From 7fb35e2dda24bf6efdf964a3c2dd7900e264711f Mon Sep 17 00:00:00 2001
From: wenjy <wenjy@mesnac.com>
Date: Thu, 7 Nov 2024 16:30:52 +0800
Subject: [PATCH] =?UTF-8?q?change=20-=20=E4=BB=A3=E7=A0=81=E7=BB=93?=
 =?UTF-8?q?=E6=9E=84=E6=95=B4=E7=90=86?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 SlnMesnac.Business/AutoModeBusiness.cs        |   7 +
 SlnMesnac.WPF/Page/IndexControl.xaml          |  12 +-
 SlnMesnac.WPF/Page/IndexControl.xaml.cs       | 540 +++--------------
 .../ViewModel/IndexControlViewModel.cs        | 572 +++++++++++++++++-
 4 files changed, 681 insertions(+), 450 deletions(-)

diff --git a/SlnMesnac.Business/AutoModeBusiness.cs b/SlnMesnac.Business/AutoModeBusiness.cs
index 98fd4b2..70b5844 100644
--- a/SlnMesnac.Business/AutoModeBusiness.cs
+++ b/SlnMesnac.Business/AutoModeBusiness.cs
@@ -276,5 +276,12 @@ namespace SlnMesnac.Business
             }
         }
 
+        public int GetTrackMotorAddress()
+        {
+            int is_arrive_flag = _plc.readInt16ByAddress("VD2005");
+
+            return is_arrive_flag;
+        }
+
     }
 }
diff --git a/SlnMesnac.WPF/Page/IndexControl.xaml b/SlnMesnac.WPF/Page/IndexControl.xaml
index 0ccba6d..dc286ef 100644
--- a/SlnMesnac.WPF/Page/IndexControl.xaml
+++ b/SlnMesnac.WPF/Page/IndexControl.xaml
@@ -112,14 +112,14 @@
                         </Border>
                         <!--停止-->
                         <Border  Width="80" Height="80"  Background="Transparent" CornerRadius="60" MouseLeftButtonDown="btn_auto_MouseLeftButtonDown">
-                            <TextBlock x:Name="btnAuto" Text="Auto" FontSize="20" Foreground="Red" FontWeight="Black" VerticalAlignment="Center" HorizontalAlignment="Center"/>
+                            <TextBlock x:Name="btnAuto" Text="{Binding GimbalAutoRunText}" FontSize="20" Foreground="Red" FontWeight="Black" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                         </Border>
                     </Grid>
 
                     <StackPanel Orientation="Vertical" HorizontalAlignment="Center" VerticalAlignment="Center">
                         <Button Content="开启预览"  FontWeight="Black" FontSize="16" Width="100" Height="30" Foreground="#0050BF" Background="#E5EDF8" BorderBrush="#0050BF" Margin="50,0,0,0" Click="btn_start_preview_Click"/>
                         <Button Content="关闭预览"  FontWeight="Black" FontSize="16" Width="100" Height="30" Foreground="#0050BF" Background="#E5EDF8" BorderBrush="#0050BF" Margin="50,20,0,0" Click="btn_stop_preview_Click"/>
-                        <Button Content="回 零"  FontWeight="Black" FontSize="16" Width="100" Height="30" Foreground="#0050BF" Background="#E5EDF8" BorderBrush="#0050BF" Margin="50,20,0,0" Click="btn_ptz_set_Click"/>
+                        <Button Content="回 零"  FontWeight="Black" FontSize="16" Width="100" Height="30" Foreground="#0050BF" Background="#E5EDF8" BorderBrush="#0050BF" Margin="50,20,0,0" Command="{Binding GimbalOriginCommand}"/>
                     </StackPanel>
                 </StackPanel>
             </Grid>
@@ -529,13 +529,13 @@ Canvas.Left="175" Canvas.Top="155" Stroke="Transparent" StrokeThickness="1">
                                             <ColumnDefinition Width="4*"/>
                                             <ColumnDefinition Width="2*"/>
                                         </Grid.ColumnDefinitions>
-                                        <Border Grid.Column="0" Background="#F4F5FA" CornerRadius="5,0,0,5"> 
+                                        <Border Grid.Column="0" Background="#F4F5FA" CornerRadius="5,0,0,5" MouseDown="btnZoomOut_MouseDown" MouseUp="btnZoomOut_MouseUp"> 
                                             <TextBlock Text="—" FontSize="16" FontWeight="Black" Foreground="Black" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                                         </Border>
                                         <Border Grid.Column="1" Background="#F4F5FA" Margin="5,0,5,0">
                                             <TextBlock Text="变 倍" FontSize="16" FontWeight="Black" Foreground="Gray" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                                         </Border>
-                                        <Border Grid.Column="2" Background="#F4F5FA" CornerRadius="0,5,5,0">
+                                        <Border Grid.Column="2" Background="#F4F5FA" CornerRadius="0,5,5,0" MouseDown="btnZoomIn_MouseDown" MouseUp="btnZoomIn_MouseUp">
                                             <TextBlock Text="+" FontSize="22" FontWeight="Black" Foreground="Black" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                                         </Border>
                                     </Grid>
@@ -547,13 +547,13 @@ Canvas.Left="175" Canvas.Top="155" Stroke="Transparent" StrokeThickness="1">
                                             <ColumnDefinition Width="4*"/>
                                             <ColumnDefinition Width="2*"/>
                                         </Grid.ColumnDefinitions>
-                                        <Border Grid.Column="0" Background="#F4F5FA" CornerRadius="5,0,0,5">
+                                        <Border Grid.Column="0" Background="#F4F5FA" CornerRadius="5,0,0,5" MouseDown="btnFocusNear_MouseDown" MouseUp="btnFocusNear_MouseUp">
                                             <TextBlock Text="—" FontSize="16" FontWeight="Black" Foreground="Black" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                                         </Border>
                                         <Border Grid.Column="1" Background="#F4F5FA" Margin="5,0,5,0">
                                             <TextBlock Text="焦 距" FontSize="16" FontWeight="Black" Foreground="Gray" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                                         </Border>
-                                        <Border Grid.Column="2" Background="#F4F5FA" CornerRadius="0,5,5,0">
+                                        <Border Grid.Column="2" Background="#F4F5FA" CornerRadius="0,5,5,0" MouseDown="btnFocusFar_MouseDown" MouseUp="btnFocusFar_MouseUp">
                                             <TextBlock Text="+" FontSize="22" FontWeight="Black" Foreground="Black" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                                         </Border>
                                     </Grid>
diff --git a/SlnMesnac.WPF/Page/IndexControl.xaml.cs b/SlnMesnac.WPF/Page/IndexControl.xaml.cs
index c565d48..1ddcab0 100644
--- a/SlnMesnac.WPF/Page/IndexControl.xaml.cs
+++ b/SlnMesnac.WPF/Page/IndexControl.xaml.cs
@@ -1,29 +1,10 @@
-using Microsoft.Extensions.DependencyInjection;
-using SlnMesnac.Business;
-using SlnMesnac.Config;
-using SlnMesnac.Model.dto;
-using SlnMesnac.Serilog;
-using SlnMesnac.WPF.ViewModel;
-using System;
-using System.Collections.Generic;
-using System.Collections.ObjectModel;
-using System.IO;
-using System.Linq;
-using System.Runtime.InteropServices;
-using System.Text;
-using System.Threading.Channels;
-using System.Threading.Tasks;
+using SlnMesnac.WPF.ViewModel;
+using System.Threading;
 using System.Windows;
 using System.Windows.Controls;
-using System.Windows.Data;
-using System.Windows.Documents;
 using System.Windows.Input;
-using System.Windows.Interop;
 using System.Windows.Media;
-using System.Windows.Media.Imaging;
-using System.Windows.Navigation;
 using System.Windows.Shapes;
-using static SlnMesnac.WPF.CHCNetSDK;
 
