需求

需要在無人艇上添加海康威視的實時攝像頭。

本地IP192.168.0.100 攝像頭IP 192.168.0.64 用戶名admin 密碼nanfoon51077533 端口8000
海康配置可在文件中更改。
攝像頭添加在BoatStatus頁的右側地圖模塊的右上角。
通過一個按鈕來控制攝像頭的開啓和關閉。
圖像雙擊後彈出獨立窗口。

攝像頭未開啓時的效果圖：

攝像頭開啓後的效果圖：
彈出後的獨立窗口示意圖：

實現

1. 添加按鈕

地圖頁在MissionPlanner項目下面的GCSViews文件夾裏面的FlightData.cs裏面。如下圖：
從toolbox裏面找到Button，拖至地圖位置，並將其text屬性更改。如圖所示：

2. 更改海康威視參數

因爲公司海康威視通用同一個配置參數，先要更改設備參數。進入海康威視的配置軟件：
點擊添加至客戶端後會彈出下面的窗口，輸入原參數，起一個別名，點擊添加。
選中剛纔添加的設備，點擊遠程配置

生效後不要忘記更改本地計算機的IP地址。再次進入遠程配置，更改密碼

順帶把OSD顯示改下：

3. 添加視頻窗口

在toolbox裏面找到pictureBox拖入地圖右上側。並將其visible屬性改爲false，size改爲300,300.

4. 添加視頻代碼

雙擊Camera按鍵進入點擊事件代碼塊。

設備網絡SDK開發包（64bit）【庫文件】裏的HCNetSDK.dll、HCCore.dll、HCNetSDKCom文件夾、PlayCtrl.dll、SuperRender.dll、AudioRender.dll、ssleay32.dll、libeay32.dll等文件均拷貝放置在新建的bin文件夾裏，將bin文件夾放置在Debug目錄下。本例中 C:\Users\lenovo\Documents\Visual Studio 2017\Projects\FlotillaV4\FlotillaV4\bin\Debug

將海康實時預覽示例代碼一\PreviewDemo文件夾裏的CHCNetSDK.cs複製到FlightData.cs相同文件夾下。右擊將其添加如當前project。

雙擊打開，將第三行的namespace更改，如下：

namespace PreviewDemo

改爲

namespace MissionPlanner.GCSViews

更改後導入進去的CHCNetSDK.cs文件可被FlightData.cs識別。
在新增的按鍵點擊事件代碼塊添加以下代碼：

        //HikVision Camera
        private bool m_bInitSDK = false;

        private void ButtonCameraSwitch_Click(object sender, EventArgs e)
        {
            m_bInitSDK = CHCNetSDK.NET_DVR_Init();
            if (m_bInitSDK == false)
            {
                MessageBox.Show("NET_DVR_Init error!");
                return;
            }
            else
            {
                //保存SDK日誌 To save the SDK log
                CHCNetSDK.NET_DVR_SetLogToFile(3, "C:\\SdkLog\\", true);
            }
        }

添加完成後點擊調試，啓動調式運行，程序啓動後點擊按鍵，如無報錯，說明添加進去的模塊運行正常。繼續編寫。
在按鍵單擊函數下方添加海康威視的資源釋放函數，如下所示（添加後會提示重名或者變量未定義的錯誤，根據提示修改下就可以）：

        //HikVision Camera
        private bool m_bInitSDK = false;
        private Int32 m_lRealHandle = -1;
        private Int32 m_lUserID = -1;

        private void ButtonCameraSwitch_Click(object sender, EventArgs e)
        {
            m_bInitSDK = CHCNetSDK.NET_DVR_Init();
            if (m_bInitSDK == false)
            {
                MessageBox.Show("NET_DVR_Init error!");
                return;
            }
            else
            {
                //保存SDK日誌 To save the SDK log
                CHCNetSDK.NET_DVR_SetLogToFile(3, "C:\\SdkLog\\", true);
            }
        }

        /// <summary>
        /// 清理所有正在使用的資源。
        /// </summary>
        protected void HikDispose(bool disposing)
        {
            if (m_lRealHandle >= 0)
            {
                CHCNetSDK.NET_DVR_StopRealPlay(m_lRealHandle);
            }
            if (m_lUserID >= 0)
            {
                CHCNetSDK.NET_DVR_Logout(m_lUserID);
            }
            if (m_bInitSDK == true)
            {
                CHCNetSDK.NET_DVR_Cleanup();
            }
            if (disposing)
            {
                if (components != null)
                {
                    components.Dispose();
                }
            }
            base.Dispose(disposing);
        }

