kunmeng/HikNetSDKPkg
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1. 添加 球机的一点即视 和 逆运算接口

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2. 添加 Nvr 和 球机 的配置结构体 和一些基本结构体类型
3. 修改 Nvr 和 球机 的 Login 方法
4. 修复 球机部分 MOVE 操作无法停止
5. 修复 HikBase Login 返回值错误
This commit is contained in:
王帅锟
2024-10-12 12:43:38 +08:00
parent a52e1a27fc
commit bd6cff81ec
6 changed files with 615 additions and 450 deletions
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24
.gitignore vendored
View File

@@ -1,12 +1,14 @@
/.idea
/cmake-build-debug-visual-studio
/cmake-build-release-visual-studio
*.lib
*.dll
*.so
*.a
*.zip
/build
/arm64_linux_lib
/arm64_windows_lib
/.idea
/.cache
/.fleet
/cmake-build-debug-visual-studio
/cmake-build-release-visual-studio
*.lib
*.dll
*.so
*.a
*.zip
/build
/arm64_linux_lib
/arm64_windows_lib
/amd64_linux_lib

28
CMakeLists.txt
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@@ -44,21 +44,21 @@ if(OS STREQUAL "Windows")
target_link_libraries(HikNetSDKPkg PRIVATE "HCNetSDK.lib")
target_link_libraries(HikNetSDKPkg PRIVATE "HCCore.lib")
target_link_libraries(HikNetSDKPkg PRIVATE "GdiPlus.lib")
elseif (Arch STREQUAL "x86_64")
elseif (Arch STREQUAL "x86_64" OR Arch STREQUAL "amd64")
target_link_directories(HikNetSDKPkg PRIVATE "./amd64_linux_lib")
target_link_libraries(HikNetSDKPkg "libHCCore.so")
target_link_libraries(HikNetSDKPkg "libhcnetsdk.so")
target_link_libraries(HikNetSDKPkg "libhpr.so")
target_link_libraries(HikNetSDKPkg "libz.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libHCCore.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libhcnetsdk.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libhpr.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libz.so")
elseif (Arch STREQUAL "aarch64")
target_link_directories(HikNetSDKPkg PRIVATE "./arm64_linux_lib")
target_link_libraries(HikNetSDKPkg "libAudioRender.so")
target_link_libraries(HikNetSDKPkg "libcrypto.so")
target_link_libraries(HikNetSDKPkg "libHCCore.so")
target_link_libraries(HikNetSDKPkg "libhcnetsdk.so")
target_link_libraries(HikNetSDKPkg "libhpr.so")
target_link_libraries(HikNetSDKPkg "libPlayCtrl.so")
target_link_libraries(HikNetSDKPkg "libssl.so")
target_link_libraries(HikNetSDKPkg "libSuperRender.so")
target_link_libraries(HikNetSDKPkg "libz.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libAudioRender.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libcrypto.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libHCCore.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libhcnetsdk.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libhpr.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libPlayCtrl.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libssl.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libSuperRender.so")
target_link_libraries(HikNetSDKPkg PRIVATE "libz.so")
endif ()

116
Hikvision.go
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@@ -51,9 +51,9 @@ func init() {
func getSystemLibrary() string {
switch runtime.GOOS {
case "linux":
if runtime.GOARCH == "amd64" || runtime.GOARCH == "386"{
if runtime.GOARCH == "amd64" || runtime.GOARCH == "386" {
return "libHikNetSDKPkg_linux_amd64.so"
}else{
} else {
return " libHikNetSDKPkg_linux_arm64.so"
}
case "windows":
@@ -64,17 +64,19 @@ func getSystemLibrary() string {
