Essentials/src/PepperDash.Essentials.Devices.Common/Cameras/CameraVisca.cs

using System;
using System.Collections.Generic;
using System.Linq;
using Crestron.SimplSharp;
using Crestron.SimplSharpPro.DeviceSupport;
using Newtonsoft.Json;
using PepperDash.Core;
using PepperDash.Essentials.Core;
using PepperDash.Essentials.Core.Bridges;
using PepperDash.Essentials.Core.Config;
using Serilog.Events;

namespace PepperDash.Essentials.Devices.Common.Cameras
{
    /// <summary>
    /// Represents a CameraVisca
    /// </summary>
    public class CameraVisca : CameraBase, IHasCameraPtzControl, ICommunicationMonitor, IHasCameraPresets, IHasPowerControlWithFeedback, IBridgeAdvanced, IHasCameraFocusControl, IHasAutoFocusMode
    {
        private readonly CameraViscaPropertiesConfig PropertiesConfig;

        /// <summary>
        /// Gets or sets the Communication
        /// </summary>
        public IBasicCommunication Communication { get; private set; }

        /// <summary>
        /// Gets or sets the CommunicationMonitor
        /// </summary>
        public StatusMonitorBase CommunicationMonitor { get; private set; }

        /// <summary>
        /// Used to store the actions to parse inquiry responses as the inquiries are sent
        /// </summary>
        private readonly CrestronQueue<Action<byte[]>> InquiryResponseQueue;

        /// <summary>
        /// Camera ID (Default 1)
        /// </summary>
        public byte ID = 0x01;

        /// <summary>
        /// Response ID used for VISCA communication
        /// </summary>
        public byte ResponseID;

        /// <summary>
        /// Slow speed value for pan movement
        /// </summary>
        public byte PanSpeedSlow = 0x10;

        /// <summary>
        /// Slow speed value for tilt movement
        /// </summary>
        public byte TiltSpeedSlow = 0x10;

        /// <summary>
        /// Fast speed value for pan movement
        /// </summary>
        public byte PanSpeedFast = 0x13;

        /// <summary>
        /// Fast speed value for tilt movement
        /// </summary>
        public byte TiltSpeedFast = 0x13;

        // private bool IsMoving;
        private bool IsZooming;

        bool _powerIsOn;

        /// <summary>
        /// Gets or sets a value indicating whether the camera power is on
        /// </summary>
        public bool PowerIsOn
        {
            get
            {
                return _powerIsOn;
            }
            private set
            {
                if (value != _powerIsOn)
                {
                    _powerIsOn = value;
                    PowerIsOnFeedback.FireUpdate();
                    CameraIsOffFeedback.FireUpdate();
                }
            }
        }

        const byte ZoomInCmd = 0x02;
        const byte ZoomOutCmd = 0x03;
        const byte ZoomStopCmd = 0x00;

        /// <summary>
        /// Used to determine when to move the camera at a faster speed if a direction is held
        /// </summary>
        CTimer SpeedTimer;
        // TODO: Implment speed timer for PTZ controls

        long FastSpeedHoldTimeMs = 2000;

        byte[] IncomingBuffer = new byte[] { };

        /// <summary>
        /// Feedback indicating whether the camera power is on
        /// </summary>
        public BoolFeedback PowerIsOnFeedback { get; private set; }

        /// <summary>
        /// Initializes a new instance of the CameraVisca class
        /// </summary>
        /// <param name="key">The unique key for this camera device</param>
        /// <param name="name">The friendly name for this camera device</param>
        /// <param name="comm">The communication interface for VISCA protocol</param>
        /// <param name="props">The camera properties configuration</param>
        public CameraVisca(string key, string name, IBasicCommunication comm, CameraViscaPropertiesConfig props) :
            base(key, name)
        {
            InquiryResponseQueue = new CrestronQueue<Action<byte[]>>(15);

            Presets = props.Presets;

            PropertiesConfig = props;

