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c_sharp_lib/udplib.cs

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using System;
using System.Collections.Generic;
using System.Net.Sockets;
using System.Net;
using System.Text;
using System.Threading;
using nRTP;
using System.Windows.Forms;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using System.Reflection;
using UTIL;
namespace UDPLIB
{
public class Data
{
public static string Ver = "1.1.2.264";
protected static string IPAddr = "192.168.1.2";
protected static Int32 LocalPort = 5004;
protected static Int32 RemotePort = 5006;
#if DEBUG
public static string Conf = "Debug";
#else
public static string Conf = "Release";
#endif
}
public class UDPreceive : Data
{
//Int32 localPort = 5004;
//Int32 remotePort = 5006;
Thread UDPreceiveThread = null;
// Thread processFrameThread = null;
Thread sendFrameThread = null;
// Thread processDataFrameThread = null;
Stopwatch fpstimer;
private volatile bool listening = false;
UInt16 iwidth = 0;
UInt16 iheight = 0;
List<Byte[]> udata50 = new List<byte[]>();
List<Byte[]> udata51 = new List<byte[]>();
UInt32 cnt_frames = 0;
Res2 rrr2 = new Res2(); // класс ресурсов на замену Res
#region Прием данных
public UDPreceive(Int32 localPortUDP)
{
LocalPort = localPortUDP;
for (int i = 0; i < 2500; i++)
{
udata50.Add(new Byte[0]);
udata51.Add(new Byte[0]);
}
fpstimer = new Stopwatch();
UDPreceiveThread = new Thread(new ThreadStart(UDPReceive7));
listening = true;
UDPreceiveThread.Start();
cnt_frames = 0;
}
public UDPreceive()
{
for (int i = 0; i < 2500; i++)
{
udata50.Add(new Byte[0]);
udata51.Add(new Byte[0]);
}
fpstimer = new Stopwatch();
UDPreceiveThread = new Thread(new ThreadStart(UDPReceive7));
listening = true;
UDPreceiveThread.Start();
cnt_frames = 0;
}
public void Stop()
{
listening = false;
cnt_frames = 0;
}
public Boolean IsAlive
{
get
{
if (UDPreceiveThread == null || !UDPreceiveThread.IsAlive)
return false;
else
return true;
}
}
void UDPReceive7()
{
UdpClient receiver = null;
IPEndPoint endPoint = null;
EndPoint remoteIp = null;
DialogResult res = DialogResult.OK;
try
{
// receiver = new UdpClient(localPort);
receiver = new UdpClient(LocalPort);
endPoint = new IPEndPoint(IPAddress.Any, LocalPort);
remoteIp = new IPEndPoint(IPAddress.Any, 0);
}
catch (Exception ee)
{
res = MessageBox.Show("Порт " + LocalPort.ToString() + " используется како-то программой. \r\n" +
"Прием видео невозможен. Перезапустите программу.", "Ошибка!!!", MessageBoxButtons.OK, MessageBoxIcon.Error);
System.Diagnostics.Process.GetCurrentProcess().Kill();
return;
}
Int32 numrow = 0;
Int32 numlist = 0;
Int32 prevnumrow = 0;
Byte[] imgarr = new Byte[1];
Byte[] blackline = null;
fpstimer.Start();
while (listening)
{
try
{
UInt32 packetsize = 0;
UInt32 ssrc = 0;
if (receiver.Available == 0)
continue;
byte[] data = receiver.Receive(ref endPoint);
numrow = BitConverter.ToUInt16(data, 16);
packetsize = (UInt32)data.Length;
ssrc = BitConverter.ToUInt32(data, 8);
prevnumrow = numrow;
if (ssrc == 12345678)
{
switch (numlist)
{