}
type HIKBallCamera struct {
core unsafe.Pointer
core unsafe.Pointer
BallCameraCfg BallCamera
}
func NewHIKBallCamera() *HIKBallCamera {
func NewHIKBallCamera(BallCameraCfg BallCamera) *HIKBallCamera {
return &HIKBallCamera{
core: newHIKBallCamera(),
core: newHIKBallCamera(),
BallCameraCfg: BallCameraCfg,
}
}
func (h *HIKBallCamera) Login(ip string, port string, username string, password string, BallMachineType string) bool {
return initBallCamera(h.core, ip, port, username, password, BallMachineType)
func (h *HIKBallCamera) Login() bool {
return initBallCamera(h.core, h.BallCameraCfg.Ip, h.BallCameraCfg.Port, h.BallCameraCfg.User, h.BallCameraCfg.Password, h.BallCameraCfg.Type)
}
func (h *HIKBallCamera) PtzTo(Action int, P, T, Z float32) bool {
return ptzTo(h.core, Action, P, T, Z)
@@ -90,17 +92,19 @@ func (h *HIKBallCamera) StartBus(Direction, Speed int) bool {
}
type HIKNvr struct {
core unsafe.Pointer
core unsafe.Pointer
NvrConfig Nvr
}
func NewHIKNvr() *HIKNvr {
func NewHIKNvr(nvrConfig Nvr) *HIKNvr {
return &HIKNvr{
core: newHIKNvr(),
core: newHIKNvr(),
NvrConfig: nvrConfig,
}
}
func (h *HIKNvr) Login(ip string, port string, username string, password string, nvrType int) bool {
return initNvr(h.core, ip, port, username, password, nvrType)
func (h *HIKNvr) Login() bool {
return initNvr(h.core, h.NvrConfig.Ip, h.NvrConfig.Port, h.NvrConfig.User, h.NvrConfig.Password, h.NvrConfig.Channel)
}
func (h *HIKNvr) CheckTimeRegionWithMonth(year int, month int) string {
@@ -109,3 +113,91 @@ func (h *HIKNvr) CheckTimeRegionWithMonth(year int, month int) string {
func (h *HIKNvr) CheckTimeRegionWithDay(year int, month int, day int) string {
return checkTimeRegionWithDay(h.core, year, month, day)
}
func (h *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 (h *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
}
}
}
func (h *HIKBallCamera) OneClickToSeeInFullView(point Point) bool {
TransPoint := h.WarpingPtByHomography(h.BallCameraCfg.Matrix.Matrix, point)
return h.PtzTo(5,
float32(h.mapping(h.BallCameraCfg.Matrix.PStart, h.BallCameraCfg.Matrix.PMax, TransPoint.X, h.BallCameraCfg.Matrix.PPositiveDirection, "inv")),
float32(h.mapping(h.BallCameraCfg.Matrix.TStart, h.BallCameraCfg.Matrix.TMax, TransPoint.Y, h.BallCameraCfg.Matrix.TPositiveDirection, "inv")),
0.0,
)
}
func (h *HIKBallCamera) PTZ2FullView() (Point, error) {
var ptz PTZ
if !h.PTZGet(&ptz.P, &ptz.T, &ptz.Z) {
return Point{}, fmt.Errorf("PTZ Get Error")
}
h.WarpingPtByHomography(h.BallCameraCfg.Matrix.InvMatrix, Point{
X: h.mapping(h.BallCameraCfg.Matrix.PStart, h.BallCameraCfg.Matrix.PMax, float64(ptz.P), h.BallCameraCfg.Matrix.PPositiveDirection, ""),
Y: h.mapping(h.BallCameraCfg.Matrix.TStart, h.BallCameraCfg.Matrix.TMax, float64(ptz.T), h.BallCameraCfg.Matrix.TPositiveDirection, "")})
return Point{}, nil
}
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
}

72
Type.go Normal file
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@@ -0,0 +1,72 @@
package HikNetSDK
import "encoding/json"
type HikCfg struct {
Nvr []Nvr `json:"Nvr"`
BallCamera []BallCamera `json:"BallCamera"`
}
type Nvr struct {
Name string `json:"name"`
Ip string `json:"ip"`
Port string `json:"port"`
User string `json:"user"`
Password string `json:"Password"`
Channel int `json:"Channel"`
}
type BallCamera struct {
