private void WorkerThread()
{
int width = region.Width;
int height = region.Height;
int x = region.Location.X;
int y = region.Location.Y;
Size size = region.Size;
Bitmap bitmap = new Bitmap(width, height, PixelFormat.Format32bppArgb);
Graphics graphics = Graphics.FromImage(bitmap);
DateTime start;
TimeSpan span;
while (!stopEvent.WaitOne(0, false))
{
start = DateTime.Now;
try
{
graphics.CopyFromScreen(x, y, 0, 0, size, CopyPixelOperation.SourceCopy);
framesReceived++;
NewFrame?.Invoke(this, new NewFrameEventArgs(bitmap));
if (frameInterval > 0)
{
span = DateTime.Now.Subtract(start);
int msec = frameInterval - (int)span.TotalMilliseconds;
if ((msec > 0) && (stopEvent.WaitOne(msec, false)))
{
break;
}
}
}
catch (ThreadAbortException)
{
break;
}
catch (Exception exception)
{
VideoSourceError?.Invoke(this, new VideoSourceErrorEventArgs(exception.Message));
Thread.Sleep(250);
}
if (stopEvent.WaitOne(0, false))
{
break;
}
}
graphics.Dispose();
bitmap.Dispose();
PlayingFinished?.Invoke(this, ReasonToFinishPlaying.StoppedByUser);
}
private async Task ProcessVideoAsync(CancellationToken token)
{
await Task.Yield();
try
{
using (Socket clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp))
{
await Task.Factory.FromAsync(clientSocket.BeginConnect, clientSocket.EndConnect,
$"roborio-{teamNumber}-FRC.local", CameraServerPort, null);
using (var socketStream = new NetworkStream(clientSocket))
{
await socketStream.WriteAsync(BitConverter.GetBytes(IPAddress.HostToNetworkOrder(framesPerSecond)), 0, 4, token);
bytesReceived += 4;
await socketStream.WriteAsync(BitConverter.GetBytes(IPAddress.HostToNetworkOrder(HwCompressionId)), 0, 4, token);
bytesReceived += 4;
await socketStream.WriteAsync(BitConverter.GetBytes(IPAddress.HostToNetworkOrder(Size640x480)), 0, 4, token);
bytesReceived += 4;
while (true)
{
token.ThrowIfCancellationRequested();
var magicToken = new byte[4];
await socketStream.ReadAsync(magicToken, 0, 4, token);
bytesReceived += 4;
if (BitConverter.ToInt32(magicToken, 0) != 0x1000)
{
//Magic token did not match
return;
}
var imageLengthBytes = new byte[4];
await socketStream.ReadAsync(imageLengthBytes, 0, 4, token);
bytesReceived += 4;
using (var frame = new System.Drawing.Bitmap(socketStream))
{
NewFrame?.Invoke(this, new NewFrameEventArgs(frame));
}
bytesReceived += IPAddress.NetworkToHostOrder(BitConverter.ToInt32(imageLengthBytes, 0));
framesReceived++;
}
}
}
}
catch (OperationCanceledException)
{
PlayingFinished?.Invoke(this, ReasonToFinishPlaying.StoppedByUser);
}
catch (Exception ex)
{
PlayingFinished?.Invoke(this, ReasonToFinishPlaying.VideoSourceError);
VideoSourceError?.Invoke(this, new VideoSourceErrorEventArgs(ex.Message));
}
}
/// <summary>
/// Worker thread.
