/// <summary>
/// Shut down capture
/// </summary>
private void CloseInterfaces()
{
int hr;
try
{
if (_mediaCtrl != null)
{
// Stop the graph
hr = _mediaCtrl.Stop();
_mediaCtrl = null;
}
#if DEBUG
if (_rot != null)
{
_rot.Dispose();
}
#endif
if (_graphBuilder != null)
{
Marshal.ReleaseComObject(_graphBuilder);
_graphBuilder = null;
}
_state = VideoCaptureState.UNINITIALIZED;
GC.Collect();
}
catch (Exception e)
{
TraceException.WriteLine(e);
}
}
public void InitializeCapture(bool recording)
{
try
{
#if DEBUG
Stopwatch benchmark = Stopwatch.StartNew();
#endif
CloseInterfaces();
if (!Directory.Exists(_strFolderName))
{
// Create the directory it does not exist.
Directory.CreateDirectory(_strFolderName);
}
string tmp = DateTime.Now.ToString("yyymmddHHmmssfff");
_strFileName = _strFolderName + Path.DirectorySeparatorChar + tmp + ".avi";
// Set up the capture graph
SetupGraph(_strCapture, _strCompressor, _strFileName, _fps, _videoWidth, _videoHeight, _hOwner, recording);
#if DEBUG
benchmark.Stop();
Debug.WriteLine("SetupGraph: " + ((double)(benchmark.Elapsed.TotalMilliseconds)).ToString("0.00 ms"));
#endif
ChangeState(VideoCaptureState.STOPPED);
}
catch (Exception e)
{
TraceException.WriteLine(e);
Dispose();
}
}
private void Trace(string filename, string methodname, string errorMessage, string dataString)
{
var ex = new TraceException(
$"[{filename}:{methodname}] => {errorMessage} : {dataString}"
)
{
Source = string.Format($"{filename}:{methodname}")
};
Log(ex);
}
/// <summary>
/// Releases unmanaged and - optionally - managed resources
/// </summary>
public void Dispose()
{
try
{
_fontOverlay.Dispose();
_transparentBrush.Dispose();
_transparentFont.Dispose();
}
catch (Exception e)
{
TraceException.WriteLine(e);
}
}
private void standardLayoutToolStripMenuItem_Click(object sender, EventArgs e)
{
try
{
DockingPanel.SuspendLayout(true);
//check for null forms - Not working - figure out the disposal of forms.
if (_videoForm.IsDisposed == true)
{
_videoForm = new VideoForm(_telemetryComms.Data);
}
_videoForm.Show(DockingPanel, DockState.Document);
if (_mapForm.IsDisposed == true)
{
_mapForm = new MapForm();
}
_mapForm.Show(DockingPanel, DockState.DockRight);
if (_settingsForm.IsDisposed == true)
{
_settingsForm = new SettingsForm();
}
_settingsForm.Show(DockingPanel, DockState.DockLeft);
if (_outputForm.IsDisposed == true)
{
_outputForm = new OutputForm();
}
_outputForm.Show(DockingPanel, DockState.DockBottom);
if (_telemetryForm.IsDisposed == true)
{
_telemetryForm = new TelemetryForm(_telemetryComms.Data);
}
if (_telemetryForm.IsDisposed == true)
{
_telemetryForm = new TelemetryForm(_telemetryComms.Data);
}
_telemetryForm.Show(DockingPanel, DockState.Float);
//if (_geForm.IsDisposed == true)
// _geForm = new GEForm();
//_geForm.Show(DockingPanel, DockState.Float);
//save current layout
_deserializeDockContent = new DeserializeDockContent(GetContentFromPersistString);
DockingPanel.ResumeLayout(true, true);
}
catch (Exception ex)
{
TraceException.WriteLine(ex);
}
}
/// <summary>
/// Checks the HR.
/// </summary>
/// <param name="hr">The hr.</param>
/// <param name="msg">The MSG.</param>
static void checkHR(int hr, string msg)
{
try
{
if (hr < 0)
{
Trace.WriteLine(msg);
DsError.ThrowExceptionForHR(hr);
}
}
catch (Exception e)
{
TraceException.WriteLine(e);
}
}
/// <summary>
/// Initializes a new instance of the <see cref="HUD"/> class.
