1. 移除计算 3*3 矩阵的逆的函数

2. 优化球机的登陆接口
3. 新增球机的登出接口

HikBallCamera.go

@@ -1,155 +1,153 @@
 package HikNetSDK
 
 import (
-    "fmt"
-    "sync"
-    "unsafe"
+	"errors"
+	"fmt"
+	"sync"
+	"unsafe"
 )
 
 type HIKBallCamera struct {
-    core          unsafe.Pointer
-    State         bool
-    BallCameraCfg BallCamera
-    mux           sync.RWMutex
+	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{},
-    }
+	return &HIKBallCamera{
+		core:          newHIKBallCamera(),
+		BallCameraCfg: BallCameraCfg,
+		State:         false,
+		mux:           sync.RWMutex{},
+	}
 }
 
-func (hikBC *HIKBallCamera) Login() bool {
-    hikBC.mux.Lock()
-    hikBC.State = initBallCamera(hikBC.core, hikBC.BallCameraCfg.Ip, hikBC.BallCameraCfg.Port, hikBC.BallCameraCfg.User, hikBC.BallCameraCfg.Password, hikBC.BallCameraCfg.Type)
-    hikBC.mux.Unlock()
-    return hikBC.State
+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
+	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))
-    })
+	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)
-    })
+	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)
-    })
+	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)
-    })
+	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,
-    )
+	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
+	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) 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
+	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
-        }
-    }
+	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
+		}
+	}
 }

HikBallCamera_test.go

@@ -0,0 +1,24 @@
+package HikNetSDK
+
+import "testing"
+
+func TestHIKBallCamera_Login(t *testing.T) {
+	Init()
+	if DvrInit() != 0 {
+		t.Error("Dvr init failed")
+	}
+	Camera := NewHIKBallCamera(BallCamera{
+		Type:     "BuKongQiu",
+		Name:     "布控球",
+		Ip:       "192.168.211.44",
+		Port:     "8000",
+		User:     "admin",
+		Password: "okwy1234",
+		Channel:  1,
+	})
+	State, ErrorCode, ErrorInfo := Camera.Login()
+	if !State {
+		t.Error(ErrorCode, ErrorInfo)
+		return
+	}
+}

Hikvision.go

@@ -10,10 +10,11 @@ import (
 var libc uintptr
 
 var (
-	DvrInit func() bool
+	DvrInit func() int
 
 	newHIKBallCamera func() unsafe.Pointer
-	initBallCamera   func(core unsafe.Pointer, ip string, port string, username string, password string, BallMachineType string) bool
+	initBallCamera   func(core unsafe.Pointer, ip string, port string, username string, password string, BallMachineType string, ErrorCode unsafe.Pointer, ErrorInfo *byte) bool
+	ballCameraLogout func(core unsafe.Pointer, ErrorCode unsafe.Pointer, ErrorInfo *byte) bool
 	ptzTo            func(core unsafe.Pointer, Action int, P float32, T float32, Z float32) bool
 	ptzGet           func(unsafe.Pointer, unsafe.Pointer, unsafe.Pointer, unsafe.Pointer) bool
 	stopBus          func(unsafe.Pointer, int) bool