private void CameraReceiverMethod()
{
byte[] framedata = new byte[1];
var responseCameraFrame = new ResponseCameraFrame();
while (!RequestedStop)
{
try
{
var responseBytes = new byte[responseCameraFrame.GetResponseLength()];
// Receive the first part of the frame. This part contains the informations like height, width or length
Receive(_socket, responseBytes, responseBytes.Length);
try
{
responseCameraFrame.FromByteArray(responseBytes);
}
catch (InvalidOperationException) // Error while receiving one frame. Close camera server
{
RequestedStop = true;
TxtCommunication.SendCommand(new CommandStopCamera(), new ResponseStopCamera());
DisconnectFromCameraServerMethod();
break;
}
// Use the existing framedata object and resize if needed
if (framedata.Length < responseCameraFrame.FrameSizeCompressed + 2)
{
Array.Resize(ref framedata, responseCameraFrame.FrameSizeCompressed + 2);
}
// Receive the second part of the frame. This part contains the compressed JPEG data
Receive(_socket, framedata, responseCameraFrame.FrameSizeCompressed);
// Add the missing EOI (End of image) tag
framedata[framedata.Length - 2] = 0xFF;
framedata[framedata.Length - 1] = 0xD9;
// Store the received frame in the responseCameraFrame object
responseCameraFrame.FrameData = framedata;
// Process the received frame in another thread queue so that we can continue receiving frames
ReceivedFrames.Enqueue(responseCameraFrame);
_frameProcessingTaskQueue.DoWorkInQueue(() =>
{
if (!ReceivedFrames.IsEmpty)
{
ResponseCameraFrame frame;
if (ReceivedFrames.TryDequeue(out frame) && !RequestedStop)
{
FrameReceivedEventArgs eventArgs = new FrameReceivedEventArgs(framedata, responseCameraFrame.FrameSizeCompressed + 2);
FrameReceived?.Invoke(this, eventArgs);
}
}
}, false);
// Send an acknowledge
_socket.Send(BitConverter.GetBytes(TxtInterface.AcknowledgeIdCameraOnlineFrame));
}
catch (Exception)
{
}
}
}