HikNetSDKPkg/BallCamera.go

package HikSDK

import (
	"errors"
	"fmt"
	"sync"
)

const (
	Base      = 0
	BuKongQiu = 1
)

type PTZEnumObj struct {
	PTZ_LEFT       int
	PTZ_RIGHT      int
	PTZ_UP         int
	PTZ_DOWN       int
	PTZ_UP_LEFT    int
	PTZ_UP_RIGHT   int
	PTZ_DOWN_LEFT  int
	PTZ_DOWN_RIGHT int
	PTZ_ZOOM_IN    int
	PTZ_ZOOM_OUT   int
	PTZ_Focus_Far  int
	PTZ_Focus_Near int
}

func (receiver *PTZEnumObj) toHikPTZEnum(v int) int {
	switch v {
	case PTZEnum.PTZ_LEFT:
		return HikPTZEnum.PAN_LEFT
	case PTZEnum.PTZ_RIGHT:
		return HikPTZEnum.PAN_RIGHT
	case PTZEnum.PTZ_UP:
		return HikPTZEnum.TILT_UP
	case PTZEnum.PTZ_DOWN:
		return HikPTZEnum.TILT_DOWN
	case PTZEnum.PTZ_ZOOM_IN:
		return HikPTZEnum.ZOOM_IN
	case PTZEnum.PTZ_ZOOM_OUT:
		return HikPTZEnum.ZOOM_OUT
	case PTZEnum.PTZ_Focus_Far:
		return HikPTZEnum.FOCUS_FAR
	case PTZEnum.PTZ_Focus_Near:
		return HikPTZEnum.FOCUS_NEAR
	case PTZEnum.PTZ_UP_LEFT:
		return HikPTZEnum.UP_LEFT
	case PTZEnum.PTZ_UP_RIGHT:
		return HikPTZEnum.UP_RIGHT
	case PTZEnum.PTZ_DOWN_LEFT:
		return HikPTZEnum.DOWN_LEFT
	case PTZEnum.PTZ_DOWN_RIGHT:
		return HikPTZEnum.DOWN_RIGHT

	default:
		return -1
	}
}

var PTZEnum = PTZEnumObj{
	PTZ_LEFT:       1,
	PTZ_RIGHT:      2,
	PTZ_UP:         3,
	PTZ_DOWN:       4,
	PTZ_UP_LEFT:    5,
	PTZ_UP_RIGHT:   6,
	PTZ_DOWN_LEFT:  7,
	PTZ_DOWN_RIGHT: 8,
	PTZ_ZOOM_IN:    9,
	PTZ_ZOOM_OUT:   10,
	PTZ_Focus_Far:  11,
	PTZ_Focus_Near: 12,
}

