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https://github.com/ArduPilot/ardupilot
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AP_ONVIF: add support controlling onvif cam using scripting
This commit is contained in:
Michael Oborne
Andrew Tridgell
parent
cd63dd1720
commit
1db1da9ee5
@ -22,23 +22,6 @@
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// For ChibiOS we will use HW RND # generator
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#include <stdlib.h> //rand()
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#ifndef USERNAME
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#define USERNAME "admin"
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#endif
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#ifndef PASSWORD
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#define PASSWORD "admin"
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#endif
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#ifndef ONVIF_HOSTNAME
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#define ONVIF_HOSTNAME "http://10.211.55.3:10000"
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#endif
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#define DEVICE_ENDPOINT ONVIF_HOSTNAME"/onvif/device_service"
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#define MEDIA_ENDPOINT ONVIF_HOSTNAME"/onvif/media_service"
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#define PTZ_ENDPOINT ONVIF_HOSTNAME"/onvif/ptz_service"
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#ifndef PRINT
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#define PRINT(fmt,args...) do {printf(fmt "\n", ## args); } while(0)
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#endif
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@ -46,9 +29,18 @@
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const char *wsse_PasswordDigestURI = "http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-username-token-profile-1.0#PasswordDigest";
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const char *wsse_Base64BinaryURI = "http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-soap-message-security-1.0#Base64Binary";
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// static AP _ONVIF *_singleton;
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AP_ONVIF *AP_ONVIF::_singleton;
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extern const AP_HAL::HAL &hal;
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// Default constructor
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AP_ONVIF::AP_ONVIF()
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{
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_ONVIF must be singleton");
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}
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_singleton = this;
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}
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bool AP_ONVIF::init()
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{
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srand ((time_t)(hal.util->get_hw_rtc()/1000000ULL));
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@ -65,43 +57,29 @@ bool AP_ONVIF::init()
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AP_HAL::panic("AP_ONVIF: Failed to allocate gSOAP Proxy objects.");
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return false;
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}
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return true;
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}
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bool AP_ONVIF::start(const char *user, const char *pass, const char *httphostname)
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{
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username = user;
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password = pass;
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hostname = httphostname;
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DEVICE_ENDPOINT = hostname + "/onvif/device_service";
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MEDIA_ENDPOINT = hostname + "/onvif/media_service";
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PTZ_ENDPOINT = hostname + "/onvif/ptz_service";
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/// TODO: Need to find a way to store this in parameter system
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// or it could be just storage, we will see
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proxy_device->soap_endpoint = DEVICE_ENDPOINT;
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proxy_device->soap_endpoint = DEVICE_ENDPOINT.c_str();
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if (!probe_onvif_server()) {
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PRINT("Failed to probe onvif server.");
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return false;
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}
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if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_ONVIF::update, void), "onvif",
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4096, AP_HAL::Scheduler::PRIORITY_IO, 0)) {
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PRINT("Failed to create onvif thread");
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return false;
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}
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return true;
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}
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void AP_ONVIF::update()
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{
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while(true) {
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float pan = pan_norm;
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float tilt = tilt_norm;
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// translate them into actual commands using cmd limits
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pan = ((pan + 1) * (pan_tilt_limit_max.x - pan_tilt_limit_min.x)/2.0) + pan_tilt_limit_min.x;
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tilt = ((tilt + 1) * (pan_tilt_limit_max.y - pan_tilt_limit_min.y)/2.0) + pan_tilt_limit_min.y;
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PRINT("PAN: %f TILT: %f", pan, tilt);
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// don't send the same request again
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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)) {
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// actually send the command
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set_absolutemove(pan, tilt, 0.0);
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last_pan_cmd = pan;
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last_tilt_cmd = tilt;
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}
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hal.scheduler->delay(100);
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}
