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：

摄像头开启后的效果图：
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：
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：
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

顺带把OSD显示改下：

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.

4. 添加视频代码

双击Camera按键进入点击事件代码块。

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。

双击打开，将第三行的namespace更改，如下：

namespace PreviewDemo

改为

namespace MissionPlanner.GCSViews

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 Cameraprivate 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 logCHCNetSDK.NET_DVR_SetLogToFile(3, "C:\\SdkLog\\", true);}}

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 Cameraprivate 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 logCHCNetSDK.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);}

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 Cameraprivate 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 logCHCNetSDK.NET_DVR_SetLogToFile(3, "C:\\SdkLog\\", true);}if (m_lUserID < 0){//OpenHikLogin();HikPreview(PictureBoxHikVisionCameraOnMap);}else{//CloseHikPreview(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 devicem_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 deviceif (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();}}

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>

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>

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

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

实际运行效果：

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){}

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。

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 formButtonCameraSwitch.PerformClick(); //close the on map picbox by trigger the button event mannuely.HikLogin(); // Login againHikPreview(PupHikFormPictureBox); //previewButtonCameraSwitch.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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Mission Planner 二次开发之添加海康威视摄像机

需求

实现