private void serialPort_MessageReceived(object sender, MessageReceivedEventArgs args)
{
var message = BitConverter.ToString(args.Data);
_logger.LogInfoMessage($"Serial port data arrived => {message}");
MessageReceived?.Invoke(this, args.Data);
}
private async void Desktop_Startup(object sender, ControlledApplicationLifetimeStartupEventArgs e)
{
var version = Assembly.GetEntryAssembly()?.GetName().Version;
_logger.LogInfoMessage($"App startup begin. version:{version}");
var settings = _settingsManager.GetAppSettings();
_logger.LogInfoMessage($"App starting with user settings => :\n{JsonConvert.SerializeObject(settings, Formatting.Indented)}");
_logger.LogInfoMessage("Connect to UGCS");
await _ugcsConnection.ConnectAsync(settings.UGCSHost, settings.UGCSPort, settings.UGCSLogin, settings.UGCSPassword);
if (_ugcsConnection.ConnectionStatus == UgcsConnectionStatus.Connected)
{
_logger.LogInfoMessage("Connected to UGCS");
_logger.LogInfoMessage("Initialize VehicleManager");
await _vehiclesManager.Initialize();
_logger.LogInfoMessage("VehicleManager initialized");
}
else
{
_logger.LogError("Not connected to UGCS");
}
_logger.LogInfoMessage("Initialize PTZ transport");
// TODO
//await _ptzTransport.Initialize();
_ptzTransport.Initialize();
_logger.LogInfoMessage("PTZ transport initialized");
_logger.LogInfoMessage("App startup end");
}
private void transport_MessageReceived(object sender, byte[] messageData)
{
var pelcoMessage = PelcoDEMessage.FromBytes(messageData);
_logger.LogInfoMessage($"Pelco message received => {pelcoMessage?.ToString() ?? "<null>"}");
if (pelcoMessage == null)
{
return;
}
var settings = _settingsManager.GetAppSettings();
var responseType = _responseDecoder.GetResponseType(pelcoMessage);
_logger.LogInfoMessage($"Pelco response type => {responseType?.ToString() ?? "<null>"}");
switch (responseType)
{
case null:
return;
case PelcoDEMessageType.SetPanCompleteResponse:
_panTaskCompletionSource?.TrySetResult(true);
return;
case PelcoDEMessageType.RequestPanResponse:
{
var panAngleToCoordinatesFactor = settings.PTZPanAngleToCoordinateFactor;
var angle = PelcoResponseDecoder.GetUInt16(pelcoMessage) / panAngleToCoordinatesFactor / 100;
_logger.LogDebugMessage($"Pelco RequestPanResponse received => angle: {angle}");
_panRequestCTS.Dispose();
_requestPanTaskCompletionSource?.TrySetResult(angle);
return;
}
case PelcoDEMessageType.RequestTiltResponse:
{
var tiltAngleToCoordinatesFactor = settings.PTZTiltAngleToCoordinateFactor;
var angle = PelcoResponseDecoder.GetUInt16(pelcoMessage) / tiltAngleToCoordinatesFactor / 100;
_logger.LogDebugMessage($"Pelco RequestTiltResponse received => angle: {angle}");
_tiltRequestCTS.Dispose();
_requestTiltTaskCompletionSource?.TrySetResult(angle);
return;
}
}
}
public async Task <List <Vehicle> > GetVehiclesAsync()
{
_logger.LogInfoMessage("GetVehiclesAsync requested");
var objRequestTask = Task <List <DomainObjectWrapper> > .Factory.StartNew(() => _connection.GetObjectList <Vehicle>());
try
{
var responseObjects = await objRequestTask;
_logger.LogInfoMessage($"GetVehiclesAsync got {responseObjects.Count} response objects");
return(responseObjects.Select(x => x.Vehicle).ToList());
}
catch (Exception e)
{
_logger.LogException(e);
throw;
}
}
static async Task Main(string[] args)
{
setupLogConfig();
_logger.LogInfoMessage($"App started => args:{args.ToJson()}");
Terminal.WriteLine("UGCS DroneTracker - PTZ Probe tool", ConsoleColor.Yellow);
// create a new instance of the class that we want to parse the arguments into
var options = new Options();
// if everything went out fine the ParseArguments method will return true
ArgumentParser.Current.ParseArguments(args, options);
_logger.LogInfoMessage($"Options parsed => options:\n{options.ToJson()}");
