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AP_ONVIF: add support controlling onvif cam using scripting

This commit is contained in:
Michael Oborne 2021-06-14 22:21:03 +05:30 committed by Andrew Tridgell
parent cd63dd1720
commit 1db1da9ee5
2 changed files with 50 additions and 55 deletions
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76
libraries/AP_ONVIF/AP_ONVIF.cpp
View File

@ -22,23 +22,6 @@
// For ChibiOS we will use HW RND # generator
#include <stdlib.h> //rand()
#ifndef USERNAME
#define USERNAME "admin"
#endif
#ifndef PASSWORD
#define PASSWORD "admin"
#endif
#ifndef ONVIF_HOSTNAME
#define ONVIF_HOSTNAME "http://10.211.55.3:10000"
#endif
#define DEVICE_ENDPOINT ONVIF_HOSTNAME"/onvif/device_service"
#define MEDIA_ENDPOINT ONVIF_HOSTNAME"/onvif/media_service"
#define PTZ_ENDPOINT ONVIF_HOSTNAME"/onvif/ptz_service"
#ifndef PRINT
#define PRINT(fmt,args...) do {printf(fmt "\n", ## args); } while(0)
#endif
@ -46,9 +29,18 @@
const char *wsse_PasswordDigestURI = "http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-username-token-profile-1.0#PasswordDigest";
const char *wsse_Base64BinaryURI = "http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-soap-message-security-1.0#Base64Binary";
// static AP _ONVIF *_singleton;
AP_ONVIF *AP_ONVIF::_singleton;
extern const AP_HAL::HAL &hal;
// Default constructor
AP_ONVIF::AP_ONVIF()
{
if (_singleton != nullptr) {
AP_HAL::panic("AP_ONVIF must be singleton");
}
_singleton = this;
}
bool AP_ONVIF::init()
{
srand ((time_t)(hal.util->get_hw_rtc()/1000000ULL));
@ -65,43 +57,29 @@ bool AP_ONVIF::init()
AP_HAL::panic("AP_ONVIF: Failed to allocate gSOAP Proxy objects.");
return false;
}
return true;
}
bool AP_ONVIF::start(const char *user, const char *pass, const char *httphostname)
{
username = user;
password = pass;
hostname = httphostname;
DEVICE_ENDPOINT = hostname + "/onvif/device_service";
MEDIA_ENDPOINT = hostname + "/onvif/media_service";
PTZ_ENDPOINT = hostname + "/onvif/ptz_service";
/// TODO: Need to find a way to store this in parameter system
// or it could be just storage, we will see
proxy_device->soap_endpoint = DEVICE_ENDPOINT;
proxy_device->soap_endpoint = DEVICE_ENDPOINT.c_str();
if (!probe_onvif_server()) {
PRINT("Failed to probe onvif server.");
return false;
}
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_ONVIF::update, void), "onvif",
4096, AP_HAL::Scheduler::PRIORITY_IO, 0)) {
PRINT("Failed to create onvif thread");
return false;
}
return true;
}
void AP_ONVIF::update()
{
while(true) {
float pan = pan_norm;
float tilt = tilt_norm;
// translate them into actual commands using cmd limits
pan = ((pan + 1) * (pan_tilt_limit_max.x - pan_tilt_limit_min.x)/2.0) + pan_tilt_limit_min.x;
tilt = ((tilt + 1) * (pan_tilt_limit_max.y - pan_tilt_limit_min.y)/2.0) + pan_tilt_limit_min.y;
PRINT("PAN: %f TILT: %f", pan, tilt);
// don't send the same request again
if (uint32_t(pan*100.0) != uint32_t(last_pan_cmd*100.0) || uint32_t(tilt*100.0) != uint32_t(last_tilt_cmd*100.0)) {
// actually send the command
set_absolutemove(pan, tilt, 0.0);
last_pan_cmd = pan;
last_tilt_cmd = tilt;
}
hal.scheduler->delay(100);
}
}
void AP_ONVIF::report_error()
{
PRINT("ONVIF ERROR:\n");
@ -171,7 +149,7 @@ bool AP_ONVIF::probe_onvif_server()
}
// set the Media proxy endpoint to XAddr
proxy_media->soap_endpoint = MEDIA_ENDPOINT;
proxy_media->soap_endpoint = MEDIA_ENDPOINT.c_str();
// get device profiles
_trt__GetProfiles GetProfiles;
@ -198,7 +176,7 @@ bool AP_ONVIF::probe_onvif_server()
// Just use first one for now
profile_token = GetProfilesResponse.Profiles[0]->token;
proxy_ptz->soap_endpoint = PTZ_ENDPOINT;
proxy_ptz->soap_endpoint = PTZ_ENDPOINT.c_str();
// _tptz__GetServiceCapabilities GetCapabilities;
// _tptz__GetServiceCapabilitiesResponse GetCapabilitiesResponse;
@ -317,7 +295,7 @@ void AP_ONVIF::set_credentials()
#else
sha1_hash((const unsigned char*)nonce, 16, &ctx);
sha1_hash((const unsigned char*)created, strlen(created), &ctx);
sha1_hash((const unsigned char*)PASSWORD, strlen(PASSWORD), &ctx);
sha1_hash((const unsigned char*)password.c_str(), strlen(password.c_str()), &ctx);
nonceBase64 = (char*)base64_encode((unsigned char*)nonce, 16, &noncelen);
#endif
sha1_end((unsigned char*)HA, &ctx);
@ -331,7 +309,7 @@ void AP_ONVIF::set_credentials()
memcpy(HABase64fin, HABase64enc, HABase64len);
if (soap_wsse_add_UsernameTokenText(soap, "Auth", USERNAME, HABase64fin)) {
if (soap_wsse_add_UsernameTokenText(soap, "Auth", username.c_str(), HABase64fin)) {
report_error();
}
/* populate the remainder of the password, nonce, and created */

