660 lines
18 KiB
C#
660 lines
18 KiB
C#
///
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/// Copyright (c) 2017 Sensus Metering Systems
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///
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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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.Timers;
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using log4net;
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using Renci.SshNet;
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using Config.Entities;
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using TBF.BenchControl.Network.Telnet;
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using TBF.Resources;
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namespace TBF.BenchControl.Network.Camera.CLP1611
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{
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/// <summary>
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/// This class implements: (1) Camera device, (2) Measurement operation
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/// </summary>
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public class Camera : ComponentBase, GenericDevices.ICamera, Generic.IDevice, IOperation
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{
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private static readonly ILog log = LogManager.GetLogger(typeof(Camera));
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public override string ToString()
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{
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return string.Format("{0}, Name={1}, S/N={2}, IPAddress={3}, Serial={4}, Image={5}",
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this.GetType().Namespace.Substring(17),
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CameraCfg.Name,
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CameraCfg.HardwareAddress,
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ipAddress == null ? "not detected" : ipAddress.ToString(),
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string.IsNullOrEmpty(cpuSerialNr) ? "not detected" : cpuSerialNr,
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string.IsNullOrEmpty(sdCardVer) ? "not detected" : sdCardVer);
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}
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const string ClpUserName = "tbf";
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const string ClpPassword = "C1ern4V0d4";
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///
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/// Properties
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///
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public readonly CameraCfg CameraCfg;
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public readonly GenericDevices.INetworkAdapter NetAdapter;
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public IPAddress IPAddress { get { return ipAddress; } }
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IPAddress ipAddress;
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public string CpuHardware { get { return cpuHardware; } }
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string cpuHardware;
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public string CpuRevision { get { return cpuRevision; } }
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string cpuRevision;
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public string CpuSerialNr { get { return cpuSerialNr; } }
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string cpuSerialNr;
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public string SDCardVer { get { return sdCardVer; } }
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string sdCardVer;
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public bool Running { get { return running; } }
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bool running;
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public int CameraIdx { get { return cameraIdx; } }
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int cameraIdx;
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///
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static int nextCameraIdx = 0;
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static int GetCameraIdx() { return nextCameraIdx++; } /// Used in Initialize()
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public static new void ResetStaticProperties() { nextCameraIdx = 0; }
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///
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/// Telnet support
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///
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const string TelnetPrompt = "$ ";
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const bool TelnetSkipFirstLine = true;
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public Telnet.TelnetClient Telnet;
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private TerminalDlg terminalDlg;
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///
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/// scp support
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///
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Thread scpThread;
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PasswordConnectionInfo connectionInfo;
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ScpClient scpClient;
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bool scpConnected;
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bool stopScpThreadFlag;
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string scpSrcFileName;
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string scpDstFileName;
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enum ScpCommand
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{
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None,
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Get,
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}
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ScpCommand scpCommand;
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///
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/// MJpeg RTP protocol support
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///
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const int RtpUdpPortBase = 20000;
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int rtpUdpLocalPort;
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UdpClient rtpUdpClient;
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Thread rtpListenerThread;
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static bool stopRtpListenerFlag;
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///
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/// ROI related parameters
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///
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IList<string> roiParams;
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long cameraTimeMs;
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int[] result;
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///
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public void ClearRoiParams() { roiParams.Clear(); }
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public int RegisterRoi(string rParams)
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{
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this.roiParams.Add(rParams);
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int newHandle = this.roiParams.Count;
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result = new int[newHandle];
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return newHandle;
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}