            ID = (byte)(props.Id + 0x80);
            ResponseID = (byte)((props.Id * 0x10) + 0x80);

            SetupCameraSpeeds();

            OutputPorts.Add(new RoutingOutputPort("videoOut", eRoutingSignalType.Video, eRoutingPortConnectionType.None, null, this, true));

            // Default to all capabilties
            Capabilities = eCameraCapabilities.Pan | eCameraCapabilities.Tilt | eCameraCapabilities.Zoom | eCameraCapabilities.Focus;

            Communication = comm;
            if (comm is ISocketStatus socket)
            {
                // This instance uses IP control
                socket.ConnectionChange += new EventHandler<GenericSocketStatusChageEventArgs>(Socket_ConnectionChange);
            }
            else
            {
                // This instance uses RS-232 control
            }

            Communication.BytesReceived += new EventHandler<GenericCommMethodReceiveBytesArgs>(Communication_BytesReceived);
            PowerIsOnFeedback = new BoolFeedback("powerIsOn", () => { return PowerIsOn; });
            CameraIsOffFeedback = new BoolFeedback("cameraIsOff", () => { return !PowerIsOn; });

            if (props.CommunicationMonitorProperties != null)
            {
                CommunicationMonitor = new GenericCommunicationMonitor(this, Communication, props.CommunicationMonitorProperties);
            }
            else
            {
                CommunicationMonitor = new GenericCommunicationMonitor(this, Communication, 20000, 120000, 300000, "\x81\x09\x04\x00\xFF");
            }
            DeviceManager.AddDevice(CommunicationMonitor);
        }


        /// <summary>
        /// Sets up camera speed values based on config
        /// </summary>
        void SetupCameraSpeeds()
        {
            if (PropertiesConfig.FastSpeedHoldTimeMs > 0)
            {
                FastSpeedHoldTimeMs = PropertiesConfig.FastSpeedHoldTimeMs;
            }

            if (PropertiesConfig.PanSpeedSlow > 0)
            {
                PanSpeedSlow = (byte)PropertiesConfig.PanSpeedSlow;
            }
            if (PropertiesConfig.PanSpeedFast > 0)
            {
                PanSpeedFast = (byte)PropertiesConfig.PanSpeedFast;
            }

            if (PropertiesConfig.TiltSpeedSlow > 0)
            {
                TiltSpeedSlow = (byte)PropertiesConfig.TiltSpeedSlow;
            }
            if (PropertiesConfig.TiltSpeedFast > 0)
            {
                TiltSpeedFast = (byte)PropertiesConfig.TiltSpeedFast;
            }
        }

        /// <summary>
        /// CustomActivate method
        /// </summary>
        /// <inheritdoc />
        public override bool CustomActivate()
        {
            Communication.Connect();


            CommunicationMonitor.StatusChange += (o, a) => { Debug.LogMessage(LogEventLevel.Verbose, this, "Communication monitor state: {0}", CommunicationMonitor.Status); };
            CommunicationMonitor.Start();


            CrestronConsole.AddNewConsoleCommand(s => Communication.Connect(), "con" + Key, "", ConsoleAccessLevelEnum.AccessOperator);
            return true;
        }

        /// <summary>
        /// LinkToApi method
        /// </summary>
        public void LinkToApi(BasicTriList trilist, uint joinStart, string joinMapKey, EiscApiAdvanced bridge)
        {
            LinkCameraToApi(this, trilist, joinStart, joinMapKey, bridge);
        }

        void Socket_ConnectionChange(object sender, GenericSocketStatusChageEventArgs e)
        {
            Debug.LogMessage(LogEventLevel.Verbose, this, "Socket Status Change: {0}", e.Client.ClientStatus.ToString());

            if (e.Client.IsConnected)
            {

            }
            else
            {

            }
        }


        void SendBytes(byte[] b)
        {

            if (Debug.Level == 2) // This check is here to prevent following string format from building unnecessarily on level 0 or 1
                Debug.LogMessage(LogEventLevel.Verbose, this, "Sending:{0}", ComTextHelper.GetEscapedText(b));

