OSDVideo.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Runtime.InteropServices;
using System.Threading;
using System.Drawing.Imaging;
using System.Collections;
using System.IO;
using DirectShowLib;
using AviFile;
using DirectShowLib.DES;

namespace MissionPlanner
{
    public partial class OSDVideo : Form, ISampleGrabberCB
    {
        public Dictionary<DateTime, CurrentState> flightdata = new Dictionary<DateTime, CurrentState>();
        public DateTime startlogtime = DateTime.MinValue;
        public DateTime videopos = DateTime.MinValue;
        CurrentState cs = new CurrentState();

        AviManager newManager;
        VideoStream newStream;

        static int frame = 0;
        //double framerate = 0;
        static int framecount = 0;
        //static bool play = true;
        //static bool stop = false;

        bool fullresolution = false;

        static System.Threading.Thread th;

        /// <summary> graph builder interface. </summary>
        private IFilterGraph2 m_FilterGraph = null;
        private IMediaControl m_mediaCtrl = null;

        IAMExtendedSeeking m_mediaextseek = null;
        IMediaPosition m_mediapos = null;
        IMediaSeeking m_mediaseek = null;

        /// <summary> so we can wait for the async job to finish </summary>
        private ManualResetEvent m_PictureReady = null;

        /// <summary> Set by async routine when it captures an image </summary>
        private volatile bool m_bGotOne = false;

        /// <summary> Indicates the status of the graph </summary>
        private bool m_bRunning = false;

        /// <summary> Dimensions of the image, calculated once in constructor. </summary>
        private IntPtr m_handle = IntPtr.Zero;
        private int m_videoWidth;
        private int m_videoHeight;
        private int m_stride;
        public int m_Dropped = 0;
        private long m_avgtimeperframe;

        public Bitmap image = null;
        IntPtr ip = IntPtr.Zero;

        public bool DSplugin = false;
        Bitmap trans = new Bitmap(5,5,PixelFormat.Format32bppArgb);
        Thread timer1;

        public string textbox { set { textBox1.Text = value; } }

        public OSDVideo()
        {
            InitializeComponent();

            Control.CheckForIllegalCrossThreadCalls = false;

            hud1.SixteenXNine = true;

            MissionPlanner.Utilities.Tracking.AddPage(this.GetType().ToString(), this.Text);
        }

        void OSDVideo_camimage(Image camimage)
        {
          //  camimage = new Bitmap(640, 480, PixelFormat.Format32bppArgb);

            hud1.bgimage = camimage;// new Bitmap(camimage, hud1.Size);
            //Application.DoEvents();
        }

        private void saveconfig() 
        {
            try
            {
                using (StreamWriter sw = new StreamWriter(Path.GetDirectoryName(txtAviFileName.Text) + Path.DirectorySeparatorChar + "osdvideo.txt"))
                {
                    sw.WriteLine(txtAviFileName.Text);
                    sw.WriteLine(txt_tlog.Text);
                    sw.WriteLine(trackBar1.Value);
                }
            }
            catch { }
        }

        private void loadconfig()
        {
            try
            {
                using (StreamReader sr = new StreamReader(Path.GetDirectoryName(txtAviFileName.Text) + Path.DirectorySeparatorChar + "osdvideo.txt"))
                {
                    txtAviFileName.Text = sr.ReadLine();
                    txt_tlog.Text = sr.ReadLine();
                    trackBar1.Value = int.Parse(sr.ReadLine());
                }
            }
            catch { }
        }

        private void startup()
        {

            dolog();

            if (DSplugin)
            {
                timer1 = new Thread(timer);
                timer1.IsBackground = true;
                timer1.Start();

                return;
            }

            try
            {
                th.Abort();
            }
            catch { }

            th = new System.Threading.Thread(delegate() { StartCapture(); });
            th.Name = "Video Thread";
            th.Start();
        }

        public void writeconsole(string input)
        {
            Console.WriteLine(input);
        }

        public Bitmap gethud(Bitmap bmpin, double time)
        {
            // stop it from drawing
            hud1.HoldInvalidation = true;
            // update bg to be trans
            hud1.bgimage = trans;
            // use gdi
            hud1.opengl = false;
            // resize
            hud1.Width = bmpin.Width;
            hud1.Height = bmpin.Height;
            // makesure we can grab an image
            hud1.streamjpgenable = true;
            // redraw
            hud1.Refresh();
            // clone current screen with trans
            return (Bitmap)hud1.objBitmap.Clone();
        }

        private void StartCapture()
        {
            int hr;