/// </summary>
public HUD()
{
try
{
_speed = 0;
_altitude = 0;
_latitude = 0;
_longitude = 0;
_headingMagneticNorth = 0;
_roll = 0;
_pitch = 0;
_yaw = 0;
_message = "Initialized...";
_videoWidth = 640;
_videoHeight = 480;
// TO DO: fix the font sizes
// ADD: more parameters for color, font size, etc
_fontOverlay = new Font("Tahoma", 10, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point);
_transparentFont = new Font("Tahoma", 10, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point);
_transparentBrush = new SolidBrush(_color);
_pen1 = new Pen(_color, 1);
_pen2 = new Pen(_color, 1);
_pen2.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
_brush = new SolidBrush(Color.FromArgb(100, 0, 0, 0));
// Construct 2 new StringFormat objects
_format1 = new StringFormat(StringFormatFlags.NoClip);
_format1.LineAlignment = StringAlignment.Near;
_format1.Alignment = StringAlignment.Center;
_format2 = new StringFormat(StringFormatFlags.NoClip);
_format2.LineAlignment = StringAlignment.Near;
_format2.Alignment = StringAlignment.Near;
}
catch (Exception e)
{
TraceException.WriteLine(e);
}
}
public void InitializeComPort()
{
try
{
//open the COM port
_sp.Open();
Trace.WriteLine("SerialCom: " + _sp.PortName + " opened)", "TelemetryComms");
}
catch (IOException ioex)
{
TraceException.WriteLine(ioex);
}
catch (Exception ex)
{
TraceException.WriteLine(ex);
}
}
public VideoCapture(IntPtr owner)
{
try
{
_hOwner = owner;
ChangeState(VideoCaptureState.UNINITIALIZED);
_hud_enabled = false;
_hud = new HUD();
_hud_enabled = true;
}
catch (Exception e)
{
TraceException.WriteLine(e);
};
}
//Serial Port DataReceived Handler
private void sp_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
try
{
byte[] data = new byte[1024];
int ret = _sp.Read(data, 0, data.Length);
for (int i = 0; i < ret; i++)
{
_recievedData.Enqueue(data[i]);
}
ProcessData();
}
catch (Exception ex)
{
TraceException.WriteLine(ex);
}
}
/// <summary>
/// Draws the HUD.
/// </summary>
/// <param name="src">The SRC.</param>
/// <param name="dst">The DST.</param>
public void DrawHUD(Bitmap src, Bitmap dst)
{
try
{
_transparentBrush.Color = _color;
_pen1.Color = _color;
_pen2.Color = _color;
//_brush.Color = _color_brush;
//Initialize Graphics
_g = Graphics.FromImage(src);
_g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
_g.InterpolationMode = System.Drawing.Drawing2D.InterpolationMode.HighQualityBilinear;
_g.TextRenderingHint = System.Drawing.Text.TextRenderingHint.AntiAliasGridFit; //.ClearTypeGridFit;
// Draw top and bottom black bands
_rectangleTextBkg[0] = new Rectangle(0, 0, _videoWidth, 20);
_rectangleTextBkg[1] = new Rectangle(0, _videoHeight - 20, _videoWidth, _videoHeight);
_g.FillRectangles(_brush, _rectangleTextBkg);
_s = DateTime.Now.ToString();
_s += " " + _message;
_g.DrawString(_s, _fontOverlay, _transparentBrush, (RectangleF)_rectangleTextBkg[1], _format2);
// Draw numeric boxes for:
// 1. Heading
_rectangleHUD[0] = new Rectangle((_videoWidth / 2) - 25, 30, 50, 15);
// 2. Altitude
_rectangleHUD[1] = new Rectangle(_videoWidth - 95, (_videoHeight / 2) - 8, 50, 15);
// 3. Speed
_rectangleHUD[2] = new Rectangle(45, (_videoHeight / 2) - 8, 50, 15);
//_g.DrawRectangles(_pen1, _rectangleHUD);
