public override void Initialize()
{
AvaloniaXamlLoader.Load(this);
_settingsManager = Kernel.Get <IApplicationSettingsManager>();
_ugcsConnection = Kernel.Get <UGCSConnection>();
_vehiclesManager = Kernel.Get <VehiclesManager>();
_ptzTransport = Kernel.Get <IPTZDeviceMessagesTransport>();
AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;
}
public PelcoDeviceController(
IPTZDeviceMessagesTransport transport,
IApplicationSettingsManager settingsManager,
PelcoRequestBuilder requestBuilder,
PelcoResponseDecoder responseDecoder)
{
_transport = transport;
_transport.MessageReceived += transport_MessageReceived;
_settingsManager = settingsManager;
_requestBuilder = requestBuilder;
_responseDecoder = responseDecoder;
}
static async Task Main(string[] args)
{
setupLogConfig();
_logger.LogInfoMessage($"App started => args:{args.ToJson()}");
Terminal.WriteLine("UGCS DroneTracker - PTZ Probe tool", ConsoleColor.Yellow);
// create a new instance of the class that we want to parse the arguments into
var options = new Options();
// if everything went out fine the ParseArguments method will return true
ArgumentParser.Current.ParseArguments(args, options);
_logger.LogInfoMessage($"Options parsed => options:\n{options.ToJson()}");
_transport = options.TransportType == PTZDeviceTransportType.Udp
? (IPTZDeviceMessagesTransport) new UdpPTZMessagesTransport(options.PTZUdpHost, options.PTZUdpPort)
: new SerialPortPTZMessagesTransport(options.PTZSerialPortName, options.PTZSerialPortSpeed);
logInfo("Initialize transport...");
try
{
// TODO
// await _transport.Initialize();
_transport.Initialize();
logOk("Transport initialized");
}
catch (Exception e)
{
_logger.LogException(e);
Terminal.WriteLine("Transport initialize error! Check logs to details.", ConsoleColor.Red);
Terminal.WriteLine("Press enter to exit...");
Terminal.ReadLine();
Environment.Exit(1);
}
logInfo("Create PTZ device controller");
_settingsManager = new ApplicationSettingsManager(null);
_defaultCoreOptions = _settingsManager.GetAppSettings();
_requestBuilder = new PelcoRequestBuilder(_defaultCoreOptions.PelcoCodesMapping);
_responseDecoder = new PelcoResponseDecoder(_defaultCoreOptions.PelcoCodesMapping);
_controller = new PelcoDeviceController(_transport, _settingsManager, _requestBuilder, _responseDecoder);
logInfo("PTZ device controller created");
await requestCurrentPan(options);
await requestCurrentTilt(options);
_transport.MessageSending += _transport_MessageSending;
_transport.MessageReceived += _transport_MessageReceived;
await requestMaxPan(options);
await requestMaxTilt(options);
logInfo("Try to set pan by 0x71 opCode");
if (_maxPan.HasValue)
{
await requestSetPan(options, (ushort)(_maxPan.Value / 2));
await requestSetPan(options, (ushort)(_maxPan.Value));
await requestSetPan(options, 0);
await requestSetPan(options, (ushort)(_initialPan * 100));
}
else
{
await requestSetPan(options, 9000);
await requestSetPan(options, 18000);
await requestSetPan(options, 0);
await requestSetPan(options, (ushort)(_initialPan * 100));
}
logInfo("Try to set pan by 0x4B opCode");
byte pelcoSetPanCode = 0x4b;
if (_maxPan.HasValue)
{
await requestSetPan(options, (ushort)(_maxPan.Value / 2), pelcoSetPanCode);
await requestSetPan(options, (ushort)(_maxPan.Value), pelcoSetPanCode);
await requestSetPan(options, 0, pelcoSetPanCode);
await requestSetPan(options, (ushort)(_initialPan * 100), pelcoSetPanCode);
}
else
{
await requestSetPan(options, 9000, pelcoSetPanCode);
await requestSetPan(options, 0, pelcoSetPanCode);
await requestSetPan(options, (ushort)(_initialPan * 100), pelcoSetPanCode);
}
logInfo("Try to set tilt by 0x73 opCode");
if (_maxTilt.HasValue)
{
await requestSetTilt(options, (ushort)(_maxTilt.Value / 2));
await requestSetTilt(options, (ushort)(_maxTilt.Value));
await requestSetTilt(options, 0);
await requestSetTilt(options, (ushort)(_initialTilt * 100));
}
else
{
await requestSetTilt(options, 4500);
await requestSetTilt(options, 0);
await requestSetTilt(options, (ushort)(_initialTilt * 100));
}
byte pelcoSetTiltCode = 0x4d;
logInfo("Try to set tilt by 0x4D opCode");
if (_maxTilt.HasValue)
{
await requestSetTilt(options, (ushort)(_maxTilt.Value / 2), pelcoSetTiltCode);
await requestSetTilt(options, (ushort)(_maxTilt.Value), pelcoSetTiltCode);
await requestSetTilt(options, 0, pelcoSetTiltCode);
await requestSetTilt(options, (ushort)(_initialTilt * 100), pelcoSetTiltCode);
}
else
{
await requestSetTilt(options, 4500, pelcoSetTiltCode);
await requestSetTilt(options, 0, pelcoSetTiltCode);
await requestSetTilt(options, (ushort)(_initialPan * 100), pelcoSetTiltCode);
}
_logger.LogInfoMessage($"Done. Waiting user to exit.");
Terminal.WriteLine();
Terminal.WriteLine("Done.", ConsoleColor.Yellow);
Terminal.WriteLine("Press enter to exit...", ConsoleColor.Yellow);
_transport.Teardown();
Terminal.ReadLine();
}