case 0:
udata50[numrow] = data;
break;
case 1:
udata51[numrow] = data;
break;
}
}
if (numrow == 0 && ssrc == 12345678) // Packet 0
{
//iwidth = BitConverter.ToUInt16(data, 20);
//iheight = BitConverter.ToUInt16(data, 22);
blackline = new Byte[iwidth * 3 + 20];
RTP.DataH0 = data;
RTP.GetDataH0();
//Res.Iwidth = iwidth;
//Res.Iheight = iheight;
//Res.AzUpr = BitConverter.ToSingle(data, 24);
//Res.ElUpr = BitConverter.ToSingle(data, 28);
//Res.Course = BitConverter.ToInt16(data, 32);
//Res.Roll = BitConverter.ToInt16(data, 34);
//Res.Pitch = BitConverter.ToInt16(data, 36);
iwidth = RTP.SD_Width;
iheight = RTP.SD_Height;
Res.Iwidth = RTP.SD_Width;
Res.Iheight = RTP.SD_Height;
Res.AzUpr = RTP.SD_AzUpr;
Res.ElUpr = RTP.SD_ElUpr;
Res.Course = RTP.SD_Course;
Res.Roll = RTP.SD_Roll;
Res.Pitch = RTP.SD_Pitch;
Res.Shirota = RTP.SD_Shirota;
Res.Dolgota = RTP.SD_Dolgota;
Res.Vysota = RTP.SD_Vysota;
Res.rejim_oes = RTP.SD_rejim_oes;
Res.zahvat = RTP.SD_zahvat;
Res.color = RTP.SD_color;
rrr2.Iwidth = RTP.SD_Width;
rrr2.Iheight = RTP.SD_Height;
rrr2.AzUpr = RTP.SD_AzUpr;
rrr2.ElUpr = RTP.SD_ElUpr;
rrr2.Course = RTP.SD_Course;
rrr2.Roll = RTP.SD_Roll;
rrr2.Pitch = RTP.SD_Pitch;
rrr2.Shirota = RTP.SD_Shirota;
rrr2.Dolgota = RTP.SD_Dolgota;
rrr2.Vysota = RTP.SD_Vysota;
rrr2.rejim_oes = RTP.SD_rejim_oes;
rrr2.zahvat = RTP.SD_zahvat;
rrr2.color = RTP.SD_color;
}
if (data[1] == 0xC7 && iheight != 0 && iwidth != 0)
{
switch (numlist)
{
case 0:
{
Thread sendFrame0 = new Thread(new ParameterizedThreadStart(processFrame7));
sendFrame0.Start(new thrdata(0, iwidth, iheight));
sendFrame0.IsBackground = true;
}
numlist = 1;
break;
case 1:
{
Thread sendFrame1 = new Thread(new ParameterizedThreadStart(processFrame7));
sendFrame1.Start(new thrdata(1, iwidth, iheight));
sendFrame1.IsBackground = true;
}
numlist = 0;
break;
}
}
}
catch (Exception ee)
{
using (StreamWriter sw = new StreamWriter(System.IO.File.OpenWrite("udplib.log")))
{
sw.WriteLine($"{DateTime.Now.ToString("HH:mm:ss:fff ")} Error dll recv\r\n{ee.Message}");
}
}
}
receiver.Close();
}
void processFrame7(object obj)
{
try
{
thrdata arr = obj as thrdata;
List<Byte[]> udata = new List<byte[]>();
ushort prevnumrow = 0, numrow = 0;
UInt32 cnt_frame = 0;
int iwi = 0;
int ihe = 0;
switch (arr.arr)
{
case 0:
udata.AddRange(udata50);
break;
case 1:
udata.AddRange(udata51);
break;
}
iwi = BitConverter.ToUInt16(udata[0], 20);
ihe = BitConverter.ToUInt16(udata[0], 22);
Bitmap img = new Bitmap(iwi, ihe, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
Rectangle rect = new Rectangle(0, 0, iwi, ihe);
unsafe
{
BitmapData bmpData = img.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadWrite, img.PixelFormat);
byte* curpos = ((Byte*)bmpData.Scan0);
prevnumrow = numrow;
cnt_frame++;
int dd = 0;
int ff = 0;
try
{
for (int h = 1; h < ihe + 1; h++)
{
dd = h;
for (int w = 20; w < iwi * 3 + 20; w += 3)
{
ff = w;
if (udata[h].Length < (iwi * 3 + 20))
{
curpos += 3;
break;
}
*(curpos++) = udata[h][w + 2];
*(curpos++) = udata[h][w + 1];
*(curpos++) = udata[h][w + 0];
}
}
}
