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fix: 适配usb摄像头，当似乎没有正常工作

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SikongJueluo 2025-08-18 15:15:41 +08:00
parent 3c52110a2f
commit 283bf2a956
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4 changed files with 326 additions and 98 deletions
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1
flake.nix
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@ -34,6 +34,7 @@
dotnetCorePackages.sdk_8_0
])
nuget
mono
# msbuild
omnisharp-roslyn
csharpier

3
server/server.csproj
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@ -18,6 +18,7 @@
<PackageReference Include="ArpLookup" Version="2.0.3" />
<PackageReference Include="DotNext" Version="5.23.0" />
<PackageReference Include="DotNext.Threading" Version="5.23.0" />
<PackageReference Include="FlashCap" Version="1.11.0" />
<PackageReference Include="Honoo.IO.Hashing.Crc" Version="1.3.3" />
<PackageReference Include="linq2db.AspNet" Version="5.4.1" />
<PackageReference Include="Microsoft.AspNetCore.Authentication.JwtBearer" Version="9.0.7" />
@ -29,8 +30,6 @@
<PackageReference Include="NLog.Web.AspNetCore" Version="5.4.0" />
<PackageReference Include="NSwag.AspNetCore" Version="14.3.0" />
<PackageReference Include="NSwag.CodeGeneration.TypeScript" Version="14.4.0" />
<PackageReference Include="OpenCvSharp4" Version="4.11.0.20250507" />
<PackageReference Include="OpenCvSharp4.runtime.win" Version="4.11.0.20250507" />
<PackageReference Include="SixLabors.ImageSharp" Version="3.1.11" />
<PackageReference Include="System.Data.SQLite.Core" Version="1.0.119" />
<PackageReference Include="Tapper.Analyzer" Version="1.13.1">

198
server/src/Services/HttpVideoStreamService.cs
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@ -3,10 +3,7 @@ using System.Text;
using System.Collections.Concurrent;
using DotNext;
using DotNext.Threading;
#if USB_CAMERA
using OpenCvSharp;
#endif
using FlashCap;
namespace server.Services;
@ -17,17 +14,17 @@ public class VideoStreamClient
public int FrameWidth { get; set; }
public int FrameHeight { get; set; }
public int FrameRate { get; set; }
public Peripherals.CameraClient.Camera Camera { get; set; }
public AsyncLazy<Peripherals.CameraClient.Camera> Camera { get; set; }
public CancellationTokenSource CTS { get; set; }
public readonly AsyncReaderWriterLock Lock = new();
public VideoStreamClient(
string clientId, int width, int height, Peripherals.CameraClient.Camera camera)
string clientId, int width, int height, AsyncLazy<Peripherals.CameraClient.Camera> camera)
{
ClientId = clientId;
FrameWidth = width;
FrameHeight = height;
FrameRate = 0;
FrameRate = 30;
Camera = camera;
CTS = new CancellationTokenSource();
}
@ -101,11 +98,25 @@ public class HttpVideoStreamService : BackgroundService
private readonly ConcurrentDictionary<string, VideoStreamClient> _clientDict = new();
// USB Camera 相关
#if USB_CAMERA
private VideoCapture? _usbCamera;
private bool _usbCameraEnable = false;
private readonly object _usbCameraLock = new object();
#endif
private AsyncLazy<UsbCameraCapture> _usbCamera = new(async token => await InitializeUsbCamera(token));
private static async Task<UsbCameraCapture> InitializeUsbCamera(CancellationToken token)
{
try
{
var camera = new UsbCameraCapture();
var devices = camera.GetDevices();
for (int i = 0; i < devices.Count; i++)
logger.Info($"Device[{i}]: {devices[i].Name}");
await camera.StartAsync(1, 3840, 2160, 30);
return camera;
}
catch (Exception ex)
{
logger.Error(ex, "Failed to start USB camera");
throw;
}
}
private Optional<VideoStreamClient> TryGetClient(string boardId)
{
@ -116,7 +127,7 @@ public class HttpVideoStreamService : BackgroundService
return null;
}
private async Task<VideoStreamClient?> GetOrCreateClientAsync(string boardId, int initWidth, int initHeight)
private Optional<VideoStreamClient> GetOrCreateClient(string boardId, int initWidth, int initHeight)
{
if (_clientDict.TryGetValue(boardId, out var client))
{