            ISampleGrabber sampGrabber = null;
            IBaseFilter capFilter = null;
            ICaptureGraphBuilder2 capGraph = null;

            if (System.IO.File.Exists(txtAviFileName.Text))
            {
                // Get the graphbuilder object
                m_FilterGraph = (IFilterGraph2)new FilterGraph();
                m_mediaCtrl = m_FilterGraph as IMediaControl;

                // Get the ICaptureGraphBuilder2
                capGraph = (ICaptureGraphBuilder2)new CaptureGraphBuilder2();

                // Get the SampleGrabber interface
                sampGrabber = (ISampleGrabber)new SampleGrabber();

                // Start building the graph
                hr = capGraph.SetFiltergraph(m_FilterGraph);
                DsError.ThrowExceptionForHR(hr);                

                // Add the video source
                hr = m_FilterGraph.AddSourceFilter(txtAviFileName.Text, "File Source (Async.)", out capFilter);
                DsError.ThrowExceptionForHR(hr);

                //add AVI Decompressor
                IBaseFilter pAVIDecompressor = (IBaseFilter)new AVIDec();
                hr = m_FilterGraph.AddFilter(pAVIDecompressor, "AVI Decompressor");
                DsError.ThrowExceptionForHR(hr);

                IBaseFilter ffdshow;
                try
                {
                    // Create Decoder filter COM object (ffdshow video decoder)
                    Type comtype = Type.GetTypeFromCLSID(new Guid("{04FE9017-F873-410E-871E-AB91661A4EF7}"));
                    if (comtype == null)
                        throw new NotSupportedException("Creating ffdshow video decoder COM object fails.");
                    object comobj = Activator.CreateInstance(comtype);
                    ffdshow = (IBaseFilter)comobj; // error ocurrs! raised exception
                    comobj = null;
                }
                catch { CustomMessageBox.Show("Please install/reinstall ffdshow"); return; }

                hr = m_FilterGraph.AddFilter(ffdshow, "ffdshow");
                DsError.ThrowExceptionForHR(hr);

                //
                IBaseFilter baseGrabFlt = (IBaseFilter)sampGrabber;
                ConfigureSampleGrabber(sampGrabber);

                // Add the frame grabber to the graph
                hr = m_FilterGraph.AddFilter(baseGrabFlt, "Ds.NET Grabber");
                DsError.ThrowExceptionForHR(hr);


                IBaseFilter vidrender = (IBaseFilter) new VideoRenderer();
                hr = m_FilterGraph.AddFilter(vidrender, "Render");
                DsError.ThrowExceptionForHR(hr);


                IPin captpin = DsFindPin.ByDirection(capFilter, PinDirection.Output, 0);

                IPin ffdpinin = DsFindPin.ByName(ffdshow, "In");

                IPin ffdpinout = DsFindPin.ByName(ffdshow, "Out");

                IPin samppin = DsFindPin.ByName(baseGrabFlt, "Input");

                hr =m_FilterGraph.Connect(captpin,ffdpinin);
                DsError.ThrowExceptionForHR(hr); 
               hr = m_FilterGraph.Connect(ffdpinout, samppin);
               DsError.ThrowExceptionForHR(hr);

               FileWriter filewritter = new FileWriter();
               IFileSinkFilter filemux = (IFileSinkFilter)filewritter;
               //filemux.SetFileName("test.avi",);

               //hr = capGraph.RenderStream(null, MediaType.Video, capFilter, null, vidrender);
              // DsError.ThrowExceptionForHR(hr); 

                SaveSizeInfo(sampGrabber);

                // setup buffer
                if (m_handle == IntPtr.Zero)
                    m_handle = Marshal.AllocCoTaskMem(m_stride * m_videoHeight);