/// </summary>
///
private void WorkerThread()
{
ReasonToFinishPlaying reasonToStop = ReasonToFinishPlaying.StoppedByUser;
try {
// run
mediaControl.Run();
while (!stopEvent.WaitOne(0, true))
{
Thread.Sleep(100);
if (mediaEvent != null)
{
if (mediaEvent.GetEvent(out DsEvCode code, out IntPtr p1, out IntPtr p2, 0) >= 0)
{
mediaEvent.FreeEventParams(code, p1, p2);
if (code == DsEvCode.Complete)
{
reasonToStop = ReasonToFinishPlaying.EndOfStreamReached;
break;
}
}
}
}
mediaControl.StopWhenReady();
} catch (Exception exception) {
// provide information to clients
VideoSourceError?.Invoke(this, new VideoSourceErrorEventArgs(exception.Message));
} finally {
DestroyFilters();
}
PlayingFinished?.Invoke(this, reasonToStop);
}
private void CreateFilters()
{
isValid = true;
// grabber
grabberVideo = new GrabberVideo(this);
grabberAudio = new GrabberAudio(this);
// objects
graphObject = null;
grabberObjectVideo = null;
grabberObjectAudio = null;
int sourceBaseVideoPinIndex = 0;
try {
// get type for filter graph
Type type = Type.GetTypeFromCLSID(Clsid.FilterGraph);
if (type == null)
{
throw new ApplicationException("Failed creating filter graph");
}
// create filter graph
graphObject = Activator.CreateInstance(type);
graph = (IGraphBuilder)graphObject;
// create source device's object
if (fileName.ToLower().EndsWith(".wmv"))
{
type = Type.GetTypeFromCLSID(Clsid.WMASFReader);
if (type == null)
{
throw new ApplicationException("Failed creating ASF Reader filter");
}
sourceBase = (IBaseFilter)Activator.CreateInstance(type);
IFileSourceFilter sourceFile = (IFileSourceFilter)sourceBase;
sourceFile.Load(fileName, null);
graph.AddFilter(sourceBase, "source");
sourceBaseVideoPinIndex = 1;
}
else
{
graph.AddSourceFilter(fileName, "source", out sourceBase);
if (sourceBase == null)
{
try {
type = Type.GetTypeFromCLSID(Clsid.AsyncReader);
if (type == null)
{
throw new ApplicationException("Failed creating Async Reader filter");
}
sourceBase = (IBaseFilter)Activator.CreateInstance(type);
IFileSourceFilter sourceFile = (IFileSourceFilter)sourceBase;
sourceFile.Load(fileName, null);
graph.AddFilter(sourceBase, "source");
} catch {
throw new ApplicationException("Failed creating source filter");
}
}
sourceBaseVideoPinIndex = 0;
}
// get type for sample grabber
type = Type.GetTypeFromCLSID(Clsid.SampleGrabber);
if (type == null)
{
throw new ApplicationException("Failed creating sample grabber");
}
// create sample grabber
grabberObjectVideo = Activator.CreateInstance(type);
sampleGrabberVideo = (ISampleGrabber)grabberObjectVideo;
grabberBaseVideo = (IBaseFilter)grabberObjectVideo;
// add grabber filters to graph
graph.AddFilter(grabberBaseVideo, "grabberVideo");
// set media type
AMMediaType mediaType = new AMMediaType {
MajorType = MediaType.Video,
SubType = MediaSubType.ARGB32 /* MediaSubType.RGB24 */
};
;
sampleGrabberVideo.SetMediaType(mediaType);
// connect pins
IPin outPin = Tools.GetOutPin(sourceBase, sourceBaseVideoPinIndex);
IPin inPin = Tools.GetInPin(grabberBaseVideo, 0);
if (graph.Connect(outPin, inPin) < 0)
{
throw new ApplicationException("Failed connecting sourceBase to grabberBaseVideo");
}
Marshal.ReleaseComObject(outPin);
Marshal.ReleaseComObject(inPin);
// get media type
if (sampleGrabberVideo.GetConnectedMediaType(mediaType) == 0)
{
VideoInfoHeader vih = (VideoInfoHeader)Marshal.PtrToStructure(mediaType.FormatPtr, typeof(VideoInfoHeader));
grabberVideo.Width = vih.BmiHeader.Width;
grabberVideo.Height = vih.BmiHeader.Height;
mediaType.Dispose();
}
if (useAudioGrabber)
{
// *****************************************************************
// ******** Add the audio grabber to monitor audio peaks ***********
bool audioGrabberIsConnected = false;
