diff --git a/server/src/Peripherals/CameraClient.cs b/server/src/Peripherals/CameraClient.cs
index 1382dc4..382192f 100644
--- a/server/src/Peripherals/CameraClient.cs
+++ b/server/src/Peripherals/CameraClient.cs
@@ -40,193 +40,6 @@ class Camera
const UInt32 FrameAddr = 0x00;
const UInt32 FrameLength = DVPHO * DVPVO * 16 / 32;
- static byte[][] InitCmdData = new byte[][] {
- // Stop streaming
- new byte[] { 0x30, 0x08, 0x82 }, //82是复位
- // delay 5ms
- new byte[] { 0x30, 0x08, 0x42 }, //42是休眠
- new byte[] { 0x31, 0x03, 0x02 },
- new byte[] { 0x30, 0x17, 0xff },
- new byte[] { 0x30, 0x18, 0xff },
- new byte[] { 0x30, 0x37, 0x13 },
- new byte[] { 0x31, 0x08, 0x01 },
- new byte[] { 0x36, 0x30, 0x36 },
- new byte[] { 0x36, 0x31, 0x0e },
- new byte[] { 0x36, 0x32, 0xe2 },
- new byte[] { 0x36, 0x33, 0x12 },
- new byte[] { 0x36, 0x21, 0xe0 },
- new byte[] { 0x37, 0x04, 0xa0 },
- new byte[] { 0x37, 0x03, 0x5a },
- new byte[] { 0x37, 0x15, 0x78 },
- new byte[] { 0x37, 0x17, 0x01 },
- new byte[] { 0x37, 0x0b, 0x60 },
- new byte[] { 0x37, 0x05, 0x1a },
- new byte[] { 0x39, 0x05, 0x02 },
- new byte[] { 0x39, 0x06, 0x10 },
- new byte[] { 0x39, 0x01, 0x0a },
- new byte[] { 0x37, 0x31, 0x12 },
- new byte[] { 0x36, 0x00, 0x08 },
- new byte[] { 0x36, 0x01, 0x33 },
- new byte[] { 0x30, 0x2d, 0x60 },
- new byte[] { 0x36, 0x20, 0x52 },
- new byte[] { 0x37, 0x1b, 0x20 },
- new byte[] { 0x47, 0x1c, 0x50 },
- new byte[] { 0x3a, 0x13, 0x43 },
- new byte[] { 0x3a, 0x18, 0x00 },
- new byte[] { 0x3a, 0x19, 0xf8 },
- new byte[] { 0x36, 0x35, 0x13 },
- new byte[] { 0x36, 0x36, 0x03 },
- new byte[] { 0x36, 0x34, 0x40 },
- new byte[] { 0x36, 0x22, 0x01 },
- new byte[] { 0x3c, 0x01, 0x34 },
- new byte[] { 0x3c, 0x04, 0x28 },
- new byte[] { 0x3c, 0x05, 0x98 },
- new byte[] { 0x3c, 0x06, 0x00 },
- new byte[] { 0x3c, 0x07, 0x08 },
- new byte[] { 0x3c, 0x08, 0x00 },
- new byte[] { 0x3c, 0x09, 0x1c },
- new byte[] { 0x3c, 0x0a, 0x9c },
- new byte[] { 0x3c, 0x0b, 0x40 },
- // H_OFFSET/V_OFFSET
- new byte[] { 0x38, 0x10, unchecked((byte)((H_OFFSET >> 8) & 0xFF)) },
- new byte[] { 0x38, 0x11, unchecked((byte)(H_OFFSET & 0xFF)) }, //0010
- new byte[] { 0x38, 0x12, unchecked((byte)((V_OFFSET >> 8) & 0xFF)) },
- new byte[] { 0x37, 0x08, 0x64 },
- new byte[] { 0x40, 0x01, 0x02 },
- new byte[] { 0x40, 0x05, 0x1a },
- new byte[] { 0x30, 0x00, 0x00 },
- new byte[] { 0x30, 0x04, 0xff },
- new byte[] { 0x43, 0x00, 0x6F }, // RGB565:first byte:{g[2:0],b[4:0]],second byte:{r[4:0],g[5:3]}
- new byte[] { 0x50, 0x1f, 0x01 }, // Format: ISP RGB
- new byte[] { 0x44, 0x0e, 0x00 },
- new byte[] { 0x50, 0x00, 0xA7 }, //ISP控制
- new byte[] { 0x3a, 0x0f, 0x30 }, //AEC控制;stable range in high
- new byte[] { 0x3a, 0x10, 0x28 }, //AEC控制;stable range in low
- new byte[] { 0x3a, 0x1b, 0x30 }, //AEC控制;stable range out high
- new byte[] { 0x3a, 0x1e, 0x26 }, //AEC控制;stable range out low
- new byte[] { 0x3a, 0x11, 0x60 }, //AEC控制; fast zone high
- new byte[] { 0x3a, 0x1f, 0x14 }, //AEC控制; fast zone low
- // LENC
- new byte[] { 0x58, 0x00, 0x23 }, new byte[] { 0x58, 0x01, 0x14 }, new byte[] { 0x58, 0x02, 0x0f },
- new byte[] { 0x58, 0x03, 0x0f }, new byte[] { 0x58, 0x04, 0x12 }, new byte[] { 0x58, 0x05, 0x26 },
- new byte[] { 0x58, 0x06, 0x0c }, new byte[] { 0x58, 0x07, 0x08 }, new byte[] { 0x58, 0x08, 0x05 },
- new byte[] { 0x58, 0x09, 0x05 }, new byte[] { 0x58, 0x0a, 0x08 }, new byte[] { 0x58, 0x0b, 0x0d },
- new byte[] { 0x58, 0x0c, 0x08 }, new byte[] { 0x58, 0x0d, 0x03 }, new byte[] { 0x58, 0x0e, 0x00 },
- new byte[] { 0x58, 0x0f, 0x00 }, new byte[] { 0x58, 0x10, 0x03 }, new byte[] { 0x58, 0x11, 0x09 },
- new byte[] { 0x58, 0x12, 0x07 }, new byte[] { 0x58, 0x13, 0x03 }, new byte[] { 0x58, 0x14, 0x00 },
- new byte[] { 0x58, 0x15, 0x01 }, new byte[] { 0x58, 0x16, 0x03 }, new byte[] { 0x58, 0x17, 0x08 },
- new byte[] { 0x58, 0x18, 0x0d }, new byte[] { 0x58, 0x19, 0x08 }, new byte[] { 0x58, 0x1a, 0x05 },
- new byte[] { 0x58, 0x1b, 0x06 }, new byte[] { 0x58, 0x1c, 0x08 }, new byte[] { 0x58, 0x1d, 0x0e },
- new byte[] { 0x58, 0x1e, 0x29 }, new byte[] { 0x58, 0x1f, 0x17 }, new byte[] { 0x58, 0x20, 0x11 },
- new byte[] { 0x58, 0x21, 0x11 }, new byte[] { 0x58, 0x22, 0x15 }, new byte[] { 0x58, 0x23, 0x28 },
- new byte[] { 0x58, 0x24, 0x46 }, new byte[] { 0x58, 0x25, 0x26 }, new byte[] { 0x58, 0x26, 0x08 },
- new byte[] { 0x58, 0x27, 0x26 }, new byte[] { 0x58, 0x28, 0x64 }, new byte[] { 0x58, 0x29, 0x26 },
- new byte[] { 0x58, 0x2a, 0x24 }, new byte[] { 0x58, 0x2b, 0x22 }, new byte[] { 0x58, 0x2c, 0x24 },
- new byte[] { 0x58, 0x2d, 0x24 }, new byte[] { 0x58, 0x2e, 0x06 }, new byte[] { 0x58, 0x2f, 0x22 },
- new byte[] { 0x58, 0x30, 0x40 }, new byte[] { 0x58, 0x31, 0x42 }, new byte[] { 0x58, 0x32, 0x24 },
- new byte[] { 0x58, 0x33, 0x26 }, new byte[] { 0x58, 0x34, 0x24 }, new byte[] { 0x58, 0x35, 0x22 },
- new byte[] { 0x58, 0x36, 0x22 }, new byte[] { 0x58, 0x37, 0x26 }, new byte[] { 0x58, 0x38, 0x44 },
- new byte[] { 0x58, 0x39, 0x24 }, new byte[] { 0x58, 0x3a, 0x26 }, new byte[] { 0x58, 0x3b, 0x28 },
- new byte[] { 0x58, 0x3c, 0x42 }, new byte[] { 0x58, 0x3d, 0xce },
- // AWB
- new byte[] { 0x51, 0x80, 0xff }, new byte[] { 0x51, 0x81, 0xf2 }, new byte[] { 0x51, 0x82, 0x00 },
- new byte[] { 0x51, 0x83, 0x14 }, new byte[] { 0x51, 0x84, 0x25 }, new byte[] { 0x51, 0x85, 0x24 },
- new byte[] { 0x51, 0x86, 0x09 }, new byte[] { 0x51, 0x87, 0x09 }, new byte[] { 0x51, 0x88, 0x09 },
- new byte[] { 0x51, 0x89, 0x75 }, new byte[] { 0x51, 0x8a, 0x54 }, new byte[] { 0x51, 0x8b, 0xe0 },
- new byte[] { 0x51, 0x8c, 0xb2 }, new byte[] { 0x51, 0x8d, 0x42 }, new byte[] { 0x51, 0x8e, 0x3d },