 namespace SlnMesnac.WPF.Page
 {
@@ -32,392 +13,80 @@ namespace SlnMesnac.WPF.Page
     /// </summary>
     public partial class IndexControl : UserControl
     {
-        private IndexControlViewModel indexControlViewModel = new IndexControlViewModel();
-        private SerilogHelper serilogHelper = null;
-        private AppConfig _appConfig = null;
-        private AutoModeBusiness taskBusiness = null;
-        private InspModeBusiness inspModeBusiness = null;
-
-        private bool m_bInitSDK = false;
-        private Int32 m_lUserID = -1;
-        private Int32 m_lRealHandle_1 = -1;
-        private Int32 m_lRealHandle_2 = -1;
-        public CHCNetSDK.NET_DVR_DEVICEINFO_V30 DeviceInfo;
-        public CHCNetSDK.NET_DVR_IPPARACFG_V40 m_struIpParaCfgV40;
-        public CHCNetSDK.NET_DVR_PTZPOS m_struPtzCfg;
-        private bool bAuto = false;
-        private CHCNetSDK.RemoteConfigCallback _callback;
-        private CHCNetSDK.MSGCallBack_V31 m_falarmData_V31 = null;
-
-        private string DVRIPAddress = "192.168.1.64";       //设备IP地址或者域名 Device IP
-        private Int16 DVRPortNumber = 8000;                //设备服务端口号 Device Port
-        private string DVRUserName = "admin";               //设备登录用户名 User name to login
-        private string DVRPassword = "haiwei@2024";         //设备登录密码 Password to login
-
+        private IndexControlViewModel indexControlViewModel;
         public IndexControl()
         {
             InitializeComponent();
-            this.DataContext = indexControlViewModel;
-            serilogHelper = App.ServiceProvider.GetService<SerilogHelper>();
-            _appConfig = App.ServiceProvider.GetService<AppConfig>();
-            taskBusiness = App.ServiceProvider.GetService<AutoModeBusiness>();
-            inspModeBusiness = App.ServiceProvider.GetService<InspModeBusiness>();
-            _callback = new CHCNetSDK.RemoteConfigCallback(GetThermInfoCallback);
-
-            
-            Open_Device();
-
-            taskBusiness.CaptureAlarmPictureEvent += CapturePicture;
-        }
-
-
-        private void Open_Device()
-        {
-            try
-            {
-                Task.Run(() =>
-                {
-                    m_bInitSDK = CHCNetSDK.NET_DVR_Init();
-                    if (m_bInitSDK == false)
-                    {
-                        DebugInfo("热成像双光谱微型云台初始化失败 error!");
-                        return;
-                    }
-                    else
-                    {
-                        //保存SDK日志 To save the SDK log
-                        CHCNetSDK.NET_DVR_SetLogToFile(3, "C:\\SdkLog\\", true);
-                        DebugInfo("热成像双光谱微型云台初始化成功!");
-
-                    }
-
-                    m_lUserID = CHCNetSDK.NET_DVR_Login_V30(DVRIPAddress, DVRPortNumber, DVRUserName, DVRPassword, ref DeviceInfo);
-
-                    if (m_lUserID < 0)
-                    {
-                        string str = "热成像双光谱微型云台打开失败, error code= " + CHCNetSDK.NET_DVR_GetLastError(); ; //登录失败，输出错误号 Failed to login and output the error code
-                        DebugInfo(str);
-                    }
-                    else
-                    {
-                        //登录成功
-                        DebugInfo("热成像双光谱微型云台打开成功!");
-
-                        //SceneryPreview();
-                        //ThermalPreview();
-
-                        ///
-                        /// 加载实时温度数据
-                        ///
-                        var size = Marshal.SizeOf(typeof(CHCNetSDK.NET_DVR_REALTIME_THERMOMETRY_COND));
-                        CHCNetSDK.NET_DVR_REALTIME_THERMOMETRY_COND struThermCond = new CHCNetSDK.NET_DVR_REALTIME_THERMOMETRY_COND();
-                        struThermCond.dwSize = (uint)size;
-                        struThermCond.byRuleID = 0;       //规则ID，0代表获取全部规则，具体规则ID从1开始
-                        struThermCond.dwChan = 2;// dwChannel; //从1开始，0xffffffff代表获取全部通道
-
-                        IntPtr pCond = Marshal.AllocCoTaskMem(size);
-                        Marshal.StructureToPtr(struThermCond, pCond, false);
-                        var ret = NET_DVR_StartRemoteConfig(m_lUserID, NET_DVR_GET_REALTIME_THERMOMETRY, pCond, size, _callback, IntPtr.Zero);
-                        if (ret < 0)
-                        {
-                            DebugInfo("配置测温失败, 错误代码：" + NET_DVR_GetLastError()); //登录失败，输出错误号
-                            return;
-                        }
-                    }
-                });
-                
-            }
-            catch (Exception ex)
-            {
-                DebugInfo($"热成像双光谱微型云台加载异常: {ex.Message}");
-            }
-        }
-
-        /// <summary>
-        /// 测温回调函数
-        /// </summary>
-        /// <param name="dwType"></param>
-        /// <param name="lpBuffer"></param>
-        /// <param name="dwBufLen"></param>
-        /// <param name="pUserData"></param>
-        public void GetThermInfoCallback(uint dwType, IntPtr lpBuffer, uint dwBufLen, IntPtr pUserData)
-        {
-            var ret = Marshal.PtrToStructure<NET_DVR_THERMOMETRY_UPLOAD>(lpBuffer);
-            taskBusiness._realTemperatureInfo.fMaxTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fMaxTemperature, 1);
-            taskBusiness._realTemperatureInfo.fMinTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fMinTemperature);
-            taskBusiness._realTemperatureInfo.fAverageTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fAverageTemperature, 1);
-            taskBusiness._realTemperatureInfo.fTemperatureDiff = (float)Math.Round(ret.struLinePolygonThermCfg.fTemperatureDiff, 1);
-
-            var real = new RealTemperatureInfo()
-            {
-                fMaxTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fMaxTemperature, 1),
-                fMinTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fMinTemperature, 1),
-                fAverageTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fAverageTemperature, 1),
-                fTemperatureDiff = (float)Math.Round(ret.struLinePolygonThermCfg.fTemperatureDiff, 1),
-            };
-
-            indexControlViewModel.RefreshRealTemperature(real);
-        }
-
-        /// <summary>
-        /// 抓拍图像
-        /// </summary>
-        /// <param name="sJpegPicFileName"></param>
-        public void CapturePicture(string sJpegPicFileName)
-        {
-            for (int i = 1; i < 3; i++)
-            {
-                CHCNetSDK.NET_DVR_JPEGPARA lpJpegPara = new CHCNetSDK.NET_DVR_JPEGPARA();
-                lpJpegPara.wPicQuality = 0;
-                lpJpegPara.wPicSize = 0xff;
-                var path = string.Empty;
-                if (i == 1)
-                {
-                    path = $"{_appConfig.visibleRangePath}\\{sJpegPicFileName}";
-                }
-                else
-                {
-                    path = $"{_appConfig.infraredImagePath}\\{sJpegPicFileName}";
-                }
-
-                if (!CHCNetSDK.NET_DVR_CaptureJPEGPicture(m_lUserID, i, ref lpJpegPara, path))
-                {
-                    var str = "高温报警，图像信息保存失败, error code= " + NET_DVR_GetLastError();
-                    DebugInfo(str);
-                    return;
-                }
-                else
-                {
-                    var str = "高温报警，图像信息保存成功: " + path;
-                    DebugInfo(str);
-                }
-            }
-        }
-
-        /// <summary>
-        /// 可见光预览
-        /// </summary>
-        private void SceneryPreview()
-        {
-            try
-            {
-                App.Current.Dispatcher.Invoke(() =>
-                {
-                    CHCNetSDK.NET_DVR_PREVIEWINFO lpPreviewInfo = new CHCNetSDK.NET_DVR_PREVIEWINFO();
-                    lpPreviewInfo.hPlayWnd = RealPlayWnd.Handle;//预览窗口 live view window
-                    lpPreviewInfo.lChannel = 1;//预览的设备通道 the device channel number
-                    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 = 15; //播放库显示缓冲区最大帧数
-
-                    IntPtr pUser = IntPtr.Zero;//用户数据 user data 
-
-                    m_lRealHandle_1 = CHCNetSDK.NET_DVR_RealPlay_V40(m_lUserID, ref lpPreviewInfo, null/*RealData*/, pUser);
-
-                    if (m_lRealHandle_1 < 0)
-                    {
-                        var str = "光景图像预览加载失败, error code= " + CHCNetSDK.NET_DVR_GetLastError(); //预览失败，输出错误号 failed to start live view, and output the error code.
-                        DebugInfo(str);
-                    }
-                    else
-                    {
-                        //预览成功
-                        DebugInfo("光景图像预览加载成功!");
-                    }
-                });
-                
-            }
-            catch (Exception ex)
-            {
-
-                serilogHelper.Camera($"光景图像预览加载异常:{ex.Message}");
-            }
-        }
-
-        /// <summary>
-        /// 热成像预览
-        /// </summary>
-        private void ThermalPreview()
-        {
-            try
-            {
-                App.Current.Dispatcher.Invoke(() =>
-                {
-                    CHCNetSDK.NET_DVR_PREVIEWINFO lpPreviewInfo = new CHCNetSDK.NET_DVR_PREVIEWINFO();
-                    lpPreviewInfo.hPlayWnd = RealPlayWnd2.Handle;//预览窗口 live view window
-                    lpPreviewInfo.lChannel = 2;//预览的设备通道 the device channel number
-                    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 = 15; //播放库显示缓冲区最大帧数
-
-                    IntPtr pUser = IntPtr.Zero;//用户数据 user data 
-
-                    m_lRealHandle_2 = CHCNetSDK.NET_DVR_RealPlay_V40(m_lUserID, ref lpPreviewInfo, null/*RealData*/, pUser);
-
-                    if (m_lRealHandle_2 < 0)
-                    {
-                        var str = "热成像预览加载失败, error code= " + CHCNetSDK.NET_DVR_GetLastError(); //预览失败，输出错误号 failed to start live view, and output the error code.
-                        DebugInfo(str);
-                    }
-                    else
-                    {
-                        //预览成功
-                        DebugInfo("热成像预览加载成功!");
-                    }
-                });
-                
-            }
-            catch (Exception ex)
-            {
 
