コード例 #1
0
 private void button5_Click(object sender, EventArgs e)
 {
     clearButtonColor();
     this.button5.ForeColor = Color.Red;
     this.button5.BackColor = Color.Yellow;
     if (comboBox_allUVA.Text == "")
     {
         return;
     }
     foreach (DictionaryEntry dtmpUVA in allUVA)
     {
         UvaEntity tmpUVA = dtmpUVA.Value as UvaEntity;
         if (comboBox_allUVA.Text == tmpUVA.uvaName)
         {
             tmpUVA.setBandWidth(6000000);
             break;
         }
     }
 }
コード例 #2
0
 private void comboBox_allUVA_SelectedValueChanged(object sender, EventArgs e)
 {
     Trace.WriteLine(comboBox_allUVA.Text);
     if (((UvaEntity)panel_UVA[Global.MAIN_PANEL]).uvaName == comboBox_allUVA.Text)
     {
         Trace.WriteLine("无需交换");
     }
     else
     {
         Trace.WriteLine("需要交换");
         foreach (string panelName in panel_UVA.Keys)
         {
             UvaEntity uvaS = panel_UVA[panelName] as UvaEntity;
             if (uvaS.uvaName == comboBox_allUVA.Text)
             {
                 changePanel(Global.MAIN_PANEL, panelName);
                 break;
             }
         }
     }
 }
コード例 #3
0
        /// <summary>
        /// 视频接收,循环接收视频信息,并保存
        /// </summary>
        /// <param name="obj">UDPclient 用于接收无人机传输视频</param>

        /*private void videoReceiveLoop(object obj)
         * {
         *  //获取无人机实例
         *  UvaEntity uvaClient = obj as UvaEntity;
         *  //获取文件写入名
         *  String savaFileName = Global.getSavaFileName(uvaClient);
         *  uvaClient.videoFileName = savaFileName;
         *
         *  videoReceiveThread.IsBackground = true;
         *   在这个线程中写入文件,会使得文件无法实时更新,而无法播放
         *  FileStream savaFileStream = null;
         *  try
         *  {
         *      savaFileStream = new FileStream(savaFileName, FileMode.Create);
         *  }
         *  catch (Exception e)
         *  {
         *
         *      //throw;
         *      Trace.WriteLine(e.ToString());
         *  }
         *  int sum = 0;
         *  //设置定时器,用于释放资源
         *  System.Threading.Timer Timer_deleteVideoReceiveLoop = new System.Threading.Timer(deleteVideoReceiveLoop, null, 0, 5000);
         *  while (true)
         *  {
         *      Byte[] receiveBytes;
         *      string receiveData;
         *      if(!uvaClient.fileIsWriting && uvaClient.getActivateTmpVideoQueue().Count>10)
         *      {
         *          try
         *          {
         *              //视频写入线程
         *              Thread writeToFileThread = new Thread(new ParameterizedThreadStart(sava2FileThread));
         *              uvaClient.fileIsWriting = true;
         *              uvaClient.changeIndex();
         *              writeToFileThread.Start(uvaClient);
         *          }
         *          catch (Exception e)
         *          {
         *
         *              Trace.WriteLine("写入文件线程开启失败"+e.ToString());
         *          }
         *
         *      }
         *      //允许接收任意远端发送的消息
         *      IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
         *      //阻塞,只到接收到消息
         *      try
         *      {
         *          //输出收到的消息总条数
         *          Trace.WriteLine("总计收到" + sum.ToString());
         *          receiveBytes = uvaClient.videoReceiveClient.Receive(ref RemoteIpEndPoint);
         *          //写入缓存队列
         *          uvaClient.addVideSegment(receiveBytes);
         *          //savaFileStream.Write(receiveBytes, 0, receiveBytes.Length);
         *          sum += receiveBytes.Length;
         *          //savaFileStream.Flush();
         *          receiveData = Encoding.UTF8.GetString(receiveBytes);
         *          //输出debug信息
         *          //Trace.WriteLine("接收到消息:"+receiveData);
         *
         #if DEBUG
         *          textBox_sysLog.Invoke(setSysLogCallBack, ("接收到来自" + RemoteIpEndPoint.ToString() + "消息:" + receiveData));
         #endif
         *      }
         *      catch (Exception e)
         *      {
         *
         *          //throw;
         *          Trace.WriteLine(e.ToString());
         *          continue;
         *      }
         *
         *
         *  }
         * }*/

