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();
}
protected override void OnSubscribe()
{
base.OnSubscribe();
_captureConfig = CameraCapture.GetCaptureProperties();
_centre = _captureConfig.Resolution.GetCenter();
txtReticleX.Text = _centre.X.ToString();
txtReticleY.Text = _centre.Y.ToString();
var screen = new TextboxScreen(txtScreen);
//var imageTransmitter = new BsonPostImageTransmitter();
var imageTransmitter = new BsonPostJpegTransmitter();
var colorSettings = _colourSettingsRepo.Read();
var motionSettings = _motionSettingsRepo.Read();
// these should be disposed if not null
_faceTrackingController = new FaceTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_colourTrackingController = new ColourTrackingPanTiltController(PanTiltMechanism, _captureConfig);
_motionTrackingController = new MotionTrackingPanTiltController(PanTiltMechanism, _captureConfig, screen);
// if haven't subscribed first time yet
if (_multimodePanTiltController == null)
{
_remoteScreen = new RemoteTextboxScreen(CameraHubProxy, txtScreen);
_remoteImageSender = new RemoteImageSender(imageTransmitter, CameraHubProxy);
CameraHubProxy.SettingsChanged += (o, s) =>
{
_remoteScreen.WriteLine($"Camera received new settings: {s}");
_remoteImageSender.SendEveryPeriod = s.TransmitImagePeriod;
_remoteImageSender.Enabled = s.EnableImageTransmit;
_remoteScreen.Enabled = s.EnableConsoleTransmit;
};
}
else
{
// don't resubscribe and get duplicate events on cameraHubProxy
_multimodePanTiltController.Unsubscribe();
}
_multimodePanTiltController = new MultimodePanTiltController(
PanTiltMechanism
, _captureConfig
, _remoteScreen
, CameraHubProxy
, _remoteImageSender);
_calibratingPanTiltController = new CalibratingPanTiltController(PanTiltMechanism, new CalibrationReadingsRepository(), screen);
_colourTrackingController.Settings = colorSettings;
_calibratingPanTiltController.Settings = colorSettings;
_motionTrackingController.Settings = motionSettings;
_calibratingPanTiltController.GetCameraCapture = PullImage;
_calibratingPanTiltController.WaitStep = CalibrationWaitStep;
_calibratingPanTiltController.ColourCaptured += _calibratingPanTiltController_ColourCaptured;
// default check states
chkBoxColourTracking.Checked = false;
chkBoxFaceTracker.Checked = false;
chkBoxMotionTracking.Checked = false;
chkMultimode.Checked = false;
Log.InfoFormat("MotionSettings: {0}", motionSettings);
}