-                serilogHelper.Camera($"热成像图像预览加载异常:{ex.Message}");
-            }
-        }
+            indexControlViewModel = new IndexControlViewModel();
 
-        /// <summary>
-        /// 关闭设备
-        /// </summary>
-        private void Close_Device()
-        {
-            if (!CHCNetSDK.NET_DVR_Logout(m_lUserID))
-            {
-                var str = "NET_DVR_Logout failed, error code= " + CHCNetSDK.NET_DVR_GetLastError(); ;
-                DebugInfo(str);
-                return;
-            }
-            DebugInfo("NET_DVR_Logout succ!");
-        }
+            this.DataContext = indexControlViewModel;
 
-        /// <summary>
-        /// 日志记录
-        /// </summary>
-        /// <param name="str"></param>
-        private void DebugInfo(string str)
-        {
-            serilogHelper.Camera(str);
+            indexControlViewModel.RefreshHighlightStationEvent += HighlightStation;
         }
 
         #region 云台控制
         private void btnUp_MouseDown(object sender, MouseButtonEventArgs e)
         {
-            CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.TILT_UP, 0, 4);
+            indexControlViewModel.GimbalOperate("up", true);
         }
 
         private void btnUp_MouseUp(object sender, MouseButtonEventArgs e)
         {
-            CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.TILT_UP, 1, 4);
+            indexControlViewModel.GimbalOperate("up", false);
         }
 
         private void btnDown_MouseDown(object sender, MouseButtonEventArgs e)
         {
-            CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.TILT_DOWN, 0, 4);
+            indexControlViewModel.GimbalOperate("down", true);
         }
 
         private void btnDown_MouseUp(object sender, MouseButtonEventArgs e)
         {
-            CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.TILT_DOWN, 1, 4);
+            indexControlViewModel.GimbalOperate("down", false);
         }
 
         private void btnLeft_MouseDown(object sender, MouseButtonEventArgs e)
         {
-            CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, (uint)CHCNetSDK.PAN_LEFT, 0, 4);
+            indexControlViewModel.GimbalOperate("left", true);
         }
 
         private void btnLeft_MouseUp(object sender, MouseButtonEventArgs e)
         {
-            CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.PAN_LEFT, 1, 4);
+            indexControlViewModel.GimbalOperate("left", false);
         }
 
         private void btnRight_MouseDown(object sender, MouseButtonEventArgs e)
         {
-            CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.PAN_RIGHT, 0, 4);
+            indexControlViewModel.GimbalOperate("right", true);
         }
 
         private void btnRight_MouseUp(object sender, MouseButtonEventArgs e)
         {
-            CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.PAN_RIGHT, 1, 4);
+            indexControlViewModel.GimbalOperate("right", false);
         } 
         #endregion
 