- new byte[] { 0x51, 0x8f, 0x56 }, new byte[] { 0x51, 0x90, 0x46 }, new byte[] { 0x51, 0x91, 0xf8 },
- new byte[] { 0x51, 0x92, 0x04 }, new byte[] { 0x51, 0x93, 0x70 }, new byte[] { 0x51, 0x94, 0xf0 },
- new byte[] { 0x51, 0x95, 0xf0 }, new byte[] { 0x51, 0x96, 0x03 }, new byte[] { 0x51, 0x97, 0x01 },
- new byte[] { 0x51, 0x98, 0x04 }, new byte[] { 0x51, 0x99, 0x12 }, new byte[] { 0x51, 0x9a, 0x04 },
- new byte[] { 0x51, 0x9b, 0x00 }, new byte[] { 0x51, 0x9c, 0x06 }, new byte[] { 0x51, 0x9d, 0x82 },
- new byte[] { 0x51, 0x9e, 0x38 },
- // Gamma
- new byte[] { 0x54, 0x80, 0x01 }, new byte[] { 0x54, 0x81, 0x08 }, new byte[] { 0x54, 0x82, 0x14 },
- new byte[] { 0x54, 0x83, 0x28 }, new byte[] { 0x54, 0x84, 0x51 }, new byte[] { 0x54, 0x85, 0x65 },
- new byte[] { 0x54, 0x86, 0x71 }, new byte[] { 0x54, 0x87, 0x7d }, new byte[] { 0x54, 0x88, 0x87 },
- new byte[] { 0x54, 0x89, 0x91 }, new byte[] { 0x54, 0x8a, 0x9a }, new byte[] { 0x54, 0x8b, 0xaa },
- new byte[] { 0x54, 0x8c, 0xb8 }, new byte[] { 0x54, 0x8d, 0xcd }, new byte[] { 0x54, 0x8e, 0xdd },
- new byte[] { 0x54, 0x8f, 0xea }, new byte[] { 0x54, 0x90, 0x1d },
- // CMX
- new byte[] { 0x53, 0x81, 0x1e }, new byte[] { 0x53, 0x82, 0x5b }, new byte[] { 0x53, 0x83, 0x08 },
- new byte[] { 0x53, 0x84, 0x0a }, new byte[] { 0x53, 0x85, 0x7e }, new byte[] { 0x53, 0x86, 0x88 },
- new byte[] { 0x53, 0x87, 0x7c }, new byte[] { 0x53, 0x88, 0x6c }, new byte[] { 0x53, 0x89, 0x10 },
- new byte[] { 0x53, 0x8a, 0x01 }, new byte[] { 0x53, 0x8b, 0x98 },
- // SDE
- new byte[] { 0x55, 0x80, 0x06 }, new byte[] { 0x55, 0x83, 0x40 }, new byte[] { 0x55, 0x84, 0x10 },
- new byte[] { 0x55, 0x89, 0x10 }, new byte[] { 0x55, 0x8a, 0x00 }, new byte[] { 0x55, 0x8b, 0xf8 },
- new byte[] { 0x50, 0x1d, 0x40 },
- // CIP
- new byte[] { 0x53, 0x00, 0x08 }, new byte[] { 0x53, 0x01, 0x30 }, new byte[] { 0x53, 0x02, 0x10 },
- new byte[] { 0x53, 0x03, 0x00 }, new byte[] { 0x53, 0x04, 0x08 }, new byte[] { 0x53, 0x05, 0x30 },
- new byte[] { 0x53, 0x06, 0x08 }, new byte[] { 0x53, 0x07, 0x16 }, new byte[] { 0x53, 0x09, 0x08 },
- new byte[] { 0x53, 0x0a, 0x30 }, new byte[] { 0x53, 0x0b, 0x04 }, new byte[] { 0x53, 0x0c, 0x06 },
- new byte[] { 0x50, 0x25, 0x00 },
- // 系统时钟分频
- new byte[] { 0x30, 0x35, 0x11 }, // 30fps
- new byte[] { 0x30, 0x36, PLL_MUX }, // PLL倍频
- new byte[] { 0x3c, 0x07, 0x08 },
- // 时序控制
- new byte[] { 0x38, 0x20, 0x46 }, // vflip
- new byte[] { 0x38, 0x21, 0x01 }, // mirror
- new byte[] { 0x38, 0x14, 0x31 }, // timing X inc
- new byte[] { 0x38, 0x15, 0x31 }, // timing Y inc
- // H_START/Y
- new byte[] { 0x38, 0x00, unchecked((byte)((H_START >> 8) & 0xFF)) },
- new byte[] { 0x38, 0x01, unchecked((byte)(H_START & 0xFF)) },
- new byte[] { 0x38, 0x02, unchecked((byte)((V_START >> 8) & 0xFF)) },
- new byte[] { 0x38, 0x03, unchecked((byte)(V_START & 0xFF)) },
- // H_END/Y
- new byte[] { 0x38, 0x04, unchecked((byte)((H_END >> 8) & 0xFF)) },
- new byte[] { 0x38, 0x05, unchecked((byte)(H_END & 0xFF)) },
- new byte[] { 0x38, 0x06, unchecked((byte)((V_END >> 8) & 0xFF)) },
- new byte[] { 0x38, 0x07, unchecked((byte)(V_END & 0xFF)) },
- // 输出像素个数
- new byte[] { 0x38, 0x08, unchecked((byte)((DVPHO >> 8) & 0xFF)) },
- new byte[] { 0x38, 0x09, unchecked((byte)(DVPHO & 0xFF)) },
- new byte[] { 0x38, 0x0A, unchecked((byte)((DVPVO >> 8) & 0xFF)) },
- new byte[] { 0x38, 0x0B, unchecked((byte)(DVPVO & 0xFF)) },
- // 总像素
- new byte[] { 0x38, 0x0C, unchecked((byte)((HTS >> 8) & 0xFF)) },
- new byte[] { 0x38, 0x0D, unchecked((byte)(HTS & 0xFF)) },
- new byte[] { 0x38, 0x0E, unchecked((byte)((VTS >> 8) & 0xFF)) },
- new byte[] { 0x38, 0x0F, unchecked((byte)(VTS & 0xFF)) },
- new byte[] { 0x38, 0x13, unchecked((byte)(V_OFFSET & 0xFF)) }, // Timing Voffset
- new byte[] { 0x36, 0x18, 0x00 },
- new byte[] { 0x36, 0x12, 0x29 },
- new byte[] { 0x37, 0x09, 0x52 },
- new byte[] { 0x37, 0x0c, 0x03 },
- new byte[] { 0x3a, 0x02, 0x17 }, //60Hz max exposure
- new byte[] { 0x3a, 0x03, 0x10 }, //60Hz max exposure
- new byte[] { 0x3a, 0x14, 0x17 }, //50Hz max exposure
- new byte[] { 0x3a, 0x15, 0x10 }, //50Hz max exposure
- new byte[] { 0x40, 0x04, 0x02 }, //BLC(背光) 2 lines
- new byte[] { 0x47, 0x13, 0x03 }, //JPEG mode 3
- new byte[] { 0x44, 0x07, 0x04 }, //量化标度
- new byte[] { 0x46, 0x0c, 0x20 },
- new byte[] { 0x48, 0x37, 0x22 }, //DVP CLK divider
- new byte[] { 0x38, 0x24, 0x02 }, //DVP CLK divider
- new byte[] { 0x50, 0x01, 0xA3 }, //ISP 控制
- new byte[] { 0x3b, 0x07, 0x0a }, //帧曝光模式
- // 彩条测试使能
- new byte[] { 0x50, 0x3d, 0x00 },
- new byte[] { 0x47, 0x41, 0x00 },
- // 闪光灯禁用
- new byte[] { 0x30, 0x16, 0x02 },
- new byte[] { 0x30, 0x1c, 0x02 },
- new byte[] { 0x30, 0x19, 0x02 }, //开启闪光灯
- new byte[] { 0x30, 0x19, 0x00 }, //关闭闪光灯
- // new byte[] { 0x30, 0x2c, 0xC2 }, //控制驱动能力的
- // new byte[] { 0x46, 0x00, 0xA0 },
- // for subsample=OFF
- // new byte[] { 0x36, 0x18, 0x04 },
- // new byte[] { 0x36, 0x12, 0x2b },
- // new byte[] { 0x37, 0x09, 0x12 },
- // new byte[] { 0x37, 0x0c, 0x00 },
- // Start streaming
- new byte[] { 0x30, 0x08, 0x02 }
- };
-
///
/// 初始化摄像头客户端
@@ -246,72 +59,94 @@ class Camera
public async ValueTask> Init()
{
- {
- var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.STORE_ADDR, FrameAddr);
- if (!ret.IsSuccessful)
- {
- logger.Error($"Failed to write STORE_ADDR to camera at {this.address}:{this.port}, error: {ret.Error}");
- return new(ret.Error);
- }
- if (!ret.Value)
- {
- logger.Error($"STORE_ADDR write returned false for camera at {this.address}:{this.port}");
- return new(new Exception($"STORE_ADDR write returned false for camera at {this.address}:{this.port}"));