            Communication.SendBytes(b);
        }

        void Communication_BytesReceived(object sender, GenericCommMethodReceiveBytesArgs e)
        {
            var newBytes = new byte[IncomingBuffer.Length + e.Bytes.Length];

            try
            {
                // This is probably not thread-safe buffering
                // Append the incoming bytes with whatever is in the buffer
                IncomingBuffer.CopyTo(newBytes, 0);
                e.Bytes.CopyTo(newBytes, IncomingBuffer.Length);
                if (Debug.Level == 2) // This check is here to prevent following string format from building unnecessarily on level 0 or 1
                    Debug.LogMessage(LogEventLevel.Verbose, this, "Received:{0}", ComTextHelper.GetEscapedText(newBytes));

                byte[] message = new byte[] { };

                // Search for the delimiter 0xFF character
                for (int i = 0; i < newBytes.Length; i++)
                {
                    if (newBytes[i] == 0xFF)
                    {
                        // i will be the index of the delmiter character
                        message = newBytes.Take(i).ToArray();
                        // Skip over what we just took and save the rest for next time
                        newBytes = newBytes.Skip(i).ToArray();
                    }
                }

                if (message.Length > 0)
                {
                    // Check for matching ID
                    if (message[0] != ResponseID)
                    {
                        return;
                    }

                    switch (message[1])
                    {
                        case 0x40:
                            {
                                // ACK received
                                Debug.LogMessage(LogEventLevel.Verbose, this, "ACK Received");
                                break;
                            }
                        case 0x50:
                            {

                                if (message[2] == 0xFF)
                                {
                                    // Completion received
                                    Debug.LogMessage(LogEventLevel.Verbose, this, "Completion Received");
                                }
                                else
                                {
                                    // Inquiry response received.  Dequeue the next response handler and invoke it
                                    if (InquiryResponseQueue.Count > 0)
                                    {
                                        var inquiryAction = InquiryResponseQueue.Dequeue();

                                        inquiryAction.Invoke(message.Skip(2).ToArray());
                                    }
                                    else
                                    {
                                        Debug.LogMessage(LogEventLevel.Verbose, this, "Response Queue is empty. Nothing to dequeue.");
                                    }
                                }

                                break;
                            }
                        case 0x60:
                            {
                                // Error message

                                switch (message[2])
                                {
                                    case 0x01:
                                        {
                                            // Message Length Error
                                            Debug.LogMessage(LogEventLevel.Verbose, this, "Error from device: Message Length Error");
                                            break;
                                        }
                                    case 0x02:
                                        {
                                            // Syntax Error
                                            Debug.LogMessage(LogEventLevel.Verbose, this, "Error from device: Syntax Error");
                                            break;
                                        }
                                    case 0x03:
                                        {
                                            // Command Buffer Full
                                            Debug.LogMessage(LogEventLevel.Verbose, this, "Error from device: Command Buffer Full");
                                            break;
                                        }
                                    case 0x04:
                                        {
                                            // Command Cancelled
                                            Debug.LogMessage(LogEventLevel.Verbose, this, "Error from device: Command Cancelled");
                                            break;
                                        }
                                    case 0x05:
                                        {
                                            // No Socket
                                            Debug.LogMessage(LogEventLevel.Verbose, this, "Error from device: No Socket");
                                            break;
                                        }
                                    case 0x41:
                                        {
                                            // Command not executable
                                            Debug.LogMessage(LogEventLevel.Verbose, this, "Error from device: Command not executable");
                                            break;
                                        }
                                }
                                break;
                            }
                    }

                    if (message == new byte[] { ResponseID, 0x50, 0x02, 0xFF })
                    {
                        PowerIsOn = true;
                    }
                    else if (message == new byte[] { ResponseID, 0x50, 0x03, 0xFF })
                    {
                        PowerIsOn = false;
                    }