                // tell the callback to ignore new images
                m_PictureReady = new ManualResetEvent(false);
                m_bGotOne = false;
                m_bRunning = false;

                timer1 = new Thread(timer);
                timer1.IsBackground = true;
                timer1.Start();

                m_mediaextseek = m_FilterGraph as IAMExtendedSeeking;
                m_mediapos = m_FilterGraph as IMediaPosition;
                m_mediaseek = m_FilterGraph as IMediaSeeking;
                double length = 0;
                m_mediapos.get_Duration(out length);
                trackBar_mediapos.Minimum = 0;
                trackBar_mediapos.Maximum = (int)length;

                Start();
            }
            else
            {

                MessageBox.Show("File does not exist");
            }
        }

        void dolog()
        {
            flightdata.Clear();

            MAVLinkInterface mine = new MAVLinkInterface();
            try
            {
                mine.logplaybackfile = new BinaryReader(File.Open(txt_tlog.Text, FileMode.Open, FileAccess.Read, FileShare.Read));
            }
            catch { CustomMessageBox.Show("Log Can not be opened. Are you still connected?"); return; }
            mine.logreadmode = true;

            mine.MAV.packets.Initialize(); // clear

            mine.readPacket();

            startlogtime = mine.lastlogread;

            double oldlatlngsum = 0;

            int appui = 0;

            while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
            {
                byte[] packet = mine.readPacket();

                cs.datetime = mine.lastlogread;

                cs.UpdateCurrentSettings(null, true, mine);

                if (appui != DateTime.Now.Second)
                {
                    // cant do entire app as mixes with flightdata timer
                    this.Refresh();
                    appui = DateTime.Now.Second;
                }

                try
                {
                    if (MainV2.speechEngine != null)
                        MainV2.speechEngine.SpeakAsyncCancelAll();
                }
                catch { } // ignore because of this Exception System.PlatformNotSupportedException: No voice installed on the system or none available with the current security setting.

               // if ((float)(cs.lat + cs.lng + cs.alt) != oldlatlngsum
               //     && cs.lat != 0 && cs.lng != 0)

                DateTime nexttime = mine.lastlogread.AddMilliseconds(-(mine.lastlogread.Millisecond % 100));

                if (!flightdata.ContainsKey(nexttime))
                {
                    Console.WriteLine(cs.lat + " " + cs.lng + " " + cs.alt + "   lah " + (float)(cs.lat + cs.lng + cs.alt) + "!=" + oldlatlngsum);
                    CurrentState cs2 = (CurrentState)cs.Clone();

                    try
                    {
                        flightdata.Add(nexttime, cs2);
                    }
                    catch { }

                    oldlatlngsum = (cs.lat + cs.lng + cs.alt);
                }
            }

            mine.logreadmode = false;
            mine.logplaybackfile.Close();
            mine.logplaybackfile = null;
        }

        public void timer()
        {
            Control.CheckForIllegalCrossThreadCalls = false;

            videopos = startlogtime.AddMilliseconds(-startlogtime.Millisecond);
            hud1.SixteenXNine = true;

            while (true)
            {
                try
                {
                 //   GC.Collect();

                  //  long mem = GC.GetTotalMemory(true) / 1024 / 1024;

                   // Console.WriteLine("mem "+mem);
                    System.Threading.Thread.Sleep(20); // 25 fps

                    if (flightdata.Count == 0)
                        break;
                  //  videopos = videopos.AddMilliseconds(1000 / 25);

//                    m_mediaseek = m_FilterGraph as IMediaSeeking;

                  //  m_mediapos.put_CurrentPosition((vidpos - startlogtime).TotalSeconds);

                  


                    //m_mediaseek.SetTimeFormat(TimeFormat.MediaTime);

                    //long poscurrent = 0;
                    //long posend = 0;
                 
//                    m_mediaseek.GetPositions(out poscurrent,out posend);
             
