JiLinApp/JiLinApp.Docking/Ptz/PtzCmd.cs

using EC.Util.CameraSDK;

namespace JiLinApp.Docking.Ptz;

public class PtzCmd
{
    public static PtzControlType GetControlType(string ctrlType)
    {
        return ctrlType switch
        {
            "PelcoD" => PtzControlType.PelcoD,
            "PelcoP" => PtzControlType.PelcoP,
            "DCamera" => PtzControlType.DCamera,
            "CameraSdk" => PtzControlType.CameraSdk,
            _ => PtzControlType.None
        };
    }

    public static PtzCmdType GetCmdType(string cmdStr)
    {
        return cmdStr switch
        {
            "Left" => PtzCmdType.Left,
            "Right" => PtzCmdType.Right,
            "Top" => PtzCmdType.Top,
            "Down" => PtzCmdType.Down,
            "LeftTop" => PtzCmdType.LeftTop,
            "LeftDown" => PtzCmdType.LeftDown,
            "RightTop" => PtzCmdType.RightTop,
            "RightDown" => PtzCmdType.RightDown,
            "Stop" => PtzCmdType.Stop,
            "AutoMove" => PtzCmdType.AutoMove,
            "ZoomIn" => PtzCmdType.ZoomIn,
            "ZoomOut" => PtzCmdType.ZoomOut,
            "FocusNear" => PtzCmdType.FocusNear,
            "FocusFar" => PtzCmdType.FocusFar,
            "IrisOpen" => PtzCmdType.IrisOpen,
            "IrisClose" => PtzCmdType.IrisClose,
            "PresetSet" => PtzCmdType.PresetSet,
            "PresetClear" => PtzCmdType.PresetClear,
            "PresetGoto" => PtzCmdType.PresetGoto,
            _ => PtzCmdType.None
        };
    }
}

public class PtzComCmd
{
    /// <summary>
    /// GetPelcoDCmd
    /// GetPelcoPCmd
    /// DCamearCmd
    /// </summary>
    /// <param name="ctrlType"></param>
    /// <param name="cmdType"></param>
    /// <param name="args"></param>
    /// <returns></returns>
    public static byte[] GetCmd(PtzControlType ctrlType, PtzCmdType cmdType, object[] args = null)
    {
        byte[] cmd = ctrlType switch
        {
            PtzControlType.PelcoD => GetPelcoDCmd(cmdType, args),
            PtzControlType.PelcoP => GetPelcoPCmd(cmdType, args),
            PtzControlType.DCamera => GetDCameraCmd(cmdType, args),
            _ => Array.Empty<byte>(),
        };
        return cmd;
    }

    public static byte[] GetPelcoDCmd(PtzCmdType cmdType, object[] args)
    {
        uint addr = (byte)args[0];
        uint panSpeed = 0x2f;
        uint tiltSpeed = (uint)(PelcoD.TiltSpeedMax + PelcoD.TiltSpeedMin) / 2;
        byte[] cmd = cmdType switch
        {
            PtzCmdType.Left => PelcoD.CameraPan(addr, PelcoD.Pan.Left, panSpeed),
            PtzCmdType.Right => PelcoD.CameraPan(addr, PelcoD.Pan.Right, panSpeed),
            PtzCmdType.Top => PelcoD.CameraTilt(addr, PelcoD.Tilt.Up, tiltSpeed),
            PtzCmdType.Down => PelcoD.CameraTilt(addr, PelcoD.Tilt.Down, tiltSpeed),
            PtzCmdType.LeftTop => PelcoD.CameraPan(addr, PelcoD.Pan.LeftUp, panSpeed),
            PtzCmdType.LeftDown => PelcoD.CameraPan(addr, PelcoD.Pan.LeftDown, panSpeed),
            PtzCmdType.RightTop => PelcoD.CameraPan(addr, PelcoD.Pan.RightUp, panSpeed),
            PtzCmdType.RightDown => PelcoD.CameraPan(addr, PelcoD.Pan.RightDown, panSpeed),
            PtzCmdType.Stop => PelcoD.CameraStop(addr),
            PtzCmdType.AutoMove => PelcoD.CameraScan(addr, PelcoD.Scan.Auto),
            //PtzCmdType.AutoStop => PelcoD.CameraScan(addr, PelcoD.Scan.Manual),
            PtzCmdType.PresetGoto => PelcoD.Preset(addr, PelcoD.PresetAction.Goto, (byte)args[1]),
            _ => Array.Empty<byte>(),
        };
        return cmd;
    }

