Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_ONVIF: remove dependency on C++ STL and std::string

This commit is contained in:
Siddharth Purohit 2021-06-23 22:14:26 +05:30 committed by Andrew Tridgell
parent 5f82ef83ad
commit 2c6659930a
6 changed files with 989 additions and 614 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

391
libraries/AP_ONVIF/AP_ONVIF.cpp
View File

@ -22,18 +22,27 @@
#include "onvifhelpers.h"
// For ChibiOS we will use HW RND # generator
#include <stdlib.h> //rand()
#include <GCS_MAVLink/GCS.h>
#ifndef PRINT
#define PRINT(fmt,args...) do {printf(fmt "\n", ## args); } while(0)
extern const AP_HAL::HAL &hal;
#if 0
#define DEBUG_PRINT(fmt,args...) do {GCS_SEND_TEXT(MAV_SEVERITY_INFO ,"AP_ONVIF:" fmt "\n", ## args); } while(0)
#else
#define DEBUG_PRINT(fmt,args...)
#endif
#define ERROR_PRINT(fmt,args...) do {GCS_SEND_TEXT(MAV_SEVERITY_ERROR , "AP_ONVIF:" fmt "\n", ## args); } while(0)
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";
AP_ONVIF *AP_ONVIF::_singleton;
extern const AP_HAL::HAL &hal;
static AP_ONVIF onvif;
#define DEVICE_ENDPOINT_LOC "/onvif/device_service"
#define MEDIA_ENDPOINT_LOC "/onvif/media_service"
#define PTZ_ENDPOINT_LOC "/onvif/ptz_service"
// Default constructor
AP_ONVIF::AP_ONVIF()
{
@ -49,16 +58,27 @@ bool AP_ONVIF::start(const char *user, const char *pass, const char *httphostnam
if (!initialised) {
srand ((time_t)(hal.util->get_hw_rtc()/1000000ULL));
soap = soap_new1(SOAP_XML_CANONICAL | SOAP_C_UTFSTRING);
if (soap == nullptr) {
ERROR_PRINT("AP_ONVIF: Failed to allocate soap");
return false;
}
soap->connect_timeout = soap->recv_timeout = soap->send_timeout = 30; // 30 sec
proxy_device = new DeviceBindingProxy(soap);
proxy_media = new MediaBindingProxy(soap);
proxy_ptz = new PTZBindingProxy(soap);
if (proxy_device == nullptr) {
proxy_device = new DeviceBindingProxy(soap);
}
if (proxy_media == nullptr) {
proxy_media = new MediaBindingProxy(soap);
}
if (proxy_ptz == nullptr) {
proxy_ptz = new PTZBindingProxy(soap);
}
if (proxy_device == nullptr ||
proxy_media == nullptr ||
proxy_ptz == nullptr) {
AP_HAL::panic("AP_ONVIF: Failed to allocate gSOAP Proxy objects.");
ERROR_PRINT("AP_ONVIF: Failed to allocate gSOAP Proxy objects.");
return false;
}
initialised = true;
}
@ -66,15 +86,33 @@ bool AP_ONVIF::start(const char *user, const char *pass, const char *httphostnam
username = user;
password = pass;
hostname = httphostname;
DEVICE_ENDPOINT = hostname + "/onvif/device_service";
MEDIA_ENDPOINT = hostname + "/onvif/media_service";
PTZ_ENDPOINT = hostname + "/onvif/ptz_service";
if (device_endpoint == nullptr) {
device_endpoint = (char*)malloc(strlen(hostname) + strlen(DEVICE_ENDPOINT_LOC) + 1);
}
if (media_endpoint == nullptr) {
media_endpoint = (char*)malloc(strlen(hostname) + strlen(MEDIA_ENDPOINT_LOC) + 1);
}
if (ptz_endpoint == nullptr) {
ptz_endpoint = (char*)malloc(strlen(hostname) + strlen(PTZ_ENDPOINT_LOC) + 1);
}
if (device_endpoint == nullptr ||
media_endpoint == nullptr ||
ptz_endpoint == nullptr) {
ERROR_PRINT("Failed to Allocate endpoint strings");
return false;
}
snprintf(device_endpoint, strlen(hostname) + strlen(DEVICE_ENDPOINT_LOC) + 1, "%s" DEVICE_ENDPOINT_LOC, hostname);
snprintf(media_endpoint, strlen(hostname) + strlen(MEDIA_ENDPOINT_LOC) + 1, "%s" MEDIA_ENDPOINT_LOC, hostname);
