mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.8 KiB
C++
62 lines
1.8 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Michael Oborne and Siddharth Bharat Purohit, Cubepilot Pty.
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_ONVIF/onvifDeviceBindingProxy.h>
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#include <AP_ONVIF/onvifMediaBindingProxy.h>
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#include <AP_ONVIF/onvifPTZBindingProxy.h>
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#include <plugin/wsseapi-lite.h>
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#include <AP_Math/AP_Math.h>
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class AP_ONVIF {
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public:
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bool init();
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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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// get singleton instance
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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 last_pan_cmd, last_tilt_cmd;
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float zoom_min, zoom_max;
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std::string profile_token;
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struct soap *soap;
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DeviceBindingProxy *proxy_device;
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MediaBindingProxy *proxy_media;
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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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};
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// namespace AP {
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// AP_ONVIF *onvif();
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// };
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