    public static byte[] GetPelcoPCmd(PtzCmdType cmdType, object[] args)
    {
        uint addr = (byte)args[0];
        uint panSpeed = (uint)(PelcoP.PanSpeedMax + PelcoP.PanSpeedMin) / 2;
        uint tiltSpeed = (uint)(PelcoP.TiltSpeedMax + PelcoP.TiltSpeedMin) / 2;
        byte[] cmd = cmdType switch
        {
            PtzCmdType.Left => PelcoP.CameraPan(addr, PelcoP.Pan.Left, panSpeed),
            PtzCmdType.Right => PelcoP.CameraPan(addr, PelcoP.Pan.Right, panSpeed),
            PtzCmdType.Top => PelcoP.CameraTilt(addr, PelcoP.Tilt.Up, tiltSpeed),
            PtzCmdType.Down => PelcoP.CameraTilt(addr, PelcoP.Tilt.Down, tiltSpeed),
            PtzCmdType.LeftTop => PelcoP.CameraPanTilt(addr, PelcoP.Pan.Left, panSpeed, PelcoP.Tilt.Up, tiltSpeed),
            PtzCmdType.LeftDown => PelcoP.CameraPanTilt(addr, PelcoP.Pan.Left, panSpeed, PelcoP.Tilt.Down, tiltSpeed),
            PtzCmdType.RightTop => PelcoP.CameraPanTilt(addr, PelcoP.Pan.Right, panSpeed, PelcoP.Tilt.Up, tiltSpeed),
            PtzCmdType.RightDown => PelcoP.CameraPanTilt(addr, PelcoP.Pan.Right, panSpeed, PelcoP.Tilt.Down, tiltSpeed),
            PtzCmdType.Stop => PelcoP.CameraStop(addr),
            PtzCmdType.AutoMove => PelcoP.AutoScan(addr, PelcoP.Action.Start),
            //PtzCmdType.AutoStop => PelcoP.AutoScan(addr, PelcoP.Action.Stop),
            PtzCmdType.PresetGoto => PelcoP.Preset(addr, PelcoP.PresetAction.Goto, (byte)args[1]),
            _ => Array.Empty<byte>(),
        };
        return cmd;
    }

    public static byte[] GetDCameraCmd(PtzCmdType cmdType, object[] args)
    {
        double speed = (DCamera.SpeedMax + DCamera.SpeedMin) / 2;
        byte[] cmd = cmdType switch
        {
            PtzCmdType.Left => DCamera.Left(speed),
            PtzCmdType.Right => DCamera.Right(speed),
            PtzCmdType.Top => DCamera.Up(speed),
            PtzCmdType.Down => DCamera.Down(speed),
            PtzCmdType.LeftTop => DCamera.LeftUp(speed, speed),
            PtzCmdType.LeftDown => DCamera.LeftDown(speed, speed),
            PtzCmdType.RightTop => DCamera.RightUp(speed, speed),
            PtzCmdType.RightDown => DCamera.RightDown(speed, speed),
            PtzCmdType.Stop => DCamera.Stop(),
            _ => Array.Empty<byte>(),
        };
        return cmd;
    }
}

public class PtzCameraCmd
{
    public static void PtzMove(ICameraSDK sdk, PtzCmdType cmdType, int[] args)
    {
        if (sdk == null || !sdk.ConnectSuccess() || args == null) return;
        switch (sdk.CameraInfo.Manufactor)
        {
            case CameraManufactor.HiK:
                HikPtzMove(sdk, cmdType, args);
                break;

