优化：修改高精度setPtz转动角速度为最大值

liusuyi

2024-08-15 af8474ee7e0f6ad3c6139b72304cdcb286a5c60e

 ard-work/src/main/java/com/ruoyi/utils/sdk/hiksdk/service/impl/HikvisionSDK.java

@@ -9,15 +9,14 @@
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.common.utils.file.FileUtils;
import com.ruoyi.common.utils.file.MimeTypeUtils;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.common.utils.uuid.IdUtils;
import com.ruoyi.device.camera.service.IArdCamerasService;
import com.ruoyi.device.camera.factory.CameraSDK;
import com.ruoyi.device.camera.domain.ArdCameras;
import com.ruoyi.device.camera.domain.CameraCmd;
import com.ruoyi.device.camera.factory.CameraSDK;
import com.ruoyi.device.camera.service.IArdCamerasService;
import com.ruoyi.device.camera.service.ICameraSdkService;
import com.ruoyi.device.channel.domain.ArdChannel;
import com.ruoyi.device.channel.service.IArdChannelService;
import com.ruoyi.media.domain.Vtdu;
import com.ruoyi.media.service.IVtduService;
import com.ruoyi.utils.gis.GisUtil;
import com.ruoyi.utils.minio.MinioUtil;
@@ -33,8 +32,8 @@
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;

import javax.annotation.PostConstruct;
import javax.annotation.Resource;
import javax.servlet.http.HttpServletResponse;
import java.io.*;
import java.math.BigDecimal;
import java.nio.ByteBuffer;
@@ -45,7 +44,6 @@
import java.util.concurrent.PriorityBlockingQueue;

import static com.ruoyi.utils.sdk.hiksdk.lib.HCNetSDK.*;
import static com.ruoyi.utils.sdk.hiksdk.lib.HCNetSDK.NET_DVR_GET_GISINFO;

/**
 * @Description: 海康sdk策略
@@ -64,10 +62,39 @@
    private IVtduService vtduService;
    @Resource
    private QueueHandler queueHandler;
    @Resource
    ICameraSdkService cameraSdkService;

    public Object _lock = new Object();
    public static HCNetSDK hCNetSDK = HCNetSDK.hCNetSDK;
    private static HCNetSDK.FExceptionCallBack fExceptionCallBack;//异常回调

    @PostConstruct
    public void initSdk() {
        log.info("初始化海康sdk");
        // 初始化
        if (!hCNetSDK.NET_DVR_Init()) {
            log.debug("SDK初始化失败");
        }
        //打印海康sdk日志
        if (Platform.isWindows()) {
            String WIN_PATH = System.getProperty("user.dir") + File.separator + "ardLog" + File.separator + "logs" + File.separator;
            hCNetSDK.NET_DVR_SetLogToFile(3, WIN_PATH, true);
        } else {
            hCNetSDK.NET_DVR_SetLogToFile(3, "/home/ardLog/hiklog", true);
        }
        if (fExceptionCallBack == null) {
            fExceptionCallBack = new ExceptionCallBack();//异常回调
            //设置异常回调函数(可在回调函数中获取设备上下线状态等)
            if (!hCNetSDK.NET_DVR_SetExceptionCallBack_V30(0, 0, fExceptionCallBack, null)) {
                log.debug("Set fExceptionCallBack function fail");
            } else {
                log.debug("Set fExceptionCallBack function successfully!");
            }
        }
        //设置连接时间与重连时间
        hCNetSDK.NET_DVR_SetConnectTime(2000, 1);
        hCNetSDK.NET_DVR_SetReconnect(5000, true);
    }

    /**
     * @描述 注册登录 只支持同步登陆，且官方不建议直接在此接口下写耗时操作
@@ -80,24 +107,11 @@
    @Override
    public AjaxResult login(ArdCameras camera) {
        try {
            // 初始化
            if (!hCNetSDK.NET_DVR_Init()) {
                log.debug("SDK初始化失败");
            }
            //打印海康sdk日志
            if (Platform.isWindows()) {
                String WIN_PATH = System.getProperty("user.dir") + File.separator + "ardLog" + File.separator + "logs" + File.separator;
                hCNetSDK.NET_DVR_SetLogToFile(3, WIN_PATH, true);
            } else {
                hCNetSDK.NET_DVR_SetLogToFile(3, "/home/ardLog/hiklog", true);
            }
            String m_sDeviceIP = camera.getIp();
            String m_sUsername = camera.getUsername();
            String m_sPassword = camera.getPassword();
            short m_sPort = camera.getPort().shortValue();
            //设置连接时间与重连时间
            hCNetSDK.NET_DVR_SetConnectTime(2000, 1);
            hCNetSDK.NET_DVR_SetReconnect(5000, true);