Type string `json:"Type"`
Name string `json:"name"`
Ip string `json:"ip"`
Port string `json:"port"`
User string `json:"user"`
Password string `json:"Password"`
RtspUrl string `json:"RtspUrl"`
Matrix Matrix `json:"Matrix"`
Channel int `json:"Channel"`
}
type Matrix struct {
PStart float64 `json:"P_Start"`
PMax float64 `json:"P_Max"`
PPositiveDirection string `json:"p_Positive_Direction"`
TStart float64 `json:"T_Start"`
TMax float64 `json:"T_Max"`
TPositiveDirection string `json:"T_Positive_Direction"`
Matrix []float64 `json:"Matrix"`
InvMatrix []float64 `json:"InvMatrix"`
}
type PTZ struct {
P float32 `json:"P"`
T float32 `json:"T"`
Z float32 `json:"Z"`
}
type MoveCfg struct {
Speed int `json:"Speed"`
Direction int `json:"Direction"`
}
type Point struct {
X float64 `json:"x"`
Y float64 `json:"y"`
}
func (h *HikCfg) Json() []byte {
marshal, err := json.Marshal(h)
if err != nil {
return nil
}
return marshal
}
func (h *HikCfg) GetBallCameraByName(name string) *BallCamera {
for i, camera := range h.BallCamera {
if camera.Name == name {
return &h.BallCamera[i]
}
}
return nil
}

754
src/HIKBallCamera.cpp
View File

@@ -1,377 +1,377 @@
#include "HIKBallCamera.h"
#include "FormatTrans.h"
#include <vector>
#include <sstream>
HIKBallCamera::HIKBallCamera(){
};
struct PTZ{
float P;
float T;
float Z;
};
PTZ PTZDATA;
std::vector<std::string> velocity = {"0a","14","1e","28","32","3c","ff"};
bool HIKBallCamera::InitBallCamera(std::string ip, std::string port, std::string username, std::string password, std::string BallMachineType)
{
int res = Login(ip, port, username, password);
if (res != 0){
std::cout << "Incorrect Login" << std::endl;
return false;
}
m_Channel = DeviceInfo.byStartChan;
this->BallMachineType = BallMachineType;
//建立透明通道
NET_DVR_SERIALSTART_V40 struSerialParam = { 0 };
struSerialParam.dwSize = sizeof(struSerialParam);
struSerialParam.dwSerialType = 2;//1:232串口；2:485串口
struSerialParam.bySerialNum = 1;//串口编号（设备支持多个RS232串口时有效）
lTranHandle = NET_DVR_SerialStart_V40(LoginID, &struSerialParam, sizeof(struSerialParam), g_fSerialDataCallBack, NULL);//设置回调函数获取透传数据
if (lTranHandle < 0)
{
printf("NET_DVR_SerialStart error, %d\n", NET_DVR_GetLastError());
NET_DVR_Logout(LoginID);
NET_DVR_Cleanup();
return false;
}
return true;
}
//回调透传数据函数的外部实现
void CALLBACK HIKBallCamera::g_fSerialDataCallBack(LONG lSerialHandle, LONG lChannel, char *pRecvDataBuffer, DWORD dwBufSize, void *pUser)
{
std::string type = charToHex(pRecvDataBuffer[3]);
if (type=="59"){
PTZDATA.P = float(hexadecimalToDecimal(charToHex(pRecvDataBuffer[4])+charToHex(pRecvDataBuffer[5])))/100.0;
}else if (type == "5B"){
PTZDATA.T = float(hexadecimalToDecimal(charToHex(pRecvDataBuffer[4])+charToHex(pRecvDataBuffer[5])))/100.0;
}else if (type == "5D"){
PTZDATA.Z = float(hexadecimalToDecimal(charToHex(pRecvDataBuffer[4])+charToHex(pRecvDataBuffer[5])))/100.0;
}
}
bool HIKBallCamera::PtzControl(int command, int stop, int speed)
{
bool Ret = false;
//use HIK SDK to control the ball camera
Ret = NET_DVR_PTZControlWithSpeed_Other(LoginID,m_Channel, command, stop, speed);
//get the error code
if(!Ret)
{
std::cout << "PTZ control failed! Error code: " << NET_DVR_GetLastError() << std::endl;
return false;
}
return true;
}
bool HIKBallCamera::PtzControlLeft(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 04 "+velocity[speed - 1]+" 00";
