public override Task <ImageReply> RequestImage(ImageRequest request, ServerCallContext context)
{
// Start the callback task before responding
ImageReply result = callback(request);
return(Task.FromResult(result));
}
/// <summary>
///
/// </summary>
/// <param name="image"></param>
/// <returns>Null on error</returns>
public List <ImageFeature> Process(ByteString image)
{
bool succeeded = false;
try
{
List <ImageFeature> result = new List <ImageFeature>();
EnsureConnection();
ImageBody body = new ImageBody
{
Image = image
};
ImageReply reply = grpcClient.SubmitImage(body);
for (int i = 0; i < reply.Classes.Count; i++)
{
ImageFeature feature = new ImageFeature(reply.Classes[i], reply.Scores[i],
reply.Boxes[i].YMin, reply.Boxes[i].XMin, reply.Boxes[i].YMax, reply.Boxes[i].XMax);
result.Add(feature);
}
succeeded = true;
return(result);
}
catch (Grpc.Core.RpcException ex)
{
if (ex.StatusCode == StatusCode.Unavailable)
{
Console.WriteLine($"Error sending grpc message: Grpc server for FPGA is unavailable");
return(null);
}
else
{
Console.WriteLine($"Error sending grpc for FPGA message");
Console.WriteLine(ex);
return(null);
}
}
catch (Exception ex)
{
Console.WriteLine($"Error sending grpc for FPGA message");
Console.WriteLine(ex);
return(null);
}
finally
{
if (!succeeded)
{
Disconnect();
}
}
}
/// <summary>
/// Request an image from the camera server
/// </summary>
/// <param name="body"></param>
/// <returns>True for success</returns>
private ImageReply RequestImage(ImageRequest body)
{
bool succeeded = false;
try
{
EnsureConnection();
ImageReply result = grpcClient.RequestImage(body);
if (result.Error != string.Empty)
{
Console.WriteLine($"Error returned from CameraServer: {result.Error}");
return(null);
}
else
{
succeeded = true;
return(result);
}
}
catch (Grpc.Core.RpcException ex)
{
if (ex.StatusCode == StatusCode.Unavailable)
{
Console.WriteLine($"Error sending grpc message: CameraServer gRPC is unavailable");
return(null);
}
else
{
Console.WriteLine($"Error sending CameraServer gRPC message");
Console.WriteLine(ex);
return(null);
}
}
catch (Exception ex)
{
Console.WriteLine($"Error sending CameraServer gRPC message");
Console.WriteLine(ex);
return(null);
}
finally
{
if (!succeeded)
{
((IImageSource)this).Disconnect();
}
}
}
VideoProcessorGrpc.ImageBody IImageSource.RequestImages()
{
ImageRequest request = new ImageRequest()
{
CameraHardwareId = HardwareId
};
ImageReply reply = RequestImage(request);
if (reply != null)
{
VideoProcessorGrpc.ImageBody result = new VideoProcessorGrpc.ImageBody()
{
Image = reply.FullImage,
SmallImage = reply.SmallImage
};
return(result);
}
else
{
return(null);
}
}
/// <summary>
/// Upload an image
/// </summary>
/// <param name="request"></param>
/// <returns>True for success</returns>
public ImageReply RequestImage(ImageRequest request)
{
ImageReply result = null;
try
{
EnsureConnection();
result = grpcClient.RequestImage(request);
}
catch (Grpc.Core.RpcException ex)
{
if (ex.StatusCode == StatusCode.Unavailable)
{
Console.WriteLine($"Error sending grpc message: Grpc server is unavailable");
result = null;
}
else
{
Console.WriteLine($"Error sending grpc message");
Console.WriteLine(ex);
result = null;
}
}
catch (Exception ex)
{
Console.WriteLine($"Error sending grpc message");
Console.WriteLine(ex);
result = null;
}
finally
{
if (result == null)
{
Disconnect();
}
}
return(result);
}
