Ejemplo n.º 1
0
        private void Run(string[] args)
        {
            // Creating this from static causes an exception in Raspian. Not in ubunti though?
            Log  = LogManager.GetCurrentClassLogger();
            var options = new ConsoleOptions(args);

            if (options.ShowHelp)
            {
                Console.WriteLine("Options:");
                options.OptionSet.WriteOptionDescriptions(Console.Out);
                return;
            }

            var deviceFactory = new Pca9685DeviceFactory();
            var device = deviceFactory.GetDevice(options.UseFakeDevice);
            var motorController = new PwmController(device);
            motorController.Init();

            Log.InfoFormat("RPi.Console running with {0}", options);

            switch (options.Mode)
            {
                case Mode.DcMotor:
                    RunDcMotor(motorController);
                    break;

                case Mode.Servo:
                    RunServo(motorController);
                    break;

                case Mode.Stepper:
                    motorController.Stepper.Rotate(600);
                    break;

                case Mode.Led:
                    RunLed(motorController);
                    break;

                case Mode.RawPwm:
                    RunRawPwm(device);
                    break;

                case Mode.AlarmClock:
                    var alarmClock = new AlarmClock(motorController);
                    alarmClock.Set(options.AlarmDate);
                    alarmClock.WaitForAlarm();
                    break;

                case Mode.SignalRTest:
                    var signalRConnection = new SignalRConnection(motorController);
                    signalRConnection.Run();
                    break;
            }

            motorController.AllStop();
            deviceFactory.Dispose();

            //http://nlog-project.org/2011/10/30/using-nlog-with-mono.html
           // NLog.LogManager.Configuration = null;
        }
Ejemplo n.º 2
0
 private static PwmController GetPwmController(ConsoleOptions options)
 {
     var deviceFactory = new Pca9685DeviceFactory();
     var device = deviceFactory.GetDevice(options.UseFakeDevice);
     var motorController = new PwmController(device);
     motorController.Init();
     return motorController;
 }
Ejemplo n.º 3
0
        private void FrmMain_Load(object sender, EventArgs e)
        {
            _deviceFactory = new Pca9685DeviceFactory();
            var device = _deviceFactory.GetDevice();
            _motorController = new PwmController(device);

            _motorController.Init();
            //LogBus.Instance.LogReceived += Instance_LogReceived;      
        }
Ejemplo n.º 4
0
 private void InitI2C()
 {
     Log.Info("Initialising I2C bus");
     if (PanTiltMechanism == null)
     {
         var pwmDeviceFactory = new Pca9685DeviceFactory();
         var pwmDevice = pwmDeviceFactory.GetDevice();
         PanTiltMechanism = new PanTiltMechanism(pwmDevice);
     }
 }
Ejemplo n.º 5
0
        public ServoSorter(
            ICaptureGrab capture
            ,ConsoleOptions options) : base(capture)
        {
            _servoPosition = 70;

            Settings = options.ColourSettings;

            _debounceWatch = new Stopwatch();

            var deviceFactory = new Pca9685DeviceFactory();
            var device = deviceFactory.GetDevice(options.UseFakeDevice);
            SetLogLevel(device);
            
            _pwmControl = new ServoSortPwmControl(device);
            _pwmControl.Init();

            _detector = new ColourDetector();
        }
Ejemplo n.º 6
0
        static void Main(string[] args)
        {
            var appData = ExecutionEnvironment.GetApplicationMetadata();
            Log.Info(appData);

            var options = new ConsoleOptions(args);

            if (options.ShowHelp)
            {
                Console.WriteLine("Options:");
                options.OptionSet.WriteOptionDescriptions(Console.Out);
                return;
            }

            ICaptureGrab capture = null;