catch (Exception ee)
{
Console.WriteLine($"!!! {ee.Message} {dd} {ff} {udata[dd].Length}");
return;
}
udata.Clear();
img.UnlockBits(bmpData);
}
Res.Clearimg = (Bitmap)img.Clone();
Res.Bmp = img;
rrr2.Clearimg = (Bitmap)img.Clone();
rrr2.Bmp = img;
fpstimer.Stop();
// Res.Fps = gk.filtered(1000F / fpstimer.ElapsedMilliseconds);
Res.Fps = 1000F / fpstimer.ElapsedMilliseconds;
Res.Frames = cnt_frames++;
rrr2.Fps = 1000F / fpstimer.ElapsedMilliseconds;
rrr2.Frames = cnt_frames++;
// Res.Fps = 1000F / fpstimer.ElapsedMilliseconds;
fpstimer.Reset();
fpstimer.Start();
CallBack.Event_newimg_Handler2(rrr2);
}
catch (Exception)
{
using (StreamWriter sw = new StreamWriter(System.IO.File.OpenWrite("udplib.log")))
{
sw.WriteLine(DateTime.Now.ToString("HH:mm:ss:fff ") + "Error lib process");
}
}
}
#endregion
}
public class UDPTransmit : Data
{
UdpClient transmitter = null;
IPEndPoint endPoint = null;
UInt16 pntX = 0;
UInt16 pntY = 0;
UInt16 pntlx = 0;
UInt16 pntly = 0;
//public UDPTransmit(String IPaddr, Int32 remotePortUDP, Point p)
//{
// transmitter = new UdpClient();
// endPoint = new IPEndPoint(IPAddress.Parse(IPaddr), remotePortUDP);
// pnt = p;
// pnt.X = Util.minmax((ushort)64, (ushort)576, (ushort)pnt.X);
// pnt.Y = Util.minmax((ushort)64, (ushort)416, (ushort)pnt.Y);
// Bitmap crop = Res.Clearimg.Clone(new Rectangle(pnt.X - 64, pnt.Y - 64, 128, 128), PixelFormat.Format24bppRgb);
// Res.Crop = crop;
// Thread UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
// UDPtransmitThread.Start();
//}
public UDPTransmit(String IPaddr, Int32 remotePortUDP, (UInt16, UInt16, UInt16, UInt16) p)
{
transmitter = new UdpClient();
endPoint = new IPEndPoint(IPAddress.Parse(IPaddr), remotePortUDP);
pntX = p.Item1; // X координата
pntY = p.Item2; // Y координата
pntlx = p.Item3; // ширина эталона
pntly = p.Item4; // высота эталона
Res.Crop = Res.Clearimg.Clone(new Rectangle(pntX - pntlx / 2, pntY - pntly / 2, pntlx, pntly), PixelFormat.Format24bppRgb);
Thread UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
UDPtransmitThread.Start();
}
public UDPTransmit((UInt16, UInt16, UInt16, UInt16) p)
{
transmitter = new UdpClient();
endPoint = new IPEndPoint(IPAddress.Parse(IPAddr), RemotePort);
pntX = p.Item1; // X координата
pntY = p.Item2; // Y координата
pntlx = p.Item3; // ширина эталона
pntly = p.Item4; // высота эталона
Res.Crop = Res.Clearimg.Clone(new Rectangle(pntX - pntlx / 2, pntY - pntly / 2, pntlx, pntly), PixelFormat.Format24bppRgb);
Thread UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
UDPtransmitThread.Start();
}
public UDPTransmit(String IPaddr, Int32 remotePortUDP, Bitmap crop)
{
transmitter = new UdpClient();
endPoint = new IPEndPoint(IPAddress.Parse(IPaddr), remotePortUDP);
Res.Crop = crop;
Thread UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
UDPtransmitThread.Start();
}
void UDPtransmitFrame()
{
transmitter.Connect(endPoint);
// RTPMsgHeader
RTPet.MH_VerPXCC = 2;
RTPet.MH_MPT = 0xC6;
RTPet.SeqCounter = 0; //!
RTPet.MH_Timestamp = (uint)DateTimeOffset.Now.ToUnixTimeSeconds(); //!
