427 lines
19 KiB
C#
427 lines
19 KiB
C#
using System.Net;
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using DotNext;
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namespace Peripherals.CameraClient;
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static class CameraAddr
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{
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public const UInt32 BASE = 0x7000_0000;
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public const UInt32 STORE_ADDR = BASE + 12;
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public const UInt32 STORE_NUM = BASE + 13;
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public const UInt32 CAPTURE_ON = BASE + 14;
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}
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class Camera
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{
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private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
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readonly int timeout = 2000;
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readonly int port;
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readonly string address;
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private IPEndPoint ep;
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const uint CAM_I2C_ADDR = 0x3C;
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const Peripherals.I2cClient.I2cProtocol CAM_PROTO = Peripherals.I2cClient.I2cProtocol.SCCB;
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const UInt16 V_CMOS_DISP = 480;
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const UInt16 H_CMOS_DISP = 640;
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const UInt16 TOTAL_H_PIXEL = 2570;
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const UInt16 TOTAL_V_PIXEL = 980;
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const UInt32 FrameAddr = 0x00;
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const UInt32 FrameLength = V_CMOS_DISP * H_CMOS_DISP * 16 / 32;
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static byte[][] data = new byte[][] {
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// 软件复位寄存器，恢复初始值
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new byte[] {0x30, 0x0a, 0x00}, // 0x300a = 0x00
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new byte[] {0x30, 0x0b, 0x00}, // 0x300b = 0x00
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new byte[] { 0x30, 0x08, 0x82 }, // 0x3008 = 0x82, Bit[7]:复位 Bit[6]:电源休眠
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new byte[] { 0x30, 0x08, 0x02 }, // 0x3008 = 0x02, 正常工作模式
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new byte[] { 0x31, 0x03, 0x02 }, // 0x3103 = 0x02, Bit[1]:1 PLL Clock
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// 引脚输入/输出控制
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new byte[] { 0x30, 0x17, 0xff }, // 0x3017 = 0xff, FREX/VSYNC/HREF/PCLK/D[9:6]
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new byte[] { 0x30, 0x18, 0xff }, // 0x3018 = 0xff, D[5:0]/GPIO1/GPIO0
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new byte[] { 0x30, 0x37, 0x13 }, // 0x3037 = 0x13, PLL分频控制
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new byte[] { 0x31, 0x08, 0x01 }, // 0x3108 = 0x01, 系统根分频器
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new byte[] { 0x36, 0x30, 0x36 }, // 0x3630 = 0x36
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new byte[] { 0x36, 0x31, 0x0e }, // 0x3631 = 0x0e
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new byte[] { 0x36, 0x32, 0xe2 }, // 0x3632 = 0xe2
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new byte[] { 0x36, 0x33, 0x12 }, // 0x3633 = 0x12
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new byte[] { 0x36, 0x21, 0xe0 }, // 0x3621 = 0xe0
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new byte[] { 0x37, 0x04, 0xa0 }, // 0x3704 = 0xa0
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new byte[] { 0x37, 0x03, 0x5a }, // 0x3703 = 0x5a
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new byte[] { 0x37, 0x15, 0x78 }, // 0x3715 = 0x78
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new byte[] { 0x37, 0x17, 0x01 }, // 0x3717 = 0x01
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new byte[] { 0x37, 0x0b, 0x60 }, // 0x370b = 0x60
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new byte[] { 0x37, 0x05, 0x1a }, // 0x3705 = 0x1a
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new byte[] { 0x39, 0x05, 0x02 }, // 0x3905 = 0x02
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new byte[] { 0x39, 0x06, 0x10 }, // 0x3906 = 0x10
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new byte[] { 0x39, 0x01, 0x0a }, // 0x3901 = 0x0a
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new byte[] { 0x37, 0x31, 0x12 }, // 0x3731 = 0x12
