/**
* Prints command queue - convenience and bugfixing.
*/
void ClientSonyVISCAoverIP::printCommandQueue(uint8_t cam) {
for (uint8_t a = 1; a < SONYVISCAIP_comBufSize; a++) { // Start from the next non-sent command
Serial << a << ": idx:" << ((_applicationCommandBufferCurrentIndex[cam - 1] + a) % SONYVISCAIP_comBufSize) << ": ";
for (uint8_t b = 0; b < 15; b++) {
Serial << _HEXPADL(_applicationCommandBuffer[cam - 1][(_applicationCommandBufferCurrentIndex[cam - 1] + a) % SONYVISCAIP_comBufSize][b], 2, "0") << " ";
}
Serial << "\n";
if ((_applicationCommandBufferCurrentIndex[cam - 1] + a) % SONYVISCAIP_comBufSize == _applicationCommandBufferLastPositionAdded[cam - 1]) {
break;
}
}
}
bool ClientAJAKumoTCP::receiveData() {
_inputPos = 0;
memset(_inputBuffer, 0, ClientAJAKumoTCP_INPUTBUFFER_SIZE);
while(_client.available() && _inputPos < ClientAJAKumoTCP_INPUTBUFFER_SIZE) {
char c = _client.read();
_inputBuffer[_inputPos++] = c;
if(_serialOutput > 1)
Serial << _HEXPADL(c, 2, "0") << ":";
if(c == 0x04) {
if(_serialOutput > 1) {
Serial << " : " << (char*)_inputBuffer << "\n";
}
parseIncoming(_inputBuffer, _inputPos);
_inputPos = 0;
return true;
}
}
return false;
}
void ClientAJAKumoTCP::transmitPacket(char* data) {
uint8_t len = strlen(data);
uint8_t *_buffer = (uint8_t*)malloc(6 + len);
// Prepare packet
_buffer[0] = 0x01; // SOH
_buffer[1] = 'N'; // Protocol ID
_buffer[2] = toASCII(_sessionID & 0xF);
for(uint8_t i = 0; i < len; i++) {
if(data[i] == ',') {
_buffer[3+i] = 0x09; // HT
} else {
_buffer[3+i] = data[i];
}
}
uint16_t checksum = calculateChecksum(_buffer, 3+len);
_buffer[3+len] = checksum >> 8;
_buffer[4+len] = checksum & 0xFF;
_buffer[5+len] = 0x04; // EOT
if(_client.connected()) {
if(_serialOutput > 1) {
for(uint8_t j=0; j<6+len; j++) {
Serial << _HEXPADL(_buffer[j], 2, "0") << ":";
}
Serial << "\n";
}
_client.write(_buffer, 6 + len);
}
free(_buffer);
}
/**
* Keeps connection to the cameras alive: Reads UDP incoming and empties/processes the outgoing command queue
* Therefore: Call this in the loop() function and make sure it gets called multiple times a second, including after sending commands.
*/
void ClientSonyVISCAoverIP::runLoop(uint16_t delayTime) {
unsigned long enterTime = millis();
do {
// Reading incoming UDP data on port:
while (true) { // Iterate until UDP buffer is empty
uint16_t packetSize = _Udp.parsePacket();
if (_Udp.available()) {
IPAddress remote = _Udp.remoteIP();
uint8_t cam = remote[3] - forthByteBase; // Select the cam from the IP address.
if (camNumOK(cam)) { // valid range for VISCA
_Udp.read(_packetBuffer, 8); // Read header
uint16_t payloadType = word(_packetBuffer[0], _packetBuffer[1]);
uint16_t packetLength = word(_packetBuffer[2], _packetBuffer[3]);
uint16_t sequenceNumber = word(_packetBuffer[6], _packetBuffer[7]); // Actually, this is probably a 32 bit unsigned long...
if (packetSize == packetLength + 8) { // Just to make sure these are equal, they should be!
