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;
}
}
}
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;
}
}
}
}
/// <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();
}
/// <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));
}
/// <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");
}
/// <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)
{
}
/// <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);
}
}
}
/// <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);
}
}
}
