MainWindow.xaml.cs

//------------------------------------------------------------------------------
// <copyright file="MainWindow.xaml.cs" company="Microsoft">
// 	 
//	 Copyright 2013 Microsoft Corporation 
// 	 
//	Licensed under the Apache License, Version 2.0 (the "License"); 
//	you may not use this file except in compliance with the License.
//	You may obtain a copy of the License at
// 	 
//		 http://www.apache.org/licenses/LICENSE-2.0 
// 	 
//	Unless required by applicable law or agreed to in writing, software 
//	distributed under the License is distributed on an "AS IS" BASIS,
//	WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
//	See the License for the specific language governing permissions and 
//	limitations under the License. 
// 	 
// </copyright>
//------------------------------------------------------------------------------

namespace Microsoft.Samples.Kinect.SkeletonBasics
{
        
     using System;
     using System.Diagnostics;
     using System.IO;
     using System.Windows;
     using System.Windows.Media;
     using Microsoft.Kinect;
     using InTheHand;
     using System.Threading;
     using InTheHand.Net.Bluetooth;
     using InTheHand.Net.Ports;
     using InTheHand.Net.Sockets;
    using System.Text;

    /// <summary>
    /// Interaction logic for MainWindow.xaml
    /// </summary>
    public partial class MainWindow : Window
    {
        /// <summary>
        /// Width of output drawing
        /// </summary>
        private const float RenderWidth = 640.0f;

        /// <summary>
        /// Height of our output drawing
        /// </summary>
        private const float RenderHeight = 480.0f;

        /// <summary>
        /// Thickness of drawn joint lines
        /// </summary>
        private const double JointThickness = 3;

        /// <summary>
        /// Thickness of body center ellipse
        /// </summary>
        private const double BodyCenterThickness = 10;

        /// <summary>
        /// Thickness of clip edge rectangles
        /// </summary>
        private const double ClipBoundsThickness = 10;

        /// <summary>
        /// Brush used to draw skeleton center point
        /// </summary>
        private readonly Brush centerPointBrush = Brushes.Blue;

        /// <summary>
        /// Brush used for drawing joints that are currently tracked
        /// </summary>
        private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));

        /// <summary>
        /// Brush used for drawing joints that are currently inferred
        /// </summary>        
        private readonly Brush inferredJointBrush = Brushes.Yellow;

        /// <summary>
        /// Pen used for drawing bones that are currently tracked
        /// </summary>
        private readonly Pen trackedBonePen = new Pen(Brushes.Green, 6);

        /// <summary>
        /// Pen used for drawing bones that are currently inferred
        /// </summary>        
        private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1);

        /// <summary>
        /// Active Kinect sensor
        /// </summary>
        private KinectSensor sensor;

        /// <summary>
        /// Drawing group for skeleton rendering output
        /// </summary>
        private DrawingGroup drawingGroup;

        /// <summary>
        /// Drawing image that we will display
        /// </summary>
        private DrawingImage imageSource;

        /// <summary>
        /// Initializes a new instance of the MainWindow class.
        /// </summary>
        public MainWindow()
        {
            InitializeComponent();
        }

        /// <summary>
        /// Draws indicators to show which edges are clipping skeleton data
        /// </summary>
        /// <param name="skeleton">skeleton to draw clipping information for</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        private static void RenderClippedEdges(Skeleton skeleton, DrawingContext drawingContext)
        {
            if (skeleton.ClippedEdges.HasFlag(FrameEdges.Bottom))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(0, RenderHeight - ClipBoundsThickness, RenderWidth, ClipBoundsThickness));
            }

            if (skeleton.ClippedEdges.HasFlag(FrameEdges.Top))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(0, 0, RenderWidth, ClipBoundsThickness));
            }

            if (skeleton.ClippedEdges.HasFlag(FrameEdges.Left))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(0, 0, ClipBoundsThickness, RenderHeight));
            }

            if (skeleton.ClippedEdges.HasFlag(FrameEdges.Right))
            {
                drawingContext.DrawRectangle(
                    Brushes.Red,
                    null,
                    new Rect(RenderWidth - ClipBoundsThickness, 0, ClipBoundsThickness, RenderHeight));
            }
        }

        /// <summary>
        /// Execute startup tasks
        /// </summary>
        /// <param name="sender">object sending the event</param>
        /// <param name="e">event arguments</param>
        private void WindowLoaded(object sender, RoutedEventArgs e)
        {
            // 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);