         /// <summary>
-        /// 云台回零点
+        /// 云台自动运行
         /// </summary>
         /// <param name="sender"></param>
         /// <param name="e"></param>
-        private void btn_ptz_set_Click(object sender, RoutedEventArgs e)
-        {
-
-            if (bAuto)
-            {
-                CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.PAN_AUTO, 1, 4);
-                btnAuto.Text = "Auto";
-                bAuto = false;
-            }
-
-            float wPanPos, wTiltPos, wZoomPos;
-            var flag = 0;
-            m_struPtzCfg.wAction = 1;
-
-            m_struPtzCfg.wPanPos = (ushort)(Convert.ToUInt16("20", 16));
-            m_struPtzCfg.wTiltPos = (ushort)(Convert.ToUInt16("4", 16));
-            m_struPtzCfg.wZoomPos = (ushort)(Convert.ToUInt16("10", 16));
-
-            while (flag == 0)
-            {
-
-                Int32 nSize = Marshal.SizeOf(m_struPtzCfg);
-                IntPtr ptrPtzCfg = Marshal.AllocHGlobal(nSize);
-                Marshal.StructureToPtr(m_struPtzCfg, ptrPtzCfg, false);
-
-                if (!CHCNetSDK.NET_DVR_SetDVRConfig(m_lUserID, CHCNetSDK.NET_DVR_SET_PTZPOS, 1, ptrPtzCfg, (UInt32)nSize))
-                {
-                    var str = "云台回零加载异常, error code= " + CHCNetSDK.NET_DVR_GetLastError();
-                    //设置POS参数失败
-                    DebugInfo(str);
-                    return;
-                }
-                else
-                {
-                    DebugInfo("云台回零加载成功!");
-                    break;
-                }
-
-                Marshal.FreeHGlobal(ptrPtzCfg);
-
-            }
-        }
-
         private void btn_auto_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
         {
-            if (!bAuto)
-            {
-                CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.PAN_AUTO, 0, 4);
-                btnAuto.Text = "Stop";
-                bAuto = true;
-            }
-            else
-            {
-                CHCNetSDK.NET_DVR_PTZControlWithSpeed(m_lRealHandle_1, CHCNetSDK.PAN_AUTO, 1, 4);
-                btnAuto.Text = "Auto";
-                bAuto = false;
-            }
+            indexControlViewModel.GimbalAutoRun();
         }
 
         private bool is_insp_model = false;
         /// <summary>
-        /// 巡检模式
+        /// 巡检模式切换
         /// </summary>
         /// <param name="sender"></param>
         /// <param name="e"></param>
         private void btn_inspmode_MouseDown(object sender, MouseButtonEventArgs e)
         {
-            
-
             if (!is_insp_model)
             {
-
                 if (is_auto_model)
                 {
                     MessageBox.Show("当前处于自动模式中，请先关闭自动模式，再开启巡检模式");
@@ -426,80 +95,23 @@ namespace SlnMesnac.WPF.Page
 
                 btn_automatic.Background = new SolidColorBrush(Colors.LightBlue);
                 is_insp_model = true;
-                string taskCode = DateTime.Now.ToString("yyyyMMddHHmmssffff");
-                string fileName = $"{taskCode}.mp4";
-                Task.Run(() =>
-                {
-                    var url = $"{_appConfig.videoFilePath}\\可见光\\{fileName}";
-                    CHCNetSDK.NET_DVR_MakeKeyFrame(m_lUserID, 1);
-                    if (!CHCNetSDK.NET_DVR_SaveRealData(m_lRealHandle_1, url))
-                    {
-                        var str = "可见光通道开启巡检录像失败, error code= " + NET_DVR_GetLastError();
-                        DebugInfo(str);
-                        return;
-                    }
-                    else
-                    {
-                        DebugInfo($"可见光通道开启巡检录像成功");
-                    }
-                });
-
-                Task.Run(() =>
-                {
-                    var url = $"{_appConfig.videoFilePath}\\热成像\\{fileName}";
-                    CHCNetSDK.NET_DVR_MakeKeyFrame(m_lUserID, 2);
-                    if (!CHCNetSDK.NET_DVR_SaveRealData(m_lRealHandle_2, url))
-                    {
-                        var str = "热成像通道开启巡检录像失败, error code= " + NET_DVR_GetLastError();
-                        DebugInfo(str);
-                        return;
-                    }
-                    else
-                    {
-                        DebugInfo($"热成像通道开启巡检录像成功");
-                    }
-                });
-
-                inspModeBusiness.Start(taskCode, fileName);
+                indexControlViewModel.Start_InspMode();
             }
             else
             {
-                //MessageBox.Show("巡检模式关闭");
                 btn_automatic.Background = new SolidColorBrush(Colors.Transparent);
                 is_insp_model = false;
+                indexControlViewModel.Stop_InspMode();
 
-
-                Task.Run(() =>
-                {
-                    if (!CHCNetSDK.NET_DVR_StopSaveRealData(m_lRealHandle_1))
-                    {
-                        var str = "可见光通道关闭巡检录像失败, error code= " + NET_DVR_GetLastError();
-                        DebugInfo(str);
-                        return;
-                    }
-                    else
-                    {
-                        DebugInfo($"可见光通道关闭巡检录像成功");
-                    }
-                });
-
-                Task.Run(() =>
-                {
-                    if (!CHCNetSDK.NET_DVR_StopSaveRealData(m_lRealHandle_2))
-                    {
-                        var str = "热成像通道关闭巡检录像失败, error code= " + NET_DVR_GetLastError();
-                        DebugInfo(str);
-                        return;
-                    }
-                    else
-                    {
-                        DebugInfo($"热成像通道关闭巡检录像成功");
-                    }
-                });
             }
         }
 
         private bool is_auto_model = false;
+        /// <summary>
+        /// 自动模式切换
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
         private void btn_automode_MouseDown(object sender, MouseButtonEventArgs e)
         {
             if (!is_auto_model)
@@ -510,13 +122,13 @@ namespace SlnMesnac.WPF.Page
                 }
                 btn_autotask.Background = new SolidColorBrush(Colors.LightBlue);
                 is_auto_model = true;
-                taskBusiness.Start();
+                indexControlViewModel.Start_AutoMode();
             }
             else
             {
                 btn_autotask.Background = new SolidColorBrush(Colors.Transparent);
                 is_auto_model = false;
-                taskBusiness.Stop();
+                indexControlViewModel.Stop_AutoMode();
 