            //设备信息, 输出参数
            HCNetSDK.NET_DVR_DEVICEINFO_V40 m_strDeviceInfo = new HCNetSDK.NET_DVR_DEVICEINFO_V40();
            HCNetSDK.NET_DVR_USER_LOGIN_INFO m_strLoginInfo = new HCNetSDK.NET_DVR_USER_LOGIN_INFO();
@@ -115,37 +129,26 @@
            //是否异步登录：0- 否，1- 是  windowsSDK里是true和false
            m_strLoginInfo.bUseAsynLogin = false;
            m_strLoginInfo.write();

            //同步登录
            int lUserID = hCNetSDK.NET_DVR_Login_V40(m_strLoginInfo, m_strDeviceInfo);
            if (lUserID < 0) {
                int errorCode = hCNetSDK.NET_DVR_GetLastError();
                camera.setChanNum(0);
                camera.setLoginId(-1);
                camera.setLoginId(-1l);
                camera.setState("0");
                //删除管理通道
                ardChannelService.deleteArdChannelByDeviceId(camera.getId());
                ardCamerasService.updateArdCameras(camera);
                log.debug("设备[" + camera.getIp() + ":" + camera.getPort() + "]登录失败: " + SdkErrorCodeEnum.getDescByCode(errorCode) + "(" + errorCode + ")");
                log.warn("设备[" + camera.getIp() + ":" + camera.getPort() + "]登录失败: " + SdkErrorCodeEnum.getDescByCode(errorCode) + "(" + errorCode + ")");
                return AjaxResult.warn("设备[" + camera.getIp() + ":" + camera.getPort() + "]登录失败: " + SdkErrorCodeEnum.getDescByCode(errorCode) + "(" + errorCode + ")");
            }

            log.debug("Login Success [ " + camera.getIp() + ":" + camera.getPort() + " ]");
            if (fExceptionCallBack == null) {
                fExceptionCallBack = new ExceptionCallBack();//异常回调
                //设置异常回调函数(可在回调函数中获取设备上下线状态等)
                if (!hCNetSDK.NET_DVR_SetExceptionCallBack_V30(0, 0, fExceptionCallBack, null)) {
                    log.debug("Set fExceptionCallBack function fail");
                } else {
                    log.debug("Set fExceptionCallBack function successfully!");
                }
            }

//            if (GlobalVariable.loginMap.containsKey(camera.getId())) {
//                GlobalVariable.loginMap.remove(camera.getId());
//            }
            GlobalVariable.loginMap.put(camera.getId(), lUserID);
            GlobalVariable.loginCameraMap.put(lUserID, camera);
            camera.setLoginId(lUserID);
            camera.setLoginId((long) lUserID);
            camera.setState("1");
            int chanNum = m_strDeviceInfo.struDeviceV30.byChanNum;
            int startDchan = m_strDeviceInfo.struDeviceV30.byStartDChan + 1;
@@ -154,18 +157,24 @@
                startDchan = m_strDeviceInfo.struDeviceV30.byStartDChan;
            }
            camera.setChanNum(chanNum);
            camera.setStartDChan(startDchan);
            camera.setStartChan(startDchan);
            //获取最新通道
            List<ArdChannel> cameraChannelList = getChannels(camera);
            if (cameraChannelList.size() > 0) {
                ardChannelService.deleteArdChannelByDeviceId(camera.getId());
                cameraChannelList.stream().forEach(channel -> {
                    ardChannelService.insertArdChannel(channel);
                });
                camera.setChannelList(cameraChannelList);
                camera.setChanNum(cameraChannelList.size());
                ardCamerasService.updateArdCameras(camera);
                //添加到流媒体
                addVtdu(camera);
                //camera.setChanNum(cameraChannelList.size());
                //通道批量添加到流媒体
                batchAddVtdu(camera);
            }
            ardCamerasService.updateArdCameras(camera);
            //创建引导队列
            createGuideQueue(camera);
            //加入已登录设备集合
            GlobalVariable.loginedSet.add(camera);
            return AjaxResult.success("设备登录成功");
        } catch (Exception ex) {
            log.error("设备登录异常", ex);
@@ -182,32 +191,16 @@
     * @修改人和其它信息
     */
    @Override
    @Async("loginExecutor")
    @Async("globalExecutor")
    public AjaxResult asyncLogin(ArdCameras camera) {
        try {
            // 初始化
            if (!hCNetSDK.NET_DVR_Init()) {
                log.error("SDK初始化失败");
                return AjaxResult.warn("SDK初始化失败");
            }
            //打印海康sdk日志
            if (Platform.isWindows()) {
                String WIN_PATH = System.getProperty("user.dir") + File.separator + "ardLog" + File.separator + "logs" + File.separator;
                hCNetSDK.NET_DVR_SetLogToFile(3, WIN_PATH, true);
            } else {
                hCNetSDK.NET_DVR_SetLogToFile(3, "/home/ardLog/hiklog", true);
            }
            String m_sDeviceIP = camera.getIp();
            String m_sUsername = camera.getUsername();
            String m_sPassword = camera.getPassword();
            short m_sPort = camera.getPort().shortValue();
            //设置连接时间与重连时间
            hCNetSDK.NET_DVR_SetConnectTime(2000, 1);
            hCNetSDK.NET_DVR_SetReconnect(5000, true);
            //设备信息, 输出参数
            HCNetSDK.NET_DVR_DEVICEINFO_V40 m_strDeviceInfo = new HCNetSDK.NET_DVR_DEVICEINFO_V40();
            HCNetSDK.NET_DVR_USER_LOGIN_INFO m_strLoginInfo = new HCNetSDK.NET_DVR_USER_LOGIN_INFO();