- }
- }
+ // 步骤1: 复位
+ var resetResult = await Reset();
+ if (!resetResult.IsSuccessful) return resetResult;
- {
- var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.STORE_NUM, FrameLength);
- if (!ret.IsSuccessful)
- {
- logger.Error($"Failed to write STORE_NUM to camera at {this.address}:{this.port}, error: {ret.Error}");
- return new(ret.Error);
- }
- if (!ret.Value)
- {
- logger.Error($"STORE_NUM write returned false for camera at {this.address}:{this.port}");
- return new(new Exception($"STORE_NUM write returned false for camera at {this.address}:{this.port}"));
- }
- }
+ // 步骤2: 休眠
+ var sleepResult = await Sleep();
+ if (!sleepResult.IsSuccessful) return sleepResult;
- {
- var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.EXPECTED_VH, (DVPVO)<<16 | (DVPHO*2));
- if (!ret.IsSuccessful)
- {
- logger.Error($"Failed to write EXPECTED_VH to camera at {this.address}:{this.port}, error: {ret.Error}");
- return new(ret.Error);
- }
- if (!ret.Value)
- {
- logger.Error($"EXPECTED_VH write returned false for camera at {this.address}:{this.port}");
- return new(new Exception($"EXPECTED_VH write returned false for camera at {this.address}:{this.port}"));
- }
- }
+ // 步骤3: 配置基础寄存器
+ var basicResult = await ConfigureBasicRegisters();
+ if (!basicResult.IsSuccessful) return basicResult;
- var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout);
+ // 步骤4: 配置传感器控制
+ var sensorResult = await ConfigureSensorControl();
+ if (!sensorResult.IsSuccessful) return sensorResult;
- foreach (var cmd in InitCmdData)
- {
- var ret = await i2c.WriteData(CAM_I2C_ADDR, cmd, CAM_PROTO);
+ // 步骤5: 配置模拟控制
+ var analogResult = await ConfigureAnalogControl();
+ if (!analogResult.IsSuccessful) return analogResult;
- if (!ret.IsSuccessful)
- {
- logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: {BitConverter.ToString(cmd)} error: {ret.Error}");
- return new(ret.Error);
- }
+ // 步骤6: 配置时钟控制
+ var clockResult = await ConfigureClockControl();
+ if (!clockResult.IsSuccessful) return clockResult;
- if (!ret.Value)
- {
- logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: {BitConverter.ToString(cmd)}");
- return false;
- }
- if (cmd[0] == 0x30 && cmd[1] == 0x08 && cmd[2] == 0x82)
- {
- // 复位命令，等待5MS
- await Task.Delay(5);
- }
- else await Task.Delay(5); // 其他命令延时1ms
- }
+ // 步骤7: 配置PSRAM控制
+ var psramResult = await ConfigurePSRAMControl();
+ if (!psramResult.IsSuccessful) return psramResult;
+
+ // 步骤8: 配置DVP时序
+ var dvpResult = await ConfigureDVPTiming();
+ if (!dvpResult.IsSuccessful) return dvpResult;
+
+ // 步骤9: 配置基础控制
+ var baseResult = await ConfigureBaseControl();
+ if (!baseResult.IsSuccessful) return baseResult;
+
+ // 步骤10: 配置图像格式
+ var formatResult = await ConfigureImageFormat();
+ if (!formatResult.IsSuccessful) return formatResult;
+
+ // 步骤11: 配置ISP控制
+ var ispResult = await ConfigureISPControl();
+ if (!ispResult.IsSuccessful) return ispResult;
+
+ // 步骤12: 配置AEC
+ var aecResult = await ConfigureAEC();
+ if (!aecResult.IsSuccessful) return aecResult;
+
+ // 步骤13: 配置LENC
+ var lencResult = await ConfigureLENC();
+ if (!lencResult.IsSuccessful) return lencResult;
+
+ // 步骤14: 配置AWB
+ var awbResult = await ConfigureAWB();
+ if (!awbResult.IsSuccessful) return awbResult;
+
+ // 步骤15: 配置Gamma
+ var gammaResult = await ConfigureGamma();
+ if (!gammaResult.IsSuccessful) return gammaResult;
+
+ // 步骤16: 配置CMX
+ var cmxResult = await ConfigureCMX();
+ if (!cmxResult.IsSuccessful) return cmxResult;
+
+ // 步骤17: 配置SDE
+ var sdeResult = await ConfigureSDE();
+ if (!sdeResult.IsSuccessful) return sdeResult;
+
+ // 步骤18: 配置CIP
+ var cipResult = await ConfigureCIP();
+ if (!cipResult.IsSuccessful) return cipResult;
+
+ // 步骤19: 配置时序控制
+ var timingResult = await ConfigureTimingControl();
+ if (!timingResult.IsSuccessful) return timingResult;
+
+ // 步骤20: 配置测试和闪光灯
+ var testResult = await ConfigureTestAndFlash();
+ if (!testResult.IsSuccessful) return testResult;
+
+ // 步骤21: 配置分辨率（默认640x480）
+ // var resolutionResult = await ConfigureResolution640x480();
+ var resolutionResult = await ConfigureResolution1280x720();
+ if (!resolutionResult.IsSuccessful) return resolutionResult;
+
+ // 步骤22: 开始流
+ var startResult = await StartStreaming();
+ if (!startResult.IsSuccessful) return startResult;
return true;
}
@@ -338,26 +173,667 @@ class Camera
/// 包含图像数据的字节数组
public async ValueTask> ReadFrame()
{
- // 清除UDP服务器接收缓冲区
- await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
+ // 只在第一次或出错时清除UDP缓冲区，避免每帧都清除造成延迟
+ // await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
- logger.Trace($"Clear up udp server {this.address} receive data");
+ logger.Trace($"Reading frame from camera {this.address}");
// 使用UDPClientPool读取图像帧数据
var result = await UDPClientPool.ReadAddr4Bytes(
this.ep,
this.taskID, // taskID
FrameAddr,
- ((int)FrameLength),
+ // ((int)FrameLength),
+ 1280*720/2,
this.timeout);
if (!result.IsSuccessful)
{
logger.Error($"Failed to read frame from camera {this.address}:{this.port}, error: {result.Error}");
+ // 读取失败时清除缓冲区，为下次读取做准备
+ try
+ {
+ await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
+ }
+ catch (Exception ex)
+ {
+ logger.Warn($"Failed to clear UDP data after read error: {ex.Message}");
+ }
return new(result.Error);
}
- logger.Debug($"Successfully read frame from camera {this.address}:{this.port}, data length: {result.Value.Length} bytes");
+ logger.Trace($"Successfully read frame from camera {this.address}:{this.port}, data length: {result.Value.Length} bytes");
return result.Value;
}
+
+ ///
+ /// 批量配置I2C寄存器
+ ///
+ /// 寄存器配置表，每个元素包含3个字节：[地址高位, 地址低位, 数据]