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(PAN_LEFT, state, speed);
}
}
bool HIKBallCamera::PtzControlRight(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 02 "+velocity[speed - 1]+" 00";
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(PAN_RIGHT, 0, speed);
}
}
bool HIKBallCamera::PtzControlUp(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 08 00 "+velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(TILT_UP, 0, speed);
}
}
bool HIKBallCamera::PtzControlDown(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 10 00 "+velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(TILT_DOWN, 0, speed);
}
}
bool HIKBallCamera::PtzControlZoomIn(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
SerialSend(PrepareHexString("ff 01 00 20 00 00 21"));
return true;
}else{
return PtzControl(ZOOM_IN, 0, speed);
}
}
bool HIKBallCamera::PtzControlZoomOut(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
SerialSend(PrepareHexString("ff 01 00 40 00 00 41"));
return true;
}else{
return PtzControl(ZOOM_OUT, 0, speed);
}
}
bool HIKBallCamera::PtzControlFocusAdd(int speed,int state){
if (BallMachineType=="BuKongQiu") {
std::cout << "ff 01 01 00 00 00 02" << std::endl;
SerialSend(PrepareHexString("ff 01 01 00 00 00 02"));
return true;
}else{
return PtzControl(ZOOM_OUT, 1, speed);
}
}
bool HIKBallCamera::PtzControlFocusSub(int speed,int state){
if (BallMachineType=="BuKongQiu") {
std::cout << "ff 01 00 80 00 00 81" << std::endl;
SerialSend(PrepareHexString("ff 01 00 80 00 00 81"));
return true;
}else{
return PtzControl(ZOOM_OUT, 1, speed);
}
}
bool HIKBallCamera::PtzControlStop(){
SerialSend(PrepareHexString("ff 01 00 00 00 00 01"));
return true;
}
bool HIKBallCamera::PtzControlUpLeft(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 0c "+velocity[speed - 1]+" " + velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(UP_LEFT, state, speed);
}
}
bool HIKBallCamera::PtzControlUpRight(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 0a "+velocity[speed - 1]+" " + velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(UP_RIGHT, 0, speed);
}
}
bool HIKBallCamera::PtzControlDownLeft(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 14 "+velocity[speed - 1]+" " + velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(DOWN_LEFT, 0, speed);
}
}
bool HIKBallCamera::PtzControlDownRight(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 12 "+velocity[speed - 1]+" " + velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(DOWN_RIGHT, 0, speed);
}
}
std::string addSpacesEveryTwoWords(const std::string& hex) {
std::ostringstream result;
int len = hex.length();
// 如果十六进制字符串的长度是奇数，则在前面添加一个 0
std::string paddedHex = (len % 2 == 1) ? "0" + hex : hex;
// 遍历字符串，每两个字符分割一次
for (size_t i = 0; i < paddedHex.length(); i += 2) {
if (i != 0) {
result << " ";
}
result << paddedHex.substr(i, 2);
}
return result.str();
}
std::string padding(const std::string& hex){
if (hex.length()==2){
return "00 "+hex;
} else{
return hex;
}
}
// PTZ 跳转到指定位置
bool HIKBallCamera::PtzGotoPut(int Action, float P, float T, float Z)
{
if (BallMachineType=="BuKongQiu"){
std::string pHex = decimalToHexadecimal(P * 100);
pHex = padding(addSpacesEveryTwoWords(pHex));
std::string tHex = decimalToHexadecimal(T * 100);