_g.FillRectangles(_brush, _rectangleHUD);
//Draw numeric values inside each box:
// 1. Heading
_g.DrawString(_headingMagneticNorth.ToString(), _transparentFont, _transparentBrush, (RectangleF)_rectangleHUD[0], _format1);
// 2. Altitude
_g.DrawString(_altitude.ToString(), _transparentFont, _transparentBrush, (RectangleF)_rectangleHUD[1], _format1);
//3. Speed
_g.DrawString(_speed.ToString(), _transparentFont, _transparentBrush, (RectangleF)_rectangleHUD[2], _format1);
//Draw aircraft indicator
_pointsHUD3[0].X = _videoWidth / 2 - 20;
_pointsHUD3[0].Y = _videoHeight / 2;
_pointsHUD3[1].X = _videoWidth / 2 - 10;
_pointsHUD3[1].Y = _videoHeight / 2;
_pointsHUD3[2].X = _videoWidth / 2 - 5;
_pointsHUD3[2].Y = _videoHeight / 2 + 10;
_pointsHUD3[3].X = _videoWidth / 2;
_pointsHUD3[3].Y = _videoHeight / 2 + 3;
_pointsHUD3[4].X = _videoWidth / 2 + 5;
_pointsHUD3[4].Y = _videoHeight / 2 + 10;
_pointsHUD3[5].X = _videoWidth / 2 + 10;
_pointsHUD3[5].Y = _videoHeight / 2;
_pointsHUD3[6].X = _videoWidth / 2 + 20;
_pointsHUD3[6].Y = _videoHeight / 2;
_g.DrawLines(_pen1, _pointsHUD3);
// Draw horizontal speed indicator
Rectangle rectangleObj = new Rectangle(_videoWidth / 2 - _reticlesize / 2, _videoHeight / 2 - _reticlesize / 2, _reticlesize, _reticlesize);
_g.DrawEllipse(_pen1, rectangleObj);
// this line should represent the horizontal direction and speed up to X m/s
_pointsHUD1[0].X = _videoWidth / 2 + 20;
_pointsHUD1[0].Y = _videoHeight / 2 - 30;
_pointsHUD1[1].X = _videoWidth / 2;
_pointsHUD1[1].Y = _videoHeight / 2;
_g.DrawLines(_pen1, _pointsHUD1);
double pitch = _pitch;
if (_pitch >= 90)
{
pitch = 180 - _pitch;
}
if (_pitch <= -90)
{
pitch = -180 - _pitch;
}
// save existing matrices
_oldState = _g.Save();
//yaw
_g.TranslateTransform((float)_yaw * _yaw_resolution, 0, MatrixOrder.Append);
//pitch
_g.TranslateTransform(0, (float)pitch * _pitch_resolution, MatrixOrder.Append);
if (_pitch >= 90 || _pitch <= -90)
{
_g.RotateTransform((float)180, MatrixOrder.Append);
}
// make rotation point the origin
_g.TranslateTransform(-_videoWidth / 2, -_videoHeight / 2);
// roll
_g.RotateTransform((float)-_roll, MatrixOrder.Append);
// translate back
_g.TranslateTransform(_videoWidth / 2, _videoHeight / 2, MatrixOrder.Append);
//DrawHUD horizont line
_pointsHUD1[0].X = _videoWidth / 2 - 150;
_pointsHUD1[0].Y = _videoHeight / 2;
_pointsHUD1[1].X = _videoWidth / 2 - 25;
_pointsHUD1[1].Y = _videoHeight / 2;
_g.DrawLines(_pen1, _pointsHUD1);
_pointsHUD1[0].X = _videoWidth / 2 + 150;
_pointsHUD1[0].Y = _videoHeight / 2;
_pointsHUD1[1].X = _videoWidth / 2 + 25;
_pointsHUD1[1].Y = _videoHeight / 2;
_g.DrawLines(_pen1, _pointsHUD1);
rectangleObj = new Rectangle(_videoWidth / 2 - _reticlesize1 / 2, _videoHeight / 2 - _reticlesize1 / 2, _reticlesize1, _reticlesize1);
_g.DrawEllipse(_pen1, rectangleObj);
for (int i = 1; i <= 36; i++)
{
_pointsHUD2[0].X = _videoWidth / 2 - 75;
_pointsHUD2[0].Y = _videoHeight / 2 + _pitch_resolution * 10 * i - 10;
_pointsHUD2[1].X = _videoWidth / 2 - 75;
_pointsHUD2[1].Y = _videoHeight / 2 + _pitch_resolution * 10 * i;
_pointsHUD2[2].X = _videoWidth / 2 - 25;
_pointsHUD2[2].Y = _videoHeight / 2 + _pitch_resolution * 10 * i;
_g.DrawLines(_pen2, _pointsHUD2);
_pointsHUD2[0].X = _videoWidth / 2 + 75;
