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Added new UI for the Temporal Sync Feature, made the software more robust including:

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-Settings window can only be opened once
    -When the client can't open a device, it tries multiple times
    -Recording bins are now saved with a unique ID per device, to allow multiple clients to record on the same PC
    -Synchronized & Unsynchronized devices can be both used in one server
    -Included a workaround for a bug in the Azure Kinect SDK regarding exposure (microsoft/Azure-Kinect-Sensor-SDK#1378)
This commit is contained in:
Christopher Remde
2020-10-14 23:21:18 +02:00
parent 2b15ed0f5b
commit 76bf5e9dba
15 changed files with 744 additions and 129 deletions
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LiveScanServer/KinectServer.cs
+154 -16
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@@ -22,6 +22,7 @@ using System.Threading;
using System.Net.Sockets;
using System.Net;
using System.ComponentModel;
using System.Windows.Forms;
namespace KinectServer
{
@@ -31,9 +32,15 @@ namespace KinectServer
Socket oServerSocket;
bool bServerRunning = false;
bool waitForSubToStart = false;
bool bWaitForSubToStart = false;
//This lock prevents the user from enabeling/disabling the Temp Sync State while the cameras are in transition to another state.
//When starting the server, all devices are already initialized, as the LiveScanClient can only connect with an initialized device
bool allDevicesInitialized = true;
KinectSettings oSettings;
SettingsForm fSettingsForm;
MainWindowForm fMainWindowForm;
object oClientSocketLock = new object();
object oFrameRequestLock = new object();
@@ -133,6 +140,21 @@ namespace KinectServer
this.oSettings = settings;
}
public void SetSettingsForm(SettingsForm settings)
{
fSettingsForm = settings;
}
public void SetMainWindowForm(MainWindowForm main)
{
fMainWindowForm = main;
}
public SettingsForm GetSettingsForm()
{
return fSettingsForm;
}
private void SocketListChanged()
{
if (eSocketListChanged != null)
@@ -226,6 +248,7 @@ namespace KinectServer
{
lock (oClientSocketLock)
{
for (int i = 0; i < lClientSockets.Count; i++)
{
lClientSockets[i].SendCalibrationData();
@@ -234,33 +257,115 @@ namespace KinectServer
}
/// <summary>
/// Send temporal Sync Data to all clients
/// Request the device Sync state, so that we know which Device is Master and which are Subordinates before starting them
/// </summary>
public void RequestDeviceSyncState()
{
lock (oClientSocketLock)
{
for (int i = 0; i < lClientSockets.Count; i++)
{
lClientSockets[i].RequestTempSyncState();
}
}
}
/// <summary>
/// When a client has send its Device Sync State, we try to Set the Client Sync State
/// </summary>
public void SendTemporalSyncData()
{
lock (oClientSocketLock)
{
if(lClientSockets.Count > 1 && oSettings.bEnableSync)
{
byte syncOffSetCounter = 1;
int masterCount = 0;
int subordinateCount = 0;
for (int i = 0; i < lClientSockets.Count; i++)
//First we check if we have recieved the Device Sync State of all Devices
//If not, we return and the next client who confirms their state starts this function again
for (int i = 0; i < lClientSockets.Count; i++)
{
if(lClientSockets[i].currentDeviceTempSyncState == KinectSocket.eTempSyncConfig.MASTER)
{
masterCount++;
}
if (lClientSockets[i].currentDeviceTempSyncState == KinectSocket.eTempSyncConfig.SUBORDINATE)
{
subordinateCount++;
}
if (lClientSockets[i].currentDeviceTempSyncState == KinectSocket.eTempSyncConfig.UNKNOWN)
{
return;
}
}
//On a second step we check if we have exactly one master and at least one subordinate
if(masterCount != 1 || subordinateCount < 1)
{
//If not, we show a error message and disable the temporal sync