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///
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public int GetResult(int roiHandle, out long timeMs)
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{
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timeMs = cameraTimeMs;
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if (roiHandle > 0 && roiHandle <= roiParams.Count)
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{
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return result[roiHandle - 1];
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}
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return 0;
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}
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///
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/// UDP Port number for 'MeasurementOp'
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///
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const int UdpPortRangeStart = 13800;
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const int UdpPortRangeEnd = 13850;
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static int nextUdpPortNr = UdpPortRangeStart;
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public static int GetNextUdpPortNr() { return nextUdpPortNr++; }
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///
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readonly int measurementUdpPortNr;
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UdpClient measurementListener;
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public Camera() {}
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public Camera(Generic.IComponentCfg cfg, IList<Generic.IComponent> components)
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: base(cfg)
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{
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CameraCfg = cfg as CameraCfg;
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NetAdapter = TbfComponents.FindComponent(cfg.ParentName, components) as GenericDevices.INetworkAdapter;
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if (NetAdapter == null) throw new ArgumentNullException("no network adapter");
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Telnet = null;
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terminalDlg = null;
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measurementUdpPortNr = GetNextUdpPortNr();
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roiParams = new List<string>();
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running = false;
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log.Debug(this.ToString());
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}
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public void Initialize()
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{
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cameraIdx = GetCameraIdx();
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if (CameraCfg.DebugLevel == DebugMode.Simulate) return;
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/// Detect a camera
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bool cameraDetected = DetectCamera(CameraCfg.HardwareAddress % 100, ref ipAddress, true,
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out cpuHardware, out cpuRevision, out cpuSerialNr, out sdCardVer);
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if (CameraCfg.DebugLevel == DebugMode.AutoDetect)
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{
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CameraCfg.DebugLevel = cameraDetected ? DebugMode.DetectedOn : DebugMode.DetectedOff;
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}
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else if (!cameraDetected)
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{
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throw new Exception(string.Format("{0}={1}", Strings.Address, CameraCfg.HardwareAddress));
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}
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if (cameraDetected)
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{
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/// Open telnet clint and start the log-in process
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Telnet = new Telnet.TelnetClient(this, CameraCfg.Name, ClpUserName, ClpPassword, TelnetPrompt, TelnetSkipFirstLine, CameraCfg.DisplayTerminal);
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if (CameraCfg.DisplayTerminal)
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{
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terminalDlg = new TerminalDlg(CameraCfg.Name, Telnet);
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terminalDlg.Show();
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}
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Telnet.MeasurementDataReceivedHandler += delegate(object sender, MeasuredDataEventArgs msrmtData)
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{
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if (Program.MainWnd.InvokeRequired)
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{
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Program.MainWnd.Invoke(new EventHandler<MeasuredDataEventArgs>(OnMeasurementDataReceived), sender, msrmtData);
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}
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else
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{
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OnMeasurementDataReceived(sender, msrmtData);
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}
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};
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Telnet.Enqueue(new Telnet.Command(Network.Telnet.CmdAction.CONNECT, ipAddress.ToString(), 10, 30));
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//measurementListener = new UdpClient(measurementUdpPortNr);
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//new Thread(new ThreadStart(MeasurementUdpListener)).Start();
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scpThread = new Thread(new ThreadStart(ScpWorker));
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scpThread.Start();
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rtpUdpLocalPort = RtpUdpPortBase + 2 * cameraIdx;
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StartRtpListener(NetAdapter.IPAddress, rtpUdpLocalPort);
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running = true;
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log.FatalFormat("'{0}' with address {1} detected, IP address = {2}", Name, CameraCfg.HardwareAddress, ipAddress);
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}
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else
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{
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log.FatalFormat("'{0}' with address {1} not detected", Name, CameraCfg.HardwareAddress);
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}
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}
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public void StopDevice()
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{
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stopScpThreadFlag = true;
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stopRtpListenerFlag = true;
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if (Telnet != null)
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{
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Telnet.Dispose();
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Telnet = null;
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}
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if (scpThread != null) scpThread.Join(500);
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if (rtpListenerThread != null) rtpListenerThread.Join(1000);