            // 注册设备-登录参数，包括设备地址、登录用户、密码等
            m_strLoginInfo.sDeviceAddress = new byte[HCNetSDK.NET_DVR_DEV_ADDRESS_MAX_LEN];
            System.arraycopy(m_sDeviceIP.getBytes(), 0, m_strLoginInfo.sDeviceAddress, 0, m_sDeviceIP.length());
@@ -226,32 +219,19 @@
            if (lUserID < 0) {
                int errorCode = hCNetSDK.NET_DVR_GetLastError();
                camera.setChanNum(0);
                camera.setLoginId(-1);
                camera.setLoginId(-1l);
                camera.setState("0");
                //删除管理通道
                ardChannelService.deleteArdChannelByDeviceId(camera.getId());
                ardCamerasService.updateArdCameras(camera);
                log.error("设备[" + camera.getIp() + ":" + camera.getPort() + "]登录失败: " + SdkErrorCodeEnum.getDescByCode(errorCode) + "(" + errorCode + ")");
                log.warn("设备[" + camera.getIp() + ":" + camera.getPort() + "]登录失败: " + SdkErrorCodeEnum.getDescByCode(errorCode) + "(" + errorCode + ")");
                return AjaxResult.warn("设备[" + camera.getIp() + ":" + camera.getPort() + "]登录失败: " + SdkErrorCodeEnum.getDescByCode(errorCode) + "(" + errorCode + ")");
            }
            log.debug("Login Success 【 " + camera.getIp() + ":" + camera.getPort() + " 】");
            synchronized (_lock) {
                if (fExceptionCallBack == null) {
                    fExceptionCallBack = new ExceptionCallBack();//异常回调
                    //设置异常回调函数(可在回调函数中获取设备上下线状态等)
                    if (!hCNetSDK.NET_DVR_SetExceptionCallBack_V30(0, 0, fExceptionCallBack, null)) {
                        log.debug("Set fExceptionCallBack function fail");
                    } else {
                        log.debug("Set fExceptionCallBack function successfully!");
                    }
                }
            }
//            if (GlobalVariable.loginMap.containsKey(camera.getId())) {
//                GlobalVariable.loginMap.remove(camera.getId());
//            }

            GlobalVariable.loginMap.put(camera.getId(), lUserID);
            GlobalVariable.loginCameraMap.put(lUserID, camera);
            camera.setLoginId(lUserID);
            camera.setLoginId((long) lUserID);
            camera.setState("1");
            int chanNum = m_strDeviceInfo.struDeviceV30.byChanNum;
            int startDchan = m_strDeviceInfo.struDeviceV30.byStartDChan + 1;
@@ -260,18 +240,24 @@
                startDchan = m_strDeviceInfo.struDeviceV30.byStartDChan;
            }
            camera.setChanNum(chanNum);
            camera.setStartDChan(startDchan);
            camera.setStartChan(startDchan);
            //获取最新通道
            List<ArdChannel> cameraChannelList = getChannels(camera);
            if (cameraChannelList.size() > 0) {
                ardChannelService.deleteArdChannelByDeviceId(camera.getId());
                cameraChannelList.stream().forEach(channel -> {
                    ardChannelService.insertArdChannel(channel);
                });
                camera.setChannelList(cameraChannelList);
                camera.setChanNum(cameraChannelList.size());
                ardCamerasService.updateArdCameras(camera);
                //添加到流媒体
                addVtdu(camera);
                //camera.setChanNum(cameraChannelList.size());
                //通道批量添加到流媒体
                batchAddVtdu(camera);
            }
            ardCamerasService.updateArdCameras(camera);
            //创建引导队列
            createGuideQueue(camera);
            //加入已登录设备集合
            GlobalVariable.loginedSet.add(camera);
            return AjaxResult.success("设备登录成功");
        } catch (Exception ex) {
            log.error("注册设备异常", ex);
@@ -292,36 +278,18 @@
        }
    }

