AP_Scripting: add support for controlling onvif camera using lua script

libraries/AP_Scripting/AP_Scripting.cpp

@@ -43,6 +43,10 @@
 static_assert(SCRIPTING_STACK_SIZE >= SCRIPTING_STACK_MIN_SIZE, "Scripting requires a larger minimum stack size");
 static_assert(SCRIPTING_STACK_SIZE <= SCRIPTING_STACK_MAX_SIZE, "Scripting requires a smaller stack size");
 
+#ifndef SCRIPTING_ENABLE_DEFAULT
+#define SCRIPTING_ENABLE_DEFAULT 0
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_Scripting::var_info[] = {
@@ -52,7 +56,7 @@ const AP_Param::GroupInfo AP_Scripting::var_info[] = {
     // @Values: 0:None,1:Lua Scripts
     // @RebootRequired: True
     // @User: Advanced
-    AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Scripting, _enable, 0, AP_PARAM_FLAG_ENABLE),
+    AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Scripting, _enable, SCRIPTING_ENABLE_DEFAULT, AP_PARAM_FLAG_ENABLE),
 
     // @Param: VM_I_COUNT
     // @DisplayName: Scripting Virtual Machine Instruction Count

libraries/AP_Scripting/applets/ONVIF_Camera_Control.lua

@@ -0,0 +1,39 @@
+
+local counter = 0
+local running = 0
+local last_pan_cmd = 0.0
+local last_tilt_cmd = 0.0
+
+function update()
+  if onvif and onvif.start and counter >= 100 and running == 0 then
+    gcs:send_text(0, "onvif starting")
+    if onvif:start("user","123456","http://10.211.55.3:10000") then
+        gcs:send_text(0, "onvif started")
+        running = 1
+    end
+    counter = 0
+  end
+  counter = counter + 1
+
+  if running == 1 then
+    pan_norm, tilt_norm = vehicle:get_pan_tilt_norm()
+    pan_tilt_limit_max = onvif:get_pan_tilt_limit_max()
+    pan_tilt_limit_min = onvif:get_pan_tilt_limit_min()
+    pan_norm = ((pan_norm + 1) * (pan_tilt_limit_max:x() - pan_tilt_limit_min:x())/2.0) + pan_tilt_limit_min:x()
+    tilt_norm = ((tilt_norm + 1) * (pan_tilt_limit_max:y() - pan_tilt_limit_min:y())/2.0) + pan_tilt_limit_min:y()
+    gcs:send_text(0, string.format("PAN: %f TILT: %f", pan_norm, tilt_norm))
+    if math.floor(pan_norm*100.0) ~= math.floor(last_pan_cmd*100.0) or
+        math.floor(tilt_norm*100.0) ~= math.floor(last_tilt_cmd*100.0) then
+      -- actually send the command
+      if not onvif:set_absolutemove(pan_norm, tilt_norm, 0.0) then
+        gcs:send_text(0, "onvif failed to send absolutemove command")
+      end
+      last_pan_cmd = pan_norm;
+      last_tilt_cmd = tilt_norm;
+    end
+  end
+  return update, 20
+end
+gcs:send_text(0, "Starting ONVIF Control")
+
+return update() -- run immediately before starting to reschedule

libraries/AP_Scripting/applets/ONVIF_Camera_Control.md

@@ -0,0 +1,14 @@
+# ONVIF_Camera_Control Lua Script
+
+This is a script that converts AntennaTracker into a Drone Tracking Camera using ONVIF capable Camera. The Camera needs to support  PTZ AbsoluteMove method. The camera is sent absolute Pan Tilt commands based on requirement from Antenna Tracker lib.
+
+User just needs to edit the script to set string username, password and IP address:port of the camera. Currently we only support running as part of SITL/Linux instance. Which can simply be done by adding `--enable-onvif` the rest including adding this script will be taken care of by build system. Also you will need to set `PITCH_MAX` `PITCH_MIN` and `YAW_RANGE` parameters per camera specifications.
+
+Following steps are required before doing ONVIF build:
+```
+cd modules/gsoap
+autoreconf -f -i
+./configure
+make
+make install #add sudo if needed
+```

libraries/AP_Scripting/generator/description/bindings.desc

@@ -180,9 +180,13 @@ singleton GCS method send_text void MAV_SEVERITY'enum MAV_SEVERITY_EMERGENCY MAV
 singleton GCS method set_message_interval MAV_RESULT'enum uint8_t 0 MAVLINK_COMM_NUM_BUFFERS uint32_t 0U UINT32_MAX int32_t -1 INT32_MAX
 singleton GCS method send_named_float void string float -FLT_MAX FLT_MAX
 
-include AP_ONVIF/AP_ONVIF.h
+include AP_ONVIF/AP_ONVIF.h depends ENABLE_ONVIF == 1
+singleton AP_ONVIF depends ENABLE_ONVIF == 1
 singleton AP_ONVIF alias onvif
 singleton AP_ONVIF method start boolean string string string
+singleton AP_ONVIF method set_absolutemove boolean float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX
+singleton AP_ONVIF method get_pan_tilt_limit_min Vector2f
+singleton AP_ONVIF method get_pan_tilt_limit_max Vector2f
 
 include AP_Vehicle/AP_Vehicle.h
 singleton AP_Vehicle alias vehicle
@@ -203,6 +207,7 @@ singleton AP_Vehicle method set_steering_and_throttle boolean float -1 1 float -
 singleton AP_Vehicle method get_wp_distance_m boolean float'Null
 singleton AP_Vehicle method get_wp_bearing_deg boolean float'Null
 singleton AP_Vehicle method get_wp_crosstrack_error_m boolean float'Null
+singleton AP_Vehicle method get_pan_tilt_norm boolean float'Null float'Null
 
 include AP_SerialLED/AP_SerialLED.h
 singleton AP_SerialLED alias serialLED