hawkeye camera support(not tested)
This commit is contained in:
meelstorm
269
framework/Inspectron.HawkEye/Protocol/ImageServerTCP.cs
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269
framework/Inspectron.HawkEye/Protocol/ImageServerTCP.cs
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using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Linq;
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using System.Net;
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using System.Net.Sockets;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using Inspectron.HawkEye.Protocol.Interfaces;
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using Inspectron.HawkEye.UDPB;
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using Newtonsoft.Json;
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namespace Inspectron.HawkEye.Protocol
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{
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public class ImageServerTCP
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{
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private readonly IImageSource _imageSource;
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private readonly ICameraControl _cameraControl;
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private readonly ILightControl _lightControl;
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private TcpListener _commandSocket;
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private TcpClient _imageSocket;
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private bool _autoTrigger;
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private bool _applySettings;
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private CameraSettings _imageSettingsToApply=new CameraSettings(){ImageSettings = new ImageSettings()};
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private TcpClient _lastClient;
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public ImageServerTCP(IImageSource imageSource, ICameraControl cameraControl, ILightControl lightControl)
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{
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_imageSource = imageSource;
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_cameraControl = cameraControl;
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_lightControl = lightControl;
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}
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public void Start()
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{
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_commandSocket = new TcpListener(IPAddress.Any, 27001);
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_commandSocket.Start();
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Console.WriteLine("listen tcp");
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var th = new Thread(ReceiveLoop);
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th.Start();
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if (File.Exists("settings.json"))
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{
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var settings = JsonConvert.DeserializeObject<CameraSettings>(File.ReadAllText("settings.json"));
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_imageSettingsToApply = settings;
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ApplyParameters(settings);
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}
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}
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public void ApplyParameters(CameraSettings cameraSettings, bool setLight = false)
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{
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Console.WriteLine("Setting parameters:"+JsonConvert.SerializeObject(cameraSettings,Formatting.Indented));
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_cameraControl.SetParameters(cameraSettings);
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if(setLight&&!cameraSettings.TriggerLights) _lightControl.SetLight(cameraSettings.LightPwm1, cameraSettings.LightPwm2);
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else _lightControl.SetLight(0, 0);
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}
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private void SaveSettingsLocally()
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{
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File.WriteAllText("settings.json", JsonConvert.SerializeObject(_imageSettingsToApply,Formatting.Indented));
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}
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byte[] _commandBuffer = new byte[1500];
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private Task _lastTriggerTask=Task.CompletedTask;
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private void ReceiveLoop()
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{
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while (true)
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{
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_lastClient=_commandSocket.AcceptTcpClient();
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do
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{
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try
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{
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_lastClient.GetStream().Read(_commandBuffer, 0, 1500);
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}
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catch
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{
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break;
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}
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ProcessCommand(_commandBuffer);
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} while (_lastClient.Connected);
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CancelTrigger();
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_lightControl.SetLight(0, 0);
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}
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}
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private void TriggerLoop()
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{
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while (_autoTrigger)
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{
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if (_applySettings)
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{
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ApplyParameters(_imageSettingsToApply,true);
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_applySettings = false;
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}
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try
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{
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SendImage();
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}
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catch(Exception e)
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{
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Console.WriteLine(e.ToString());
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return;
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}
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}
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}
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private void ProcessCommand(byte[] data)
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{
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Console.WriteLine(((ECommand) data[0]).ToString());
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switch ((ECommand) data[0])
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{
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case ECommand.Connect:
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{
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var port = new byte[4];
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Array.Copy(data, 1, port, 0, 4);
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_imageSocket=new TcpClient();
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_imageSocket.Connect(new IPEndPoint((_lastClient.Client.RemoteEndPoint as IPEndPoint).Address, BitConverter.ToInt32(port,0)));
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var databytes = new byte[1000];
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var settings = Encoding.UTF8.GetBytes(JsonConvert.SerializeObject(_imageSettingsToApply));
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Array.Copy(settings, 0, databytes, 1, settings.Length);
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databytes[0] = (byte) ECommand.Settings;
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_lastClient.Client.SendData(databytes);
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Console.WriteLine("data sent");
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_lightControl.SetLight(_imageSettingsToApply.LightPwm1, _imageSettingsToApply.LightPwm2);
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_autoTrigger = false;
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}
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break;
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case ECommand.GetCalibration:
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{
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var databytes = new byte[1500];
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if (File.Exists("calibration.calib"))
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{
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databytes[0] = (byte)ECommand.OK;
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Array.Copy(File.ReadAllBytes("calibration.calib"),0,databytes,1,1500-1);
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_lastClient.Client.SendData(databytes);
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}
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else
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{
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databytes[0] = (byte)ECommand.NotOK;
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_lastClient.Client.SendData(databytes);
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}
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}
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break;
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case ECommand.Trigger:
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{
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CancelTrigger();
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_lastTriggerTask=Task.Run(() =>
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{
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try
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{
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SendImage();
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}
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catch (Exception e)
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{
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Console.WriteLine(e.ToString());
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}
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});
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}
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break;
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case ECommand.StartContinuous:
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{
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_autoTrigger = true;
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var th = new Thread(TriggerLoop);
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th.Start();
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}
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break;
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case ECommand.StopContinuous:
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{
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_autoTrigger = false;
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}
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break;
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case ECommand.Settings:
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{
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CancelTrigger();
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var databytes = new byte[999];
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Array.Copy(data, 1, databytes, 0, 999);
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var settings = JsonConvert.DeserializeObject<CameraSettings>(Encoding.UTF8.GetString(databytes));
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_imageSettingsToApply = settings;
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if (_autoTrigger)
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_applySettings = true;
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else
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ApplyParameters(_imageSettingsToApply,true);
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_lastClient.Client.Send(new []{(byte)EData.OK});
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}
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break;
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case ECommand.SaveCalibration:
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{
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var databytes = new byte[1500 - 1];
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Array.Copy(data, 1, databytes, 0, 1500 - 1);
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File.WriteAllBytes("calibration.calib",databytes);
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_lastClient.Client.Send(new[] { (byte)EData.OK });
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}
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break;
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case ECommand.SaveSettings:
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{
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SaveSettingsLocally();
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}
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break;
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default:
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throw new ArgumentOutOfRangeException();
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}
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}
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private void CancelTrigger()
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{
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_imageSource.CancelTrigger();
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_lastTriggerTask.Wait();
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}
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private void SendImage()
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{
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if (_imageSettingsToApply.TriggerLights)
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{
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_lightControl.SetLight(_imageSettingsToApply.LightPwm1, _imageSettingsToApply.LightPwm2);
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}
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var image = _imageSource.GetImage();
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if (image.Length == 0) return;
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if (_imageSettingsToApply.TriggerLights)
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{
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_lightControl.SetLight(0, 0);
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}
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var b = EncodeImage(image);
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_imageSocket.Client.SendData(b);
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}
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private static byte[] EncodeImage(byte[] image)
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{
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var b = new byte[image.Length + 5];
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b[0] = (byte) EData.Image;
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var byteSize = BitConverter.GetBytes(image.Length);
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Array.Copy(byteSize, 0, b, 1, 4);
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Array.Copy(image, 0, b, 5, image.Length);
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return b;
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}
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private static byte[] EncodeChanneledImage(byte[] image,byte channels)
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{
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var b = new byte[image.Length + 6];
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b[0] = (byte)EData.Image;
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b[1] = channels;
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var byteSize = BitConverter.GetBytes(image.Length);
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Array.Copy(byteSize, 0, b, 2, 4);
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Array.Copy(image, 0, b, 6, image.Length);
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return b;
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}
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}
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}
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