public static void AnalyzeCurrentBeers()
{
_drinks = new Dictionary <string, int>();
//Sending tags to MQTT Yolo
var yoloMessage = new MqttApplicationMessageBuilder()
.WithTopic($"yolo/cmd")
.WithPayload("scan")
.WithAtMostOnceQoS()
.Build();
MqttClientInstance.PublishAsync(yoloMessage);
Yolo.IsProbing = true;
}
public static void StartClient()
{
var options = new ManagedMqttClientOptionsBuilder()
.WithAutoReconnectDelay(TimeSpan.FromSeconds(10))
.WithClientOptions(
new MqttClientOptionsBuilder()
.WithClientId("YoloClient")
.WithTcpServer("localhost", 1883)
.Build()
)
.Build();
MqttClientInstance.StartAsync(options);
Console.WriteLine($"MQTT client connected");
}
private static void _mqttClientInstance_ApplicationMessageReceived(object sender, MqttApplicationMessageReceivedEventArgs e)
{
var topicSubject = e.ApplicationMessage.Topic.Split('/')[0];
switch (topicSubject)
{
case "php":
if (e.ApplicationMessage.Topic.ToLower() == "php/drinks/getall")
{
_lastSeenBeers = new Dictionary <string, int>();
AnalyzeCurrentBeers();
}
else
{
GrabPos = "0";
RequestedBeer = e.ApplicationMessage.Topic.Split('/')[3];
IsArmCycling = true;
Yolo.IsSearchingForBeer = true;
//Sending tags to MQTT Yolo
var yoloMessage = new MqttApplicationMessageBuilder()
.WithTopic($"yolo/cmd")
.WithPayload("scan")
.WithAtMostOnceQoS()
.Build();
MqttClientInstance.PublishAsync(yoloMessage);
}
break;
case "arm":
var topicObjective = e.ApplicationMessage.Topic.Split('/')[2];
switch (topicObjective)
{
case "scan":
if (Yolo.IsProbing)
{
Yolo.IsProbing = false;
//Sending tags to MQTT Yolo
var yoloMessage = new MqttApplicationMessageBuilder()
.WithTopic($"yolo/drinks/results")
.WithPayload(JsonConvert.SerializeObject(_drinks))
.WithAtMostOnceQoS()
.Build();
MqttClientInstance.PublishAsync(yoloMessage);
}
else if (Yolo.IsSearchingForBeer)
{
Yolo.IsSearchingForBeer = false;
if (GrabPos != "0")
{
//Sending tags to MQTT Yolo
var yoloMessage = new MqttApplicationMessageBuilder()
.WithTopic($"yolo/cmd")
.WithPayload("moveto," + GrabPos)
.WithAtMostOnceQoS()
.Build();
MqttClientInstance.PublishAsync(yoloMessage);
//Sending tags to MQTT Yolo
yoloMessage = new MqttApplicationMessageBuilder()
.WithTopic($"yolo/cmd")
.WithPayload("pickup")
.WithAtMostOnceQoS()
.Build();
MqttClientInstance.PublishAsync(yoloMessage);
}
}
break;
case "body":
//if(GrabPos=="0")
GrabPos = Encoding.Default.GetString(e.ApplicationMessage.Payload);
break;
}
break;
}
}
private static void _mqttClientInstance_Connected(object sender, MqttClientConnectedEventArgs e)
{
MqttClientInstance.SubscribeAsync(new TopicFilterBuilder().WithTopic("php/drinks/+/+").Build());
MqttClientInstance.SubscribeAsync(new TopicFilterBuilder().WithTopic("arm/reply/+").Build());
}
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");
}
}
}
}
public static void StopClient()
{
MqttClientInstance.StopAsync();
}