var HikPTZEnum = struct {
	LIGHT_PWRON         int //接通灯光电源
	WIPER_PWRON         int //接通雨刷开关
	FAN_PWRON           int //接通风扇开关
	HEATER_PWRON        int //接通加热器开关
	AUX_PWRON1          int //接通辅助设备开关
	AUX_PWRON2          int //接通辅助设备开关
	ZOOM_IN             int //焦距变大(倍率变大)
	ZOOM_OUT            int //焦距变小(倍率变小)
	FOCUS_NEAR          int //焦点前调
	FOCUS_FAR           int //焦点后调
	IRIS_OPEN           int //光圈扩大
	IRIS_CLOSE          int //光圈缩小
	TILT_UP             int //云台上仰
	TILT_DOWN           int //云台下俯
	PAN_LEFT            int //云台左转
	PAN_RIGHT           int //云台右转
	UP_LEFT             int //云台上仰和左转
	UP_RIGHT            int //云台上仰和右转
	DOWN_LEFT           int //云台下俯和左转
	DOWN_RIGHT          int //云台下俯和右转
	PAN_AUTO            int //云台左右自动扫描
	TILT_DOWN_ZOOM_IN   int //云台下俯和焦距变大(倍率变大)
	TILT_DOWN_ZOOM_OUT  int //云台下俯和焦距变小(倍率变小)
	PAN_LEFT_ZOOM_IN    int //云台左转和焦距变大(倍率变大)
	PAN_LEFT_ZOOM_OUT   int //云台左转和焦距变小(倍率变小)
	PAN_RIGHT_ZOOM_IN   int //云台右转和焦距变大(倍率变大)
	PAN_RIGHT_ZOOM_OUT  int //云台右转和焦距变小(倍率变小)
	UP_LEFT_ZOOM_IN     int //云台上仰和左转和焦距变大(倍率变大)
	UP_LEFT_ZOOM_OUT    int //云台上仰和左转和焦距变小(倍率变小)
	UP_RIGHT_ZOOM_IN    int //云台上仰和右转和焦距变大(倍率变大)
	UP_RIGHT_ZOOM_OUT   int //云台上仰和右转和焦距变小(倍率变小)
	DOWN_LEFT_ZOOM_IN   int //云台下俯和左转和焦距变大(倍率变大)
	DOWN_LEFT_ZOOM_OUT  int //云台下俯和左转和焦距变小(倍率变小)
	DOWN_RIGHT_ZOOM_IN  int //云台下俯和右转和焦距变大(倍率变大)
	DOWN_RIGHT_ZOOM_OUT int //云台下俯和右转和焦距变小(倍率变小)
	TILT_UP_ZOOM_IN     int //云台上仰和焦距变大(倍率变大)
	TILT_UP_ZOOM_OUT    int //云台上仰和焦距变小(倍率变小)
}{LIGHT_PWRON: 2,
	WIPER_PWRON:         3,
	FAN_PWRON:           4,
	HEATER_PWRON:        5,
	AUX_PWRON1:          6,
	AUX_PWRON2:          7,
	ZOOM_IN:             11,
	ZOOM_OUT:            12,
	FOCUS_NEAR:          13,
	FOCUS_FAR:           14,
	IRIS_OPEN:           15,
	IRIS_CLOSE:          16,
	TILT_UP:             21,
	TILT_DOWN:           22,
	PAN_LEFT:            23,
	PAN_RIGHT:           24,
	UP_LEFT:             25,
	UP_RIGHT:            26,
	DOWN_LEFT:           27,
	DOWN_RIGHT:          28,
	PAN_AUTO:            29,
	TILT_DOWN_ZOOM_IN:   58,
	TILT_DOWN_ZOOM_OUT:  59,
	PAN_LEFT_ZOOM_IN:    60,
	PAN_LEFT_ZOOM_OUT:   61,
	PAN_RIGHT_ZOOM_IN:   62,
	PAN_RIGHT_ZOOM_OUT:  63,
	UP_LEFT_ZOOM_IN:     64,
	UP_LEFT_ZOOM_OUT:    65,
	UP_RIGHT_ZOOM_IN:    66,
	UP_RIGHT_ZOOM_OUT:   67,
	DOWN_LEFT_ZOOM_IN:   68,
	DOWN_LEFT_ZOOM_OUT:  69,
	DOWN_RIGHT_ZOOM_IN:  70,
	DOWN_RIGHT_ZOOM_OUT: 71,
	TILT_UP_ZOOM_IN:     72,
	TILT_UP_ZOOM_OUT:    73,
}

type BallCamera struct {
	userId       LONG
	_type        uint8
	deviceInfo   NET_DVR_DEVICEINFO
	mu           sync.Mutex
	expectedType byte
}

func NewBallCamera(Ip string, Port int, Username, Password string, Type uint8) (*BallCamera, error) {
	UserId, DeviceInfo, err := login(Ip, Port, Username, Password)
	if err != nil {
		return nil, err
	}
	return &BallCamera{
		userId:     UserId,
		_type:      Type,
		deviceInfo: DeviceInfo,
	}, nil
}