@ -135,13 +146,17 @@ public class HttpVideoStreamService : BackgroundService
var board = boardRet.Value.Value;
var camera = new Peripherals.CameraClient.Camera(board.IpAddr, board.Port);
var ret = await camera.Init();
if (!ret.IsSuccessful || !ret.Value)
var camera = new AsyncLazy<Peripherals.CameraClient.Camera>(async (_) =>
{
logger.Error("Camera Init Failed!");
return null;
}
var camera = new Peripherals.CameraClient.Camera(board.IpAddr, board.Port);
var ret = await camera.Init();
if (!ret.IsSuccessful || !ret.Value)
{
logger.Error("Camera Init Failed!");
throw new Exception("Camera Init Failed!");
}
return camera;
});
client = new VideoStreamClient(boardId, initWidth, initHeight, camera);
_clientDict[boardId] = client;
@ -172,7 +187,8 @@ public class HttpVideoStreamService : BackgroundService
client.CTS.Cancel();
using (await client.Lock.AcquireWriteLockAsync(cancellationToken))
{
await client.Camera.EnableHardwareTrans(false);
var camera = await client.Camera.WithCancellation(cancellationToken);
await camera.EnableHardwareTrans(false);
}
}
_clientDict.Clear();
@ -217,40 +233,40 @@ public class HttpVideoStreamService : BackgroundService
private async Task HandleRequestAsync(HttpListenerContext context, CancellationToken cancellationToken)
{
var path = context.Request.Url?.AbsolutePath ?? "/";
var boardId = context.Request.QueryString["board"];
var width = int.TryParse(context.Request.QueryString["width"], out var w) ? w : 640;
var height = int.TryParse(context.Request.QueryString["height"], out var h) ? h : 480;
var boardId = context.Request.QueryString["boardId"];
if (string.IsNullOrEmpty(boardId))
{
await SendErrorAsync(context.Response, "Missing clientId");
return;
}
var client = await GetOrCreateClientAsync(boardId, width, height);
if (client == null)
var width = int.TryParse(context.Request.QueryString["width"], out var w) ? w : 640;
var height = int.TryParse(context.Request.QueryString["height"], out var h) ? h : 480;
var clientOpt = GetOrCreateClient(boardId, width, height);
if (!clientOpt.HasValue)
{
await SendErrorAsync(context.Response, "Invalid clientId or camera not available");
return;
}
var client = clientOpt.Value;
var clientToken = client.CTS.Token;
try
{
logger.Info("新HTTP客户端连接: {RemoteEndPoint}", context.Request.RemoteEndPoint);
if (path == "/video-stream")
if (path == "/video")
{
// MJPEG 流请求（FPGA）
await HandleMjpegStreamAsync(context.Response, client, cancellationToken);
}
#if USB_CAMERA
else if (requestPath == "/usb-camera")
else if (path == "/usbCamera")
{
// USB Camera MJPEG流请求
await HandleUsbCameraStreamAsync(response, cancellationToken);
await HandleUsbCameraStreamAsync(context.Response, client, cancellationToken);
}
#endif
else if (path == "/snapshot")
{
// 单帧图像请求
@ -281,24 +297,16 @@ public class HttpVideoStreamService : BackgroundService
}
// USB Camera MJPEG流处理
#if USB_CAMERA
private async Task HandleUsbCameraStreamAsync(HttpListenerResponse response, CancellationToken cancellationToken)
private async Task HandleUsbCameraStreamAsync(
HttpListenerResponse response, VideoStreamClient client, CancellationToken cancellationToken)
{
try
{
lock (_usbCameraLock)
{
if (_usbCamera == null)
{
_usbCamera = new VideoCapture(1);
_usbCamera.Fps = _frameRate;
_usbCamera.FrameWidth = _frameWidth;
_usbCamera.FrameHeight = _frameHeight;
_usbCameraEnable = _usbCamera.IsOpened();
}
}
if (!_usbCameraEnable || _usbCamera == null || !_usbCamera.IsOpened())
var camera = await _usbCamera.WithCancellation(cancellationToken);
if (!camera.IsCapturing)
{
logger.Error("USB Camera is not capturing");
response.StatusCode = 500;
await response.OutputStream.FlushAsync(cancellationToken);
response.Close();
@ -310,61 +318,52 @@ public class HttpVideoStreamService : BackgroundService
response.Headers.Add("Pragma", "no-cache");
response.Headers.Add("Expires", "0");
using (var mat = new Mat())
logger.Info("Start USB Camera MJPEG Stream");
while (true)
{
while (!cancellationToken.IsCancellationRequested)
cancellationToken.ThrowIfCancellationRequested();
