public static int Main(string[] args)
{
string tmpCfg, tmpWeights, tmpNames;
if (args.Length == 3)
{
tmpCfg = args[0];
tmpWeights = args[1];
tmpNames = args[2];
}
else
{
//Starting Darknet
Console.WriteLine("*** YOLO CONFIGURATION ***");
Console.WriteLine("Yolo CFG File: ");
tmpCfg = "yolo-obj.cfg";
Console.WriteLine("Yolo WEIGHTS File: ");
tmpWeights = "yolo-obj_21000.weights";
Console.WriteLine("Yolo NAMES File: ");
tmpNames = "obj.names";
}
Console.WriteLine("Initializing YOLO ...");
Yolo.InitDnn(tmpCfg, tmpWeights, tmpNames, 0);
//Starting MQTTServer
MqttClient.StartClient();
Task.Run(async() =>
{
while (true)
{
MqttClient.ProcessEvents();
}
});
//Handling console commands
var command = Console.ReadLine()?.ToLower();
while (command != "stop")
{
switch (command)
{
case "help":
PrintHelp();
break;
default:
Console.WriteLine("Invalid command. Type 'help' for a list of available commands");
break;
}
command = Console.ReadLine()?.ToLower();
}
//Stopping the server
Console.WriteLine("Stopping client ...");
MqttClient.StopClient();
return(0);
}
public static void ProcessEvents()
{
if (Yolo.IsProbing)
{
//TODO REPLACE IMAGE
var detectionResults = Yolo.DetectObjects(CameraHelper.CaptureFrame());
var valuesToAdd = new Dictionary <string, int>();
foreach (var result in detectionResults)
{
if (!valuesToAdd.ContainsKey(Yolo.GetClassnameById(result.ObjId)))
{
valuesToAdd.Add(Yolo.GetClassnameById(result.ObjId), 0);
}
valuesToAdd[Yolo.GetClassnameById(result.ObjId)]++;
}
var tmpLastValues = new Dictionary <string, int>();
foreach (var entry in valuesToAdd)
{
if (!_lastSeenBeers.ContainsKey(entry.Key))
{
if (!_drinks.ContainsKey(entry.Key))
{
_drinks.Add(entry.Key, 0);
}
_drinks[entry.Key] += entry.Value;
//Console.WriteLine("Added 1");
}
else if (_lastSeenBeers[entry.Key] > entry.Value)
{
if (!_drinks.ContainsKey(entry.Key))
{
_drinks.Add(entry.Key, 0);
}
_drinks[entry.Key] += entry.Value;
//Console.WriteLine("Added 2");
}
tmpLastValues.Add(entry.Key, entry.Value);
//Console.WriteLine("check routine done");
_lastSeenBeers = tmpLastValues;
}
}
else if (Yolo.IsSearchingForBeer)
{
var camMat = CameraHelper.CaptureFrame();
var detectionResults = Yolo.DetectObjects(camMat);
foreach (var result in detectionResults)
{
var imageHCenter = (camMat.Cols / 2) - 110;
//if (result.X + (result.W / 2) - imageHCenter >= 0 && result.X + (result.W / 2) - imageHCenter < imageHCenter && result.X + (result.W / 2) - imageHCenter > result.W)
//{
// if (IsArmCycling)
// {
// IsArmCycling = false;
// //Sending stop cmd to arm
// var yoloMessage = new MqttApplicationMessageBuilder()
// .WithTopic($"yolo/cmd")
// .WithPayload("stop")
// .WithAtMostOnceQoS()
// .Build();
// MqttClientInstance.PublishAsync(yoloMessage);
// }
// //Moving left
// var yoloCmd = new MqttApplicationMessageBuilder()
// .WithTopic($"yolo/cmd")
// .WithPayload("stepright")
// .WithAtMostOnceQoS()
// .Build();
// MqttClientInstance.PublishAsync(yoloCmd);
// Console.WriteLine("Move right");
//}
//else if (result.X + (result.W / 2) - imageHCenter <= 0 && result.X + (result.W / 2) - imageHCenter > (-imageHCenter) && result.X + (result.W / 2) - imageHCenter < (-result.W))
//{
// if (IsArmCycling)
// {
// IsArmCycling = false;
// //Sending stop cmd to arm
// var yoloMessage = new MqttApplicationMessageBuilder()
// .WithTopic($"yolo/cmd")
// .WithPayload("stop")
// .WithAtMostOnceQoS()
// .Build();
// MqttClientInstance.PublishAsync(yoloMessage);
// }
// //Moving right
// var yoloCmd = new MqttApplicationMessageBuilder()
// .WithTopic($"yolo/cmd")
// .WithPayload("stepleft")
// .WithAtMostOnceQoS()
// .Build();
// MqttClientInstance.PublishAsync(yoloCmd);
// Console.WriteLine("Move left");
//}
if (result.X + (result.W / 2) - imageHCenter <= result.W && result.X + (result.W / 2) - imageHCenter >= (-result.W))
{
//On bottle
//if (IsArmCycling)
//{
// IsArmCycling = false;
// //Sending stop cmd to arm
// var yoloMessage = new MqttApplicationMessageBuilder()
// .WithTopic($"yolo/cmd")
// .WithPayload("stop")
// .WithAtMostOnceQoS()
// .Build();
// MqttClientInstance.PublishAsync(yoloMessage);
//}
//Pickup
//var yoloCmd = new MqttApplicationMessageBuilder()
// .WithTopic($"yolo/cmd")
// .WithPayload("pickup")
// .WithAtMostOnceQoS()
// .Build();
//MqttClientInstance.PublishAsync(yoloCmd);
//Yolo.IsSearchingForBeer = false;
var yoloCmd = new MqttApplicationMessageBuilder()
.WithTopic($"yolo/cmd")
.WithPayload("getbody")
.WithAtMostOnceQoS()
.Build();
MqttClientInstance.PublishAsync(yoloCmd);
Console.WriteLine("Found");
}
}
}
}