+ /// 自定义延时时间（毫秒），如果为null则使用默认延时逻辑
+ /// 配置结果
+ public async ValueTask> ConfigureRegisters(byte[][] registerTable, int? customDelayMs = null)
+ {
+ var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout);
+
+ foreach (var cmd in registerTable)
+ {
+ if (cmd.Length != 3)
+ {
+ logger.Error($"Invalid register command length: {cmd.Length}, expected 3 bytes");
+ return new(new ArgumentException($"Invalid register command length: {cmd.Length}, expected 3 bytes"));
+ }
+
+ var ret = await i2c.WriteData(CAM_I2C_ADDR, cmd, CAM_PROTO);
+
+ if (!ret.IsSuccessful)
+ {
+ logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: {BitConverter.ToString(cmd)} error: {ret.Error}");
+ return new(ret.Error);
+ }
+
+ if (!ret.Value)
+ {
+ logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: {BitConverter.ToString(cmd)}");
+ return false;
+ }
+
+ // 处理延时逻辑
+ if (customDelayMs.HasValue)
+ {
+ await Task.Delay(customDelayMs.Value);
+ }
+ else
+ {
+ // 使用默认延时逻辑
+ if (cmd[0] == 0x30 && cmd[1] == 0x08 && cmd[2] == 0x82)
+ {
+ // 复位命令，等待5MS
+ await Task.Delay(5);
+ }
+ else
+ {
+ await Task.Delay(3); // 其他命令延时3ms
+ }
+ }
+ }
+
+ return true;
+ }
+
+ ///
+ /// 配置摄像头分辨率和相关参数
+ ///
+ /// 水平起始位置
+ /// 垂直起始位置
+ /// 输出水平像素数
+ /// 输出垂直像素数
+ /// 水平总像素数
+ /// 垂直总像素数
+ /// 水平偏移
+ /// 垂直偏移
+ /// 水平窗口大小（默认1500）
+ /// 垂直窗口大小（默认1300）
+ /// 配置结果
+ public async ValueTask> ConfigureResolution(
+ UInt16 hStart, UInt16 vStart,
+ UInt16 dvpHo, UInt16 dvpVo,
+ UInt16 hts, UInt16 vts,
+ UInt16 hOffset, UInt16 vOffset,
+ UInt16 hWindow = 1500, UInt16 vWindow = 1300)
+ {
+ // 计算结束位置
+ UInt16 hEnd = (UInt16)(hStart + hWindow - 1);
+ UInt16 vEnd = (UInt16)(vStart + vWindow - 1);
+
+ // 计算帧长度
+ UInt32 frameLength = (UInt32)(dvpHo * dvpVo * 16 / 32);
+
+ // 1. 配置UDP相关寄存器
+ {
+ var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.STORE_ADDR, FrameAddr);
+ if (!ret.IsSuccessful)
+ {
+ logger.Error($"Failed to write STORE_ADDR: {ret.Error}");
+ return new(ret.Error);
+ }
+ if (!ret.Value)
+ {
+ logger.Error("STORE_ADDR write returned false");
+ return new(new Exception("STORE_ADDR write returned false"));
+ }
+ }
+
+ {
+ var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.STORE_NUM, frameLength);
+ if (!ret.IsSuccessful)
+ {
+ logger.Error($"Failed to write STORE_NUM: {ret.Error}");
+ return new(ret.Error);
+ }
+ if (!ret.Value)
+ {
+ logger.Error("STORE_NUM write returned false");
+ return new(new Exception("STORE_NUM write returned false"));
+ }
+ }
+
+ {
+ var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.EXPECTED_VH, ((uint)dvpVo) << 16 | ((uint)dvpHo * 2));
+ if (!ret.IsSuccessful)
+ {
+ logger.Error($"Failed to write EXPECTED_VH: {ret.Error}");
+ return new(ret.Error);
+ }
+ if (!ret.Value)
+ {
+ logger.Error("EXPECTED_VH write returned false");
+ return new(new Exception("EXPECTED_VH write returned false"));
+ }
+ }
+
+ // 2. 配置I2C寄存器
+ var resolutionRegisters = new byte[][]
+ {
+ // H_OFFSET/V_OFFSET
+ new byte[] { 0x38, 0x10, unchecked((byte)((hOffset >> 8) & 0xFF)) },
+ new byte[] { 0x38, 0x11, unchecked((byte)(hOffset & 0xFF)) },
+ new byte[] { 0x38, 0x12, unchecked((byte)((vOffset >> 8) & 0xFF)) },
+
+ // H_START/V_START
+ new byte[] { 0x38, 0x00, unchecked((byte)((hStart >> 8) & 0xFF)) },
+ new byte[] { 0x38, 0x01, unchecked((byte)(hStart & 0xFF)) },
+ new byte[] { 0x38, 0x02, unchecked((byte)((vStart >> 8) & 0xFF)) },
+ new byte[] { 0x38, 0x03, unchecked((byte)(vStart & 0xFF)) },
+
+ // H_END/V_END
+ new byte[] { 0x38, 0x04, unchecked((byte)((hEnd >> 8) & 0xFF)) },
+ new byte[] { 0x38, 0x05, unchecked((byte)(hEnd & 0xFF)) },
+ new byte[] { 0x38, 0x06, unchecked((byte)((vEnd >> 8) & 0xFF)) },
+ new byte[] { 0x38, 0x07, unchecked((byte)(vEnd & 0xFF)) },
+
+ // 输出像素个数
+ new byte[] { 0x38, 0x08, unchecked((byte)((dvpHo >> 8) & 0xFF)) },
+ new byte[] { 0x38, 0x09, unchecked((byte)(dvpHo & 0xFF)) },
+ new byte[] { 0x38, 0x0A, unchecked((byte)((dvpVo >> 8) & 0xFF)) },
+ new byte[] { 0x38, 0x0B, unchecked((byte)(dvpVo & 0xFF)) },
+
+ // 总像素
+ new byte[] { 0x38, 0x0C, unchecked((byte)((hts >> 8) & 0xFF)) },
+ new byte[] { 0x38, 0x0D, unchecked((byte)(hts & 0xFF)) },
+ new byte[] { 0x38, 0x0E, unchecked((byte)((vts >> 8) & 0xFF)) },
+ new byte[] { 0x38, 0x0F, unchecked((byte)(vts & 0xFF)) },
+
+ // Timing Voffset
+ new byte[] { 0x38, 0x13, unchecked((byte)(vOffset & 0xFF)) }
+ };
+
+ var configResult = await ConfigureRegisters(resolutionRegisters, customDelayMs: 1);
+ if (!configResult.IsSuccessful)
+ {
+ logger.Error($"Failed to configure resolution registers: {configResult.Error}");
+ return configResult;
+ }
+
+ logger.Info($"Successfully configured resolution: {dvpHo}x{dvpVo}, HTS={hts}, VTS={vts}");
+ return true;
+ }
+
+ ///
+ /// 配置为640x480分辨率（默认配置）
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureResolution640x480()
+ {
+ return await ConfigureResolution(
+ hStart: 0, vStart: 0,
+ dvpHo: 640, dvpVo: 480,
+ hts: 1700, vts: 1500,
+ hOffset: 16, vOffset: 4
+ );
+ }
+
+ ///
+ /// 配置为320x240分辨率
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureResolution320x240()
+ {
+ return await ConfigureResolution(
+ hStart: 0, vStart: 0,
+ dvpHo: 320, dvpVo: 240,
+ hts: 850, vts: 750,
+ hOffset: 16, vOffset: 4,
+ hWindow: 750, vWindow: 650
+ );
+ }
+
+ ///
+ /// 配置为1280x720分辨率
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureResolution1280x720()
+ {
+ return await ConfigureResolution(
+ hStart: 0, vStart: 0,
+ dvpHo: 1280, dvpVo: 720,
+ hts: 2844, vts: 1968,
+ hOffset: 16, vOffset: 4,
+ hWindow: 2592, vWindow: 1944
+ );
+ }
+
+ ///
+ /// 复位摄像头
+ ///
+ /// 配置结果
+ public async ValueTask> Reset()
+ {