type PTZ struct {
	Action int
	P      float64
	T      float64
	Z      float64
}

func (this *BallCamera) GetPTZ() (PTZ, error) {
	if this == nil {
		return PTZ{}, errors.New("BallCamera is nil")
	}
	if this._type == BuKongQiu {
		ptzpos, err := GetPTZPOS(this.userId)
		if err != nil {
			return PTZ{}, err
		}
		return PTZ{
			Action: ptzpos.Action,
			P:      float64(ptzpos.P),
			T:      float64(ptzpos.T),
			Z:      float64(ptzpos.Z),
		}, nil
	}
	ptz, err := getPTZBase(this.userId)
	if err != nil {
		return PTZ{}, err
	}
	return PTZ{
		P: ptz.P,
		T: ptz.T,
		Z: ptz.Z,
	}, nil
}

func padding(n int) ([]byte, error) {
	if n < 0 || n > 65535 {
		return []byte{0x00, 0x00}, errors.New("n must be in the range 0-65535")
	}
	return []byte{byte(n >> 8), byte(n & 0xFF)}, nil
}
func (this *BallCamera) PtzGotoPut(Action int, P, T, Z float64) error {
	if this == nil {
		return errors.New("BallCamera is nil")
	}
	if this._type == BuKongQiu {
		PByte, err := padding(int(P * 100))
		if err != nil {
			return err
		}
		TByte, err := padding(int(T * 100))
		if err != nil {
			return err
		}
		ZByte, err := padding(int(Z * 100))
		if err != nil {
			return err
		}
		pBuf := append([]byte{0xff, 0x01, 0x00, 0x4b}, PByte...)
		tBuf := append([]byte{0xff, 0x01, 0x00, 0x4d}, TByte...)
		zBuf := append([]byte{0xff, 0x01, 0x00, 0x4f}, ZByte...)

		pBufv, err := verify(pBuf)
		if err != nil {
			return err
		}
		tBufv, err := verify(tBuf)
		if err != nil {
			return err
		}
		zBufv, err := verify(zBuf)
		if err != nil {
			return err
		}
		pBuf = append(pBuf, pBufv)
		tBuf = append(tBuf, tBufv)
		zBuf = append(zBuf, zBufv)
		err = SetPTZPos(this.userId, pBuf, tBuf, zBuf)
		if err != nil {
			return err
		}
		return nil
	}

	err := setPTZBase(this.userId, PTZ{Action, P, T, Z})
	if err != nil {
		return err
	}
	return nil
}

func (receiver *BallCamera) StartBus(direction int, speed int) error {
	if receiver == nil {
		return errors.New("BallCamera is nil")
	}
	err := pTZControlWithSpeed_Other(receiver.userId, DWORD(PTZEnum.toHikPTZEnum(direction)), DWORD(0), DWORD(speed))
	if err != nil {
		return err
	}
	return nil
}
func (receiver *BallCamera) StopBus(direction int, speed int) error {
	if receiver == nil {
		return errors.New("BallCamera is nil")
	}
	err := pTZControlWithSpeed_Other(receiver.userId, DWORD(PTZEnum.toHikPTZEnum(direction)), DWORD(1), DWORD(speed))
	if err != nil {
		return err
	}
	return nil
}

func verify(data []byte) (byte, error) {
	if len(data) < 6 {
		return 0, fmt.Errorf("data too short")
	}
	sum := 0
	for i := 1; i < 6; i++ {
		sum += int(data[i])
	}
	// 取模并转换为16进制
	checksum := sum % 0x100
	return byte(checksum), nil
}

func (this *BallCamera) Logout() error {
	if this == nil {
		return errors.New("BallCamera is nil")
	}
	return logout(this.userId)
}

func (this *BallCamera) Status() bool {
	if this == nil {
		return false
	}
	return deviceOnline(this.userId)
}