// 接続しているラズパイのアドレスとポートを列挙する
static Dictionary <IPAddress, int> GetConectedHostAddress(MultiCastClient mcastClient)
{
UdpClient udp = new UdpClient(SENDBACK_PORT);
udp.Client.ReceiveTimeout = 1000;
// マルチキャストに参加しているラズパイに"INQ"コマンドを送信
mcastClient.SendCommand("INQ");
var mapIPvsPort = new Dictionary <IPAddress, int>();
try {
do
{
// 任意IP Address, 任意のポートからデータを受信する
IPEndPoint remoteEP = null;
byte[] rcvBytes = udp.Receive(ref remoteEP);
string rcvMsg = System.Text.Encoding.UTF8.GetString(rcvBytes);
if (rcvMsg == "ACK")
{
Console.WriteLine("受信したデータ:{0}", rcvMsg);
Console.WriteLine("送信元アドレス:{0}/ポート番号:{1}", remoteEP.Address, remoteEP.Port); // この送信元ポート番号は毎度変わる
mapIPvsPort[remoteEP.Address] = remoteEP.Port;
}
} while (udp.Available > 0);
} catch (Exception e) {
Console.Error.WriteLine(e.Message);
udp.Close();
return(mapIPvsPort);
}
udp.Close();
return(mapIPvsPort);
}
static void Main(string[] args)
{
// Loading SyncshooterDefs
var defs = SyncshooterDefs.Deserialize(@"..\..\syncshooterDefs.json");
// TEST
defs.Serialize(@"..\..\syncshooterDefs_copy.json");
// UDP マルチキャストを開く
MultiCastClient mcastClient = new MultiCastClient(MCAST_GRP, MCAST_PORT);
if (mcastClient.Open() == false)
{
return;
}
//mcastClient.SendCommand( "SDW" ); // TEST
// 接続しているラズパイのアドレスとポートを列挙する
var mapIPvsPort = GetConectedHostAddress(mcastClient);
// Camera parameter を取得する
Console.Error.WriteLine("Get and save camera parameters...");
foreach (var pair in mapIPvsPort)
{
IPAddress adrs = pair.Key;
string text = GetCameraParameterInJson(adrs.ToString());
Console.WriteLine("{0}", text);
var param = JsonConvert.DeserializeObject <CameraParam>(text);
string path = string.Format(@"..\..\cameraParam_{0}.json", adrs.ToString());
param.Serialize(path);
}
// Preview image の取得
Console.Error.WriteLine("Previewing...");
foreach (var pair in mapIPvsPort)
{
IPAddress adrs = pair.Key;
TcpClient tcp = new TcpClient(adrs.ToString(), SHOOTIMAGESERVER_PORT);
System.Net.Sockets.NetworkStream ns = tcp.GetStream();
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
Console.WriteLine("IP Address: {0}", adrs);
System.IO.MemoryStream ms = new System.IO.MemoryStream();
// get preview image コマンドを送信
string cmd = "PRV";
byte[] cmdBytes = System.Text.Encoding.UTF8.GetBytes(cmd);
ns.Write(cmdBytes, 0, cmdBytes.Length);
// データを受信
while (ns.DataAvailable == false)
{
}
ulong sum = 0;
ulong bytes_to_read = 0;
do
{
byte[] rcvBytes = new byte[tcp.Client.Available];
int resSize = ns.Read(rcvBytes, 0, rcvBytes.Length);
if (sum == 0)
{
// 先頭の4バイトには、次に続くデータのサイズが書かれている
bytes_to_read = ((ulong)rcvBytes[0]) | ((ulong)rcvBytes[1] << 8) | ((ulong)rcvBytes[2] << 16) | ((ulong)rcvBytes[3] << 24);
Console.WriteLine("bytes_to_read = {0}", bytes_to_read);
}
sum += (ulong)resSize;
ms.Write(rcvBytes, 0, resSize);
} while (sum < bytes_to_read + 4);
Console.WriteLine("size = {0}", (int)sum - 4);
ms.Close();
String path = string.Format("preview_{0}.bmp", adrs.ToString());
using (var fs = new FileStream(path, FileMode.Create, FileAccess.ReadWrite)) {
fs.Write(ms.GetBuffer(), 4, (int)sum - 4);
}
ns.Close();
tcp.Close();
}
//
// Full image (JPG) の取得
// Multicast で 撮影コマンドを送信
mcastClient.SendCommand("SHJ");
Console.Error.WriteLine("Capturing JPEG...");
// Full image の取得
foreach (var pair in mapIPvsPort)
{
IPAddress adrs = pair.Key;
TcpClient tcp = new TcpClient(adrs.ToString(), SHOOTIMAGESERVER_PORT);
System.Net.Sockets.NetworkStream ns = tcp.GetStream();
ns.ReadTimeout = 10000;
ns.WriteTimeout = 10000;
Console.WriteLine("IP Address: {0}", adrs);
System.IO.MemoryStream ms = new System.IO.MemoryStream();
// full image 取得コマンドを送信
string cmd = "IMG";
byte[] cmdBytes = System.Text.Encoding.UTF8.GetBytes(cmd);
ns.Write(cmdBytes, 0, cmdBytes.Length);
// データを受信
while (ns.DataAvailable == false)
{
}
ulong sum = 0;
ulong bytes_to_read = 0;
do
{
byte[] rcvBytes = new byte[tcp.Client.Available];
int resSize = ns.Read(rcvBytes, 0, rcvBytes.Length);
if (sum == 0)
{
// 先頭の4バイトには、次に続くデータのサイズが書かれている
bytes_to_read = ((ulong)rcvBytes[0]) | ((ulong)rcvBytes[1] << 8) | ((ulong)rcvBytes[2] << 16) | ((ulong)rcvBytes[3] << 24);
Console.WriteLine("bytes_to_read = {0}", bytes_to_read);
}
sum += (ulong)resSize;
ms.Write(rcvBytes, 0, resSize);
} while (sum < bytes_to_read + 4);
Console.WriteLine("size = {0}", (int)sum - 4);
ms.Close();
String path = string.Format("full_{0}.jpg", adrs.ToString());
using (var fs = new FileStream(path, FileMode.Create, FileAccess.ReadWrite)) {
fs.Write(ms.GetBuffer(), 4, (int)sum - 4);
}
ns.Close();
tcp.Close();
}
mcastClient.Close();
}
