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Mission Planner 二次开发之添加海康威视摄像机_mission planner中的视频接口

作者：从前慢现在也慢 | 2024-04-26 03:38:43

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mission planner中的视频接口

需求

需要在无人艇上添加海康威视的实时摄像头。

本地IP192.168.0.100 摄像头IP 192.168.0.64 用户名admin 密码nanfoon51077533 端口8000
海康配置可在文件中更改。
摄像头添加在BoatStatus页的右侧地图模块的右上角。
通过一个按钮来控制摄像头的开启和关闭。
图像双击后弹出独立窗口。

摄像头未开启时的效果图：
在这里插入图片描述

摄像头开启后的效果图：在这里插入图片描述
弹出后的独立窗口示意图：

实现

1. 添加按钮

地图页在MissionPlanner项目下面的GCSViews文件夹里面的FlightData.cs里面。如下图：在这里插入图片描述
从toolbox里面找到Button，拖至地图位置，并将其text属性更改。如图所示：

2. 更改海康威视参数

因为公司海康威视通用同一个配置参数，先要更改设备参数。进入海康威视的配置软件：在这里插入图片描述
点击添加至客户端后会弹出下面的窗口，输入原参数，起一个别名，点击添加。
选中刚才添加的设备，点击远程配置

生效后不要忘记更改本地计算机的IP地址。再次进入远程配置，更改密码

nanfoon51077533
顺带把OSD显示改下：在这里插入图片描述

3. 添加视频窗口

在toolbox里面找到pictureBox拖入地图右上侧。并将其visible属性改为false，size改为300,300. 在这里插入图片描述

4. 添加视频代码

双击Camera按键进入点击事件代码块。在这里插入图片描述

设备网络SDK开发包（64bit）【库文件】里的HCNetSDK.dll、HCCore.dll、HCNetSDKCom文件夹、PlayCtrl.dll、SuperRender.dll、AudioRender.dll、ssleay32.dll、libeay32.dll等文件均拷贝放置在新建的bin文件夹里，将bin文件夹放置在Debug目录下。本例中 C:\Users\lenovo\Documents\Visual Studio 2017\Projects\FlotillaV4\FlotillaV4\bin\Debug

将海康实时预览示例代码一\PreviewDemo文件夹里的CHCNetSDK.cs复制到FlightData.cs相同文件夹下。右击将其添加如当前project。

在这里插入图片描述
双击打开，将第三行的namespace更改，如下：

namespace PreviewDemo
1

改为

namespace MissionPlanner.GCSViews
1

更改后导入进去的CHCNetSDK.cs文件可被FlightData.cs识别。
在新增的按键点击事件代码块添加以下代码：

        //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日志 To save the SDK log
                CHCNetSDK.NET_DVR_SetLogToFile(3, "C:\\SdkLog\\", true);
            }
        }

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添加完成后点击调试，启动调式运行，程序启动后点击按键，如无报错，说明添加进去的模块运行正常。继续编写。
在按键单击函数下方添加海康威视的资源释放函数，如下所示（添加后会提示重名或者变量未定义的错误，根据提示修改下就可以）：

        //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日志 To save the SDK log
                CHCNetSDK.NET_DVR_SetLogToFile(3, "C:\\SdkLog\\", true);
            }
        }

        /// <summary>
        /// 清理所有正在使用的资源。
        /// </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);
        }


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相同的方法添加更改所需代码，为了灵活变换显示区域，对preview代码块做了传递函数的更改，将picturebox作为传递变量改进去。代码块更改完后如下：

        //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日志 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资源。
        /// </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"]; //设备IP地址或者域名
                Int16 DVRPortNumber = Convert.ToInt16(ConfigurationManager.AppSettings["HikPort"]);//设备服务端口号
                string DVRUserName = ConfigurationManager.AppSettings["UserName"];//设备登录用户名
                string DVRPassword = ConfigurationManager.AppSettings["PassWord"];//设备登录密码

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

                //登录设备 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; //登录失败，输出错误号
                    MessageBox.Show(str);
                    return;
                }
                else
                {
                    //登录成功
//                    MessageBox.Show("Login Success!");
//                    CustomMessageBox.Show("Login Success!");
                    //                   btnLogin.Text = "Logout";
                }

            }
            else
            {
                //注销登录 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;//预览窗口
                lpPreviewInfo.lChannel = 1;//预te览的设备通道
                lpPreviewInfo.dwStreamType = 0;//码流类型：0-主码流，1-子码流，2-码流3，3-码流4，以此类推
                lpPreviewInfo.dwLinkMode = 0;//连接方式：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; //播放库播放缓冲区最大缓冲帧数
                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);//预览实时流回调函数
                }

                IntPtr pUser = new IntPtr();//用户数据

                //打开预览 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; //预览失败，输出错误号
                    MessageBox.Show(str);
                    return;
                }
                else
                {
                    //预览成功
                    ButtonCameraSwitch.Text = "Stop";
                    pictrueBox.Visible = true;
                }
            }
            else
            {
                //停止预览 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 = "实时流数据.ps";
                FileStream fs = new FileStream(str, FileMode.Create);
                int iLen = (int)dwBufSize;
                fs.Write(sData, 0, iLen);
                fs.Close();
            }
        }

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5. 海康配置改为可在文件中更改

在FlightData.cs添加 using System.Configuration; 引用。然后在启动文件夹下找到exe.config后缀的文件，打开，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>
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在开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>
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找到之前添加的HikLogin()，找到如下代码：

                string DVRIPAddress = "192.168.0.64"; //设备IP地址或者域名
                Int16 DVRPortNumber = 8000;//设备服务端口号
                string DVRUserName = "admin";//设备登录用户名
                string DVRPassword = "nanfoon51077533";//设备登录密码

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更改为：

                string DVRIPAddress = ConfigurationManager.AppSettings["HikIP"]; //设备IP地址或者域名
                Int16 DVRPortNumber = Int16.Parse( ConfigurationManager.AppSettings["HiPort"]);//设备服务端口号
                string DVRUserName = ConfigurationManager.AppSettings["UserName"];//设备登录用户名
                string DVRPassword = ConfigurationManager.AppSettings["PassWord"];//设备登录密码

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实际运行效果：
在这里插入图片描述

6. 双击窗体弹出新界面

通过新建窗体来承载弹出的新视频界面，弹出后阴藏地图上的相机按钮来防止用户干扰，关闭弹出的窗口后返回至地图页显示。
在FlightData.cs文件里面的海康威视代码区域增加图像picturebox的双击事件函数：

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

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返回到设计窗体选中海康的picturebox空间，在右下角的属性中选中事件栏，找到doubleclick项，在下拉菜单里面选中刚才写的事件函数名，链接事件。
在这里插入图片描述
代码写完之后如下：

        /// <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;
        }

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