+ var resetRegisters = new byte[][]
+ {
+ new byte[] { 0x30, 0x08, 0x82 } // 复位命令
+ };
+
+ return await ConfigureRegisters(resetRegisters, customDelayMs: 5); // 复位后等待5ms
+ }
+
+ ///
+ /// 设置摄像头为休眠模式
+ ///
+ /// 配置结果
+ public async ValueTask> Sleep()
+ {
+ var sleepRegisters = new byte[][]
+ {
+ new byte[] { 0x30, 0x08, 0x42 } // 休眠命令
+ };
+
+ return await ConfigureRegisters(sleepRegisters);
+ }
+
+ ///
+ /// 配置基础寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureBasicRegisters()
+ {
+ var basicRegisters = new byte[][]
+ {
+ new byte[] { 0x31, 0x03, 0x02 },
+ new byte[] { 0x30, 0x17, 0xff },
+ new byte[] { 0x30, 0x18, 0xff },
+ new byte[] { 0x30, 0x37, 0x13 },
+ new byte[] { 0x31, 0x08, 0x01 }
+ };
+
+ return await ConfigureRegisters(basicRegisters);
+ }
+
+ ///
+ /// 配置传感器控制寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureSensorControl()
+ {
+ var sensorRegisters = new byte[][]
+ {
+ new byte[] { 0x36, 0x30, 0x36 },
+ new byte[] { 0x36, 0x31, 0x0e },
+ new byte[] { 0x36, 0x32, 0xe2 },
+ new byte[] { 0x36, 0x33, 0x12 },
+ new byte[] { 0x36, 0x21, 0xe0 }
+ };
+
+ return await ConfigureRegisters(sensorRegisters);
+ }
+
+ ///
+ /// 配置模拟控制寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureAnalogControl()
+ {
+ var analogRegisters = new byte[][]
+ {
+ new byte[] { 0x37, 0x04, 0xa0 },
+ new byte[] { 0x37, 0x03, 0x5a },
+ new byte[] { 0x37, 0x15, 0x78 },
+ new byte[] { 0x37, 0x17, 0x01 },
+ new byte[] { 0x37, 0x0b, 0x60 },
+ new byte[] { 0x37, 0x05, 0x1a }
+ };
+
+ return await ConfigureRegisters(analogRegisters);
+ }
+
+ ///
+ /// 配置时钟控制寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureClockControl()
+ {
+ var clockRegisters = new byte[][]
+ {
+ new byte[] { 0x39, 0x05, 0x02 },
+ new byte[] { 0x39, 0x06, 0x10 },
+ new byte[] { 0x39, 0x01, 0x0a },
+ new byte[] { 0x30, 0x35, 0x11 }, // 30fps
+ new byte[] { 0x30, 0x36, PLL_MUX } // PLL倍频
+ };
+
+ return await ConfigureRegisters(clockRegisters);
+ }
+
+ ///
+ /// 配置PSRAM控制寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigurePSRAMControl()
+ {
+ var psramRegisters = new byte[][]
+ {
+ new byte[] { 0x37, 0x31, 0x12 },
+ new byte[] { 0x36, 0x00, 0x08 },
+ new byte[] { 0x36, 0x01, 0x33 },
+ new byte[] { 0x30, 0x2d, 0x60 },
+ new byte[] { 0x36, 0x20, 0x52 },
+ new byte[] { 0x37, 0x1b, 0x20 },
+ new byte[] { 0x47, 0x1c, 0x50 }
+ };
+
+ return await ConfigureRegisters(psramRegisters);
+ }
+
+ ///
+ /// 配置DVP时序寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureDVPTiming()
+ {
+ var dvpRegisters = new byte[][]
+ {
+ new byte[] { 0x3a, 0x13, 0x43 },
+ new byte[] { 0x3a, 0x18, 0x00 },
+ new byte[] { 0x3a, 0x19, 0xf8 },
+ new byte[] { 0x36, 0x35, 0x13 },
+ new byte[] { 0x36, 0x36, 0x03 },
+ new byte[] { 0x36, 0x34, 0x40 },
+ new byte[] { 0x36, 0x22, 0x01 }
+ };
+
+ return await ConfigureRegisters(dvpRegisters);
+ }
+
+ ///
+ /// 配置基础控制寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureBaseControl()
+ {
+ var baseRegisters = new byte[][]
+ {
+ new byte[] { 0x3c, 0x01, 0x34 },
+ new byte[] { 0x3c, 0x04, 0x28 },
+ new byte[] { 0x3c, 0x05, 0x98 },
+ new byte[] { 0x3c, 0x06, 0x00 },
+ new byte[] { 0x3c, 0x07, 0x08 },
+ new byte[] { 0x3c, 0x08, 0x00 },
+ new byte[] { 0x3c, 0x09, 0x1c },
+ new byte[] { 0x3c, 0x0a, 0x9c },
+ new byte[] { 0x3c, 0x0b, 0x40 },
+ new byte[] { 0x37, 0x08, 0x64 }
+ };
+
+ return await ConfigureRegisters(baseRegisters);
+ }
+
+ ///
+ /// 配置图像格式寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureImageFormat()
+ {
+ var formatRegisters = new byte[][]
+ {
+ new byte[] { 0x40, 0x01, 0x02 },
+ new byte[] { 0x40, 0x05, 0x1a },
+ new byte[] { 0x30, 0x00, 0x00 },
+ new byte[] { 0x30, 0x04, 0xff },
+ new byte[] { 0x43, 0x00, 0x6F }, // RGB565:first byte:{g[2:0],b[4:0]],second byte:{r[4:0],g[5:3]}
+ new byte[] { 0x50, 0x1f, 0x01 }, // Format: ISP RGB
+ new byte[] { 0x44, 0x0e, 0x00 }
+ };
+
+ return await ConfigureRegisters(formatRegisters);
+ }
+
+ ///
+ /// 配置ISP控制寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureISPControl()
+ {
+ var ispRegisters = new byte[][]
+ {
+ new byte[] { 0x50, 0x00, 0xA7 }, // ISP控制
+ new byte[] { 0x50, 0x01, 0xA3 } // ISP控制
+ };
+
+ return await ConfigureRegisters(ispRegisters);
+ }
+
+ ///
+ /// 配置AEC（自动曝光控制）寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureAEC()
+ {
+ var aecRegisters = new byte[][]
+ {
+ new byte[] { 0x3a, 0x0f, 0x30 }, // AEC控制;stable range in high
+ new byte[] { 0x3a, 0x10, 0x28 }, // AEC控制;stable range in low
+ new byte[] { 0x3a, 0x1b, 0x30 }, // AEC控制;stable range out high
+ new byte[] { 0x3a, 0x1e, 0x26 }, // AEC控制;stable range out low
+ new byte[] { 0x3a, 0x11, 0x60 }, // AEC控制; fast zone high
+ new byte[] { 0x3a, 0x1f, 0x14 }, // AEC控制; fast zone low
+ new byte[] { 0x3a, 0x02, 0x17 }, // 60Hz max exposure
+ new byte[] { 0x3a, 0x03, 0x10 }, // 60Hz max exposure
+ new byte[] { 0x3a, 0x14, 0x17 }, // 50Hz max exposure
+ new byte[] { 0x3a, 0x15, 0x10 }, // 50Hz max exposure
+ new byte[] { 0x3b, 0x07, 0x0a } // 帧曝光模式
+ };
+
+ return await ConfigureRegisters(aecRegisters);
+ }
+
+ ///
+ /// 配置LENC（镜头校正）寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureLENC()
+ {
+ var lencRegisters = new byte[][]
+ {
+ new byte[] { 0x58, 0x00, 0x23 }, new byte[] { 0x58, 0x01, 0x14 }, new byte[] { 0x58, 0x02, 0x0f },
+ new byte[] { 0x58, 0x03, 0x0f }, new byte[] { 0x58, 0x04, 0x12 }, new byte[] { 0x58, 0x05, 0x26 },
+ new byte[] { 0x58, 0x06, 0x0c }, new byte[] { 0x58, 0x07, 0x08 }, new byte[] { 0x58, 0x08, 0x05 },
+ new byte[] { 0x58, 0x09, 0x05 }, new byte[] { 0x58, 0x0a, 0x08 }, new byte[] { 0x58, 0x0b, 0x0d },