                }

            }
            catch (Exception err)
            {
                Debug.LogMessage(LogEventLevel.Verbose, this, "Error parsing feedback: {0}", err);
            }
            finally
            {
                // Save whatever partial message is here
                IncomingBuffer = newBytes;
            }
        }

        /// <summary>
        /// Sends a pan/tilt command. If the command is not for fastSpeed then it starts a timer to initiate fast speed.
        /// </summary>
        /// <param name="cmd">The VISCA command to send</param>
        /// <param name="fastSpeedEnabled">Whether fast speed is enabled for this command</param>
		private void SendPanTiltCommand(byte[] cmd, bool fastSpeedEnabled)
        {
            SendBytes(GetPanTiltCommand(cmd, fastSpeedEnabled));

            if (!fastSpeedEnabled)
            {
                if (SpeedTimer != null)
                {
                    StopSpeedTimer();
                }

                // Start the timer to send fast speed if still moving after FastSpeedHoldTime elapses
                SpeedTimer = new CTimer((o) => SendPanTiltCommand(GetPanTiltCommand(cmd, true), true), FastSpeedHoldTimeMs);
            }

        }

        private void StopSpeedTimer()
        {
            if (SpeedTimer != null)
            {
                SpeedTimer.Stop();
                SpeedTimer.Dispose();
                SpeedTimer = null;
            }
        }

        /// <summary>
        /// Generates the pan/tilt command with either slow or fast speed
        /// </summary>
        /// <param name="cmd"></param>
        /// <param name="fastSpeed"></param>
        /// <returns></returns>
        private byte[] GetPanTiltCommand(byte[] cmd, bool fastSpeed)
        {
            byte panSpeed;
            byte tiltSpeed;

            if (!fastSpeed)
            {
                panSpeed = PanSpeedSlow;
                tiltSpeed = TiltSpeedSlow;
            }
            else
            {
                panSpeed = PanSpeedFast;
                tiltSpeed = TiltSpeedFast;
            }

            var temp = new byte[] { ID, 0x01, 0x06, 0x01, panSpeed, tiltSpeed };
            int length = temp.Length + cmd.Length + 1;

            byte[] sum = new byte[length];
            temp.CopyTo(sum, 0);
            cmd.CopyTo(sum, temp.Length);
            sum[length - 1] = 0xFF;

            return sum;
        }


        void SendPowerQuery()
        {
            SendBytes(new byte[] { ID, 0x09, 0x04, 0x00, 0xFF });
            InquiryResponseQueue.Enqueue(HandlePowerResponse);
        }

        /// <summary>
        /// PowerOn method
        /// </summary>
        public void PowerOn()
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x00, 0x02, 0xFF });
            SendPowerQuery();
        }

        void HandlePowerResponse(byte[] response)
        {
            switch (response[0])
            {
                case 0x02:
                    {
                        PowerIsOn = true;
                        break;
                    }
                case 0x03:
                    {
                        PowerIsOn = false;
                        break;
                    }
            }
        }

        /// <summary>
        /// PowerOff method
        /// </summary>
        public void PowerOff()
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x00, 0x03, 0xFF });
            SendPowerQuery();
        }

        /// <summary>
        /// PowerToggle method
        /// </summary>
        public void PowerToggle()
        {
            if (PowerIsOnFeedback.BoolValue)
                PowerOff();
            else
                PowerOn();
        }