        /// <summary>
        /// 将缓存队列中的视频写入文件
        /// </summary>
        /// <param name="obj"></param>
        public void sava2FileThread(object obj)
        {
            //获取无人机实例
            UvaEntity  uvaClient           = obj as UvaEntity;
            FileStream videoSavaFileStream = null;
            string     videoSavaFile       = uvaClient.videoFileName;

            try
            {
                //Trace.WriteLine("写入文件");
                fileSem.WaitOne();
                videoSavaFileStream = new FileStream(videoSavaFile, FileMode.Append);
                foreach (Byte[] videoSG in uvaClient.getUnactivateTmpVideoQueue())
                {
                    videoSavaFileStream.Write(videoSG, 0, videoSG.Length);
                }
                videoSavaFileStream.Flush();
                videoSavaFileStream.Close();
                videoSavaFileStream = null;
                fileSem.Release();
                uvaClient.clearQueue();
            }
            catch (Exception e)
            {
                Trace.WriteLine(e.ToString());
            }
            finally
            {
                if (videoSavaFileStream != null)
                {
                    videoSavaFileStream.Flush();
                    videoSavaFileStream.Close();
                }
            }

            sem.WaitOne();
            uvaClient.fileIsWriting = false;
            sem.Release();
        }
コード例 #4
0
        /// <summary>
        /// 生成心跳响应的信息
        /// </summary>
        public static Byte[] HeratResponse(UvaEntity uvaT)
        {
            UVA_RESPONSE repMsg = new UVA_RESPONSE();
            string       ip     = Global.cpeIP;

            string[] ips      = ip.Split('.');
            int      ipFirst  = Convert.ToInt32(ips[0]);
            int      ipSecond = Convert.ToInt32(ips[1]);
            int      ipThird  = Convert.ToInt32(ips[2]);
            int      ipFourth = Convert.ToInt32(ips[3]);

            repMsg.IPFirst  = ipFirst;
            repMsg.IPSecond = ipSecond;
            repMsg.IPThird  = ipThird;
            repMsg.IPFourth = ipFourth;
            //repMsg.Port = uvaT.videoPort;
            repMsg.Port      = Global.cpePort;
            repMsg.sendType  = '\u0002';
            repMsg.bandWidth = uvaT.bandWidth;

            //把ip和端口补充上

            /*string[] ips = uvaT.videoIp.Split('.');
             * int ipFirst = Convert.ToInt32(ips[0]);
             * int ipSecond = Convert.ToInt32(ips[1]);
             * int ipThird = Convert.ToInt32(ips[2]);
             * int ipFourth = Convert.ToInt32(ips[3]);
             *
             * repMsg.sendType = Global.cmdTypeREADY;
             * repMsg.IPFirst = ipFirst;
             * repMsg.IPSecond = ipSecond;
             * repMsg.IPThird = ipThird;
             * repMsg.IPFourth = ipFourth;
             * repMsg.Port = uvaT.videoPort;*/
            return(StructToBytes(repMsg));
        }
コード例 #5
0
 /// <summary>
 /// 生成文件签名
 /// </summary>
 public static string getSavaFileName(UvaEntity uvaClient)
 {
     //throw new NotImplementedException();
     return(videoSavePath + "UVA_" + uvaClient.id + "_" + DateTime.Now.ToLocalTime().ToString("yyyy_MM_dd_hh_mm_ss") + ".h264");
 }
コード例 #6
0
 /// <summary>
 ///
 /// </summary>
 /// <param name="sourceUVA">文件来源的UVA</param>
 /// <param name="segmentIndex">要写入的文件段的序号</param>
 public VideoSegment(UvaEntity sourceUVA, int segmentIndex)
 {
 }
コード例 #7
0
        /// <summary>
        /// 调度循环,用于接收命令,完成调度。
        /// </summary>
        /// <param name="obj"></param>
        private void dispatchLoop(object obj)
        {
            //throw new NotImplementedException();
            UdpClient    dispatch = obj as UdpClient;
            BytesManager bmanager = null;