if (_serialOutput & 0x80) {
Serial << "Incoming Packet from cam #" << cam << " (" << packetLength << " bytes): 0x" << _HEXPADL(payloadType, 4, "0") << ": ";
for (uint8_t a = 4; a < 8; a++) {
Serial << _HEXPADL(_packetBuffer[a], 2, "0") << " ";
}
Serial << " / ";
}
// Read the VISCA packet itself:
_Udp.read(_packetBuffer, SONYVISCAIP_packetBufferLength);
if (_serialOutput & 0x80) {
for (uint8_t a = 0; a < packetLength; a++) {
Serial << _HEXPADL(_packetBuffer[a], 2, "0") << " ";
}
Serial << ": ";
}
if (!_isConnected[cam - 1]) { // If not connected, look for reply to reset counter package
if (payloadType == 0x0201 && packetLength == 1 && _packetBuffer[0] == 0x01) { // Response to sequence number "RESET" connect package
_isConnected[cam - 1] = true;
if (_serialOutput & 0x80) {
Serial << F("Connected to VISCA camera #") << cam << "\n";
}
}
} else {
_lastContact[cam - 1] = millis();
_pushedStateUpdate[cam - 1] = false;
if (_camLastTX[cam - 1] > 0) { // Waiting for response
// if (_localPacketIdCounter[cam - 1] == sequenceNumber) { // the returned sequence number is a reference to the sequence number we sent to the camera - but notice that an ack and complete package will refer to the same number. At the moment I see no need to track the package number - we just look for acks and ignores "completes"
if (payloadType == 0x0111 && _packetBuffer[0] == 0x90) {
if (_applicationCommandBuffer[cam - 1][_applicationCommandBufferCurrentIndex[cam - 1]][0] == 0x01 && packetLength == 3 && (_packetBuffer[1] & 0xF0) == 0x40) { // an ack for a command
if (_serialOutput & 0x80) {
Serial << "ACK in " << (millis() - _camLastTX[cam - 1]) << "ms\n";
}
_camLastTX[cam - 1] = 0;
}
if (_applicationCommandBuffer[cam - 1][_applicationCommandBufferCurrentIndex[cam - 1]][0] == 0x01 && packetLength == 4 && (_packetBuffer[1] & 0xF0) == 0x60) { // an error for a command
if (_serialOutput) {
Serial << "ERROR in " << (millis() - _camLastTX[cam - 1]) << "ms\n";
}
_camLastTX[cam - 1] = 0;
}
if (_applicationCommandBuffer[cam - 1][_applicationCommandBufferCurrentIndex[cam - 1]][0] == 0x09 && (_packetBuffer[1] & 0xF0) == 0x50) { // a inquery answer
if (_serialOutput & 0x80) {
Serial << "INQUERY ANS in " << (millis() - _camLastTX[cam - 1]) << "ms\n";
}
_camLastTX[cam - 1] = 0;
parsePacketBufferInqueryData(cam);
}
}
}
}
if (_serialOutput & 0x80) {
Serial << "\n";
}
} else {
//#if SONYVISCAIP_debug
if (_serialOutput & 0x80) {
Serial.print(F("ERROR: Packet size mismatch: "));
Serial.print(packetSize, DEC);
Serial.print(F(" != "));
Serial.println(packetLength, DEC);
}
//#endif
// Flushing larger packets
while (_Udp.available()) {
_Udp.read(_packetBuffer, SONYVISCAIP_packetBufferLength);
}
}
} else {
Serial << "ERROR: Cam number " << cam << " out of range!\n";
}
} else
break;
}
// Send a command from buffer to cameras:
for (uint8_t cam = 1; cam <= SONYVISCAIP_cams; cam++) {
sendCommand(cam);
}
// If connection is gone anyway, try to reconnect:
for (uint8_t cam = 1; cam <= SONYVISCAIP_cams; cam++) {
if (_camOnline[cam - 1]) {
if (hasTimedOut(_lastContact[cam - 1], 400) && _applicationCommandBufferLastPositionAdded[cam - 1] == _applicationCommandBufferCurrentIndex[cam - 1]) { // Send a "get state update" when nothing else happens (output buffer is empty)
// if (_serialOutput)
// Serial.println(F("pushNextStateUpdate()"));
pushNextStateUpdate(cam);
} else if (hasTimedOut(_lastContact[cam - 1], 1000 + 2000)) { // Allow a get state update 2000 ms to register
if (_serialOutput)
Serial.println(F("Connection to Camera has timed out - reconnecting!"));
connect(cam);
}
}
}
} while (delayTime > 0 && !hasTimedOut(enterTime, delayTime));
}