snprintf(ptz_endpoint, strlen(hostname) + strlen(PTZ_ENDPOINT_LOC) + 1, "%s" PTZ_ENDPOINT_LOC, hostname);
/// 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.c_str();
proxy_device->soap_endpoint = device_endpoint;
if (!probe_onvif_server()) {
PRINT("Failed to probe onvif server.");
ERROR_PRINT("Failed to probe onvif server.");
return false;
}
@ -83,9 +121,9 @@ bool AP_ONVIF::start(const char *user, const char *pass, const char *httphostnam
void AP_ONVIF::report_error()
{
PRINT("ONVIF ERROR:\n");
ERROR_PRINT("ONVIF ERROR:");
if (soap_check_state(soap)) {
PRINT("Error: soap struct state not initialized");
ERROR_PRINT("Error: soap struct state not initialized");
} else if (soap->error) {
const char **c, *v = NULL, *s, *d;
c = soap_faultcode(soap);
@ -98,7 +136,7 @@ void AP_ONVIF::report_error()
}
s = soap_fault_string(soap);
d = soap_fault_detail(soap);
PRINT("%s%d fault %s [%s]\n%s\nDetail: %s",(soap->version ? "SOAP 1." : "Error "),
ERROR_PRINT("%s%d fault %s [%s]\n%s\nDetail: %s",(soap->version ? "SOAP 1." : "Error "),
(soap->version ? (int)soap->version : soap->error),
*c, (v ? v : "no subcode"), (s ? s : "[no reason]"),
(d ? d : "[no detail]"));
@ -108,148 +146,177 @@ void AP_ONVIF::report_error()
// detect onvif server present on the network
bool AP_ONVIF::probe_onvif_server()
{
_tds__GetDeviceInformation GetDeviceInformation;
_tds__GetDeviceInformationResponse GetDeviceInformationResponse;
set_credentials();
if (proxy_device->GetDeviceInformation(&GetDeviceInformation, GetDeviceInformationResponse)) {
PRINT("Failed to fetch Device Information");
report_error();
return false;
}
{
_tds__GetDeviceInformation GetDeviceInformation;
_tds__GetDeviceInformationResponse GetDeviceInformationResponse;
if (!set_credentials()) {
ERROR_PRINT("Failed to setup credentials");
goto err;
}
if (proxy_device->GetDeviceInformation(&GetDeviceInformation, GetDeviceInformationResponse)) {
ERROR_PRINT("Failed to fetch Device Information");
report_error();
goto err;
}
PRINT("Manufacturer: %s",GetDeviceInformationResponse.Manufacturer.c_str());
PRINT("Model: %s",GetDeviceInformationResponse.Model.c_str());
PRINT("FirmwareVersion: %s",GetDeviceInformationResponse.FirmwareVersion.c_str());
PRINT("SerialNumber: %s",GetDeviceInformationResponse.SerialNumber.c_str());
PRINT("HardwareId: %s",GetDeviceInformationResponse.HardwareId.c_str());
DEBUG_PRINT("Manufacturer: %s",GetDeviceInformationResponse.Manufacturer);
DEBUG_PRINT("Model: %s",GetDeviceInformationResponse.Model);
DEBUG_PRINT("FirmwareVersion: %s",GetDeviceInformationResponse.FirmwareVersion);
DEBUG_PRINT("SerialNumber: %s",GetDeviceInformationResponse.SerialNumber);
DEBUG_PRINT("HardwareId: %s",GetDeviceInformationResponse.HardwareId);
}
// get device capabilities and print media
_tds__GetCapabilities GetCapabilities;
_tds__GetCapabilitiesResponse GetCapabilitiesResponse;
set_credentials();
if (proxy_device->GetCapabilities(&GetCapabilities, GetCapabilitiesResponse)) {
PRINT("Failed to fetch Device Capabilities");
report_error();
return false;
}
{
_tds__GetCapabilities GetCapabilities;
_tds__GetCapabilitiesResponse GetCapabilitiesResponse;
if (!set_credentials()) {
ERROR_PRINT("Failed to setup credentials");
goto err;
}
if (proxy_device->GetCapabilities(&GetCapabilities, GetCapabilitiesResponse)) {
