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/UDPBReceiveBuffer.cs
+++ b/framework/Inspectron.HawkEye/UDPB/UDPBReceiveBuffer.cs
@@ -0,0 +1,127 @@
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading.Tasks;
+
+namespace Inspectron.HawkEye.UDPB
+{
+    public class UDPBReceiveBuffer
+    {
+        private readonly UDPBSocket _socket;
+        private readonly ConcurrentQueue<byte[]> _receiveQueue;
+
+        public UDPBReceiveBuffer(UDPBSocket socket, ConcurrentQueue<byte[]> receiveQueue)
+        {
+            _socket = socket;
+            _receiveQueue = receiveQueue;
+        }
+
+        List<UDPBSequence> _sequences = new List<UDPBSequence>();
+
+        public byte[] LastReconstructedBuffer { get; private set; }
+
+        public bool IsSequenceFinished()
+        {
+            var res = _sequences.OrderByDescending(x=>x.SequenceId).FirstOrDefault(x => x.IsFinished);
+            if (res != null)
+            {
+                LastReconstructedBuffer = res.LastReconstructedBuffer;
+                _sequences.Remove(res);
+                return true;
+            }
+
+            return false;
+        }
+
+        public UDPBSequence StartSequence(uint sequence)
+        {
+            while (_sequences.Count > 5)
+            {
+                _sequences.Remove(_sequences.OrderBy(x => x.SequenceId).First());
+            }
+            var exists = _sequences.FirstOrDefault(x => x.SequenceId == sequence);
+            if (exists != null)
+            {
+                
+                Console.WriteLine($"Sequence exists {sequence}");
+                return exists;
+            }
+
+            var res = new UDPBSequence(sequence, _socket, _receiveQueue);
+            _sequences.Add(res);
+            return res;
+        }
+
+        public void AddPacketBytes(byte[] data, int offset, int len)
+        {
+            var packet = new UDPBPacket();
+            packet.Deserialize(data, offset, len);
+
+
+            if (packet.Type == UDPBPacket.EPacketType.Data)
+            {
+                var seqId = packet.SequenceId;
+                var sequence = _sequences.FirstOrDefault(x => x.SequenceId == seqId);
+                if (sequence != null)
+                {
+
+                    sequence.AddData(packet);
+                    
+                    
+                }
+                else
+                {
+                    var s=StartSequence(seqId);
+                    s.AddData(packet);
+                    
+                }
+            }else if (packet.Type == UDPBPacket.EPacketType.Ok)
+            {
+                var nb = new byte[len];
+                Array.Copy(data,offset,nb,0,len);
+                _receiveQueue.Enqueue(nb);
+            }
+            else
+            {
+                AddCommand(packet);
+            }
+        }
+
+  
+
+
+        private void AddCommand(UDPBPacket commandPacket)
+        {
+            switch (commandPacket.Type)
+            {
+                case UDPBPacket.EPacketType.CloseSequence:
+                    bool finishSuccess;
+                    int dataSize;
+                    var sequence = _sequences.FirstOrDefault(x => x.SequenceId == commandPacket.SequenceId);
+                    if (sequence == null) return;
+                        
+                    finishSuccess = sequence.FinishSequence(commandPacket.MessageId, out var missingPacketIds,
+                         out dataSize);
+                    //inform error
+                    
+                    
+                    
+                    break;
+                case UDPBPacket.EPacketType.BeginSequence:
+                    StartSequence(commandPacket.SequenceId);
+                    break;
+
+                
+            }
+        }
+
+
+
+
+
+
+
+
+    }
+}