Tools.FilterInfo2 filterInfo2 = Tools.GetNextFilter(sourceBase, PinDirection.Output, 0);
foreach (Tools.PinInfo2 pinInfo2 in filterInfo2.Pins)
{
if (pinInfo2.PinInfo.Direction == PinDirection.Output)
{
if (!Tools.IsPinConnected(pinInfo2.Pin))
{
try {
graph.Render(pinInfo2.Pin);
AMMediaType mt = new AMMediaType();
pinInfo2.Pin.ConnectionMediaType(mt);
if (mt.MajorType == MediaType.Audio)
{
// Obtain a reference to the filter connected to the audio output of the video splitter (usually, this is the audio decoder)
Tools.FilterInfo2 decoderFilterInfo2 = Tools.GetNextFilter(pinInfo2.PinInfo.Filter, PinDirection.Output, 0);
// Remove all the filters connected to the audio decoder filter
System.Collections.Generic.List <Tools.FilterInfo2> filtersInfo2 = new System.Collections.Generic.List <Tools.FilterInfo2>();
Tools.FilterInfo2 testFilterInfo2 = Tools.GetNextFilter(decoderFilterInfo2.Filter, PinDirection.Output, 0);
while (true)
{
filtersInfo2.Add(testFilterInfo2);
testFilterInfo2 = Tools.GetNextFilter(testFilterInfo2.Filter, PinDirection.Output, 0);
if (testFilterInfo2.Filter == null)
{
break;
}
}
foreach (Tools.FilterInfo2 fi2 in filtersInfo2)
{
graph.RemoveFilter(fi2.Filter);
fi2.Release();
}
// get type for sample grabber
type = Type.GetTypeFromCLSID(Clsid.SampleGrabber);
if (type == null)
{
throw new ApplicationException("Failed creating audio sample grabber");
}
// create sample grabber
grabberObjectAudio = Activator.CreateInstance(type);
sampleGrabberAudio = (ISampleGrabber)grabberObjectAudio;
grabberBaseAudio = (IBaseFilter)grabberObjectAudio;
// add grabber filters to graph
graph.AddFilter(grabberBaseAudio, "grabberAudio");
// set media type
AMMediaType mediaTypeAudio = new AMMediaType {
MajorType = MediaType.Audio,
SubType = MediaSubType.PCM,
FormatType = FormatType.WaveEx
};
sampleGrabberAudio.SetMediaType(mediaTypeAudio);
outPin = Tools.GetOutPin(decoderFilterInfo2.Filter, 0);
inPin = Tools.GetInPin(grabberBaseAudio, 0);
if (graph.Connect(outPin, inPin) < 0)
{
throw new ApplicationException("Failed connecting filter to grabberBaseAudio");
}
Marshal.ReleaseComObject(outPin);
Marshal.ReleaseComObject(inPin);
// Finally, connect the grabber to the audio renderer
outPin = Tools.GetOutPin(grabberBaseAudio, 0);
graph.Render(outPin);
mt = new AMMediaType();
outPin.ConnectionMediaType(mt);
if (!Tools.IsPinConnected(outPin))
{
throw new ApplicationException("Failed obtaining media audio information");
}
wavFormat = new WaveFormatEx();
Marshal.PtrToStructure(mt.FormatPtr, wavFormat);
Marshal.ReleaseComObject(outPin);
// configure sample grabber
sampleGrabberAudio.SetBufferSamples(false);
sampleGrabberAudio.SetOneShot(false);
sampleGrabberAudio.SetCallback(grabberAudio, 1);
audioGrabberIsConnected = true;
break;
}
} catch {
}
}
}
}
filterInfo2.Release();
if (!audioGrabberIsConnected)
{
foreach (Tools.PinInfo2 pinInfo2 in Tools.GetPins(sourceBase))
{
if (!Tools.IsPinConnected(pinInfo2.Pin))
{
foreach (AMMediaType mt in Tools.GetMediaTypes(pinInfo2.Pin))
{
if (mt.MajorType == MediaType.Audio)
{
// create sample grabber
grabberObjectAudio = Activator.CreateInstance(type);
sampleGrabberAudio = (ISampleGrabber)grabberObjectAudio;
grabberBaseAudio = (IBaseFilter)grabberObjectAudio;
// add grabber filters to graph
graph.AddFilter(grabberBaseAudio, "grabberAudio");
// set media type
AMMediaType mediaTypeAudio = new AMMediaType {
MajorType = MediaType.Audio,
SubType = MediaSubType.PCM,
FormatType = FormatType.WaveEx
};
sampleGrabberAudio.SetMediaType(mediaTypeAudio);
inPin = Tools.GetInPin(grabberBaseAudio, 0);
if (graph.Connect(pinInfo2.Pin, inPin) < 0)
{
throw new ApplicationException("Failed connecting sourceBase to grabberBaseVideo");
}
Marshal.ReleaseComObject(inPin);