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new byte[] { 0x36, 0x00, 0x08 }, // 0x3600 = 0x08, VCM控制,用于自动聚焦
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new byte[] { 0x36, 0x01, 0x33 }, // 0x3601 = 0x33, VCM控制,用于自动聚焦
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new byte[] { 0x30, 0x2d, 0x60 }, // 0x302d = 0x60, 系统控制
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new byte[] { 0x36, 0x20, 0x52 }, // 0x3620 = 0x52
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new byte[] { 0x37, 0x1b, 0x20 }, // 0x371b = 0x20
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new byte[] { 0x47, 0x1c, 0x50 }, // 0x471c = 0x50
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new byte[] { 0x3a, 0x13, 0x43 }, // 0x3a13 = 0x43, AEC(自动曝光控制)
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new byte[] { 0x3a, 0x18, 0x00 }, // 0x3a18 = 0x00, AEC增益上限
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new byte[] { 0x3a, 0x19, 0xf8 }, // 0x3a19 = 0xf8, AEC增益上限
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new byte[] { 0x36, 0x35, 0x13 }, // 0x3635 = 0x13
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new byte[] { 0x36, 0x36, 0x03 }, // 0x3636 = 0x03
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new byte[] { 0x36, 0x34, 0x40 }, // 0x3634 = 0x40
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new byte[] { 0x36, 0x22, 0x01 }, // 0x3622 = 0x01
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new byte[] { 0x3c, 0x01, 0x34 }, // 0x3c01 = 0x34
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new byte[] { 0x3c, 0x04, 0x28 }, // 0x3c04 = 0x28
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new byte[] { 0x3c, 0x05, 0x98 }, // 0x3c05 = 0x98
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new byte[] { 0x3c, 0x06, 0x00 }, // 0x3c06 = 0x00, light meter 1 阈值[15:8]
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new byte[] { 0x3c, 0x07, 0x08 }, // 0x3c07 = 0x08, light meter 1 阈值[7:0]
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new byte[] { 0x3c, 0x08, 0x00 }, // 0x3c08 = 0x00, light meter 2 阈值[15:8]
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new byte[] { 0x3c, 0x09, 0x1c }, // 0x3c09 = 0x1c, light meter 2 阈值[7:0]
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new byte[] { 0x3c, 0x0a, 0x9c }, // 0x3c0a = 0x9c, sample number[15:8]
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new byte[] { 0x3c, 0x0b, 0x40 }, // 0x3c0b = 0x40, sample number[7:0]
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new byte[] { 0x38, 0x10, 0x00 }, // 0x3810 = 0x00, Timing Hoffset[11:8]
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new byte[] { 0x38, 0x11, 0x10 }, // 0x3811 = 0x10, Timing Hoffset[7:0]
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new byte[] { 0x38, 0x12, 0x00 }, // 0x3812 = 0x00, Timing Voffset[10:8]
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new byte[] { 0x37, 0x08, 0x64 }, // 0x3708 = 0x64
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new byte[] { 0x40, 0x01, 0x02 }, // 0x4001 = 0x02, BLC(黑电平校准)补偿起始行号
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new byte[] { 0x40, 0x05, 0x1a }, // 0x4005 = 0x1a, BLC(黑电平校准)补偿始终更新
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new byte[] { 0x30, 0x00, 0x00 }, // 0x3000 = 0x00, 系统块复位控制
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new byte[] { 0x30, 0x04, 0xff }, // 0x3004 = 0xff, 时钟使能控制
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new byte[] { 0x43, 0x00, 0x61 }, // 0x4300 = 0x61, 格式控制 RGB565
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new byte[] { 0x50, 0x1f, 0x01 }, // 0x501f = 0x01, ISP RGB
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new byte[] { 0x44, 0x0e, 0x00 }, // 0x440e = 0x00
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new byte[] { 0x50, 0x00, 0xa7 }, // 0x5000 = 0xa7, ISP控制
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new byte[] { 0x3a, 0x0f, 0x30 }, // 0x3a0f = 0x30, AEC控制;stable range in high
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new byte[] { 0x3a, 0x10, 0x28 }, // 0x3a10 = 0x28, AEC控制;stable range in low
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new byte[] { 0x3a, 0x1b, 0x30 }, // 0x3a1b = 0x30, AEC控制;stable range out high
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new byte[] { 0x3a, 0x1e, 0x26 }, // 0x3a1e = 0x26, AEC控制;stable range out low
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new byte[] { 0x3a, 0x11, 0x60 }, // 0x3a11 = 0x60, AEC控制; fast zone high
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new byte[] { 0x3a, 0x1f, 0x14 }, // 0x3a1f = 0x14, AEC控制; fast zone low
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// LENC(镜头校正)控制 0x5800~0x583d
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new byte[] { 0x58, 0x00, 0x23 },
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new byte[] { 0x58, 0x01, 0x14 },
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new byte[] { 0x58, 0x02, 0x0f },
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new byte[] { 0x58, 0x03, 0x0f },