fMainWindowForm?.SetStatusBarOnTimer("Temporal Sync cables not connected properly", 5000);
fSettingsForm?.ActivateTempSyncEnableButton();
return;
}
allDevicesInitialized = false;
byte syncOffSetCounter = 0;
for (int i = 0; i < lClientSockets.Count; i++)
{
if(lClientSockets[i].currentDeviceTempSyncState == KinectSocket.eTempSyncConfig.SUBORDINATE)
{
lClientSockets[i].SendTemporalSyncStatus(true, syncOffSetCounter);
syncOffSetCounter++;
}
waitForSubToStart = true;
lClientSockets[i].SendTemporalSyncStatus(true, syncOffSetCounter);
}
else
bWaitForSubToStart = true;
}
}
/// <summary>
/// Sets all clients as standalone
/// </summary>
public void DisableTemporalSync()
{
allDevicesInitialized = false;
lock (oClientSocketLock)
{
for (int i = 0; i < lClientSockets.Count; i++)
{
for (int i = 0; i < lClientSockets.Count; i++)
lClientSockets[i].SendTemporalSyncStatus(false, 0);
}
}
}
public void ConfirmTemporalSyncDisabled()
{
if (bWaitForSubToStart)
return;
lock (oClientSocketLock)
{
for (int i = 0; i < lClientSockets.Count; i++)
{
if (lClientSockets[i].currentClientTempSyncState != KinectSocket.eTempSyncConfig.STANDALONE)
{
lClientSockets[i].SendTemporalSyncStatus(false, 0);
return;
}
}
}
allDevicesInitialized = true;
}
/// <summary>
@@ -268,7 +373,7 @@ namespace KinectServer
/// </summary>
public void CheckForMasterStart()
{
if (!oSettings.bEnableSync || !waitForSubToStart)
if (!bWaitForSubToStart)
{
return;
}
@@ -279,23 +384,40 @@ namespace KinectServer
{
for (int i = 0; i < lClientSockets.Count; i++)
{
if (!lClientSockets[i].bSubStarted && lClientSockets[i].currentTempSyncState == KinectSocket.eTempSyncConfig.SUBORDINATE)
if (!lClientSockets[i].bSubStarted && lClientSockets[i].currentClientTempSyncState == KinectSocket.eTempSyncConfig.SUBORDINATE)
{
allSubsStarted = false;
break;
}
}
bWaitForSubToStart = false;
if (allSubsStarted)
{
for (int i = 0; i < lClientSockets.Count; i++)
{
lClientSockets[i].SendMasterInitialize();
if(lClientSockets[i].currentDeviceTempSyncState == KinectSocket.eTempSyncConfig.MASTER)
{
lClientSockets[i].SendMasterInitialize();
return;
}
}
}
}
}
}
/// <summary>
/// Tells the server that it is now ok to start recieving user changes again
/// </summary>
public void MasterSuccessfullyRestarted()
{
allDevicesInitialized = true;
}
public bool GetAllDevicesInitialized()
{
return allDevicesInitialized;
}
public bool GetStoredFrame(List<List<byte>> lFramesRGB, List<List<Single>> lFramesVerts)
@@ -369,6 +491,7 @@ namespace KinectServer
//Wait till frames received
bool allGathered = false;
while (!allGathered)
{
allGathered = true;
@@ -384,6 +507,7 @@ namespace KinectServer
}
}
}
}
//Store received frames
@@ -396,6 +520,7 @@ namespace KinectServer
lFramesBody.Add(new List<Body>(lClientSockets[i].lBodies));
}
}
}
}
@@ -427,6 +552,9 @@ namespace KinectServer
lClientSockets[lClientSockets.Count - 1].SendSettings(oSettings);
lClientSockets[lClientSockets.Count - 1].eChanged += new SocketChangedHandler(SocketListChanged);
lClientSockets[lClientSockets.Count - 1].eSubInitialized += new SubOrdinateInitialized(CheckForMasterStart);
lClientSockets[lClientSockets.Count - 1].eMasterRestart += new MasterRestarted(MasterSuccessfullyRestarted);
lClientSockets[lClientSockets.Count - 1].eSyncJackstate += new RecievedSyncJackState(SendTemporalSyncData);
lClientSockets[lClientSockets.Count - 1].eStandAloneInitialized += new StandAloneInitialized(ConfirmTemporalSyncDisabled);
if (eSocketListChanged != null)
{
@@ -509,6 +637,16 @@ namespace KinectServer
lClientSockets[i].ReceiveTemporalSyncStatus();
}
else if(buffer[0] == 5)
{
lClientSockets[i].RecieveMasterHasRestarted();
}
else if(buffer[0] == 6)
{
lClientSockets[i].RecieveDeviceSyncState();
}
buffer = lClientSockets[i].Receive(1);
}
}