_pointsHUD2[0].Y = _videoHeight / 2 + _pitch_resolution * 10 * i - 10;
_pointsHUD2[1].X = _videoWidth / 2 + 75;
_pointsHUD2[1].Y = _videoHeight / 2 + _pitch_resolution * 10 * i;
_pointsHUD2[2].X = _videoWidth / 2 + 25;
_pointsHUD2[2].Y = _videoHeight / 2 + _pitch_resolution * 10 * i;
_g.DrawLines(_pen2, _pointsHUD2);
_pointsHUD2[0].X = _videoWidth / 2 - 75;
_pointsHUD2[0].Y = _videoHeight / 2 - _pitch_resolution * 10 * i + 10;
_pointsHUD2[1].X = _videoWidth / 2 - 75;
_pointsHUD2[1].Y = _videoHeight / 2 - _pitch_resolution * 10 * i;
_pointsHUD2[2].X = _videoWidth / 2 - 25;
_pointsHUD2[2].Y = _videoHeight / 2 - _pitch_resolution * 10 * i;
_g.DrawLines(_pen1, _pointsHUD2);
_pointsHUD2[0].X = _videoWidth / 2 + 75;
_pointsHUD2[0].Y = _videoHeight / 2 - _pitch_resolution * 10 * i + 10;
_pointsHUD2[1].X = _videoWidth / 2 + 75;
_pointsHUD2[1].Y = _videoHeight / 2 - _pitch_resolution * 10 * i;
_pointsHUD2[2].X = _videoWidth / 2 + 25;
_pointsHUD2[2].Y = _videoHeight / 2 - _pitch_resolution * 10 * i;
_g.DrawLines(_pen1, _pointsHUD2);
// Draw numeric boxes
_rectanglePitch[0] = new Rectangle(_videoWidth / 2 - 125, _videoHeight / 2 + _pitch_resolution * 10 * i - 15, 50, 15);
_rectanglePitch[1] = new Rectangle(_videoWidth / 2 + 75, _videoHeight / 2 + _pitch_resolution * 10 * i - 15, 50, 15);
_g.DrawString((-i * 10).ToString(), _fontOverlay, _transparentBrush, (RectangleF)_rectanglePitch[0], _format1);
_g.DrawString((-i * 10).ToString(), _fontOverlay, _transparentBrush, (RectangleF)_rectanglePitch[1], _format1);
_rectanglePitch[2] = new Rectangle(_videoWidth / 2 - 125, _videoHeight / 2 - _pitch_resolution * 10 * i, 50, 15);
_rectanglePitch[3] = new Rectangle(_videoWidth / 2 + 75, _videoHeight / 2 - _pitch_resolution * 10 * i, 50, 15);
_g.DrawString((i * 10).ToString(), _fontOverlay, _transparentBrush, (RectangleF)_rectanglePitch[2], _format1);
_g.DrawString((i * 10).ToString(), _fontOverlay, _transparentBrush, (RectangleF)_rectanglePitch[3], _format1);
}
_g.Restore(_oldState); // restore old
_oldState = _g.Save(); // save existing matrices
// make rotation point the origin
_g.TranslateTransform(-_videoWidth / 2, -_videoHeight + 100);
// roll
_g.RotateTransform((float)_roll, MatrixOrder.Append);
// translate back
_g.TranslateTransform(_videoWidth / 2, _videoHeight - 100, MatrixOrder.Append);
src.RotateFlip(RotateFlipType.RotateNoneFlipY);
_g.Dispose();
_g = Graphics.FromImage(dst);
_g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
// draw the overlay bitmap over the video's bitmap
_g.DrawImage(src, 0, 0, src.Width, src.Height);
_g.Dispose();
}
catch (Exception e)
{
TraceException.WriteLine(e);
}
}
/// <summary>
/// Mark underling layer exception
/// </summary>
/// <param name="m">The trace message to write.</param>
/// <param name="t">One of the <see cref="System.Diagnostics.TraceEventType"/> values that specifies
/// the event type of the trace data.</param>
/// <param name="i">A numeric identifier for the event.</param>
/// <param name="e">Exception couch by the underling layer </param>
protected void MarkException(string m, TraceEventType t, int i, Exception e)
{
LastLayerError = new TraceException(m, t, i, e);
}
/// <summary>
/// build the capture graph for grabber.
