1. 添加 球机的一点即视 和 逆运算接口

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

.gitignore

@@ -1,4 +1,6 @@
 /.idea
+/.cache
+/.fleet
 /cmake-build-debug-visual-studio
 /cmake-build-release-visual-studio
 *.lib

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 PRIVATE "libHCCore.so")
-    target_link_libraries(HikNetSDKPkg "libhcnetsdk.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libhcnetsdk.so")
-    target_link_libraries(HikNetSDKPkg "libhpr.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libhpr.so")
-    target_link_libraries(HikNetSDKPkg "libz.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 PRIVATE "libAudioRender.so")
-    target_link_libraries(HikNetSDKPkg "libcrypto.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libcrypto.so")
-    target_link_libraries(HikNetSDKPkg "libHCCore.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libHCCore.so")
-    target_link_libraries(HikNetSDKPkg "libhcnetsdk.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libhcnetsdk.so")
-    target_link_libraries(HikNetSDKPkg "libhpr.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libhpr.so")
-    target_link_libraries(HikNetSDKPkg "libPlayCtrl.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libPlayCtrl.so")
-    target_link_libraries(HikNetSDKPkg "libssl.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libssl.so")
-    target_link_libraries(HikNetSDKPkg "libSuperRender.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libSuperRender.so")
-    target_link_libraries(HikNetSDKPkg "libz.so")
+    target_link_libraries(HikNetSDKPkg PRIVATE "libz.so")
 endif ()

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":
@@ -65,16 +65,18 @@ func getSystemLibrary() string {
 
 type HIKBallCamera struct {
 	core          unsafe.Pointer
+	BallCameraCfg BallCamera
 }
 
-func NewHIKBallCamera() *HIKBallCamera {
+func NewHIKBallCamera(BallCameraCfg BallCamera) *HIKBallCamera {
 	return &HIKBallCamera{
 		core:          newHIKBallCamera(),
+		BallCameraCfg: BallCameraCfg,
 	}
 }
 
-func (h *HIKBallCamera) Login(ip string, port string, username string, password string, BallMachineType string) bool {
+func (h *HIKBallCamera) Login() bool {
-	return initBallCamera(h.core, ip, port, username, password, BallMachineType)
+	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)
@@ -91,16 +93,18 @@ func (h *HIKBallCamera) StartBus(Direction, Speed int) bool {
 
 type HIKNvr struct {
 	core      unsafe.Pointer
+	NvrConfig Nvr
 }
 
-func NewHIKNvr() *HIKNvr {
+func NewHIKNvr(nvrConfig Nvr) *HIKNvr {
 	return &HIKNvr{
 		core:      newHIKNvr(),
+		NvrConfig: nvrConfig,
 	}
 }
 
-func (h *HIKNvr) Login(ip string, port string, username string, password string, nvrType int) bool {
+func (h *HIKNvr) Login() bool {
-	return initNvr(h.core, ip, port, username, password, nvrType)
+	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
+}

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
+}

src/HIKBallCamera.cpp

@@ -21,14 +21,14 @@ bool HIKBallCamera::InitBallCamera(std::string ip, std::string port, std::string
 {
     int res = Login(ip, port, username, password);
     if (res != 0){
-        std::cout << "Incorrect Login" << std::endl;
+        std::cout << "Incorrect Login error code:" << res << std::endl;
         return false;
     }
 
     m_Channel = DeviceInfo.byStartChan;
     this->BallMachineType = BallMachineType;
 
-    //建立透明通道
+    if (BallMachineType == "BuKongQiu"){
         NET_DVR_SERIALSTART_V40 struSerialParam = { 0 };
         struSerialParam.dwSize = sizeof(struSerialParam);
         struSerialParam.dwSerialType = 2;//1:232串口；2:485串口
@@ -41,7 +41,7 @@ bool HIKBallCamera::InitBallCamera(std::string ip, std::string port, std::string
             NET_DVR_Cleanup();
             return false;
         }
-
+    }
     return true;
 }
 
@@ -93,7 +93,7 @@ bool HIKBallCamera::PtzControlRight(int speed,int state)
         SerialSend(PrepareHexString(buf));
         return true;
     }else{
-        return PtzControl(PAN_RIGHT, 0, speed);
+        return PtzControl(PAN_RIGHT, state, speed);
     }
 }
 
@@ -105,7 +105,7 @@ bool HIKBallCamera::PtzControlUp(int speed,int state)
         SerialSend(PrepareHexString(buf));
         return true;
     }else{
-        return PtzControl(TILT_UP, 0, speed);
+        return PtzControl(TILT_UP, state, speed);
     }
 }
 
@@ -117,7 +117,7 @@ bool HIKBallCamera::PtzControlDown(int speed,int state)
         SerialSend(PrepareHexString(buf));
         return true;
     }else{
-        return PtzControl(TILT_DOWN, 0, speed);
+        return PtzControl(TILT_DOWN, state, speed);
     }
 }
 
@@ -127,7 +127,7 @@ bool HIKBallCamera::PtzControlZoomIn(int speed,int state)
         SerialSend(PrepareHexString("ff 01 00 20 00 00 21"));
         return true;
     }else{
-        return PtzControl(ZOOM_IN, 0, speed);
+        return PtzControl(ZOOM_IN, state, speed);
     }
 }
 
@@ -137,7 +137,7 @@ bool HIKBallCamera::PtzControlZoomOut(int speed,int state)
         SerialSend(PrepareHexString("ff 01 00 40 00 00 41"));
         return true;
     }else{
-        return PtzControl(ZOOM_OUT, 0, speed);
+        return PtzControl(ZOOM_OUT, state, speed);
     }
 }
 
@@ -148,7 +148,7 @@ bool HIKBallCamera::PtzControlFocusAdd(int speed,int state){
         SerialSend(PrepareHexString("ff 01 01 00 00 00 02"));
         return true;
     }else{
-        return PtzControl(ZOOM_OUT, 1, speed);
+        return PtzControl(ZOOM_OUT, state, speed);
     }
 }
 
@@ -158,7 +158,7 @@ bool HIKBallCamera::PtzControlFocusSub(int speed,int state){
         SerialSend(PrepareHexString("ff 01 00 80 00 00 81"));
         return true;
     }else{
-        return PtzControl(ZOOM_OUT, 1, speed);
+        return PtzControl(ZOOM_OUT, state, speed);
     }
 }
 
@@ -188,7 +188,7 @@ bool HIKBallCamera::PtzControlUpRight(int speed,int state)
         SerialSend(PrepareHexString(buf));
         return true;
     }else{
-        return PtzControl(UP_RIGHT, 0, speed);
+        return PtzControl(UP_RIGHT, state, speed);
     }
 }
 
@@ -200,7 +200,7 @@ bool HIKBallCamera::PtzControlDownLeft(int speed,int state)
         SerialSend(PrepareHexString(buf));
         return true;
     }else{
-        return PtzControl(DOWN_LEFT, 0, speed);
+        return PtzControl(DOWN_LEFT, state, speed);
     }
 }
 
@@ -212,7 +212,7 @@ bool HIKBallCamera::PtzControlDownRight(int speed,int state)
         SerialSend(PrepareHexString(buf));
         return true;
     }else{
-        return PtzControl(DOWN_RIGHT, 0, speed);
+        return PtzControl(DOWN_RIGHT, state, speed);
     }
 }
 

src/HIKBase.cpp

@@ -19,8 +19,7 @@ int HIKBase::Login(std::string ip, std::string port, std::string username, std::
     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 NET_DVR_GetLastError();
-    return LoginID;
 }
 
 void HIKBase::Logout()