feat: readwithwait函数增加了新参数；camera有更多分辨率选择。
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alivender
parent
ba79a2093b
commit
1492f16fdd
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@ -483,49 +483,6 @@ class Camera
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureResolution1280x720()
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{
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// var Registers = new UInt16[][]
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// {
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// // 1280x720, 15fps
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// // input clock 24Mhz, PCLK 42Mhz
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// // [0x3035, 0x41], // PLL
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// // [0x3036, 0x69], // PLL
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// [0x3c07, 0x07], // lightmeter 1 threshold[7:0]
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// [0x3820, 0x41], // flip
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// [0x3821, 0x07], // mirror
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// [0x3814, 0x31], // timing X inc
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// [0x3815, 0x31], // timing Y inc
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// [0x3800, 0x00], // HS
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// [0x3801, 0x00], // HS
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// [0x3802, 0x00], // VS
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// [0x3803, 0xfa], // VS
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// [0x3804, 0x0a], // HW (HE)
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// [0x3805, 0x3f], // HW (HE)
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// [0x3806, 0x06], // VH (VE)
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// [0x3807, 0xa9], // VH (VE)
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// [0x3808, 0x05], // DVPHO
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// [0x3809, 0x00], // DVPHO
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// [0x380a, 0x02], // DVPVO
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// [0x380b, 0xd0], // DVPVO
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// [0x380c, 0x0B], // HTS
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// [0x380d, 0x1C], // HTS
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// [0x380e, 0x07], // VTS
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// [0x380f, 0xB0], // VTS
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// [0x3810, 0x00], // Timing Hoffset[11:8]
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// [0x3811, 0x10], // Timing Hoffset[7:0]
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// [0x3812, 0x00], // Timing Voffset[10:8]
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// [0x3813, 0x04], // timing V offset
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// [0x3618, 0x00],
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// [0x3612, 0x29],
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// [0x3709, 0x52],
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// [0x370c, 0x03]
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// // [0x3a02, 0x02], // 60Hz max exposure
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// // [0x3a03, 0xe0], // 60Hz max exposure
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// // [0x3a14, 0x02], // 50Hz max exposure
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// // [0x3a15, 0xe0] // 50Hz max exposure
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// };
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// await ConfigureRegisters(Registers);
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return await ConfigureResolution(
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hStart: 0, vStart: 250,
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dvpHo: 1280, dvpVo: 720,
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@ -533,6 +490,37 @@ class Camera
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hOffset: 16, vOffset: 4,
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hWindow: 2624, vWindow: 1456
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);
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}
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/// <summary>
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/// 配置为1280x720分辨率
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/// </summary>
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureResolution1280x960()
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{
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return await ConfigureResolution(
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hStart: 0, vStart: 250,
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dvpHo: 1280, dvpVo: 960,
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hts: 2844, vts: 1968,
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hOffset: 16, vOffset: 4,
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hWindow: 2624, vWindow: 1456
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);
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}
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/// <summary>
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/// 配置为1920x1080分辨率
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/// </summary>
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/// <returns>配置结果</returns>
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public async ValueTask<Result<bool>> ConfigureResolution1920x1080()
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{
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return await ConfigureResolution(
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hStart: 0, vStart: 250,
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dvpHo: 1920, dvpVo: 1080,
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hts: 2844, vts: 1968,
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hOffset: 16, vOffset: 4,
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hWindow: 2624, vWindow: 1456
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);
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}
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@ -558,6 +546,12 @@ class Camera
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case "1280x720":
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result = await ConfigureResolution1280x720();
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break;
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case "1280x960":
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result = await ConfigureResolution1280x960();
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break;
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case "1920x1080":
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result = await ConfigureResolution1920x1080();
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break;
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default:
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logger.Error($"不支持的分辨率: {width}x{height}");
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return new(new ArgumentException($"不支持的分辨率: {width}x{height}"));
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@ -956,8 +950,8 @@ class Camera
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[0x3035, 0x21], // 60fps
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[0x3036, PLL_MUX],// PLL倍频
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[0x3c07, 0x08],
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[0x3820, 0x41], // vflip
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[0x3821, 0x00], // mirror
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[0x3820, 0x40], // vflip
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[0x3821, 0x01], // mirror
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[0x3814, 0x11], // timing X inc
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[0x3815, 0x11] // timing Y inc
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};
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@ -1336,37 +1330,38 @@ class Camera
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[0x3026, 0x00],
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[0x3027, 0x00],
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[0x3028, 0x00],
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[0x3029, 0x7F], // 状态寄存器
