/// <summary>
/// Cleans up any resource being used.
/// </summary>
public void Dispose()
{
if(m_IsDisposed){
return;
}
Stop();
this.Error = null;
m_pAudioOutDevice = null;
m_pRTP_Stream = null;
m_pAudioCodecs = null;
m_pActiveCodec = null;
}
/// <summary>
/// Cleans up any resources being used.
/// </summary>
public void Dispose()
{
if(m_IsDisposed){
return;
}
Stop();
m_IsDisposed = true;
this.Error = null;
m_pAudioInDevice = null;
m_pAudioCodecs = null;
m_pRTP_Stream.Session.PayloadChanged -= new EventHandler(m_pRTP_Stream_PayloadChanged);
m_pRTP_Stream = null;
m_pActiveCodec = null;
}
/// <summary>
/// Tworzy nową instancję klienta streamingu przez udp.
/// </summary>
/// <param name="video_window">Picturebox, w którym będzie wyświetlany obraz z kamery/streamu.</param>
/// <param name="remote_ip">Zdalne IP serwera lub innego klienta.</param>
public UdpStreamClient(PictureBox video_window, string remote_ip)
{
videoCapture = null;
filters = new Filters();
microphone = null;
speaker = null;
streaming = false;
recieving = false;
inColor = true;
timeInterval = 1000;
framesCount = 0;
videoWindow = video_window;
audioCodec = new PCMU();
#region Wstępne ustawienia kompresji
//#################################################
encoderParams = new EncoderParameters(2);
// Ustawiamy format kompresji na JPEG
jpegEncoder = GetEncoder(ImageFormat.Jpeg);
// Ustawiamy jakość obrazu
this.SetImageQuality(20L);
// Ustawiamy głębię kolorów
this.SetImageColorDepth(8L);
//#################################################
#endregion // Wstępne ustawienia kompresji
// Ustalanie lokalnego ip.
strHostName = Dns.GetHostName();
this.ipHostEntry = Dns.GetHostByName(strHostName);
this.localEndPoint = new IPEndPoint(ipHostEntry.AddressList[0], localUdpPort);
// Ustawianie zdalnego ip.
try
{
this.remoteEndPoint = new IPEndPoint(IPAddress.Parse(remote_ip), remoteUdpPort);
}
catch(FormatException ex) { MessageBox.Show(ex.Message, "Streaming"); }
}
/// <summary>
/// This method is called when new RTP packet received.
/// </summary>
/// <param name="sender">Sender.</param>
/// <param name="e">Event data.</param>
private void m_pRTP_Stream_PacketReceived(object sender,RTP_PacketEventArgs e)
{
if(m_IsDisposed){
return;
}
try{
AudioCodec codec = null;
if(!m_pAudioCodecs.TryGetValue(e.Packet.PayloadType,out codec)){
// Unknown codec(payload value), skip it.
return;
}
m_pActiveCodec = codec;
// Audio-out not created yet, create it.
if(m_pAudioOut == null){
m_pAudioOut = new AudioOut(m_pAudioOutDevice,codec.AudioFormat);
}
// Audio-out audio format not compatible to codec, recreate it.
else if(!m_pAudioOut.AudioFormat.Equals(codec.AudioFormat)){
m_pAudioOut.Dispose();
m_pAudioOut = new AudioOut(m_pAudioOutDevice,codec.AudioFormat);
}
// Decode RTP audio frame and queue it for play out.
byte[] decodedData = codec.Decode(e.Packet.Data,0,e.Packet.Data.Length);
m_pAudioOut.Write(decodedData,0,decodedData.Length);
}
catch(Exception x){
if(!this.IsDisposed){
// Raise error event(We can't throw expection directly, we are on threadpool thread).