+ new byte[] { 0x58, 0x0c, 0x08 }, new byte[] { 0x58, 0x0d, 0x03 }, new byte[] { 0x58, 0x0e, 0x00 },
+ new byte[] { 0x58, 0x0f, 0x00 }, new byte[] { 0x58, 0x10, 0x03 }, new byte[] { 0x58, 0x11, 0x09 },
+ new byte[] { 0x58, 0x12, 0x07 }, new byte[] { 0x58, 0x13, 0x03 }, new byte[] { 0x58, 0x14, 0x00 },
+ new byte[] { 0x58, 0x15, 0x01 }, new byte[] { 0x58, 0x16, 0x03 }, new byte[] { 0x58, 0x17, 0x08 },
+ new byte[] { 0x58, 0x18, 0x0d }, new byte[] { 0x58, 0x19, 0x08 }, new byte[] { 0x58, 0x1a, 0x05 },
+ new byte[] { 0x58, 0x1b, 0x06 }, new byte[] { 0x58, 0x1c, 0x08 }, new byte[] { 0x58, 0x1d, 0x0e },
+ new byte[] { 0x58, 0x1e, 0x29 }, new byte[] { 0x58, 0x1f, 0x17 }, new byte[] { 0x58, 0x20, 0x11 },
+ new byte[] { 0x58, 0x21, 0x11 }, new byte[] { 0x58, 0x22, 0x15 }, new byte[] { 0x58, 0x23, 0x28 },
+ new byte[] { 0x58, 0x24, 0x46 }, new byte[] { 0x58, 0x25, 0x26 }, new byte[] { 0x58, 0x26, 0x08 },
+ new byte[] { 0x58, 0x27, 0x26 }, new byte[] { 0x58, 0x28, 0x64 }, new byte[] { 0x58, 0x29, 0x26 },
+ new byte[] { 0x58, 0x2a, 0x24 }, new byte[] { 0x58, 0x2b, 0x22 }, new byte[] { 0x58, 0x2c, 0x24 },
+ new byte[] { 0x58, 0x2d, 0x24 }, new byte[] { 0x58, 0x2e, 0x06 }, new byte[] { 0x58, 0x2f, 0x22 },
+ new byte[] { 0x58, 0x30, 0x40 }, new byte[] { 0x58, 0x31, 0x42 }, new byte[] { 0x58, 0x32, 0x24 },
+ new byte[] { 0x58, 0x33, 0x26 }, new byte[] { 0x58, 0x34, 0x24 }, new byte[] { 0x58, 0x35, 0x22 },
+ new byte[] { 0x58, 0x36, 0x22 }, new byte[] { 0x58, 0x37, 0x26 }, new byte[] { 0x58, 0x38, 0x44 },
+ new byte[] { 0x58, 0x39, 0x24 }, new byte[] { 0x58, 0x3a, 0x26 }, new byte[] { 0x58, 0x3b, 0x28 },
+ new byte[] { 0x58, 0x3c, 0x42 }, new byte[] { 0x58, 0x3d, 0xce }
+ };
+
+ return await ConfigureRegisters(lencRegisters);
+ }
+
+ ///
+ /// 配置摄像头AWB（自动白平衡）寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureAWB()
+ {
+ var awbRegisters = new byte[][]
+ {
+ new byte[] { 0x51, 0x80, 0xff }, new byte[] { 0x51, 0x81, 0xf2 }, new byte[] { 0x51, 0x82, 0x00 },
+ new byte[] { 0x51, 0x83, 0x14 }, new byte[] { 0x51, 0x84, 0x25 }, new byte[] { 0x51, 0x85, 0x24 },
+ new byte[] { 0x51, 0x86, 0x09 }, new byte[] { 0x51, 0x87, 0x09 }, new byte[] { 0x51, 0x88, 0x09 },
+ new byte[] { 0x51, 0x89, 0x75 }, new byte[] { 0x51, 0x8a, 0x54 }, new byte[] { 0x51, 0x8b, 0xe0 },
+ new byte[] { 0x51, 0x8c, 0xb2 }, new byte[] { 0x51, 0x8d, 0x42 }, new byte[] { 0x51, 0x8e, 0x3d },
+ new byte[] { 0x51, 0x8f, 0x56 }, new byte[] { 0x51, 0x90, 0x46 }, new byte[] { 0x51, 0x91, 0xf8 },
+ new byte[] { 0x51, 0x92, 0x04 }, new byte[] { 0x51, 0x93, 0x70 }, new byte[] { 0x51, 0x94, 0xf0 },
+ new byte[] { 0x51, 0x95, 0xf0 }, new byte[] { 0x51, 0x96, 0x03 }, new byte[] { 0x51, 0x97, 0x01 },
+ new byte[] { 0x51, 0x98, 0x04 }, new byte[] { 0x51, 0x99, 0x12 }, new byte[] { 0x51, 0x9a, 0x04 },
+ new byte[] { 0x51, 0x9b, 0x00 }, new byte[] { 0x51, 0x9c, 0x06 }, new byte[] { 0x51, 0x9d, 0x82 },
+ new byte[] { 0x51, 0x9e, 0x38 }
+ };
+
+ return await ConfigureRegisters(awbRegisters, customDelayMs: 2);
+ }
+
+ ///
+ /// 配置摄像头Gamma校正寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureGamma()
+ {
+ var gammaRegisters = new byte[][]
+ {
+ new byte[] { 0x54, 0x80, 0x01 }, new byte[] { 0x54, 0x81, 0x08 }, new byte[] { 0x54, 0x82, 0x14 },
+ new byte[] { 0x54, 0x83, 0x28 }, new byte[] { 0x54, 0x84, 0x51 }, new byte[] { 0x54, 0x85, 0x65 },
+ new byte[] { 0x54, 0x86, 0x71 }, new byte[] { 0x54, 0x87, 0x7d }, new byte[] { 0x54, 0x88, 0x87 },
+ new byte[] { 0x54, 0x89, 0x91 }, new byte[] { 0x54, 0x8a, 0x9a }, new byte[] { 0x54, 0x8b, 0xaa },
+ new byte[] { 0x54, 0x8c, 0xb8 }, new byte[] { 0x54, 0x8d, 0xcd }, new byte[] { 0x54, 0x8e, 0xdd },
+ new byte[] { 0x54, 0x8f, 0xea }, new byte[] { 0x54, 0x90, 0x1d }
+ };
+
+ return await ConfigureRegisters(gammaRegisters);
+ }
+
+
+ ///
+ /// 配置CMX（色彩矩阵）寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureCMX()
+ {
+ var cmxRegisters = new byte[][]
+ {
+ new byte[] { 0x53, 0x81, 0x1e }, new byte[] { 0x53, 0x82, 0x5b }, new byte[] { 0x53, 0x83, 0x08 },
+ new byte[] { 0x53, 0x84, 0x0a }, new byte[] { 0x53, 0x85, 0x7e }, new byte[] { 0x53, 0x86, 0x88 },
+ new byte[] { 0x53, 0x87, 0x7c }, new byte[] { 0x53, 0x88, 0x6c }, new byte[] { 0x53, 0x89, 0x10 },
+ new byte[] { 0x53, 0x8a, 0x01 }, new byte[] { 0x53, 0x8b, 0x98 }
+ };
+
+ return await ConfigureRegisters(cmxRegisters);
+ }
+
+ ///
+ /// 配置SDE（特殊数字效果）寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureSDE()
+ {
+ var sdeRegisters = new byte[][]
+ {
+ new byte[] { 0x55, 0x80, 0x06 }, new byte[] { 0x55, 0x83, 0x40 }, new byte[] { 0x55, 0x84, 0x10 },
+ new byte[] { 0x55, 0x89, 0x10 }, new byte[] { 0x55, 0x8a, 0x00 }, new byte[] { 0x55, 0x8b, 0xf8 },
+ new byte[] { 0x50, 0x1d, 0x40 }
+ };
+
+ return await ConfigureRegisters(sdeRegisters);
+ }
+
+ ///
+ /// 配置CIP（颜色插值处理）寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureCIP()
+ {
+ var cipRegisters = new byte[][]
+ {
+ new byte[] { 0x53, 0x00, 0x08 }, new byte[] { 0x53, 0x01, 0x30 }, new byte[] { 0x53, 0x02, 0x10 },
+ new byte[] { 0x53, 0x03, 0x00 }, new byte[] { 0x53, 0x04, 0x08 }, new byte[] { 0x53, 0x05, 0x30 },
+ new byte[] { 0x53, 0x06, 0x08 }, new byte[] { 0x53, 0x07, 0x16 }, new byte[] { 0x53, 0x09, 0x08 },
+ new byte[] { 0x53, 0x0a, 0x30 }, new byte[] { 0x53, 0x0b, 0x04 }, new byte[] { 0x53, 0x0c, 0x06 },
+ new byte[] { 0x50, 0x25, 0x00 }
+ };
+
+ return await ConfigureRegisters(cipRegisters);
+ }
+
+ ///
+ /// 配置时序控制寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureTimingControl()
+ {
+ var timingRegisters = new byte[][]
+ {
+ new byte[] { 0x38, 0x20, 0x46 }, // vflip
+ new byte[] { 0x38, 0x21, 0x01 }, // mirror
