/// <summary>
/// Opens the connection
/// <exception cref="InvalidOperationException">Invalid operation is thrown when we are already connected</exception>
/// <exception cref="ArgumentOutOfRangeException">ArgumentOutOfRangeException is thrown when the given mac is null or empty</exception>
/// </summary>
/// <param name="mac">The mac address to connect to</param>
public void OpenConnection(string mac)
{
if (Connected)
{
throw new InvalidOperationException("Already connected!");
}
if (string.IsNullOrWhiteSpace(mac))
{
throw new ArgumentOutOfRangeException(nameof(mac));
}
Exception exception = null;
// Connect in separate task
_communicationTaskQueue.DoWorkInQueue(() =>
{
try
{
_adapter.OpenConnection(mac);
Connected = true;
}
catch (Exception e)
{
exception = e;
}
}, true);
// If any exception occured, we throw it
if (exception != null)
{
Connected = false;
throw exception;
}
}
public void StartCamera([CallerMemberName] string memberName = "")
{
TxtCommunication.TxtInterface.LogMessage("Starting camera" + memberName);
if (Connected)
{
//throw new InvalidOperationException("Already connected!");
return;
}
RequestedStop = false;
TxtCommunication.SendCommand(new CommandStartCamera(), new ResponseStartCamera());
_networkingTaskQueue.DoWorkInQueue(ConnectToCameraServerMethod, true);
_networkingTaskQueue.DoWorkInQueue(CameraReceiverMethod, false);
}
public void OpenConnection()
{
if (Connected)
{
throw new InvalidOperationException("Already connected!");
}
_requestedStop = false;
Exception exception = null;
_networkingTaskQueue.DoWorkInQueue(() =>
{
try
{
var ipEndPoint = new IPEndPoint(IPAddress.Parse(TxtInterface.Ip), TxtInterface.ControllerIpPort);
_socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp)
{
SendTimeout = TxtInterface.TcpTimeout,
ReceiveTimeout = TxtInterface.TcpTimeout
};
_socket.Connect(ipEndPoint);
Connected = _socket.Connected;
}
catch (Exception e)
{
Console.WriteLine(e.Message);
exception = e;
Connected = false;
}
}, true);
if (exception != null)
{
Connected = false;
throw exception;
}
}
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)
{
}
}
}