#if DEBUG
            textBox_sysLog.Invoke(setSysLogCallBack, "启动成功");
#endif
            while (true)
            {
                //阻塞,只到接收到消息
                Byte[] receiveBytes = null; // dispatch.Receive(ref RemoteIpEndPoint);
                string receiveData  = null; // Encoding.UTF8.GetString(receiveBytes);

                //允许接收任意远端发送的消息
                IPEndPoint RemoteIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
                try
                {
                    //阻塞,只到接收到消息
                    receiveBytes = dispatch.Receive(ref RemoteIpEndPoint);
                    bmanager     = new BytesManager(receiveBytes);
                    receiveData  = Encoding.UTF8.GetString(receiveBytes);
                }
                catch (Exception e)
                {
                    Trace.WriteLine(e.ToString());
                    Trace.WriteLine(e.Message);
                    continue;
                }

                //输出debug信息
                //Trace.WriteLine("接收到消息:"+receiveData);
#if DEBUG
                textBox_sysLog.Invoke(setSysLogCallBack, ("接收到来自" + RemoteIpEndPoint.ToString() + "消息:" + receiveBytes));
                //textBox_sysLog.Invoke(setSysLogCallBack, (receiveBytes));
#endif
                string[] commands = receiveData.Split(';');
                if (bmanager.msgForm == (int)Global.msgFromType.uva || bmanager.msgForm == (int)Global.msgFromType.helmet)
                {
                    switch (bmanager.uvaMsg.sendType)
                    {
                    case '\u0001':
                    {
#if DEBUG
                        textBox_sysLog.Invoke(setSysLogCallBack, ("解析到 begin 命令"));
#endif
                        //获取无人机id
                        int uvaId = bmanager.uvaMsg.cliNum;
                        //检查是否重复连接
                        if (allUVA.ContainsKey(uvaId))
                        {
                            string sendString = "error;DuplicateConnection;";
                            //Byte[] sendBytes = Encoding.UTF8.GetBytes(sendString);
                            UvaEntity tmpUva    = allUVA[uvaId] as UvaEntity;
                            Byte[]    sendBytes = Command.DuplicateConnection(tmpUva.videoIp, tmpUva.videoPort);
                            try
                            {
                                dispatch.Send(sendBytes, sendBytes.Length, RemoteIpEndPoint);
                                textBox_sysLog.Invoke(setSysLogCallBack, string.Format("向{0}:{1},{2}号无人机发送错误信息{3}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, uvaId, sendString));
                            }
                            catch (Exception e)
                            {
#if DEBUG
                                textBox_sysLog.Invoke(setSysLogCallBack, e.ToString());
#endif