OnError(x);
}
}
}
//CONSOLE
/////////////
public Robot1()
{
//ACCELEROMETER
this.usrCtrlAxis2D = new UsrCtrlAxis2D();
this.usrCtrlAxis2D.Size = new Size(350, 350);
this.usrCtrlAxis2D.Location = new Point(0, 0);
this.usrCtrlAxis2D.BackColor = Color.AliceBlue;
//this.tabPage19.Controls.Add(this.usrCtrlAxis2D);
InitializeComponent();
batt.aktualne_nap = 0.1f; //initial value for battery monitor
SetMap();
Robot1.CheckForIllegalCrossThreadCalls = false;
comboBox1.SelectedItem = "nothing";
comboBox2.SelectedItem = "nothing";
comboBox3.SelectedItem = "nothing";
comboBox4.SelectedItem = "nothing";
comboBox5.SelectedItem = "nothing";
comboBox6.SelectedItem = "nothing";
comboBox7.SelectedItem = "nothing";
comboBox8.SelectedItem = "nothing";
comboBox9.SelectedItem = "nothing";
comboBox10.SelectedItem = "nothing";
//Trajectory activation
button12.Enabled = true;
button14.Enabled = false;
button17.Enabled = false;
button13.Enabled = false;
button18.Enabled = false;
button15.Enabled = false;
//Audio stream
foreach (IPAddress ip in System.Net.Dns.GetHostAddresses(""))
{
m_pLocalIP.Items.Add(ip.ToString());
}
m_pLocalIP.SelectedIndex = m_pLocalIP.Items.Count-2;
//m_pLocalIP.SelectedIndex = 0;
m_pCodec.Items.Add("G711 a-law");
m_pCodec.Items.Add("G711 u-law");
m_pCodec.Enabled = false;
LoadWaveDevices();
m_pActiveCodec = new PCMA();
//Bootloader
comboBoxport.SelectedIndex = 0;
comboBoxMCU.SelectedIndex = 0;
//Inicialize TCP Client
groupDirectionAndMotion.Enabled = false;
groupCameraRotation.Enabled = false;
groupCameraRot2.Enabled = false;
groupComPortSettings.Enabled = false;
groupComPortDefault.Enabled = false;
groupTcpClientServerSettings.Enabled = true;
groupTcpClientServerDefault.Enabled = true;
textTCPClientServerIPAddress.ReadOnly = false;
textTCPCommunicationType.Text = "CLIENT";
labelCommunicationType.Text = "TCP Client";
toolStripconnect.Enabled = true;
ThreadCheckStat = new Thread(CheckStatus);
ThreadCheckStat.Start();
//Small Cam
o = new Options();
combo_streams.SelectedText = "1";
//AUDIO DELEGATE
m_DelegateAddString = new DelegateAddString(this.AddString);
m_DelegateAddString1 = new DelegateAddString1(this.AddString1);
//ACCELEROMETER
//this.usrCtrlAxis3D = new UsrCtrlAxis3D();
//this.usrCtrlAxis3D.Size = new Size(350, 350);
//this.usrCtrlAxis3D.Location = new Point(0, 0);
//this.Controls.Add(this.usrCtrlAxis3D);
this.mySerialPort = new SerialPort("COM4", 9600, Parity.None, 8, StopBits.One);
this.mySerialPort.Handshake = Handshake.None;
this.mySerialPort.RtsEnable = true;
this.mySerialPort.DataReceived += new SerialDataReceivedEventHandler(MySerialPort_DataReceived);
}
private void m_pCodec_SelectedIndexChanged(object sender, EventArgs e)
{
// G711 a-law
if (m_pCodec.SelectedIndex == 0)
{
m_pActiveCodec = new PCMA();
m_pRtpSession.Sessions[0].Payload = 8;
}
// G711 u-law
else
{
m_pActiveCodec = new PCMU();
m_pRtpSession.Sessions[0].Payload = 0;
}
}
public Robot1()
{
//ACCELEROMETER
this.usrCtrlAxis2D = new UsrCtrlAxis2D();
this.usrCtrlAxis2D.Size = new Size(350, 350);
this.usrCtrlAxis2D.Location = new Point(0, 0);
this.usrCtrlAxis2D.BackColor = Color.AliceBlue;
this.usrCtrlAxis3D = new UsrCtrlAxis3D();
this.usrCtrlAxis3D.Size = new Size(350, 350);
this.usrCtrlAxis3D.Location = new Point(0, 0);
InitializeComponent();
//VERSION UPDATE PUBLISH
Version version2 = new Version();
if (System.Deployment.Application.ApplicationDeployment.IsNetworkDeployed)
{
System.Deployment.Application.ApplicationDeployment ad = System.Deployment.Application.ApplicationDeployment.CurrentDeployment;
version2 = ad.CurrentVersion;
}
//VERSION UPDATE BUILD
Version vrs = new Version(Application.ProductVersion);
this.Text = "CONTROL APPLICATION ORCS ROBOT G4 (SECURITY GUARD ROBOT) / AssemblyBuid " + vrs.Major + "." + vrs.Minor + "." + vrs.Build + "." + vrs.Revision + " / Publish Version ClickOnce " + PublishVersion().ToString() + " / RC" + version2.Revision.ToString(); //String.Format("ClickOnce Version {0}.{1}.{2}.{3}", version.Major, version.Minor, version.Revision, version.Build);
//BATTERY
batt.aktualne_nap = 0.1f; //initial value for battery monitor
SetMap();
Robot1.CheckForIllegalCrossThreadCalls = false;
comboBox1.SelectedItem = "nothing";
comboBox2.SelectedItem = "nothing";
comboBox3.SelectedItem = "nothing";