RTPet.MH_PT = 99;
RTPet.MH_M = 0;
RTPet.MH_SSRC = 12345678;
RTPet.MH_DataLen = (UInt16)(RTPet.DataH0.Length - RTPet.DataH1.Length);
RTPet.MH_RowNumber = 0;
RTPet.MH_Offset = 0;
// RTPVideoSupplementalData
RTPet.SD_Width = (ushort)Res.Crop.Width;
RTPet.SD_Height = (ushort)Res.Crop.Height;
RTPet.SD_AzUpr = RTP.SD_AzUpr;
RTPet.SD_ElUpr = RTP.SD_ElUpr;
RTPet.SD_Shirota = RTP.SD_Shirota;
RTPet.SD_Dolgota = RTP.SD_Dolgota;
RTPet.SD_Vysota = RTP.SD_Vysota;
RTPet.SD_Course = RTP.SD_Course;
RTPet.SD_Roll = RTP.SD_Roll;
RTPet.SD_Pitch = RTP.SD_Pitch;
RTPet.SD_X = pntX;
RTPet.SD_Y = pntY;
RTPet.SD_lx = (Byte)pntlx;
RTPet.SD_ly = (Byte)pntly;
RTPet.SD_rejim_oes = RTP.SD_rejim_oes;
RTPet.SD_color = RTP.SD_color;
RTPet.MakeDataH0();
transmitter.Send(RTPet.DataH0, RTPet.DataH0.Length);
Byte[] dataudp = new Byte[20 + RTPet.SD_Width * 3];
Byte[] dataimg = new Byte[RTPet.SD_Width * 3];
for (int i = 0; i < RTPet.SD_Height; i++)
{
// RTPMsgHeader
RTPet.MH_VerPXCC = 2;
if (i == RTPet.SD_Height - 1)
{
RTPet.MH_PT = 99;
RTPet.MH_M = 1;
}
else
{
RTPet.MH_PT = 99;
RTPet.MH_M = 0;
}
++RTPet.SeqCounter;
RTPet.MH_RowNumber = (ushort)(i + 1);
RTPet.MH_DataLen = (ushort)(RTPet.SD_Width * 3);
RTPet.MakeDataH1();
uint ccc = 0;
try
{
for (int j = 0; j < RTPet.SD_Width; j++)
{
Color c = Res.Crop.GetPixel(j, i);
dataimg[ccc++] = c.B;
dataimg[ccc++] = c.G;
dataimg[ccc++] = c.R;
}
}
catch (Exception ee)
{
Console.WriteLine(ee.Message);
Console.WriteLine("Error 4 getpixel");
return;
}
Array.Copy(RTPet.DataH1, dataudp, RTPet.DataH1.Length);
Array.Copy(dataimg, 0, dataudp, RTPet.DataH1.Length, dataimg.Length);
transmitter.Send(dataudp, dataudp.Length);
}
transmitter.Close();
CallBack.Event_crop_transmitted_Handler();
}
}
public class UDPTransmitSim : Data
{
UdpClient transmitter = null;
IPEndPoint endPoint = null;
Point pnt;
Int32 sizeX = 0;
Int32 sizeY = 0;
Int32 delayMS = 0;
public Bitmap img = null; // Resources.che1;
volatile Boolean flag = false;
Thread UDPtransmitThread = null;
Stopwatch fpstmr;
private UInt32 cnt_frame = 0;
float fps = 0;
public UDPTransmitSim(String ipaddr, Int32 remotePortUDP, Int32 sizeX, Int32 sizeY, Int32 delayMS)
{
transmitter = new UdpClient();
endPoint = new IPEndPoint(IPAddress.Parse(ipaddr), remotePortUDP);
this.sizeX = sizeX;
this.sizeY = sizeY;
this.delayMS = delayMS;
img = new Bitmap(Res.Sim, new Size(sizeX, sizeY));
UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
UDPtransmitThread.Start();
Start();
fpstmr = new Stopwatch();
}
public UDPTransmitSim(Int32 sizeX, Int32 sizeY, Int32 delayMS)
{
transmitter = new UdpClient();
endPoint = new IPEndPoint(IPAddress.Parse(IPAddr), RemotePort);
this.sizeX = sizeX;
this.sizeY = sizeY;
this.delayMS = delayMS;
img = new Bitmap(Res.Sim, new Size(sizeX, sizeY));
UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
UDPtransmitThread.Start();
Start();
fpstmr = new Stopwatch();
}
public UDPTransmitSim(String IPaddr, Int32 remotePortUDP, Int32 delayMS, Bitmap i)
