Example #1
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);
        }
Example #2
0
 private void InitI2C()
 {
     Log.Info("Initialising I2C bus");
     if (PanTiltMechanism == null)
     {
         var pwmDeviceFactory = new Pca9685DeviceFactory();
         var pwmDevice        = pwmDeviceFactory.GetDevice();
         PanTiltMechanism = new PanTiltMechanism(pwmDevice);
     }
 }
Example #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;
        }
Example #4
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();
        }
Example #5
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();
                cameraHubProxy.Connect();
                var remoteScreen     = new RemoteConsoleScreen(cameraHubProxy);
                var piServerClient   = new BsonPostImageTransmitter();
                var imageTransmitter = new RemoteImageSender(piServerClient, cameraHubProxy);

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

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

                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();
        }
Example #6
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;
        }