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/UDPB/UDPBPacket.cs
+++ b/framework/Inspectron.HawkEye/UDPB/UDPBPacket.cs
@@ -0,0 +1,91 @@
+using System;
+using System.IO;
+
+namespace Inspectron.HawkEye.UDPB
+{
+    public class UDPBPacket
+    {
+
+        public enum EPacketType:uint
+        {
+            Data=0,
+            CloseSequence=1,
+            BeginSequence=2,
+            Nak=3,
+            Ok=4
+        }
+
+        public UDPBPacket()
+        {
+        }
+
+        private const int sequenceIndex = 0;
+        private const int messageIndex = 1;
+        private const int typeIndex = 2;
+        private const int datalengthIndex = 3;
+
+        public const int packetHeaderSize = 16;
+
+        private uint[] _header=new uint[4];
+
+        public uint SequenceId
+        {
+            get => _header[sequenceIndex];
+            set => _header[sequenceIndex] = value;
+        }
+
+        public uint MessageId
+        {
+            get => _header[messageIndex];
+            set => _header[messageIndex] = value;
+        }
+
+        public EPacketType Type
+        {
+            get => (EPacketType)_header[typeIndex];
+            set => _header[typeIndex] = (uint)value;
+        }
+
+        private byte[] _payload;
+
+        public byte[] Payload
+        {
+            get => _payload??new byte[0];
+            set
+            {
+                _payload = value;
+            }
+        }
+        public uint Length
+        {
+            get => _header[datalengthIndex];
+            set => _header[datalengthIndex] = value;
+        }
+
+
+        public byte[] Serialize()
+        {
+            
+            byte[] bytes = new byte[UDPBQueue.PACKET_SIZE+packetHeaderSize];
+            Buffer.BlockCopy(_header, 0, bytes, 0, packetHeaderSize);
+            if(_payload!=null)
+                Array.Copy(_payload, 0, bytes, packetHeaderSize, _payload.Length);
+            return bytes;
+        }
+
+        public void Deserialize(byte[] data,int offset,int len)
+        {
+
+            Buffer.BlockCopy(data, offset, _header, 0, packetHeaderSize);
+            var dataLen = _header[datalengthIndex];
+            if (dataLen > 0)
+            {
+                _payload = new byte[dataLen];
+
+
+                Array.Copy(data, packetHeaderSize+ offset, _payload, 0, (int) dataLen);
+            }
+
+        }
+    }
+}