海康球机控制云台获取ptz数据

#include<cstdlib>
#include<cstring>
#include<iostream>
#include<Windows.h>
#include<HCNetSDK.h>
#include <plaympeg4.h>
#include <opencv2\opencv.hpp>
#include <time.h>
#include <conio.h>
using namespace std;
using namespace cv;
LONG nPort = -1;
volatile int gbHandling = 3;
//解码回调 视频为YUV数据(YV12)，音频为PCM数据
void CALLBACK DecCBFun(long nPort, char * pBuf, long nSize, FRAME_INFO * pFrameInfo, long nReserved1, long nReserved2)
{
	if (gbHandling)
	{
		gbHandling--;
		return;
	}
	long lFrameType = pFrameInfo->nType;
	if (lFrameType == T_YV12)
	{
		Mat pImg(pFrameInfo->nHeight, pFrameInfo->nWidth, CV_8UC3);
		Mat src(pFrameInfo->nHeight + pFrameInfo->nHeight / 2, pFrameInfo->nWidth, CV_8UC1, pBuf);
		cvtColor(src, pImg, CV_YUV2BGR_YV12);
		//  Sleep(-1);
		//imshow("IPCamera", pImg);
		waitKey(1);
	}
	gbHandling = 3;
}///实时流回调
void CALLBACK fRealDataCallBack(LONG lRealHandle, DWORD dwDataType, BYTE *pBuffer, DWORD dwBufSize, void *pUser)
{
	switch (dwDataType)
	{
	case NET_DVR_SYSHEAD: //系统头
		if (!PlayM4_GetPort(&nPort))  //获取播放库未使用的通道号
		{
			break;
		}
		//m_iPort = lPort; //第一次回调的是系统头，将获取的播放库port号赋值给全局port，下次回调数据时即使用此port号播放
		if (dwBufSize > 0)
		{
			if (!PlayM4_SetStreamOpenMode(nPort, STREAME_REALTIME))  //设置实时流播放模式
			{
				break;
			}
			if (!PlayM4_OpenStream(nPort, pBuffer, dwBufSize, 10 * 1024 * 1024)) //打开流接口
			{
				break;
			}
			if (!PlayM4_Play(nPort, NULL)) //播放开始
			{
				break;
			}
			if (!PlayM4_SetDecCallBack(nPort, DecCBFun))
			{
				break;
			}
		}
		break;
	case NET_DVR_STREAMDATA:   //码流数据
		if (dwBufSize > 0 && nPort != -1)
		{
			if (!PlayM4_InputData(nPort, pBuffer, dwBufSize))
			{
				cout << "error" << PlayM4_GetLastError(nPort) << endl;
				break;
			}
		}
		break;
	default: //其他数据
		if (dwBufSize > 0 && nPort != -1)
		{
			if (!PlayM4_InputData(nPort, pBuffer, dwBufSize))
			{
				break;
			}
		}
		break;
	}
}
void CALLBACK g_ExceptionCallBack(DWORD dwType, LONG lUserID, LONG lHandle, void *pUser)
{
	char tempbuf[256] = { 0 };
	switch (dwType)
	{
	case EXCEPTION_RECONNECT:    //预览时重连
		printf("----------reconnect--------%d\n", time(NULL));
		break;
	default:
		break;
	}
}
//转换函数
DWORD HexToDecMa(DWORD wHex)
{
	return (wHex / 4096) * 1000 + ((wHex % 4096) / 256) * 100 + ((wHex % 256) / 16) * 10 + (wHex % 16);
}