    //添加到流媒体
    private void addVtdu(ArdCameras camera) {
    //通道批量添加到流媒体
    public void batchAddVtdu(ArdCameras camera) {
        try {
            for (ArdChannel channel : camera.getChannelList()) {
                String name = camera.getId() + "_" + channel.getChanNo();
                String rtspSource = "rtsp://" + camera.getUsername() + ":" + camera.getPassword() + "@" + camera.getIp() + ":" + camera.getRtspPort() + "/h264/ch" + channel.getChanNo() + "/main/av_stream";
                Vtdu vtdu = vtduService.selectVtduByName(name);
                if (vtdu != null) {
                    vtduService.deleteVtduByName(name);
                }
                //添加到流媒体
                vtdu = new Vtdu();
                vtdu.setRtspSource(rtspSource);
                vtdu.setName(camera.getId() + "_" + channel.getChanNo());
                CameraCmd cmd = new CameraCmd(camera.getId(), channel.getChanNo());
                Map<String, Object> videoCompressionCfg = getVideoCompressionCfg(cmd);
                if (videoCompressionCfg.get("videoEncType").equals("标准h264")) {
                    vtdu.setIsCode("0");//默认不转码
                } else {
                    vtdu.setIsCode("1");//默认转码
                }
                vtdu.setMode("1");//默认CPU软解码
                vtdu.setCameraId(camera.getId());
                vtduService.insertVtdu(vtdu);
            }
            camera.getChannelList().stream().forEach(channel -> {
                vtduService.addChanToVtdu(camera, channel);
            });
        } catch (Exception ex) {
            log.error("通道添加到流媒体异常：" + ex.getMessage());
        }