// Finally, connect the grabber to the audio renderer
outPin = Tools.GetOutPin(grabberBaseAudio, 0);
graph.Render(outPin);
AMMediaType amt = new AMMediaType();
outPin.ConnectionMediaType(amt);
if (!Tools.IsPinConnected(outPin))
{
throw new ApplicationException("Failed obtaining media audio information");
}
wavFormat = new WaveFormatEx();
Marshal.PtrToStructure(amt.FormatPtr, wavFormat);
Marshal.ReleaseComObject(outPin);
// configure sample grabber
sampleGrabberAudio.SetBufferSamples(false);
sampleGrabberAudio.SetOneShot(false);
sampleGrabberAudio.SetCallback(grabberAudio, 1);
audioGrabberIsConnected = true;
break;
}
}
}
}
}
// *****************************************************************
}
// let's do the rendering, if we don't need to prevent freezing
if (!preventFreezing)
{
// render pin
graph.Render(Tools.GetOutPin(grabberBaseVideo, 0));
// configure video window
IVideoWindow window = (IVideoWindow)graphObject;
window.put_AutoShow(false);
window = null;
}
// configure sample grabber
sampleGrabberVideo.SetBufferSamples(false);
sampleGrabberVideo.SetOneShot(false);
sampleGrabberVideo.SetCallback(grabberVideo, 1);
// disable clock, if someone requested it
if (!referenceClockEnabled)
{
IMediaFilter mediaFilter = (IMediaFilter)graphObject;
mediaFilter.SetSyncSource(null);
}
// get media control
mediaControl = (IMediaControl)graphObject;
// get media seek control
mediaSeekControl = (IMediaSeeking)graphObject;
// get media events' interface
mediaEvent = (IMediaEventEx)graphObject;
// get media audio control
basicAudio = (IBasicAudio)graphObject;
} catch (Exception exception) {
DestroyFilters();
// provide information to clients
VideoSourceError?.Invoke(this, new VideoSourceErrorEventArgs(exception.Message));
}
}
// Worker thread
private void WorkerThread()
{
// buffer to read stream
byte[] buffer = new byte[bufSize];
// JPEG magic number
byte[] jpegMagic = new byte[] { 0xFF, 0xD8, 0xFF };
int jpegMagicLength = 3;
ASCIIEncoding encoding = new ASCIIEncoding();
while (!stopEvent.WaitOne(0, false))
{
// reset reload event
reloadEvent.Reset();
// HTTP web request
HttpWebRequest request = null;
// web responce
WebResponse response = null;
// stream for MJPEG downloading
Stream stream = null;
// boundary betweeen images (string and binary versions)
byte[] boundary = null;
string boudaryStr = null;
// length of boundary
int boundaryLen;
// flag signaling if boundary was checked or not
bool boundaryIsChecked = false;
// read amounts and positions
int read, todo = 0, total = 0, pos = 0, align = 1;
int start = 0, stop = 0;
// align
// 1 = searching for image start
// 2 = searching for image end
try
{
// create request
request = (HttpWebRequest)WebRequest.Create(source);
// set user agent
if (HttpUserAgent != null)
{
request.UserAgent = HttpUserAgent;
}
// set proxy
if (Proxy != null)
{
request.Proxy = Proxy;
}
// set timeout value for the request
request.Timeout = RequestTimeout;
// set login and password
if ((Login != null) && (Password != null) && (Login != string.Empty))
{
request.Credentials = new NetworkCredential(Login, Password);
}
// set connection group name
if (SeparateConnectionGroup)
{
request.ConnectionGroupName = GetHashCode().ToString();
}
// force basic authentication through extra headers if required
if (ForceBasicAuthentication)
{
string authInfo = string.Format("{0}:{1}", Login, Password);
authInfo = Convert.ToBase64String(Encoding.Default.GetBytes(authInfo));
request.Headers["Authorization"] = "Basic " + authInfo;
}
// get response
response = request.GetResponse();
// check content type
string contentType = response.ContentType;
string[] contentTypeArray = contentType.Split('/');
// "application/octet-stream"
if ((contentTypeArray[0] == "application") && (contentTypeArray[1] == "octet-stream"))