{
transmitter = new UdpClient();
endPoint = new IPEndPoint(IPAddress.Parse(IPaddr), remotePortUDP);
sizeX = i.Width;
sizeY = i.Height;
this.delayMS = delayMS;
img = new Bitmap(i);
UDPtransmitThread = new Thread(new ThreadStart(UDPtransmitFrame));
UDPtransmitThread.Start();
Start();
fpstmr = new Stopwatch();
}
public void Start()
{
flag = true;
}
public void Stop()
{
flag = false;
}
void UDPtransmitFrame()
{
transmitter.Connect(endPoint);
Res.Frames = 0;
//cnt_frame = 0;
while (flag)
{
fpstmr.Start();
// RTPMsgHeader
RTP.MH_VerPXCC = 2;
RTP.MH_MPT = 0xC6;
RTP.SeqCounter = 0; //!
RTP.MH_Timestamp = (uint)DateTimeOffset.Now.ToUnixTimeSeconds(); //!
RTP.MH_PT = 99;
RTP.MH_M = 0;
RTP.MH_SSRC = 12345678;
RTP.MH_DataLen = (UInt16)(RTP.DataH0.Length - RTP.DataH1.Length);
RTP.MH_RowNumber = 0;
RTP.MH_Offset = 0;
// RTPVideoSupplementalData
RTP.SD_Width = (UInt16)sizeX;
RTP.SD_Height = (UInt16)sizeY;
RTP.SD_AzUpr = 0;
RTP.SD_ElUpr = 0;
RTP.SD_Shirota = Res.Shirota;
RTP.SD_Dolgota = Res.Dolgota;
RTP.SD_Vysota = Res.Vysota;
RTP.SD_Course = Res.Course;
RTP.SD_Roll = Res.Roll;
RTP.SD_Pitch = Res.Pitch;
//RTP.SD_X = pntX;
//RTP.SD_Y = pntY;
//RTP.SD_lx = (Byte)pntlx;
//RTP.SD_ly = (Byte)pntly;
RTP.SD_rejim_oes = Res.rejim_oes;
RTP.SD_color = Res.color;
RTP.SD_zahvat = Res.zahvat;
// Console.WriteLine($"{RTP.SD_rejim_oes} {RTP.SD_zahvat} {RTP.SD_color} {RTP.SD_Status} {Res.status}");
//Console.WriteLine($"{RTP.SD_color} {RTP.SD_zahvat} {RTP.SD_rejim_oes} {RTP.SD_Status}");
RTP.MakeDataH0();
transmitter.Send(RTP.DataH0, RTP.DataH0.Length);
Byte[] dataudp = new Byte[20 + RTP.SD_Width * 3];
Byte[] dataimg = new Byte[RTP.SD_Width * 3];
for (int i = 0; i < sizeY; i++)
{
// RTPMsgHeader
RTP.MH_VerPXCC = 2;
if (i == (sizeY - 1))
{
RTP.MH_PT = 99;
RTP.MH_M = 1;
}
else
{
RTP.MH_PT = 99;
RTP.MH_M = 0;
}
++RTP.SeqCounter;
RTP.MH_RowNumber = (ushort)(i + 1);
RTP.MH_DataLen = (ushort)(RTP.SD_Width * 3);
RTP.MakeDataH1();
uint ccc = 0;
try
{
for (int j = 0; j < sizeX; j++)
{
Color c = img.GetPixel(j, i);
dataimg[ccc++] = c.R;
dataimg[ccc++] = c.G;
dataimg[ccc++] = c.B;
}
}
catch (Exception ee)
{
Console.WriteLine(ee.Message);
Console.WriteLine("Error 4 getpixel");
return;
}
Array.Copy(RTP.DataH1, dataudp, RTP.DataH1.Length);
Array.Copy(dataimg, 0, dataudp, RTP.DataH1.Length, dataimg.Length);
transmitter.Send(dataudp, dataudp.Length);
}
Res.Frames++;
// transmitter.Close();
fpstmr.Stop();
fps = 1000F / fpstmr.ElapsedMilliseconds;
Res.Fps = fps;
fpstmr.Reset();
cnt_frame++;
CallBack.Event_transmitted_Handler();
Thread.Sleep(delayMS);
}
Res.Frames = 0;
Res.Fps = 0;
CallBack.Event_transmitted_Handler();
transmitter.Close();
transmitter.Dispose();
}
public void Dispose()
{
if (img != null)
{
UDPtransmitThread.Abort();
img.Dispose();
}
flag = false;
}
}
class thrdata
{
public uint arr;
public uint iw;
public uint ih;
public thrdata(uint a, uint w, uint h)
{
arr = a;
iw = w;
ih = h;
}
}
