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/GSS2.Core.csproj

@@ -17,13 +17,15 @@
     </PackageReference>
     <PackageReference Include="Microsoft.EntityFrameworkCore.Sqlite" Version="10.0.0" />
     <PackageReference Include="Microsoft.Extensions.DependencyInjection" Version="10.0.0" />
+    <PackageReference Include="OpenCvSharp4" Version="4.11.0.20250507" />
     <PackageReference Include="System.Device.Gpio" Version="4.0.1" />
     <PackageReference Include="Iot.Device.Bindings" Version="4.0.1" />
-    <PackageReference Include="LibCameraSharp" Version="0.5.2-20251028" />
+    <PackageReference Include="LibCameraSharp" Version="0.5.2-20251214" />
   </ItemGroup>
 
   <ItemGroup>
     <ProjectReference Include="..\GSS2.LightsControl\CSharpClient\GSS2.LightsControl.CSharpClient.csproj" />
+    <ProjectReference Include="..\GSS2.FrameDecoders\GSS2.FrameDecoders.csproj" />
   </ItemGroup>
 
 </Project>

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;
         }
     }
-
 }

GSS2.FrameDecoders/FrameDecoderHelper.cs

@@ -0,0 +1,63 @@
+using GSS2.FrameDecoders;
+
+using LibCameraSharp;
+
+public static class FrameDecoderHelper
+{
+    private static readonly IReadOnlyList<IFrameDecoder> _decoders;
+
+    static FrameDecoderHelper()
+    {
+        _decoders = LoadDecoders();
+    }
+
+    private static IReadOnlyList<IFrameDecoder> LoadDecoders()
+    {
+        var decoderInterface = typeof(IFrameDecoder);
+        var assembly = decoderInterface.Assembly;
+
+        var decoders = assembly
+            .GetTypes()
+            .Where(t =>
+                !t.IsAbstract &&
+                !t.IsInterface &&
+                decoderInterface.IsAssignableFrom(t))
+            .Select(CreateDecoderInstance)
+            .Where(d => d is not null)
+            .Cast<IFrameDecoder>()
+            .ToList();
+
+        return decoders;
+    }
+    private static IFrameDecoder? CreateDecoderInstance(Type type)
+    {
+        if (type.GetConstructor(Type.EmptyTypes) is null)
+            return null;
+
+        try
+        {
+            return (IFrameDecoder?)Activator.CreateInstance(type);
+        }
+        catch
+        {
+            return null;
+        }
+    }
+
+    public static IFrameDecoder? FindDecoder(
+        uint fourcc,
+        ulong modifier,
+        ColorSpace.PrimariesEnum primariesEnum,
+        ColorSpace.TransferFunctionEnum transferFunctionEnum,
+        ColorSpace.YcbcrEncodingEnum ycbcrEncodingEnum,
+        ColorSpace.RangeEnum rangeEnum)
+    {
+        return _decoders.FirstOrDefault(d =>
+            d.Fourcc == fourcc &&
+            d.Modifier == modifier &&
+            d.PrimariesEnum == primariesEnum &&
+            d.TransferFunctionEnum == transferFunctionEnum &&
+            d.YcbcrEncodingEnum == ycbcrEncodingEnum &&
+            d.RangeEnum == rangeEnum);
+    }
+}

GSS2.FrameDecoders/GSS2.FrameDecoders.csproj

@@ -0,0 +1,15 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net10.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="FFmpeg.AutoGen" Version="7.1.1" />
+    <PackageReference Include="OpenCvSharp4" Version="4.11.0.20250507" />
+    <PackageReference Include="LibCameraSharp" Version="0.5.2-20251028" />
+  </ItemGroup>
+
+</Project>

GSS2.FrameDecoders/IFrameDecoder.cs

@@ -0,0 +1,17 @@
+using LibCameraSharp;
+
+using OpenCvSharp;
+
+namespace GSS2.FrameDecoders;
+
+public interface IFrameDecoder
+{
+    public uint Fourcc { get; }
+    public ulong Modifier { get; }
+    public ColorSpace.PrimariesEnum PrimariesEnum { get; }
+    public ColorSpace.TransferFunctionEnum TransferFunctionEnum { get; }
+    public ColorSpace.YcbcrEncodingEnum YcbcrEncodingEnum { get; }
+    public ColorSpace.RangeEnum RangeEnum { get; }
+
+    public Mat Decode(int width, int height, int stride, List<Memory<byte>> planes);
+}

GranuSightSoftware2.sln

@@ -13,6 +13,8 @@ Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "CSharpClient", "CSharpClien
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "GSS2.LightsControl.CSharpClient", "GSS2.LightsControl\CSharpClient\GSS2.LightsControl.CSharpClient.csproj", "{D0130B90-6ECA-49CA-A126-EFEFF481FC74}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "GSS2.FrameDecoders", "GSS2.FrameDecoders\GSS2.FrameDecoders.csproj", "{05085293-E710-41D6-8F61-701ADBA52FA9}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -59,6 +61,18 @@ Global
 		{D0130B90-6ECA-49CA-A126-EFEFF481FC74}.Release|x64.Build.0 = Release|Any CPU
 		{D0130B90-6ECA-49CA-A126-EFEFF481FC74}.Release|x86.ActiveCfg = Release|Any CPU
 		{D0130B90-6ECA-49CA-A126-EFEFF481FC74}.Release|x86.Build.0 = Release|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Debug|x64.Build.0 = Debug|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Debug|x86.Build.0 = Debug|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Release|Any CPU.Build.0 = Release|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Release|x64.ActiveCfg = Release|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Release|x64.Build.0 = Release|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Release|x86.ActiveCfg = Release|Any CPU
+		{05085293-E710-41D6-8F61-701ADBA52FA9}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE