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Merge branch 'master' of ssh://git.swordlost.top:222/SikongJueluo/FPGA_WebLab into dpp

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alivender
2025-07-15 17:57:48 +08:00
parent 4b140ef683 b139542c4c
commit 4af7da6344
27 changed files with 5514 additions and 3992 deletions
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2
server/src/MsgBus.cs
View File

@@ -3,7 +3,7 @@
/// </summary>
public static class MsgBus
{
private static readonly UDPServer udpServer = new UDPServer(1234);
private static readonly UDPServer udpServer = new UDPServer(1234, 12);
/// <summary>
/// 获取UDP服务器
/// </summary>

594
server/src/Peripherals/CameraClient.cs
View File

@@ -1,5 +1,6 @@
using System.Net;
using DotNext;
using Peripherals.PowerClient;
namespace Peripherals.CameraClient;
@@ -27,7 +28,7 @@ class Camera
const uint CAM_I2C_ADDR = 0x3C;
const Peripherals.I2cClient.I2cProtocol CAM_PROTO = Peripherals.I2cClient.I2cProtocol.SCCB;
const byte PLL_MUX = 60;
const byte PLL_MUX = 105;
const UInt32 FrameAddr = 0x00;
// 动态分辨率参数
@@ -54,6 +55,8 @@ class Camera
public async ValueTask<Result<bool>> Init()
{
await PowerHardwareCamera(true);
await SleepHardwareCamera(false);
// 步骤1: 复位
var resetResult = await Reset();
if (!resetResult.IsSuccessful) return resetResult;
@@ -139,14 +142,16 @@ class Camera
var resolutionResult = await ConfigureResolution1280x720();
if (!resolutionResult.IsSuccessful) return resolutionResult;
// 步骤22: 开始流
// // 步骤22: 开始流
var startResult = await StartStreaming();
if (!startResult.IsSuccessful) return startResult;
// var resetResult2 = await Reset();
// if (!resetResult2.IsSuccessful) return resetResult2;
return true;
}
public async ValueTask<Result<bool>> EnableCamera(bool isEnable)
public async ValueTask<Result<bool>> EnableHardwareTrans(bool isEnable)
{
var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.CAPTURE_ON, Convert.ToUInt32(isEnable));
if (!ret.IsSuccessful)
@@ -162,7 +167,7 @@ class Camera
return true;
}
public async ValueTask<Result<bool>> EnableCameraHardware(bool isEnable)
public async ValueTask<Result<bool>> PowerHardwareCamera(bool isEnable)
{
{
var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.CAMERA_POWER, (isEnable ? 0x00000001u : 0x00000000u));
@@ -180,7 +185,7 @@ class Camera
return true;
}
public async ValueTask<Result<bool>> SleepCameraHardware(bool isEnable)
public async ValueTask<Result<bool>> SleepHardwareCamera(bool isEnable)
{
{
var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, CameraAddr.CAMERA_POWER, (isEnable ? 0x00000101u : 0x00000001u));
@@ -224,7 +229,7 @@ class Camera
// 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);
MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
}
catch (Exception ex)
{
@@ -237,6 +242,33 @@ class Camera
return result.Value;
}
/// <summary>
/// 读取摄像头寄存器
/// </summary>
/// <param name="registerAddr">寄存器地址</param>
/// <returns>读取到的寄存器值</returns>
private async ValueTask<Result<byte>> ReadRegister(UInt16 registerAddr)
{
var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout);
// 地址高低字节
var addrBytes = new byte[2];
addrBytes[0] = (byte)(registerAddr >> 8);
addrBytes[1] = (byte)(registerAddr & 0xFF);
// 先写寄存器地址
var writeResult = await i2c.WriteData(CAM_I2C_ADDR, addrBytes, CAM_PROTO);
if (!writeResult.IsSuccessful)
return new(writeResult.Error);
// 再读一个字节
var readResult = await i2c.ReadData(CAM_I2C_ADDR, 1, CAM_PROTO);
if (!readResult.IsSuccessful)
return new(readResult.Error);
return readResult.Value[0];
}
/// <summary>
/// 批量配置I2C寄存器
/// </summary>
@@ -260,7 +292,7 @@ class Camera
var address = cmd[0];
i2cData[0] = (byte)(address >> 8); // 地址高位
i2cData[1] = (byte)(address & 0xFF); // 地址低位
// 复制数据部分
for (int i = 1; i < cmd.Length; i++)
