296 lines
9.8 KiB
C#
296 lines
9.8 KiB
C#
using System.Net;
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using DotNext;
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using WebProtocol;
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namespace Peripherals.HdmiInClient;
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static class HdmiInAddr
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{
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public const UInt32 BASE = 0xA000_0000;
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public const UInt32 CAPTURE_RD_CTRL = BASE + 0x0;
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public const UInt32 START_WR_ADDR0 = BASE + 0x20;
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public const UInt32 END_WR_ADDR0 = BASE + 0x21;
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public const UInt32 HDMI_NOT_READY = BASE + 0x26;
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public const UInt32 HDMI_HEIGHT_WIDTH = BASE + 0x27;
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public const UInt32 CAPTURE_HEIGHT_WIDTH = BASE + 0x28;
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public const UInt32 ADDR_HDMI_WD_START = 0x0400_0000;
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}
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public class HdmiIn
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{
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private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
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readonly int timeout = 500;
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readonly int taskID;
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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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public int Width { get; private set; }
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public int Height { get; private set; }
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public int FrameLength => Width * Height / 2;
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/// <summary>
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/// 初始化HDMI输入客户端
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/// </summary>
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/// <param name="address">HDMI输入设备IP地址</param>
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/// <param name="port">HDMI输入设备端口</param>
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/// <param name="taskID">任务ID</param>
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/// <param name="timeout">超时时间（毫秒）</param>
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public HdmiIn(string address, int port, int taskID, int timeout = 500)
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{
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if (timeout < 0)
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throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
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this.address = address;
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this.port = port;
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this.ep = new IPEndPoint(IPAddress.Parse(address), port);
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this.taskID = taskID;
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this.timeout = timeout;
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}
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public async ValueTask<Result<bool>> Init(bool enable = true)
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{
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{
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var ret = await CheckHdmiIsReady();
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to check HDMI ready: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("HDMI not ready");
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return new(false);
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}
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}
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int width = -1, height = -1;
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{
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var ret = await GetHdmiResolution();
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to get HDMI resolution: {ret.Error}");
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return new(ret.Error);
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}
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(width, height) = ret.Value;
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}
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{
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var ret = await ConnectJpeg2Hdmi(width, height);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to connect JPEG to HDMI: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error("Failed to connect JPEG to HDMI");
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return false;
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}
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}
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if (enable) return await SetTransEnable(true);
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else return true;
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}
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public async ValueTask<Result<bool>> SetTransEnable(bool isEnable)
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{
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var ret = await UDPClientPool.WriteAddr(this.ep, this.taskID, HdmiInAddr.CAPTURE_RD_CTRL, (isEnable ? 0x00000001u : 0x00000000u));
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to write HdmiIn_CTRL to HdmiIn at {this.address}:{this.port}, error: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error($"HdmiIn_CTRL write returned false for HdmiIn at {this.address}:{this.port}");
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return false;
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}
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return true;
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}
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/// <summary>
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/// 读取一帧图像数据
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/// </summary>
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/// <returns>包含图像数据的字节数组</returns>
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public async ValueTask<Result<byte[]>> ReadFrame()
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{
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// 只在第一次或出错时清除UDP缓冲区，避免每帧都清除造成延迟
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// MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
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logger.Trace($"Reading frame from HdmiIn {this.address}");
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// 使用UDPClientPool读取图像帧数据
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var result = await UDPClientPool.ReadAddr4BytesAsync(
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this.ep,
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this.taskID, // taskID
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HdmiInAddr.ADDR_HDMI_WD_START,
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FrameLength, // 使用当前分辨率的动态大小
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BurstType.ExtendBurst,
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this.timeout);
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if (!result.IsSuccessful)
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{
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logger.Error($"Failed to read frame from HdmiIn {this.address}:{this.port}, error: {result.Error}");
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// 读取失败时清除缓冲区，为下次读取做准备
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try
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{
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MsgBus.UDPServer.ClearUDPData(this.address, this.taskID);
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}
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catch (Exception ex)
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{
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logger.Warn($"Failed to clear UDP data after read error: {ex.Message}");
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}
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return new(result.Error);
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}
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logger.Trace($"Successfully read frame from HdmiIn {this.address}:{this.port}, data length: {result.Value.Length} bytes");