{
boundaryLen = 0;
boundary = new byte[0];
}
else if ((contentTypeArray[0] == "multipart") && (contentType.Contains("mixed")))
{
// get boundary
int boundaryIndex = contentType.IndexOf("boundary", 0);
if (boundaryIndex != -1)
{
boundaryIndex = contentType.IndexOf("=", boundaryIndex + 8);
}
if (boundaryIndex == -1)
{
// try same scenario as with octet-stream, i.e. without boundaries
boundaryLen = 0;
boundary = new byte[0];
}
else
{
boudaryStr = contentType.Substring(boundaryIndex + 1);
// remove spaces and double quotes, which may be added by some IP cameras
boudaryStr = boudaryStr.Trim(' ', '"');
boundary = encoding.GetBytes(boudaryStr);
boundaryLen = boundary.Length;
boundaryIsChecked = false;
}
}
else
{
throw new Exception("Invalid content type.");
}
// get response stream
stream = response.GetResponseStream();
stream.ReadTimeout = RequestTimeout;
// loop
while ((!stopEvent.WaitOne(0, false)) && (!reloadEvent.WaitOne(0, false)))
{
// check total read
if (total > bufSize - readSize)
{
total = pos = todo = 0;
}
// read next portion from stream
if ((read = stream.Read(buffer, total, readSize)) == 0)
{
throw new ApplicationException();
}
total += read;
todo += read;
// increment received bytes counter
bytesReceived += read;
// do we need to check boundary ?
if ((boundaryLen != 0) && (!boundaryIsChecked))
{
// some IP cameras, like AirLink, claim that boundary is "myboundary",
// when it is really "--myboundary". this needs to be corrected.
pos = ByteArrayUtils.Find(buffer, boundary, 0, todo);
// continue reading if boudary was not found
if (pos == -1)
{
continue;
}
for (int i = pos - 1; i >= 0; i--)
{
byte ch = buffer[i];
if ((ch == (byte)'\n') || (ch == (byte)'\r'))
{
break;
}
boudaryStr = (char)ch + boudaryStr;
}
boundary = encoding.GetBytes(boudaryStr);
boundaryLen = boundary.Length;
boundaryIsChecked = true;
}
// search for image start
if ((align == 1) && (todo >= jpegMagicLength))
{
start = ByteArrayUtils.Find(buffer, jpegMagic, pos, todo);
if (start != -1)
{
// found JPEG start
pos = start + jpegMagicLength;
todo = total - pos;
align = 2;
}
else
{
// delimiter not found
todo = jpegMagicLength - 1;
pos = total - todo;
}
}
// search for image end ( boundaryLen can be 0, so need extra check )
while ((align == 2) && (todo != 0) && (todo >= boundaryLen))
{
stop = ByteArrayUtils.Find(buffer,
(boundaryLen != 0) ? boundary : jpegMagic,
pos, todo);
if (stop != -1)
{
pos = stop;
todo = total - pos;
// increment frames counter
framesReceived++;
// image at stop
if ((NewFrame != null) && (!stopEvent.WaitOne(0, false)))
{
var frame = new byte[stop - start];
Array.Copy(buffer, start, frame, 0, stop - start);
NewFrame(frame);
}
// shift array
pos = stop + boundaryLen;
todo = total - pos;
Array.Copy(buffer, pos, buffer, 0, todo);
total = todo;
pos = 0;
align = 1;
}
else
{
// boundary not found
if (boundaryLen != 0)
{
todo = boundaryLen - 1;
pos = total - todo;
}
else
{
todo = 0;
pos = total;
}
}
}
}
}
catch (ApplicationException)
{
// do nothing for Application Exception, which we raised on our own
// wait for a while before the next try
Thread.Sleep(250);
}
catch (ThreadAbortException)
{
break;
}
catch (Exception exception)
{
// provide information to clients
VideoSourceError?.Invoke(exception.Message);
// wait for a while before the next try
Thread.Sleep(250);
}
finally
{
// abort request
if (request != null)
{
request.Abort();
request = null;
}
// close response stream
if (stream != null)
{
stream.Close();
stream = null;
}
// close response
if (response != null)
{
response.Close();
response = null;
}
}
// need to stop ?
if (stopEvent.WaitOne(0, false))
{
break;
}
}
PlayingFinished?.Invoke(ReasonToFinishPlaying.StoppedByUser);
}