            CapturePi.DoMatMagic("CreateCapture");

            var noCaptureGrabs = new[] { Mode.simple, Mode.pantiltjoy };
            var i2cRequired = new[] { Mode.pantiltface, Mode.pantiltjoy ,Mode.pantiltcolour };
            CaptureConfig captureConfig = null;
            if (!noCaptureGrabs.Contains(options.Mode))
            {
                var request = new CaptureRequest { Device = CaptureDevice.Usb };
                if (EnvironmentService.IsUnix)
                {
                    request.Device = CaptureDevice.Pi;
                }

                request.Config = new CaptureConfig { Resolution = new Resolution(160,120), Framerate = 10, Monochrome = false };

                capture = CaptureFactory.GetCapture(request);
                captureConfig = capture.GetCaptureProperties();
                Log.Info(m => m("Capture properties read: {0}", captureConfig));

                SafetyCheckRoi(options, captureConfig);
            }

            IPanTiltMechanism panTiltMech = null;
            IScreen screen = null;
            if (i2cRequired.Contains(options.Mode))
            {
                var pwmDeviceFactory = new Pca9685DeviceFactory();
                var pwmDevice = pwmDeviceFactory.GetDevice(options.UseFakeDevice);
                panTiltMech = new PanTiltMechanism(pwmDevice);
                screen = new ConsoleScreen();
                screen.Clear();
            }

            IRunner runner;
            Log.Info(options);
            switch (options.Mode)
            {
                case Mode.noop: runner = new NoopRunner(capture);
                    break;

                case Mode.simple:runner = new SimpleCv();
                    break;

                case Mode.colourdetect:
                    var colorDetector = new ColorDetectRunner(capture);
                    if (options.HasColourSettings)
                    {
                        colorDetector.Settings = options.ColourSettings;
                    }
                    runner = colorDetector;
                    break;

                case Mode.haar:
                    var relativePath = string.Format(@"haarcascades{0}haarcascade_frontalface_default.xml", Path.DirectorySeparatorChar);
                    var cascadeFilename = Path.Combine(appData.ExeFolder, relativePath);
                    var cascadeContent = File.ReadAllText(cascadeFilename);
                    runner = new CascadeRunner(capture, cascadeContent);
                    break;

                case Mode.servosort:
                    runner = new ServoSorter(capture, options);
                    break;

                case Mode.pantiltjoy:
                    var joyController = new JoystickPanTiltController(panTiltMech);
                    runner = new TimerRunner(joyController, screen);
                    break;

                case Mode.pantiltface:
                    var controllerF = new FaceTrackingPanTiltController(panTiltMech, captureConfig);
                    runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerF, screen);
                    break;

                case Mode.pantiltcolour:
                    var controllerC = new ColourTrackingPanTiltController(panTiltMech, captureConfig);
                    if (options.HasColourSettings)
                    {
                        controllerC.Settings = options.ColourSettings;
                    }
                    else
                    {
                        throw KrakenException.Create("Colour settings not found");
                    }
                    runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerC, screen);
                    break;

                default:
                    throw KrakenException.Create("Option mode {0} needs wiring up", options.Mode);
            }

            runner.Run();
        }
Ejemplo n.º 7
0
        static void Main(string[] args)
        {
            var appData = ExecutionEnvironment.GetApplicationMetadata();
            Log.Info(appData);

            _consoleOptions = new ConsoleOptions(args);

            if (_consoleOptions.ShowHelp)
            {
                Console.WriteLine("Options:");
                _consoleOptions.OptionSet.WriteOptionDescriptions(Console.Out);
                return;
            }

            CapturePi.DoMatMagic("CreateCapture");

            var noCaptureGrabs = new[] { Mode.simple, Mode.pantiltjoy, Mode.ipReport };
            var i2cRequired = new[] { Mode.pantiltface, Mode.pantiltjoy ,Mode.pantiltcolour, Mode.pantiltmultimode };

            ICaptureGrab capture = null;
            if (!noCaptureGrabs.Contains(_consoleOptions.Mode))
            {
                var config = CaptureConfig.Parse(_consoleOptions.CaptureConfig);
                capture = BuildCaptureGrabber(config);
                Log.Info($"Requested capture {capture.RequestedConfig}");
            }