相同的方法添加更改所需代碼，爲了靈活變換顯示區域，對preview代碼塊做了傳遞函數的更改，將picturebox作爲傳遞變量改進去。代碼塊更改完後如下：

        //HikVision Camera
        private bool m_bInitSDK = false;
        private Int32 m_lRealHandle = -1;
        private Int32 m_lUserID = -1;
        private uint iLastErr = 0;
        private string str;
        CHCNetSDK.REALDATACALLBACK RealData = null;

        private void ButtonCameraSwitch_Click(object sender, EventArgs e)
        {
            m_bInitSDK = CHCNetSDK.NET_DVR_Init();
            if (m_bInitSDK == false)
            {
                MessageBox.Show("NET_DVR_Init error!");
                return;
            }
            else
            {
                //保存SDK日誌 To save the SDK log
                CHCNetSDK.NET_DVR_SetLogToFile(3, "C:\\SdkLog\\", true);
            }
            if (m_lUserID < 0)
            {//Open
                HikLogin();
                HikPreview(PictureBoxHikVisionCameraOnMap);
            }
            else
            {//Close
                HikPreview(PictureBoxHikVisionCameraOnMap);
                HikLogin();
            }
        }

        /// <summary>
        /// 清理所有正在使用的資源。
        /// </summary>
        protected void HikDispose(bool disposing)
        {
            if (m_lRealHandle >= 0)
            {
                CHCNetSDK.NET_DVR_StopRealPlay(m_lRealHandle);
            }
            if (m_lUserID >= 0)
            {
                CHCNetSDK.NET_DVR_Logout(m_lUserID);
            }
            if (m_bInitSDK == true)
            {
                CHCNetSDK.NET_DVR_Cleanup();
            }
            if (disposing)
            {
                if (components != null)
                {
                    components.Dispose();
                }
            }
            base.Dispose(disposing);
        }
        /// <summary>
        /// Login
        /// </summary>
        protected void HikLogin()
        {
            if (m_lUserID < 0)
            {
                string DVRIPAddress = ConfigurationManager.AppSettings["HikIP"]; //設備IP地址或者域名
                Int16 DVRPortNumber = Convert.ToInt16(ConfigurationManager.AppSettings["HikPort"]);//設備服務端口號
                string DVRUserName = ConfigurationManager.AppSettings["UserName"];//設備登錄用戶名
                string DVRPassword = ConfigurationManager.AppSettings["PassWord"];//設備登錄密碼

                CHCNetSDK.NET_DVR_DEVICEINFO_V30 DeviceInfo = new CHCNetSDK.NET_DVR_DEVICEINFO_V30();

                //登錄設備 Login the device
                m_lUserID = CHCNetSDK.NET_DVR_Login_V30(DVRIPAddress, DVRPortNumber, DVRUserName, DVRPassword, ref DeviceInfo);
                if (m_lUserID < 0)
                {
                    iLastErr = CHCNetSDK.NET_DVR_GetLastError();
                    str = "NET_DVR_Login_V30 failed, error code= " + iLastErr; //登錄失敗，輸出錯誤號
                    MessageBox.Show(str);
                    return;
                }
                else
                {
                    //登錄成功
//                    MessageBox.Show("Login Success!");
//                    CustomMessageBox.Show("Login Success!");
                    //                   btnLogin.Text = "Logout";
                }

            }
            else
            {
                //註銷登錄 Logout the device
                if (m_lRealHandle >= 0)
                {
                    MessageBox.Show("Please stop live view firstly");
                    return;
                }

                if (!CHCNetSDK.NET_DVR_Logout(m_lUserID))
                {
                    iLastErr = CHCNetSDK.NET_DVR_GetLastError();
                    str = "NET_DVR_Logout failed, error code= " + iLastErr;
                    MessageBox.Show(str);
                    return;
                }
                m_lUserID = -1;
//                btnLogin.Text = "Login";
            }
            return;

