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102 lines
3.0 KiB
102 lines
3.0 KiB
/* |
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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_Boards.h> |
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#if ENABLE_ONVIF |
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#pragma GCC diagnostic push |
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#pragma GCC diagnostic ignored "-Wshadow" |
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#pragma GCC diagnostic ignored "-Wsuggest-override" |
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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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#pragma GCC diagnostic pop |
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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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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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// Start ONVIF client with username, password and service host url |
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bool start(const char *user, const char *pass, const char *httphostname); |
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// Turn ONVIF camera to mentioned pan, tilt and zoom, normalised |
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// between limits |
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bool set_absolutemove(float pan, float tilt, float zoom); |
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// returns pan/tilt command max limit |
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Vector2f get_pan_tilt_limit_max() const { return pan_tilt_limit_max; } |
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// returns pan/tilt command min limit |
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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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private: |
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// prepares security header of SOAP message going to be sent immmediately after |
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bool set_credentials(); |
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// convert error message from gSOAP lib into human readable string and print |
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void report_error(); |
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// detect onvif server present on the network |
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bool probe_onvif_server(); |
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// Generate Random Nonce value |
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bool rand_nonce(char *nonce, size_t noncelen); |
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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, 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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char* profile_token; |
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size_t profile_token_size; |
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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* username; |
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size_t username_len; |
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char* password; |
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size_t password_len; |
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size_t hostname_len; |
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char* device_endpoint; |
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char* media_endpoint; |
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char* ptz_endpoint; |
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bool initialised; |
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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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#endif // #if ENABLE_ONVIF
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