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if (rtpUdpClient != null)
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{
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rtpUdpClient.Close();
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rtpUdpClient = null;
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}
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running = false;
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}
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public void RunDeviceBefore()
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{
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}
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public void RunDeviceAfter()
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{
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// if (running)
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// {
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// Console.WriteLine("Time={0} IP={1} scp={2}", StateMachine.Time, IPAddress, scpConnected ? "connected" : "disconnected");
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// }
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}
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/// <summary>
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/// Detect the camera with specified hardware address (DIP switches)
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/// </summary>
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/// <param name="hwAddress">Hardware address (DIP switches)</param>
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/// <param name="setDateTime">true = Broadcast 'SetDateTime' to all cameras</param>
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/// <param name="ipAddress">Detected IP address</param>
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/// <param name="hardware">Detected hardware</param>
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/// <param name="revision">Detected HW revision</param>
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/// <param name="serial">Detected serial number</param>
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/// <param name="sdCardVer">Detected OS image</param>
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/// <returns>true when camera detected successfully</returns>
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bool DetectCamera(int hwAddress, ref IPAddress ipAddress, bool setDateTime, out string hardware, out string revision, out string serial, out string sdCardVer)
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{
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for (int trials = 1; trials <= 3; trials++)
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{
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UdpClient udpClient = new UdpClient();
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try
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{
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if (setDateTime)
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{
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SetDateTime(udpClient, DateTime.Now);
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}
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///
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/// Send a request for camera information
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///
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DateTime detectionStart = DateTime.Now;
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CameraInfoRequest(udpClient, hwAddress);
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///
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/// Receive a response or timeout
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///
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IAsyncResult asyncRslt = udpClient.BeginReceive(null, null);
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if (asyncRslt.AsyncWaitHandle.WaitOne(500))
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{
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/// Response received within time limit
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IPEndPoint cameraIPEndpoint = new IPEndPoint(IPAddress.Any, 1852);
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byte[] inputBuffer = udpClient.EndReceive(asyncRslt, ref cameraIPEndpoint);
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double duration_ms = (DateTime.Now - detectionStart).TotalMilliseconds;
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ipAddress = cameraIPEndpoint.Address;
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udpClient.Close();
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string response = Encoding.ASCII.GetString(inputBuffer, 0, inputBuffer.Length);
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string[] strArr = response.Split(new char[] { ' ', '=' });
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if (strArr.Length == 10 && strArr[0] == "Address" && strArr[2] == "Hardware" &&
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strArr[4] == "Revision" && strArr[6] == "Serial" && strArr[8] == "Image")
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{
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hardware = strArr[3];
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revision = strArr[5];
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serial = strArr[7];
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sdCardVer = strArr[9];
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}
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else if (strArr.Length == 8 && strArr[0] == "Address" && strArr[2] == "Hardware" &&
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strArr[4] == "Revision" && strArr[6] == "Serial")
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{
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hardware = strArr[3];
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revision = strArr[5];
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serial = strArr[7];
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sdCardVer = string.Empty;
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}
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else
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{
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continue;
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}
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string msg = string.Format("Camera {0} detected in {1} ms: HWAddress={2} IPAddress={3} {4}",
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CameraCfg.Name,
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duration_ms,
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CameraCfg.HardwareAddress,
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ipAddress == null ? "not detected" : ipAddress.ToString(),
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response);
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log.Info(msg);
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Console.WriteLine(msg);
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return true; /// Camera detected
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}
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}
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catch (Exception exc)
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{
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log.ErrorFormat("Camera {0} with HWAddress={1} not detected : {2}", CameraCfg.Name, CameraCfg.HardwareAddress, exc.Message);
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}
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udpClient.Close();
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}