{
@@ -296,7 +328,7 @@ class Camera
}
else
{
await Task.Delay(3); // 其他命令延时3ms
await Task.Delay(5); // 其他命令延时3ms
}
}
}
@@ -391,11 +423,6 @@ class Camera
// 2. 配置I2C寄存器
var resolutionRegisters = new UInt16[][]
{
// H_OFFSET/V_OFFSET
[0x3810, unchecked((byte)((hOffset >> 8) & 0xFF))],
[0x3811, unchecked((byte)(hOffset & 0xFF))],
[0x3812, unchecked((byte)((vOffset >> 8) & 0xFF))],
// H_START/V_START
[0x3800, unchecked((byte)((hStart >> 8) & 0xFF))],
[0x3801, unchecked((byte)(hStart & 0xFF))],
@@ -420,6 +447,10 @@ class Camera
[0x380E, unchecked((byte)((vts >> 8) & 0xFF))],
[0x380F, unchecked((byte)(vts & 0xFF))],
// H_OFFSET/V_OFFSET
[0x3810, unchecked((byte)((hOffset >> 8) & 0xFF))],
[0x3811, unchecked((byte)(hOffset & 0xFF))],
[0x3812, unchecked((byte)((vOffset >> 8) & 0xFF))],
// Timing Voffset
[0x3813, unchecked((byte)(vOffset & 0xFF))]
};
@@ -548,10 +579,11 @@ class Camera
{
var resetRegisters = new UInt16[][]
{
[0x30, 0x08, 0x82] // 复位命令
[0x3103, 0x11],// system clock from pad, bit[1]
[0x3008, 0x82] // 复位命令
};
return await ConfigureRegisters(resetRegisters, customDelayMs: 5); // 复位后等待5ms
return await ConfigureRegisters(resetRegisters, customDelayMs: 50); // 复位后等待5ms
}
/// <summary>
@@ -576,7 +608,7 @@ class Camera
{
var basicRegisters = new UInt16[][]
{
[0x3103, 0x02],
[0x3103, 0x02], // system clock from pad, bit[1]
[0x3017, 0xff],
[0x3018, 0xff],
[0x3037, 0x13],
@@ -633,9 +665,7 @@ class Camera
{
[0x3905, 0x02],
[0x3906, 0x10],
[0x3901, 0x0a],
[0x3035, 0x11], // 30fps
[0x3036, PLL_MUX] // PLL倍频
[0x3901, 0x0a]
};
return await ConfigureRegisters(clockRegisters);
@@ -693,7 +723,6 @@ class Camera
[0x3c04, 0x28],
[0x3c05, 0x98],
[0x3c06, 0x00],
[0x3c07, 0x08],
[0x3c08, 0x00],
[0x3c09, 0x1c],
[0x3c0a, 0x9c],
@@ -753,10 +782,6 @@ class Camera
[0x3a1e, 0x26], // AEC控制;stable range out low
[0x3a11, 0x60], // AEC控制; fast zone high
[0x3a1f, 0x14], // AEC控制; fast zone low
[0x3a02, 0x17], // 60Hz max exposure
[0x3a03, 0x10], // 60Hz max exposure
[0x3a14, 0x17], // 50Hz max exposure
[0x3a15, 0x10], // 50Hz max exposure
[0x3b07, 0x0a] // 帧曝光模式
};
@@ -900,14 +925,13 @@ class Camera
{
var timingRegisters = new UInt16[][]
{
[0x3820, 0x46], // vflip
[0x3821, 0x01], // mirror
[0x3814, 0x31], // timing X inc
[0x3815, 0x31], // timing Y inc
[0x3618, 0x00],
[0x3612, 0x29],
[0x3709, 0x52],
[0x370c, 0x03]
[0x3035, 0x11], // 60fps
[0x3036, PLL_MUX],// PLL倍频
[0x3c07, 0x08],
[0x3820, 0x41], // vflip
[0x3821, 0x00], // mirror
[0x3814, 0x11], // timing X inc
[0x3815, 0x11] // timing Y inc
};
return await ConfigureRegisters(timingRegisters);
@@ -921,14 +945,22 @@ class Camera
{
var testRegisters = new UInt16[][]
{
[0x3618, 0x00],
[0x3612, 0x29],
[0x3709, 0x52],
[0x370c, 0x03],
[0x4004, 0x02], // BLC(背光) 2 lines
[0x4713, 0x03], // JPEG mode 3
[0x4407, 0x04], // 量化标度
[0x460c, 0x20],
[0x3a02, 0x17], // 60Hz max exposure
[0x3a03, 0x10], // 60Hz max exposure
[0x3a14, 0x17], // 50Hz max exposure
[0x3a15, 0x10], // 50Hz max exposure
[0x4837, 0x22], // DVP CLK divider
[0x3824, 0x02], // DVP CLK divider
// 彩条测试禁用
[0x503d, 0x00],
[0x503d, 0x80],
[0x4741, 0x00],
// 闪光灯配置
[0x3016, 0x02],
@@ -962,250 +994,250 @@ class Camera
private static readonly UInt16[] OV5640_AF_FIRMWARE =
[
0x02, 0x0d, 0xf3, 0x02, 0x0a, 0x5f, 0xc2, 0x01, 0x22, 0x22, 0x00, 0x02, 0x0f, 0x31, 0x30, 0x01,
0x03, 0x02, 0x03, 0x09, 0x30, 0x02, 0x03, 0x02, 0x03, 0x09, 0x90, 0x51, 0xa5, 0xe0, 0x78, 0xbb,
0xf6, 0xa3, 0xe0, 0x08, 0xf6, 0xa3, 0xe0, 0x08, 0xf6, 0xe5, 0x1f, 0x70, 0x45, 0x75, 0x1e, 0x20,
0xd2, 0x34, 0x12, 0x0c, 0x0c, 0x78, 0x9c, 0x12, 0x0b, 0xd2, 0x78, 0xa8, 0xa6, 0x14, 0x08, 0xa6,
0x15, 0x78, 0xb3, 0xa6, 0x09, 0x18, 0x76, 0x01, 0x78, 0x4c, 0xa6, 0x0a, 0x08, 0xa6, 0x0b, 0x78,