                    DateTime cstimestamp = videopos.AddSeconds(trackBar1.Value).AddMilliseconds(-(videopos.Millisecond % 20));

                    int tb = trackBar1.Value;

                    if (flightdata.ContainsKey(cstimestamp))
                    {
                        cs = flightdata[cstimestamp];
                    }
                    else if (flightdata.ContainsKey(cstimestamp.AddMilliseconds(-20)))
                    {
                        cs = flightdata[cstimestamp.AddMilliseconds(-20)];
                    }
                    else if (flightdata.ContainsKey(cstimestamp.AddMilliseconds(-40)))
                    {
                        cs = flightdata[cstimestamp.AddMilliseconds(-40)];
                    }

                  //  Console.WriteLine("Update CS");

                    Console.WriteLine("log "+ cs.datetime);

                    hud1.datetime = cs.datetime;
                    
                    //cs.UpdateCurrentSettings(bindingSource1,true,MainV2.comPort);

                    bindingSource1.DataSource = cs;
                    bindingSource1.ResetBindings(false);

                }
                catch (ThreadAbortException)
                {
                    break;
                }
                catch
                {

                }
            }
        }

        public int Stride
        {
            get
            {
                return m_stride;
            }
        }

        /// <summary> capture the next image </summary>
        public IntPtr GetBitMap()
        {
            if (m_handle == IntPtr.Zero)
                m_handle = Marshal.AllocCoTaskMem(m_stride * m_videoHeight);

            try
            {
                // Start waiting
              //  if (!m_PictureReady.WaitOne(5000, false))
                {
                    //throw new Exception("Timeout waiting to get picture");
                }
            }
            catch
            {
                Marshal.FreeCoTaskMem(m_handle);
                throw;
            }

            // Got one
            return m_handle;
        }

        // Start the capture graph
        public void Start()
        {
            if (!m_bRunning)
            {
                int hr = m_mediaCtrl.Run();
                DsError.ThrowExceptionForHR(hr);

                m_bRunning = true;
            }
        }

        // Pause the capture graph.
        // Running the graph takes up a lot of resources.  Pause it when it
        // isn't needed.
        public void Pause()
        {
            if (m_bRunning)
            {
                int hr = m_mediaCtrl.Pause();
                DsError.ThrowExceptionForHR(hr);

                m_bRunning = false;
            }
        }

        private double GetFrameRate(string filename)
        {
            IMediaDet md = new MediaDet() as IMediaDet;
            Guid streamType;
            AMMediaType mt = new AMMediaType();
            int hr, nStreams;

            md.put_Filename(filename);
            md.get_OutputStreams(out nStreams);

            for (int i = 0; i < nStreams; i++)
            {
                hr = md.put_CurrentStream(i);
                DsError.ThrowExceptionForHR(hr);

                hr = md.get_StreamType(out streamType);
                DsError.ThrowExceptionForHR(hr);
                if (streamType == MediaType.Video)
                {
                    md.put_CurrentStream(0);

                    double frate = 30;

                    md.get_FrameRate(out frate);
                    return frate;
                }
            }

            return 30;        
        }

        private List<int> GetAudioStreams(string filename)
        {
            IMediaDet md = new MediaDet() as IMediaDet;
            Guid streamType;
            AMMediaType mt = new AMMediaType();
            int hr, nStreams;
            List<int> streamList = new List<int>();

            md.put_Filename(filename);
            md.get_OutputStreams(out nStreams);

            for (int i = 0; i < nStreams; i++)
            {
                hr = md.put_CurrentStream(i);
                DsError.ThrowExceptionForHR(hr);

                hr = md.get_StreamType(out streamType);
                DsError.ThrowExceptionForHR(hr);
                if (streamType == MediaType.Audio)
                    streamList.Add(i);
            }

            return streamList;
        }


        private void SaveSizeInfo(ISampleGrabber sampGrabber)
        {
            int hr;

            // Get the media type from the SampleGrabber
            AMMediaType media = new AMMediaType();
            hr = sampGrabber.GetConnectedMediaType(media);
            DsError.ThrowExceptionForHR(hr);

            if ((media.formatType != FormatType.VideoInfo) || (media.formatPtr == IntPtr.Zero))
            {
                throw new NotSupportedException("Unknown Grabber Media Format");
            }