ERROR_PRINT("Failed to fetch Device Capabilities");
report_error();
goto err;
}
if (!GetCapabilitiesResponse.Capabilities || !GetCapabilitiesResponse.Capabilities->Media) {
PRINT("Missing device capabilities info");
} else {
PRINT("XAddr: %s", GetCapabilitiesResponse.Capabilities->Media->XAddr.c_str());
if (GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities) {
if (GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTPMulticast) {
PRINT("RTPMulticast: %s",(*GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTPMulticast ? "yes" : "no"));
}
if (GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTP_USCORETCP) {
PRINT("RTP_TCP: %s", (*GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTP_USCORETCP ? "yes" : "no"));
}
if (GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTP_USCORERTSP_USCORETCP) {
PRINT("RTP_RTSP_TCP: %s", (*GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTP_USCORERTSP_USCORETCP ? "yes" : "no"));
if (!GetCapabilitiesResponse.Capabilities || !GetCapabilitiesResponse.Capabilities->Media) {
ERROR_PRINT("Missing device capabilities info");
goto err;
} else {
DEBUG_PRINT("XAddr: %s", GetCapabilitiesResponse.Capabilities->Media->XAddr);
if (GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities) {
if (GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTPMulticast) {
DEBUG_PRINT("RTPMulticast: %s",(*GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTPMulticast ? "yes" : "no"));
}
if (GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTP_USCORETCP) {
DEBUG_PRINT("RTP_TCP: %s", (*GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTP_USCORETCP ? "yes" : "no"));
}
if (GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTP_USCORERTSP_USCORETCP) {
DEBUG_PRINT("RTP_RTSP_TCP: %s", (*GetCapabilitiesResponse.Capabilities->Media->StreamingCapabilities->RTP_USCORERTSP_USCORETCP ? "yes" : "no"));
}
}
}
}
// set the Media proxy endpoint to XAddr
proxy_media->soap_endpoint = MEDIA_ENDPOINT.c_str();
// set the Media proxy endpoint to XAddr
proxy_media->soap_endpoint = media_endpoint;
}
// get device profiles
_trt__GetProfiles GetProfiles;
_trt__GetProfilesResponse GetProfilesResponse;
set_credentials();
if (proxy_media->GetProfiles(&GetProfiles, GetProfilesResponse)){
PRINT("Failed to fetch profiles");
report_error();
return false;
}
if (GetProfilesResponse.Profiles.size()) {
PRINT("Profiles Received %lu", GetProfilesResponse.Profiles.size());
} else {
PRINT("Error: No Profiles Received");
return false;
}
// for each profile get snapshot
for (uint32_t i = 0; i < GetProfilesResponse.Profiles.size(); i++) {
PRINT("Profile name: %s", GetProfilesResponse.Profiles[i]->Name.c_str());
}
// Just use first one for now
profile_token = GetProfilesResponse.Profiles[0]->token;
{
_trt__GetProfiles GetProfiles;
_trt__GetProfilesResponse GetProfilesResponse;
if (!set_credentials()) {
ERROR_PRINT("Failed to setup credentials");
goto err;
}
if (proxy_media->GetProfiles(&GetProfiles, GetProfilesResponse)){
ERROR_PRINT("Failed to fetch profiles");
report_error();
goto err;
}
if (GetProfilesResponse.__sizeProfiles > 0) {
DEBUG_PRINT("Profiles Received %lu", (unsigned long)GetProfilesResponse.__sizeProfiles);
} else {
ERROR_PRINT("Error: No Profiles Received");
goto err;
}
// for each profile get snapshot
