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feat: readwithwait函数增加了新参数；camera有更多分辨率选择。

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alivender
2025-07-19 11:36:07 +08:00
parent ba79a2093b
commit 1492f16fdd
6 changed files with 84 additions and 104 deletions
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131
server/src/Peripherals/CameraClient.cs
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@@ -483,49 +483,6 @@ class Camera
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureResolution1280x720()
{
// var Registers = new UInt16[][]
// {
// // 1280x720, 15fps
// // input clock 24Mhz, PCLK 42Mhz
// // [0x3035, 0x41], // PLL
// // [0x3036, 0x69], // PLL
// [0x3c07, 0x07], // lightmeter 1 threshold[7:0]
// [0x3820, 0x41], // flip
// [0x3821, 0x07], // mirror
// [0x3814, 0x31], // timing X inc
// [0x3815, 0x31], // timing Y inc
// [0x3800, 0x00], // HS
// [0x3801, 0x00], // HS
// [0x3802, 0x00], // VS
// [0x3803, 0xfa], // VS
// [0x3804, 0x0a], // HW (HE)
// [0x3805, 0x3f], // HW (HE)
// [0x3806, 0x06], // VH (VE)
// [0x3807, 0xa9], // VH (VE)
// [0x3808, 0x05], // DVPHO
// [0x3809, 0x00], // DVPHO
// [0x380a, 0x02], // DVPVO
// [0x380b, 0xd0], // DVPVO
// [0x380c, 0x0B], // HTS
// [0x380d, 0x1C], // HTS
// [0x380e, 0x07], // VTS
// [0x380f, 0xB0], // VTS
// [0x3810, 0x00], // Timing Hoffset[11:8]
// [0x3811, 0x10], // Timing Hoffset[7:0]
// [0x3812, 0x00], // Timing Voffset[10:8]
// [0x3813, 0x04], // timing V offset
// [0x3618, 0x00],
// [0x3612, 0x29],
// [0x3709, 0x52],
// [0x370c, 0x03]
// // [0x3a02, 0x02], // 60Hz max exposure
// // [0x3a03, 0xe0], // 60Hz max exposure
// // [0x3a14, 0x02], // 50Hz max exposure
// // [0x3a15, 0xe0] // 50Hz max exposure
// };
// await ConfigureRegisters(Registers);
return await ConfigureResolution(
hStart: 0, vStart: 250,
dvpHo: 1280, dvpVo: 720,
@@ -533,6 +490,37 @@ class Camera
hOffset: 16, vOffset: 4,
hWindow: 2624, vWindow: 1456
);
}
/// <summary>
/// 配置为1280x720分辨率
/// </summary>
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureResolution1280x960()
{
return await ConfigureResolution(
hStart: 0, vStart: 250,
dvpHo: 1280, dvpVo: 960,
hts: 2844, vts: 1968,
hOffset: 16, vOffset: 4,
hWindow: 2624, vWindow: 1456
);
}
/// <summary>
/// 配置为1920x1080分辨率
/// </summary>
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureResolution1920x1080()
{
return await ConfigureResolution(
hStart: 0, vStart: 250,
dvpHo: 1920, dvpVo: 1080,
hts: 2844, vts: 1968,
hOffset: 16, vOffset: 4,
hWindow: 2624, vWindow: 1456
);
}
@@ -558,6 +546,12 @@ class Camera
case "1280x720":
result = await ConfigureResolution1280x720();
break;
case "1280x960":
result = await ConfigureResolution1280x960();
break;
case "1920x1080":
result = await ConfigureResolution1920x1080();
break;
default:
logger.Error($"不支持的分辨率: {width}x{height}");
return new(new ArgumentException($"不支持的分辨率: {width}x{height}"));
@@ -956,8 +950,8 @@ class Camera
[0x3035, 0x21], // 60fps
[0x3036, PLL_MUX],// PLL倍频
[0x3c07, 0x08],
[0x3820, 0x41], // vflip
[0x3821, 0x00], // mirror
[0x3820, 0x40], // vflip
[0x3821, 0x01], // mirror
[0x3814, 0x11], // timing X inc
[0x3815, 0x11] // timing Y inc
};
@@ -1336,37 +1330,38 @@ class Camera
[0x3026, 0x00],
[0x3027, 0x00],
[0x3028, 0x00],
[0x3029, 0x7F], // 状态寄存器
[0x3000, 0x00] // 启动MCU
[0x3029, 0xFF], // 状态寄存器
[0x3000, 0x00], // 启动MCU
[0x3004, 0xFF] // 使能中断
};
var result = await ConfigureRegisters(focusRegisters);
if (!result.IsSuccessful) return result;
// 读取寄存器判断初始化是否完毕
for (int iteration = 1000; iteration > 0; iteration--)
{
var readResult = await ReadRegister(0x3029);
if (!readResult.IsSuccessful)
{
logger.Error($"读取自动对焦初始化状态失败: {readResult.Error}");
return new(readResult.Error);
}
// // 读取寄存器判断初始化是否完毕
// for (int iteration = 1000; iteration > 0; iteration--)
// {
// var readResult = await ReadRegister(0x3029);
// if (!readResult.IsSuccessful)
// {
// logger.Error($"读取自动对焦初始化状态失败: {readResult.Error}");
// return new(readResult.Error);
// }
logger.Debug($"自动对焦初始化状态检查, state=0x{readResult.Value:X2}");
// logger.Debug($"自动对焦初始化状态检查, state=0x{readResult.Value:X2}");
if (readResult.Value != 0x7F)
{
break; // 初始化完成
}
// if (readResult.Value != 0x7F)
// {
// break; // 初始化完成
// }
if (iteration == 1)
{
logger.Error($"自动对焦初始化状态检查超时!! state=0x{readResult.Value:X2}");
return new(new Exception($"自动对焦初始化状态检查超时, state=0x{readResult.Value:X2}"));
}
// if (iteration == 1)
// {
// logger.Error($"自动对焦初始化状态检查超时!! state=0x{readResult.Value:X2}");
// return new(new Exception($"自动对焦初始化状态检查超时, state=0x{readResult.Value:X2}"));
// }
await Task.Delay(1);
}
// await Task.Delay(1);
// }
logger.Info("OV5640自动对焦功能初始化完成");
return true;