            // Grab the size info
            VideoInfoHeader videoInfoHeader = (VideoInfoHeader)Marshal.PtrToStructure(media.formatPtr, typeof(VideoInfoHeader));
            m_videoWidth = videoInfoHeader.BmiHeader.Width;
            m_videoHeight = videoInfoHeader.BmiHeader.Height;
            m_stride = m_videoWidth * (videoInfoHeader.BmiHeader.BitCount / 8);
            m_avgtimeperframe = videoInfoHeader.AvgTimePerFrame;

            DsUtils.FreeAMMediaType(media);
            media = null;
        }

        private void ConfigureSampleGrabber(ISampleGrabber sampGrabber)
        {
            AMMediaType media;
            int hr;

            // Set the media type to Video/RBG24
            media = new AMMediaType();
            media.majorType = MediaType.Video;
            media.subType = MediaSubType.RGB24;
            media.formatType = FormatType.VideoInfo;
            sampGrabber.SetBufferSamples(false);
            sampGrabber.SetOneShot(false);
            hr = sampGrabber.SetMediaType(media);
            DsError.ThrowExceptionForHR(hr);

            DsUtils.FreeAMMediaType(media);
            media = null;

            // Configure the samplegrabber
            hr = sampGrabber.SetCallback(this, 1);
            DsError.ThrowExceptionForHR(hr);
        }

        private void BUT_vidfile_Click(object sender, EventArgs e)
        {
            String fileName = GetFileName("Videos (*.avi)|*.avi;*.mpe;*.mpeg;*.mp4", txtAviFileName);
            if (fileName != null)
            {
                // update name before calling next function
                txtAviFileName.Text = fileName;
                // load setting if they exist
                loadconfig();
                // force file we just picked as video
                txtAviFileName.Text = fileName;
            }
        }

        private String GetFileName(String filter, Control ctl)
        {
            OpenFileDialog dlg = new OpenFileDialog();
            dlg.Filter = filter;
            dlg.RestoreDirectory = true;
            if (ctl.Text.Length > 0)
            {
                dlg.InitialDirectory = GetCurrentFilePath(ctl);
            }
            if (dlg.ShowDialog(this) == DialogResult.OK)
            {
                return dlg.FileName;
            }
            else
            {
                return null;
            }
        }

        private String GetCurrentFilePath(Control ctl)
        {
            return ctl.Text.Substring(0, ctl.Text.LastIndexOf("\\") + 1);
        }

        private void BUT_start_Click(object sender, EventArgs e)
        {
            saveconfig();
            try
            {
                m_mediaCtrl.Stop();
            }
            catch { }
            try
            {
                frame = framecount;
                th.Abort();
            }
            catch { }

            try
            {
                newManager = new AviManager(System.IO.Path.GetDirectoryName(txtAviFileName.Text) + System.IO.Path.DirectorySeparatorChar + System.IO.Path.GetFileNameWithoutExtension(txtAviFileName.Text) + "-overlay.avi", false);
            }
            catch { CustomMessageBox.Show("bad filename","error"); return; }


            //newManager.Close();

            startup();

            this.MaximumSize = this.Size;
            this.MinimumSize = this.Size;
        }

        private static class NativeMethods
        {
            [DllImport("Kernel32.dll", EntryPoint = "RtlMoveMemory")]
            internal static extern void CopyMemory(IntPtr Destination, IntPtr Source, int Length);
        }

        /// <summary> sample callback, NOT USED. </summary>
        int ISampleGrabberCB.SampleCB(double SampleTime, IMediaSample pSample)
        {
            if (!m_bGotOne)
            {
                // Set bGotOne to prevent further calls until we
                // request a new bitmap.
                m_bGotOne = true;
                IntPtr pBuffer;

                pSample.GetPointer(out pBuffer);
                int iBufferLen = pSample.GetSize();

                if (pSample.GetSize() > m_stride * m_videoHeight)
                {
                    throw new Exception("Buffer is wrong size");
                }

                NativeMethods.CopyMemory(m_handle, pBuffer, m_stride * m_videoHeight);

