | | 61 | | |
| | | 62 | | /// <summary> |
| | | 63 | | /// Chooses the stream-configuration. |
| | | 64 | | /// </summary> |
| | | 65 | | /// <param name="configuration">The configuration.</param> |
| | | 66 | | /// <inheritdoc /> |
| | | 67 | | public void ChooseConfiguration(StreamParameter configuration) |
| | 0 | 68 | | { |
| | 0 | 69 | | if (ChosenCamera == null) |
| | 0 | 70 | | return; |
| | | 71 | | |
| | 0 | 72 | | if (!ChosenCamera.GetPossibleConfigurations().Contains(configuration)) |
| | 0 | 73 | | return; |
| | | 74 | | |
| | 0 | 75 | | ChosenStreamConfiguration = configuration; |
| | 0 | 76 | | _eventAggregator.GetEvent<NotifyDepthCameraConfigurationChosenEvent>().Publish(ChosenStreamConfiguration); |
| | 0 | 77 | | } |
| | | 78 | | |
| | 0 | 79 | | public void ToggleTracking() => TrackingState = !TrackingState; |
| | | 80 | | |
| | | 81 | | private bool StartTracking() |
| | 0 | 82 | | { |
| | 0 | 83 | | if (ChosenCamera == null || ChosenStreamConfiguration == null) |
| | 0 | 84 | | return false; |
| | | 85 | | |
| | 0 | 86 | | var payload = new Tuple<int, int>(ChosenStreamConfiguration.Width, ChosenStreamConfiguration.Height); |
| | 0 | 87 | | _eventAggregator?.GetEvent<NotifyCameraChosenEvent>().Publish(payload); |
| | | 88 | | |
| | 0 | 89 | | _depthImageManager.Initialize(ChosenStreamConfiguration.Width, ChosenStreamConfiguration.Height); |
| | | 90 | | |
| | 0 | 91 | | ChosenCamera.EnableStream(ChosenStreamConfiguration); |
| | 0 | 92 | | ChosenCamera.StartStream(); |
| | 0 | 93 | | ChosenCamera.FrameReady += OnFrameReady; |
| | 0 | 94 | | ChosenCamera.DepthImageReady += OnDepthImageReady; |
| | | 95 | | |
| | 0 | 96 | | TrackingStateChanged?.Invoke(this, new TrackingStateChangedEventArgs(ChosenCamera, true)); |
| | | 97 | | |
| | 0 | 98 | | return true; |
| | 0 | 99 | | } |
| | | 100 | | |
| | | 101 | | private bool StopTracking() |
| | 0 | 102 | | { |
| | 0 | 103 | | if (ChosenCamera is null) |
| | 0 | 104 | | return false; |
| | | 105 | | |
| | 0 | 106 | | ChosenCamera.FrameReady -= OnFrameReady; |
| | 0 | 107 | | ChosenCamera.DepthImageReady -= OnDepthImageReady; |
| | 0 | 108 | | ChosenCamera.StopStream(); |
| | | 109 | | |
| | 0 | 110 | | TrackingStateChanged?.Invoke(this, new TrackingStateChangedEventArgs(ChosenCamera, false)); |
| | | 111 | | |
| | 0 | 112 | | return false; |
| | 0 | 113 | | } |
| | | 114 | | |
| | | 115 | | /// <summary> |
| | | 116 | | /// mthod for invoking processing of depth image |
| | | 117 | | /// </summary> |
| | | 118 | | /// <param name="sender"></param> |
| | | 119 | | /// <param name="frame"></param> |
| | | 120 | | private void OnFrameReady(object sender, DepthCameraFrame frame) => |
| | 0 | 121 | | _depthImageManager?.Update(frame); |
| | | 122 | | |
| | | 123 | | /// <summary> |
| | | 124 | | /// Method for notifying depth data streaming instances about new data (byte data) |
| | | 125 | | /// </summary> |
| | | 126 | | /// <param name="sender"></param> |
| | | 127 | | /// <param name="e"></param> |
| | | 128 | | private void OnDepthImageReady(object sender, ImageByteArray e) |
| | 0 | 129 | | { |
| | 0 | 130 | | _depthImageManager?.Update(e); |
| | 0 | 131 | | } |
| | | 132 | | } |
| | | 133 | | } |