             }
         }
@@ -528,13 +140,7 @@ namespace SlnMesnac.WPF.Page
         /// <param name="e"></param>
         private void btn_start_preview_Click(object sender, RoutedEventArgs e)
         {
-            if (m_lRealHandle_1 > 0 || m_lRealHandle_2 > 0)
-            {
-                MessageBox.Show("实时预览已开启，请勿重复开启");
-                return;
-            }
-            SceneryPreview();
-            ThermalPreview();
+            indexControlViewModel.Login(RealPlayWnd, RealPlayWnd2);
         }
 
         /// <summary>
@@ -544,30 +150,82 @@ namespace SlnMesnac.WPF.Page
         /// <param name="e"></param>
         private void btn_stop_preview_Click(object sender, RoutedEventArgs e)
         {
-            if (!CHCNetSDK.NET_DVR_StopRealPlay(m_lRealHandle_1))
-            {
-                var str = "NET_DVR_StopRealPlay failed, error code= " + CHCNetSDK.NET_DVR_GetLastError(); ;
-                DebugInfo(str);
-                return;
-            }
-            else
-            {
-                DebugInfo("NET_DVR_StopRealPlay succ!");
-                RealPlayWnd.Invalidate();//刷新窗口 refresh the window
-            }
+            indexControlViewModel.ClosePreview(RealPlayWnd, RealPlayWnd2);
+            Thread.Sleep(1000);
+            indexControlViewModel.Logout();
+        }
+
+        private void HighlightStation(int stationNumber)
+        {
 
-            if (!CHCNetSDK.NET_DVR_StopRealPlay(m_lRealHandle_2))
+            App.Current.Dispatcher.Invoke(() =>
             {
-                var str = "NET_DVR_StopRealPlay failed, error code= " + CHCNetSDK.NET_DVR_GetLastError(); ;
-                DebugInfo(str);
-                return;
-            }
-            else
+                ResetStationColors();
+                // 根据输入的站点编号高亮对应的站点
+                if(canvasTrack!= null)
+                {
+                    Rectangle station = (Rectangle)canvasTrack.FindName($"station{stationNumber}");
+                    if (station != null)
+                    {
+                        station.Fill = Brushes.GreenYellow;
+                    }
+                }
+                
+            });
+            
+        }
+
+        private void ResetStationColors()
+        {
+            // 重置所有站点的颜色
+            for (int i = 1; i <= 18; i++)
             {
-                DebugInfo("NET_DVR_StopRealPlay succ!");
-                RealPlayWnd2.Invalidate();//刷新窗口 refresh the window
-                m_lRealHandle_2 = 0;
+                Rectangle station = (Rectangle)canvasTrack.FindName($"station{i}");
+                if (station != null)
+                {
+                    station.Fill = Brushes.Gray;
+                }
             }
         }
+
+        private void btnZoomIn_MouseDown(object sender, MouseButtonEventArgs e)
+        {
+            indexControlViewModel.GimbalOperate("zoomIn", true);
+        }
+
+        private void btnZoomIn_MouseUp(object sender, MouseButtonEventArgs e)
+        {
+            indexControlViewModel.GimbalOperate("zoomIn", false);
+        }
+
+        private void btnZoomOut_MouseDown(object sender, MouseButtonEventArgs e)
+        {
+            indexControlViewModel.GimbalOperate("zoomOut", true);
+        }
+
+        private void btnZoomOut_MouseUp(object sender, MouseButtonEventArgs e)
+        {
+            indexControlViewModel.GimbalOperate("zoomOut", false);
+        }
+
+        private void btnFocusFar_MouseDown(object sender, MouseButtonEventArgs e)
+        {
+            indexControlViewModel.GimbalOperate("focusFar", true);
+        }
+
+        private void btnFocusFar_MouseUp(object sender, MouseButtonEventArgs e)
+        {
+            indexControlViewModel.GimbalOperate("focusFar", false);
+        }
+
+        private void btnFocusNear_MouseDown(object sender, MouseButtonEventArgs e)
+        {
+            indexControlViewModel.GimbalOperate("focusNear", true);
+        }
+
+        private void btnFocusNear_MouseUp(object sender, MouseButtonEventArgs e)
+        {
+            indexControlViewModel.GimbalOperate("focusNear", false);
+        }
     }
 }
diff --git a/SlnMesnac.WPF/ViewModel/IndexControlViewModel.cs b/SlnMesnac.WPF/ViewModel/IndexControlViewModel.cs
index e95559d..7b1ab07 100644
--- a/SlnMesnac.WPF/ViewModel/IndexControlViewModel.cs
+++ b/SlnMesnac.WPF/ViewModel/IndexControlViewModel.cs
@@ -1,10 +1,19 @@
 using CommunityToolkit.Mvvm.ComponentModel;
+using CommunityToolkit.Mvvm.Input;
+using Microsoft.Extensions.DependencyInjection;
+using SlnMesnac.Business;
+using SlnMesnac.Business.@base;
+using SlnMesnac.Config;
 using SlnMesnac.Model.dto;
+using SlnMesnac.Serilog;
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Runtime.InteropServices;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Forms;
+using static SlnMesnac.WPF.CHCNetSDK;
 
