/// <summary>
/// Adds an already created server.
/// </summary>
/// <param name="server">The server to add</param>
public void AddServer(VideoSink server)
{
lock (m_lockObject)
{
m_sinks.Add(server.Name, server);
}
}
/// <summary>
/// Start automatically capturing images from an existing camera to send to
/// the dashboard.
/// </summary>
/// <remarks>
/// You should call this method to see a camera feed on the dashboard.
/// If you also want to perform vision processing on the roboRIO, use
/// <see cref="GetVideo()"/> to get access to the camera images
/// </remarks>
/// <param name="camera">The camera to stream from.</param>
public void StartAutomaticCapture(VideoSource camera)
{
AddCamera(camera);
VideoSink server = AddServer($"serve_{camera.Name}");
server.Source = camera;
}
// Send seek event to change rate
static void SendSeekEvent()
{
var format = Format.Time;
long position;
// Obtain the current position, needed for the seek event
if (!Pipeline.QueryPosition(format, out position))
{
Console.WriteLine("Unable to retrieve current position.");
return;
}
Event seekEvent;
// Create the seek event
if (Rate > 0)
{
seekEvent = new Event(Rate, Format.Time, SeekFlags.Flush | SeekFlags.Accurate, SeekType.Set, position, SeekType.None, 0);
}
else
{
seekEvent = new Event(Rate, Format.Time, SeekFlags.Flush | SeekFlags.Accurate, SeekType.Set, 0, SeekType.Set, position);
}
if (VideoSink == null)
{
// If we have not done so, obtain the sink through which we will send the seek events
VideoSink = (Element)Pipeline ["video-sink"];
}
// Send the event
VideoSink.SendEvent(seekEvent);
Console.WriteLine("Current rate: {0}", Rate);
}
/// <summary>
/// Creates an initialized VideoSink object.
/// </summary>
/// <param name="result">The MLResult object of the inner platform call(s).</param>
/// <returns> An initialized VideoSink object.</returns>
public static VideoSink Create(out MLResult result)
{
VideoSink videoSink = null;
#if PLATFORM_LUMIN
List <MLWebRTC.Sink> sinks = MLWebRTC.Instance.sinks;
ulong Handle = MagicLeapNativeBindings.InvalidHandle;
MLResult.Code resultCode = NativeBindings.MLWebRTCVideoSinkCreate(out Handle);
if (!DidNativeCallSucceed(resultCode, "MLWebRTCVideoSinkCreate()"))
{
result = MLResult.Create(resultCode);
return(videoSink);
}
videoSink = new VideoSink(Handle);
if (MagicLeapNativeBindings.MLHandleIsValid(videoSink.Handle))
{
sinks.Add(videoSink);
}
result = MLResult.Create(resultCode);
#else
result = new MLResult();
#endif
return(videoSink);
}
// Process keyboard input
static void HandleKeyboard()
{
ConsoleKeyInfo x;
bool terminate = false;
while (!terminate)
{
x = Console.ReadKey();
switch (x.Key)
{
case ConsoleKey.P:
Playing = !Playing;
Pipeline.SetState(Playing ? State.Playing : State.Paused);
Console.WriteLine("Setting state to {0}", Playing ? "PLAYING" : "PAUSE");
break;
case ConsoleKey.S:
if (x.Modifiers == ConsoleModifiers.Shift)
{
Rate *= 2.0;
}
else
{
Rate /= 2.0;
}
SendSeekEvent();
break;
case ConsoleKey.D:
Rate *= -1.0;
SendSeekEvent();
break;
case ConsoleKey.N:
if (VideoSink == null)
{
// If we have not done so, obtain the sink through which we will send the step events
VideoSink = (Element)Pipeline ["video-sink"];
}
var evnt = new Event(Format.Buffers, 1, Rate, true, false);
VideoSink.SendEvent(evnt);
Console.WriteLine("Stepping one frame");
break;
case ConsoleKey.Q:
terminate = true;
break;
default:
break;
}
}
}
private Task StopVideoStream()
{
if (VideoDepacketizer != null)
{
VideoDepacketizer.Destroy();
VideoDepacketizer = null;
}
if (VideoDecoder != null)
{
VideoDecoder.Destroy();
VideoDecoder = null;
}
if (VideoConverter != null)
{
VideoConverter.Destroy();
VideoConverter = null;
}
if (ResetVideoPipe != null)
{
ResetVideoPipe.Destroy();
ResetVideoPipe = null;
}
if (VideoEncoder != null)
{
VideoEncoder.Destroy();
VideoEncoder = null;
}
if (VideoPacketizer != null)
{
VideoPacketizer.Destroy();
VideoPacketizer = null;
}
if (VideoSink != null)
{
VideoSink.Destroy();
VideoSink = null;
}
return(Task.CompletedTask);
}