tHex = padding(addSpacesEveryTwoWords(tHex));
std::string zHex = decimalToHexadecimal(Z * 100);
zHex = padding(addSpacesEveryTwoWords(zHex));
std::string pBuf = "ff 01 00 4b "+ pHex;
std::string tBuf = "ff 01 00 4d "+ tHex;
std::string zBuf = "ff 01 00 4f "+ zHex;
pBuf = pBuf+" "+verify(pBuf);
tBuf = tBuf+" "+verify(tBuf);
zBuf = zBuf+" "+verify(zBuf);
switch (Action) {
case 1:
SerialSend(PrepareHexString(pBuf)); // 设置 P
SerialSend(PrepareHexString(tBuf)); // 设置 T
SerialSend(PrepareHexString(zBuf)); // 设置 Z
break;
case 2:
SerialSend(PrepareHexString(pBuf)); // 设置 P
break;
case 3:
SerialSend(PrepareHexString(tBuf)); // 设置 T
break;
case 4:
SerialSend(PrepareHexString(zBuf)); // 设置 Z
break;
case 5:
SerialSend(PrepareHexString(pBuf)); // 设置 P
SerialSend(PrepareHexString(tBuf)); // 设置 T
break;
default:
break;
}
return true;
}else{
NET_DVR_PTZPOS ptzPosCurrent;
ptzPosCurrent.wPanPos = DEC2HEX(P);
ptzPosCurrent.wTiltPos = DEC2HEX(T);
ptzPosCurrent.wAction = 5;
bool b = NET_DVR_SetDVRConfig(LoginID, NET_DVR_SET_PTZPOS, m_Channel, &ptzPosCurrent, sizeof(NET_DVR_PTZPOS));
return b;
}
}
bool HIKBallCamera::SerialSend(const std::string& hex){
char m_DataBuf[50];
int m_DataLen;
int len = hex.length();
m_DataLen = len<1024 ? len : 1024;
memcpy(m_DataBuf,hex.c_str(),m_DataLen);
return NET_DVR_SerialSend(lTranHandle,1, m_DataBuf, m_DataLen);
}
bool HIKBallCamera::PtzGet(float* posP, float* posT, float* posZ) {
if (BallMachineType=="BuKongQiu"){
SerialSend(PrepareHexString("ff 01 00 51 00 00 52"));
SerialSend(PrepareHexString("ff 01 00 53 00 00 54"));
SerialSend(PrepareHexString("ff 01 00 55 00 00 56"));
SLEEP(1);
*posP = PTZDATA.P;
*posT = PTZDATA.T;
*posZ = PTZDATA.Z;
return true;
}else{
NET_DVR_PTZPOS ptzPosCurrent;
DWORD dwtmp;
bool b = NET_DVR_GetDVRConfig(LoginID, NET_DVR_GET_PTZPOS, m_Channel, &ptzPosCurrent, sizeof(NET_DVR_PTZPOS),&dwtmp);
float P = HEX2DEC(ptzPosCurrent.wPanPos);
float T = HEX2DEC(ptzPosCurrent.wTiltPos);
float Z = HEX2DEC(ptzPosCurrent.wZoomPos);
posP = &P;
posT = &T;
posZ = &Z;
return b;
}
}
bool HIKBallCamera::CmdSwitch(int direction,int speed,int state){
bool Res = false;
switch (direction) {
case PTZ_LEFT:
Res = PtzControlLeft(speed,state);
break;
case PTZ_RIGHT:
Res = PtzControlRight(speed,state);
break;
case PTZ_UP:
Res = PtzControlUp(speed,state);
break;
case PTZ_DOWN:
Res = PtzControlDown(speed,state);
break;
case PTZ_UP_LEFT:
Res = PtzControlUpLeft(speed,state);
break;
case PTZ_UP_RIGHT:
Res = PtzControlUpRight(speed,state);
break;
case PTZ_DOWN_LEFT:
Res = PtzControlDownLeft(speed,state);
break;
case PTZ_DOWN_RIGHT:
Res = PtzControlDownRight(speed,state);
break;
case PTZ_ZOOM_IN:
Res = PtzControlZoomIn(speed,state);
break;
case PTZ_ZOOM_OUT:
Res = PtzControlZoomOut(speed,state);
break;
case PTZ_Focus_Far:
Res = PtzControlFocusSub(speed,state);
break;
case PTZ_Focus_Near:
Res = PtzControlFocusAdd(speed,state);
break;
}
return Res;
}
bool HIKBallCamera::StopBus(int direction) {
if (BallMachineType=="BuKongQiu"){
return PtzControlStop();
}
return CmdSwitch(direction,0,1);
}
bool HIKBallCamera::StartBus(int direction, int speed) {
return CmdSwitch(direction,speed,0);
}
#include "HIKBallCamera.h"
#include "FormatTrans.h"
#include <vector>
#include <sstream>
HIKBallCamera::HIKBallCamera(){
};
struct PTZ{
float P;
float T;
float Z;
};
PTZ PTZDATA;