                // Picture is ready.
                m_PictureReady.Set();
            }

            Marshal.ReleaseComObject(pSample);
            return 0;
        }

        /// <summary> buffer callback, COULD BE FROM FOREIGN THREAD. </summary>
        int ISampleGrabberCB.BufferCB(double SampleTime, IntPtr pBuffer, int BufferLen)
        {
            Console.WriteLine("BufferCB " + DateTime.Now.Millisecond + " pbtime " + SampleTime);
            framecount++;

            videopos = startlogtime.AddSeconds(SampleTime);

            trackBar_mediapos.Value = (int)SampleTime;

            // The buffer should be long enought
            if (BufferLen <= m_stride * m_videoHeight)
            {
                // Copy the frame to the buffer
               // CopyMemory(m_handle, pBuffer, m_stride * m_videoHeight);
                m_handle = pBuffer;
            }
            else
            {
                throw new Exception("Buffer is wrong size");
            }

            try
            {
                Console.WriteLine("1 " + DateTime.Now.Millisecond);
                //ip = this.GetBitMap();
                image = new Bitmap(m_videoWidth, m_videoHeight, m_stride, PixelFormat.Format24bppRgb, m_handle);
                Console.WriteLine("1a " + DateTime.Now.Millisecond);

                    image.RotateFlip(RotateFlipType.RotateNoneFlipY);

                    Console.WriteLine("1b " + DateTime.Now.Millisecond);
                

                hud1.HoldInvalidation = true;
                hud1.opengl = true;
                hud1.bgimage = image;
                hud1.streamjpgenable = true;
                if (fullresolution)
                {
                    hud1.Width = image.Width;
                    hud1.Height = image.Height;
                }

                Console.WriteLine("1c " + DateTime.Now.Millisecond);
    
                hud1.Refresh();

                Console.WriteLine("1d " + DateTime.Now.Millisecond);

                Bitmap bmp = (Bitmap)hud1.objBitmap.Clone();

              //  bmp.Save(framecount+".bmp");

                Console.WriteLine("1e " + DateTime.Now.Millisecond);

                if (newStream == null)
                {
                    //double frate = GetFrameRate(txtAviFileName.Text);

                    double frate = Math.Round(10000000.0 / m_avgtimeperframe,0);

                    newStream = newManager.AddVideoStream(true, frate, bmp);
                }

                Console.WriteLine("2 " + DateTime.Now.Millisecond);

                addframe(bmp);
                lock (avienclock)
                {
                //    System.Threading.ThreadPool.QueueUserWorkItem(addframe, bmp);
                }


                Console.WriteLine("3 " + DateTime.Now.Millisecond);

            }//System.Windows.Forms.CustomMessageBox.Show("Problem with capture device, grabbing frame took longer than 5 sec");
            catch (Exception ex) { Console.WriteLine("Grab bmp failed " + ex.ToString()); }


            return 0;
        }

        object avienclock = new object();
       

        void addframe(object bmp) {

            lock (avienclock)
            {
                newStream.AddFrame((Bitmap)bmp);
                ((Bitmap)bmp).Dispose();
            }
        }

        private void BUT_tlogfile_Click(object sender, EventArgs e)
        {
            String fileName = GetFileName("Tlog (*.tlog)|*.tlog", txt_tlog);
            if (fileName != null)
            {
                txt_tlog.Text = fileName;
            }
        }

        private void trackBar1_Scroll(object sender, EventArgs e)
        {
            hud1.Invalidate();

            label1.Text = "time offset in seconds "+trackBar1.Value;

            saveconfig();
        }

        private void trackBar_mediapos_Scroll(object sender, EventArgs e)
        {
            m_mediapos.put_CurrentPosition((double)trackBar_mediapos.Value);
        }

        private void OSDVideo_FormClosing(object sender, FormClosingEventArgs e)
        {
            try
            {
                flightdata.Clear();

                th.Abort();
            }
            catch { }

            try
            {
                m_mediaCtrl.Stop();
            }
            catch { }

            try
            {
                System.Threading.Thread.Sleep(500);
                newManager.Close();

                th.Abort();
            }
            catch { }
        }

        private void CHK_fullres_CheckedChanged(object sender, EventArgs e)
        {
            fullresolution = CHK_fullres.Checked;
        }
    }
}