/// </summary>
/// <param name="strCapture">The STR capture.</param>
/// <param name="strCompressor">The STR compressor.</param>
/// <param name="strFileName">Name of the STR file.</param>
/// <param name="iFrameRate">The i frame rate.</param>
/// <param name="iWidth">Width of the i.</param>
/// <param name="iHeight">Height of the i.</param>
/// <param name="owner">The owner.</param>
/// <param name="record">if set to <c>true</c> [record].</param>
private void SetupGraph(string strCapture, string strCompressor, string strFileName, int iFrameRate, int iWidth, int iHeight, IntPtr owner, bool record)
{
ICaptureGraphBuilder2 captureGraphBuilder = null;
ISampleGrabber sampGrabber = null;
IBaseFilter theIPinTee = null;
IBaseFilter mux = null;
IFileSinkFilter sink = null;
IBaseFilter captureDevice = null;
IBaseFilter captureCompressor = null;
IBaseFilter theRenderer = null;
int hr = 0;
try
{
//Create the filter for the selected video input
captureDevice = CreateFilter(FilterCategory.VideoInputDevice, strCapture);
//Create the filter for the selected video compressor
captureCompressor = CreateFilter(FilterCategory.VideoCompressorCategory, strCompressor);
//Create the Graph
_graphBuilder = (IGraphBuilder) new FilterGraph();
//Create the Capture Graph Builder
captureGraphBuilder = (ICaptureGraphBuilder2) new CaptureGraphBuilder2();
// Attach the filter graph to the capture graph
hr = captureGraphBuilder.SetFiltergraph(this._graphBuilder);
checkHR(hr, "Error attaching filter graph to capture graph");
//Add the Video input device to the graph
hr = _graphBuilder.AddFilter(captureDevice, "QUAVS input filter");
checkHR(hr, "Error attaching video input");
//setup cature device
SetConfigParms(captureGraphBuilder, captureDevice, iFrameRate, iWidth, iHeight);
//Add a sample grabber
sampGrabber = (ISampleGrabber) new SampleGrabber();
ConfigureSampleGrabber(sampGrabber);
hr = _graphBuilder.AddFilter((IBaseFilter)sampGrabber, "QUAVS SampleGrabber");
checkHR(hr, "Error adding sample grabber");
//connect capture device to SampleGrabber
hr = _graphBuilder.Connect(GetPin(captureDevice, "Capture"), GetPin((IBaseFilter)sampGrabber, "Input"));
checkHR(hr, "Error attaching sample grabber to capture pin");
//Add Ininite Pin Tee
theIPinTee = (IBaseFilter) new InfTee();
hr = _graphBuilder.AddFilter(theIPinTee, "QUAVS Pin Tee");
checkHR(hr, "Error adding infinite tee pin");
//connect capture SampleGrabber to IPinTee
hr = _graphBuilder.Connect(GetPin((IBaseFilter)sampGrabber, "Output"), GetPin(theIPinTee, "Input"));
checkHR(hr, "Error adding SampleGrabber");
if (record)
{
//Add the Video compressor filter to the graph
hr = _graphBuilder.AddFilter(captureCompressor, "QUAVS compressor filter");
checkHR(hr, "Error adding compressor filter");
//connect capture IPinTee output1 to compressor
hr = _graphBuilder.Connect(GetPin(theIPinTee, "Output1"), GetPin(captureCompressor, "Input"));