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ipAddress = null;
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hardware = null;
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revision = null;
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serial = null;
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sdCardVer = null;
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return false; /// No camera detected
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}
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void CameraInfoRequest(UdpClient udpClient, int hardwareAddress)
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{
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string strToSend = string.Format("getinfo {0}", hardwareAddress);
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byte[] dataToSend = Encoding.ASCII.GetBytes(strToSend);
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udpClient.Send(dataToSend, dataToSend.Length, new IPEndPoint(NetAdapter.BroadcastAddress, 1852));
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}
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void SetDateTime(UdpClient udpClient, DateTime dateTime)
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{
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string strToSend = string.Format("setdatetime {0:yyMMddHHmmss}", dateTime);
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byte[] dataToSend = Encoding.ASCII.GetBytes(strToSend);
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udpClient.Send(dataToSend, dataToSend.Length, new IPEndPoint(NetAdapter.BroadcastAddress, 1852));
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}
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void ScpWorker()
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{
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try
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{
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connectionInfo = new PasswordConnectionInfo(IPAddress.ToString(), ClpUserName, ClpPassword);
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scpClient = new ScpClient(connectionInfo);
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scpClient.Connect();
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scpConnected = scpClient.IsConnected;
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}
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catch (Exception)
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{
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scpConnected = false;
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}
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if (scpConnected)
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{
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while (!stopScpThreadFlag)
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{
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switch (scpCommand)
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{
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case ScpCommand.Get:
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scpCommand = ScpCommand.None;
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scpClient.Download(scpSrcFileName, new System.IO.FileInfo(scpDstFileName));
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break;
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default:
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Thread.Sleep(250);
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break;
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}
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}
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scpClient.Disconnect();
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scpConnected = false;
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}
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}
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/// <summary>
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/// Transfer a file via SCP
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/// </summary>
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/// <param name="srcFileName"></param>
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/// <returns>0 (success), -1 (busy), -2 (no session)</returns>
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public int TransferFileViaScp(string srcFileName, string dstFileName)
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{
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if (!scpConnected) return -2;
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if (scpCommand != ScpCommand.None) return -1;
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scpSrcFileName = srcFileName;
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scpDstFileName = dstFileName;
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scpCommand = ScpCommand.Get;
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return 0;
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}
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private void StartRtpListener(IPAddress localIP, int localPort)
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{
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rtpUdpClient = new UdpClient(new IPEndPoint(localIP, localPort));
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rtpListenerThread = new Thread(new ThreadStart(RtpListener));
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rtpListenerThread.Start();
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}
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void RtpListener()
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{
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JpegFrame jpegFrame = new JpegFrame();
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bool synced = false;
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while (!stopRtpListenerFlag)
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{
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try
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{
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IPEndPoint endpoint = null;
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Byte[] data = rtpUdpClient.Receive(ref endpoint);
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if (data.Length > 20)
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{
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/// Process the packet
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RtpPacket newPacket = new RtpPacket(data);
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if (synced)
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{
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/// Sychronized: process the new packet
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switch (jpegFrame.AddPacket(newPacket))
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{
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case RtpFrame.STATE.Complete:
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UiBridge.Bridge.OnImage(this.cameraIdx, jpegFrame.ToImage());
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jpegFrame.Clear();
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break;
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case RtpFrame.STATE.Error:
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jpegFrame.Clear();
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synced = false;
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break;
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default:
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break;
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}
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}
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else if (newPacket.Mark)