public static class Res
{
public static Bitmap Bmp { set; get; }
public static Bitmap Sim { set; get; }
public static Bitmap Crop { set; get; }
public static Bitmap Clearimg { set; get; }
public static UInt16 Iwidth { set; get; }
public static UInt16 Iheight { set; get; }
public static UInt32 Frames { set; get; }
public static float Fps { set; get; }
public static float AzUpr { set; get; }
public static float ElUpr { set; get; }
public static Int16 Course { set; get; }
public static Int16 Roll { set; get; }
public static Int16 Pitch { set; get; }
public static Int32 Shirota { set; get; }
public static Int32 Dolgota { set; get; }
public static Int32 Vysota { set; get; }
public static UInt16 X { set; get; }
public static UInt16 Y { set; get; }
public static Byte lx { set; get; }
public static Byte ly { set; get; }
public static Byte rejim_oes { set; get; } // Режим ОЭС: «0» – Обзор, «1» – АС
public static Byte zahvat { set; get; } // Захват: «0» – отсутствие захвата, «1» – наличие захвата
public static Byte color { set; get; } // Цвет изображения: «1» – цветное, «0» – монохромное
public static String Version { get => Data.Ver; }
public static String Configuration { get => Data.Conf; }
public static Boolean status_rs { set; get; }
public static Boolean status_eth { set; get; }
public static float Az { set; get; }
public static float El { set; get; }
//public static Byte status
//{
// get
// {
// status = 0;
// status |= (Byte)(rejim_oes << 0);
// status |= (Byte)(zahvat << 1);
// status |= (Byte)(color << 2);
// return status;
// }
// set
// {
// status = value;
// rejim_oes = (Byte)((value >> 0) & 0x01);
// zahvat = (Byte)((value >> 1) & 0x01);
// color = (Byte)((value >> 2) & 0x01);
// }
//}
}
public class Res2
{
public Bitmap Bmp;
public Bitmap Crop;
public Bitmap Clearimg;
public UInt16 Iwidth;
public UInt16 Iheight;
public UInt32 Frames;
public float Fps;
public float AzUpr;
public float ElUpr;
public Int32 Shirota;
public Int32 Dolgota;
public Int32 Vysota;
public Int16 Course;
public Int16 Roll;
public Int16 Pitch;
public UInt16 X;
public UInt16 Y;
public Byte lx;
public Byte ly;
public Byte rejim_oes; // Режим ОЭС: «0» – Обзор, «1» – АС
public Byte zahvat; // Захват: «0» – отсутствие захвата, «1» – налачие захвата
public Byte color; // Цвет изображения: «1» – цветное, «0» – монохромное
public String Version { get => Data.Ver; }
public String Configuration { get => Data.Conf; }
public Boolean status_rs { set; get; }
public Boolean status_eth { set; get; }
}
public static class CallBack
{
public delegate void Event_newimg();
public static Event_newimg Event_newimg_Handler;
public delegate void Event_crop_transmitted();
public static Event_crop_transmitted Event_crop_transmitted_Handler;
public delegate void Event_newimg2(Res2 data);
public static Event_newimg2 Event_newimg_Handler2;
public delegate void Event_transmitted();
public static Event_transmitted Event_transmitted_Handler;
}
}