                                textBox_sysLog.Invoke(setSysLogCallBack, string.Format("向{0}:{1},{2}号无人机发送错误信息失败", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, uvaId));
                            }
                            break;
                        }
                        //接收到连接信息,输出日志信息
                        textBox_sysLog.Invoke(setSysLogCallBack, ("接收到来自" + RemoteIpEndPoint + "的连接请求"));
                        //为新的UVA分配接收视频信息的udpClient
                        int restTimes = Global.MAX_RETRY_TIMES;
                        while (true)
                        {
                            if (restTimes > 0)
                            {
#if DEBUG
                                textBox_sysLog.Invoke(setSysLogCallBack, ("正在为" + RemoteIpEndPoint.Address + ":" + RemoteIpEndPoint.Port + "分配视频接收服务器"));
                                textBox_sysLog.Invoke(setSysLogCallBack, (string.Format("第{0}/{1}次尝试", Global.MAX_RETRY_TIMES - restTimes + 1, Global.MAX_RETRY_TIMES)));
#endif
                            }
                            else
                            {
                                textBox_sysLog.Invoke(setSysLogCallBack, (string.Format("为{0}:{1}分配视频接收服务器失败,系统资源不足", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port)));
                                break;
                            }
                            restTimes--;
                            //获取视频接收服务器的ip地址
                            string video_receive_ip = Global.RECEIVE_VIDEO_SERVER;
                            //生成端口,检查是否可用
                            System.Random a       = new Random(System.DateTime.Now.Millisecond);   // use System.DateTime.Now.Millisecond as seed
                            int           RandKey = a.Next(Global.MINPORT, Global.MAXPORT);
#if DEBUG
                            textBox_sysLog.Invoke(setSysLogCallBack, string.Format("为{0}:{1}尝试分配端口{2}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, RandKey));
#endif
                            try
                            {
                                //分配端口成功,开启新的线程,接收视频信息
                                UdpClient videoReceiveUDPClient = new UdpClient(new IPEndPoint(IPAddress.Parse("0.0.0.0"), RandKey));
                                videoReceiveUDPClient.Close();
                                //记录无人机
                                UvaEntity tmpUVA = new UvaEntity(RemoteIpEndPoint.Address.ToString(), RemoteIpEndPoint.Port, bmanager.uvaMsg.cliNum, video_receive_ip, RandKey, RemoteIpEndPoint);
                                allUVA.Add(uvaId, tmpUVA);
                                //开启UDP视频接收线程
                                //videoReceiveThread = new Thread(new ParameterizedThreadStart(videoReceiveLoop));
                                //videoReceiveThread.IsBackground = true;
                                //videoReceiveThread.Start(tmpUVA);
                                //暂停0.5秒,等待allUVA更新
                                //System.Threading.Thread.Sleep(500);
                                //分配成功,输出信息
                                textBox_sysLog.Invoke(setSysLogCallBack, (string.Format("为{0}:{1}分配视频接收服务器成功,视频接收地址为{2}:{3}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, video_receive_ip, RandKey)));
                                //在全部无人机combbox里面添加一项
                                comboBox_allUVA.Invoke(modifyUVACallBack, tmpUVA, true);
                                break;
                            }
                            catch (Exception e)
                            {
                                Trace.WriteLine(e.StackTrace);
                                textBox_sysLog.Invoke(setSysLogCallBack, e.StackTrace.ToString());
                                textBox_sysLog.Invoke(setSysLogCallBack, e.Message.ToString());
                            }
                        }
                        break;
                    }

                    case '\u0003':
                    case '\u0004':
                    {
#if DEBUG
                        textBox_sysLog.Invoke(setSysLogCallBack, string.Format("接收到{0}信息", bmanager.uvaMsg.sendType == '\u0003'?"end":"ok"));
#endif
                        //获取无人机id
                        //int uvaId = Convert.ToInt32(commands[2]);
                        //获取无人机id
                        int uvaId = bmanager.uvaMsg.cliNum;
                        //检查是否重复注销
                        if (!allUVA.ContainsKey(uvaId))
                        {
                            string sendString = "error;DuplicatedeDisconnect;";
                            //Byte[] sendBytes = Encoding.UTF8.GetBytes(sendString);
                            Byte[] sendBytes = Command.Error(Global.DuplicatedeDisconnect);
                            try
                            {
                                dispatch.Send(sendBytes, sendBytes.Length, RemoteIpEndPoint);
                                textBox_sysLog.Invoke(setSysLogCallBack, string.Format("向{0}:{1},{2}号无人机发送错误信息{3}", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, uvaId, sendString));
                            }
                            catch (Exception e)
                            {
#if DEBUG
                                textBox_sysLog.Invoke(setSysLogCallBack, e.ToString());
#endif


