diff --git a/.gitignore b/.gitignore index 3366e72..7c76223 100644 --- a/.gitignore +++ b/.gitignore @@ -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 \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 43d9711..825b636 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -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 () \ No newline at end of file diff --git a/Hikvision.go b/Hikvision.go index 52f1cd7..2783425 100644 --- a/Hikvision.go +++ b/Hikvision.go @@ -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 +} diff --git a/Type.go b/Type.go new file mode 100644 index 0000000..6398287 --- /dev/null +++ b/Type.go @@ -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 +} diff --git a/src/HIKBallCamera.cpp b/src/HIKBallCamera.cpp index bfa98a2..c84cae3 100644 --- a/src/HIKBallCamera.cpp +++ b/src/HIKBallCamera.cpp @@ -1,377 +1,377 @@ -#include "HIKBallCamera.h" -#include "FormatTrans.h" -#include -#include - -HIKBallCamera::HIKBallCamera(){ - -}; - -struct PTZ{ - float P; - float T; - float Z; -}; - -PTZ PTZDATA; - -std::vector 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 +#include + +HIKBallCamera::HIKBallCamera(){ + +}; + +struct PTZ{ + float P; + float T; + float Z; +}; + +PTZ PTZDATA; + +std::vector 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); +} diff --git a/src/HIKBase.cpp b/src/HIKBase.cpp index 025a4a2..5bf4e69 100644 --- a/src/HIKBase.cpp +++ b/src/HIKBase.cpp @@ -1,37 +1,36 @@ -#include "HIKBase.h" -#include -#include -#include - -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 <= 0) - { - NET_DVR_Logout(LoginID); - LoginID = -1; - } -} - -bool HK_DVR_Init(){ - return NET_DVR_Init(); +#include "HIKBase.h" +#include +#include +#include + +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(); } \ No newline at end of file