+ new byte[] { 0x38, 0x14, 0x31 }, // timing X inc
+ new byte[] { 0x38, 0x15, 0x31 }, // timing Y inc
+ new byte[] { 0x36, 0x18, 0x00 },
+ new byte[] { 0x36, 0x12, 0x29 },
+ new byte[] { 0x37, 0x09, 0x52 },
+ new byte[] { 0x37, 0x0c, 0x03 }
+ };
+
+ return await ConfigureRegisters(timingRegisters);
+ }
+
+ ///
+ /// 配置测试模式和闪光灯寄存器
+ ///
+ /// 配置结果
+ public async ValueTask> ConfigureTestAndFlash()
+ {
+ var testRegisters = new byte[][]
+ {
+ new byte[] { 0x40, 0x04, 0x02 }, // BLC(背光) 2 lines
+ new byte[] { 0x47, 0x13, 0x03 }, // JPEG mode 3
+ new byte[] { 0x44, 0x07, 0x04 }, // 量化标度
+ new byte[] { 0x46, 0x0c, 0x20 },
+ new byte[] { 0x48, 0x37, 0x22 }, // DVP CLK divider
+ new byte[] { 0x38, 0x24, 0x02 }, // DVP CLK divider
+ // 彩条测试禁用
+ new byte[] { 0x50, 0x3d, 0x00 },
+ new byte[] { 0x47, 0x41, 0x00 },
+ // 闪光灯配置
+ new byte[] { 0x30, 0x16, 0x02 },
+ new byte[] { 0x30, 0x1c, 0x02 },
+ new byte[] { 0x30, 0x19, 0x02 }, // 开启闪光灯
+ new byte[] { 0x30, 0x19, 0x00 } // 关闭闪光灯
+ };
+
+ return await ConfigureRegisters(testRegisters);
+ }
+
+ ///
+ /// 开始流媒体传输
+ ///
+ /// 配置结果
+ public async ValueTask> StartStreaming()
+ {
+ var startRegisters = new byte[][]
+ {
+ new byte[] { 0x30, 0x08, 0x02 } // 开始流
+ };
+
+ return await ConfigureRegisters(startRegisters);
+ }
}
diff --git a/server/src/Services/HttpVideoStreamService.cs b/server/src/Services/HttpVideoStreamService.cs
index 4522a1c..63187bc 100644
--- a/server/src/Services/HttpVideoStreamService.cs
+++ b/server/src/Services/HttpVideoStreamService.cs
@@ -82,8 +82,8 @@ public class HttpVideoStreamService : BackgroundService
private HttpListener? _httpListener;
private readonly int _serverPort = 8080;
private readonly int _frameRate = 30; // 30 FPS
- private readonly int _frameWidth = 640;
- private readonly int _frameHeight = 480;
+ private readonly int _frameWidth = 1280;
+ private readonly int _frameHeight = 720;
// 摄像头客户端
private Camera? _camera;
@@ -559,21 +559,59 @@ public class HttpVideoStreamService : BackgroundService
private async Task GenerateVideoFrames(CancellationToken cancellationToken)
{
var frameInterval = TimeSpan.FromMilliseconds(1000.0 / _frameRate);
+ var lastFrameTime = DateTime.UtcNow;
while (!cancellationToken.IsCancellationRequested && _cameraEnable)
{
try
{
- // 从 FPGA 获取图像数据（模拟）
+ var frameStartTime = DateTime.UtcNow;
+
+ // 从 FPGA 获取图像数据
var imageData = await GetFPGAImageData();
- // 向所有连接的客户端发送帧
- await BroadcastFrameAsync(imageData, cancellationToken);
+ var imageAcquireTime = DateTime.UtcNow;
- _frameCounter++;
+ // 如果有图像数据，立即开始广播（不等待）
+ if (imageData != null && imageData.Length > 0)
+ {
+ // 异步广播帧，不阻塞下一帧的获取
+ _ = Task.Run(async () =>
+ {
+ try
+ {
+ await BroadcastFrameAsync(imageData, cancellationToken);
+ }
+ catch (Exception ex)
+ {
+ logger.Error(ex, "异步广播帧时发生错误");
+ }
+ }, cancellationToken);
- // 等待下一帧
- await Task.Delay(frameInterval, cancellationToken);
+ _frameCounter++;
+
+ var frameEndTime = DateTime.UtcNow;
+ var frameProcessingTime = (frameEndTime - frameStartTime).TotalMilliseconds;
+ var imageAcquireElapsed = (imageAcquireTime - frameStartTime).TotalMilliseconds;
+
+ if (_frameCounter % 30 == 0) // 每秒记录一次性能信息
+ {
+ logger.Debug("帧 {FrameNumber} 性能统计 - 图像获取: {AcquireTime:F1}ms, 总处理: {ProcessTime:F1}ms",
+ _frameCounter, imageAcquireElapsed, frameProcessingTime);
+ }
+ }
+
+ // 动态调整延迟 - 基于实际处理时间
+ var elapsed = (DateTime.UtcNow - lastFrameTime).TotalMilliseconds;
+ var targetInterval = frameInterval.TotalMilliseconds;
+ var remainingDelay = Math.Max(0, targetInterval - elapsed);
+
+ if (remainingDelay > 0)
+ {
+ await Task.Delay(TimeSpan.FromMilliseconds(remainingDelay), cancellationToken);
+ }
+
+ lastFrameTime = DateTime.UtcNow;
}
catch (OperationCanceledException)
{
@@ -582,7 +620,7 @@ public class HttpVideoStreamService : BackgroundService
catch (Exception ex)
{
logger.Error(ex, "生成视频帧时发生错误");
- await Task.Delay(1000, cancellationToken); // 错误恢复延迟
+ await Task.Delay(100, cancellationToken); // 减少错误恢复延迟
}
}
}
@@ -593,6 +631,7 @@ public class HttpVideoStreamService : BackgroundService
///
private async Task GetFPGAImageData()
{
+ var startTime = DateTime.UtcNow;
Camera? currentCamera = null;
lock (_cameraLock)
@@ -609,7 +648,10 @@ public class HttpVideoStreamService : BackgroundService
try
{
// 从摄像头读取帧数据
+ var readStartTime = DateTime.UtcNow;
var result = await currentCamera.ReadFrame();
+ var readEndTime = DateTime.UtcNow;
+ var readTime = (readEndTime - readStartTime).TotalMilliseconds;
if (!result.IsSuccessful)
{
@@ -627,17 +669,23 @@ public class HttpVideoStreamService : BackgroundService
}
// 将 RGB565 转换为 RGB24
+ var convertStartTime = DateTime.UtcNow;
var rgb24Result = Common.Image.ConvertRGB565ToRGB24(rgb565Data, _frameWidth, _frameHeight, isLittleEndian: false);
+ var convertEndTime = DateTime.UtcNow;
+ var convertTime = (convertEndTime - convertStartTime).TotalMilliseconds;
+
if (!rgb24Result.IsSuccessful)
{
logger.Error("RGB565转RGB24失败: {Error}", rgb24Result.Error);
return new byte[0];
}
+ var totalTime = (DateTime.UtcNow - startTime).TotalMilliseconds;
+
if (_frameCounter % 30 == 0) // 每秒更新一次日志
{
- logger.Debug("成功获取第 {FrameNumber} 帧，RGB565大小: {RGB565Size} 字节, RGB24大小: {RGB24Size} 字节",
- _frameCounter, rgb565Data.Length, rgb24Result.Value.Length);
+ logger.Debug("帧 {FrameNumber} 数据获取性能 - 读取: {ReadTime:F1}ms, 转换: {ConvertTime:F1}ms, 总计: {TotalTime:F1}ms, RGB565: {RGB565Size} 字节, RGB24: {RGB24Size} 字节",
+ _frameCounter, readTime, convertTime, totalTime, rgb565Data.Length, rgb24Result.Value.Length);
}
return rgb24Result.Value;
@@ -688,8 +736,8 @@ public class HttpVideoStreamService : BackgroundService