            Thread hola = new Thread(new ThreadStart(escaneo));
            hola.Start();
            // Display the drawing using our image control
            //Image.Source = this.imageSource;
            Blepo.Source = this.imageSource;
            // Look through all sensors and start the first connected one.
            // This requires that a Kinect is connected at the time of app startup.
            // To make your app robust against plug/unplug, 
            // it is recommended to use KinectSensorChooser provided in Microsoft.Kinect.Toolkit (See components in Toolkit Browser).
            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();

                // Add an event handler to be called whenever there is new color frame data
                this.sensor.SkeletonFrameReady += this.SensorSkeletonFrameReady;

                // Start the sensor!
                try
                {
                    this.sensor.Start();
                }
                catch (IOException)
                {
                    this.sensor = null;
                }
            }

            if (null == this.sensor)
            {
                this.statusBarText.Text = Properties.Resources.NoKinectReady;
            }
        }

        Guid mUUID = new Guid("00001101-0000-1000-8000-00805F9B34FB");
        BluetoothDeviceInfo dispositivomeromero;
        bool locke = false;
        byte[] posiciony = Encoding.ASCII.GetBytes("P");

        private void escaneo(){
             Debug.WriteLine("Inicio de escaneo");
             BluetoothClient cliente = new BluetoothClient();
             BluetoothDeviceInfo[] dispositivos = cliente.DiscoverDevicesInRange();
             Debug.WriteLine("\n"+dispositivos.Length.ToString() + " numero de dispositivos");
             foreach (BluetoothDeviceInfo blue in dispositivos)
             {
                 Debug.WriteLine(blue.DeviceAddress + " " + blue.DeviceName);
                 if (blue.DeviceAddress.ToString().Equals("0015FFF21179"))
                 {
                     Debug.WriteLine("tenemos un ganador!! " + blue.DeviceAddress.ToString());
                     dispositivomeromero = blue;
                 }
             }
            //201308021034 
            if (parear()){
                Debug.WriteLine("Conectado!!");
                Thread tredi = new Thread(new ThreadStart(conectio));
                tredi.Start();
            }
        }

        private void conectio() {
            BluetoothClient cliento = new BluetoothClient();
            cliento.BeginConnect(dispositivomeromero.DeviceAddress,mUUID,this.callbacko,cliento);
        }

        void callbacko(IAsyncResult resulti){
            Debug.WriteLine("Comenzare a mandar");
            BluetoothClient clienti = (BluetoothClient)resulti.AsyncState;
            clienti.EndConnect(resulti);
            Stream strimi = clienti.GetStream();
            strimi.ReadTimeout = 1000;

            while(true){
                while (!locke);
                strimi.Write(posiciony,0,posiciony.Length);
                System.Threading.Thread.Sleep(50);
            }
        }

        string clave = "1234";

        private bool parear(){
          if(!dispositivomeromero.Authenticated){
                if(!BluetoothSecurity.PairRequest(dispositivomeromero.DeviceAddress,clave)){
                    return false;
                }
          }
          return true;
        }

        private void WindowClosing(object sender, System.ComponentModel.CancelEventArgs e)
        {
            if (null != this.sensor)
            {
                this.sensor.Stop();
            }
        }


        private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
        {
            Skeleton[] skeletons = new Skeleton[0];

            using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
            {
                if (skeletonFrame != null)
                {
                    skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
                    skeletonFrame.CopySkeletonDataTo(skeletons);
                }
            }

             foreach (Skeleton skeleto in skeletons){
                   Joint manoderecha = skeleto.Joints[JointType.HandRight];
                   double cordenadaeny = manoderecha.Position.Y;

                   Joint manoizquierda = skeleto.Joints[JointType.HandLeft];
                   double cordenadaenyiz = manoizquierda.Position.Y;

                   //Debug.WriteLine(cordenadaeny+"");
                   double ble = cordenadaeny * 255;
                   double bli = cordenadaenyiz * 255;

                   if (ble > 0 && bli > 0 )
                   {
                       int parsed = Convert.ToInt32(ble);
                       string PaddedResultderecha = parsed.ToString().PadLeft(3, '0'); // results in 009
                       

                       int parsei = Convert.ToInt32(bli);
                       string PaddedResultizquierda = parsei.ToString().PadLeft(3, '0');

                       Debug.WriteLine("["+PaddedResultizquierda+","+PaddedResultderecha+"]");

                       posiciony = Encoding.ASCII.GetBytes("[" + PaddedResultizquierda + "," + PaddedResultderecha + "]");
                       locke = true;
                   }
                   else {
                       locke = false;
                   }
             }

            using (DrawingContext dc = this.drawingGroup.Open())
            {
                dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));

                if (skeletons.Length != 0)
                {
                    foreach (Skeleton skel in skeletons)
                    {
                        RenderClippedEdges(skel, dc);