        }

        /// <summary>
        /// HikPreview
        /// </summary>
        private void HikPreview( PictureBox pictrueBox )
        {
            if (m_lUserID < 0)
            {
                MessageBox.Show("Please login the device firstly");
                return;
            }

            if (m_lRealHandle < 0)
            {
                CHCNetSDK.NET_DVR_PREVIEWINFO lpPreviewInfo = new CHCNetSDK.NET_DVR_PREVIEWINFO();
                lpPreviewInfo.hPlayWnd = pictrueBox.Handle;//預覽窗口
                lpPreviewInfo.lChannel = 1;//預te覽的設備通道
                lpPreviewInfo.dwStreamType = 0;//碼流類型：0-主碼流，1-子碼流，2-碼流3，3-碼流4，以此類推
                lpPreviewInfo.dwLinkMode = 0;//連接方式：0- TCP方式，1- UDP方式，2- 多播方式，3- RTP方式，4-RTP/RTSP，5-RSTP/HTTP 
                lpPreviewInfo.bBlocked = true; //0- 非阻塞取流，1- 阻塞取流
                lpPreviewInfo.dwDisplayBufNum = 1; //播放庫播放緩衝區最大緩衝幀數
                lpPreviewInfo.byProtoType = 0;
                lpPreviewInfo.byPreviewMode = 0;


                //if (textBoxID.Text != "")
                //{
                //    lpPreviewInfo.lChannel = -1;
                //    byte[] byStreamID = System.Text.Encoding.Default.GetBytes(textBoxID.Text);
                //    lpPreviewInfo.byStreamID = new byte[32];
                //    byStreamID.CopyTo(lpPreviewInfo.byStreamID, 0);
                //}


                if (RealData == null)
                {
                    RealData = new CHCNetSDK.REALDATACALLBACK(HikRealDataCallBack);//預覽實時流回調函數
                }

                IntPtr pUser = new IntPtr();//用戶數據

                //打開預覽 Start live view 
                m_lRealHandle = CHCNetSDK.NET_DVR_RealPlay_V40(m_lUserID, ref lpPreviewInfo, null/*RealData*/, pUser);
                if (m_lRealHandle < 0)
                {
                    iLastErr = CHCNetSDK.NET_DVR_GetLastError();
                    str = "NET_DVR_RealPlay_V40 failed, error code= " + iLastErr; //預覽失敗，輸出錯誤號
                    MessageBox.Show(str);
                    return;
                }
                else
                {
                    //預覽成功
                    ButtonCameraSwitch.Text = "Stop";
                    pictrueBox.Visible = true;
                }
            }
            else
            {
                //停止預覽 Stop live view 
                if (!CHCNetSDK.NET_DVR_StopRealPlay(m_lRealHandle))
                {
                    iLastErr = CHCNetSDK.NET_DVR_GetLastError();
                    str = "NET_DVR_StopRealPlay failed, error code= " + iLastErr;
                    MessageBox.Show(str);
                    return;
                }
                m_lRealHandle = -1;
                ButtonCameraSwitch.Text = "Camera";
                pictrueBox.Visible = false;
            }
            return;
        }
        
        /// <summary>
        /// HikCallBack
        /// </summary>
        public void HikRealDataCallBack(Int32 lRealHandle, UInt32 dwDataType, IntPtr pBuffer, UInt32 dwBufSize, IntPtr pUser)
        {
            if (dwBufSize > 0)
            {
                byte[] sData = new byte[dwBufSize];
                System.Runtime.InteropServices.Marshal.Copy(pBuffer, sData, 0, (Int32)dwBufSize);

                string str = "實時流數據.ps";
                FileStream fs = new FileStream(str, FileMode.Create);
                int iLen = (int)dwBufSize;
                fs.Write(sData, 0, iLen);
                fs.Close();
            }
        }

5. 海康配置改爲可在文件中更改

在FlightData.cs添加 using System.Configuration; 引用。然後在啓動文件夾下找到exe.config後綴的文件，打開，找到<appSettings>字段，如下所示：