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new byte[] { 0x58, 0x04, 0x12 },
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new byte[] { 0x58, 0x05, 0x26 },
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new byte[] { 0x58, 0x06, 0x0c },
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new byte[] { 0x58, 0x07, 0x08 },
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new byte[] { 0x58, 0x08, 0x05 },
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new byte[] { 0x58, 0x09, 0x05 },
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new byte[] { 0x58, 0x0a, 0x08 },
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new byte[] { 0x58, 0x0b, 0x0d },
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new byte[] { 0x58, 0x0c, 0x08 },
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new byte[] { 0x58, 0x0d, 0x03 },
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new byte[] { 0x58, 0x0e, 0x00 },
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new byte[] { 0x58, 0x0f, 0x00 },
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new byte[] { 0x58, 0x10, 0x03 },
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new byte[] { 0x58, 0x11, 0x09 },
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new byte[] { 0x58, 0x12, 0x07 },
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new byte[] { 0x58, 0x13, 0x03 },
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new byte[] { 0x58, 0x14, 0x00 },
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new byte[] { 0x58, 0x15, 0x01 },
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new byte[] { 0x58, 0x16, 0x03 },
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new byte[] { 0x58, 0x17, 0x08 },
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new byte[] { 0x58, 0x18, 0x0d },
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new byte[] { 0x58, 0x19, 0x08 },
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new byte[] { 0x58, 0x1a, 0x05 },
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new byte[] { 0x58, 0x1b, 0x06 },
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new byte[] { 0x58, 0x1c, 0x08 },
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new byte[] { 0x58, 0x1d, 0x0e },
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new byte[] { 0x58, 0x1e, 0x29 },
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new byte[] { 0x58, 0x1f, 0x17 },
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new byte[] { 0x58, 0x20, 0x11 },
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new byte[] { 0x58, 0x21, 0x11 },
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new byte[] { 0x58, 0x22, 0x15 },
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new byte[] { 0x58, 0x23, 0x28 },
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new byte[] { 0x58, 0x24, 0x46 },
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new byte[] { 0x58, 0x25, 0x26 },
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new byte[] { 0x58, 0x26, 0x08 },
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new byte[] { 0x58, 0x27, 0x26 },
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new byte[] { 0x58, 0x28, 0x64 },
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new byte[] { 0x58, 0x29, 0x26 },
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new byte[] { 0x58, 0x2a, 0x24 },
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new byte[] { 0x58, 0x2b, 0x22 },
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new byte[] { 0x58, 0x2c, 0x24 },
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new byte[] { 0x58, 0x2d, 0x24 },
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new byte[] { 0x58, 0x2e, 0x06 },
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new byte[] { 0x58, 0x2f, 0x22 },
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new byte[] { 0x58, 0x30, 0x40 },
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new byte[] { 0x58, 0x31, 0x42 },
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new byte[] { 0x58, 0x32, 0x24 },
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new byte[] { 0x58, 0x33, 0x26 },
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new byte[] { 0x58, 0x34, 0x24 },
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new byte[] { 0x58, 0x35, 0x22 },
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new byte[] { 0x58, 0x36, 0x22 },
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new byte[] { 0x58, 0x37, 0x26 },
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new byte[] { 0x58, 0x38, 0x44 },
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new byte[] { 0x58, 0x39, 0x24 },
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new byte[] { 0x58, 0x3a, 0x26 },
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new byte[] { 0x58, 0x3b, 0x28 },
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new byte[] { 0x58, 0x3c, 0x42 },