        /// <summary>
        /// PanLeft method
        /// </summary>
        public void PanLeft()
        {
            SendPanTiltCommand(new byte[] { 0x01, 0x03 }, false);
            // IsMoving = true;
        }
        /// <summary>
        /// PanRight method
        /// </summary>
        public void PanRight()
        {
            SendPanTiltCommand(new byte[] { 0x02, 0x03 }, false);
            // IsMoving = true;
        }
        /// <summary>
        /// PanStop method
        /// </summary>
        public void PanStop()
        {
            Stop();
        }
        /// <summary>
        /// TiltDown method
        /// </summary>
        public void TiltDown()
        {
            SendPanTiltCommand(new byte[] { 0x03, 0x02 }, false);
            // IsMoving = true;
        }
        /// <summary>
        /// TiltUp method
        /// </summary>
        public void TiltUp()
        {
            SendPanTiltCommand(new byte[] { 0x03, 0x01 }, false);
            // IsMoving = true;
        }
        /// <summary>
        /// TiltStop method
        /// </summary>
        public void TiltStop()
        {
            Stop();
        }

        private void SendZoomCommand(byte cmd)
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x07, cmd, 0xFF });
        }


        /// <summary>
        /// ZoomIn method
        /// </summary>
        public void ZoomIn()
        {
            SendZoomCommand(ZoomInCmd);
            IsZooming = true;
        }
        /// <summary>
        /// ZoomOut method
        /// </summary>
        public void ZoomOut()
        {
            SendZoomCommand(ZoomOutCmd);
            IsZooming = true;
        }
        /// <summary>
        /// ZoomStop method
        /// </summary>
        public void ZoomStop()
        {
            Stop();
        }

        /// <summary>
        /// Stop method
        /// </summary>
        public void Stop()
        {
            if (IsZooming)
            {
                SendZoomCommand(ZoomStopCmd);
                IsZooming = false;
            }
            else
            {
                StopSpeedTimer();
                SendPanTiltCommand(new byte[] { 0x03, 0x03 }, false);
                // IsMoving = false;
            }
        }
        /// <summary>
        /// PositionHome method
        /// </summary>
        public void PositionHome()
        {
            SendBytes(new byte[] { ID, 0x01, 0x06, 0x02, PanSpeedFast, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF });
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x47, 0x00, 0x00, 0x00, 0x00, 0xFF });
        }
        /// <summary>
        /// RecallPreset method
        /// </summary>
        public void RecallPreset(int presetNumber)
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x3F, 0x02, (byte)presetNumber, 0xFF });
        }
        /// <summary>
        /// SavePreset method
        /// </summary>
        public void SavePreset(int presetNumber)
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x3F, 0x01, (byte)presetNumber, 0xFF });
        }

        #region IHasCameraPresets Members

        /// <summary>
        /// Event that is raised when the presets list has changed
        /// </summary>
        public event EventHandler<EventArgs> PresetsListHasChanged;

        /// <summary>
        /// Raises the PresetsListHasChanged event
        /// </summary>
        protected void OnPresetsListHasChanged()
        {
            var handler = PresetsListHasChanged;
            if (handler == null)
                return;

            handler.Invoke(this, EventArgs.Empty);
        }

        /// <summary>
        /// Gets or sets the Presets
        /// </summary>
        public List<CameraPreset> Presets { get; private set; }

        /// <summary>
        /// PresetSelect method
        /// </summary>
        public void PresetSelect(int preset)
        {
            RecallPreset(preset);
        }

        /// <summary>
        /// PresetStore method
        /// </summary>
        public void PresetStore(int preset, string description)
        {
            SavePreset(preset);
        }


        #endregion

        #region IHasCameraFocusControl Members

        /// <summary>
        /// FocusNear method
        /// </summary>
        public void FocusNear()
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x08, 0x03, 0xFF });
        }

        /// <summary>
        /// FocusFar method
        /// </summary>
        public void FocusFar()
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x08, 0x02, 0xFF });
        }

        /// <summary>
        /// FocusStop method
        /// </summary>
        public void FocusStop()
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x08, 0x00, 0xFF });
        }

        /// <summary>
        /// TriggerAutoFocus method
        /// </summary>
        public void TriggerAutoFocus()
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x18, 0x01, 0xFF });
            SendAutoFocusQuery();
        }