for (uint32_t i = 0; i < (uint32_t)GetProfilesResponse.__sizeProfiles; i++) {
DEBUG_PRINT("Profile name: %s", GetProfilesResponse.Profiles[i]->Name);
}
// Just use first one for now
if (profile_token_size < (strlen(GetProfilesResponse.Profiles[0]->token) + 1)) {
if (profile_token != nullptr) {
free(profile_token);
}
profile_token = (char*)malloc(strlen(GetProfilesResponse.Profiles[0]->token) + 1);
profile_token_size = strlen(GetProfilesResponse.Profiles[0]->token) + 1;
if (profile_token == nullptr) {
goto err;
}
}
proxy_ptz->soap_endpoint = PTZ_ENDPOINT.c_str();
strcpy(profile_token, GetProfilesResponse.Profiles[0]->token);
// _tptz__GetServiceCapabilities GetCapabilities;
// _tptz__GetServiceCapabilitiesResponse GetCapabilitiesResponse;
// GetCapabilities.Category = tt__CapabilityCategory__PTZ;
// set_credentials();
// if (proxy_ptz->GetServiceCapabilities(&GetCapabilities, GetCapabilitiesResponse)) {
// PRINT("Failed to fetch PTZ Capabilities");
// report_error();
// return false;
// }
// if (!GetCapabilitiesResponse.Capabilities) {
// }
// GetCapabilitiesResponse.Capabilities->PTZ
proxy_ptz->soap_endpoint = ptz_endpoint;
}
// get PTZ Token
_tptz__GetConfigurations GetConfigurations;
_tptz__GetConfigurationsResponse GetConfigurationsResponse;
set_credentials();
if (proxy_ptz->GetConfigurations(&GetConfigurations, GetConfigurationsResponse)) {
PRINT("Failed to fetch Configurations");
report_error();
return false;
}
if (GetConfigurationsResponse.PTZConfiguration.size()) {
PRINT("PTZ Tokens Received");
} else {
PRINT("Error: No Profiles Received");
return false;
}
for (uint32_t i = 0; i < GetConfigurationsResponse.PTZConfiguration.size(); i++) {
PRINT("PTZ: %s", GetConfigurationsResponse.PTZConfiguration[i]->Name.c_str());
}
//GetConfigurationsResponse.PTZConfiguration[0]->token
pan_tilt_limit_max = Vector2f(GetConfigurationsResponse.PTZConfiguration[0]->PanTiltLimits->Range->XRange->Max,
GetConfigurationsResponse.PTZConfiguration[0]->PanTiltLimits->Range->YRange->Max);
pan_tilt_limit_min = Vector2f(GetConfigurationsResponse.PTZConfiguration[0]->PanTiltLimits->Range->XRange->Min,
GetConfigurationsResponse.PTZConfiguration[0]->PanTiltLimits->Range->YRange->Min);
zoom_min = GetConfigurationsResponse.PTZConfiguration[0]->ZoomLimits->Range->XRange->Min;
zoom_max = GetConfigurationsResponse.PTZConfiguration[0]->ZoomLimits->Range->XRange->Max;
{
_tptz__GetConfigurations GetConfigurations;
_tptz__GetConfigurationsResponse GetConfigurationsResponse;
if (!set_credentials()) {
ERROR_PRINT("Failed to setup credentials");
goto err;
}
if (proxy_ptz->GetConfigurations(&GetConfigurations, GetConfigurationsResponse)) {
ERROR_PRINT("Failed to fetch Configurations");
report_error();
goto err;
}
if (GetConfigurationsResponse.__sizePTZConfiguration > 0) {
DEBUG_PRINT("PTZ Tokens Received");
} else {
ERROR_PRINT("Error: No Profiles Received");
goto err;
}
for (uint32_t i = 0; i < (uint32_t)GetConfigurationsResponse.__sizePTZConfiguration; i++) {
DEBUG_PRINT("PTZ: %s", GetConfigurationsResponse.PTZConfiguration[i]->Name);
}
//GetConfigurationsResponse.PTZConfiguration[0]->token
pan_tilt_limit_max = Vector2f(GetConfigurationsResponse.PTZConfiguration[0]->PanTiltLimits->Range->XRange->Max,
GetConfigurationsResponse.PTZConfiguration[0]->PanTiltLimits->Range->YRange->Max);