            IPanTiltMechanism panTiltMech = null;
            IScreen screen = null;
            if (i2cRequired.Contains(_consoleOptions.Mode))
            {
                var pwmDeviceFactory = new Pca9685DeviceFactory();
                var pwmDevice = pwmDeviceFactory.GetDevice(_consoleOptions.UseFakeDevice);
                panTiltMech = new PanTiltMechanism(pwmDevice);
                screen = new ConsoleScreen();
                screen.Clear();
            }
            else
            {
                Log.Info("Pan Tilt is not required");
            }

            IRunner runner;
            Log.Info(_consoleOptions);
            switch (_consoleOptions.Mode)
            {
                case Mode.noop:
                    var noopRunner = new NoopRunner(capture);
                    noopRunner.ReportFramesPerSecond = true;
                    runner = noopRunner;
                    break;

                case Mode.simple:runner = new SimpleCv();
                    break;

                case Mode.colourdetect:
                    var colorDetector = new ColorDetectRunner(capture);
                    if (_consoleOptions.HasColourSettings)
                    {
                        colorDetector.Settings = _consoleOptions.ColourSettings;
                    }
                    runner = colorDetector;
                    break;

                case Mode.haar:
                    var relativePath = $@"haarcascades{Path.DirectorySeparatorChar}haarcascade_frontalface_default.xml";
                    var cascadeFilename = Path.Combine(appData.ExeFolder, relativePath);
                    var cascadeContent = File.ReadAllText(cascadeFilename);
                    runner = new CascadeRunner(capture, cascadeContent);
                    break;

                case Mode.servosort:
                    runner = new ServoSorter(capture, _consoleOptions);
                    break;

                case Mode.pantiltjoy:
                    var joyController = new JoystickPanTiltController(panTiltMech);
                    runner = new TimerRunner(joyController, screen);
                    break;

                case Mode.pantiltface:
                    var controllerF = new FaceTrackingPanTiltController(panTiltMech, capture.RequestedConfig);
                    runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerF, screen);
                    break;

                case Mode.pantiltmultimode:
                    var cameraHubProxy = new CameraHubProxy();
                    if (!_consoleOptions.DisableTransmit)
                    {
                        cameraHubProxy.Connect();
                    }
                    var remoteScreen = new RemoteConsoleScreen(cameraHubProxy);
                    //var imageTransmitter = new BsonPostImageTransmitter();
                    var imageTransmitter = new BsonPostJpegTransmitter();
                    var periodicImageSender = new RemoteImageSender(imageTransmitter, cameraHubProxy);

                    remoteScreen.Enabled = !_consoleOptions.DisableTransmit;
                    periodicImageSender.Enabled = !_consoleOptions.DisableTransmit;

                    cameraHubProxy.SettingsChanged += (sender, s) =>
                    {
                        remoteScreen.Enabled = s.EnableConsoleTransmit;
                        periodicImageSender.Enabled = s.EnableImageTransmit;
                    };

                    var controllerMultimode = new MultimodePanTiltController(
                                                    panTiltMech
                                                    , capture.RequestedConfig
                                                    , remoteScreen
                                                    , cameraHubProxy
                                                    , periodicImageSender);

                    var cameraBasedRunner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerMultimode, screen);
                    runner = cameraBasedRunner;

                    cameraHubProxy.UpdateCapture += (s, e) =>
                    {
                        remoteScreen.WriteLine($"Changing capture settings to {e}");
                        var newGrabber = BuildCaptureGrabber(e);
                        cameraBasedRunner.UpdateCaptureGrabber(newGrabber);
                    };
                    break;

                case Mode.pantiltcolour:
                    var controllerC = new ColourTrackingPanTiltController(panTiltMech, capture.RequestedConfig);
                    if (_consoleOptions.HasColourSettings)
                    {
                        controllerC.Settings = _consoleOptions.ColourSettings;
                    }
                    else
                    {
                        throw KrakenException.Create("Colour settings not found");
                    }
                    runner = new CameraBasedPanTiltRunner(panTiltMech, capture, controllerC, screen);
                    break;

                case Mode.ipReport:
                    var hub = new CameraHubProxy();
                    runner = new IpReporter(hub);
                    break;

                default:
                    throw KrakenException.Create("Option mode {0} needs wiring up", _consoleOptions.Mode);
            }

            runner.Run();
        }