hawkeye camera support(not tested)

framework/Inspectron.HawkEye/UDT/Channel.cs

@@ -0,0 +1,217 @@
+using System;
+using System.Net;
+using System.Net.Sockets;
+using System.Runtime.InteropServices;
+using System.Text;
+
+namespace UdtSharp
+{
+    public class Channel
+    {
+        AddressFamily m_iIPversion;                    // IP version
+
+        Socket m_socket;                 // socket descriptor
+
+        int m_iSndBufSize;                   // UDP sending buffer size
+        int m_iRcvBufSize;
+
+        public Channel()
+        {
+            m_iIPversion = AddressFamily.InterNetwork;
+            m_iSndBufSize = 65536;
+            m_iRcvBufSize = 65536;
+        }
+
+        public Channel(AddressFamily addressFamily)
+        {
+            m_iIPversion = addressFamily;
+            m_iSndBufSize = 65536;
+            m_iRcvBufSize = 65536;
+        }
+
+        public void open(IPEndPoint addr)
+        {
+            // construct a socket
+            try
+            {
+                m_socket = new Socket(m_iIPversion, SocketType.Dgram, ProtocolType.Udp);
+            }
+            catch (SocketException e)
+            {
+                throw new UdtException(1, 0, e.ErrorCode);
+            }
+
+            if (null != addr)
+            {
+                try
+                {
+                    m_socket.Bind(addr);
+                }
+                catch (SocketException e)
+                {
+                    throw new UdtException(1, 3, e.ErrorCode);
+                }
+            }
+            else
+            {
+                try
+                {
+                    m_socket.Bind(new IPEndPoint(IPAddress.Any, 0));
+                }
+                catch (SocketException e)
+                {
+                    throw new UdtException(1, 3, e.ErrorCode);
+                }
+            }
+
+            setUDPSockOpt();
+        }
+
+        public void open(Socket udpsock)
+        {
+            m_socket = udpsock;
+            setUDPSockOpt();
+        }
+
+        void setUDPSockOpt()
+        {
+            m_socket.ReceiveBufferSize = m_iRcvBufSize;
+            m_socket.SendBufferSize = m_iSndBufSize;
+        }
+
+        public void close()
+        {
+            m_socket.Close();
+        }
+
+        int getSndBufSize()
+        {
+            m_iSndBufSize = (int)m_socket.GetSocketOption(SocketOptionLevel.Socket, SocketOptionName.SendBuffer);
+            return m_iSndBufSize;
+        }
+
+        int getRcvBufSize()
+        {
+            m_iRcvBufSize = (int)m_socket.GetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReceiveBuffer);
+            return m_iRcvBufSize;
+        }
+
+        public void setSndBufSize(int size)
+        {
+            m_iSndBufSize = size;
+        }
+
+        public void setRcvBufSize(int size)
+        {
+            m_iRcvBufSize = size;
+        }
+
+        public void getSockAddr(ref IPEndPoint addr)
+        {
+            addr = (IPEndPoint)m_socket.LocalEndPoint;
+        }
+
+        void getPeerAddr(ref IPEndPoint addr)
+        {
+            addr = (IPEndPoint)m_socket.RemoteEndPoint;
+        }
+
+        public int sendto(IPEndPoint addr, Packet packet)
+        {
+            TraceSend(addr, packet);
+
+            // convert control information into network order
+            packet.ConvertControlInfoToNetworkOrder();
+
+            // convert packet header into network order
+            packet.ConvertHeaderToNetworkOrder();
+
+            byte[] data = packet.GetBytes();
+            int res = m_socket.SendTo(data, addr);
+
+            // convert back into local host order
+            packet.ConvertHeaderToHostOrder();
+            packet.ConvertControlInfoToHostOrder();
+
+            return res;
+        }
+
+        void TraceSend(IPEndPoint destination, Packet packet)
+        {
+            return;
+            StringBuilder sb = new StringBuilder();
+            sb.Append(DateTime.Now.ToString("hh:mm:ss.fff"));
+            sb.AppendFormat(" SND {0} => {1}", m_socket.LocalEndPoint, destination);
+            sb.AppendLine();
+            sb.AppendLine(packet.ToString());
+            sb.AppendLine();
+            Console.WriteLine(sb.ToString());
+        }
+
+        void TraceRecv(IPEndPoint source, Packet packet)
+        {
+            return;
+            StringBuilder sb = new StringBuilder();
+            sb.Append(DateTime.Now.ToString("hh:mm:ss.fff"));
+            sb.AppendFormat(" RCV {0} <= {1}", m_socket.LocalEndPoint, source);
+            sb.AppendLine();
+            sb.AppendLine(packet.ToString());
+            sb.AppendLine();
+            Console.WriteLine(sb.ToString());
+        }
+
+        public int recvfrom(ref IPEndPoint addr, Packet packet)
+        {
+            try
+            {
+            if (!m_socket.Poll(10000, SelectMode.SelectRead))
+                return -1;
+            }
+            catch (SocketException sex)
+            {
+                return -1;
+            }
+            catch (ObjectDisposedException odex)
+            {
+                return -1;
+            }
+
+            byte[] bytes = new byte[Packet.m_iPktHdrSize + packet.getLength()];
+
+            EndPoint source = addr;
+
+            int res;
+            try
+            {
+                res = m_socket.ReceiveFrom(bytes, ref source);
+            }
+            catch (SocketException sex)
+            {
+                return -1;
+            }
+            catch (ObjectDisposedException odex)
+            {
+                return -1;
+            }
+
+            addr = source as IPEndPoint;
+
+            if (res <= 0)
+            {
+                return -1;
+            }
+
+            bool success = packet.SetHeaderAndDataFromBytes(bytes, res);
+            if (!success)
+                return -1;
+
+            // convert back into local host order
+            packet.ConvertHeaderToHostOrder();
+            packet.ConvertControlInfoToHostOrder();
+
+            TraceRecv(addr, packet);
+
+            return packet.getLength();
+        }
+    }
+}