feat: CameraService camera image capture

Add GSS2.FrameDecoders project for image decoding realizations
Add IFrameDecoder interface and FrameDecoderHelper class
Add CameraService.CaptureImage method

GSS2.Core/Hardware/CameraService.cs

@@ -269,10 +269,10 @@ public class CameraService : IDisposable
     }
     private void ImageCaptureFrameBuffersMap(CancellationToken cancellationToken)
     {
-        if (_frameBufferAllocator is null)
-            throw new InvalidOperationException("FrameBufferAllocator not initialized");
         if (_imageCaptureStream is null)
             throw new InvalidOperationException("ImageCaptureStream not initialized");
+        if (_frameBufferAllocator is null)
+            throw new InvalidOperationException("FrameBufferAllocator not initialized");
 
         cancellationToken.ThrowIfCancellationRequested();
 
@@ -304,7 +304,7 @@ public class CameraService : IDisposable
                 if (address == new IntPtr(-1))
                 {
                     int error = Marshal.GetLastWin32Error();
-                    throw new InvalidOperationException($"mmap failed for fd={fd}, error={error}");
+                    throw new InvalidOperationException($"Error while buffers mapping, mmap failed for fd={fd}, error={error}");
                 }
 
                 _mappedBuffers.Add(new MappedBuffer
@@ -320,6 +320,95 @@ public class CameraService : IDisposable
         _state |= State.ImageCaptureFrameBuffersMapped;
     }
 
+    public async Task<OpenCvSharp.Mat?> CaptureImage(CancellationToken cancellationToken)
+    {
+        if (_camera is null)
+            throw new InvalidOperationException("Camera not initialized");
+        if (_imageCaptureStream is null)
+            throw new InvalidOperationException("ImageCaptureStream not initialized");
+        if (_frameBufferAllocator is null)
+            throw new InvalidOperationException("FrameBufferAllocator not initialized");
+        if (_mappedBuffers is null)
+            throw new InvalidOperationException("Buffers not mapped");
+
+        var effectiveCancellationToken = CancellationTokenSource
+            .CreateLinkedTokenSource(_disposeCts.Token, cancellationToken)
+            .Token;
+
+        OpenCvSharp.Mat? image = null;
+
+        try
+        {
+            effectiveCancellationToken.ThrowIfCancellationRequested();
+
+            var buffers = _frameBufferAllocator.Buffers(_imageCaptureStream);
+            var buffer = buffers.Where(b => b.Metadata.Status == FrameMetadata.StatusEnum.FrameStartup || b.Metadata.Status == FrameMetadata.StatusEnum.FrameSuccess).First();
+            var request = _camera.CreateRequest(checked((ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds()));
+            var result = request.AddBuffer(_imageCaptureStream, buffer);
+
+            if (result < 0)
+                throw new Exception("Error while request create");
+
+            effectiveCancellationToken.ThrowIfCancellationRequested();
+
+            var cts = new TaskCompletionSource();
+            void RequestCompleted(object? sender, Camera.RequestCompletedEventArgs e)
+            {
+                if (e.Request.Handle == request.Handle)
+                    cts.SetResult();
+            };
+            
+            _camera.RequestCompleted += RequestCompleted;
+            await cts.Task.WaitAsync(effectiveCancellationToken);
+            _camera.RequestCompleted -= RequestCompleted;
+
+            var planesData = new List<Memory<byte>>();
+            foreach (var plane in buffer.Planes)
+            {
+                effectiveCancellationToken.ThrowIfCancellationRequested();
+
+                var pointer = GetPlanePointer(plane);
+                var data = new byte[plane.Length];
+                Marshal.Copy(pointer, data, 0, checked((int)plane.Length));
+                planesData.Add(new Memory<byte>(data));
+            }
+
+            effectiveCancellationToken.ThrowIfCancellationRequested();
+
+            var config = _imageCaptureStream.Configuration();
+            var size = config.Size;
+            var fourcc = config.PixelFormat.Fourcc;
+            var modifier = config.PixelFormat.Modifier;
+            var primariesEnum = config.ColorSpace!.Primaries;
+            var transferFunctionEnum = config.ColorSpace.TransferFunction;
+            var ycbcrEncodingEnum = config.ColorSpace.YcbcrEncoding;
+            var rangeEnum = config.ColorSpace.Range;
+            var stride = config.Stride;
+
+            effectiveCancellationToken.ThrowIfCancellationRequested();
+
+            var decoder = FrameDecoderHelper.FindDecoder(fourcc, modifier, primariesEnum, transferFunctionEnum, ycbcrEncodingEnum, rangeEnum);
+            if (decoder is null)
+                throw new Exception($"Cannot find decoder for fourcc={fourcc} modifier={modifier} primariesEnum={primariesEnum} transferFunctionEnum={transferFunctionEnum} ycbcrEncodingEnum={ycbcrEncodingEnum} rangeEnum={rangeEnum}");
+
+            effectiveCancellationToken.ThrowIfCancellationRequested();
+
+            try
+            {
+                image = decoder.Decode(checked((int)size.Width), checked((int)size.Height), checked((int)stride), planesData);
+            }
+            catch (Exception e)
+            {
+                _logger.LogError(e, "Error while image decode");
+                throw;
+            }
+        }
+        catch (Exception e)
+        {
+            _logger.LogError(e, "Error while image capture");
+        }
+        return image;
+    }
     private IntPtr GetPlanePointer(FrameBuffer.Plane plane)
     {
         if (_mappedBuffers is null)
@@ -373,8 +462,10 @@ public class CameraService : IDisposable
             _frameBufferAllocator?.Dispose();
             _cameraManager?.Dispose();
         }
-        catch
-        { }
+        catch (Exception e)
+        {
+            _logger.LogError(e, "Error while CameraService cleanup");
+        }
         finally
         {
             _cameraManager = null;
@@ -386,5 +477,4 @@ public class CameraService : IDisposable
             _state = State.NotInitialized;
         }
     }
-
 }