                                textBox_sysLog.Invoke(setSysLogCallBack, string.Format("向{0}:{1},{2}号无人机发送错误信息失败", RemoteIpEndPoint.Address, RemoteIpEndPoint.Port, uvaId));
                            }
                            break;
                        }
                        //获取无人机实例,进行销毁操作
                        try
                        {
                            UvaEntity tmpUva = allUVA[uvaId] as UvaEntity;
                            comboBox_allUVA.Invoke(modifyUVACallBack, tmpUva, false);
                        }
                        catch (Exception ee)
                        {
                            Trace.WriteLine(ee.Message);
                        }

                        break;
                    }

                    //收到心跳信息
                    case '\u0002':
                    {
                        int    id   = -1;
                        string type = null;
                        string info = null;
                        try
                        {
                            //获取设备的id号
                            //id = Convert.ToInt32(commands[2]);
                            id = bmanager.uvaMsg.cliNum;
                            //获取设备类型
                            type = bmanager.uvaMsg.cliType == '\u0001'?"uva": "helmet";
                            //type = commands[1];
                            //info = commands[3];
                            Trace.WriteLine("心跳命令解析完毕" + type + id.ToString());
                            //string[] infos = info.Split('&');
                            if (!allUVA.Contains(id))
                            {
                                Trace.WriteLine(string.Format("{0} {1}已经下线", type, id.ToString()));
                                break;
                            }
                            string x, y, heartTime;
                            try
                            {
                                //x = infos[0];
                                //y = infos[1];
                                //heartTime = infos[2];
                                x         = string.Format("{0}_{1}_{2}", bmanager.uvaMsg.latDeg, bmanager.uvaMsg.latMin, bmanager.uvaMsg.latSec);
                                y         = string.Format("{0}_{1}_{2}", bmanager.uvaMsg.lonDeg, bmanager.uvaMsg.lonMin, bmanager.uvaMsg.lonSec);
                                heartTime = string.Format("{0}_{1}_{2}", bmanager.uvaMsg.hour, bmanager.uvaMsg.minute, bmanager.uvaMsg.second);
                                UvaEntity tmpUVA = allUVA[id] as UvaEntity;
                                //tmpUVA.receiveHeartAsync(x, y, heartTime);
                                byte[] sendBytes = Command.HeratResponse(tmpUVA);
                                string gpsString = string.Format("{0}{1}{2}{3},{4}{5}{6}{7}",
                                                                 bmanager.uvaMsg.latDeg, bmanager.uvaMsg.latMin, bmanager.uvaMsg.latSec, bmanager.uvaMsg.latDir,
                                                                 bmanager.uvaMsg.lonDeg, bmanager.uvaMsg.lonMin, bmanager.uvaMsg.lonSec, bmanager.uvaMsg.lonDir);
                                dispatch.Send(sendBytes, sendBytes.Length, RemoteIpEndPoint);
#if DEBUG
                                Trace.WriteLine(string.Format("Terminal {8} GPS Info:\r\n{0}{1}{2}{3},{4}{5}{6}{7}\r\n",
                                                              bmanager.uvaMsg.latDeg, bmanager.uvaMsg.latMin, bmanager.uvaMsg.latSec, bmanager.uvaMsg.latDir,
                                                              bmanager.uvaMsg.lonDeg, bmanager.uvaMsg.lonMin, bmanager.uvaMsg.lonSec, bmanager.uvaMsg.lonDir,
                                                              id));
                                textBox_sysLog.Invoke(setSysLogCallBack, string.Format("解析到心跳命令\r\n" +
                                                                                       "终端 {0} GPS:{1}\r\n" +
                                                                                       "时间 {2}", id, gpsString, heartTime));
#endif
                                if ((allUVA[id] as UvaEntity).panelName == Global.MAIN_PANEL)
                                {
                                    labelGPS.Invoke(updateGPSCAllBack, string.Format("{0}{1}{2}{3},{4}{5}{6}{7}",
                                                                                     bmanager.uvaMsg.latDeg, bmanager.uvaMsg.latMin, bmanager.uvaMsg.latSec, bmanager.uvaMsg.latDir,
                                                                                     bmanager.uvaMsg.lonDeg, bmanager.uvaMsg.lonMin, bmanager.uvaMsg.lonSec, bmanager.uvaMsg.lonDir));
                                }
                            }
                            catch (Exception e)
                            {
                                Trace.WriteLine("info解析失败");
                                Trace.WriteLine(e.StackTrace);
                                Trace.WriteLine(e.Message);
#if DEBUG
                                textBox_sysLog.Invoke(setSysLogCallBack, e.Message);
#endif
                                //throw;
                            }
                        }
                        catch (Exception e)
                        {
                            Trace.WriteLine(e.StackTrace);
                            Trace.WriteLine(e.Message);