 #region << 版 本 注 释 >>
 /*--------------------------------------------------------------------
@@ -30,18 +39,575 @@ using System.Threading.Tasks;
 #endregion << 版 本 注 释 >>
 namespace SlnMesnac.WPF.ViewModel
 {
-    public class IndexControlViewModel : ObservableObject
+    public partial class IndexControlViewModel : ObservableObject
     {
+
+        private SerilogHelper _log;
+        private AutoModeBusiness autoModeBusiness;
+        private InspModeBusiness inspModeBusiness;
+        private AppConfig _appConfig;
+
+        private CHCNetSDK.RemoteConfigCallback _callback;
+        public CHCNetSDK.NET_DVR_DEVICEINFO_V30 DeviceInfo;
+
+        private bool m_bInitSDK = false;
+        private Int32 m_lUserID = -1;
+        public Int32 Scenery_RealHandle = -1;
+        public Int32 Thermal_RealHandle = -1;
+
+        private const string DVRIPAddress = "192.168.1.64";       //设备IP地址或者域名 Device IP
+        private const Int16 DVRPortNumber = 8000;                //设备服务端口号 Device Port
+        private const string DVRUserName = "admin";               //设备登录用户名 User name to login
+        private const string DVRPassword = "haiwei@2024";         //设备登录密码 Password to login
+
+        public IndexControlViewModel()
+        {
+            _log = App.ServiceProvider.GetService<SerilogHelper>();
+            _callback = new CHCNetSDK.RemoteConfigCallback(GetThermInfoCallback);
+            _appConfig = App.ServiceProvider.GetService<AppConfig>();
+            autoModeBusiness = App.ServiceProvider.GetService<AutoModeBusiness>();
+            inspModeBusiness = App.ServiceProvider.GetService<InspModeBusiness>();
+
+            autoModeBusiness.CaptureAlarmPictureEvent += CapturePicture;
+
+            RefreshTrackMotorAddress();
+        }
+
+        #region 参数定义
+        private string _gimbalAutoRunText = "Auto";
+        public string GimbalAutoRunText
+        {
+            get => _gimbalAutoRunText;
+            set => SetProperty(ref _gimbalAutoRunText, value);
+        }
+
         public RealTemperatureInfo _realTemperature;
         public RealTemperatureInfo RealTemperature
         {
             get => _realTemperature;
             set => SetProperty(ref _realTemperature, value);
         }
+        #endregion
+
+        #region 事件定义
+
+        public delegate void RefreshHighlightStation(int cabinetCode);
+        public event RefreshHighlightStation RefreshHighlightStationEvent;
+        #endregion
+
+        public void Login(PictureBox SceneryPreviewWnd, PictureBox ThermalPreviewWnd)
+        {
+            try
+            {
+                Task.Run(() =>
+                {
+                    m_bInitSDK = CHCNetSDK.NET_DVR_Init();
+                    if (m_bInitSDK == false)
+                    {
+                        _log.Info("热成像双光谱微型云台初始化失败 error!");
+                        return;
+                    }
+                    else
+                    {
+                        //保存SDK日志 To save the SDK log
+                        CHCNetSDK.NET_DVR_SetLogToFile(3, "C:\\SdkLog\\", true);
+                        _log.Info("热成像双光谱微型云台初始化成功!");
+
+                    }
+
+                    m_lUserID = CHCNetSDK.NET_DVR_Login_V30(DVRIPAddress, DVRPortNumber, DVRUserName, DVRPassword, ref DeviceInfo);
+
+                    if (m_lUserID < 0)
+                    {
+                        string str = "热成像双光谱微型云台打开失败, error code= " + CHCNetSDK.NET_DVR_GetLastError(); ; //登录失败，输出错误号 Failed to login and output the error code
+                        _log.Info(str);
+                    }
+                    else
+                    {
+                        //登录成功
+                        _log.Info("热成像双光谱微型云台打开成功!");
+
+                        SceneryPreview(SceneryPreviewWnd);
+                        ThermalPreview(ThermalPreviewWnd);
+
+                        ///
+                        /// 加载实时温度数据
+                        ///
+                        var size = Marshal.SizeOf(typeof(CHCNetSDK.NET_DVR_REALTIME_THERMOMETRY_COND));
+                        CHCNetSDK.NET_DVR_REALTIME_THERMOMETRY_COND struThermCond = new CHCNetSDK.NET_DVR_REALTIME_THERMOMETRY_COND();
+                        struThermCond.dwSize = (uint)size;
+                        struThermCond.byRuleID = 0;       //规则ID，0代表获取全部规则，具体规则ID从1开始
+                        struThermCond.dwChan = 2;// dwChannel; //从1开始，0xffffffff代表获取全部通道
+
+                        IntPtr pCond = Marshal.AllocCoTaskMem(size);
+                        Marshal.StructureToPtr(struThermCond, pCond, false);
+                        var ret = CHCNetSDK.NET_DVR_StartRemoteConfig(m_lUserID, CHCNetSDK.NET_DVR_GET_REALTIME_THERMOMETRY, pCond, size, _callback, IntPtr.Zero);
+                        if (ret < 0)
+                        {
+                            _log.Info("配置测温失败, 错误代码：" + CHCNetSDK.NET_DVR_GetLastError()); //登录失败，输出错误号
+                            return;
+                        }
+
+                    }
+                });
+
+            }
+            catch (Exception ex)
+            {
+                _log.Info($"热成像双光谱微型云台加载异常: {ex.Message}");
+            }
+        }
+
+        /// <summary>
+        /// 测温回调函数
+        /// </summary>
+        /// <param name="dwType"></param>
+        /// <param name="lpBuffer"></param>
+        /// <param name="dwBufLen"></param>
+        /// <param name="pUserData"></param>
+        public void GetThermInfoCallback(uint dwType, IntPtr lpBuffer, uint dwBufLen, IntPtr pUserData)
+        {
+            var ret = Marshal.PtrToStructure<CHCNetSDK.NET_DVR_THERMOMETRY_UPLOAD>(lpBuffer);
+            autoModeBusiness._realTemperatureInfo.fMaxTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fMaxTemperature, 1);
+            autoModeBusiness._realTemperatureInfo.fMinTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fMinTemperature);
+            autoModeBusiness._realTemperatureInfo.fAverageTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fAverageTemperature, 1);
+            autoModeBusiness._realTemperatureInfo.fTemperatureDiff = (float)Math.Round(ret.struLinePolygonThermCfg.fTemperatureDiff, 1);
+
+            this.RealTemperature = new RealTemperatureInfo()
+            {
+                fMaxTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fMaxTemperature, 1),
+                fMinTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fMinTemperature, 1),
+                fAverageTemperature = (float)Math.Round(ret.struLinePolygonThermCfg.fAverageTemperature, 1),
+                fTemperatureDiff = (float)Math.Round(ret.struLinePolygonThermCfg.fTemperatureDiff, 1),
+            };
+        }
+
+        /// <summary>
+        /// 抓拍图像
+        /// </summary>
+        /// <param name="sJpegPicFileName"></param>
+        public void CapturePicture(string sJpegPicFileName)
+        {
+            for (int i = 1; i < 3; i++)
+            {
+                CHCNetSDK.NET_DVR_JPEGPARA lpJpegPara = new CHCNetSDK.NET_DVR_JPEGPARA();
+                lpJpegPara.wPicQuality = 0;
+                lpJpegPara.wPicSize = 0xff;
+                var path = string.Empty;
+                if (i == 1)
+                {
+                    path = $"{_appConfig.visibleRangePath}\\{sJpegPicFileName}";
+                }
+                else
+                {
+                    path = $"{_appConfig.infraredImagePath}\\{sJpegPicFileName}";
+                }
+
+                if (!CHCNetSDK.NET_DVR_CaptureJPEGPicture(m_lUserID, i, ref lpJpegPara, path))
+                {
+                    _log.Info("高温报警，图像信息保存失败, error code= " + NET_DVR_GetLastError());
+                    return;
+                }
+                else
+                {
+                    _log.Info("高温报警，图像信息保存成功: " + path);
+                }
+            }
+        }
 