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return result.Value;
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}
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public async ValueTask<Optional<(byte[] header, byte[] data, byte[] footer)>> GetMJpegFrame()
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{
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// 从HDMI读取RGB24数据
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var readStartTime = DateTime.UtcNow;
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var frameResult = await ReadFrame();
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var readEndTime = DateTime.UtcNow;
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var readTime = (readEndTime - readStartTime).TotalMilliseconds;
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if (!frameResult.IsSuccessful || frameResult.Value == null)
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{
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logger.Warn("HDMI帧读取失败或为空");
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return Optional<(byte[] header, byte[] data, byte[] footer)>.None;
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}
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var rgb565Data = frameResult.Value;
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// 验证数据长度是否正确 (RGB24为每像素2字节)
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var expectedLength = Width * Height * 2;
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if (rgb565Data.Length != expectedLength)
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{
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logger.Warn("HDMI数据长度不匹配，期望: {Expected}, 实际: {Actual}",
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expectedLength, rgb565Data.Length);
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}
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// 将RGB24转换为JPEG（参考Camera版本的处理）
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var jpegResult = Common.Image.ConvertRGB565ToJpeg(rgb565Data, Width, Height, 80, false);
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if (!jpegResult.IsSuccessful)
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{
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logger.Error("HDMI RGB565转JPEG失败: {Error}", jpegResult.Error);
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return Optional<(byte[] header, byte[] data, byte[] footer)>.None;
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}
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var jpegData = jpegResult.Value;
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var mjpegFrameHeader = Common.Image.CreateMjpegFrameHeader(jpegData.Length);
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var mjpegFrameFooter = Common.Image.CreateMjpegFrameFooter();
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return (mjpegFrameHeader, jpegData, mjpegFrameFooter);
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}
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public async ValueTask<Result<bool>> CheckHdmiIsReady()
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{
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var ret = await UDPClientPool.ReadAddrWithWait(
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this.ep, this.taskID, HdmiInAddr.HDMI_NOT_READY, 0b00, 0b01, 100, this.timeout);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to check HDMI status: {ret.Error}");
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return new(ret.Error);
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}
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return ret.Value;
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}
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public async ValueTask<Result<(int, int)>> GetHdmiResolution()
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{
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var ret = await UDPClientPool.ReadAddrByte(
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this.ep, this.taskID, HdmiInAddr.HDMI_HEIGHT_WIDTH, this.timeout);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to get HDMI resolution: {ret.Error}");
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return new(ret.Error);
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}
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var data = ret.Value.Options.Data;
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if (data == null || data.Length != 4)
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{
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logger.Error($"Invalid HDMI resolution data length: {data?.Length ?? 0}");
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return new(new Exception("Invalid HDMI resolution data length"));
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}
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var width = (data[3] | (data[2] << 8)) - 1 - (((data[3] | (data[2] << 8)) - 1)%2);
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var height = (data[1] | (data[0] << 8)) - 1 - (((data[1] | (data[0] << 8)) - 1)%2);
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this.Width = width;
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this.Height = height;
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logger.Info($"HDMI resolution: {width}x{height}");
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return new((width, height));
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}
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public async ValueTask<Result<bool>> ConnectJpeg2Hdmi(int width, int height)
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{
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if (width <= 0 || height <= 0)
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{
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logger.Error($"Invalid HDMI resolution: {width}x{height}");
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return new(new ArgumentException("Invalid HDMI resolution"));
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}
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var frameSize = (UInt32)(width * height) / 2;
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{
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var ret = await UDPClientPool.WriteAddr(
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this.ep, this.taskID, HdmiInAddr.CAPTURE_HEIGHT_WIDTH, (uint)((height << 16) + width), this.timeout);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to set CAPTURE_HEIGHT_WIDTH: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error($"Failed to set HDMI output start address");
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return false;
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}
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}
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{
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var ret = await UDPClientPool.WriteAddr(
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this.ep, this.taskID, HdmiInAddr.START_WR_ADDR0, HdmiInAddr.ADDR_HDMI_WD_START, this.timeout);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to set HDMI output start address: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error($"Failed to set HDMI output start address");
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return false;
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}
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}
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{
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var ret = await UDPClientPool.WriteAddr(
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this.ep, this.taskID, HdmiInAddr.END_WR_ADDR0,
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HdmiInAddr.ADDR_HDMI_WD_START + frameSize - 1, this.timeout);
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if (!ret.IsSuccessful)
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{
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logger.Error($"Failed to set HDMI output end address: {ret.Error}");
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return new(ret.Error);
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}
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if (!ret.Value)
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{
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logger.Error($"Failed to set HDMI output address");
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return false;
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}
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}
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return true;
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}
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}
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