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new byte[] { 0x58, 0x3d, 0xce },
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// AWB(自动白平衡控制) 0x5180~0x519e
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new byte[] { 0x51, 0x80, 0xff },
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new byte[] { 0x51, 0x81, 0xf2 },
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new byte[] { 0x51, 0x82, 0x00 },
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new byte[] { 0x51, 0x83, 0x14 },
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new byte[] { 0x51, 0x84, 0x25 },
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new byte[] { 0x51, 0x85, 0x24 },
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new byte[] { 0x51, 0x86, 0x09 },
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new byte[] { 0x51, 0x87, 0x09 },
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new byte[] { 0x51, 0x88, 0x09 },
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new byte[] { 0x51, 0x89, 0x75 },
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new byte[] { 0x51, 0x8a, 0x54 },
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new byte[] { 0x51, 0x8b, 0xe0 },
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new byte[] { 0x51, 0x8c, 0xb2 },
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new byte[] { 0x51, 0x8d, 0x42 },
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new byte[] { 0x51, 0x8e, 0x3d },
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new byte[] { 0x51, 0x8f, 0x56 },
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new byte[] { 0x51, 0x90, 0x46 },
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new byte[] { 0x51, 0x91, 0xf8 },
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new byte[] { 0x51, 0x92, 0x04 },
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new byte[] { 0x51, 0x93, 0x70 },
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new byte[] { 0x51, 0x94, 0xf0 },
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new byte[] { 0x51, 0x95, 0xf0 },
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new byte[] { 0x51, 0x96, 0x03 },
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new byte[] { 0x51, 0x97, 0x01 },
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new byte[] { 0x51, 0x98, 0x04 },
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new byte[] { 0x51, 0x99, 0x12 },
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new byte[] { 0x51, 0x9a, 0x04 },
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new byte[] { 0x51, 0x9b, 0x00 },
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new byte[] { 0x51, 0x9c, 0x06 },
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new byte[] { 0x51, 0x9d, 0x82 },
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new byte[] { 0x51, 0x9e, 0x38 },
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// Gamma(伽马)控制 0x5480~0x5490
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new byte[] { 0x54, 0x80, 0x01 },
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new byte[] { 0x54, 0x81, 0x08 },
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new byte[] { 0x54, 0x82, 0x14 },
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new byte[] { 0x54, 0x83, 0x28 },
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new byte[] { 0x54, 0x84, 0x51 },
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new byte[] { 0x54, 0x85, 0x65 },
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new byte[] { 0x54, 0x86, 0x71 },
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new byte[] { 0x54, 0x87, 0x7d },
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new byte[] { 0x54, 0x88, 0x87 },
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new byte[] { 0x54, 0x89, 0x91 },
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new byte[] { 0x54, 0x8a, 0x9a },
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new byte[] { 0x54, 0x8b, 0xaa },
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new byte[] { 0x54, 0x8c, 0xb8 },
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new byte[] { 0x54, 0x8d, 0xcd },
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new byte[] { 0x54, 0x8e, 0xdd },
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new byte[] { 0x54, 0x8f, 0xea },
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new byte[] { 0x54, 0x90, 0x1d },
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// CMX(彩色矩阵控制) 0x5381~0x538b
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new byte[] { 0x53, 0x81, 0x1e },
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new byte[] { 0x53, 0x82, 0x5b },
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new byte[] { 0x53, 0x83, 0x08 },
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new byte[] { 0x53, 0x84, 0x0a },
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new byte[] { 0x53, 0x85, 0x7e },
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new byte[] { 0x53, 0x86, 0x88 },