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}
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void AP_ONVIF::report_error()
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{
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PRINT("ONVIF ERROR:\n");
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@ -171,7 +149,7 @@ bool AP_ONVIF::probe_onvif_server()
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}
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// set the Media proxy endpoint to XAddr
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proxy_media->soap_endpoint = MEDIA_ENDPOINT;
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proxy_media->soap_endpoint = MEDIA_ENDPOINT.c_str();
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// get device profiles
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_trt__GetProfiles GetProfiles;
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@ -198,7 +176,7 @@ bool AP_ONVIF::probe_onvif_server()
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// Just use first one for now
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profile_token = GetProfilesResponse.Profiles[0]->token;
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proxy_ptz->soap_endpoint = PTZ_ENDPOINT;
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proxy_ptz->soap_endpoint = PTZ_ENDPOINT.c_str();
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// _tptz__GetServiceCapabilities GetCapabilities;
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// _tptz__GetServiceCapabilitiesResponse GetCapabilitiesResponse;
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@ -317,7 +295,7 @@ void AP_ONVIF::set_credentials()
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#else
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sha1_hash((const unsigned char*)nonce, 16, &ctx);
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sha1_hash((const unsigned char*)created, strlen(created), &ctx);
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sha1_hash((const unsigned char*)PASSWORD, strlen(PASSWORD), &ctx);
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sha1_hash((const unsigned char*)password.c_str(), strlen(password.c_str()), &ctx);
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nonceBase64 = (char*)base64_encode((unsigned char*)nonce, 16, &noncelen);
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#endif
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sha1_end((unsigned char*)HA, &ctx);
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@ -331,7 +309,7 @@ void AP_ONVIF::set_credentials()
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memcpy(HABase64fin, HABase64enc, HABase64len);
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if (soap_wsse_add_UsernameTokenText(soap, "Auth", USERNAME, HABase64fin)) {
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if (soap_wsse_add_UsernameTokenText(soap, "Auth", username.c_str(), HABase64fin)) {
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report_error();
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}
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/* populate the remainder of the password, nonce, and created */
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@ -25,24 +25,33 @@
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class AP_ONVIF {
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public:
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AP_ONVIF();
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/* Do not allow copies */
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AP_ONVIF(const AP_ONVIF &other) = delete;
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AP_ONVIF &operator=(const AP_ONVIF&) = delete;
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bool init();
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bool start(const char *user, const char *pass, const char *httphostname);
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void set_credentials();
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bool set_absolutemove(float pan, float tilt, float zoom);
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void set_pan_norm(float pan) { pan_norm = pan; }
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void set_tilt_norm(float tilt) { tilt_norm = tilt; }
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void set_zoom_norm(float zoom) { zoom_norm = zoom; }
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Vector2f get_pan_tilt_limit_max() const { return pan_tilt_limit_max; }
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Vector2f get_pan_tilt_limit_min() const { return pan_tilt_limit_min; }
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// get singleton instance
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// static AP_ONVIF *get_singleton() { return _singleton; }
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static AP_ONVIF *get_singleton() { return _singleton; }
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private:
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void report_error();
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bool probe_onvif_server();
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void rand_nonce(char *nonce, size_t noncelen);
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void update();
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Vector2f pan_tilt_limit_min;
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Vector2f pan_tilt_limit_max;
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float pan_norm, tilt_norm;
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float pan_norm, tilt_norm, zoom_norm;
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float last_pan_cmd, last_tilt_cmd;
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float zoom_min, zoom_max;
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@ -53,9 +62,17 @@ private:
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PTZBindingProxy *proxy_ptz;
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static AP_ONVIF *_singleton;
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char* media_endpoint;
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std::string username;
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std::string password;
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std::string hostname;
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std::string DEVICE_ENDPOINT;
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std::string MEDIA_ENDPOINT;
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std::string PTZ_ENDPOINT;
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};
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// namespace AP {
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// AP_ONVIF *onvif();
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// };
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namespace AP {
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AP_ONVIF &onvif();
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};
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