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49 lines
954 B
49 lines
954 B
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_ONVIF/AP_ONVIF.h> |
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// #include <DeviceBinding.nsmap> |
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// #include <MediaBinding.nsmap> |
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// #include <PTZBinding.nsmap> |
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void setup(); |
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void loop(); |
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const AP_HAL::HAL& hal = AP_HAL::get_HAL(); |
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#if ENABLE_ONVIF |
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AP_ONVIF onvif; |
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void setup() |
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{ |
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printf("AP_ONVIF library test\n"); |
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if (!onvif.init()) { |
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AP_HAL::panic("Failed to initialise onvif"); |
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} |
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} |
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void loop() |
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{ |
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static float pan = 0.0, tilt = 0.0; |
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static bool move_up; |
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printf("Sending: %f %f\n", pan, tilt); |
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onvif.set_absolutemove(pan, tilt, 0); |
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if (pan < 1.0 && move_up) { |
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pan += 0.1; |
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tilt += 0.1; |
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} else if(pan > -1.0 && !move_up) { |
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pan -= 0.1; |
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tilt -= 0.1; |
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} |
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if (pan >= 1.0 && move_up) { |
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move_up = false; |
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} |
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if (pan <= -1.0 && !move_up) { |
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move_up = true; |
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} |
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hal.scheduler->delay(10000); |
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} |
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#else |
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void setup() {} |
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void loop() {} |
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#endif |
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AP_HAL_MAIN();
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