    }


    /**
     * @描述 注销登录
@@ -1064,8 +1032,8 @@
            lpPTZAbsoluteEX_cfgInfo.struPTZCtrl.fZoom = new Double(ptz.get("z")).floatValue();
            lpPTZAbsoluteEX_cfgInfo.struPTZCtrl.dwFocus = 399;
            lpPTZAbsoluteEX_cfgInfo.dwFocalLen = 1250;
            lpPTZAbsoluteEX_cfgInfo.fHorizontalSpeed = (float) 10;
            lpPTZAbsoluteEX_cfgInfo.fVerticalSpeed = (float) 10;
            lpPTZAbsoluteEX_cfgInfo.fHorizontalSpeed = (float) 1000;
            lpPTZAbsoluteEX_cfgInfo.fVerticalSpeed = (float) 1000;
            lpPTZAbsoluteEX_cfgInfo.byZoomType = 0;
            lpPTZAbsoluteEX_cfgInfo.write();
            lpConfigParam6697.lpInBuffer = lpPTZAbsoluteEX_cfgInfo.getPointer();
@@ -1102,7 +1070,10 @@
            double[] targetPositions = cmd.getTargetPosition();
            double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPositon, targetPositions, 20, 150);
            String p = String.valueOf((int) (cameraPTZ[0] * 10));
            String t = String.valueOf((int) (cameraPTZ[1] * 10));
            //修正俯仰
            double correctPitch = cameraSdkService.correctPitch(cmd);
            double newt = cameraPTZ[1] + correctPitch;
            String t = String.valueOf((int) (newt * 10));
            String z = String.valueOf((int) (cameraPTZ[2] * 10));
            m_ptzPosCurrent.wPanPos = (short) (Integer.parseInt(p, 16));
            m_ptzPosCurrent.wTiltPos = (short) (Integer.parseInt(t, 16));
@@ -1115,7 +1086,7 @@
                log.error("设置ptz失败,请稍后重试" + code);
                return AjaxResult.warn("设置ptz失败:" + SdkErrorCodeEnum.getDescByCode(code) + "(" + code + ")");
            }
            return AjaxResult.success("引导坐标成功");
            return AjaxResult.success("引导坐标成功", correctPitch);
        } catch (Exception ex) {
            log.error("引导坐标异常:" + ex.getMessage());
            return AjaxResult.error("引导坐标异常:" + ex.getMessage());
@@ -1841,27 +1812,24 @@
        //获取通道
        List<ArdChannel> channelList = new ArrayList<>();
        try {
            //删除管理通道
            ardChannelService.deleteArdChannelByDeviceId(camera.getId());
            IntByReference ibrBytesReturned = new IntByReference(0);//获取IP接入配置参数
            HCNetSDK.NET_DVR_IPPARACFG_V40 m_strIpparaCfg = new HCNetSDK.NET_DVR_IPPARACFG_V40();
            m_strIpparaCfg.write();
            //lpIpParaConfig 接收数据的缓冲指针
            Pointer lpIpParaConfig = m_strIpparaCfg.getPointer();
            boolean bRet = hCNetSDK.NET_DVR_GetDVRConfig(camera.getLoginId(), HCNetSDK.NET_DVR_GET_IPPARACFG_V40, 0, lpIpParaConfig, m_strIpparaCfg.size(), ibrBytesReturned);
            boolean bRet = hCNetSDK.NET_DVR_GetDVRConfig(camera.getLoginId().intValue(), HCNetSDK.NET_DVR_GET_IPPARACFG_V40, 0, lpIpParaConfig, m_strIpparaCfg.size(), ibrBytesReturned);
            m_strIpparaCfg.read();
            //log.debug("起始数字通道号：" + m_strIpparaCfg.dwStartDChan);//m_strIpparaCfg.dwDChanNum
            for (int iChannum = 0; iChannum < camera.getChanNum(); iChannum++) {
                ArdChannel channel = new ArdChannel();
                int chanNo = iChannum + camera.getStartDChan();
                int chanNo = iChannum + camera.getStartChan();
                HCNetSDK.NET_DVR_PICCFG_V40 strPicCfg = new HCNetSDK.NET_DVR_PICCFG_V40();
                strPicCfg.dwSize = strPicCfg.size();
                strPicCfg.write();
                Pointer pStrPicCfg = strPicCfg.getPointer();
                NativeLong lChannel = new NativeLong(chanNo);
                IntByReference pInt = new IntByReference(0);
                boolean b_GetPicCfg = hCNetSDK.NET_DVR_GetDVRConfig(camera.getLoginId(), HCNetSDK.NET_DVR_GET_PICCFG_V40, lChannel.intValue(),
                        pStrPicCfg, strPicCfg.size(), pInt);
                boolean b_GetPicCfg = hCNetSDK.NET_DVR_GetDVRConfig(camera.getLoginId().intValue(), HCNetSDK.NET_DVR_GET_PICCFG_V40, lChannel.intValue(), pStrPicCfg, strPicCfg.size(), pInt);
                if (!b_GetPicCfg) {
                    // log.error("获取图像参数失败，错误码：" + hCNetSDK.NET_DVR_GetLastError());
                }
@@ -1884,7 +1852,6 @@
                    }
                    channelList.add(channel);
                }
                ardChannelService.insertArdChannel(channel);
            }
        } catch (Exception ex) {
            log.error("获取IP通道异常:" + ex.getMessage());
@@ -1939,11 +1906,12 @@
    @Override
    public AjaxResult localRecordStart(CameraCmd cmd) {
        try {
            String operator = cmd.getOperator();
            String cameraId = cmd.getCameraId();
            Integer channelNum = cmd.getChanNo();
            // 本地临时录像地址
            String tempPath = ARDConfig.getProfile() + Constants.LOCAL_RECORD_TEMP_PREFIX;
            String path = FileUtils.createFile(tempPath + "/" + cameraId + ".mp4");
            String path = FileUtils.createFile(tempPath + "/" + operator + "/" + cameraId + ".mp4");
            if (!GlobalVariable.loginMap.containsKey(cameraId)) {
                return AjaxResult.warn("设备未登录");
            }
@@ -2000,6 +1968,7 @@
    @Override
    public AjaxResult localRecordStop(CameraCmd cmd) {
        try {
            String operator = cmd.getOperator();
            String cameraId = cmd.getCameraId();
            Integer channelNum = cmd.getChanNo();
            Integer lRealHandle = cmd.getRecordId().intValue();
@@ -2034,7 +2003,7 @@
            log.debug("本地录像停止");
            // 本地临时录像地址
            String tempPath = ARDConfig.getProfile() + Constants.LOCAL_RECORD_TEMP_PREFIX;
            String recordPath = FileUtils.createFile(tempPath + "/" + cameraId + ".mp4");
            String recordPath = FileUtils.createFile(tempPath + "/" + operator + "/" + cameraId + ".mp4");
            byte[] recordBytes = Files.readAllBytes(Paths.get(recordPath));
            return AjaxResult.success(recordBytes);
        } catch (Exception ex) {