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{
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/// Synchronize when a packet with Mark occurs, process the next packet
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jpegFrame.Clear();
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synced = true;
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}
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else
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{
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/// Stay unsynchronized
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}
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}
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}
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catch (Exception exc)
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{
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string msg = string.Format("Exception in the listener thread: {0}", exc.Message);
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log.Error(msg);
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}
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}
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return;
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}
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public IOperation LiveStreamOp(bool hiRes)
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{
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int wid = hiRes ? 1280 : 640;
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int hgh = hiRes ? 960 : 480;
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string command = string.Format("/opt/vc/bin/raspivid -t 0 -cd MJPEG -w {0} -h {1} -fps 30 -b 8000000 -o - | gst-launch-1.0 fdsrc ! \"image/jpeg,framerate=30/1\" ! jpegparse ! rtpjpegpay ! udpsink host={2} port={3}",
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wid, hgh, NetAdapter.IPAddress.ToString(), rtpUdpLocalPort);
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return new LiveStreamOp(this, Telnet, command);
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}
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public IOperation GrabImagesOp(string[] imgFileNames, bool blackAndWhite, bool lowResolution, ImageRotation imageRotation)
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{
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return new GrabImagesOp(this, imgFileNames, blackAndWhite, lowResolution, imageRotation);
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}
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public IOperation MeasurementOp()
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{
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if (Telnet != null)
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{
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//new MeasurementOp(this, NetAdapter.IPAddress.ToString(), measurementUdpPortNr, roiParams);
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return this;
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}
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else
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{
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return null;
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}
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}
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string command;
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bool measurementCommandSent;
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bool connectionEstablished;
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public void Start()
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{
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/// Prepare the telent command
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StringBuilder sb = new StringBuilder();
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foreach (var s in roiParams) sb.AppendFormat(" {0}", s);
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command = string.Format("clp/Measurement -udp {0} {1}{2}{3} 1 7 0 0 0",
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NetAdapter.IPAddress,
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measurementUdpPortNr,
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CameraCfg.UseTestImages ? (" -l " + CameraCfg.TestImagesCount.ToString()) : string.Empty,
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sb);
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measurementCommandSent = false;
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connectionEstablished = false;
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/// If ready send (=enqueue) the command
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if (Telnet.State == TelnetClient.TelnetState.Inactive)
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{
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Telnet.Enqueue(new Telnet.Command(CmdAction.SEND_MSRMNT_CMD, command));
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measurementCommandSent = true;
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}
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}
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public Event Run()
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{
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if (!measurementCommandSent)
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{
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/// When ready send (=enqueue) the command
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if (Telnet.State == TelnetClient.TelnetState.Inactive)
|
|
{
|
|
Telnet.Enqueue(new Telnet.Command(CmdAction.SEND_MSRMNT_CMD, command));
|
|
measurementCommandSent = true;
|
|
}
|
|
}
|
|
else if (!connectionEstablished)
|
|
{
|
|
connectionEstablished = true;
|
|
}
|
|
return Event.None;
|
|
}
|
|
|
|
public void Stop()
|
|
{
|
|
if (measurementCommandSent)
|
|
{
|
|
Telnet.Enqueue(new Telnet.Command(CmdAction.SEND_COMMAND, TelnetClient.CtrlCCommand));
|
|
}
|
|
}
|
|
|
|
|
|
public void OnMeasurementDataReceived(object sender, MeasuredDataEventArgs msrmtData)
|
|
{
|
|
string[] pulsesArr = msrmtData.MeasuredData.Split(new char[] { ';' });
|
|
|
|
uint uiVal;
|
|
if (result != null && result.Length + 1 == pulsesArr.Length && uint.TryParse(pulsesArr[0], out uiVal))
|
|
{
|
|
cameraTimeMs = (long)uiVal;
|
|
|
|
for (int i = 0; i < result.Length; i++)
|
|
{
|
|
int val;
|
|
if (int.TryParse(pulsesArr[i + 1], out val))
|
|
{
|
|
result[i] = Math.Abs(val);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void MeasurementUdpListener()
|
|
{
|
|
StringBuilder toBeProcessed = new StringBuilder();
|
|
IPEndPoint ipEndPoint = new IPEndPoint(IPAddress.Any, measurementUdpPortNr);
|
|
|
|
try
|
|
{
|
|
while (true)
|
|
{
|
|
byte[] byteArray = measurementListener.Receive(ref ipEndPoint);
|
|
toBeProcessed.Append(Encoding.ASCII.GetString(byteArray, 0, byteArray.Length));
|
|
log.DebugFormat("MeasurementUdpListener() ... toBeProcessed = {0}", toBeProcessed);
|
|
|
|
while (true)
|
|
{
|
|
int from = toBeProcessed.ToString().IndexOf('[');
|
|
if (from < 0) break;
|
|
|
|
int len = toBeProcessed.ToString(from + 1, toBeProcessed.Length - from - 1).IndexOf(']');
|
|
if (len < 0) break;
|
|
|
|
string[] pulsesArr = toBeProcessed.ToString(from + 1, len).Split(new char[] { ';' });
|
|
|
|
uint uiVal;
|
|
if (result != null && result.Length + 1 == pulsesArr.Length && uint.TryParse(pulsesArr[0], out uiVal))
|
|
{
|
|
// cameraTimeMs = (long)uiVal;
|
|
|
|
for (int i = 0; i < result.Length; i++)
|
|
{
|
|
int val;
|
|
if (int.TryParse(pulsesArr[i + 1], out val))
|
|
{
|
|
// result[i] = Math.Abs(val);
|
|
}
|
|
}
|
|
}
|
|
|
|
toBeProcessed.Remove(0, from + len + 2);
|
|
}
|
|
}
|
|
}
|
|
catch
|
|
{
|
|
log.FatalFormat("Camera : MeasurementUdpListener() thread failed");
|
|
}
|
|
}
|
|
}
|
|
}
|