private static void CircleMovementWithAbsolutePosition(ICommunication communication, bool debug)
{
var panTiltControl = new EneoPanTiltControl(communication, debug);
panTiltControl.Start();
panTiltControl.DisableLimit();
//var random = new Random();
for (var i = 0; i < 50; i++)
{
var positions = CalculatePolygon(i, new PointF(0, 0), 7);
foreach (var position in positions)
{
panTiltControl.MovePanAbsolute(position.X);
panTiltControl.MoveTiltAbsolute(position.Y);
Thread.Sleep(40);
}
//panTiltControl.PanTiltAbsolute(0, 0);
//panTiltControl.ComparePosition(new PanTiltPosition(0, 0), 0.5, 20, 200);
}
panTiltControl.EnableLimit();
panTiltControl.Dispose();
}
private static void TestPanMovementWithStartBeforeEndReached(ICommunication communication)
{
Console.WriteLine("Start");
var panTiltControl = new EneoPanTiltControl(communication);
var positionChecker = new PositionChecker(panTiltControl);
panTiltControl.PositionChanged += PanTiltControl_OnPositionChanged;
while (true)
{
panTiltControl.PanAbsolute(0);
positionChecker.ComparePosition(new PanTiltPosition(0, 0), 0.5, 20, 100);
panTiltControl.PanAbsolute(40);
positionChecker.ComparePosition(new PanTiltPosition(40, 0), 0.5, 20, 100);
panTiltControl.PanRelative(-40);
Thread.Sleep(500);
panTiltControl.PanRelative(40);
Thread.Sleep(500);
panTiltControl.PanAbsolute(0);
Console.WriteLine("Loop done");
}
}
private static void DriveRandomPositions(ICommunication communication, bool debug)
{
var panTiltControl = new EneoPanTiltControl(communication, debug);
var positionChecker = new PositionChecker(panTiltControl);
panTiltControl.Start();
var random = new Random();
while (true)
{
var panForward = true;
var tiltForward = true;
if (random.Next(0, 2) == 1)
{
panForward = false;
}
if (random.Next(0, 2) == 1)
{
tiltForward = false;
}
for (var i = 0; i < 1000; i++)
{
var panDegreePerSecond = random.Next(1, 40);
var tiltDegreePerSecond = random.Next(1, 15);
if (!panForward)
{
panDegreePerSecond = -panDegreePerSecond;
}
if (!tiltForward)
{
tiltDegreePerSecond = -tiltDegreePerSecond;
}
panTiltControl.MoveRelative(panDegreePerSecond, tiltDegreePerSecond);
Thread.Sleep(40);
}
panTiltControl.PanTiltAbsolute(0, 0);
positionChecker.ComparePosition(new PanTiltPosition(0, 0), 0.5, 20, 200);
}
}
private static void CheckSomeSpecialCommands(ICommunication communication)
{
var panTiltControl = new EneoPanTiltControl(communication);
panTiltControl.PositionChanged += PanTiltControl_OnPositionChanged;
panTiltControl.GetPanPotentiometer();
panTiltControl.GetTiltPotentiometer();
panTiltControl.GetTemperature();
for (var i = 0; i < 1000; i++)
{
panTiltControl.MoveRandom();
Thread.Sleep(500);
}
Console.ReadLine();
panTiltControl.PositionChanged -= PanTiltControl_OnPositionChanged;
panTiltControl.Dispose();
Console.WriteLine("done");
}
private static void BasicMovementLogic(ICommunication communication)
{
while (true)
{
Console.WriteLine("Start");
var panTiltControl = new EneoPanTiltControl(communication);
panTiltControl.PositionChanged += PanTiltControl_OnPositionChanged;
Console.WriteLine("Pan 80");
panTiltControl.MovePanAbsolute(80);
panTiltControl.MoveTiltAbsolute(0);
Thread.Sleep(4000);
Console.WriteLine("Pan 20");
panTiltControl.MovePanAbsolute(20);
panTiltControl.MoveTiltAbsolute(0);
Thread.Sleep(4000);
Console.WriteLine("Pan 80");
panTiltControl.MovePanAbsolute(80);
panTiltControl.MoveTiltAbsolute(0);
Thread.Sleep(4000);
Console.WriteLine("Pan 20");
panTiltControl.MovePanAbsolute(20);
panTiltControl.MoveTiltAbsolute(0);
Thread.Sleep(4000);
Console.WriteLine("Pan Relative 10");
panTiltControl.PanRelative(10);
Thread.Sleep(4000);
Console.WriteLine("Stop Moving");
panTiltControl.StopMoving();
Thread.Sleep(1000);
Console.WriteLine("Pan 20");
panTiltControl.MovePanAbsolute(20);
panTiltControl.MoveTiltAbsolute(0);
Thread.Sleep(2000);
panTiltControl.PositionChanged -= PanTiltControl_OnPositionChanged;
panTiltControl.Dispose();
Console.WriteLine("done");
//Console.ReadLine();
}
}
public void SendCommand()
{
this._counter = 0;
using (var communication = new MockCommunication())
{
communication.SendData += this.SendData;
using (var control = new EneoPanTiltControl(communication, true))
{
control.PanTiltRelative(0, 0);
control.PanTiltRelative(1, 0);
control.PanTiltRelative(0, 1);
control.PanTiltRelative(-1, 0);
control.PanTiltRelative(0, -1);
}
communication.SendData -= this.SendData;
}
Assert.AreEqual(9, this._counter);
}
static void Main(string[] args)
{
var ipAddress = IPAddress.Parse("192.168.184.105");
using (ICommunication communication = new UdpNetworkCommunication(ipAddress, 4003, 4003))
using (IPanTiltControl control = new EneoPanTiltControl(communication))
{
control.Start();
Thread.Sleep(200);
var currentPosition = control.GetPosition();
control.Stop();
}
//var ipAddress = IPAddress.Parse("192.168.184.105");
//ICommunication communication = new TcpNetworkCommunication(new IPEndPoint(ipAddress, 4003));
//var communication = new SerialPortCommunication("COM1");
//ICommunication communication = new UdpNetworkCommunication(ipAddress, 4003, 4003);
////var reader = new FirmwareReader(communication);
////reader.Dispose();
//IPanTiltControl panTiltControl = new EneoPanTiltControl(communication);
//Thread.Sleep(1000);
////panTiltControl.ReinitializePosition();
////panTiltControl.ReinitializePosition(); //2x ???? Warum
////Console.WriteLine("Press enter for next command");
////Console.ReadLine();
////DriveRandomPositions(communication, false);
//CircleMovementWithAbsolutePosition(communication, false);
//communication.Dispose();
}
public void CheckEneoProtocoll()
{
using (var communication = new MockCommunication())
{
communication.SendData += this.SendData;
using (var control = new EneoPanTiltControl(communication, true))
{
for (var pan = -180.0M; pan < 180; pan += 0.05M)
{
control.PanAbsolute(Convert.ToDouble(pan));
}
for (var tilt = -90.0M; tilt < 90; tilt += 0.05M)
{
control.TiltAbsolute(Convert.ToDouble(tilt));
}
}
communication.SendData -= this.SendData;
}
Assert.IsTrue(this._successful);
}