        #endregion

        #region IHasAutoFocus Members

        /// <summary>
        /// SetFocusModeAuto method
        /// </summary>
        public void SetFocusModeAuto()
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x38, 0x02, 0xFF });
            SendAutoFocusQuery();
        }

        /// <summary>
        /// SetFocusModeManual method
        /// </summary>
        public void SetFocusModeManual()
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x38, 0x03, 0xFF });
            SendAutoFocusQuery();
        }

        /// <summary>
        /// ToggleFocusMode method
        /// </summary>
        public void ToggleFocusMode()
        {
            SendBytes(new byte[] { ID, 0x01, 0x04, 0x38, 0x10, 0xFF });
            SendAutoFocusQuery();
        }

        #endregion

        void SendAutoFocusQuery()
        {
            SendBytes(new byte[] { ID, 0x09, 0x04, 0x38, 0xFF });
            InquiryResponseQueue.Enqueue(HandleAutoFocusResponse);
        }

        void HandleAutoFocusResponse(byte[] response)
        {
            switch (response[0])
            {
                case 0x02:
                    {
                        // Auto Mode
                        PowerIsOn = true;
                        break;
                    }
                case 0x03:
                    {
                        // Manual Mode
                        PowerIsOn = false;
                        break;
                    }
            }
        }

        #region IHasCameraOff Members

        /// <summary>
        /// Gets or sets the CameraIsOffFeedback
        /// </summary>
        public BoolFeedback CameraIsOffFeedback { get; private set; }


        /// <summary>
        /// CameraOff method
        /// </summary>
        public void CameraOff()
        {
            PowerOff();
        }

        #endregion
    }

    /// <summary>
    /// Represents a CameraViscaFactory
    /// </summary>
    public class CameraViscaFactory : EssentialsDeviceFactory<CameraVisca>
    {
        /// <summary>
        /// Initializes a new instance of the CameraViscaFactory class
        /// </summary>
        public CameraViscaFactory()
        {
            TypeNames = new List<string>() { "cameravisca" };
        }

        /// <summary>
        /// BuildDevice method
        /// </summary>
        /// <inheritdoc />
        public override EssentialsDevice BuildDevice(DeviceConfig dc)
        {
            Debug.LogMessage(LogEventLevel.Debug, "Factory Attempting to create new CameraVisca Device");
            var comm = CommFactory.CreateCommForDevice(dc);
            var props = Newtonsoft.Json.JsonConvert.DeserializeObject<Cameras.CameraViscaPropertiesConfig>(
                dc.Properties.ToString());
            return new Cameras.CameraVisca(dc.Key, dc.Name, comm, props);
        }
    }


    /// <summary>
    /// Represents a CameraViscaPropertiesConfig
    /// </summary>
    public class CameraViscaPropertiesConfig : CameraPropertiesConfig
    {
        /// <summary>
        /// Control ID of the camera (1-7)
        /// Gets or sets the Id
        /// </summary>
        [JsonProperty("id")]
        public uint Id { get; set; }

        /// <summary>
        /// Slow Pan speed (0-18)
        /// </summary>
        [JsonProperty("panSpeedSlow")]
        public uint PanSpeedSlow { get; set; }

        /// <summary>
        /// Fast Pan speed (0-18)
        /// </summary>
        [JsonProperty("panSpeedFast")]
        public uint PanSpeedFast { get; set; }

        /// <summary>
        /// Slow tilt speed (0-18)
        /// </summary>
        [JsonProperty("tiltSpeedSlow")]
        public uint TiltSpeedSlow { get; set; }

        /// <summary>
        /// Fast tilt speed (0-18)
        /// </summary>
        [JsonProperty("tiltSpeedFast")]
        public uint TiltSpeedFast { get; set; }

        /// <summary>
        /// Time a button must be held before fast speed is engaged (Milliseconds)
        /// </summary>
        [JsonProperty("fastSpeedHoldTimeMs")]
        public uint FastSpeedHoldTimeMs { get; set; }

    }

}