var jpegData = camera.GetLatestFrame();
if (jpegData == null)
{
bool grabbed;
lock (_usbCameraLock)
{
grabbed = _usbCamera.Read(mat);
}
if (!grabbed || mat.Empty())
{
await Task.Delay(50, cancellationToken);
continue;
}
// 编码为JPEG
byte[]? jpegData = null;
try
{
jpegData = mat.ToBytes(".jpg", new int[] { (int)ImwriteFlags.JpegQuality, 80 });
}
catch (Exception ex)
{
logger.Error(ex, "USB Camera帧编码JPEG失败");
continue;
}
if (jpegData == null)
continue;
// MJPEG帧头
var header = Encoding.ASCII.GetBytes("--boundary\r\nContent-Type: image/jpeg\r\nContent-Length: " + jpegData.Length + "\r\n\r\n");
await response.OutputStream.WriteAsync(header, 0, header.Length, cancellationToken);
await response.OutputStream.WriteAsync(jpegData, 0, jpegData.Length, cancellationToken);
await response.OutputStream.WriteAsync(new byte[] { 0x0D, 0x0A }, 0, 2, cancellationToken); // \r\n
await response.OutputStream.FlushAsync(cancellationToken);
await Task.Delay(1000 / _frameRate, cancellationToken);
logger.Warn("USB Camera MJPEG帧获取失败");
await Task.Delay(1000 / client.FrameRate, cancellationToken);
continue;
}
// MJPEG帧头
var header = Encoding.ASCII.GetBytes("--boundary\r\nContent-Type: image/jpeg\r\nContent-Length: " + jpegData.Length + "\r\n\r\n");
await response.OutputStream.WriteAsync(header, 0, header.Length, cancellationToken);
await response.OutputStream.WriteAsync(jpegData, 0, jpegData.Length, cancellationToken);
await response.OutputStream.WriteAsync(new byte[] { 0x0D, 0x0A }, 0, 2, cancellationToken); // \r\n
await response.OutputStream.FlushAsync(cancellationToken);
await Task.Delay(1000 / client.FrameRate, cancellationToken);
logger.Info("USB Camera MJPEG帧发送成功");
}
}
catch (OperationCanceledException ex)
{
logger.Info(ex, "USB Camera MJPEG 串流取消");
}
catch (Exception ex)
{
logger.Error(ex, "USB Camera MJPEG流处理异常");
}
finally
{
try { response.Close(); } catch { }
}
}
#endif
private async Task HandleSnapshotRequestAsync(HttpListenerResponse response, VideoStreamClient client, CancellationToken cancellationToken)
private async Task HandleSnapshotRequestAsync(
HttpListenerResponse response, VideoStreamClient client, CancellationToken cancellationToken)
{
// 读取 Camera 快照，返回 JPEG
var frameResult = await client.Camera.ReadFrame();
var camera = await client.Camera.WithCancellation(cancellationToken);
var frameResult = await camera.ReadFrame();
if (!frameResult.IsSuccessful || frameResult.Value == null)
{
response.StatusCode = 500;
@ -386,16 +385,18 @@ public class HttpVideoStreamService : BackgroundService
response.Close();
}
private async Task HandleMjpegStreamAsync(HttpListenerResponse response, VideoStreamClient client, CancellationToken cancellationToken)
private async Task HandleMjpegStreamAsync(
HttpListenerResponse response, VideoStreamClient client, CancellationToken cancellationToken)
{
response.ContentType = "multipart/x-mixed-replace; boundary=--boundary";
response.Headers.Add("Cache-Control", "no-cache, no-store, must-revalidate");
response.Headers.Add("Pragma", "no-cache");
response.Headers.Add("Expires", "0");
var camera = await client.Camera.WithCancellation(cancellationToken);
while (!cancellationToken.IsCancellationRequested)
{
var frameResult = await client.Camera.ReadFrame();
var frameResult = await camera.ReadFrame();
if (!frameResult.IsSuccessful || frameResult.Value == null) continue;
var jpegResult = Common.Image.ConvertRGB24ToJpeg(frameResult.Value, client.FrameWidth, client.FrameHeight, 80);
if (!jpegResult.IsSuccessful) continue;
@ -508,7 +509,8 @@ public class HttpVideoStreamService : BackgroundService
{
// 从摄像头读取帧数据
var readStartTime = DateTime.UtcNow;
var result = await client.Camera.ReadFrame();
var camera = await client.Camera.WithCancellation(cancellationToken);
var result = await camera.ReadFrame();
var readEndTime = DateTime.UtcNow;
var readTime = (readEndTime - readStartTime).TotalMilliseconds;
@ -568,7 +570,7 @@ public class HttpVideoStreamService : BackgroundService
