ardupilot/libraries/AP_ONVIF/AP_ONVIF.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Michael Oborne and Siddharth Bharat Purohit, Cubepilot Pty.
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#if ENABLE_ONVIF
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wshadow"
#pragma GCC diagnostic ignored "-Wsuggest-override"
#include <AP_ONVIF/onvifDeviceBindingProxy.h>
#include <AP_ONVIF/onvifMediaBindingProxy.h>
#include <AP_ONVIF/onvifPTZBindingProxy.h>
#include <plugin/wsseapi-lite.h>
#pragma GCC diagnostic pop
#include <AP_Math/AP_Math.h>
class AP_ONVIF {
public:
AP_ONVIF();
/* Do not allow copies */
AP_ONVIF(const AP_ONVIF &other) = delete;
AP_ONVIF &operator=(const AP_ONVIF&) = delete;
// Start ONVIF client with username, password and service host url
bool start(const char *user, const char *pass, const char *httphostname);
// Turn ONVIF camera to mentioned pan, tilt and zoom, normalised
// between limits
bool set_absolutemove(float pan, float tilt, float zoom);
// returns pan/tilt command max limit
Vector2f get_pan_tilt_limit_max() const { return pan_tilt_limit_max; }
// returns pan/tilt command min limit
Vector2f get_pan_tilt_limit_min() const { return pan_tilt_limit_min; }
// get singleton instance
static AP_ONVIF *get_singleton() { return _singleton; }
private:
// prepares security header of SOAP message going to be sent immmediately after
bool set_credentials();
// convert error message from gSOAP lib into human readable string and print
void report_error();
// detect onvif server present on the network
bool probe_onvif_server();
// Generate Random Nonce value
bool rand_nonce(char *nonce, size_t noncelen);
Vector2f pan_tilt_limit_min;
Vector2f pan_tilt_limit_max;
float pan_norm, tilt_norm, zoom_norm;
float last_pan_cmd, last_tilt_cmd;
float zoom_min, zoom_max;
char* profile_token;
size_t profile_token_size;
struct soap *soap;
DeviceBindingProxy *proxy_device;
MediaBindingProxy *proxy_media;
PTZBindingProxy *proxy_ptz;
static AP_ONVIF *_singleton;
char* username;
size_t username_len;
char* password;
size_t password_len;
size_t hostname_len;
char* device_endpoint;
char* media_endpoint;
char* ptz_endpoint;
bool initialised;
};
namespace AP {
AP_ONVIF &onvif();
};
#endif // #if ENABLE_ONVIF