GrabImage in Detect Camera to warm up step 3.1

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

@@ -494,12 +494,9 @@ namespace TBF.Rig.Network.Camera.CJMS11
 			        using (NetworkStream stream = client.GetStream())
 			        {
 				        // Jeden reader pre celé spojenie.
-				        var reader = new CameraLineReader(
-					        stream,
-					        64 * 1024);
+				        var reader = new CameraLineReader( stream, 64 * 1024);
 
-				        this.ipAddress =
-					        IPAddress.Parse(ipAddressParam);
+				        this.ipAddress = IPAddress.Parse(ipAddressParam);
 
 				        /*
 				         * 1. Nastavenie typu kamery
@@ -600,7 +597,69 @@ namespace TBF.Rig.Network.Camera.CJMS11
 				        }
 
 				        /*
-				         * 3. Status
+				         * 3.1 Warm-up grab after type_camera + prepare_camera.
+				         *
+				         * Hardvér po inicializácii potrebuje vytvoriť aspoň jeden obrázok.
+				         * Obrázok pri detekcii nepotrebujeme ukladať ani posielať do UI.
+				         */
+				        JmsPacket grabAnswer =
+					        await SendCommandAndWaitToAnswerAsync(
+							        stream,
+							        reader,
+							        CommandM.grab_image_,
+							        null,
+							        10000,
+							        CancellationToken.None)
+						        .ConfigureAwait(false);
+
+				        if (grabAnswer == null || grabAnswer.JmsMessage == null || grabAnswer.JmsMessage.Status != MessageStatus.ACK)
+				        {
+					        throw new IOException( $"Camera initialization grab failed: camera={CameraCfg.Name}, " +
+						        $"IP={ipAddressParam}, answer={FormatPacketForLog(grabAnswer)}");
+				        }
+
+				        try
+				        {
+					        ParsedImage initializationImage =
+						        grabAnswer.JmsMessage.getImage();
+
+					        if (initializationImage == null)
+					        {
+						        throw new IOException( "Initialization grab returned no parsed image.");
+					        }
+
+					        if (initializationImage.Encoding != ImageType.BASE_64)
+					        {
+						        throw new IOException( $"Initialization grab returned unsupported encoding: " + $"{initializationImage.Encoding}");
+					        }
+
+					        // Vyvolá Base64 dekódovanie a tým overí, že obrázok je platný.
+					        using (Image warmUpImage = initializationImage.Image)
+					        {
+						        if (warmUpImage == null)
+						        {
+							        throw new IOException(
+								        "Initialization grab returned a null image.");
+						        }
+
+						        log.Debug(
+							        $"Initialization image captured: " +
+							        $"camera={CameraCfg.Name}, " +
+							        $"IP={ipAddressParam}, " +
+							        $"size={warmUpImage.Width}x{warmUpImage.Height}");
+					        }
+				        }
+				        catch (Exception exc)
+				        {
+					        throw new IOException( $"Cannot process initialization image: camera={CameraCfg.Name}, " +
+						        $"IP={ipAddressParam}, error={exc.Message}", exc);
+				        }
+				        
+				        
+				        
+				        
+				        /*
+				         * 3.2 Status
 				         */
 				        JmsPacket statusAnswer =
 					        await SendCommandAndWaitToAnswerAsync(