_transport = options.TransportType == PTZDeviceTransportType.Udp
? (IPTZDeviceMessagesTransport) new UdpPTZMessagesTransport(options.PTZUdpHost, options.PTZUdpPort)
: new SerialPortPTZMessagesTransport(options.PTZSerialPortName, options.PTZSerialPortSpeed);
logInfo("Initialize transport...");
try
{
// TODO
// await _transport.Initialize();
_transport.Initialize();
logOk("Transport initialized");
}
catch (Exception e)
{
_logger.LogException(e);
Terminal.WriteLine("Transport initialize error! Check logs to details.", ConsoleColor.Red);
Terminal.WriteLine("Press enter to exit...");
Terminal.ReadLine();
Environment.Exit(1);
}
logInfo("Create PTZ device controller");
_settingsManager = new ApplicationSettingsManager(null);
_defaultCoreOptions = _settingsManager.GetAppSettings();
_requestBuilder = new PelcoRequestBuilder(_defaultCoreOptions.PelcoCodesMapping);
_responseDecoder = new PelcoResponseDecoder(_defaultCoreOptions.PelcoCodesMapping);
_controller = new PelcoDeviceController(_transport, _settingsManager, _requestBuilder, _responseDecoder);
logInfo("PTZ device controller created");
await requestCurrentPan(options);
await requestCurrentTilt(options);
_transport.MessageSending += _transport_MessageSending;
_transport.MessageReceived += _transport_MessageReceived;
await requestMaxPan(options);
await requestMaxTilt(options);
logInfo("Try to set pan by 0x71 opCode");
if (_maxPan.HasValue)
{
await requestSetPan(options, (ushort)(_maxPan.Value / 2));
await requestSetPan(options, (ushort)(_maxPan.Value));
await requestSetPan(options, 0);
await requestSetPan(options, (ushort)(_initialPan * 100));
}
else
{
await requestSetPan(options, 9000);
await requestSetPan(options, 18000);
await requestSetPan(options, 0);
await requestSetPan(options, (ushort)(_initialPan * 100));
}
logInfo("Try to set pan by 0x4B opCode");
byte pelcoSetPanCode = 0x4b;
if (_maxPan.HasValue)
{
await requestSetPan(options, (ushort)(_maxPan.Value / 2), pelcoSetPanCode);
await requestSetPan(options, (ushort)(_maxPan.Value), pelcoSetPanCode);
await requestSetPan(options, 0, pelcoSetPanCode);
await requestSetPan(options, (ushort)(_initialPan * 100), pelcoSetPanCode);
}
else
{
await requestSetPan(options, 9000, pelcoSetPanCode);
await requestSetPan(options, 0, pelcoSetPanCode);
await requestSetPan(options, (ushort)(_initialPan * 100), pelcoSetPanCode);
}
logInfo("Try to set tilt by 0x73 opCode");
if (_maxTilt.HasValue)
{
await requestSetTilt(options, (ushort)(_maxTilt.Value / 2));
await requestSetTilt(options, (ushort)(_maxTilt.Value));
await requestSetTilt(options, 0);
await requestSetTilt(options, (ushort)(_initialTilt * 100));
}
else
{
await requestSetTilt(options, 4500);
await requestSetTilt(options, 0);
await requestSetTilt(options, (ushort)(_initialTilt * 100));
}
byte pelcoSetTiltCode = 0x4d;
logInfo("Try to set tilt by 0x4D opCode");
if (_maxTilt.HasValue)
{
await requestSetTilt(options, (ushort)(_maxTilt.Value / 2), pelcoSetTiltCode);
await requestSetTilt(options, (ushort)(_maxTilt.Value), pelcoSetTiltCode);
await requestSetTilt(options, 0, pelcoSetTiltCode);
await requestSetTilt(options, (ushort)(_initialTilt * 100), pelcoSetTiltCode);
}
else
{
await requestSetTilt(options, 4500, pelcoSetTiltCode);
await requestSetTilt(options, 0, pelcoSetTiltCode);
await requestSetTilt(options, (ushort)(_initialPan * 100), pelcoSetTiltCode);
}
_logger.LogInfoMessage($"Done. Waiting user to exit.");
Terminal.WriteLine();
Terminal.WriteLine("Done.", ConsoleColor.Yellow);
Terminal.WriteLine("Press enter to exit...", ConsoleColor.Yellow);
_transport.Teardown();
Terminal.ReadLine();
}
private void _udpClient_ClientStopped(object sender, AsyncNet.Udp.Client.Events.UdpClientStoppedEventArgs e)
{
_logger.LogInfoMessage("UDP client stopped");
OnConnectionStatusChanged(isConnected: false);
}