            case CameraManufactor.DaHua:
                DaHuaPtzMove(sdk, cmdType, args);
                break;

            case CameraManufactor.YuShi:
                YuShiPtzMove(sdk, cmdType, args);
                break;

            default:
                break;
        }
    }

    public static void HikPtzMove(ICameraSDK sdk, PtzCmdType cmdType, int[] args)
    {
        int stop = args[0], presetId = args[0];
        int speed = (HiKOriSDK.PtzSpeedMin + HiKOriSDK.PtzSpeedMax) / 2;
        switch (cmdType)
        {
            case PtzCmdType.Left:
                sdk.PtzMove(HiKOriSDK.PAN_LEFT, stop, speed);
                break;

            case PtzCmdType.Right:
                sdk.PtzMove(HiKOriSDK.PAN_RIGHT, stop, speed);
                break;

            case PtzCmdType.Top:
                sdk.PtzMove(HiKOriSDK.TILT_UP, stop, speed);
                break;

            case PtzCmdType.Down:
                sdk.PtzMove(HiKOriSDK.TILT_DOWN, stop, speed);
                break;

            case PtzCmdType.LeftTop:
                sdk.PtzMove(HiKOriSDK.UP_LEFT, stop, speed);
                break;

            case PtzCmdType.LeftDown:
                sdk.PtzMove(HiKOriSDK.DOWN_LEFT, stop, speed);
                break;

            case PtzCmdType.RightTop:
                sdk.PtzMove(HiKOriSDK.UP_RIGHT, stop, speed);
                break;

            case PtzCmdType.RightDown:
                sdk.PtzMove(HiKOriSDK.DOWN_RIGHT, stop, speed);
                break;

            case PtzCmdType.AutoMove:
                sdk.PtzMove(HiKOriSDK.PAN_AUTO, stop, speed);
                break;

            case PtzCmdType.ZoomIn:
                sdk.PtzMove(HiKOriSDK.ZOOM_IN, stop, speed);
                break;

            case PtzCmdType.ZoomOut:
                sdk.PtzMove(HiKOriSDK.ZOOM_OUT, stop, speed);
                break;

            case PtzCmdType.FocusNear:
                sdk.PtzMove(HiKOriSDK.FOCUS_NEAR, stop, speed);
                break;

            case PtzCmdType.FocusFar:
                sdk.PtzMove(HiKOriSDK.FOCUS_FAR, stop, speed);
                break;

            case PtzCmdType.IrisOpen:
                sdk.PtzMove(HiKOriSDK.IRIS_OPEN, stop, speed);
                break;

            case PtzCmdType.IrisClose:
                sdk.PtzMove(HiKOriSDK.IRIS_CLOSE, stop, speed);
                break;

            case PtzCmdType.PresetGoto:
                sdk.PtzPreset(HiKOriSDK.GOTO_PRESET, presetId);
                break;

            default:
                break;
        }
    }

    private static void DaHuaPtzMove(ICameraSDK sdk, PtzCmdType cmdType, int[] args)
    {
        int stop = args[0], presetId = args[0];
        int speed = (DaHuaOriSDK.PtzSpeedMin + DaHuaOriSDK.PtzSpeedMax) / 2;
        switch (cmdType)
        {
            case PtzCmdType.Left:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.LEFT, stop, speed);
                break;

            case PtzCmdType.Right:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.RIGHT, stop, speed);
                break;

            case PtzCmdType.Top:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.UP, stop, speed);
                break;

            case PtzCmdType.Down:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.DOWN, stop, speed);
                break;

            case PtzCmdType.LeftTop:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.LEFTTOP, stop, speed);
                break;

            case PtzCmdType.LeftDown:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.LEFTDOWN, stop, speed);
                break;

            case PtzCmdType.RightTop:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.RIGHTTOP, stop, speed);
                break;

            case PtzCmdType.RightDown:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.RIGHTDOWN, stop, speed);
                break;