0x6c, 0xa6, 0x14, 0x08, 0xa6, 0x15, 0x78, 0xb3, 0xe6, 0x78, 0x8c, 0xf6, 0x75, 0x1f, 0x01, 0x78,
0xbb, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbc, 0xe6, 0x78, 0xb9, 0xf6, 0x78, 0xbd, 0xe6, 0x78, 0xba,
0xf6, 0x22, 0x79, 0xb8, 0xe7, 0xd3, 0x78, 0xbb, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08,
0xc3, 0x79, 0xbb, 0xe7, 0x78, 0xb8, 0x96, 0xff, 0x78, 0xa6, 0x76, 0x00, 0x08, 0xa6, 0x07, 0x79,
0xb9, 0xe7, 0xd3, 0x78, 0xbc, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xbc,
0xe7, 0x78, 0xb9, 0x96, 0xff, 0x12, 0x0c, 0x13, 0x79, 0xba, 0xe7, 0xd3, 0x78, 0xbd, 0x96, 0x40,
0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xbd, 0xe7, 0x78, 0xba, 0x96, 0xff, 0x12, 0x0c,
0x13, 0x78, 0xb2, 0xe6, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xa6, 0x0a, 0x08, 0xa6, 0x0b, 0x78, 0xb2,
0xe6, 0x25, 0xe0, 0x24, 0x6c, 0xf8, 0xa6, 0x14, 0x08, 0xa6, 0x15, 0x78, 0xb2, 0xe6, 0x24, 0x8c,
0xf8, 0xa6, 0x09, 0x78, 0xb2, 0xe6, 0x24, 0x01, 0xff, 0xe4, 0x33, 0xfe, 0xd3, 0xef, 0x94, 0x0f,
0xee, 0x64, 0x80, 0x94, 0x80, 0x40, 0x04, 0x7f, 0x00, 0x80, 0x05, 0x78, 0xb2, 0xe6, 0x04, 0xff,
0x78, 0xb2, 0xa6, 0x07, 0xe5, 0x1f, 0xb4, 0x01, 0x0a, 0xe6, 0x60, 0x03, 0x02, 0x03, 0x09, 0x75,
0x1f, 0x02, 0x22, 0x12, 0x0c, 0x0c, 0x78, 0x9e, 0x12, 0x0b, 0xd2, 0x12, 0x0c, 0x0c, 0x78, 0xa0,
0x12, 0x0b, 0xff, 0x78, 0xaa, 0x12, 0x0b, 0xff, 0xff, 0x78, 0xac, 0xa6, 0x06, 0x08, 0xa6, 0x07,
0x78, 0x8c, 0xe6, 0x78, 0xb4, 0xf6, 0x78, 0x8c, 0xe6, 0x78, 0xb5, 0xf6, 0x7f, 0x01, 0xef, 0x25,
0xe0, 0x24, 0x4d, 0x78, 0x9f, 0x12, 0x0b, 0xc9, 0x50, 0x0a, 0x12, 0x0b, 0xab, 0x78, 0x9e, 0xa6,
0x04, 0x08, 0xa6, 0x05, 0xef, 0x25, 0xe0, 0x24, 0x6d, 0x78, 0xab, 0x12, 0x0b, 0xc9, 0x50, 0x0f,
0xef, 0x25, 0xe0, 0x24, 0x6c, 0x12, 0x0b, 0xb0, 0x78, 0xaa, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74,
0x8c, 0x2f, 0xf9, 0x78, 0xb4, 0xe6, 0xc3, 0x97, 0x50, 0x08, 0x74, 0x8c, 0x2f, 0xf8, 0xe6, 0x78,
0xb4, 0xf6, 0xef, 0x25, 0xe0, 0x24, 0x4d, 0xf9, 0xd3, 0x78, 0xa1, 0x12, 0x0b, 0xcb, 0x40, 0x0a,
0x12, 0x0b, 0xab, 0x78, 0xa0, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x25, 0xe0, 0x24, 0x6d, 0xf9,
0xd3, 0x78, 0xad, 0x12, 0x0b, 0xcb, 0x40, 0x0f, 0xef, 0x25, 0xe0, 0x24, 0x6c, 0x12, 0x0b, 0xb0,
0x78, 0xac, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0x74, 0x8c, 0x2f, 0xf9, 0x78, 0xb5, 0xe6, 0xd3, 0x97,
0x40, 0x08, 0x74, 0x8c, 0x2f, 0xf8, 0xe6, 0x78, 0xb5, 0xf6, 0x0f, 0xef, 0x64, 0x10, 0x60, 0x03,
0x02, 0x01, 0x3e, 0xc3, 0x79, 0x9f, 0x78, 0xa1, 0x12, 0x0b, 0xf7, 0x78, 0xa2, 0xf6, 0x08, 0xa6,
0x07, 0xc3, 0x79, 0xab, 0x78, 0xad, 0x12, 0x0b, 0xf7, 0x78, 0xae, 0xf6, 0x08, 0xa6, 0x07, 0xc3,
0x79, 0xb4, 0xe7, 0x78, 0xb5, 0x96, 0x08, 0xf6, 0xd3, 0x79, 0x9f, 0xe7, 0x78, 0x9d, 0x96, 0x19,
0xe7, 0x18, 0x96, 0x40, 0x05, 0x09, 0xe7, 0x08, 0x80, 0x06, 0xc3, 0x79, 0x9d, 0xe7, 0x78, 0x9f,
0x12, 0x0b, 0xf8, 0xfe, 0x78, 0xa4, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0xd3, 0x79, 0xab, 0xe7, 0x78,
0xa9, 0x96, 0x19, 0xe7, 0x18, 0x96, 0x40, 0x05, 0x09, 0xe7, 0x08, 0x80, 0x06, 0xc3, 0x79, 0xa9,
0xe7, 0x78, 0xab, 0x12, 0x0b, 0xf8, 0xfe, 0x78, 0xb0, 0xa6, 0x06, 0x08, 0xa6, 0x07, 0x79, 0xb4,
0xe7, 0xd3, 0x78, 0xb3, 0x96, 0x40, 0x05, 0xe7, 0x96, 0xff, 0x80, 0x08, 0xc3, 0x79, 0xb3, 0xe7,
0x78, 0xb4, 0x96, 0xff, 0x78, 0xb7, 0xa6, 0x07, 0xe5, 0x1f, 0x64, 0x02, 0x60, 0x03, 0x02, 0x02,
0xef, 0x90, 0x30, 0x24, 0x74, 0x0f, 0xf0, 0x90, 0x0e, 0x8a, 0xe4, 0x93, 0xff, 0x18, 0xe6, 0xc3,
0x9f, 0x40, 0x03, 0x02, 0x03, 0x09, 0x90, 0x30, 0x24, 0x74, 0x0e, 0xf0, 0x78, 0xa2, 0x12, 0x0b,
0xd9, 0x12, 0x0b, 0xa2, 0x90, 0x0e, 0x87, 0x12, 0x0b, 0xb7, 0x78, 0x9e, 0x12, 0x0b, 0xe8, 0x7b,
0x04, 0x12, 0x0b, 0x90, 0xc3, 0x12, 0x07, 0x0e, 0x50, 0x6f, 0x90, 0x0e, 0x8b, 0xe4, 0x93, 0xff,
0x78, 0xb7, 0xe6, 0x9f, 0x40, 0x07, 0x90, 0x30, 0x24, 0x74, 0x0a, 0x80, 0x16, 0x90, 0x0e, 0x89,
