/BlobTracker/BlobTrackerTypes.cs

//-----------------------------------------------------------------------

//  This file is part of Microsoft Robotics Developer Studio Code Samples.

//

//  Copyright (C) Microsoft Corporation.  All rights reserved.

//

//  $File: BlobTrackerTypes.cs $ $Revision: 1 $

//-----------------------------------------------------------------------

using Microsoft.Ccr.Core;

using Microsoft.Dss.Core.Attributes;

using Microsoft.Dss.ServiceModel.Dssp;

using System;

using System.Collections.Generic;

using W3C.Soap;

using blobtracker = Microsoft.Robotics.Services.Sample.BlobTracker;

using System.Drawing;

using System.ComponentModel;





namespace Microsoft.Robotics.Services.Sample.BlobTracker

{



    /// <summary>

    /// BlobTracker Contract class

    /// </summary>

    public sealed class Contract

    {

        /// <summary>

        /// The Dss Service contract

        /// </summary>

        public const String Identifier = "http://schemas.microsoft.com/robotics/2007/03/blobtracker.user.html";

    }

    /// <summary>

    /// The BlobTracker State

    /// </summary>

    [DataContract]

    [Description ("The blob tracker's state")]

    public class BlobTrackerState

    {

        /// <summary>

        /// Indicates whether an update frame is available.

        /// </summary>

        [Browsable(false)]

        public bool UpdateFrame

        {

            get { return _updateFrame; }

            set { _updateFrame = value; }

        }

        private bool _updateFrame;



        /// <summary>

        /// The set of color bins

        /// </summary>

        [DataMember(IsRequired = true)]

        public List<ColorBin> ColorBins

        {

            get { return _colorBins; }

            set { _colorBins = value; }

        }

        private List<ColorBin> _colorBins = new List<ColorBin>();



        /// <summary>

        /// TimeStamp of the last update

        /// </summary>

        [DataMember]

        [Browsable(false)]

        public DateTime TimeStamp

        {

            get { return _timeStamp; }

            set { _timeStamp = value; }

        }

        private DateTime _timeStamp;



        /// <summary>

        /// The list of matching blobs found

        /// </summary>

        [DataMember(IsRequired = true)]

        [Browsable(false)]

        public List<FoundBlob> Results

        {

            get { return _results; }

            set { _results = value; }

        }

        private List<FoundBlob> _results = new List<FoundBlob>();

    }



    /// <summary>

    /// Specifies a color bin (set)

    /// </summary>

    [DataContract]

    public class ColorBin

    {

        /// <summary>

        /// Indicates the name of the color bin (set).

        /// </summary>

        [DataMember]

        public string Name

        {

            get { return _name; }

            set { _name = value; }

        }

        private string _name;



        /// <summary>

        /// Indicates minimum red value of the color bin.

        /// </summary>

        [DataMember]

        public int RedMin

        {

            get { return _redMin; }

            set { _redMin = value; }

        }

        private int _redMin;



        /// <summary>

        /// Indicates maximum red value of the color bin.

        /// </summary>

        [DataMember]

        public int RedMax

        {

            get { return _redMax; }

            set { _redMax = value; }

        }

        private int _redMax;



        /// <summary>

        /// Indicates minimum green value of the color bin.

        /// </summary>

        [DataMember]

        public int GreenMin

        {

            get { return _greenMin; }

            set { _greenMin = value; }

        }

        private int _greenMin;



        /// <summary>

        /// Indicates maximum green value of the color bin.

        /// </summary>

        [DataMember]

        public int GreenMax

        {

            get { return _greenMax; }

            set { _greenMax = value; }

        }

        private int _greenMax;



        /// <summary>

        /// Indicates minimum blue value of the color bin.

        /// </summary>

        [DataMember]

        public int BlueMin

        {

            get { return _blueMin; }

            set { _blueMin = value; }

        }

        private int _blueMin;



        /// <summary>

        /// Indicates maximum blue value of the color bin.

        /// </summary>

        [DataMember]

        public int BlueMax

        {

            get { return _blueMax; }

            set { _blueMax = value; }

        }

        private int _blueMax;



        /// <summary>

        /// Checks if the specified color matches the current color bin.