using (await client.Lock.AcquireWriteLockAsync(TimeSpan.FromMilliseconds(timeout), cancellationToken))
{
var currentCamera = client.Camera;
var currentCamera = await client.Camera.WithCancellation(cancellationToken);
if (currentCamera == null)
{
var message = $"获取摄像头失败";
@ -621,7 +623,8 @@ public class HttpVideoStreamService : BackgroundService
using (await client.Lock.AcquireWriteLockAsync(
TimeSpan.FromMilliseconds(timeout), cancellationToken))
{
var result = await client.Camera.InitAutoFocus();
var camera = await client.Camera.WithCancellation(cancellationToken);
var result = await camera.InitAutoFocus();
if (result.IsSuccessful && result.Value)
{
@ -655,7 +658,8 @@ public class HttpVideoStreamService : BackgroundService
logger.Info($"Board{boardId}开始执行摄像头自动对焦");
var result = await client.Camera.PerformAutoFocus();
var camera = await client.Camera.WithCancellation(cancellationToken);
var result = await camera.PerformAutoFocus();
if (result.IsSuccessful && result.Value)
{
@ -679,16 +683,18 @@ public class HttpVideoStreamService : BackgroundService
/// 配置摄像头连接参数
/// </summary>
/// <param name="boardId">板卡ID</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>配置是否成功</returns>
public async Task<bool> ConfigureCameraAsync(string boardId)
public async Task<bool> ConfigureCameraAsync(string boardId, CancellationToken cancellationToken = default)
{
try
{
var client = TryGetClient(boardId).OrThrow(() => new Exception($"无法获取摄像头客户端: {boardId}"));
var camera = await client.Camera.WithCancellation(cancellationToken);
using (await client.Lock.AcquireWriteLockAsync())
using (await client.Lock.AcquireWriteLockAsync(cancellationToken))
{
var ret = await client.Camera.Init();
var ret = await camera.Init();
if (!ret.IsSuccessful)
{
logger.Error(ret.Error);
@ -702,9 +708,9 @@ public class HttpVideoStreamService : BackgroundService
}
}
using (await client.Lock.AcquireWriteLockAsync())
using (await client.Lock.AcquireWriteLockAsync(cancellationToken))
{
var ret = await client.Camera.ChangeResolution(client.FrameWidth, client.FrameHeight);
var ret = await camera.ChangeResolution(client.FrameWidth, client.FrameHeight);
if (!ret.IsSuccessful)
{
logger.Error(ret.Error);
@ -747,7 +753,7 @@ public class HttpVideoStreamService : BackgroundService
client.CTS.Cancel();
}
var camera = client.Camera;
var camera = await client.Camera.WithCancellation(client.CTS.Token);
var disableResult = await camera.EnableHardwareTrans(enable);
if (disableResult.IsSuccessful && disableResult.Value)
logger.Info($"Successfully disabled camera {boardId} hardware transmission");
@ -782,7 +788,7 @@ public class HttpVideoStreamService : BackgroundService
public VideoStreamEndpoint GetVideoEndpoint(string boardId)
{
var client = TryGetClient(boardId).OrThrow(() => new Exception($"无法获取摄像头客户端: {boardId}"));
var client = GetOrCreateClient(boardId, 640, 480).OrThrow(() => new Exception($"无法获取摄像头客户端: {boardId}"));
return new VideoStreamEndpoint
{

222
server/src/Services/UsbCameraCapture.cs Normal file
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@ -0,0 +1,222 @@
// using System.Drawing;
using FlashCap;
namespace server.Services;
/// <summary>
/// Simple USB camera capture service following Linus principles:
/// - Single responsibility: just capture frames
/// - No special cases: uniform error handling
/// - Good taste: clean data structures
/// </summary>
public class UsbCameraCapture : IDisposable
{
private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
private readonly CaptureDevices _captureDevices;
private CaptureDevice? _device;
private CaptureDeviceDescriptor? _descriptor;
private VideoCharacteristics? _characteristics;
// Single source of truth for latest frame - no redundant buffering
private volatile byte[]? _latestFrame;
private volatile bool _isCapturing;
private bool _disposed;
public event Action<byte[]>? FrameReady;
public event Action<Exception>? Error;
public bool IsCapturing => _isCapturing;
public VideoCharacteristics? CurrentCharacteristics => _characteristics;