  <appSettings>
    <add key="UpdateLocationVersion" value="http://firmware.ardupilot.org/MissionPlanner/upgrade/version.txt" />
    <add key="UpdateLocation" value="http://firmware.ardupilot.org/MissionPlanner/upgrade/" />
    <add key="UpdateLocationMD5" value="http://firmware.ardupilot.org/MissionPlanner/checksums.txt" />
    <add key="UpdateLocationZip" value="http://firmware.ardupilot.org/MissionPlanner/MissionPlanner-latest.zip" />
    <add key="BetaUpdateLocationVersion" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/version.txt?tag=beta" />
    <add key="BetaUpdateLocationMD5" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/checksums.txt?tag=beta" />
    <add key="BetaUpdateLocationZip" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/MissionPlannerBeta.zip?tag=beta" />
    <add key="MasterUpdateLocationMD5" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/checksums.txt?branch=master" />
    <add key="MasterUpdateLocationZip" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/MissionPlannerBeta.zip?branch=master" />
    <add key="ParameterLocations" value="https://raw.githubusercontent.com/ardupilot/ardupilot/ArduCopter-stable/ArduCopter/Parameters.cpp;    https://raw.githubusercontent.com/ardupilot/ardupilot/ArduSub-stable/ArduSub/Parameters.cpp;      https://raw.githubusercontent.com/ardupilot/ardupilot/ArduPlane-stable/ArduPlane/Parameters.cpp;          https://raw.githubusercontent.com/ardupilot/ardupilot/APMrover2-stable/APMrover2/Parameters.cpp;          https://raw.githubusercontent.com/ardupilot/ardupilot/master/AntennaTracker/Parameters.cpp;" />
    <add key="ParameterLocationsBleeding" value="https://raw.githubusercontent.com/ardupilot/ardupilot/master/ArduCopter/Parameters.cpp;     https://raw.githubusercontent.com/ardupilot/ardupilot/master/ArduSub/Parameters.cpp;       https://raw.githubusercontent.com/ardupilot/ardupilot/master/ArduPlane/Parameters.cpp;          https://raw.githubusercontent.com/ardupilot/ardupilot/master/APMrover2/Parameters.cpp;          https://raw.githubusercontent.com/ardupilot/ardupilot/master/AntennaTracker/Parameters.cpp;" />
    <add key="ParameterMetaDataXMLFileName" value="ParameterMetaData.xml" />
    <add key="ParameterMetaDataXMLFileNameBackup" value="ParameterMetaDataBackup.xml" />
    <add key="ClientId" value="zHTnuEq0RAWoLy5thcvTtMdwX7r6et2L3MAhxv8a0" />
    <add key="ClientSecret" value="1ylYlXV4GuWJHIUywFg+XxE6hxsd3P/Dq5+J1PCUGxulC05/GC4Xpg==" />
    <add key="AuthURL" value="https://auth.altitudeangel.com" />
    <add key="APIURL" value="https://api.altitudeangel.com" />
    <add key="ClientSettingsProvider.ServiceUri" value="" />
  </appSettings>

在開始位置添加海康配置字段，如下：

  <appSettings>
    <add key="LocalIP" value="192.168.0.100"/>
    <add key="HikIP" value="192.168.0.64"/>
    <add key="UserName" value="admin"/>
    <add key="PassWord" value="nanfoon51077533"/>
    <add key="HikPort" value="8000"/>
    <add key="UpdateLocationVersion" value="http://firmware.ardupilot.org/MissionPlanner/upgrade/version.txt" />
    <add key="UpdateLocation" value="http://firmware.ardupilot.org/MissionPlanner/upgrade/" />
    <add key="UpdateLocationMD5" value="http://firmware.ardupilot.org/MissionPlanner/checksums.txt" />
    <add key="UpdateLocationZip" value="http://firmware.ardupilot.org/MissionPlanner/MissionPlanner-latest.zip" />
    <add key="BetaUpdateLocationVersion" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/version.txt?tag=beta" />
    <add key="BetaUpdateLocationMD5" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/checksums.txt?tag=beta" />
    <add key="BetaUpdateLocationZip" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/MissionPlannerBeta.zip?tag=beta" />
    <add key="MasterUpdateLocationMD5" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/checksums.txt?branch=master" />
    <add key="MasterUpdateLocationZip" value="https://ci.appveyor.com/api/projects/meee1/missionplanner/artifacts/MissionPlannerBeta.zip?branch=master" />
    <add key="ParameterLocations" value="https://raw.githubusercontent.com/ardupilot/ardupilot/ArduCopter-stable/ArduCopter/Parameters.cpp;    https://raw.githubusercontent.com/ardupilot/ardupilot/ArduSub-stable/ArduSub/Parameters.cpp;      https://raw.githubusercontent.com/ardupilot/ardupilot/ArduPlane-stable/ArduPlane/Parameters.cpp;          https://raw.githubusercontent.com/ardupilot/ardupilot/APMrover2-stable/APMrover2/Parameters.cpp;          https://raw.githubusercontent.com/ardupilot/ardupilot/master/AntennaTracker/Parameters.cpp;" />
    <add key="ParameterLocationsBleeding" value="https://raw.githubusercontent.com/ardupilot/ardupilot/master/ArduCopter/Parameters.cpp;     https://raw.githubusercontent.com/ardupilot/ardupilot/master/ArduSub/Parameters.cpp;       https://raw.githubusercontent.com/ardupilot/ardupilot/master/ArduPlane/Parameters.cpp;          https://raw.githubusercontent.com/ardupilot/ardupilot/master/APMrover2/Parameters.cpp;          https://raw.githubusercontent.com/ardupilot/ardupilot/master/AntennaTracker/Parameters.cpp;" />
    <add key="ParameterMetaDataXMLFileName" value="ParameterMetaData.xml" />
    <add key="ParameterMetaDataXMLFileNameBackup" value="ParameterMetaDataBackup.xml" />
    <add key="ClientId" value="zHTnuEq0RAWoLy5thcvTtMdwX7r6et2L3MAhxv8a0" />
    <add key="ClientSecret" value="1ylYlXV4GuWJHIUywFg+XxE6hxsd3P/Dq5+J1PCUGxulC05/GC4Xpg==" />
    <add key="AuthURL" value="https://auth.altitudeangel.com" />
    <add key="APIURL" value="https://api.altitudeangel.com" />
    <add key="ClientSettingsProvider.ServiceUri" value="" />
  </appSettings>

