1. 海康设备状态加入到结构体中

HikBallCamera.go

@@ -0,0 +1,159 @@
+package HikNetSDK
+
+import (
+    "fmt"
+    "sync"
+    "unsafe"
+)
+
+type HIKBallCamera struct {
+    core          unsafe.Pointer
+    State         bool
+    BallCameraCfg BallCamera
+    mux           sync.RWMutex
+}
+
+func NewHIKBallCamera(BallCameraCfg BallCamera) *HIKBallCamera {
+    return &HIKBallCamera{
+        core:          newHIKBallCamera(),
+        BallCameraCfg: BallCameraCfg,
+        State:         false,
+        mux:           sync.RWMutex{},
+    }
+}
+
+func (hikBC *HIKBallCamera) Login() bool {
+    hikBC.mux.Lock()
+    hikBC.State = initBallCamera(hikBC.core, hikBC.BallCameraCfg.Ip, hikBC.BallCameraCfg.Port, hikBC.BallCameraCfg.User, hikBC.BallCameraCfg.Password, hikBC.BallCameraCfg.Type)
+    hikBC.mux.Unlock()
+    return hikBC.State
+}
+
+func (hikBC *HIKBallCamera) opt(action func() bool) bool {
+    hikBC.mux.RLock()
+    if hikBC.State {
+        hikBC.mux.RUnlock()
+        hikBC.mux.Lock()
+        hikBC.State = action()
+        hikBC.mux.Unlock()
+    } else {
+        hikBC.mux.RUnlock()
+    }
+    return hikBC.State
+}
+
+func (hikBC *HIKBallCamera) PTZGet(P, T, Z *float32) bool {
+    return hikBC.opt(func() bool {
+        return ptzGet(hikBC.core, unsafe.Pointer(P), unsafe.Pointer(T), unsafe.Pointer(Z))
+    })
+}
+
+func (hikBC *HIKBallCamera) PtzTo(Action int, P, T, Z float32) bool {
+    return hikBC.opt(func() bool {
+        return ptzTo(hikBC.core, Action, P, T, Z)
+    })
+}
+
+func (hikBC *HIKBallCamera) StartBus(Direction, Speed int) bool {
+    return hikBC.opt(func() bool {
+        return startBus(hikBC.core, Direction, Speed)
+    })
+}
+
+func (hikBC *HIKBallCamera) StopBus(Direction int) bool {
+    return hikBC.opt(func() bool {
+        return stopBus(hikBC.core, Direction)
+    })
+}
+
+func (hikBC *HIKBallCamera) OneClickToSeeInFullView(point Point) bool {
+    TransPoint := hikBC.WarpingPtByHomography(hikBC.BallCameraCfg.Matrix.Matrix, point)
+    return hikBC.opt(func() bool {
+        return hikBC.PtzTo(5,
+            float32(hikBC.mapping(hikBC.BallCameraCfg.Matrix.PStart, hikBC.BallCameraCfg.Matrix.PMax, TransPoint.X, hikBC.BallCameraCfg.Matrix.PPositiveDirection, "inv")),
+            float32(hikBC.mapping(hikBC.BallCameraCfg.Matrix.TStart, hikBC.BallCameraCfg.Matrix.TMax, TransPoint.Y, hikBC.BallCameraCfg.Matrix.TPositiveDirection, "inv")),
+            0.0,
+        )
+    })
+
+}
+
+func (hikBC *HIKBallCamera) PTZ2FullView() (Point, error) {
+    var ptz PTZ
+    if !hikBC.opt(func() bool {
+        return hikBC.PTZGet(&ptz.P, &ptz.T, &ptz.Z)
+    }) {
+        return Point{}, fmt.Errorf("PTZ Get Error")
+    }
+    return hikBC.WarpingPtByHomography(hikBC.BallCameraCfg.Matrix.InvMatrix, Point{
+        X: hikBC.mapping(hikBC.BallCameraCfg.Matrix.PStart, hikBC.BallCameraCfg.Matrix.PMax, float64(ptz.P), hikBC.BallCameraCfg.Matrix.PPositiveDirection, ""),
+        Y: hikBC.mapping(hikBC.BallCameraCfg.Matrix.TStart, hikBC.BallCameraCfg.Matrix.TMax, float64(ptz.T), hikBC.BallCameraCfg.Matrix.TPositiveDirection, "")}), nil
+}
+
+func (hikBC *HIKBallCamera) WarpingPtByHomography(matrix []float64, p Point) Point {
+    var x, y, z float64
+    x = matrix[0]*p.X + matrix[1]*p.Y + 1.*matrix[2]
+    y = matrix[3]*p.X + matrix[4]*p.Y + 1.*matrix[5]
+    z = matrix[6]*p.X + matrix[7]*p.Y + 1.*matrix[8]
+
+    x /= z
+    y /= z
+    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" {
+            if value > (max - startV) {
+                return value - (max - startV)
+            } else {
+                return startV + value // 映射
+            }
+        } else {
+            if value > startV {
+                return value - startV
+            } else {
+                return (max - startV) + value // 映射
+            }
+        }
+    } else {
+        if value > startV {
+            return startV + max - value
+        } else {
+            return startV - value
+        }
+    }
+}