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