0xe4, 0x93, 0xff, 0xd3, 0x78, 0xa7, 0xe6, 0x9f, 0x18, 0xe6, 0x94, 0x00, 0x40, 0x09, 0x90, 0x30,
0x24, 0x74, 0x0b, 0xf0, 0x75, 0x1f, 0x05, 0x78, 0xae, 0x12, 0x0b, 0xd9, 0x12, 0x0b, 0xa2, 0x90,
0x0e, 0x88, 0x12, 0x0b, 0xb7, 0x78, 0xa8, 0x12, 0x0b, 0xe8, 0x7b, 0x40, 0x12, 0x0b, 0x90, 0xd3,
0x12, 0x07, 0x0e, 0x40, 0x24, 0x90, 0x30, 0x24, 0x74, 0x0c, 0xf0, 0x75, 0x1f, 0x05, 0x22, 0x90,
0x30, 0x24, 0x74, 0x01, 0xf0, 0xe5, 0x1f, 0xb4, 0x05, 0x0f, 0xd2, 0x01, 0xc2, 0x02, 0xe4, 0xf5,
0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0xd2, 0x35, 0x22, 0xe5, 0x1f, 0x60, 0x03, 0x02, 0x03,
0x93, 0xf5, 0x1e, 0xd2, 0x34, 0x75, 0x34, 0xff, 0x75, 0x35, 0x0e, 0x75, 0x36, 0x55, 0x75, 0x37,
0x01, 0x12, 0x0d, 0x85, 0xe4, 0xff, 0xef, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xe4, 0xf6, 0x08, 0xf6,
0x0f, 0xbf, 0x34, 0xf2, 0x90, 0x0e, 0x8c, 0xe4, 0x93, 0xff, 0xe5, 0x49, 0xc3, 0x9f, 0x50, 0x04,
0x7f, 0x05, 0x80, 0x02, 0x7f, 0xfb, 0x78, 0xbb, 0xa6, 0x07, 0x12, 0x0e, 0xbc, 0x40, 0x04, 0x7f,
0x03, 0x80, 0x02, 0x7f, 0x30, 0x78, 0xba, 0xa6, 0x07, 0xe6, 0x18, 0xf6, 0x08, 0xe6, 0x78, 0xb7,
0xf6, 0x78, 0xba, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbd, 0x76, 0x33, 0xe4, 0x08, 0xf6, 0x78, 0xb6,
0x76, 0x01, 0x75, 0x48, 0x02, 0x78, 0xb4, 0xf6, 0x08, 0xf6, 0x74, 0xff, 0x78, 0xbf, 0xf6, 0x08,
0xf6, 0x75, 0x1f, 0x01, 0x78, 0xba, 0xe6, 0x75, 0xf0, 0x05, 0xa4, 0xf5, 0x49, 0x12, 0x0a, 0xfd,
0xc2, 0x36, 0x22, 0x78, 0xb6, 0xe6, 0xd3, 0x94, 0x00, 0x40, 0x02, 0x16, 0x22, 0xe5, 0x1f, 0xb4,
0x05, 0x23, 0xe4, 0xf5, 0x1f, 0xc2, 0x01, 0x78, 0xb4, 0xe6, 0xfe, 0x08, 0xe6, 0xff, 0x78, 0x4c,
0xa6, 0x06, 0x08, 0xa6, 0x07, 0xa2, 0x36, 0xe4, 0x33, 0xf5, 0x3c, 0x90, 0x30, 0x28, 0xf0, 0x75,
0x1e, 0x10, 0xd2, 0x34, 0x22, 0xe5, 0x49, 0x75, 0xf0, 0x05, 0x84, 0x78, 0xba, 0xf6, 0x90, 0x0e,
0x85, 0xe4, 0x93, 0xff, 0x25, 0xe0, 0x24, 0x0a, 0xf8, 0xe6, 0xfc, 0x08, 0xe6, 0xfd, 0x78, 0xba,
0xe6, 0x25, 0xe0, 0x24, 0x4c, 0xf8, 0xa6, 0x04, 0x08, 0xa6, 0x05, 0xef, 0x12, 0x0e, 0xc3, 0xd3,
0x78, 0xb5, 0x96, 0xee, 0x18, 0x96, 0x40, 0x0d, 0x78, 0xba, 0xe6, 0x78, 0xb7, 0xf6, 0x78, 0xb4,
0xa6, 0x06, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x85, 0xe4, 0x93, 0x12, 0x0e, 0xc3, 0xc3, 0x78, 0xc0,
0x96, 0xee, 0x18, 0x96, 0x50, 0x0d, 0x78, 0xba, 0xe6, 0x78, 0xb8, 0xf6, 0x78, 0xbf, 0xa6, 0x06,
0x08, 0xa6, 0x07, 0x78, 0xb4, 0xe6, 0xfe, 0x08, 0xe6, 0xc3, 0x78, 0xc0, 0x96, 0xff, 0xee, 0x18,
0x96, 0x78, 0xc1, 0xf6, 0x08, 0xa6, 0x07, 0x90, 0x0e, 0x8e, 0xe4, 0x18, 0x12, 0x0e, 0xa1, 0x40,
0x02, 0xd2, 0x36, 0x78, 0xba, 0xe6, 0x08, 0x26, 0x08, 0xf6, 0xe5, 0x1f, 0x64, 0x01, 0x70, 0x4a,
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0x37, 0x03, 0x12, 0x0d, 0x85, 0x30, 0x08, 0x09, 0xc2, 0x33, 0x12, 0x09, 0x5d, 0xc2, 0x08, 0xd2,
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0x34, 0xd3, 0x90, 0x30, 0x29, 0xe5, 0x1e, 0xf0, 0xb4, 0x10, 0x05, 0x90, 0x30, 0x23, 0xe4, 0xf0,
0xc2, 0x34, 0x80, 0xc1, 0xe4, 0xf5, 0x49, 0x90, 0x0e, 0x77, 0x93, 0xff, 0xe4, 0x8f, 0x37, 0xf5,
0x36, 0xf5, 0x35, 0xf5, 0x34, 0xaf, 0x37, 0xae, 0x36, 0xad, 0x35, 0xac, 0x34, 0x90, 0x0e, 0x6a,
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0x83, 0x22, 0x8f, 0x82, 0x8e, 0x83, 0x75, 0xf0, 0x04, 0xed, 0x02, 0x07, 0x5b
];
@@ -1227,7 +1259,7 @@ class Camera
UInt16 addr = (UInt16)(firmwareAddr + i);
firmwareCommands.Add([addr, OV5640_AF_FIRMWARE[i]]);
}
var result = await ConfigureRegisters(firmwareCommands.ToArray());
if (!result.IsSuccessful)
{
@@ -1306,15 +1338,15 @@ class Camera
logger.Error($"读取对焦状态寄存器(0x3029)失败: {readResult.Error}");
return new(readResult.Error);
}
focusStatus = readResult.Value;
if (focusStatus == 0x10)
{
logger.Info("对焦已完成 (0x3029 = 0x10)");
break;
}
if (iteration-- == 0)
{
logger.Error($"自动对焦超时，状态: 0x{focusStatus:X2}");