std::vector<std::string> velocity = {"0a","14","1e","28","32","3c","ff"};
bool HIKBallCamera::InitBallCamera(std::string ip, std::string port, std::string username, std::string password, std::string BallMachineType)
{
int res = Login(ip, port, username, password);
if (res != 0){
std::cout << "Incorrect Login error code:" << res << std::endl;
return false;
}
m_Channel = DeviceInfo.byStartChan;
this->BallMachineType = BallMachineType;
if (BallMachineType == "BuKongQiu"){
NET_DVR_SERIALSTART_V40 struSerialParam = { 0 };
struSerialParam.dwSize = sizeof(struSerialParam);
struSerialParam.dwSerialType = 2;//1:232串口；2:485串口
struSerialParam.bySerialNum = 1;//串口编号（设备支持多个RS232串口时有效）
lTranHandle = NET_DVR_SerialStart_V40(LoginID, &struSerialParam, sizeof(struSerialParam), g_fSerialDataCallBack, NULL);//设置回调函数获取透传数据
if (lTranHandle < 0)
{
printf("NET_DVR_SerialStart error, %d\n", NET_DVR_GetLastError());
NET_DVR_Logout(LoginID);
NET_DVR_Cleanup();
return false;
}
}
return true;
}
//回调透传数据函数的外部实现
void CALLBACK HIKBallCamera::g_fSerialDataCallBack(LONG lSerialHandle, LONG lChannel, char *pRecvDataBuffer, DWORD dwBufSize, void *pUser)
{
std::string type = charToHex(pRecvDataBuffer[3]);
if (type=="59"){
PTZDATA.P = float(hexadecimalToDecimal(charToHex(pRecvDataBuffer[4])+charToHex(pRecvDataBuffer[5])))/100.0;
}else if (type == "5B"){
PTZDATA.T = float(hexadecimalToDecimal(charToHex(pRecvDataBuffer[4])+charToHex(pRecvDataBuffer[5])))/100.0;
}else if (type == "5D"){
PTZDATA.Z = float(hexadecimalToDecimal(charToHex(pRecvDataBuffer[4])+charToHex(pRecvDataBuffer[5])))/100.0;
}
}
bool HIKBallCamera::PtzControl(int command, int stop, int speed)
{
bool Ret = false;
//use HIK SDK to control the ball camera
Ret = NET_DVR_PTZControlWithSpeed_Other(LoginID,m_Channel, command, stop, speed);
//get the error code
if(!Ret)
{
std::cout << "PTZ control failed! Error code: " << NET_DVR_GetLastError() << std::endl;
return false;
}
return true;
}
bool HIKBallCamera::PtzControlLeft(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 04 "+velocity[speed - 1]+" 00";
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(PAN_LEFT, state, speed);
}
}
bool HIKBallCamera::PtzControlRight(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 02 "+velocity[speed - 1]+" 00";
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(PAN_RIGHT, state, speed);
}
}
bool HIKBallCamera::PtzControlUp(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 08 00 "+velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(TILT_UP, state, speed);
}
}
bool HIKBallCamera::PtzControlDown(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 10 00 "+velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(TILT_DOWN, state, speed);
}
}
bool HIKBallCamera::PtzControlZoomIn(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
SerialSend(PrepareHexString("ff 01 00 20 00 00 21"));
return true;
}else{
return PtzControl(ZOOM_IN, state, speed);
}
}
bool HIKBallCamera::PtzControlZoomOut(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
SerialSend(PrepareHexString("ff 01 00 40 00 00 41"));
return true;
}else{
return PtzControl(ZOOM_OUT, state, speed);
}
}
bool HIKBallCamera::PtzControlFocusAdd(int speed,int state){
if (BallMachineType=="BuKongQiu") {
std::cout << "ff 01 01 00 00 00 02" << std::endl;
SerialSend(PrepareHexString("ff 01 01 00 00 00 02"));