pan_tilt_limit_min = Vector2f(GetConfigurationsResponse.PTZConfiguration[0]->PanTiltLimits->Range->XRange->Min,
GetConfigurationsResponse.PTZConfiguration[0]->PanTiltLimits->Range->YRange->Min);
zoom_min = GetConfigurationsResponse.PTZConfiguration[0]->ZoomLimits->Range->XRange->Min;
zoom_max = GetConfigurationsResponse.PTZConfiguration[0]->ZoomLimits->Range->XRange->Max;
DEBUG_PRINT("Pan: %f %f Tilt: %f %f", pan_tilt_limit_min.x, pan_tilt_limit_max.x,
pan_tilt_limit_min.y, pan_tilt_limit_max.y);
}
PRINT("Pan: %f %f Tilt: %f %f", pan_tilt_limit_min.x, pan_tilt_limit_max.x,
pan_tilt_limit_min.y, pan_tilt_limit_max.y);
// Get PTZ status
_tptz__GetStatus GetStatus;
_tptz__GetStatusResponse GetStatusResponse;
GetStatus.ProfileToken = profile_token;
set_credentials();
if (proxy_ptz->GetStatus(&GetStatus, GetStatusResponse)) {
PRINT("Failed to recieve PTZ status");
return false;
}
{
_tptz__GetStatus GetStatus;
_tptz__GetStatusResponse GetStatusResponse;
if (GetStatusResponse.PTZStatus->Error) {
PRINT("ErrorStatus: %s", GetStatusResponse.PTZStatus->Error->c_str());
GetStatus.ProfileToken = profile_token;
if (!set_credentials()) {
ERROR_PRINT("Failed to setup credentials");
goto err;
}
if (proxy_ptz->GetStatus(&GetStatus, GetStatusResponse)) {
DEBUG_PRINT("Failed to recieve PTZ status");
goto err;
}
if (GetStatusResponse.PTZStatus->Error) {
DEBUG_PRINT("ErrorStatus: %s", GetStatusResponse.PTZStatus->Error);
}
if (GetStatusResponse.PTZStatus->MoveStatus->PanTilt) {
DEBUG_PRINT("PTStatus: %d", *GetStatusResponse.PTZStatus->MoveStatus->PanTilt);
}
if (GetStatusResponse.PTZStatus->MoveStatus->Zoom) {
DEBUG_PRINT("ZoomStatus: %d", *GetStatusResponse.PTZStatus->MoveStatus->Zoom);
}
DEBUG_PRINT("Pan: %f Tilt: %f", GetStatusResponse.PTZStatus->Position->PanTilt->x,
GetStatusResponse.PTZStatus->Position->PanTilt->y);
DEBUG_PRINT("Zoom: %f", GetStatusResponse.PTZStatus->Position->Zoom->x);
}
if (GetStatusResponse.PTZStatus->MoveStatus->PanTilt) {
PRINT("PTStatus: %d", *GetStatusResponse.PTZStatus->MoveStatus->PanTilt);
}
if (GetStatusResponse.PTZStatus->MoveStatus->Zoom) {
PRINT("ZoomStatus: %d", *GetStatusResponse.PTZStatus->MoveStatus->Zoom);
}
PRINT("Pan: %f Tilt: %f", GetStatusResponse.PTZStatus->Position->PanTilt->x,
GetStatusResponse.PTZStatus->Position->PanTilt->y);
PRINT("Zoom: %f", GetStatusResponse.PTZStatus->Position->Zoom->x);
soap_destroy(soap);
soap_end(soap);
return true;
err:
soap_destroy(soap);
soap_end(soap);
return false;
}
// Generate Random Nonce value
@ -270,7 +337,7 @@ void AP_ONVIF::rand_nonce(char *nonce, size_t noncelen)
#define TEST_PASS "userpassword"
#define TEST_RESULT "tuOSpGlFlIXsozq4HFNeeGeFLEI="
#define TEST 0
void AP_ONVIF::set_credentials()
bool AP_ONVIF::set_credentials()
{
soap_wsse_delete_Security(soap);
soap_wsse_add_Timestamp(soap, "Time", 60);
@ -295,25 +362,29 @@ void AP_ONVIF::set_credentials()
sha1_hash((const unsigned char*)TEST_TIME, strlen(TEST_TIME), &ctx);
sha1_hash((const unsigned char*)TEST_PASS, strlen(TEST_PASS), &ctx);
nonceBase64 = (char*)base64_encode((unsigned char*)test_nonce, 16, &noncelen);
PRINT("Created:%s Hash64:%s", TEST_TIME, HABase64fin);
DEBUG_PRINT("Created:%s Hash64:%s", TEST_TIME, HABase64fin);
#else
sha1_hash((const unsigned char*)nonce, 16, &ctx);