                        if (skel.TrackingState == SkeletonTrackingState.Tracked)
                        {
                            this.DrawBonesAndJoints(skel, dc);
                        }
                        else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
                        {
                            dc.DrawEllipse(
                            this.centerPointBrush,
                            null,
                            this.SkeletonPointToScreen(skel.Position),
                            BodyCenterThickness,
                            BodyCenterThickness);
                        }
                    }
                }

                this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
            }
        }

        private void DrawBonesAndJoints(Skeleton skeleton, DrawingContext drawingContext)
        {
            // Render Torso
            this.DrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter);
            this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft);
            this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight);
            this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine);
            this.DrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter);
            this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft);
            this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight);

            this.DrawBone(skeleton, drawingContext, JointType.ShoulderLeft, JointType.ElbowLeft);
            this.DrawBone(skeleton, drawingContext, JointType.ElbowLeft, JointType.WristLeft);
            this.DrawBone(skeleton, drawingContext, JointType.WristLeft, JointType.HandLeft);

            this.DrawBone(skeleton, drawingContext, JointType.ShoulderRight, JointType.ElbowRight);
            this.DrawBone(skeleton, drawingContext, JointType.ElbowRight, JointType.WristRight);
            this.DrawBone(skeleton, drawingContext, JointType.WristRight, JointType.HandRight);

            this.DrawBone(skeleton, drawingContext, JointType.HipLeft, JointType.KneeLeft);
            this.DrawBone(skeleton, drawingContext, JointType.KneeLeft, JointType.AnkleLeft);
            this.DrawBone(skeleton, drawingContext, JointType.AnkleLeft, JointType.FootLeft);

            this.DrawBone(skeleton, drawingContext, JointType.HipRight, JointType.KneeRight);
            this.DrawBone(skeleton, drawingContext, JointType.KneeRight, JointType.AnkleRight);
            this.DrawBone(skeleton, drawingContext, JointType.AnkleRight, JointType.FootRight);
 
            foreach (Joint joint in skeleton.Joints)
            {
                Brush drawBrush = null;

                if (joint.TrackingState == JointTrackingState.Tracked)
                {
                    drawBrush = this.trackedJointBrush;                    
                }
                else if (joint.TrackingState == JointTrackingState.Inferred)
                {
                    drawBrush = this.inferredJointBrush;                    
                }

                if (drawBrush != null)
                {
                    drawingContext.DrawEllipse(drawBrush, null, this.SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
                }
            }
        }

        /// <summary>
        /// Maps a SkeletonPoint to lie within our render space and converts to Point
        /// </summary>
        /// <param name="skelpoint">point to map</param>
        /// <returns>mapped point</returns>
        private Point SkeletonPointToScreen(SkeletonPoint skelpoint)
        {
            // Convert point to depth space.  
            // We are not using depth directly, but we do want the points in our 640x480 output resolution.
            DepthImagePoint depthPoint = this.sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(skelpoint, DepthImageFormat.Resolution640x480Fps30);
            return new Point(depthPoint.X, depthPoint.Y);
        }

        /// <summary>
        /// Draws a bone line between two joints
        /// </summary>
        /// <param name="skeleton">skeleton to draw bones from</param>
        /// <param name="drawingContext">drawing context to draw to</param>
        /// <param name="jointType0">joint to start drawing from</param>
        /// <param name="jointType1">joint to end drawing at</param>
        private void DrawBone(Skeleton skeleton, DrawingContext drawingContext, JointType jointType0, JointType jointType1)
        {
            Joint joint0 = skeleton.Joints[jointType0];
            Joint joint1 = skeleton.Joints[jointType1];

            // If we can't find either of these joints, exit
            if (joint0.TrackingState == JointTrackingState.NotTracked ||
                joint1.TrackingState == JointTrackingState.NotTracked)
            {
                return;
            }

            // Don't draw if both points are inferred
            if (joint0.TrackingState == JointTrackingState.Inferred &&
                joint1.TrackingState == JointTrackingState.Inferred)
            {
                return;
            }

            // We assume all drawn bones are inferred unless BOTH joints are tracked
            Pen drawPen = this.inferredBonePen;
            if (joint0.TrackingState == JointTrackingState.Tracked && joint1.TrackingState == JointTrackingState.Tracked)
            {
                drawPen = this.trackedBonePen;
            }

            drawingContext.DrawLine(drawPen, this.SkeletonPointToScreen(joint0.Position), this.SkeletonPointToScreen(joint1.Position));
        }
    }
}