4
server/src/Peripherals/I2cClient.cs
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@@ -174,7 +174,7 @@ public class I2c
// 等待I2C命令完成
{
var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF);
var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF, 10);
if (!ret.IsSuccessful)
{
logger.Error($"Failed to wait for I2C command completion: {ret.Error}");
@@ -280,7 +280,7 @@ public class I2c
// 等待I2C命令完成
{
var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF);
var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF, 10);
if (!ret.IsSuccessful)
{
logger.Error($"Failed to wait for I2C command completion: {ret.Error}");

4
server/src/Peripherals/JtagClient.cs
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@@ -452,7 +452,7 @@ public class Jtag
await Task.Delay(TimeSpan.FromMilliseconds(delayMilliseconds));
{
var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 0, JtagAddr.STATE, result, resultMask, this.timeout);
var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 0, JtagAddr.STATE, result, resultMask, 0, this.timeout);
if (!ret.IsSuccessful) return new(ret.Error);
return ret.Value;
}
@@ -471,7 +471,7 @@ public class Jtag
await Task.Delay(TimeSpan.FromMilliseconds(delayMilliseconds));
{
var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 0, JtagAddr.STATE, result, resultMask, this.timeout);
var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 0, JtagAddr.STATE, result, resultMask, 0, this.timeout);
if (!ret.IsSuccessful) return new(ret.Error);
return ret.Value;
}

8
server/src/Peripherals/RemoteUpdateClient.cs
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@@ -99,7 +99,7 @@ public class RemoteUpdater
const int FLASH_SECTOR_LENGTH = 4 * 1024;
readonly int timeout = 2000;
readonly int timeoutForWait = 60 * 1000;
readonly int timeoutForWait = 20 * 1000;
readonly int port;
readonly string address;
@@ -152,7 +152,7 @@ public class RemoteUpdater
{
var ret = await UDPClientPool.ReadAddrWithWait(
this.ep, 0, RemoteUpdaterAddr.WriteSign,
0x00_00_00_01, 0x00_00_00_01, this.timeoutForWait);
0x00_00_00_01, 0x00_00_00_01, 100, this.timeoutForWait);
if (!ret.IsSuccessful) return new(ret.Error);
if (!ret.Value) return new(new Exception(
$"Flash clear failed after {this.timeoutForWait} milliseconds"));
@@ -167,7 +167,7 @@ public class RemoteUpdater
{
var ret = await UDPClientPool.ReadAddrWithWait(
this.ep, 0, RemoteUpdaterAddr.WriteSign,
0x00_00_01_00, 0x00_00_01_00, this.timeoutForWait);
0x00_00_01_00, 0x00_00_01_00, 100, this.timeoutForWait);
if (!ret.IsSuccessful) return new(ret.Error);
return ret.Value;
}
@@ -332,7 +332,7 @@ public class RemoteUpdater
{
var ret = await UDPClientPool.ReadAddrWithWait(
this.ep, 0, RemoteUpdaterAddr.ReadSign,
0x00_00_01_00, 0x00_00_01_00, this.timeoutForWait);
0x00_00_01_00, 0x00_00_01_00, 10, this.timeoutForWait);
if (!ret.IsSuccessful) return new(ret.Error);
if (!ret.Value) return new(new Exception(
$"Read bitstream failed after {this.timeoutForWait} milliseconds"));

