最近完成了GB28181的云台控制功能，记录下相关代码。
参考
要实现GB28181的云台控制，基本不用参考其他文档了，直接查看标准文档即可，当然COPY别人现成代码也是很爽的，不过百度相关代码其实也不多，是不是搞这块的人不多呢。这里主要要说的是，云台控制就是发送了消息，相机会一直执行，直到其他命令或者发送了停止命令，切记要考虑这个机制。
代码
其他不说了，具体格式参考文档，此次就不贴图了，直接上代码
std::string MakePtzCmd(int ucommand, int speed)
{
uint8_t buffer[8] = {0};
buffer[0] = 0xA5;
buffer[1] = 0x0F;
buffer[2] = 0x01;
switch (ucommand)
{
case PTZ_STOP:
buffer[3] = 0;
buffer[4] = 0;
buffer[5] = 0;
buffer[6] = 0;
break;
case PTZ_UP:
buffer[3] = 8;
buffer[4] = speed;
buffer[5] = speed;
buffer[6] = 0;
break;
case PTZ_DOWN:
buffer[3] = 4;
buffer[4] = speed;
buffer[5] = speed;
buffer[6] = 0;
break;
case PTZ_LEFT:
buffer[3] = 2;
buffer[4] = speed;
buffer[5] = speed;
buffer[6] = 0;
break;
case PTZ_RIGHT:
buffer[3] = 1;
buffer[4] = speed;
buffer[5] = speed;
buffer[6] = 0;
break;
case PTZ_RIGHTUP:
buffer[3] = 9;
buffer[4] = speed;
buffer[5] = speed;
buffer[6] = 0;
break;
case PTZ_RIGHTDOWN:
buffer[3] = 5;
buffer[4] = speed;
buffer[5] = speed;
buffer[6] = 0;
break;
case PTZ_LEFTUP:
buffer[3] = 0xa;
buffer[4] = speed;
buffer[5] = speed;
buffer[6] = 0;
break;
case PTZ_LEFTDOWN:
buffer[3] = 6;
buffer[4] = speed;
buffer[5] = speed;
buffer[6] = 0;
break;
case PTZ_ZOOM_IN:
buffer[3] = 0x10;
buffer[4] = 0;
buffer[5] = 0;
buffer[6] = speed << 4;
break;
case PTZ_ZOOM_OUT:
buffer[3] = 0x20;
buffer[4] = 0;
buffer[5] = 0;
buffer[6] = speed << 4;
break;
default:
break;
}
int check = 0;
std::string result;
char tmp[3] = {0};
for(size_t i = 0; i < 7; i++) {
check += uint8_t(buffer[i]);
sprintf(tmp, "%02x", uint8_t(buffer[i]));
result.append(tmp, 2);
}
buffer[7] = check % 256;
sprintf(tmp, "%02x", uint8_t(buffer[7]));
result.append(tmp, 2);
return result;
}
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上面是生成PTZ命令的方法，实际上最终是要通过SIP下发MESSAGE消息，MESSGAGE的消息格式为
char body[256] = {0};
sprintf(body, "<?xml version=\"1.0\" encoding=\"UTF-8\"?>"
"<Control>"
"<CmdType>DeviceControl</CmdType>"
"<SN>%d</SN>"
"<DeviceID>%s</DeviceID>"
"<PTZCmd>%s</PTZCmd>"
"</Control>",
++ptz_seq_no_,
device_id.c_str(),
GetPtzCmd(cmd,param).c_str());
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当然也要设置 Content-Type 为 Application/MANSCDP+xml