-        public void RefreshRealTemperature(RealTemperatureInfo realTemperature)
+        /// <summary>
+        /// 可见光景预览加载
+        /// </summary>
+        /// <param name="SceneryPreviewWnd"></param>
+        public void SceneryPreview(PictureBox SceneryPreviewWnd)
         {
-            this.RealTemperature = realTemperature;
+            try
+            {
+                App.Current.Dispatcher.Invoke(() =>
+                {
+                    CHCNetSDK.NET_DVR_PREVIEWINFO lpPreviewInfo = new CHCNetSDK.NET_DVR_PREVIEWINFO();
+                    lpPreviewInfo.hPlayWnd = SceneryPreviewWnd.Handle;//预览窗口 live view window
+                    lpPreviewInfo.lChannel = 1;//预览的设备通道 the device channel number
+                    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 = 15; //播放库显示缓冲区最大帧数
+
+                    IntPtr pUser = IntPtr.Zero;//用户数据 user data 
+
+                    Scenery_RealHandle = CHCNetSDK.NET_DVR_RealPlay_V40(m_lUserID, ref lpPreviewInfo, null/*RealData*/, pUser);
+
+                    if (Scenery_RealHandle < 0)
+                    {
+                        _log.Info("光景图像预览加载失败, error code= " + CHCNetSDK.NET_DVR_GetLastError());
+                    }
+                    else
+                    {
+                        //预览成功
+                        _log.Info("光景图像预览加载成功 ");
+                    }
+                });
+
+            }
+            catch (Exception ex)
+            {
+
+                _log.Camera($"光景图像预览加载异常:{ex.Message}");
+            }
+        }
+
+        /// <summary>
+        /// 热成像预览加载
+        /// </summary>
+        /// <param name="ThermalPreviewWnd"></param>
+        public void ThermalPreview(PictureBox ThermalPreviewWnd)
+        {
+            try
+            {
+                App.Current.Dispatcher.Invoke(() =>
+                {
+                    CHCNetSDK.NET_DVR_PREVIEWINFO lpPreviewInfo = new CHCNetSDK.NET_DVR_PREVIEWINFO();
+                    lpPreviewInfo.hPlayWnd = ThermalPreviewWnd.Handle;//预览窗口 live view window
+                    lpPreviewInfo.lChannel = 2;//预览的设备通道 the device channel number
+                    lpPreviewInfo.dwStreamType = 0;//码流类型：0-主码流，1-子码流，2-码流3，3-码流4，以此类推
+                    lpPreviewInfo.dwLinkMode = 0;//连接方式：0- TCP方式，1- UDP方式，2- 多播方式，3- RTP方式，4-RTP/RTSP，5-RSTP/HTTP 
+                    lpPreviewInfo.bBlocked = true; //0- 非阻塞取流，1- 阻塞取流
+                    lpPreviewInfo.dwDisplayBufNum = 15; //播放库显示缓冲区最大帧数
+
+                    IntPtr pUser = IntPtr.Zero;//用户数据 user data 
+
+                    Thermal_RealHandle = CHCNetSDK.NET_DVR_RealPlay_V40(m_lUserID, ref lpPreviewInfo, null/*RealData*/, pUser);
+
+                    if (Thermal_RealHandle < 0)
+                    {
+                        _log.Info("热成像预览加载失败, error code= " + CHCNetSDK.NET_DVR_GetLastError());
+                    }
+                    else
+                    {
+                        //预览成功
+                        _log.Info("热成像预览加载成功");
+                    }
+                });
+
+            }
+            catch (Exception ex)
+            {
+
+                _log.Camera($"热成像图像预览加载异常:{ex.Message}");
+            }
+        }
+
+        /// <summary>
+        /// 关闭预览
+        /// </summary>
+        /// <param name="SceneryPreviewWnd"></param>
+        /// <param name="ThermalPreviewWnd"></param>
+        public void ClosePreview(PictureBox SceneryPreviewWnd, PictureBox ThermalPreviewWnd)
+        {
+            if (!CHCNetSDK.NET_DVR_StopRealPlay(Scenery_RealHandle))
+            {
+                var str = "NET_DVR_StopRealPlay failed, error code= " + CHCNetSDK.NET_DVR_GetLastError(); ;
+                _log.Info(str);
+                return;
+            }
+            else
+            {
+                _log.Info("NET_DVR_StopRealPlay succ!");
+                SceneryPreviewWnd.Invalidate();//刷新窗口 refresh the window
+            }
+
+            if (!CHCNetSDK.NET_DVR_StopRealPlay(Thermal_RealHandle))
+            {
+                var str = "NET_DVR_StopRealPlay failed, error code= " + CHCNetSDK.NET_DVR_GetLastError(); ;
+                _log.Info(str);
+                return;
+            }
+            else
+            {
+                _log.Info("NET_DVR_StopRealPlay succ!");
+                ThermalPreviewWnd.Invalidate();//刷新窗口 refresh the window
+                Thermal_RealHandle = 0;
+            }
+        }
+
+        /// <summary>
+        /// 退出设备
+        /// </summary>
+        public void Logout()
+        {
+            if (!CHCNetSDK.NET_DVR_Logout(m_lUserID))
+            {
+                _log.Info("NET_DVR_Logout failed, error code= " + CHCNetSDK.NET_DVR_GetLastError());
+                return;
+            }
+
+            if (!CHCNetSDK.NET_DVR_Cleanup())
+            {
+                _log.Info("NET_DVR_Cleanup failed, error code= " + CHCNetSDK.NET_DVR_GetLastError());
+                return;
+            }
+            else
+            {
+                this.RealTemperature = new RealTemperatureInfo()
+                {
+                    fMaxTemperature = 0,
+                    fMinTemperature = 0,
+                    fAverageTemperature = 0,
+                    fTemperatureDiff = 0,
+                };
+            }
+            _log.Info("NET_DVR_Logout succ!");
+        }
+
+        /// <summary>
+        /// 云台控制
+        /// </summary>
+        /// <param name="direction"></param>
+        /// <param name="is_MouseDown"></param>
+        public void GimbalOperate(string direction, bool is_MouseDown)
+        {
+            if (is_MouseDown)
+            {
+                switch (direction)
+                {
+                    case "left":
+                        CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, (uint)CHCNetSDK.PAN_LEFT, 0, 4);
+                        break;
+                    case "right":
+                        CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.PAN_RIGHT, 0, 4);
+                        break;
+                    case "up":
+                        CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.TILT_UP, 0, 4);
+                        break;
+                    case "down":
+                        CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.TILT_DOWN, 0, 4);
+                        break;
+                    case "zoomIn":
+                        CHCNetSDK.NET_DVR_PTZControl(Scenery_RealHandle, CHCNetSDK.ZOOM_IN, 0);
+                        break;
+                    case "zoomOut":
+                        CHCNetSDK.NET_DVR_PTZControl(Scenery_RealHandle, CHCNetSDK.ZOOM_OUT, 0);
+                        break;
+                    case "focusNear":
+                        CHCNetSDK.NET_DVR_PTZControl(Scenery_RealHandle, CHCNetSDK.FOCUS_NEAR, 0);
+                        break;
+                    case "focusFar":
+                        CHCNetSDK.NET_DVR_PTZControl(Scenery_RealHandle, CHCNetSDK.FOCUS_FAR, 0);
+                        break;
+                    default:
+                        break;
+                }
+            }
+            else