return true;
}else{
return PtzControl(ZOOM_OUT, state, speed);
}
}
bool HIKBallCamera::PtzControlFocusSub(int speed,int state){
if (BallMachineType=="BuKongQiu") {
std::cout << "ff 01 00 80 00 00 81" << std::endl;
SerialSend(PrepareHexString("ff 01 00 80 00 00 81"));
return true;
}else{
return PtzControl(ZOOM_OUT, state, speed);
}
}
bool HIKBallCamera::PtzControlStop(){
SerialSend(PrepareHexString("ff 01 00 00 00 00 01"));
return true;
}
bool HIKBallCamera::PtzControlUpLeft(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 0c "+velocity[speed - 1]+" " + velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(UP_LEFT, state, speed);
}
}
bool HIKBallCamera::PtzControlUpRight(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 0a "+velocity[speed - 1]+" " + velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(UP_RIGHT, state, speed);
}
}
bool HIKBallCamera::PtzControlDownLeft(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 14 "+velocity[speed - 1]+" " + velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(DOWN_LEFT, state, speed);
}
}
bool HIKBallCamera::PtzControlDownRight(int speed,int state)
{
if (BallMachineType=="BuKongQiu") {
std::string buf = "ff 01 00 12 "+velocity[speed - 1]+" " + velocity[speed - 1];
buf = buf +" "+ verify(buf);
SerialSend(PrepareHexString(buf));
return true;
}else{
return PtzControl(DOWN_RIGHT, state, speed);
}
}
std::string addSpacesEveryTwoWords(const std::string& hex) {
std::ostringstream result;
int len = hex.length();
// 如果十六进制字符串的长度是奇数，则在前面添加一个 0
std::string paddedHex = (len % 2 == 1) ? "0" + hex : hex;
// 遍历字符串，每两个字符分割一次
for (size_t i = 0; i < paddedHex.length(); i += 2) {
if (i != 0) {
result << " ";
}
result << paddedHex.substr(i, 2);
}
return result.str();
}
std::string padding(const std::string& hex){
if (hex.length()==2){
return "00 "+hex;
} else{
return hex;
}
}
// PTZ 跳转到指定位置
bool HIKBallCamera::PtzGotoPut(int Action, float P, float T, float Z)
{
if (BallMachineType=="BuKongQiu"){
std::string pHex = decimalToHexadecimal(P * 100);
pHex = padding(addSpacesEveryTwoWords(pHex));
std::string tHex = decimalToHexadecimal(T * 100);
tHex = padding(addSpacesEveryTwoWords(tHex));
std::string zHex = decimalToHexadecimal(Z * 100);
zHex = padding(addSpacesEveryTwoWords(zHex));
std::string pBuf = "ff 01 00 4b "+ pHex;
std::string tBuf = "ff 01 00 4d "+ tHex;
std::string zBuf = "ff 01 00 4f "+ zHex;
pBuf = pBuf+" "+verify(pBuf);
tBuf = tBuf+" "+verify(tBuf);
zBuf = zBuf+" "+verify(zBuf);
switch (Action) {
case 1:
SerialSend(PrepareHexString(pBuf)); // 设置 P
SerialSend(PrepareHexString(tBuf)); // 设置 T
SerialSend(PrepareHexString(zBuf)); // 设置 Z
break;
case 2:
SerialSend(PrepareHexString(pBuf)); // 设置 P
break;
case 3:
SerialSend(PrepareHexString(tBuf)); // 设置 T
break;
case 4:
SerialSend(PrepareHexString(zBuf)); // 设置 Z
break;
case 5:
SerialSend(PrepareHexString(pBuf)); // 设置 P
SerialSend(PrepareHexString(tBuf)); // 设置 T
break;
default:
break;
}
return true;
}else{
NET_DVR_PTZPOS ptzPosCurrent;
ptzPosCurrent.wPanPos = DEC2HEX(P);
ptzPosCurrent.wTiltPos = DEC2HEX(T);
ptzPosCurrent.wAction = 5;
bool b = NET_DVR_SetDVRConfig(LoginID, NET_DVR_SET_PTZPOS, m_Channel, &ptzPosCurrent, sizeof(NET_DVR_PTZPOS));
return b;
}
}
bool HIKBallCamera::SerialSend(const std::string& hex){
char m_DataBuf[50];