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new byte[] { 0x53, 0x87, 0x7c },
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new byte[] { 0x53, 0x88, 0x6c },
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new byte[] { 0x53, 0x89, 0x10 },
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new byte[] { 0x53, 0x8a, 0x01 },
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new byte[] { 0x53, 0x8b, 0x98 },
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// SDE(特殊数码效果)控制 0x5580~0x558b
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new byte[] { 0x55, 0x80, 0x06 },
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new byte[] { 0x55, 0x83, 0x40 },
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new byte[] { 0x55, 0x84, 0x10 },
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new byte[] { 0x55, 0x89, 0x10 },
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new byte[] { 0x55, 0x8a, 0x00 },
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new byte[] { 0x55, 0x8b, 0xf8 },
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new byte[] { 0x50, 0x1d, 0x40 }, //ISP MISC
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// CIP(颜色插值)控制 0x5300~0x530c
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new byte[] { 0x53, 0x00, 0x08 },
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new byte[] { 0x53, 0x01, 0x30 },
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new byte[] { 0x53, 0x02, 0x10 },
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new byte[] { 0x53, 0x03, 0x00 },
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new byte[] { 0x53, 0x04, 0x08 },
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new byte[] { 0x53, 0x05, 0x30 },
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new byte[] { 0x53, 0x06, 0x08 },
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new byte[] { 0x53, 0x07, 0x16 },
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new byte[] { 0x53, 0x09, 0x08 },
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new byte[] { 0x53, 0x0a, 0x30 },
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new byte[] { 0x53, 0x0b, 0x04 },
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new byte[] { 0x53, 0x0c, 0x06 },
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new byte[] { 0x50, 0x25, 0x00 },
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new byte[] { 0x30, 0x35, 0x11 }, // 0x3035 = 0x11, 系统时钟分频 input clock =24Mhz, PCLK = 48Mhz
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new byte[] { 0x30, 0x36, 0x3c }, // 0x3036 = 0x3c, PLL倍频
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new byte[] { 0x3c, 0x07, 0x08 }, // 0x3c07 = 0x08
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// 时序控制 0x3800~0x3821
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new byte[] { 0x38, 0x20, 0x46 }, // 0x3820 = 0x46
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new byte[] { 0x38, 0x21, 0x01 }, // 0x3821 = 0x01
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new byte[] { 0x38, 0x14, 0x31 }, // 0x3814 = 0x31
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new byte[] { 0x38, 0x15, 0x31 }, // 0x3815 = 0x31
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new byte[] { 0x38, 0x00, 0x00 }, // 0x3800 = 0x00
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new byte[] { 0x38, 0x01, 0x00 }, // 0x3801 = 0x00
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new byte[] { 0x38, 0x02, 0x00 }, // 0x3802 = 0x00
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new byte[] { 0x38, 0x03, 0x04 }, // 0x3803 = 0x04
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new byte[] { 0x38, 0x04, 0x0a }, // 0x3804 = 0x0a
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new byte[] { 0x38, 0x05, 0x3f }, // 0x3805 = 0x3f
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new byte[] { 0x38, 0x06, 0x07 }, // 0x3806 = 0x07
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new byte[] { 0x38, 0x07, 0x9b }, // 0x3807 = 0x9b
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// 设置输出像素个数
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new byte[] { 0x38, 0x08, unchecked((byte)((H_CMOS_DISP >> 8) & 0x0F)) }, // 0x3808, DVP输出水平像素点数高4位
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new byte[] { 0x38, 0x09, unchecked((byte)(H_CMOS_DISP & 0xFF)) }, // 0x3809, DVP输出水平像素点数低8位
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new byte[] { 0x38, 0x0A, unchecked((byte)((V_CMOS_DISP >> 8) & 0x07)) }, // 0x380a, DVP输出垂直像素点数高3位
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new byte[] { 0x38, 0x0B, unchecked((byte)(V_CMOS_DISP & 0xFF)) }, // 0x380b, DVP输出垂直像素点数低8位
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new byte[] { 0x38, 0x0C, unchecked((byte)((TOTAL_H_PIXEL >> 8) & 0x1F)) }, // 0x380c, 水平总像素大小高5位
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new byte[] { 0x38, 0x0D, unchecked((byte)(TOTAL_H_PIXEL & 0xFF)) }, // 0x380d, 水平总像素大小低8位
