HikNetSDKPkg/HikBallCamera.go

package HikNetSDK

import (
	"errors"
	"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, 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, unsafe.Pointer(&ErrorCode), ErrorInfoPtr)
	outState := hikBC.State
	hikBC.mux.Unlock()
	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 {
	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.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.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) 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
		}
	}
}