+            {
+                switch (direction)
+                {
+                    case "left":
+                        CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.PAN_LEFT, 1, 4);
+                        break;
+                    case "right":
+                        CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.PAN_RIGHT, 1, 4);
+                        break;
+                    case "up":
+                        CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.TILT_UP, 1, 4);
+                        break;
+                    case "down":
+                        CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.TILT_DOWN, 1, 4);
+                        break;
+                    case "zoomIn":
+                        CHCNetSDK.NET_DVR_PTZControl(Scenery_RealHandle, CHCNetSDK.ZOOM_IN, 1);
+                        break;
+                    case "zoomOut":
+                        CHCNetSDK.NET_DVR_PTZControl(Scenery_RealHandle, CHCNetSDK.ZOOM_OUT, 1);
+                        break;
+                    case "focusNear":
+                        CHCNetSDK.NET_DVR_PTZControl(Scenery_RealHandle, CHCNetSDK.FOCUS_NEAR, 1);
+                        break;
+                    case "focusFar":
+                        CHCNetSDK.NET_DVR_PTZControl(Scenery_RealHandle, CHCNetSDK.FOCUS_FAR, 1);
+                        break;
+                    default:
+                        break;
+                }
+            }
+        }
+
+
+        private bool gimbalAuto = false;
+        public CHCNetSDK.NET_DVR_PTZPOS m_struPtzCfg;
+        /// <summary>
+        /// 云台回原点
+        /// </summary>
+        [RelayCommand]
+        private void GimbalOrigin()
+        {
+            if (gimbalAuto)
+            {
+                CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.PAN_AUTO, 1, 4);
+                this.GimbalAutoRunText = "Auto";
+                gimbalAuto = false;
+            }
+
+            float wPanPos, wTiltPos, wZoomPos;
+            var flag = 0;
+            m_struPtzCfg.wAction = 1;
+
+            m_struPtzCfg.wPanPos = (ushort)(Convert.ToUInt16("20", 16));
+            m_struPtzCfg.wTiltPos = (ushort)(Convert.ToUInt16("4", 16));
+            m_struPtzCfg.wZoomPos = (ushort)(Convert.ToUInt16("10", 16));
+
+            while (flag == 0)
+            {
+
+                Int32 nSize = Marshal.SizeOf(m_struPtzCfg);
+                IntPtr ptrPtzCfg = Marshal.AllocHGlobal(nSize);
+                Marshal.StructureToPtr(m_struPtzCfg, ptrPtzCfg, false);
+
+                if (!CHCNetSDK.NET_DVR_SetDVRConfig(m_lUserID, CHCNetSDK.NET_DVR_SET_PTZPOS, 1, ptrPtzCfg, (UInt32)nSize))
+                {
+                    var str = "云台回零加载异常, error code= " + CHCNetSDK.NET_DVR_GetLastError();
+                    //设置POS参数失败
+                    _log.Info(str);
+                    return;
+                }
+                else
+                {
+                    _log.Info("云台回零加载成功!");
+                    break;
+                }
+
+                Marshal.FreeHGlobal(ptrPtzCfg);
+
+            }
+        }
+
+        /// <summary>
+        /// 云台自动运行模式
+        /// </summary>
+        public void GimbalAutoRun()
+        {
+            if (!gimbalAuto)
+            {
+                CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.PAN_AUTO, 0, 4);
+                this.GimbalAutoRunText = "Stop";
+                gimbalAuto = true;
+            }
+            else
+            {
+                CHCNetSDK.NET_DVR_PTZControlWithSpeed(Scenery_RealHandle, CHCNetSDK.PAN_AUTO, 1, 4);
+                this.GimbalAutoRunText = "Auto";
+                gimbalAuto = false;
+            }
+        }
+
+        /// <summary>
+        /// 开启自动模式
+        /// </summary>
+        public void Start_AutoMode()
+        {
+            autoModeBusiness.Start();
+        }
+
+        /// <summary>
+        /// 关闭自动模式
+        /// </summary>
+        public void Stop_AutoMode()
+        {
+            autoModeBusiness.Stop();
+        }
+
+        /// <summary>
+        /// 开启巡检模式
+        /// </summary>
+        public void Start_InspMode()
+        {
+            string taskCode = DateTime.Now.ToString("yyyyMMddHHmmssffff");
+            string fileName = $"{taskCode}.mp4";
+            Task.Run(() =>
+            {
+                var url = $"{_appConfig.videoFilePath}\\可见光\\{fileName}";
+                CHCNetSDK.NET_DVR_MakeKeyFrame(m_lUserID, 1);
+                if (!CHCNetSDK.NET_DVR_SaveRealData(Scenery_RealHandle, url))
+                {
+                    var str = "可见光通道开启巡检录像失败, error code= " + NET_DVR_GetLastError();
+                    _log.Info(str);
+                    return;
+                }
+                else
+                {
+                    _log.Info($"可见光通道开启巡检录像成功");
+                }
+            });
+
+            Task.Run(() =>
+            {
+                var url = $"{_appConfig.videoFilePath}\\热成像\\{fileName}";
+                CHCNetSDK.NET_DVR_MakeKeyFrame(m_lUserID, 2);
+                if (!CHCNetSDK.NET_DVR_SaveRealData(Thermal_RealHandle, url))
+                {
+                    var str = "热成像通道开启巡检录像失败, error code= " + NET_DVR_GetLastError();
+                    _log.Info(str);
+                    return;
+                }
+                else
+                {
+                    _log.Info($"热成像通道开启巡检录像成功");
+                }
+            });
+
+            inspModeBusiness.Start(taskCode, fileName);
+        }
+
+        /// <summary>
+        /// 关闭巡检模式
+        /// </summary>
+        public void Stop_InspMode()
+        {
+            Task.Run(() =>
+            {
+                if (!CHCNetSDK.NET_DVR_StopSaveRealData(Scenery_RealHandle))
+                {
+                    var str = "可见光通道关闭巡检录像失败, error code= " + NET_DVR_GetLastError();
+                    _log.Info(str);
+                    return;
+                }
+                else
+                {
+                    _log.Info($"可见光通道关闭巡检录像成功");
+                }
+            });
+
+            Task.Run(() =>
+            {
+                if (!CHCNetSDK.NET_DVR_StopSaveRealData(Thermal_RealHandle))
+                {
+                    var str = "热成像通道关闭巡检录像失败, error code= " + NET_DVR_GetLastError();
+                    _log.Info(str);
+                    return;
+                }
+                else
+                {
+                    _log.Info($"热成像通道关闭巡检录像成功");
+                }
+            });
+        }
+
+        private int lastTrackMotorAddress = 0;
+        private void RefreshTrackMotorAddress()
+        {
+            Task.Run(() =>
+            {
+                while (true)
+                {
+                    int trackMotorAddress = autoModeBusiness.GetTrackMotorAddress();
+
+                    if (trackMotorAddress != lastTrackMotorAddress)
+                    {
+                        RefreshHighlightStationEvent?.Invoke(trackMotorAddress);
+                    }
+                    Task.Delay(1000).Wait();
+                }
+            });
         }
     }
 }