1. 移除计算 3*3 矩阵的逆的函数

2. 优化球机的登陆接口
3. 新增球机的登出接口

HikBallCamera.go

@@ -1,6 +1,7 @@
 package HikNetSDK
 
 import (
+	"errors"
 	"fmt"
 	"sync"
 	"unsafe"
@@ -22,11 +23,41 @@ func NewHIKBallCamera(BallCameraCfg BallCamera) *HIKBallCamera {
 	}
 }
 
-func (hikBC *HIKBallCamera) Login() bool {
+func (hikBC *HIKBallCamera) Login() (bool, uint, error) {
+	var ErrorCode uint
+	ErrorInfo := make([]byte, 128)
+	ErrorInfoPtr := &ErrorInfo[0]
 	hikBC.mux.Lock()
-    hikBC.State = initBallCamera(hikBC.core, hikBC.BallCameraCfg.Ip, hikBC.BallCameraCfg.Port, hikBC.BallCameraCfg.User, hikBC.BallCameraCfg.Password, hikBC.BallCameraCfg.Type)
+	hikBC.State = initBallCamera(hikBC.core, hikBC.BallCameraCfg.Ip, hikBC.BallCameraCfg.Port, hikBC.BallCameraCfg.User, hikBC.BallCameraCfg.Password, hikBC.BallCameraCfg.Type, unsafe.Pointer(&ErrorCode), ErrorInfoPtr)
+	outState := hikBC.State
 	hikBC.mux.Unlock()
-    return hikBC.State
+	return outState, ErrorCode, errors.New(goString(ErrorInfoPtr))
+}
+
+func (hikBC *HIKBallCamera) Logout() (bool, uint, error) {
+	var ErrorCode uint
+	ErrorInfo := make([]byte, 128)
+	ErrorInfoPtr := &ErrorInfo[0]
+	hikBC.mux.Lock()
+	hikBC.State = ballCameraLogout(hikBC.core, unsafe.Pointer(&ErrorCode), ErrorInfoPtr)
+	outState := hikBC.State
+	hikBC.mux.Unlock()
+	return outState, ErrorCode, errors.New(goString(ErrorInfoPtr))
+}
+
+// goString 将 `char*` 转换为 Go 字符串
+func goString(cstr *byte) string {
+	if cstr == nil {
+		return ""
+	}
+	// 找到 C 字符串的长度（以 null 结尾）
+	data := unsafe.Slice(cstr, 128) // 假设最大长度 128，实际可根据情况调整
+	for i, b := range data {
+		if b == 0 { // 遇到 null 终止符
+			return string(data[:i])
+		}
+	}
+	return string(data) // 如果没有 null 终止符，返回整个 slice
 }
 
 func (hikBC *HIKBallCamera) opt(action func() bool) bool {
@@ -97,39 +128,6 @@ func (hikBC *HIKBallCamera) WarpingPtByHomography(matrix []float64, p Point) Poi
 	return Point{X: x, Y: y}
 }
 
-func (hikBC *HIKBallCamera) Invert3x3() bool {
-
-    a := hikBC.BallCameraCfg.Matrix.Matrix[0]
-    b := hikBC.BallCameraCfg.Matrix.Matrix[1]
-    c := hikBC.BallCameraCfg.Matrix.Matrix[2]
-    d := hikBC.BallCameraCfg.Matrix.Matrix[3]
-    e := hikBC.BallCameraCfg.Matrix.Matrix[4]
-    f := hikBC.BallCameraCfg.Matrix.Matrix[5]
-    g := hikBC.BallCameraCfg.Matrix.Matrix[6]
-    h := hikBC.BallCameraCfg.Matrix.Matrix[7]
-    i := hikBC.BallCameraCfg.Matrix.Matrix[8]
-
-    det := a*(e*i-f*h) - b*(d*i-f*g) + c*(d*h-e*g)
-
-    if det == 0 {
-        return false
-    }
-
-    invDet := 1.0 / det
-    hikBC.BallCameraCfg.Matrix.InvMatrix = []float64{
-        (e*i - f*h) * invDet,
-        (c*h - b*i) * invDet,
-        (b*f - c*e) * invDet,
-        (f*g - d*i) * invDet,
-        (a*i - c*g) * invDet,
-        (c*d - a*f) * invDet,
-        (d*h - e*g) * invDet,
-        (b*g - a*h) * invDet,
-        (a*e - b*d) * invDet,
-    }
-    return true
-}
-
 func (hikBC *HIKBallCamera) mapping(startV float64, max float64, value float64, direction string, method string) float64 {
 	if direction == "+" {
 		if method == "inv" {

HikBallCamera_test.go

@@ -0,0 +1,24 @@
+package HikNetSDK
+
+import "testing"
+
+func TestHIKBallCamera_Login(t *testing.T) {
+	Init()
+	if DvrInit() != 0 {
+		t.Error("Dvr init failed")
+	}
+	Camera := NewHIKBallCamera(BallCamera{
+		Type:     "BuKongQiu",
+		Name:     "布控球",
+		Ip:       "192.168.211.44",
+		Port:     "8000",
+		User:     "admin",
+		Password: "okwy1234",
+		Channel:  1,
+	})
+	State, ErrorCode, ErrorInfo := Camera.Login()
+	if !State {
+		t.Error(ErrorCode, ErrorInfo)
+		return
+	}
+}

Hikvision.go

@@ -10,10 +10,11 @@ import (
 var libc uintptr
 
 var (
-	DvrInit func() bool
+	DvrInit func() int
 
 	newHIKBallCamera func() unsafe.Pointer
-	initBallCamera   func(core unsafe.Pointer, ip string, port string, username string, password string, BallMachineType string) bool
+	initBallCamera   func(core unsafe.Pointer, ip string, port string, username string, password string, BallMachineType string, ErrorCode unsafe.Pointer, ErrorInfo *byte) bool
+	ballCameraLogout func(core unsafe.Pointer, ErrorCode unsafe.Pointer, ErrorInfo *byte) bool
 	ptzTo            func(core unsafe.Pointer, Action int, P float32, T float32, Z float32) bool
 	ptzGet           func(unsafe.Pointer, unsafe.Pointer, unsafe.Pointer, unsafe.Pointer) bool
 	stopBus          func(unsafe.Pointer, int) bool