        /// </summary>

        /// <param name="color">Color object</param>

        /// <returns>True if the color matches, false otherwise</returns>

        public bool Test(Color color)

        {

            return Test(color.R, color.G, color.B);

        }



        internal bool Test(int red, int green, int blue)

        {

            return (red >= _redMin && red < _redMax &&

                green >= _greenMin && green < _greenMax &&

                blue >= _blueMin && blue < _blueMax);

        }

    }



    /// <summary>

    /// Specifies information about the detected blob.

    /// </summary>

    [DataContract]

    public class FoundBlob

    {

        /// <summary>

        /// Indicates the X projection.

        /// </summary>

        [DataMember]

        public int[] XProjection

        {

            get { return _xProjection; }

            set { _xProjection = value; }

        }

        private int[] _xProjection;



        /// <summary>

        /// Indicates the Y projection.

        /// </summary>

        [DataMember]

        public int[] YProjection

        {

            get { return _yProjection; }

            set { _yProjection = value; }

        }

        private int[] _yProjection;



        /// <summary>

        /// Indicates the name of the blob.

        /// </summary>

        [DataMember]

        public string Name

        {

            get { return _name; }

            set { _name = value; }

        }

        private string _name;



        /// <summary>

        /// Indicates the X mean value.

        /// </summary>

        [DataMember]

        public double MeanX

        {

            get { return _meanX; }

            set { _meanX = value; }

        }

        private double _meanX;



        /// <summary>

        /// Indicates the Y mean value.

        /// </summary>

        [DataMember]

        public double MeanY

        {

            get { return _meanY; }

            set { _meanY = value; }

        }

        private double _meanY;



        /// <summary>

        /// Indicates the X standard deviation value.

        /// </summary>

        [DataMember]

        public double StdDevX

        {

            get { return _stdDevX; }

            set { _stdDevX = value; }

        }

        private double _stdDevX;



        /// <summary>

        /// Indicates the Y standard deviation value.

        /// </summary>

        [DataMember]

        public double StdDevY

        {

            get { return _stdDevY; }

            set { _stdDevY = value; }

        }

        private double _stdDevY;



        /// <summary>

        /// Indicates the X skew value.

        /// </summary>

        [DataMember]

        public double SkewX

        {

            get { return _skewX; }

            set { _skewX = value; }

        }

        private double _skewX;



        /// <summary>

        /// Indicates the Y skew value.

        /// </summary>

        [DataMember]

        public double SkewY

        {

            get { return _skewY; }

            set { _skewY = value; }

        }

        private double _skewY;



        /// <summary>

        /// Indicates area. This is the number of pixels that contribute to the blob.

        /// </summary>

        [DataMember]

        public double Area

        {

            get { return _area; }

            set { _area = value; }

        }

        private double _area;



        internal void CalculateMoments()

        {

            double square;



            double yOff = -_meanY;

            _stdDevY = 0.0;

            _skewY = 0.0;



            for (int y = 0; y < _yProjection.Length; y++, yOff++)

            {

                if (_yProjection[y] > 0)

                {

                    square = yOff * yOff * _yProjection[y];



                    _stdDevY += square;

                    _skewY += yOff * square;

                }

            }



            _stdDevY = Math.Sqrt(_stdDevY / _area);

            _skewY = _skewY / (_area * _stdDevY * _stdDevY * _stdDevY);



            double xOff = -_meanX;

            _stdDevX = 0.0;

            _skewX = 0.0;



            for (int x = 0; x < _xProjection.Length; x++, xOff++)

            {

                if (_xProjection[x] > 0)

                {

                    square = xOff * xOff * _xProjection[x];



                    _stdDevX += square;

                    _skewX += xOff * square;

                }

            }



            _stdDevX = Math.Sqrt(_stdDevX / _area);

            _skewX = _skewX / (_area * _stdDevX * _stdDevX * _stdDevX);

        }



        internal void AddPixel(int x, int y)

        {

            _meanX += x;

            _meanY += y;

            _xProjection[x]++;

            _yProjection[y]++;

            _area++;

        }

    }



    /// <summary>

    /// Indicates the ImageProcessed request.