checkHR(hr, "Error adding TO DO");
//Create the file writer part of the graph. SetOutputFileName does this for us, and returns the mux and sink
hr = captureGraphBuilder.SetOutputFileName(MediaSubType.Avi, strFileName, out mux, out sink);
checkHR(hr, "Error adding mux filter or setting output file name");
//connect compressor to mux output
hr = _graphBuilder.Connect(GetPin(captureCompressor, "Output"), GetPin(mux, "Input 01"));
checkHR(hr, "Error connecting the compressor to mux");
// Get the default video renderer
theRenderer = new VideoRendererDefault() as IBaseFilter;
hr = _graphBuilder.AddFilter(theRenderer, "Renderer");
checkHR(hr, "Error adding screen renderer");
//connect capture TO DO
hr = _graphBuilder.Connect(GetPin(theIPinTee, "Output2"), GetPin(theRenderer, "VMR Input0"));
checkHR(hr, "Error connecting screen renderer");
}
else
{
// Get the default video renderer
theRenderer = new VideoRendererDefault() as IBaseFilter;
hr = _graphBuilder.AddFilter(theRenderer, "Renderer");
checkHR(hr, "Error adding screen renderer");
//connect capture TO DO
hr = _graphBuilder.Connect(GetPin(theIPinTee, "Output1"), GetPin(theRenderer, "VMR Input0"));
checkHR(hr, "Error connecting screen renderer");
}
SaveSizeInfo(sampGrabber);
#if DEBUG
_rot = new DsROTEntry(_graphBuilder);
#endif
if (owner != IntPtr.Zero)
{
//get the video window from the graph
IVideoWindow videoWindow = null;
videoWindow = (IVideoWindow)_graphBuilder;
//Set the owener of the videoWindow to an IntPtr of some sort (the Handle of any control - could be a form / button etc.)
hr = videoWindow.put_Owner(owner);
DsError.ThrowExceptionForHR(hr);
//Set the style of the video window
hr = videoWindow.put_WindowStyle(WindowStyle.Child | WindowStyle.ClipChildren);
DsError.ThrowExceptionForHR(hr);
hr = videoWindow.SetWindowPosition(0, 0, iWidth, iHeight);
DsError.ThrowExceptionForHR(hr);
// Make the video window visible
hr = videoWindow.put_Visible(OABool.True);
DsError.ThrowExceptionForHR(hr);
}
//Create the media control for controlling the graph
_mediaCtrl = (IMediaControl)this._graphBuilder;
}
catch (Exception e)
{
TraceException.WriteLine(e);
//Trace.WriteLine(e.Message);
CloseInterfaces();
}
finally
{
if (sink != null)
{
Marshal.ReleaseComObject(sink);
sink = null;
}
if (mux != null)
{
Marshal.ReleaseComObject(mux);
mux = null;
}
if (captureGraphBuilder != null)
{
Marshal.ReleaseComObject(captureGraphBuilder);
captureGraphBuilder = null;
}
if (sampGrabber != null)
{
Marshal.ReleaseComObject(sampGrabber);
sampGrabber = null;
}
if (theIPinTee != null)
{
Marshal.ReleaseComObject(theIPinTee);
theIPinTee = null;
}
if (captureDevice != null)
{
Marshal.ReleaseComObject(captureDevice);
captureDevice = null;
}
if (captureCompressor != null)
{
Marshal.ReleaseComObject(captureCompressor);
captureCompressor = null;
}
if (theRenderer != null)
{
Marshal.ReleaseComObject(theRenderer);
theRenderer = null;
}
}
}
