hawkeye camera support(not tested)

2025-08-19 12:45:50 +02:00
parent f80b275ad8
commit 6ef6aced8d
170 changed files with 20190 additions and 72 deletions
--- a/framework/Inspectron.HawkEye/Protocol/ImageServer.cs
+++ b/framework/Inspectron.HawkEye/Protocol/ImageServer.cs
@@ -0,0 +1,164 @@
+using System;
+using System.IO;
+using System.Net;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using Inspectron.HawkEye.Protocol.Interfaces;
+using Inspectron.HawkEye.UDPB;
+using Newtonsoft.Json;
+
+namespace Inspectron.HawkEye.Protocol
+{
+    public class ImageServer
+    {
+        private readonly IImageSource _imageSource;
+        private readonly ICameraControl _cameraControl;
+        private readonly ILightControl _lightControl;
+        private readonly UDPBSocket _commandSocket = new UDPBSocket();
+        private readonly UDPBSocket _imageSocket = new UDPBSocket();
+
+        private bool _autoTrigger;
+        private bool _applySettings;
+        private CameraSettings _imageSettingsToApply=new CameraSettings(){ImageSettings = new ImageSettings()};
+
+        public ImageServer(IImageSource imageSource, ICameraControl cameraControl, ILightControl lightControl)
+        {
+            _imageSource = imageSource;
+            _cameraControl = cameraControl;
+            _lightControl = lightControl;
+            _imageSocket.LossSimulation = 0;
+        }
+
+        public void Start()
+        {
+            _commandSocket.Listen(IPAddress.Any, 27001);
+            var th = new Thread(ReceiveLoop);
+            th.Start();
+            if (File.Exists("settings.json"))
+            {
+                var settings = JsonConvert.DeserializeObject<CameraSettings>(File.ReadAllText("settings.json"));
+                _imageSettingsToApply = settings;
+                ApplyParameters(settings);
+            }
+        }
+
+        public void ApplyParameters(CameraSettings cameraSettings)
+        {
+            _cameraControl.SetParameters(cameraSettings);
+
+            _lightControl.SetLight(cameraSettings.LightPwm1, cameraSettings.LightPwm2);
+        }
+
+        private void SaveSettingsLocally()
+        {
+            File.WriteAllText("settings.json", JsonConvert.SerializeObject(_imageSettingsToApply));
+        }
+
+        private void ReceiveLoop()
+        {
+            while (true)
+            {
+                
+                var data = _commandSocket.Receive();
+                try
+                {
+                    ProcessCommand(data);
+                }
+                catch (Exception e)
+                {
+                    Console.WriteLine(e);
+                }
+            }
+        }
+
+        private void TriggerLoop()
+        {
+            while (_autoTrigger)
+            {
+
+                if (_applySettings)
+                {
+                    ApplyParameters(_imageSettingsToApply);
+                    _applySettings = false;
+                }
+
+                try
+                {
+                    SendImage();
+                    
+                }
+                catch
+                {
+                    return;
+                }
+            }
+        }
+
+        private void ProcessCommand(byte[] data)
+        {
+            Console.WriteLine(((ECommand) data[0]).ToString());
+            switch ((ECommand) data[0])
+            {
+                case ECommand.Connect:
+                {
+                    var port = new byte[4];
+                    Array.Copy(data, 1, port, 0, 4);
+                    _imageSocket.Connect(new IPEndPoint((_commandSocket.LastConnection as IPEndPoint).Address, BitConverter.ToInt32(port,0)),null);
+                    var databytes = new byte[1000];
+                    var settings = Encoding.UTF8.GetBytes(JsonConvert.SerializeObject(_imageSettingsToApply));
+                    Array.Copy(settings, 0, databytes, 1, settings.Length);
+                    databytes[0] = (byte) ECommand.Settings;
+                    _commandSocket.SendData(databytes);
+                }
+                    break;
+                case ECommand.Trigger:
+                {
+                    Task.Run(() => { SendImage(); });
+                }
+                    break;
+                case ECommand.StartContinuous:
+                {
+                    _autoTrigger = true;
+                    var th = new Thread(TriggerLoop);
+                    th.Start();
+                }
+                    break;
+                case ECommand.StopContinuous:
+                {
+                    _autoTrigger = false;
+                }
+                    break;
+                case ECommand.Settings:
+                {
+                    var databytes = new byte[999];
+                    Array.Copy(data, 1, databytes, 0, 999);
+                    var settings = JsonConvert.DeserializeObject<CameraSettings>(Encoding.UTF8.GetString(databytes));
+                    _imageSettingsToApply = settings;
+                    if (_autoTrigger)
+                        _applySettings = true;
+                    else
+                        ApplyParameters(_imageSettingsToApply);
+                }
+                    break;
+                case ECommand.SaveSettings:
+                {
+                    SaveSettingsLocally();
+                }
+                    break;
+                default:
+                    throw new ArgumentOutOfRangeException();
+            }
+        }
+
+        private void SendImage()
+        {
+            var image = _imageSource.GetImage();
+            var b = new byte[image.Length + 1];
+            b[0] = (byte) EData.Image;
+            Array.Copy(image, 0, b, 1, image.Length);
+
+            _imageSocket.SendData(b);
+        }
+    }
+}