找到之前添加的HikLogin()，找到如下代碼：

                string DVRIPAddress = "192.168.0.64"; //設備IP地址或者域名
                Int16 DVRPortNumber = 8000;//設備服務端口號
                string DVRUserName = "admin";//設備登錄用戶名
                string DVRPassword = "nanfoon51077533";//設備登錄密碼

更改爲：

                string DVRIPAddress = ConfigurationManager.AppSettings["HikIP"]; //設備IP地址或者域名
                Int16 DVRPortNumber = Int16.Parse( ConfigurationManager.AppSettings["HiPort"]);//設備服務端口號
                string DVRUserName = ConfigurationManager.AppSettings["UserName"];//設備登錄用戶名
                string DVRPassword = ConfigurationManager.AppSettings["PassWord"];//設備登錄密碼

實際運行效果：

6. 雙擊窗體彈出新界面

通過新建窗體來承載彈出的新視頻界面，彈出後陰藏地圖上的相機按鈕來防止用戶干擾，關閉彈出的窗口後返回至地圖頁顯示。
在FlightData.cs文件裏面的海康威視代碼區域增加圖像picturebox的雙擊事件函數：

        private void PictureBoxHikVisionCameraOnMap_DoubleClick(object sender, System.EventArgs e)
        {
            
        }

返回到設計窗體選中海康的picturebox空間，在右下角的屬性中選中事件欄，找到doubleclick項，在下拉菜單裏面選中剛纔寫的事件函數名，鏈接事件。

代碼寫完之後如下：

        /// <summary>
        /// Double click event , to Pop the free moved Hik camera windows.
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void PictureBoxHikVisionCameraOnMap_DoubleClick(object sender, System.EventArgs e)
        {
//            CustomMessageBox.Show("Double click trigered");  // test the trigger event.
            Form PupHikForm = new Form();  //creat the new from.
            PupHikForm.ShowIcon = false;
            PupHikForm.Text = "Flotilla-HikVision";
            PupHikForm.FormClosed += new FormClosedEventHandler(PuphikForm_FormClosed); //the close event.
            PictureBox PupHikFormPictureBox = new PictureBox(); 

            PupHikFormPictureBox.BackColor = Color.DeepPink; // to test the Pic box.
            PupHikFormPictureBox.Size = PupHikForm.Size;
            //to auto size with the Form.
            PupHikFormPictureBox.Anchor = ( AnchorStyles.Top|AnchorStyles.Bottom|AnchorStyles.Left|AnchorStyles.Right);
            PupHikForm.Controls.Add(PupHikFormPictureBox); // Add the pic in form
            ButtonCameraSwitch.PerformClick(); //close the on map picbox by trigger the button event mannuely.

            HikLogin(); // Login again
            HikPreview(PupHikFormPictureBox); //preview
            ButtonCameraSwitch.Visible = false;
            PupHikForm.Show();
        }

        /// <summary>
        /// close event
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void PuphikForm_FormClosed(Object sender, FormClosedEventArgs e)
        {
            PictureBoxHikVisionCameraOnMap.Visible = true;
            HikPreview(PictureBoxHikVisionCameraOnMap);//call it two times to avoid the logic conflict. 
            HikPreview(PictureBoxHikVisionCameraOnMap);

            ButtonCameraSwitch.Visible = true;
        }

Mission Planner 二次開發之添加海康威視攝像機

需求

實現

1. 添加按鈕

2. 更改海康威視參數

3. 添加視頻窗口

4. 添加視頻代碼

5. 海康配置改爲可在文件中更改

6. 雙擊窗體彈出新界面

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