return; // 没有活跃客户端
}
- // 向每个活跃的客户端发送帧
- foreach (var client in clientsToProcess)
+ // 向每个活跃的客户端并行发送帧
+ var sendTasks = clientsToProcess.Select(async client =>
{
try
{
@@ -705,19 +753,33 @@ public class HttpVideoStreamService : BackgroundService
// 确保数据立即发送
await client.OutputStream.FlushAsync(cancellationToken);
- if (_frameCounter % 30 == 0) // 每秒记录一次日志
- {
- logger.Debug("已向客户端 {ClientId} 发送第 {FrameNumber} 帧，大小：{Size} 字节",
- client.OutputStream.GetHashCode(), _frameCounter, jpegData.Length);
- }
+ return (client, success: true, error: (Exception?)null);
}
catch (Exception ex)
{
- logger.Debug("发送帧数据时出错: {Error}", ex.Message);
+ return (client, success: false, error: ex);
+ }
+ });
+
+ // 等待所有发送任务完成
+ var results = await Task.WhenAll(sendTasks);
+
+ // 处理发送结果
+ foreach (var (client, success, error) in results)
+ {
+ if (!success)
+ {
+ logger.Debug("发送帧数据时出错: {Error}", error?.Message ?? "未知错误");
clientsToRemove.Add(client);
}
}
+ if (_frameCounter % 30 == 0 && clientsToProcess.Count > 0) // 每秒记录一次日志
+ {
+ logger.Debug("已向 {ClientCount} 个客户端发送第 {FrameNumber} 帧，大小：{Size} 字节",
+ clientsToProcess.Count, _frameCounter, jpegData.Length);
+ }
+
// 移除断开连接的客户端
if (clientsToRemove.Count > 0)
{
diff --git a/server/src/UdpClientPool.cs b/server/src/UdpClientPool.cs
index 3618134..8c076f8 100644
--- a/server/src/UdpClientPool.cs
+++ b/server/src/UdpClientPool.cs
@@ -60,8 +60,8 @@ public class UDPClientPool
var sendLen = socket.SendTo(buf, endPoint);
socket.Close();
- logger.Debug($"UDP socket send bytes to device {endPoint.Address.ToString()}:{endPoint.Port.ToString()}:");
- logger.Debug($" Original Data: {BitConverter.ToString(buf).Replace("-", " ")}");
+ // logger.Debug($"UDP socket send bytes to device {endPoint.Address.ToString()}:{endPoint.Port.ToString()}:");
+ // logger.Debug($" Original Data: {BitConverter.ToString(buf).Replace("-", " ")}");
if (sendLen == buf.Length) { return true; }
else { return false; }
@@ -91,9 +91,9 @@ public class UDPClientPool
var sendLen = socket.SendTo(sendBytes, endPoint);
socket.Close();
- logger.Debug($"UDP socket send address package to device {endPoint.Address.ToString()}:{endPoint.Port.ToString()}:");
- logger.Debug($" Original Data: {BitConverter.ToString(pkg.ToBytes()).Replace("-", " ")}");
- logger.Debug($" Decoded Data: {pkg.ToString()}");
+ // logger.Debug($"UDP socket send address package to device {endPoint.Address.ToString()}:{endPoint.Port.ToString()}:");
+ // logger.Debug($" Original Data: {BitConverter.ToString(pkg.ToBytes()).Replace("-", " ")}");
+ // logger.Debug($" Decoded Data: {pkg.ToString()}");
if (sendLen == sendBytes.Length) { return true; }
else { return false; }
@@ -124,8 +124,8 @@ public class UDPClientPool
var sendLen = socket.SendTo(sendBytes, endPoint);
socket.Close();
- logger.Debug($"UDP socket send data package to device {endPoint.Address.ToString()}:{endPoint.Port.ToString()}:");
- logger.Debug($" Original Data: {BitConverter.ToString(pkg.ToBytes()).Replace("-", " ")}");
+ // logger.Debug($"UDP socket send data package to device {endPoint.Address.ToString()}:{endPoint.Port.ToString()}:");
+ // logger.Debug($" Original Data: {BitConverter.ToString(pkg.ToBytes()).Replace("-", " ")}");
if (sendLen == sendBytes.Length) { return true; }
else { return false; }
diff --git a/server/src/UdpServer.cs b/server/src/UdpServer.cs
index 8b636ca..b4daab0 100644
--- a/server/src/UdpServer.cs
+++ b/server/src/UdpServer.cs
@@ -145,7 +145,7 @@ public class UDPServer
{
UDPData? data = null;
- logger.Debug($"Caller \"{callerName}|{callerLineNum}\": Try to find {ipAddr}-{taskID} UDP Data");
+ // logger.Debug($"Caller \"{callerName}|{callerLineNum}\": Try to find {ipAddr}-{taskID} UDP Data");
var startTime = DateTime.Now;
var isTimeout = false;
@@ -164,7 +164,7 @@ public class UDPServer
dataQueue.Count > 0)
{
data = dataQueue.Dequeue();
- logger.Debug($"Find UDP Data: {data.ToString()}");
+ // logger.Debug($"Find UDP Data: {data.ToString()}");
break;
}
}
@@ -212,7 +212,7 @@ public class UDPServer
dataQueue.Count > 0)
{
data = dataQueue.ToList();
- logger.Debug($"Find UDP Data Array: {JsonConvert.SerializeObject(data)}");
+ // logger.Debug($"Find UDP Data Array: {JsonConvert.SerializeObject(data)}");
break;
}
}
@@ -290,8 +290,8 @@ public class UDPServer
// Handle RemoteEP
if (remoteEP is null)
{
- logger.Debug($"Receive Data from Unknown at {DateTime.Now.ToString()}:");
- logger.Debug($" Original Data : {BitConverter.ToString(bytes).Replace("-", " ")}");
+ // logger.Debug($"Receive Data from Unknown at {DateTime.Now.ToString()}:");
+ // logger.Debug($" Original Data : {BitConverter.ToString(bytes).Replace("-", " ")}");
goto BEGIN_RECEIVE;
}
@@ -395,9 +395,9 @@ public class UDPServer
recvData = Encoding.ASCII.GetString(bytes, 0, bytes.Length);
}
- logger.Debug($"Receive Data from {data.Address}:{data.Port} at {data.DateTime.ToString()}:");
- logger.Debug($" Original Data : {BitConverter.ToString(bytes).Replace("-", " ")}");
- if (recvData.Length != 0) logger.Debug($" Decoded Data : {recvData}");
+ // logger.Debug($"Receive Data from {data.Address}:{data.Port} at {data.DateTime.ToString()}:");
+ // logger.Debug($" Original Data : {BitConverter.ToString(bytes).Replace("-", " ")}");
+ // if (recvData.Length != 0) logger.Debug($" Decoded Data : {recvData}");
}
///
@@ -408,13 +408,13 @@ public class UDPServer
{
using (udpData.AcquireReadLock())
{
- logger.Debug("Ready Data:");
+ // logger.Debug("Ready Data:");
foreach (var ip in udpData)
{
foreach (var data in ip.Value)
{
- logger.Debug(data.ToString());
+ // logger.Debug(data.ToString());
}
}
}