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[0x3000, 0x00] // 启动MCU
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[0x3029, 0xFF], // 状态寄存器
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[0x3000, 0x00], // 启动MCU
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[0x3004, 0xFF] // 使能中断
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};
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var result = await ConfigureRegisters(focusRegisters);
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if (!result.IsSuccessful) return result;
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// 读取寄存器判断初始化是否完毕
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for (int iteration = 1000; iteration > 0; iteration--)
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{
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var readResult = await ReadRegister(0x3029);
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if (!readResult.IsSuccessful)
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{
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logger.Error($"读取自动对焦初始化状态失败: {readResult.Error}");
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return new(readResult.Error);
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}
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// // 读取寄存器判断初始化是否完毕
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// for (int iteration = 1000; iteration > 0; iteration--)
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// {
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// var readResult = await ReadRegister(0x3029);
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// if (!readResult.IsSuccessful)
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// {
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// logger.Error($"读取自动对焦初始化状态失败: {readResult.Error}");
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// return new(readResult.Error);
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// }
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logger.Debug($"自动对焦初始化状态检查, state=0x{readResult.Value:X2}");
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// logger.Debug($"自动对焦初始化状态检查, state=0x{readResult.Value:X2}");
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if (readResult.Value != 0x7F)
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{
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break; // 初始化完成
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}
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// if (readResult.Value != 0x7F)
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// {
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// break; // 初始化完成
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// }
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if (iteration == 1)
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{
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logger.Error($"自动对焦初始化状态检查超时!! state=0x{readResult.Value:X2}");
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return new(new Exception($"自动对焦初始化状态检查超时, state=0x{readResult.Value:X2}"));
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}
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// if (iteration == 1)
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// {
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// logger.Error($"自动对焦初始化状态检查超时!! state=0x{readResult.Value:X2}");
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// return new(new Exception($"自动对焦初始化状态检查超时, state=0x{readResult.Value:X2}"));
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// }
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await Task.Delay(1);
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}
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// await Task.Delay(1);
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// }
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logger.Info("OV5640自动对焦功能初始化完成");
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return true;
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@ -174,7 +174,7 @@ public class I2c
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// 等待I2C命令完成
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{
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF);
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF, 10);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to wait for I2C command completion: {ret.Error}");
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@ -280,7 +280,7 @@ public class I2c
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// 等待I2C命令完成
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{
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF);
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, this.taskID, I2cAddr.Flag, 0x0000_0001, 0xFFFF_FFFF, 10);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to wait for I2C command completion: {ret.Error}");
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@ -452,7 +452,7 @@ public class Jtag
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await Task.Delay(TimeSpan.FromMilliseconds(delayMilliseconds));
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{
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 0, JtagAddr.STATE, result, resultMask, this.timeout);
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 0, JtagAddr.STATE, result, resultMask, 0, this.timeout);
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if (!ret.IsSuccessful) return new(ret.Error);
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return ret.Value;
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}
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@ -471,7 +471,7 @@ public class Jtag
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await Task.Delay(TimeSpan.FromMilliseconds(delayMilliseconds));
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{
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 0, JtagAddr.STATE, result, resultMask, this.timeout);
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var ret = await UDPClientPool.ReadAddrWithWait(this.ep, 0, JtagAddr.STATE, result, resultMask, 0, this.timeout);
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if (!ret.IsSuccessful) return new(ret.Error);
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return ret.Value;
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}
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@ -99,7 +99,7 @@ public class RemoteUpdater
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const int FLASH_SECTOR_LENGTH = 4 * 1024;
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readonly int timeout = 2000;
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readonly int timeoutForWait = 60 * 1000;
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readonly int timeoutForWait = 20 * 1000;
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readonly int port;
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readonly string address;
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@ -152,7 +152,7 @@ public class RemoteUpdater
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{
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var ret = await UDPClientPool.ReadAddrWithWait(
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this.ep, 0, RemoteUpdaterAddr.WriteSign,
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0x00_00_00_01, 0x00_00_00_01, this.timeoutForWait);
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0x00_00_00_01, 0x00_00_00_01, 100, this.timeoutForWait);
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if (!ret.IsSuccessful) return new(ret.Error);
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if (!ret.Value) return new(new Exception(
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$"Flash clear failed after {this.timeoutForWait} milliseconds"));
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@ -167,7 +167,7 @@ public class RemoteUpdater
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{
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var ret = await UDPClientPool.ReadAddrWithWait(
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this.ep, 0, RemoteUpdaterAddr.WriteSign,
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0x00_00_01_00, 0x00_00_01_00, this.timeoutForWait);
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0x00_00_01_00, 0x00_00_01_00, 100, this.timeoutForWait);
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if (!ret.IsSuccessful) return new(ret.Error);