sha1_hash((const unsigned char*)created, strlen(created), &ctx);
sha1_hash((const unsigned char*)password.c_str(), strlen(password.c_str()), &ctx);
sha1_hash((const unsigned char*)password, strlen(password), &ctx);
nonceBase64 = (char*)base64_encode((unsigned char*)nonce, 16, &noncelen);
#endif
sha1_end((unsigned char*)HA, &ctx);
HABase64enc = (char*)base64_encode((unsigned char*)HA, SHA1_DIGEST_SIZE, &HABase64len);
if (HABase64enc == nullptr) {
return false;
}
if (HABase64len > 29) {
//things have gone truly bad time to panic
PRINT("Error: Invalid Base64 Encode!");
ERROR_PRINT("Error: Invalid Base64 Encode!");
free(HABase64enc);
return;
return false;
}
memcpy(HABase64fin, HABase64enc, HABase64len);
free(HABase64enc);
if (soap_wsse_add_UsernameTokenText(soap, "Auth", username.c_str(), HABase64fin)) {
if (soap_wsse_add_UsernameTokenText(soap, "Auth", username, HABase64fin)) {
report_error();
}
/* populate the remainder of the password, nonce, and created */
@ -322,12 +393,14 @@ void AP_ONVIF::set_credentials()
security->UsernameToken->Salt = NULL;
security->UsernameToken->Iteration = NULL;
if (!security->UsernameToken->Nonce) {
return;
ERROR_PRINT("Failed to allocate NONCE");
return false;
}
soap_default_wsse__EncodedString(soap, security->UsernameToken->Nonce);
security->UsernameToken->Nonce->__item = nonceBase64;
security->UsernameToken->Nonce->EncodingType = (char*)wsse_Base64BinaryURI;
security->UsernameToken->wsu__Created = soap_strdup(soap, created);
return true;
}
// Turn ONVIF camera to mentioned pan, tilt and zoom, normalised
@ -337,26 +410,44 @@ bool AP_ONVIF::set_absolutemove(float x, float y, float z)
_tptz__AbsoluteMove AbsoluteMove;
_tptz__AbsoluteMoveResponse AbsoluteMoveResponse;
AbsoluteMove.Position = soap_new_tt__PTZVector(soap);
if (AbsoluteMove.Position == nullptr) {
ERROR_PRINT("Failed to allocate AbsoluteMove.Position");
goto err;
}
AbsoluteMove.Position->PanTilt = soap_new_tt__Vector2D(soap);
if (AbsoluteMove.Position->PanTilt == nullptr) {
ERROR_PRINT("Failed to allocate AbsoluteMove.Position->PanTilt");
goto err;
}
AbsoluteMove.Position->Zoom = soap_new_tt__Vector1D(soap);
if (AbsoluteMove.Position->Zoom == nullptr) {
ERROR_PRINT("Failed to allocate AbsoluteMove.Position->Zoom");
goto err;
}
AbsoluteMove.Position->PanTilt->x = constrain_float(x, pan_tilt_limit_min.x, pan_tilt_limit_max.x);
AbsoluteMove.Position->PanTilt->y = constrain_float(y, pan_tilt_limit_min.y, pan_tilt_limit_max.y);
AbsoluteMove.Position->Zoom->x = constrain_float(z, zoom_min, zoom_max);
AbsoluteMove.Speed = NULL;
AbsoluteMove.ProfileToken = profile_token;
// PRINT("Setting AbsoluteMove: %f %f %f", AbsoluteMove.Position->PanTilt->x,
// DEBUG_PRINT("Setting AbsoluteMove: %f %f %f", AbsoluteMove.Position->PanTilt->x,
// AbsoluteMove.Position->PanTilt->y,
// AbsoluteMove.Position->Zoom->x);
set_credentials();
if (!set_credentials()) {
ERROR_PRINT("Failed to setup credentials");
goto err;
}
if (proxy_ptz->AbsoluteMove(&AbsoluteMove, AbsoluteMoveResponse)) {
PRINT("Failed to sent AbsoluteMove cmd");
ERROR_PRINT("Failed to sent AbsoluteMove cmd");
report_error();
soap_destroy(soap);
soap_end(soap);
return false;
goto err;
}
soap_destroy(soap);
soap_end(soap);
return true;
err:
soap_destroy(soap);
soap_end(soap);
return false;
}
#endif //#if ENABLE_ONVIF