6
server/src/Peripherals/DDSClient.cs
View File

@@ -108,7 +108,7 @@ public class DDS
if (waveNum < 0 || waveNum > 3) return new(new ArgumentException(
$"Wave number should be 0 ~ 3 instead of {waveNum}", nameof(waveNum)));
await MsgBus.UDPServer.ClearUDPData(this.address, 1);
MsgBus.UDPServer.ClearUDPData(this.address, 1);
logger.Trace("Clear udp data finished");
var ret = await UDPClientPool.WriteAddr(
@@ -132,7 +132,7 @@ public class DDS
if (waveNum < 0 || waveNum > 3) return new(new ArgumentException(
$"Wave number should be 0 ~ 3 instead of {waveNum}", nameof(waveNum)));
await MsgBus.UDPServer.ClearUDPData(this.address, 1);
MsgBus.UDPServer.ClearUDPData(this.address, 1);
logger.Trace("Clear udp data finished");
var ret = await UDPClientPool.WriteAddr(
@@ -158,7 +158,7 @@ public class DDS
if (phase < 0 || phase > 4096) return new(new ArgumentException(
$"Phase should be 0 ~ 4096 instead of {phase}", nameof(phase)));
await MsgBus.UDPServer.ClearUDPData(this.address, 1);
MsgBus.UDPServer.ClearUDPData(this.address, 1);
logger.Trace("Clear udp data finished");
var ret = await UDPClientPool.WriteAddr(

6
server/src/Peripherals/I2cClient.cs
View File

@@ -82,7 +82,7 @@ public class I2c
/// <param name="taskID">[TODO:parameter]</param>
/// <param name="timeout">[TODO:parameter]</param>
/// <returns>[TODO:return]</returns>
public I2c(string address, int port, int taskID,int timeout = 2000)
public I2c(string address, int port, int taskID, int timeout = 2000)
{
if (timeout < 0)
throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
@@ -109,7 +109,7 @@ public class I2c
}
// 清除UDP服务器接收缓冲区
await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
logger.Trace($"Clear up udp server {this.address} receive data");
@@ -214,7 +214,7 @@ public class I2c
}
// 清除UDP服务器接收缓冲区
await MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
logger.Trace($"Clear up udp server {this.address} receive data");