    /// </summary>

    [DataContract]

    public class ImageProcessedRequest

    {

        /// <summary>

        /// Indicates the time the image was processed.

        /// </summary>

        [DataMember]

        public DateTime TimeStamp

        {

            get { return _timeStamp; }

            set { _timeStamp = value; }

        }

        private DateTime _timeStamp;



        /// <summary>

        /// Indicates the list of blobs found.

        /// </summary>

        [DataMember(IsRequired = true)]

        public List<FoundBlob> Results

        {

            get { return _results; }

            set { _results = value; }

        }

        private List<FoundBlob> _results = new List<FoundBlob>();

    }



    /// <summary>

    /// BlobTracker Main Operations Port

    /// </summary>

    [ServicePort]

    public class BlobTrackerOperations : PortSet

    {

        /// <summary>

        /// BlobTracker Operations PortSet

        /// </summary>

        public BlobTrackerOperations()

            : base(

                typeof(DsspDefaultLookup),

                typeof(DsspDefaultDrop),

                typeof(Get),

                typeof(ImageProcessed),

                typeof(Subscribe),

                typeof(InsertBin),

                typeof(DeleteBin),

                typeof(UpdateBin)

            )

        {

        }



        /// <summary>

        /// Implicit cast from BlobTrackerOperations to Port&lt;ImageProcessed&gt;

        /// </summary>

        public static implicit operator Port<ImageProcessed>(BlobTrackerOperations portSet)

        {

            if (portSet == null)

            {

                return null;

            }

            return (Port<ImageProcessed>)portSet[typeof(ImageProcessed)];

        }



        /// <summary>

        /// Post helper method

        /// </summary>

        public void Post(ImageProcessed msg)

        {

            base.PostUnknownType(msg);

        }



        /// <summary>

        /// Implicit cast from BlobTrackerOperations to Port&lt;DsspDefaultDrop&gt;

        /// </summary>

        public static implicit operator Port<DsspDefaultDrop>(BlobTrackerOperations portSet)

        {

            if (portSet == null)

            {

                return null;

            }

            return (Port<DsspDefaultDrop>)portSet[typeof(DsspDefaultDrop)];

        }



        /// <summary>

        /// Post helper method

        /// </summary>

        public void Post(DsspDefaultDrop msg)

        {

            base.PostUnknownType(msg);

        }

    }

    /// <summary>

    /// BlobTracker Get Operation

    /// </summary>

    [Description("Gets the current state of the service.")]

    public class Get : Get<GetRequestType, PortSet<BlobTrackerState, Fault>>

    {

    }



    /// <summary>

    /// BlobTracker Subscribe Operation

    /// </summary>

    [Description("Subscribes to the service notifications.")]

    public class Subscribe : Subscribe<SubscribeRequestType, PortSet<SubscribeResponseType, Fault>>

    {

    }



    /// <summary>

    /// BlobTracker Update Operation

    /// </summary>

    [Description("Indicates when an image has been processed.")]

    public class ImageProcessed : Update<ImageProcessedRequest, PortSet<DefaultUpdateResponseType, Fault>>

    {

        /// <summary>

        /// Default constructor

        /// </summary>

        public ImageProcessed()

        {

        }



        /// <summary>

        /// Creates a new ImageProcessed message with the specified request body

        /// </summary>

        /// <param name="body"></param>

        public ImageProcessed(ImageProcessedRequest body)

            : base(body)

        {

        }

    }



    /// <summary>

    /// BlobTracker InsertBin Operation

    /// </summary>

    [Description("Inserts a color bin for processing/analysis.")]

    public class InsertBin : Insert<ColorBin, PortSet<DefaultInsertResponseType, Fault>>

    {

    }



    /// <summary>

    /// BlobTracker DeleteBin Operation

    /// </summary>

    [Description("Deletes a color bin for processing/analysis.")]

    public class DeleteBin : Delete<ColorBin, PortSet<DefaultDeleteResponseType, Fault>>

    {

    }



    /// <summary>

    /// BlobTracker UpdateBin Operation

    /// </summary>

    [Description("Updates a color bin for processing/analysis.")]

    public class UpdateBin : Update<ColorBin, PortSet<DefaultUpdateResponseType, Fault>>

    {

    }

}