private static async Task requestSetTilt(Options options, ushort tiltCoordinate, byte opCode = 0x73)
{
logInfo($"Try to request set tilt to {tiltCoordinate}...");
var coordinateBytes = BitConverter.GetBytes(tiltCoordinate);
var requestSetPanMessage = new PelcoDEMessage(options.PTZDeviceAddress, opCode, coordinateBytes[1], coordinateBytes[0]);
try
{
var responseMessage = await SendMessage(requestSetPanMessage);
if (responseMessage != null)
{
logOk($"Request set tilt done");
}
else
{
logError("Set tilt request got null response message");
}
}
catch (TaskCanceledException)
{
logError("Set tilt request cancelled by timeout");
}
catch (Exception e)
{
Terminal.WriteLine("Set tilt request error! Check logs to details.", ConsoleColor.Red);
_logger.LogException(e);
}
}
private static async Task requestMaxPan(Options options)
{
logInfo("Try to request max pan...");
var requestMaxPanMessage = new PelcoDEMessage(options.PTZDeviceAddress, 0x55);
try
{
var responseMessage = await SendMessage(requestMaxPanMessage);
if (responseMessage != null)
{
_logger.LogInfoMessage($"Request max pan done, message={responseMessage}");
var maxPan = PelcoResponseDecoder.GetUInt16((PelcoDEMessage)responseMessage);
_maxPan = maxPan;
logOk($"Request max pan done, Max Pan={maxPan}");
}
else
{
logError($"Request max pan got null response message");
}
}
catch (TaskCanceledException)
{
logError("Max pan request cancelled by timeout");
}
catch (Exception e)
{
Terminal.WriteLine("Max pan request! Check logs to details.", ConsoleColor.Red);
_logger.LogException(e);
}
}
private static void _transport_MessageReceived(object sender, byte[] e)
{
var pelcoMessage = PelcoDEMessage.FromBytes(e);
_logger.LogInfoMessage($"Pelco message received => {pelcoMessage?.ToString() ?? "<null>"}");
if (pelcoMessage == null)
{
return;
}
_cts.Dispose();
var trySetResult = _sendMessageTaskCompletionSource?.TrySetResult(pelcoMessage);
_logger.LogInfoMessage($"Set async task result: {trySetResult}");
}
private void transport_MessageReceived(object sender, byte[] messageData)
{
var pelcoMessage = PelcoDEMessage.FromBytes(messageData);
_logger.LogInfoMessage($"Pelco message received => {pelcoMessage?.ToString() ?? "<null>"}");
if (pelcoMessage == null)
{
return;
}
var settings = _settingsManager.GetAppSettings();
var responseType = _responseDecoder.GetResponseType(pelcoMessage);
_logger.LogInfoMessage($"Pelco response type => {responseType?.ToString() ?? "<null>"}");
switch (responseType)
{
case null:
return;
case PelcoDEMessageType.SetPanCompleteResponse:
_panTaskCompletionSource?.TrySetResult(true);
return;
case PelcoDEMessageType.RequestPanResponse:
{
var panAngleToCoordinatesFactor = settings.PTZPanAngleToCoordinateFactor;
var angle = PelcoResponseDecoder.GetUInt16(pelcoMessage) / panAngleToCoordinatesFactor / 100;
_logger.LogDebugMessage($"Pelco RequestPanResponse received => angle: {angle}");
_panRequestCTS.Dispose();
_requestPanTaskCompletionSource?.TrySetResult(angle);
return;
}
case PelcoDEMessageType.RequestTiltResponse:
{
var tiltAngleToCoordinatesFactor = settings.PTZTiltAngleToCoordinateFactor;
var angle = PelcoResponseDecoder.GetUInt16(pelcoMessage) / tiltAngleToCoordinatesFactor / 100;
_logger.LogDebugMessage($"Pelco RequestTiltResponse received => angle: {angle}");
_tiltRequestCTS.Dispose();
_requestTiltTaskCompletionSource?.TrySetResult(angle);
return;
}
}
}
public static PelcoDEMessage FromBytes(byte[] dataBytes)
{
if (dataBytes == null)
{
return(null);
}
if (dataBytes.Length != 7)
{
return(null);
}
if (dataBytes[0] != 0xFF)
{
return(null);
}
var message = new PelcoDEMessage(dataBytes);
var checkSum = PelcoDEMessage.calcCheckSum(
message.DeviceAddress,
message.Command1, message.Command2,
message.DataH, message.DataL
);
return(checkSum != dataBytes[6] ? null : message);
}
