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128 lines
3.8 KiB
128 lines
3.8 KiB
namespace JiLinApp.Docking.Ptz;
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public class DCamera
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{
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#region Fields
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#region Data3
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public static double SpeedMin = 1;
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public static double SpeedMax = 60;
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#endregion Data3
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#endregion Fields
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#region BaseMethod
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private static byte[] CommandPara(byte com1, byte com2, int data1, int data2)
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{
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byte[] b = new byte[11];
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b[0] = 0xA1;
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int temp1 = data1;
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int temp2 = data2;
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b[1] = 0x00;
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b[2] = 0x0B;
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b[3] = com1;
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b[4] = com2;
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b[5] = (byte)(data1 >> 8 & 0xFF);
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b[6] = (byte)(temp1 & 0xFF);
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b[7] = (byte)(data2 >> 8 & 0xFF);
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b[8] = (byte)(temp2 & 0xFF);
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b[9] = (byte)(b[0] ^ b[1] ^ b[2] ^ b[3] ^ b[4] ^ b[5] ^ b[6] ^ b[7] ^ b[8]);
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b[10] = 0xAF;
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return b;
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}
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private static byte[] SendJoystick(double headSpeed, double pitchSpeed)
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{
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return CommandPara(0x4D, 0x58, (int)(headSpeed * 100), (int)(pitchSpeed * 100));
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}
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#endregion BaseMethod
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#region PtzMethod
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public static byte[] Left(double headSpeed)
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{
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double absHs = Math.Abs(headSpeed);
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if (absHs < SpeedMin) headSpeed = -SpeedMin;
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if (absHs > SpeedMax) headSpeed = -SpeedMax;
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return SendJoystick(headSpeed, 0);
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}
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public static byte[] Right(double headSpeed)
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{
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double absHs = Math.Abs(headSpeed);
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if (absHs < SpeedMin) headSpeed = SpeedMin;
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if (absHs > SpeedMax) headSpeed = SpeedMax;
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return SendJoystick(headSpeed, 0);
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}
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public static byte[] Up(double pitchSpeed)
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{
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double absPs = Math.Abs(pitchSpeed);
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if (absPs < SpeedMin) pitchSpeed = SpeedMin;
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if (absPs > SpeedMax) pitchSpeed = SpeedMax;
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return SendJoystick(0, pitchSpeed);
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}
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public static byte[] Down(double pitchSpeed)
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{
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double absPs = Math.Abs(pitchSpeed);
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if (absPs < SpeedMin) pitchSpeed = -SpeedMin;
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if (absPs > SpeedMax) pitchSpeed = -SpeedMax;
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return SendJoystick(0, pitchSpeed);
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}
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public static byte[] LeftUp(double headSpeed, double pitchSpeed)
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{
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double absHs = Math.Abs(headSpeed);
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if (absHs < SpeedMin) headSpeed = -SpeedMin;
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if (absHs > SpeedMax) headSpeed = -SpeedMax;
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double absPs = Math.Abs(pitchSpeed);
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if (absPs < SpeedMin) pitchSpeed = SpeedMin;
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if (absPs > SpeedMax) pitchSpeed = SpeedMax;
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return SendJoystick(headSpeed, pitchSpeed);
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}
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public static byte[] LeftDown(double headSpeed, double pitchSpeed)
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{
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double absHs = Math.Abs(headSpeed);
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if (absHs < SpeedMin) headSpeed = -SpeedMin;
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if (absHs > SpeedMax) headSpeed = -SpeedMax;
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double absPs = Math.Abs(pitchSpeed);
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if (absPs < SpeedMin) pitchSpeed = -SpeedMin;
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if (absPs > SpeedMax) pitchSpeed = -SpeedMax;
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return SendJoystick(headSpeed, pitchSpeed);
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}
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public static byte[] RightUp(double headSpeed, double pitchSpeed)
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{
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double absHs = Math.Abs(headSpeed);
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if (absHs < SpeedMin) headSpeed = SpeedMin;
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if (absHs > SpeedMax) headSpeed = SpeedMax;
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double absPs = Math.Abs(pitchSpeed);
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if (absPs < SpeedMin) pitchSpeed = SpeedMin;
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if (absPs > SpeedMax) pitchSpeed = SpeedMax;
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return SendJoystick(headSpeed, pitchSpeed);
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}
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public static byte[] RightDown(double headSpeed, double pitchSpeed)
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{
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double absHs = Math.Abs(headSpeed);
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if (absHs < SpeedMin) headSpeed = SpeedMin;
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if (absHs > SpeedMax) headSpeed = SpeedMax;
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double absPs = Math.Abs(pitchSpeed);
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if (absPs < SpeedMin) pitchSpeed = -SpeedMin;
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if (absPs > SpeedMax) pitchSpeed = -SpeedMax;
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return SendJoystick(headSpeed, pitchSpeed);
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}
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public static byte[] Stop()
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{
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return SendJoystick(0, 0);
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}
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#endregion PtzMethod
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}
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