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return ret.Value;
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}
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@ -332,7 +332,7 @@ public class RemoteUpdater
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{
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var ret = await UDPClientPool.ReadAddrWithWait(
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this.ep, 0, RemoteUpdaterAddr.ReadSign,
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0x00_00_01_00, 0x00_00_01_00, this.timeoutForWait);
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0x00_00_01_00, 0x00_00_01_00, 10, this.timeoutForWait);
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if (!ret.IsSuccessful) return new(ret.Error);
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if (!ret.Value) return new(new Exception(
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$"Read bitstream failed after {this.timeoutForWait} milliseconds"));
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@ -946,14 +946,6 @@ public class HttpVideoStreamService : BackgroundService
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{
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logger.Info($"正在设置视频流分辨率为 {width}x{height}");
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// 验证分辨率
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if (!IsSupportedResolution(width, height))
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{
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var message = $"不支持的分辨率: {width}x{height}，支持的分辨率: 640x480, 1280x720";
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logger.Error(message);
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return (false, message);
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}
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Camera? currentCamera = null;
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lock (_cameraLock)
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{
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@ -1007,18 +999,6 @@ public class HttpVideoStreamService : BackgroundService
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}
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}
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/// <summary>
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/// 检查是否支持该分辨率
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/// </summary>
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/// <param name="width">宽度</param>
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/// <param name="height">高度</param>
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/// <returns>是否支持</returns>
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private bool IsSupportedResolution(int width, int height)
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{
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var resolution = $"{width}x{height}";
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return resolution == "640x480" || resolution == "1280x720";
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}
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/// <summary>
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/// 获取支持的分辨率列表
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/// </summary>
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@ -1028,7 +1008,9 @@ public class HttpVideoStreamService : BackgroundService
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return new List<(int, int, string)>
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{
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(640, 480, "640x480 (VGA)"),
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(1280, 720, "1280x720 (HD)")
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(1280, 720, "1280x720 (HD)"),
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(1280, 960, "1280x960 (SXGA)"),
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(1920, 1080, "1920x1080 (Full HD)")
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};
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}
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@ -306,10 +306,11 @@ public class UDPClientPool
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/// <param name="devAddr">设备地址</param>
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/// <param name="result">期望的结果值</param>
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/// <param name="resultMask">结果掩码，用于位校验</param>
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/// <param name="waittime">等待间隔时间（毫秒）</param>
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/// <param name="timeout">超时时间（毫秒）</param>
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/// <returns>校验结果，true表示在超时前数据匹配期望值</returns>
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public static async ValueTask<Result<bool>> ReadAddrWithWait(
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IPEndPoint endPoint, int taskID, uint devAddr, UInt32 result, UInt32 resultMask, int timeout = 1000)
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IPEndPoint endPoint, int taskID, uint devAddr, UInt32 result, UInt32 resultMask, int waittime = 100, int timeout = 1000)
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{
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var address = endPoint.Address.ToString();
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@ -319,7 +320,7 @@ public class UDPClientPool
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var elapsed = DateTime.Now - startTime;
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if (elapsed >= TimeSpan.FromMilliseconds(timeout)) break;
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var timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
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await Task.Delay(waittime);
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try
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{
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var ret = await ReadAddr(endPoint, taskID, devAddr, Convert.ToInt32(timeleft.TotalMilliseconds));
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@ -637,21 +638,23 @@ public class UDPClientPool
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IsWrite = true,
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};
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var max4BytesPerRead = 128; // 1024 bytes per read
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// Check Msg Bus
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if (!MsgBus.IsRunning)
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return new(new Exception("Message bus not working!"));
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var hasRest = dataArray.Length % (256 * (32 / 8)) != 0;
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var hasRest = dataArray.Length % (max4BytesPerRead * (32 / 8)) != 0;
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var writeTimes = hasRest ?
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dataArray.Length / (256 * (32 / 8)) + 1 :
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dataArray.Length / (256 * (32 / 8));
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dataArray.Length / (max4BytesPerRead * (32 / 8)) + 1 :
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dataArray.Length / (max4BytesPerRead * (32 / 8));
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for (var i = 0; i < writeTimes; i++)
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{
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// Sperate Data Array
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var isLastData = i == writeTimes - 1;
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var sendDataArray = isLastData ?
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dataArray[(i * (256 * (32 / 8)))..] :
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dataArray[(i * (256 * (32 / 8)))..((i + 1) * (256 * (32 / 8)))];
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dataArray[(i * (max4BytesPerRead * (32 / 8)))..] :
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dataArray[(i * (max4BytesPerRead * (32 / 8)))..((i + 1) * (max4BytesPerRead * (32 / 8)))];
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// Calculate BurstLength
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opts.BurstLength = ((byte)(
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