23
libraries/AP_ONVIF/AP_ONVIF.h
View File

@ -19,10 +19,13 @@
#include <AP_HAL/AP_HAL.h>
#if ENABLE_ONVIF
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wshadow"
#include <AP_ONVIF/onvifDeviceBindingProxy.h>
#include <AP_ONVIF/onvifMediaBindingProxy.h>
#include <AP_ONVIF/onvifPTZBindingProxy.h>
#include <plugin/wsseapi-lite.h>
#pragma pop
#include <AP_Math/AP_Math.h>
class AP_ONVIF {
@ -52,7 +55,7 @@ public:
private:
// prepares security header of SOAP message going to be sent immmediately after
void set_credentials();
bool set_credentials();
// convert error message from gSOAP lib into human readable string and print
void report_error();
@ -69,21 +72,21 @@ private:
float last_pan_cmd, last_tilt_cmd;
float zoom_min, zoom_max;
std::string profile_token;
char* profile_token;
size_t profile_token_size;
struct soap *soap;
DeviceBindingProxy *proxy_device;
MediaBindingProxy *proxy_media;
PTZBindingProxy *proxy_ptz;
static AP_ONVIF *_singleton;
const char* username;
const char* password;
const char* hostname;
char* device_endpoint;
char* media_endpoint;
std::string username;
std::string password;
std::string hostname;
std::string DEVICE_ENDPOINT;
std::string MEDIA_ENDPOINT;
std::string PTZ_ENDPOINT;
char* ptz_endpoint;
bool initialised;
};

9
libraries/AP_ONVIF/onvifhelpers.h
View File

@ -41,6 +41,11 @@
#define SHA1_DIGEST_SIZE 20
#ifdef __cplusplus
extern "C" {
#endif
/* type to hold the SHA1 context */
typedef struct
@ -55,3 +60,7 @@ void sha1_end(unsigned char hval[], sha1_ctx ctx[1]);
void sha1(unsigned char hval[], const unsigned char data[], unsigned long len);
uint8_t* base64_encode(const uint8_t *src, uint16_t len, uint16_t *out_len);
uint8_t* base64_decode(const uint8_t *src, uint16_t len, uint16_t *out_len);
#ifdef __cplusplus
}
#endif

1
libraries/AP_ONVIF/sha1.cpp
View File

@ -36,6 +36,7 @@
#include <string.h> /* for memcpy() etc. */
#include "onvifhelpers.h"
#include <endian.h>
#ifdef __BYTE_ORDER
#define SHA1_BLOCK_SIZE 64

1175
libraries/AP_ONVIF/soap/onvif.h
View File

File diff suppressed because it is too large Load Diff

4
libraries/AP_ONVIF/soap/update_onvif_wsdl2h.sh
View File

@ -1,5 +1,5 @@
cp ../../../modules/gsoap/gsoap/typemap.dat .
wsdl2h -O4 -P -x -o onvif.h \
wsdl2h -O4 -P -s -x -o onvif.h \
http://www.onvif.org/onvif/ver10/device/wsdl/devicemgmt.wsdl \
http://www.onvif.org/onvif/ver10/media/wsdl/media.wsdl \
http://www.onvif.org/onvif/ver20/ptz/wsdl/ptz.wsdl
@ -8,4 +8,4 @@ wsdl2h -O4 -P -x -o onvif.h \
# http://www.onvif.org/onvif/ver20/imaging/wsdl/imaging.wsdl \
# http://www.onvif.org/onvif/ver10/network/wsdl/remotediscovery.wsdl \
# http://www.onvif.org/ver10/advancedsecurity/wsdl/advancedsecurity.wsdl
# http://www.onvif.org/ver10/advancedsecurity/wsdl/advancedsecurity.wsdl