            // case PtzCmdType.AutoMove:
            //     sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.STARTPANCRUISE, stop, speed);
            //     break;

            case PtzCmdType.ZoomIn:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.ZOOM_ADD, stop, speed);
                break;

            case PtzCmdType.ZoomOut:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.ZOOM_DEC, stop, speed);
                break;

            case PtzCmdType.FocusNear:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.FOCUS_ADD, stop, speed);
                break;

            case PtzCmdType.FocusFar:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.FOCUS_DEC, stop, speed);
                break;

            case PtzCmdType.IrisOpen:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.APERTURE_ADD, stop, speed);
                break;

            case PtzCmdType.IrisClose:
                sdk.PtzMove((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.APERTURE_DEC, stop, speed);
                break;

            case PtzCmdType.PresetGoto:
                sdk.PtzPreset((int)DaHuaOriSDK.EM_EXTPTZ_ControlType.GOTOPRESET, presetId);
                break;

            default:
                break;
        }
    }

    public static void YuShiPtzMove(ICameraSDK sdk, PtzCmdType cmdType, int[] args)
    {
        int stop = args[0], presetId = args[0];
        int speed = (YuShiOriSDK.PtzSpeedMax + YuShiOriSDK.PtzSpeedMin) / 2;
        switch (cmdType)
        {
            case PtzCmdType.Left:
                sdk.PtzMove(YuShiOriSDK.PANLEFT, stop, speed);
                break;

            case PtzCmdType.Right:
                sdk.PtzMove(YuShiOriSDK.PANRIGHT, stop, speed);
                break;

            case PtzCmdType.Top:
                sdk.PtzMove(YuShiOriSDK.TILTUP, stop, speed);
                break;

            case PtzCmdType.Down:
                sdk.PtzMove(YuShiOriSDK.TILTDOWN, stop, speed);
                break;

            case PtzCmdType.LeftTop:
                sdk.PtzMove(YuShiOriSDK.LEFTUP, stop, speed);
                break;

            case PtzCmdType.LeftDown:
                sdk.PtzMove(YuShiOriSDK.LEFTDOWN, stop, speed);
                break;

            case PtzCmdType.RightTop:
                sdk.PtzMove(YuShiOriSDK.RIGHTUP, stop, speed);
                break;

            case PtzCmdType.RightDown:
                sdk.PtzMove(YuShiOriSDK.RIGHTDOWN, stop, speed);
                break;

            case PtzCmdType.ZoomIn:
                sdk.PtzMove(YuShiOriSDK.ZOOMTELE, stop, speed);
                break;

            case PtzCmdType.ZoomOut:
                sdk.PtzMove(YuShiOriSDK.ZOOMWIDE, stop, speed);
                break;

            case PtzCmdType.FocusNear:
                sdk.PtzMove(YuShiOriSDK.FOCUSNEAR, stop, speed);
                break;

            case PtzCmdType.FocusFar:
                sdk.PtzMove(YuShiOriSDK.FOCUSFAR, stop, speed);
                break;

            case PtzCmdType.IrisOpen:
                sdk.PtzMove(YuShiOriSDK.IRISOPEN, stop, speed);
                break;

            case PtzCmdType.IrisClose:
                sdk.PtzMove(YuShiOriSDK.IRISCLOSE, stop, speed);
                break;

            case PtzCmdType.PresetGoto:
                sdk.PtzPreset(YuShiOriSDK.PRESET_GOTO, presetId);
                break;

            default:
                break;
        }
    }
}

public enum PtzControlType
{
    PelcoD,
    PelcoP,
    DCamera,
    CameraSdk,
    None,
}

public enum PtzCmdType
{
    Left,
    Right,
    Top,
    Down,
    LeftTop,
    LeftDown,
    RightTop,
    RightDown,
    Stop,
    AutoMove,
    ZoomIn,
    ZoomOut,
    FocusNear,
    FocusFar,
    IrisOpen,
    IrisClose,
    PresetSet,
    PresetClear,
    PresetGoto,
    None
}