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new byte[] { 0x38, 0x0E, unchecked((byte)((TOTAL_V_PIXEL >> 8) & 0x1F)) }, // 0x380e, 垂直总像素大小高5位
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new byte[] { 0x38, 0x0F, unchecked((byte)(TOTAL_V_PIXEL & 0xFF)) }, // 0x380f, 垂直总像素大小低8位
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new byte[] { 0x38, 0x13, 0x06 }, // 0x3813 = 0x06
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new byte[] { 0x36, 0x18, 0x00 }, // 0x3618 = 0x00
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new byte[] { 0x36, 0x12, 0x29 }, // 0x3612 = 0x29
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new byte[] { 0x37, 0x09, 0x52 }, // 0x3709 = 0x52
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new byte[] { 0x37, 0x0c, 0x03 }, // 0x370c = 0x03
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new byte[] { 0x3a, 0x02, 0x17 }, // 0x3a02 = 0x17, 60Hz max exposure
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new byte[] { 0x3a, 0x03, 0x10 }, // 0x3a03 = 0x10, 60Hz max exposure
|
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new byte[] { 0x3a, 0x14, 0x17 }, // 0x3a14 = 0x17, 50Hz max exposure
|
|
new byte[] { 0x3a, 0x15, 0x10 }, // 0x3a15 = 0x10, 50Hz max exposure
|
|
new byte[] { 0x40, 0x04, 0x02 }, // 0x4004 = 0x02, BLC(背光) 2 lines
|
|
new byte[] { 0x47, 0x13, 0x03 }, // 0x4713 = 0x03, JPEG mode 3
|
|
new byte[] { 0x44, 0x07, 0x04 }, // 0x4407 = 0x04, 量化标度
|
|
new byte[] { 0x46, 0x0c, 0x22 }, // 0x460c = 0x22
|
|
new byte[] { 0x48, 0x37, 0x22 }, // 0x4837 = 0x22, DVP CLK divider
|
|
new byte[] { 0x38, 0x24, 0x02 }, // 0x3824 = 0x02, DVP CLK divider
|
|
new byte[] { 0x50, 0x01, 0xa3 }, // 0x5001 = 0xa3, ISP控制
|
|
new byte[] { 0x3b, 0x07, 0x0a }, // 0x3b07 = 0x0a, 帧曝光模式
|
|
|
|
// 彩条测试使能
|
|
new byte[] { 0x50, 0x3d, 0x00 }, // 0x503d = 0x00, 0x00:正常模式 0x80:彩条显示
|
|
|
|
// 测试闪光灯功能
|
|
new byte[] { 0x30, 0x16, 0x02 }, // 0x3016 = 0x02
|
|
new byte[] { 0x30, 0x1c, 0x02 }, // 0x301c = 0x02
|
|
new byte[] { 0x30, 0x19, 0x02 }, // 0x3019 = 0x02, 打开闪光灯
|
|
new byte[] { 0x30, 0x19, 0x00 }, // 0x3019 = 0x00, 关闭闪光灯
|
|
};
|
|
|
|
|
|
/// <summary>
|
|
/// 初始化摄像头客户端
|
|
/// </summary>
|
|
/// <param name="address">摄像头设备IP地址</param>
|
|
/// <param name="port">摄像头设备端口</param>
|
|
/// <param name="timeout">超时时间（毫秒）</param>
|
|
public Camera(string address, int port, int timeout = 2000)
|
|
{
|
|
if (timeout < 0)
|
|
throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
|
|
this.address = address;
|
|
this.port = port;
|
|
this.ep = new IPEndPoint(IPAddress.Parse(address), port);
|
|
this.timeout = timeout;
|
|
}
|
|
|
|
public async ValueTask<Result<bool>> Init()
|
|
{
|
|
{
|
|
var ret = await UDPClientPool.WriteAddr(this.ep, 2, 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($"STORE_ADDR write returned false for camera at {this.address}:{this.port}"));
|
|
}
|
|
}
|
|
|
|
{
|
|
var ret = await UDPClientPool.WriteAddr(this.ep, 2, CameraAddr.STORE_NUM, FrameLength);
|
|
if (!ret.IsSuccessful)
|
|
{
|
|
logger.Error($"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}"));
|
|
}
|
|
}
|
|
|
|
{
|
|
var ret = await UDPClientPool.WriteAddr(this.ep, 2, CameraAddr.CAPTURE_ON, 0x01);
|
|
if (!ret.IsSuccessful)
|
|
{
|
|
logger.Error($"Failed to write CAPTURE_ON to camera at {this.address}:{this.port}, error: {ret.Error}");
|
|
return new(ret.Error);
|
|
}
|
|
if (!ret.Value)
|
|
{
|
|
logger.Error($"CAPTURE_ON write returned false for camera at {this.address}:{this.port}");
|
|
return new(new Exception($"CAPTURE_ON write returned false for camera at {this.address}:{this.port}"));
|
|
}
|
|
}
|
|
|
|
var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.timeout);
|
|
|
|
foreach (var cmd in data)
|
|
{
|
|
var ret = await i2c.WriteData(CAM_I2C_ADDR, cmd, CAM_PROTO);
|
|
|
|
if (!ret.IsSuccessful)
|
|
{
|
|
logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} failed: {BitConverter.ToString(cmd)} error: {ret.Error}");
|
|
return new(ret.Error);
|
|
}
|
|
|
|
if (!ret.Value)
|
|
{
|
|
logger.Error($"I2C write 0x{CAM_I2C_ADDR.ToString("X")} returned false: {BitConverter.ToString(cmd)}");
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
/// <summary>
|
|
/// 读取一帧图像数据
|
|
/// </summary>
|
|
/// <returns>包含图像数据的字节数组</returns>
|
|
public async ValueTask<Result<byte[]>> ReadFrame()
|
|
{
|
|
// 清除UDP服务器接收缓冲区
|
|
await MsgBus.UDPServer.ClearUDPData(this.address, 2);
|
|
|
|
logger.Trace($"Clear up udp server {this.address} receive data");
|
|
|
|
// 使用UDPClientPool读取图像帧数据
|
|
var result = await UDPClientPool.ReadAddr4Bytes(
|
|
this.ep,
|
|
2, // taskID
|
|
FrameAddr,
|
|
((int)FrameLength),
|
|
this.timeout);
|
|
|
|
if (!result.IsSuccessful)
|
|
{
|
|
logger.Error($"Failed to read frame from camera {this.address}:{this.port}, error: {result.Error}");
|
|
return new(result.Error);
|
|
}
|
|
|
|
logger.Debug($"Successfully read frame from camera {this.address}:{this.port}, data length: {result.Value.Length} bytes");
|
|
return result.Value;
|
|
}
|
|
}
|