private static async Task requestMaxPan(Options options)
{
logInfo("Try to request max pan...");
var requestMaxPanMessage = new PelcoDEMessage(options.PTZDeviceAddress, 0x55);
try
{
var responseMessage = await SendMessage(requestMaxPanMessage);
if (responseMessage != null)
{
_logger.LogInfoMessage($"Request max pan done, message={responseMessage}");
var maxPan = PelcoResponseDecoder.GetUInt16((PelcoDEMessage)responseMessage);
_maxPan = maxPan;
logOk($"Request max pan done, Max Pan={maxPan}");
}
else
{
logError($"Request max pan got null response message");
}
}
catch (TaskCanceledException)
{
logError("Max pan request cancelled by timeout");
}
catch (Exception e)
{
Terminal.WriteLine("Max pan request! Check logs to details.", ConsoleColor.Red);
_logger.LogException(e);
}
}
public PelcoDeviceController(
IPTZDeviceMessagesTransport transport,
IApplicationSettingsManager settingsManager,
PelcoRequestBuilder requestBuilder,
PelcoResponseDecoder responseDecoder)
{
_transport = transport;
_transport.MessageReceived += transport_MessageReceived;
_settingsManager = settingsManager;
_requestBuilder = requestBuilder;
_responseDecoder = responseDecoder;
}
private void transport_MessageReceived(object sender, byte[] messageData)
{
var pelcoMessage = PelcoDEMessage.FromBytes(messageData);
_logger.LogInfoMessage($"Pelco message received => {pelcoMessage?.ToString() ?? "<null>"}");
if (pelcoMessage == null)
{
return;
}
var settings = _settingsManager.GetAppSettings();
var responseType = _responseDecoder.GetResponseType(pelcoMessage);
_logger.LogInfoMessage($"Pelco response type => {responseType?.ToString() ?? "<null>"}");
switch (responseType)
{
case null:
return;
case PelcoDEMessageType.SetPanCompleteResponse:
_panTaskCompletionSource?.TrySetResult(true);
return;
case PelcoDEMessageType.RequestPanResponse:
{
var panAngleToCoordinatesFactor = settings.PTZPanAngleToCoordinateFactor;
var angle = PelcoResponseDecoder.GetUInt16(pelcoMessage) / panAngleToCoordinatesFactor / 100;
_logger.LogDebugMessage($"Pelco RequestPanResponse received => angle: {angle}");
_panRequestCTS.Dispose();
_requestPanTaskCompletionSource?.TrySetResult(angle);
return;
}
case PelcoDEMessageType.RequestTiltResponse:
{
var tiltAngleToCoordinatesFactor = settings.PTZTiltAngleToCoordinateFactor;
var angle = PelcoResponseDecoder.GetUInt16(pelcoMessage) / tiltAngleToCoordinatesFactor / 100;
_logger.LogDebugMessage($"Pelco RequestTiltResponse received => angle: {angle}");
_tiltRequestCTS.Dispose();
_requestTiltTaskCompletionSource?.TrySetResult(angle);
return;
}
}
}
static async Task Main(string[] args)
{
setupLogConfig();
_logger.LogInfoMessage($"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();
}