                            //throw;
                        }
                        break;
                    }

                    default:
                        break;
                    }
                }
                else if (bmanager.msgForm == (int)Global.msgFromType.linkInfo)
                {
                    linkInfoBoard.setByLinkInfoMsg(bmanager);
                }
            }
        }
コード例 #8
0
        /// <summary>
        /// 修改界面上,在线无人机的回调
        /// </summary>
        /// <param name="UVAInfo">无人机的信息编号</param>
        /// <param name="add">如果为true,则是增加这条记录,否则是删除记录</param>
        public void modifyUVA(UvaEntity newUVA, bool add = true)
        {
            if (add)
            {
                string uvaName = newUVA.uvaName;
                this.comboBox_allUVA.Items.Add(uvaName);
                int uvaNum = allUVA.Count;
                this.label_uvaNum.Text = Convert.ToString(uvaNum);
                newUVA.setVLCPlayer();
                //绑定窗体并播放
                newUVA.setRenderWindow(allPanel, panel_UVA);
                newUVA.vlcPlayer.Play();
                //发送ready信息
                newUVA.sendReady();
                this.comboBox_allUVA.SelectedIndex = this.comboBox_allUVA.FindString(uvaName);
            }
            else
            {
                //执行无人机下线操作
                newUVA.logOut();
                //在全部在线的无人机中删掉下线的无人机
                allUVA.Remove(newUVA.id);
                //释放panel
                panel_UVA.Remove(newUVA.panelName);
                //更改界面信息
                string uvaName = newUVA.uvaName;
                this.comboBox_allUVA.Items.Remove(uvaName);
                int uvaNum = allUVA.Count;
                //如果删除了最后一条项目,则清除一下combbox
                if (uvaNum == 0)
                {
                    this.comboBox_allUVA.Text = "";
                }
                this.label_uvaNum.Text = Convert.ToString(uvaNum);
                //检查panel是否需要更换
                if (Global.MAIN_PANEL == newUVA.panelName)
                {
                    int onlineUVANum = comboBox_allUVA.Items.Count;
                    if (onlineUVANum > 0)
                    {
                        string lastUVAName = comboBox_allUVA.Items[onlineUVANum - 1].ToString();

                        foreach (UvaEntity tmpUVA in allUVA.Values)
                        {
                            if (tmpUVA.uvaName == lastUVAName)
                            {
                                changePanel(newUVA.panelName, tmpUVA.panelName);
                                this.comboBox_allUVA.SelectedIndex = this.comboBox_allUVA.FindString(tmpUVA.uvaName);
                                Trace.WriteLine(string.Format("{0}下线,{1}替换到大图", newUVA.uvaName, tmpUVA.uvaName));
                                break;
                            }
                        }
                    }
                    else
                    {
                        Trace.WriteLine("全部无人机都下线了");
                    }
                    //Trace.WriteLine(lastUVAName);
                }
            }
        }