hawkeye camera support(not tested)

Hawkeye.VisionBuilder.UI.Sources.Hawkeye/HawkeyeCameraImageSource.cs

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+using Inspectron.HawkEye.Protocol;
+using OpenCvSharp;
+using Serilog;
+using System.Net;
+using System.Runtime.InteropServices;
+using VisionBuilder.UI.Common;
+using VisionBuilder.UI.Common.RecipeProcessing;
+using CameraSettings = Inspectron.HawkEye.Protocol.CameraSettings;
+
+namespace Hawkeye.VisionBuilder.UI.Sources.Hawkeye
+{
+    public class HawkeyeCameraImageSource : IImageSource, IVisionBuilderModule
+    {
+        private readonly HawkeyeSettings _settings;
+        private ImageClientTCP _client;
+        private CameraSettings _cameraSettings;
+
+
+        public HawkeyeCameraImageSource(HawkeyeSettings settings)
+        {
+            _settings = settings;
+        }
+
+        public void Open()
+        {
+
+            _client = new ImageClientTCP(new IPEndPoint(IPAddress.Parse("192.168.3.15"), 27001),
+                IPAddress.Parse(_settings.Adapter));
+            _client.ImageReceived += _client_ImageReceived;
+            _client.SettingsReceived += _client_SettingsReceived;
+            _client.Connect();
+            Log.Information("Connected to Hawkeye camera at {Adapter}", _settings.Adapter, 27001);
+
+        }
+        private void _client_SettingsReceived(CameraSettings obj)
+        {
+            ApplySettings(obj);
+        }
+        public void ApplySettings(CameraSettings obj)
+        {
+            _cameraSettings = UICameraSettings.LoadSettingsLocal(_settings.SettingsFile).ToCameraSettings();
+            _client.ApplySettings(_cameraSettings);
+        }
+
+        public Task<Mat> GetImage(CancellationToken token)
+        {
+            
+            _lastImage = null;
+            if (_imageAquisitionTaskSource != null && !_imageAquisitionTaskSource.Task.IsCanceled)
+            {
+                _imageAquisitionTaskSource.SetCanceled(CancellationToken.None);
+                _imageAquisitionTaskSource = null;
+
+            }
+            _imageAquisitionTaskSource= new TaskCompletionSource<Mat>();
+            _client.Trigger();
+            return _imageAquisitionTaskSource.Task;
+
+        }
+
+        private TaskCompletionSource<Mat>? _imageAquisitionTaskSource;
+        private Mat _lastImage;
+        byte[] _flipBuffer = new byte[2000 * 2000];
+        private void _client_ImageReceived(byte[] obj)
+        {
+            Log.Debug("Got image on {adapter}", _settings.Adapter);
+            FlipLines(obj, _flipBuffer);
+            obj = _flipBuffer;
+            var pinnedArray = GCHandle.Alloc(obj, GCHandleType.Pinned);
+            var pointer = pinnedArray.AddrOfPinnedObject();
+
+            Mat image = new Mat(_cameraSettings.ImageSettings.Lines, _cameraSettings.ImageSettings.SensorWidth,
+                MatType.CV_8UC1, pointer);
+
+            var xCrop = _cameraSettings.ImageSettings.SensorWidth - _cameraSettings.ImageWidth - _cameraSettings.OffsetX;
+
+            // crop the image with opencv
+            _lastImage = image[0, _cameraSettings.ImageSettings.Lines, xCrop,
+                xCrop + _cameraSettings.ImageWidth].Clone();
+
+            if (_cameraSettings.BayerFilter)
+            {
+                _lastImage = BayerFilter(_lastImage);
+            }
+
+            _imageAquisitionTaskSource!.SetResult(_lastImage);
+
+            pinnedArray.Free();
+        }
+
+        Mat BayerFilter(Mat image)
+        {
+            // Assumes input is a single-channel Bayer pattern image (CV_8UC1)
+            // Output is a 3-channel BGR image (CV_8UC3)
+            if (image == null || image.Empty())
+                throw new ArgumentException("Input image is null or empty.", nameof(image));
+
+            Mat bgrImage = new Mat();
+            // Use OpenCV's demosaicing function for Bayer BG pattern
+            Cv2.CvtColor(image, bgrImage, ColorConversionCodes.BayerBG2BGR);
+
+            return bgrImage;
+        }
+
+        protected void FlipLines(byte[] src, byte[] dst)
+        {
+            int srcStride = _cameraSettings.ImageSettings.SensorWidth;
+            int dstStride = _cameraSettings.ImageSettings.SensorWidth;
+            int pixelSize = 1;
+            int copySize = srcStride * pixelSize;
+            var lines = _cameraSettings.ImageSettings.Lines;
+            for (int line = 0; line < lines; line += 4)
+            {
+                for (int i = 0; i < 4; i++)
+                {
+                    int srcPos = (line + i) * srcStride;
+                    int dstPos = (line + (4 - i)) * dstStride;
+                    for (int j = 0; j < copySize; j++)
+                    {
+                        dst[dstPos + j] = src[srcPos + j];
+                    }
+
+
+                }
+            }
+        }
+
+        public void InitializeModule()
+        {
+            
+        }
+    }
+}