int m_DataLen;
int len = hex.length();
m_DataLen = len<1024 ? len : 1024;
memcpy(m_DataBuf,hex.c_str(),m_DataLen);
return NET_DVR_SerialSend(lTranHandle,1, m_DataBuf, m_DataLen);
}
bool HIKBallCamera::PtzGet(float* posP, float* posT, float* posZ) {
if (BallMachineType=="BuKongQiu"){
SerialSend(PrepareHexString("ff 01 00 51 00 00 52"));
SerialSend(PrepareHexString("ff 01 00 53 00 00 54"));
SerialSend(PrepareHexString("ff 01 00 55 00 00 56"));
SLEEP(1);
*posP = PTZDATA.P;
*posT = PTZDATA.T;
*posZ = PTZDATA.Z;
return true;
}else{
NET_DVR_PTZPOS ptzPosCurrent;
DWORD dwtmp;
bool b = NET_DVR_GetDVRConfig(LoginID, NET_DVR_GET_PTZPOS, m_Channel, &ptzPosCurrent, sizeof(NET_DVR_PTZPOS),&dwtmp);
float P = HEX2DEC(ptzPosCurrent.wPanPos);
float T = HEX2DEC(ptzPosCurrent.wTiltPos);
float Z = HEX2DEC(ptzPosCurrent.wZoomPos);
posP = &P;
posT = &T;
posZ = &Z;
return b;
}
}
bool HIKBallCamera::CmdSwitch(int direction,int speed,int state){
bool Res = false;
switch (direction) {
case PTZ_LEFT:
Res = PtzControlLeft(speed,state);
break;
case PTZ_RIGHT:
Res = PtzControlRight(speed,state);
break;
case PTZ_UP:
Res = PtzControlUp(speed,state);
break;
case PTZ_DOWN:
Res = PtzControlDown(speed,state);
break;
case PTZ_UP_LEFT:
Res = PtzControlUpLeft(speed,state);
break;
case PTZ_UP_RIGHT:
Res = PtzControlUpRight(speed,state);
break;
case PTZ_DOWN_LEFT:
Res = PtzControlDownLeft(speed,state);
break;
case PTZ_DOWN_RIGHT:
Res = PtzControlDownRight(speed,state);
break;
case PTZ_ZOOM_IN:
Res = PtzControlZoomIn(speed,state);
break;
case PTZ_ZOOM_OUT:
Res = PtzControlZoomOut(speed,state);
break;
case PTZ_Focus_Far:
Res = PtzControlFocusSub(speed,state);
break;
case PTZ_Focus_Near:
Res = PtzControlFocusAdd(speed,state);
break;
}
return Res;
}
bool HIKBallCamera::StopBus(int direction) {
if (BallMachineType=="BuKongQiu"){
return PtzControlStop();
}
return CmdSwitch(direction,0,1);
}
bool HIKBallCamera::StartBus(int direction, int speed) {
return CmdSwitch(direction,speed,0);
}

71
src/HIKBase.cpp
View File

@@ -1,37 +1,36 @@
#include "HIKBase.h"
#include <memory>
#include <cstring>
#include <chrono>
HIKBase::HIKBase()
{
memset(&DeviceInfo, 0, sizeof(DeviceInfo));
}
HIKBase::~HIKBase() = default;
int HIKBase::Login(std::string ip, std::string port, std::string username, std::string password)
{
Ip = ip;
Port = port;
Username = username;
Password = password;
LoginID = NET_DVR_Login_V30((char *)Ip.c_str(), atoi(Port.c_str()), (char *)Username.c_str(), (char *)Password.c_str(), &DeviceInfo);
std::cout << LoginID <<std::endl;
return LoginID;
}
void HIKBase::Logout()
{
if (LoginID >= 0)
{
NET_DVR_Logout(LoginID);
LoginID = -1;
}
}
bool HK_DVR_Init(){
return NET_DVR_Init();
#include "HIKBase.h"
#include <memory>
#include <cstring>
#include <chrono>
HIKBase::HIKBase()
{
memset(&DeviceInfo, 0, sizeof(DeviceInfo));
}
HIKBase::~HIKBase() = default;
int HIKBase::Login(std::string ip, std::string port, std::string username, std::string password)
{
Ip = ip;
Port = port;
Username = username;
Password = password;
LoginID = NET_DVR_Login_V30((char *)Ip.c_str(), atoi(Port.c_str()), (char *)Username.c_str(), (char *)Password.c_str(), &DeviceInfo);
return NET_DVR_GetLastError();
}
void HIKBase::Logout()
{
if (LoginID >= 0)
{
NET_DVR_Logout(LoginID);
LoginID = -1;
}
}
bool HK_DVR_Init(){
return NET_DVR_Init();
}