29
libraries/AP_ONVIF/AP_ONVIF.h
View File

@ -25,24 +25,33 @@
class AP_ONVIF {
public:
AP_ONVIF();
/* Do not allow copies */
AP_ONVIF(const AP_ONVIF &other) = delete;
AP_ONVIF &operator=(const AP_ONVIF&) = delete;
bool init();
bool start(const char *user, const char *pass, const char *httphostname);
void set_credentials();
bool set_absolutemove(float pan, float tilt, float zoom);
void set_pan_norm(float pan) { pan_norm = pan; }
void set_tilt_norm(float tilt) { tilt_norm = tilt; }
void set_zoom_norm(float zoom) { zoom_norm = zoom; }
Vector2f get_pan_tilt_limit_max() const { return pan_tilt_limit_max; }
Vector2f get_pan_tilt_limit_min() const { return pan_tilt_limit_min; }
// get singleton instance
// static AP_ONVIF *get_singleton() { return _singleton; }
static AP_ONVIF *get_singleton() { return _singleton; }
private:
void report_error();
bool probe_onvif_server();
void rand_nonce(char *nonce, size_t noncelen);
void update();
Vector2f pan_tilt_limit_min;
Vector2f pan_tilt_limit_max;
float pan_norm, tilt_norm;
float pan_norm, tilt_norm, zoom_norm;
float last_pan_cmd, last_tilt_cmd;
float zoom_min, zoom_max;
@ -53,9 +62,17 @@ private:
PTZBindingProxy *proxy_ptz;
static AP_ONVIF *_singleton;
char* media_endpoint;
std::string username;
std::string password;
std::string hostname;
std::string DEVICE_ENDPOINT;
std::string MEDIA_ENDPOINT;
std::string PTZ_ENDPOINT;
};
// namespace AP {
// AP_ONVIF *onvif();
// };
namespace AP {
AP_ONVIF &onvif();
};