24
server/src/Services/HttpVideoStreamService.cs
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@@ -946,14 +946,6 @@ public class HttpVideoStreamService : BackgroundService
{
logger.Info($"正在设置视频流分辨率为 {width}x{height}");
// 验证分辨率
if (!IsSupportedResolution(width, height))
{
var message = $"不支持的分辨率: {width}x{height}，支持的分辨率: 640x480, 1280x720";
logger.Error(message);
return (false, message);
}
Camera? currentCamera = null;
lock (_cameraLock)
{
@@ -1007,18 +999,6 @@ public class HttpVideoStreamService : BackgroundService
}
}
/// <summary>
/// 检查是否支持该分辨率
/// </summary>
/// <param name="width">宽度</param>
/// <param name="height">高度</param>
/// <returns>是否支持</returns>
private bool IsSupportedResolution(int width, int height)
{
var resolution = $"{width}x{height}";
return resolution == "640x480" || resolution == "1280x720";
}
/// <summary>
/// 获取支持的分辨率列表
/// </summary>
@@ -1028,7 +1008,9 @@ public class HttpVideoStreamService : BackgroundService
return new List<(int, int, string)>
{
(640, 480, "640x480 (VGA)"),
(1280, 720, "1280x720 (HD)")
(1280, 720, "1280x720 (HD)"),
(1280, 960, "1280x960 (SXGA)"),
(1920, 1080, "1920x1080 (Full HD)")
};
}

17
server/src/UdpClientPool.cs
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@@ -306,10 +306,11 @@ public class UDPClientPool
/// <param name="devAddr">设备地址</param>
/// <param name="result">期望的结果值</param>
/// <param name="resultMask">结果掩码，用于位校验</param>
/// <param name="waittime">等待间隔时间（毫秒）</param>
/// <param name="timeout">超时时间（毫秒）</param>
/// <returns>校验结果，true表示在超时前数据匹配期望值</returns>
public static async ValueTask<Result<bool>> ReadAddrWithWait(
IPEndPoint endPoint, int taskID, uint devAddr, UInt32 result, UInt32 resultMask, int timeout = 1000)
IPEndPoint endPoint, int taskID, uint devAddr, UInt32 result, UInt32 resultMask, int waittime = 100, int timeout = 1000)
{
var address = endPoint.Address.ToString();
@@ -319,7 +320,7 @@ public class UDPClientPool
var elapsed = DateTime.Now - startTime;
if (elapsed >= TimeSpan.FromMilliseconds(timeout)) break;
var timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
await Task.Delay(waittime);
try
{
var ret = await ReadAddr(endPoint, taskID, devAddr, Convert.ToInt32(timeleft.TotalMilliseconds));
@@ -637,21 +638,23 @@ public class UDPClientPool
IsWrite = true,
};
var max4BytesPerRead = 128; // 1024 bytes per read
// Check Msg Bus
if (!MsgBus.IsRunning)
return new(new Exception("Message bus not working!"));
var hasRest = dataArray.Length % (256 * (32 / 8)) != 0;
var hasRest = dataArray.Length % (max4BytesPerRead * (32 / 8)) != 0;
var writeTimes = hasRest ?
dataArray.Length / (256 * (32 / 8)) + 1 :
dataArray.Length / (256 * (32 / 8));
dataArray.Length / (max4BytesPerRead * (32 / 8)) + 1 :
dataArray.Length / (max4BytesPerRead * (32 / 8));
for (var i = 0; i < writeTimes; i++)
{
// Sperate Data Array
var isLastData = i == writeTimes - 1;
var sendDataArray = isLastData ?
dataArray[(i * (256 * (32 / 8)))..] :
dataArray[(i * (256 * (32 / 8)))..((i + 1) * (256 * (32 / 8)))];
dataArray[(i * (max4BytesPerRead * (32 / 8)))..] :
dataArray[(i * (max4BytesPerRead * (32 / 8)))..((i + 1) * (max4BytesPerRead * (32 / 8)))];
// Calculate BurstLength
opts.BurstLength = ((byte)(