private FrameStateData AdvFrameInfoToFrameStateData(AdvFrameInfo frameInfo, int frameIndex)
{
if (frameInfo != null)
{
var rv = new FrameStateData();
rv.VideoCameraFrameId = frameInfo.VideoCameraFrameId;
rv.CentralExposureTime = frameInfo.MiddleExposureTimeStamp;
rv.SystemTime = frameInfo.SystemTime;
rv.EndFrameNtpTime = frameInfo.EndExposureNtpTimeStamp;
rv.NtpTimeStampError = frameInfo.NtpTimeStampError;
rv.ExposureInMilliseconds = frameInfo.Exposure10thMs / 10.0f;
rv.NumberIntegratedFrames = (int)frameInfo.IntegratedFrames;
int almanacStatus = frameInfo.GPSAlmanacStatus;
int almanacOffset = frameInfo.GetSignedAlamancOffset();
if (!frameInfo.AlmanacStatusIsGood && frameInfo.AlmanacStatusIsGood)
{
// When the current almanac is not good, but last frame is, then apply the known almanac offset automatically
almanacOffset = frameInfo.GPSAlmanacOffset;
rv.CentralExposureTime = rv.CentralExposureTime.AddSeconds(frameInfo.GPSAlmanacOffset);
almanacStatus = 2; // Certain
}
rv.Gain = frameInfo.Gain;
rv.Gamma = frameInfo.Gamma;
rv.Temperature = frameInfo.Temperature;
rv.Offset = frameInfo.Offset;
rv.NumberSatellites = frameInfo.GPSTrackedSattelites;
rv.AlmanacStatus = AdvStatusValuesHelper.TranslateGpsAlmanacStatus(almanacStatus);
rv.AlmanacOffset = AdvStatusValuesHelper.TranslateGpsAlmanacOffset(almanacStatus, almanacOffset, almanacStatus > 0);
rv.GPSFixStatus = frameInfo.GPSFixStatus.ToString("#");
rv.Messages = string.Empty;
if (frameInfo.SystemErrorString != null)
rv.Messages = string.Concat(rv.Messages, frameInfo.SystemErrorString, "\r\n");
if (frameInfo.UserCommandString != null)
rv.Messages = string.Concat(rv.Messages, frameInfo.UserCommandString, "\r\n");
if (frameInfo.GPSFixString != null)
rv.Messages = string.Concat(rv.Messages, frameInfo.GPSFixString, "\r\n");
if (m_UseNtpTimeAsCentralExposureTime)
{
rv.CentralExposureTime = ComputeCentralExposureTimeFromNtpTime(frameIndex, frameInfo.EndExposureNtpTimeStamp);
}
if (m_FrameRate > 0)
rv.ExposureInMilliseconds = (float)(1000 / m_FrameRate);
if (m_UsesNtpTimestamps && !OcrDataAvailable && m_UseNtpTimeAsCentralExposureTime)
AddExtraNtpDebugTimes(ref rv, frameInfo);
return rv;
}
else
return new FrameStateData();
}
private void AddExtraNtpDebugTimes(ref FrameStateData stateData, AdvFrameInfo frameInfo)
{
if (stateData.AdditionalProperties == null)
stateData.AdditionalProperties = new SafeDictionary<string, object>();
stateData.AdditionalProperties.Add("MidTimeNTPRaw", stateData.EndFrameNtpTime.AddMilliseconds(-0.5 * stateData.ExposureInMilliseconds));
stateData.AdditionalProperties.Add("MidTimeNTPFitted", stateData.CentralExposureTime);
stateData.AdditionalProperties.Add("MidTimeWindowsRaw", frameInfo.EndExposureSecondaryTimeStamp.AddMilliseconds(-0.5 * stateData.ExposureInMilliseconds));
}
public AdvFrameInfo GetStatusChannel(int index)
{
var frameInfo = new AdvFrameInfoNative();
byte[] gpsFix = new byte[256 * 16];
byte[] userCommand = new byte[256 * 16];
byte[] systemError = new byte[256 * 16];
lock (m_SyncLock)
{
TangraCore.ADVGetFrameStatusChannel(index, frameInfo, gpsFix, userCommand, systemError);
}
var rv = new AdvFrameInfo(frameInfo)
{
UserCommandString = AdvFrameInfo.GetStringFromBytes(userCommand),
SystemErrorString = AdvFrameInfo.GetStringFromBytes(systemError),
GPSFixString = AdvFrameInfo.GetStringFromBytes(gpsFix)
};
return rv;
}
public Pixelmap GetPixelmap(int index)
{
if (index >= m_FirstFrame + m_CountFrames)
throw new ApplicationException("Invalid frame position: " + index);
uint[] pixels = new uint[m_Width * m_Height];
uint[] unprocessedPixels = new uint[m_Width * m_Height];
byte[] displayBitmapBytes = new byte[m_Width * m_Height];
byte[] rawBitmapBytes = new byte[(m_Width * m_Height * 3) + 40 + 14 + 1];
var frameInfo = new AdvFrameInfoNative();
byte[] gpsFix = new byte[256 * 16];
byte[] userCommand = new byte[256 * 16];
byte[] systemError = new byte[256 * 16];
lock (m_SyncLock)
{
