"Refactor CJMS11 image grab functionality with timeout handling and error resilience

- Introduced a new `GrabImageListener` method with asynchronous timeout support for improved response handling.
- Enhanced error logging and implemented retry logic for capturing images to address NACK scenarios.
- Added overlay rendering and event-based image delivery for better UI integration.
- Refined `SendImageListener` logic to include command handling improvements and listener termination checks.
- Minor parameter adjustments in `OnImageReceived` for default values support."

TBF/Rig/Network/Camera/CJMS11/Camera.cs

@@ -1088,6 +1088,139 @@ namespace TBF.Rig.Network.Camera.CJMS11
 					// Get network stream
 
 
+					using (cameraStream = this.cameraTcpClient.GetStream())
+					using (cameraWriter = new StreamWriter(cameraStream, Encoding.ASCII) { AutoFlush = true })
+					using (cameraReader = new StreamReader(cameraStream, Encoding.ASCII))
+					{
+						cameraStream.ReadTimeout = 1000;
+
+						try
+						{
+							SendCommand(CommandM.prepare_camera_);
+						}
+						catch (Exception exc)
+						{
+							log.Error($"Initialisation of connection readers failed: {exc.Message}");
+							return;
+						}
+
+						stopGrabImageListenerFlag = false;
+						int iCountOf_NACK = 0;
+						int iActualImageIndex = 0;
+
+						SendCommand(CommandM.grab_image_);
+						
+
+						while (!stopGrabImageListenerFlag)
+						{
+							try
+							{
+								
+								Task<string> responseAnswerTask = cameraReader.ReadLineAsync();
+								var timeoutAnswerTask = Task.Delay(TimeSpan.FromSeconds(1));
+								var completedAnswerTask = Task.WhenAny(responseAnswerTask, timeoutAnswerTask).Result;
+
+								if (completedAnswerTask == timeoutAnswerTask)
+								{
+									throw new TimeoutException("Answer response attempt timed out after 1 second.");
+								}
+
+								string responseAnswer = responseAnswerTask.Result;
+								if (responseAnswer.Length > 0)
+								{
+									/// Process the packet
+									JmsPacket newPacket = new JmsPacket(responseAnswer);
+
+									if (newPacket.JmsMessage.Status != MessageStatus.ACK)
+									{
+										if (iCountOf_NACK < 5)
+										{
+											iCountOf_NACK++;
+											continue;
+										}
+
+										log.ErrorFormat("Error occured more as 5 time in GrabImageListener: {0}",
+											newPacket.JmsMessage.Status);
+										stopGrabImageListenerFlag = true; // mam obrazok ukoncim a zavriem thread
+										break;
+									}
+									else
+									{
+
+										switch (newPacket.JmsMessage.Command)
+										{
+											case CommandM.grab_image_:
+												ParsedImage parsedImage = newPacket.JmsMessage.getImage();
+												if (parsedImage.Encoding == ImageType.BASE_64)
+												{
+													Image image = parsedImage.Image;
+
+
+													if (showOverlayRect && overlayRect != null && overlayThickness > 0)
+													{
+														int penWidth = 1;
+														Pen pen = new Pen(Color.Green, penWidth);
+														using (var grph = Graphics.FromImage(image))
+														{
+															if (penWidth != overlayThickness)
+															{
+																penWidth = overlayThickness;
+																pen = new Pen(Color.Green, penWidth);
+															}
+
+															grph.DrawRectangle(pen, overlayRect);
+														}
+													}
+
+													OnImageReceived(this, this.cameraIdx, image, RoiConfiguration.ImageRotation);
+													iActualImageIndex++;
+													if (iActualImageIndex >= RoiConfiguration.ImageOpacity.Count)
+													{
+														stopGrabImageListenerFlag =
+															true; // mam obrazok ukoncim a zavriem thread
+													}
+												}
+
+												break;
+										}
+									}
+								}
+							}
+							catch (Exception exc)
+							{
+								log.Error($"Grab Image - Hardware Addr: {CameraCfg.HardwareAddress} Camera IP: {CameraCfg.IPAddressCJMS}, Port: {iPort} Exception in MJpeg RTP listener thread: { exc.Message}");
+							}
+						}
+
+						stopGrabImageListenerFlag = false;
+						SendCommandAndWaitToAnswer(cameraWriter, cameraReader, CommandM.close_);
+						SendCommandAndWaitToAnswer(cameraWriter, cameraReader, CommandM.disconnect_);
+
+						CloseCameraResources();
+
+						return;
+					}
+				}catch(Exception exc)
+				{
+					log.Error($"Grab Image - Hardware Addr: {CameraCfg.HardwareAddress} Camera IP: {CameraCfg.IPAddressCJMS}, Port: {iPort} exception: {exc.Message}");
+					UiBridge.Bridge.OnImage(this.cameraIdx, null);
+				}
+			}
+		}
+		
+		void SendImageListener()
+		{
+			using (this.cameraTcpClient = new TcpClient())
+			{
+				try
+				{
+					EstablishCameraConnection(ref this.cameraTcpClient, CameraCfg.IPAddressCJMS, iPort);
+
+					log.Info(string.Format("Camera connected to server {0}:{1}.", CameraCfg.IPAddressCJMS, iPort));
+					ipAddress = IPAddress.Parse(CameraCfg.IPAddressCJMS);
+					// Get network stream
+
+
 					using (cameraStream = this.cameraTcpClient.GetStream())
 					using (cameraWriter = new StreamWriter(cameraStream, Encoding.ASCII) { AutoFlush = true })
 					using (cameraReader = new StreamReader(cameraStream, Encoding.ASCII))
@@ -1109,7 +1242,7 @@ namespace TBF.Rig.Network.Camera.CJMS11
 						int iActualImageIndex = 0;
 
 						//TODO BUMI send grab image or send - based on count of images - but must work similary
-						if (RoiConfiguration.ImageOpacity.Count > 1)
+						if (RoiConfiguration.ImageOpacity.Count <= 1)
 						{
 							SendCommand(CommandM.grab_image_);
 						}
@@ -1156,6 +1289,7 @@ namespace TBF.Rig.Network.Camera.CJMS11
 
 										switch (newPacket.JmsMessage.Command)
 										{
+											case CommandM.send_:
 											case CommandM.grab_image_:
 												ParsedImage parsedImage = newPacket.JmsMessage.getImage();
 												if (parsedImage.Encoding == ImageType.BASE_64)
@@ -1579,7 +1713,7 @@ namespace TBF.Rig.Network.Camera.CJMS11
 		/// This method is called from within this class when
 		/// a prompt string was received from the telnet server.
 		/// </summary>
-		public static void OnImageReceived(object sender, int idxImage, Image image, ImageRotation imageRotation, int iImageIdx, int imageCount)
+		public static void OnImageReceived(object sender, int idxImage, Image image, ImageRotation imageRotation, int iImageIdx = 0, int imageCount = 1)
 		{
 			
 			log.Info("Image received");