10
server/src/Peripherals/JtagClient.cs
View File

@@ -627,7 +627,7 @@ public class Jtag
public async ValueTask<Result<uint>> ReadIDCode()
{
// Clear Data
await MsgBus.UDPServer.ClearUDPData(this.address, 0);
MsgBus.UDPServer.ClearUDPData(this.address, 0);
logger.Trace($"Clear up udp server {this.address,0} receive data");
@@ -665,7 +665,7 @@ public class Jtag
public async ValueTask<Result<uint>> ReadStatusReg()
{
// Clear Data
await MsgBus.UDPServer.ClearUDPData(this.address, 0);
MsgBus.UDPServer.ClearUDPData(this.address, 0);
logger.Trace($"Clear up udp server {this.address,0} receive data");
@@ -702,7 +702,7 @@ public class Jtag
public async ValueTask<Result<bool>> DownloadBitstream(byte[] bitstream)
{
// Clear Data
await MsgBus.UDPServer.ClearUDPData(this.address, 0);
MsgBus.UDPServer.ClearUDPData(this.address, 0);
logger.Trace($"Clear up udp server {this.address,0} receive data");
@@ -786,7 +786,7 @@ public class Jtag
logger.Debug($"Get boundar scan registers number: {portNum}");
// Clear Data
await MsgBus.UDPServer.ClearUDPData(this.address, 0);
MsgBus.UDPServer.ClearUDPData(this.address, 0);
logger.Trace($"Clear up udp server {this.address,0} receive data");
@@ -853,7 +853,7 @@ public class Jtag
public async ValueTask<Result<bool>> SetSpeed(UInt32 speed)
{
// Clear Data
await MsgBus.UDPServer.ClearUDPData(this.address, 0);
MsgBus.UDPServer.ClearUDPData(this.address, 0);
logger.Trace($"Clear up udp server {this.address,0} receive data");

6
server/src/Peripherals/MatrixKeyClient.cs
View File

@@ -44,7 +44,7 @@ public class MatrixKey
public async ValueTask<Result<bool>> EnableControl()
{
if (MsgBus.IsRunning)
await MsgBus.UDPServer.ClearUDPData(this.address, 1);
MsgBus.UDPServer.ClearUDPData(this.address, 1);
else return new(new Exception("Message Bus not work!"));
var ret = await UDPClientPool.WriteAddr(this.ep, 1, MatrixKeyAddr.KEY_ENABLE, 1, this.timeout);
@@ -59,7 +59,7 @@ public class MatrixKey
public async ValueTask<Result<bool>> DisableControl()
{
if (MsgBus.IsRunning)
await MsgBus.UDPServer.ClearUDPData(this.address, 1);
MsgBus.UDPServer.ClearUDPData(this.address, 1);
else return new(new Exception("Message Bus not work!"));
var ret = await UDPClientPool.WriteAddr(this.ep, 1, MatrixKeyAddr.KEY_ENABLE, 0, this.timeout);
@@ -75,7 +75,7 @@ public class MatrixKey
public async ValueTask<Result<bool>> ControlKey(BitArray keyStates)
{
if (MsgBus.IsRunning)
await MsgBus.UDPServer.ClearUDPData(this.address, 1);
MsgBus.UDPServer.ClearUDPData(this.address, 1);
else return new(new Exception("Message Bus not work!"));
if (keyStates.Length != 16) return new(new ArgumentException(

2
server/src/Peripherals/PowerClient.cs
View File

@@ -45,7 +45,7 @@ public class Power
public async ValueTask<Result<bool>> SetPowerOnOff(bool enable)
{
if (MsgBus.IsRunning)
await MsgBus.UDPServer.ClearUDPData(this.address, 1);
MsgBus.UDPServer.ClearUDPData(this.address, 1);
else return new(new Exception("Message Bus not work!"));
var ret = await UDPClientPool.WriteAddr(this.ep, 1, PowerAddr.PowerCtrl, Convert.ToUInt32(enable), this.timeout);

8
server/src/Peripherals/RemoteUpdateClient.cs
View File

@@ -382,7 +382,7 @@ public class RemoteUpdater
/// <returns>[TODO:return]</returns>
public async ValueTask<Result<bool>> HotResetBitstream(int bitstreamNum)
{
await MsgBus.UDPServer.ClearUDPData(this.address, 0);
MsgBus.UDPServer.ClearUDPData(this.address, 0);
logger.Trace("Clear udp data finished");
{
@@ -412,7 +412,7 @@ public class RemoteUpdater
byte[]? bitstream2,
byte[]? bitstream3)
{
await MsgBus.UDPServer.ClearUDPData(this.address, 0);
MsgBus.UDPServer.ClearUDPData(this.address, 0);
logger.Trace("Clear udp data finished");
for (int bitstreamNum = 0; bitstreamNum < 4; bitstreamNum++)
@@ -463,7 +463,7 @@ public class RemoteUpdater
$"The length of data should be divided by 4096, bug given {bytesData.Length}", nameof(bytesData)));
var bitstreamBlockNum = bytesData.Length / (4 * 1024);
await MsgBus.UDPServer.ClearUDPData(this.address, 0);
MsgBus.UDPServer.ClearUDPData(this.address, 0);
logger.Trace("Clear udp data finished");
{
@@ -539,7 +539,7 @@ public class RemoteUpdater
/// <returns>[TODO:return]</returns>
public async ValueTask<Result<UInt32>> GetVersion()
{
await MsgBus.UDPServer.ClearUDPData(this.address, 0);
MsgBus.UDPServer.ClearUDPData(this.address, 0);
logger.Trace("Clear udp data finished");
{

3
server/src/Services/HttpVideoStreamService.cs
View File

@@ -156,8 +156,7 @@ public class HttpVideoStreamService : BackgroundService
throw new Exception("Please config camera first");
}
_cameraEnable = isEnabled;
await _camera.EnableCamera(_cameraEnable);
await _camera.SleepCameraHardware(!_cameraEnable);
await _camera.EnableHardwareTrans(_cameraEnable);
}
/// <summary>

2
server/src/UdpClientPool.cs
View File

@@ -477,7 +477,7 @@ public class UDPClientPool
int outstanding = sentCount - (found.HasValue ? found.Value : 0);
// If outstanding >= 512 - batchSize, wait for some data to be received
if (outstanding >= 512 - batchSize)
if (outstanding >= 256 - batchSize)
continue;

220
server/src/UdpServer.cs
View File

@@ -1,9 +1,9 @@
using System.Collections.Concurrent;
using System.Net;
using System.Net.Sockets;
using System.Runtime.CompilerServices;
using System.Text;
using DotNext;
using DotNext.Threading;
using Newtonsoft.Json;
using WebProtocol;
@@ -72,12 +72,10 @@ public class UDPServer
{
private static NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
private Dictionary<string, Queue<UDPData>> udpData = new Dictionary<string, Queue<UDPData>>();
private Semaphore taskPool = new Semaphore(3, 3);
private ConcurrentDictionary<string, ConcurrentQueue<UDPData>> udpData = new ConcurrentDictionary<string, ConcurrentQueue<UDPData>>();
private int listenPort;
private UdpClient listener;
private List<UdpClient> listeners = new List<UdpClient>();
private IPEndPoint groupEP;
private bool isRunning = false;
@@ -103,15 +101,19 @@ public class UDPServer
/// Construct a udp server with fixed port
/// </summary>
/// <param name="port"> Device UDP Port </param>
/// <param name="num"> UDP Client Num </param>
/// <returns> UDPServer class </returns>
public UDPServer(int port)
public UDPServer(int port, int num)
{
// Construction
listenPort = port;
this.listenPort = port;
try
{
listener = new UdpClient(listenPort);
groupEP = new IPEndPoint(IPAddress.Any, listenPort);
for (int i = 0; i < num; i++)
{
listeners.Add(new UdpClient(this.listenPort + i));
}
this.groupEP = new IPEndPoint(IPAddress.Any, listenPort);
}
catch (Exception e)
{
@@ -145,25 +147,19 @@ public class UDPServer
{
UDPData? data = null;
// logger.Debug($"Caller \"{callerName}|{callerLineNum}\": Try to find {ipAddr}-{taskID} UDP Data");
var startTime = DateTime.Now;
var isTimeout = false;
var timeleft = TimeSpan.FromMilliseconds(timeout);
while (!isTimeout)
{
var elapsed = DateTime.Now - startTime;
isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
if (isTimeout) break;
timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
using (await udpData.AcquireWriteLockAsync(timeleft))
lock (udpData)
{
if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
dataQueue.Count > 0)
if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
dataQueue.TryDequeue(out data))
{
data = dataQueue.Dequeue();
// logger.Debug($"Find UDP Data: {data.ToString()}");
break;
}
@@ -196,22 +192,22 @@ public class UDPServer
var startTime = DateTime.Now;
var isTimeout = false;
var timeleft = TimeSpan.FromMilliseconds(timeout);
while (!isTimeout)
{
var elapsed = DateTime.Now - startTime;
isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
if (isTimeout) break;
timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
using (await udpData.AcquireWriteLockAsync(timeleft))
lock (udpData)
{
if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
dataQueue.Count > 0)
if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
!dataQueue.IsEmpty)
{
data = dataQueue.ToList();
dataQueue.Clear();
data = new List<UDPData>();
while (dataQueue.TryDequeue(out var item))
{
data.Add(item);
}
break;
}
}
@@ -241,24 +237,18 @@ public class UDPServer
var startTime = DateTime.Now;
var isTimeout = false;
var timeleft = TimeSpan.FromMilliseconds(timeout);
while (!isTimeout)
{
var elapsed = DateTime.Now - startTime;
isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
if (isTimeout) break;
timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
using (await udpData.AcquireReadLockAsync(timeleft))
if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
!dataQueue.IsEmpty)
{
if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
dataQueue.Count > 0)
{
data = dataQueue.ToList();
// logger.Debug($"Find UDP Data Array: {JsonConvert.SerializeObject(data)}");
break;
}
data = dataQueue.ToArray().ToList();
// logger.Debug($"Find UDP Data Array: {JsonConvert.SerializeObject(data)}");
break;
}
}
@@ -286,22 +276,16 @@ public class UDPServer
var startTime = DateTime.Now;
var isTimeout = false;
var timeleft = TimeSpan.FromMilliseconds(timeout);
while (!isTimeout)
{
var elapsed = DateTime.Now - startTime;
isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
if (isTimeout) break;
timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
using (await udpData.AcquireReadLockAsync(timeleft))
if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue))
{
if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue))
{
count = dataQueue.Count;
break;
}
count = dataQueue.Count;
break;
}
}
@@ -367,52 +351,26 @@ public class UDPServer
return retPack.Value;
}
static int ReceiveHandleCcount = 0;
private void ReceiveHandler(IAsyncResult res)
private async Task ReceiveHandler(byte[] data, IPEndPoint endPoint, DateTime time)
