JiLinCpApp/JiLinApp.Docking/Ptz/DCamera.cs

namespace JiLinApp.Docking.Ptz;

public class DCamera
{
    #region Fields

    #region Data3

    public static double SpeedMin = 1;
    public static double SpeedMax = 60;

    #endregion Data3

    #endregion Fields

    #region BaseMethod

    private static byte[] CommandPara(byte com1, byte com2, int data1, int data2)
    {
        byte[] b = new byte[11];
        b[0] = 0xA1;
        int temp1 = data1;
        int temp2 = data2;
        b[1] = 0x00;
        b[2] = 0x0B;
        b[3] = com1;
        b[4] = com2;
        b[5] = (byte)(data1 >> 8 & 0xFF);
        b[6] = (byte)(temp1 & 0xFF);
        b[7] = (byte)(data2 >> 8 & 0xFF);
        b[8] = (byte)(temp2 & 0xFF);
        b[9] = (byte)(b[0] ^ b[1] ^ b[2] ^ b[3] ^ b[4] ^ b[5] ^ b[6] ^ b[7] ^ b[8]);
        b[10] = 0xAF;
        return b;
    }

    private static byte[] SendJoystick(double headSpeed, double pitchSpeed)
    {
        return CommandPara(0x4D, 0x58, (int)(headSpeed * 100), (int)(pitchSpeed * 100));
    }

    #endregion BaseMethod

    #region PtzMethod

    public static byte[] Left(double headSpeed)
    {
        double absHs = Math.Abs(headSpeed);
        if (absHs < SpeedMin) headSpeed = -SpeedMin;
        if (absHs > SpeedMax) headSpeed = -SpeedMax;
        return SendJoystick(headSpeed, 0);
    }

    public static byte[] Right(double headSpeed)
    {
        double absHs = Math.Abs(headSpeed);
        if (absHs < SpeedMin) headSpeed = SpeedMin;
        if (absHs > SpeedMax) headSpeed = SpeedMax;
        return SendJoystick(headSpeed, 0);
    }

    public static byte[] Up(double pitchSpeed)
    {
        double absPs = Math.Abs(pitchSpeed);
        if (absPs < SpeedMin) pitchSpeed = SpeedMin;
        if (absPs > SpeedMax) pitchSpeed = SpeedMax;
        return SendJoystick(0, pitchSpeed);
    }

    public static byte[] Down(double pitchSpeed)
    {
        double absPs = Math.Abs(pitchSpeed);
        if (absPs < SpeedMin) pitchSpeed = -SpeedMin;
        if (absPs > SpeedMax) pitchSpeed = -SpeedMax;
        return SendJoystick(0, pitchSpeed);
    }

    public static byte[] LeftUp(double headSpeed, double pitchSpeed)
    {
        double absHs = Math.Abs(headSpeed);
        if (absHs < SpeedMin) headSpeed = -SpeedMin;
        if (absHs > SpeedMax) headSpeed = -SpeedMax;
        double absPs = Math.Abs(pitchSpeed);
        if (absPs < SpeedMin) pitchSpeed = SpeedMin;
        if (absPs > SpeedMax) pitchSpeed = SpeedMax;
        return SendJoystick(headSpeed, pitchSpeed);
    }

    public static byte[] LeftDown(double headSpeed, double pitchSpeed)
    {
        double absHs = Math.Abs(headSpeed);
        if (absHs < SpeedMin) headSpeed = -SpeedMin;
        if (absHs > SpeedMax) headSpeed = -SpeedMax;
        double absPs = Math.Abs(pitchSpeed);
        if (absPs < SpeedMin) pitchSpeed = -SpeedMin;
        if (absPs > SpeedMax) pitchSpeed = -SpeedMax;
        return SendJoystick(headSpeed, pitchSpeed);
    }

    public static byte[] RightUp(double headSpeed, double pitchSpeed)
    {
        double absHs = Math.Abs(headSpeed);
        if (absHs < SpeedMin) headSpeed = SpeedMin;
        if (absHs > SpeedMax) headSpeed = SpeedMax;
        double absPs = Math.Abs(pitchSpeed);
        if (absPs < SpeedMin) pitchSpeed = SpeedMin;
        if (absPs > SpeedMax) pitchSpeed = SpeedMax;
        return SendJoystick(headSpeed, pitchSpeed);
    }

    public static byte[] RightDown(double headSpeed, double pitchSpeed)
    {
        double absHs = Math.Abs(headSpeed);
        if (absHs < SpeedMin) headSpeed = SpeedMin;
        if (absHs > SpeedMax) headSpeed = SpeedMax;
        double absPs = Math.Abs(pitchSpeed);
        if (absPs < SpeedMin) pitchSpeed = -SpeedMin;
        if (absPs > SpeedMax) pitchSpeed = -SpeedMax;
        return SendJoystick(headSpeed, pitchSpeed);
    }

    public static byte[] Stop()
    {
        return SendJoystick(0, 0);
    }

    #endregion PtzMethod
}