comboBox4.SelectedItem = "nothing";
comboBox5.SelectedItem = "nothing";
comboBox6.SelectedItem = "nothing";
comboBox7.SelectedItem = "nothing";
comboBox8.SelectedItem = "nothing";
comboBox9.SelectedItem = "nothing";
comboBox10.SelectedItem = "nothing";
//Trajectory activation
button12.Enabled = true;
button14.Enabled = false;
button17.Enabled = false;
button13.Enabled = false;
button18.Enabled = false;
button15.Enabled = false;
//Audio stream
foreach (IPAddress ip in System.Net.Dns.GetHostAddresses(""))
{
m_pLocalIP.Items.Add(ip.ToString());
}
m_pLocalIP.SelectedIndex = m_pLocalIP.Items.Count-2;
//m_pLocalIP.SelectedIndex = 0;
m_pCodec.Items.Add("G711 a-law");
m_pCodec.Items.Add("G711 u-law");
m_pCodec.Enabled = false;
LoadWaveDevices();
m_pActiveCodec = new PCMA();
//Bootloader
comboBoxport.SelectedIndex = 0;
comboBoxMCU.SelectedIndex = 0;
//Inicialize TCP Client
groupDirectionAndMotion.Enabled = false;
groupCameraRotation.Enabled = false;
groupCameraRot2.Enabled = false;
textTCPClientServerIPAddress.ReadOnly = false;
textTCPCommunicationType.Text = "CLIENT";
labelCommunicationType.Text = "TCP Client";
toolStripconnect.Enabled = true;
ThreadCheckStat = new Thread(CheckStatus);
ThreadCheckStat.Start();
//Small Cam
o = new Options();
combo_streams.SelectedText = "1";
//AUDIO DELEGATE
m_DelegateAddString = new DelegateAddString(this.AddString);
m_DelegateAddString1 = new DelegateAddString1(this.AddString1);
//ACCELEROMETER
//this.usrCtrlAxis3D = new UsrCtrlAxis3D();
//this.usrCtrlAxis3D.Size = new Size(350, 350);
//this.usrCtrlAxis3D.Location = new Point(0, 0);
//this.Controls.Add(this.usrCtrlAxis3D);
this.panelMEMS.Controls.Add(this.usrCtrlAxis2D);
this.panelMEMS.Controls.Add(this.usrCtrlAxis3D);
CreateGraph(); //MEMS Create Graph
this.mySerialPort = new SerialPort("COM5", 9600, Parity.None, 8, StopBits.One);
this.mySerialPort.Handshake = Handshake.None;
this.mySerialPort.RtsEnable = true;
this.mySerialPort.DataReceived += new SerialDataReceivedEventHandler(MySerialPort_DataReceived);
//GPS
GPS.GPSFileLogCreate();
}
/// <summary>
/// Is called when RTP session sending payload has changed.
/// </summary>
/// <param name="sender">Sender.</param>
/// <param name="e">Event data.</param>
private void m_pRTP_Stream_PayloadChanged(object sender,EventArgs e)
{
if(m_IsRunning){
Stop();
m_pActiveCodec = null;
m_pAudioCodecs.TryGetValue(m_pRTP_Stream.Session.Payload,out m_pActiveCodec);
Start();
}
}
private void btnRestartConnection_Click_1(object sender, RoutedEventArgs e)
{
if (cbLocalIp.SelectedIndex < 0)
{
MessageBox.Show("Choose local IP");
return;
}
IsConnected = true;
InitializeClient();
InitializeServer();
/*InitializeSoundSender();
InitializeSoundReceiver();*/
if (m_IsRunning)
{
m_IsRunning = false;
m_IsSendingTest = false;
m_pRtpSession.Dispose();
m_pRtpSession = null;
m_pWaveOut.Dispose();
m_pWaveOut = null;
}
else
{
m_IsRunning = true;
switch (_selectedCodec)
{
case "PCMU":
m_pActiveCodec = new PCMU();
break;
case "PCMA":
default:
m_pActiveCodec = new PCMA();
break;
}
var selectedOutDevice = cbAudioOutDevices.SelectedItem as AudioOutDevice;
m_pWaveOut = new AudioOut(selectedOutDevice, _samplesPerSecond, _bitsPerSample, 1); // 1 - one channel (mono)
m_pRtpSession = new RTP_MultimediaSession(RTP_Utils.GenerateCNAME());
string localIp = cbLocalIp.SelectedItem.ToString();
string partnerIp = tbxPartnerIp.Text;
int k = string.Compare(localIp, partnerIp);
m_pRtpSession.CreateSession(new RTP_Address(IPAddress.Parse(cbLocalIp.SelectedItem.ToString()), (int)10000 + k * 500/*m_pLocalPort.Value*/, (int)/*m_pLocalPort.Value*/10000 + k * 500 + 1), new RTP_Clock(0, _samplesPerSecond));
m_pRtpSession.Sessions[0].AddTarget(new RTP_Address(IPAddress.Parse(tbxPartnerIp.Text), (int)/*m_pRemotePort.Value*/10000 - k * 500, (int)/*m_pRemotePort.Value*/10000 - k * 500 + 1));
m_pRtpSession.Sessions[0].NewSendStream += new EventHandler<RTP_SendStreamEventArgs>(m_pRtpSession_NewSendStream);
m_pRtpSession.Sessions[0].NewReceiveStream += new EventHandler<RTP_ReceiveStreamEventArgs>(m_pRtpSession_NewReceiveStream);
m_pRtpSession.Sessions[0].Payload = 0;
m_pRtpSession.Sessions[0].Start();
m_pAudioCodecs = new Dictionary<int, AudioCodec>();
m_pAudioCodecs.Add(0, new PCMU());
m_pAudioCodecs.Add(8, new PCMA());
}
}