{
var remoteEP = new IPEndPoint(IPAddress.Any, listenPort);
byte[] bytes = listener.EndReceive(res, ref remoteEP);
// 提前开始接收下一个包
listener.BeginReceive(new AsyncCallback(ReceiveHandler), null);
logger.Debug($"Test ReceiveHandler Count = {ReceiveHandleCcount}");
ReceiveHandleCcount++;
// Handle RemoteEP
if (remoteEP is null)
// 异步锁保护 udpData
await Task.Run(() =>
{
logger.Debug($"Receive Data from Unknown at {DateTime.Now.ToString()}:");
logger.Debug($" Original Data : {BitConverter.ToString(bytes).Replace("-", " ")}");
return;
}
// Handle RemoteEP
if (endPoint is null)
{
logger.Debug($"Receive Data from Unknown at {DateTime.Now.ToString()}:");
logger.Debug($" Original Data : {BitConverter.ToString(data).Replace("-", " ")}");
return;
}
// 异步处理数据包
Task.Run(() =>
{
var udpData = RecordUDPData(bytes, remoteEP, Convert.ToInt32(bytes[1]));
PrintData(udpData);
var udpDataObj = RecordUDPData(data, endPoint, time, Convert.ToInt32(data[1]));
// PrintData(udpDataObj);
});
}
private bool SendBytes(IPEndPoint endPoint, byte[] buf)
{
var sendLen = listener.Send(buf, endPoint);
if (sendLen == buf.Length) { return true; }
else { return false; }
}
private bool SendString(IPEndPoint endPoint, string text)
{
byte[] buf = Encoding.ASCII.GetBytes(text);
var sendLen = listener.Send(buf, endPoint);
if (sendLen == buf.Length) { return true; }
else { return false; }
}
private UDPData RecordUDPData(byte[] bytes, IPEndPoint remoteEP, int taskID)
private UDPData RecordUDPData(byte[] bytes, IPEndPoint remoteEP, DateTime time, int taskID)
{
var remoteAddress = remoteEP.Address.ToString();
var remotePort = remoteEP.Port;
@@ -422,26 +380,25 @@ public class UDPServer
Port = remotePort,
TaskID = taskID,
Data = bytes,
DateTime = DateTime.Now,
DateTime = time,
HasRead = false,
};
using (udpData.AcquireWriteLock())
lock (udpData)
{
// Record UDP Receive Data
if (udpData.ContainsKey($"{remoteAddress}-{taskID}") &&
udpData.TryGetValue($"{remoteAddress}-{taskID}", out var dataQueue))
var key = $"{remoteAddress}-{taskID}";
var dataQueue = udpData.GetOrAdd(key, _ => new ConcurrentQueue<UDPData>());
dataQueue.Enqueue(data);
// 对队列进行一次按时间排序
if (dataQueue.Count > 0)
{
dataQueue.Enqueue(data);
logger.Debug($"Test Lock dataQueue.Count = {dataQueue.Count}");
}
else
{
var queue = new Queue<UDPData>();
queue.Enqueue(data);
udpData.Add($"{remoteAddress}-{taskID}", queue);
logger.Trace("Receive data from new client");
var sorted = dataQueue.OrderBy(d => d.DateTime).ToList();
udpData.TryUpdate(key, new ConcurrentQueue<UDPData>(sorted), dataQueue);
}
PrintAllData();
}
return data;
@@ -451,7 +408,7 @@ public class UDPServer
/// 输出UDP Data到log中
/// </summary>
/// <param name="data">UDP数据</param>
public void PrintData(UDPData data)
public string PrintData(UDPData data)
{
var bytes = data.Data;
var sign = bytes[0];
@@ -489,6 +446,11 @@ public class UDPServer
// logger.Debug($"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}");
return $@"
Receive Data from {data.Address}:{data.Port} at {data.DateTime.ToString()}:
Original Data : {BitConverter.ToString(bytes).Replace("-", " ")}
Decoded Data : {recvData}
";
}
/// <summary>
@@ -497,16 +459,13 @@ public class UDPServer
/// <returns> void </returns>
public void PrintAllData()
{
using (udpData.AcquireReadLock())
{
// logger.Debug("Ready Data:");
logger.Debug("Ready Data:");
foreach (var ip in udpData)
foreach (var kvp in udpData)
{
foreach (var data in kvp.Value)
{
foreach (var data in ip.Value)
{
// logger.Debug(data.ToString());
}
logger.Debug(PrintData(data));
}
}
}
@@ -517,37 +476,48 @@ public class UDPServer
/// <param name="ipAddr">IP地址</param>
/// <param name="taskID">[TODO:parameter]</param>
/// <returns>无</returns>
public async Task ClearUDPData(string ipAddr, int taskID)
public void ClearUDPData(string ipAddr, int taskID)
{
using (await udpData.AcquireWriteLockAsync())
var key = $"{ipAddr}-{taskID}";
if (udpData.TryGetValue(key, out var dataQueue))
{
if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
dataQueue.Count > 0)
{
dataQueue.Clear();
}
// 清空队列的最有效方式是替换为新的队列
udpData.TryUpdate(key, new ConcurrentQueue<UDPData>(), dataQueue);
}
}
/// <summary>
/// Start UDP Server
/// </summary>
/// <returns>None</returns>
public void Start()
{
this.isRunning = true;
try
{
this.listener.BeginReceive(new AsyncCallback(ReceiveHandler), null);
foreach (var client in listeners)
{
Task.Run(async () =>
{
while (this.isRunning)
{
try
{
UdpReceiveResult result = await client.ReceiveAsync();
ReceiveHandler(result.Buffer, result.RemoteEndPoint, DateTime.Now);
}
catch (Exception ex)
{
Console.WriteLine($"Error: {ex.Message}");
}
}
});
}
}
catch (Exception e)
{
Console.WriteLine(e.ToString());
}
finally
{
this.isRunning = true;
this.isRunning = false;
}
}
@@ -557,8 +527,12 @@ public class UDPServer
/// <returns>None</returns>
public void Stop()
{
this.listener.Close();
foreach (var item in listeners)
{
item.Close();
}
this.isRunning = false;
}
}