public CaptureDeviceDescriptor? CurrentDevice => _descriptor;
public UsbCameraCapture()
{
_captureDevices = new CaptureDevices();
}
/// <summary>
/// Get all available camera devices
/// </summary>
public IReadOnlyList<CaptureDeviceDescriptor> GetDevices()
{
return _captureDevices.EnumerateDescriptors().ToArray();
}
/// <summary>
/// Start capturing from specified device with best matching characteristics
/// </summary>
public async Task StartAsync(int deviceIndex, int width = 640, int height = 480, int frameRate = 30)
{
var devices = GetDevices();
if (deviceIndex >= devices.Count)
throw new ArgumentOutOfRangeException(nameof(deviceIndex));
var descriptor = devices[deviceIndex];
var characteristics = FindBestMatch(descriptor, width, height, frameRate);
await StartAsync(descriptor, characteristics);
}
/// <summary>
/// Start capturing with exact device and characteristics
/// </summary>
public async Task StartAsync(CaptureDeviceDescriptor descriptor, VideoCharacteristics characteristics)
{
if (_isCapturing)
await StopAsync();
try
{
_descriptor = descriptor;
_characteristics = characteristics;
_device = await descriptor.OpenAsync(characteristics, OnFrameCaptured);
await _device.StartAsync();
_isCapturing = true;
logger.Debug("Started capturing");
}
catch (Exception ex)
{
await CleanupAsync();
Error?.Invoke(ex);
throw;
}
}
/// <summary>
/// Stop capturing and cleanup
/// </summary>
public async Task StopAsync()
{
if (!_isCapturing)
return;
_isCapturing = false;
await CleanupAsync();
}
/// <summary>
/// Get the latest captured frame (returns copy for thread safety)
/// </summary>
public byte[]? GetLatestFrame()
{
return _latestFrame;
}
// /// <summary>
// /// Get latest frame as bitmap
// /// </summary>
// public Bitmap? GetLatestFrameAsBitmap()
// {
// var frameData = _latestFrame;
// if (frameData == null)
// return null;
// try
// {
// using var ms = new MemoryStream(frameData);
// return new Bitmap(ms);
// }
// catch
// {
// return null;
// }
// }
/// <summary>
/// Get supported video characteristics for current device
/// </summary>
public IReadOnlyList<VideoCharacteristics> GetSupportedCharacteristics()
{
return _descriptor?.Characteristics.ToArray() ?? Array.Empty<VideoCharacteristics>();
}
private VideoCharacteristics FindBestMatch(CaptureDeviceDescriptor descriptor, int width, int height, int frameRate)
{
var characteristics = descriptor.Characteristics;
// Exact match first
var exact = characteristics.FirstOrDefault(c =>
c.Width == width && c.Height == height && Math.Abs(c.FramesPerSecond - frameRate) < 1);
if (exact != null)
return exact;
// Resolution match with best framerate
var resolution = characteristics
.Where(c => c.Width == width && c.Height == height)
.OrderByDescending(c => c.FramesPerSecond)
.FirstOrDefault();
if (resolution != null)
return resolution;
// Closest resolution
try
{
var closest = characteristics
.OrderBy(c => Math.Abs(c.Width - width) + Math.Abs(c.Height - height))
.ThenByDescending(c => c.FramesPerSecond)
.First();
return closest;
}
catch
{
for (int i = 0; i < characteristics.Length; i++)
logger.Error($"Characteristics[{i}]: {characteristics[i].Width}x{characteristics[i].Height} @ {characteristics[i].FramesPerSecond}fps");
throw;
}
}
private void OnFrameCaptured(PixelBufferScope bufferScope)
{
logger.Info("Frame captured");
if (!_isCapturing)
return;
try
{
// Simple: extract and store. No queues, no locks, no complexity.
var imageData = bufferScope.Buffer.CopyImage();
_latestFrame = imageData;
FrameReady?.Invoke(imageData);
}
catch (Exception ex)
{
Error?.Invoke(ex);
}
}
private async Task CleanupAsync()
{
try
{
if (_device != null)
{
await _device.StopAsync();
_device.Dispose();
_device = null;
}
}
catch (Exception ex)
{
Error?.Invoke(ex);
}
finally
{
_latestFrame = null;
_descriptor = null;
_characteristics = null;
}
}
public void Dispose()
{
if (_disposed) return;
if (_isCapturing) StopAsync().Wait();
_device?.Dispose();
_disposed = true;
}
}