TangraCore.ADVGetFrame(index, pixels, unprocessedPixels, rawBitmapBytes, displayBitmapBytes, frameInfo, gpsFix, userCommand, systemError);
}
m_CurrentFrameInfo = new AdvFrameInfo(frameInfo);
m_CurrentFrameInfo.UserCommandString = AdvFrameInfo.GetStringFromBytes(userCommand);
m_CurrentFrameInfo.SystemErrorString = AdvFrameInfo.GetStringFromBytes(systemError);
m_CurrentFrameInfo.GPSFixString = AdvFrameInfo.GetStringFromBytes(gpsFix);
if (m_Engine == "AAV" && m_CurrentFrameInfo.IntegratedFrames > 0 && TangraConfig.Settings.AAV.SplitFieldsOSD && m_OsdFirstLine * m_OsdLastLine != 0)
{
TangraCore.BitmapSplitFieldsOSD(rawBitmapBytes, m_OsdFirstLine, m_OsdLastLine);
}
if (frameInfo.HasNtpTimeStamp && m_CurrentFrameInfo.Exposure10thMs == 0 &&
index + 1 < m_FirstFrame + m_CountFrames)
{
lock (m_SyncLock)
{
TangraCore.ADVGetFrameStatusChannel(index + 1, frameInfo, gpsFix, userCommand, systemError);
}
if (frameInfo.HasNtpTimeStamp)
m_CurrentFrameInfo.Exposure10thMs = (int)Math.Round(new TimeSpan(frameInfo.EndExposureNtpTimeStamp.Ticks - m_CurrentFrameInfo.EndExposureNtpTimeStamp.Ticks).TotalMilliseconds * 10);
}
using (MemoryStream memStr = new MemoryStream(rawBitmapBytes))
{
Bitmap displayBitmap;
if (m_Engine == "AAV" && m_CurrentFrameInfo.IntegratedFrames == 0)
{
// This is a VTI Split reference frame. Put some mark on it to mark it as such??
displayBitmap = Pixelmap.ConstructBitmapFromBitmapPixels(pixels, m_Width, m_Height);
for (int i = 0; i < pixels.Length; i++) displayBitmapBytes[i] = (byte) pixels[i];
}
else
{
try
{
displayBitmap = (Bitmap)Bitmap.FromStream(memStr);
}
catch (Exception ex)
{
Trace.WriteLine(ex.GetFullStackTrace());
displayBitmap = new Bitmap(m_Width, m_Height);
}
}
var rv = new Pixelmap(m_Width, m_Height, m_BitPix, pixels, displayBitmap, displayBitmapBytes);
rv.SetMaxSignalValue(m_Aav16NormVal);
rv.FrameState = GetCurrentFrameState(index);
rv.UnprocessedPixels = unprocessedPixels;
return rv;
}
}
public Pixelmap GetIntegratedFrame(int startFrameNo, int framesToIntegrate, bool isSlidingIntegration, bool isMedianAveraging)
{
if (startFrameNo < 0 || startFrameNo >= m_FirstFrame + m_CountFrames)
throw new ApplicationException("Invalid frame position: " + startFrameNo);
int actualFramesToIntegrate = Math.Min(startFrameNo + framesToIntegrate, m_FirstFrame + m_CountFrames - 1) - startFrameNo;
uint[] pixels = new uint[m_Width * m_Height];
uint[] unprocessedPixels = new uint[m_Width * m_Height];
byte[] displayBitmapBytes = new byte[m_Width * m_Height];
byte[] rawBitmapBytes = new byte[(m_Width * m_Height * 3) + 40 + 14 + 1];
var frameInfo = new AdvFrameInfoNative();
lock (m_SyncLock)
{
TangraCore.ADVGetIntegratedFrame(startFrameNo, actualFramesToIntegrate, isSlidingIntegration, isMedianAveraging, pixels, unprocessedPixels, rawBitmapBytes, displayBitmapBytes, frameInfo);
}
m_CurrentFrameInfo = new AdvFrameInfo(frameInfo);
using (MemoryStream memStr = new MemoryStream(rawBitmapBytes))
{
Bitmap displayBitmap = (Bitmap)Bitmap.FromStream(memStr);
var rv = new Pixelmap(m_Width, m_Height, m_BitPix, pixels, displayBitmap, displayBitmapBytes);
rv.SetMaxSignalValue(m_Aav16NormVal);
rv.UnprocessedPixels = unprocessedPixels;
return rv;
}
}
public FrameStateData GetFrameStatusChannel(int index)
{
if (index >= m_FirstFrame + m_CountFrames)
throw new ApplicationException("Invalid frame position: " + index);
var frameInfo = new AdvFrameInfoNative();
byte[] gpsFix = new byte[256 * 16];
byte[] userCommand = new byte[256 * 16];
byte[] systemError = new byte[256 * 16];
lock (m_SyncLock)
{
TangraCore.ADVGetFrameStatusChannel(index, frameInfo, gpsFix, userCommand, systemError);
}
var frameStatusChannel = new AdvFrameInfo(frameInfo);
frameStatusChannel.UserCommandString = AdvFrameInfo.GetStringFromBytes(userCommand);
frameStatusChannel.SystemErrorString = AdvFrameInfo.GetStringFromBytes(systemError);
frameStatusChannel.GPSFixString = AdvFrameInfo.GetStringFromBytes(gpsFix);
return AdvFrameInfoToFrameStateData(frameStatusChannel, index);
}