//控制结束
void OnLButtonUp(LONG lRealPlayHandle)
{
	NET_DVR_PTZControl(lRealPlayHandle, PAN_RIGHT, 1);
	NET_DVR_PTZControl(lRealPlayHandle, PAN_LEFT, 1);
	NET_DVR_PTZControl(lRealPlayHandle, TILT_UP, 1);
	NET_DVR_PTZControl(lRealPlayHandle, TILT_DOWN, 1);
}

void main()
{   //---------------------------------------
	// 初始化
	NET_DVR_Init();
	//设置连接时间与重连时间
	NET_DVR_SetConnectTime(2000, 1);
	NET_DVR_SetReconnect(10000, true);
	//---------------------------------------
	// 注册设备
	LONG lUserID;
	NET_DVR_DEVICEINFO_V30 struDeviceInfo;
	lUserID = NET_DVR_Login_V30("192.168.6.100", 8000, "admin", "qwer1234", &struDeviceInfo);
	if (lUserID < 0)
	{
		printf("Login error, %d\n", NET_DVR_GetLastError());
		NET_DVR_Cleanup();
		return;
	}
	//---------------------------------------
	//设置异常消息回调函数
	NET_DVR_SetExceptionCallBack_V30(0, NULL, g_ExceptionCallBack, NULL); //---------------------------------------
																		  //启动预览并设置回调数据流
	LONG lRealPlayHandle;
	cvNamedWindow("Mywindow", 0);
	//cvNamedWindow("IPCamera", 0);
	HWND  h = (HWND)cvGetWindowHandle("Mywindow");
	if (h == 0)
	{
		cout << "窗口创建失败" << endl;
	}
	NET_DVR_PREVIEWINFO struPlayInfo = { 0 };
	struPlayInfo.hPlayWnd = h;         //需要SDK解码时句柄设为有效值，仅取流不解码时可设为空
	struPlayInfo.lChannel = 1;           //预览通道号
	struPlayInfo.dwStreamType = 0;       //0-主码流，1-子码流，2-码流3，3-码流4，以此类推
	struPlayInfo.dwLinkMode = 0; //0- TCP方式，1- UDP方式，2- 多播方式，3- RTP方式，4-RTP/RTSP，5-RSTP/HTTP
	lRealPlayHandle = NET_DVR_RealPlay_V40(lUserID, &struPlayInfo, fRealDataCallBack, NULL);
	if (lRealPlayHandle < 0)
	{
		printf("NET_DVR_RealPlay_V40 error\n");
		printf("%d\n", NET_DVR_GetLastError());
		NET_DVR_Logout(lUserID);
		NET_DVR_Cleanup();
		return;
	}
	NET_DVR_PTZPOS m_ptzPosCurrent;
	DWORD dwtmp;
	while (1)
	{
		OnLButtonUp(lRealPlayHandle);
		//控制云台
		if (GetKeyState(VK_LEFT) < 0)
			NET_DVR_PTZControl(lRealPlayHandle, PAN_LEFT, 0);
		if (GetKeyState(VK_UP) < 0)
			NET_DVR_PTZControl(lRealPlayHandle, TILT_UP, 0);
		if (GetKeyState(VK_DOWN) < 0)
			NET_DVR_PTZControl(lRealPlayHandle, TILT_DOWN, 0);
		if (GetKeyState(VK_RIGHT) < 0)
			NET_DVR_PTZControl(lRealPlayHandle, PAN_RIGHT, 0);
	
		//获取当前PTZ状态
		bool a = NET_DVR_GetDVRConfig(0, NET_DVR_GET_PTZPOS, 0, &m_ptzPosCurrent, sizeof(NET_DVR_PTZPOS), &dwtmp);
		//打印PTZ
		int m_iPara1 = HexToDecMa(m_ptzPosCurrent.wPanPos);
		int m_iPara2 = HexToDecMa(m_ptzPosCurrent.wTiltPos);
		int m_iPara3 = HexToDecMa(m_ptzPosCurrent.wZoomPos);
		cout << "P" << m_iPara1 / 10 + 1 << endl;
		cout << "T" << m_iPara2 / 10 + 1 << endl;
		cout << "Z" << m_iPara3 / 10 << endl;
		waitKey(1);

	}
	waitKey();
	Sleep(-1);
	//---------------------------------------
	//关闭预览
	NET_DVR_StopRealPlay(lRealPlayHandle);
	//注销用户
	NET_DVR_Logout(lUserID);
	//释放SDK资源
	NET_DVR_Cleanup();
	return;
}