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;
}
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;
}
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;
}
private void InitI2C()
{
Log.Info("Initialising I2C bus");
if (PanTiltMechanism == null)
{
var pwmDeviceFactory = new Pca9685DeviceFactory();
var pwmDevice = pwmDeviceFactory.GetDevice();
PanTiltMechanism = new PanTiltMechanism(pwmDevice);
}
}
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();
}
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();
}
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();
}
