ONVIF PTZ控制
转载自：https://blog.csdn.net/X_Jiner/article/details/76263771
一、获取设备能力集
球机都有自己的能力集，在要对球机发送调用命令前可以先获取设备能力集：
struct _tds__GetCapabilities Capabilities;
struct _tds__GetCapabilitiesResponse CapabilitiesResponse;
soap_wsse_add_UsernameTokenDigest(soap, NULL, username, password);//依然记得要在这之前加上鉴权操作
soap_call___tds__GetCapabilities(soap, DeviceXAddr, NULL, &Capabilities, &CapabilitiesResponse);
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二、PTZ介绍
简单介绍PTZ表示的是什么：
- P：Pan水平转动角度
- T：Tilt垂直转动角度
- Z：缩放倍数
我用http的80端口传输时用的是PTZ绝对位置，范围是：P:（0,18000）T：（0,9000）z：（0-200）。
而用onvif控球，其发送的是归一化后的绝对位置，P：（-1,1）T：（-1,1），Z：（0,1）。在发送之前，将PTZ值先归一化即可。
三、控球命令
控球用AbsoluteMove（绝对移动）命令
soap_call___tptz__AbsoluteMove(struct soap *soap, const char *soap_endpoint, const char *soap_action, struct _tptz__AbsoluteMove *tptz__AbsoluteMove, struct _tptz__AbsoluteMoveResponse *tptz__AbsoluteMoveResponse)
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ContinuousMove(沿某方向持续移动)命令
soap_call___tptz__ContinuousMove(struct soap *soap, const char *soap_endpoint, const char *soap_action, struct _tptz__ContinuousMove *tptz__ContinuousMove, struct _tptz__ContinuousMoveResponse *tptz__ContinuousMoveResponse);
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RelativeMove（相对移动）命令
soap_call___tptz__RelativeMove(struct soap *soap, const char *soap_endpoint, const char *soap_action, struct _tptz__RelativeMove *tptz__RelativeMove, struct _tptz__RelativeMoveResponse *tptz__RelativeMoveResponse);
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四、结构体描述
绝对位置移动结构体SOAP_TYPE__tptz__AbsoluteMove定义如下：
struct _tptz__AbsoluteMove {
/** Required element 'ProfileToken' of XSD type 'tt:ReferenceToken' */
char *ProfileToken;
/** Required element 'Position' of XSD type 'tt:PTZVector' */
struct tt__PTZVector *Position;//转动位置结构体成员
/** Optional element 'Speed' of XSD type 'tt:PTZSpeed' */
struct tt__PTZSpeed *Speed;//转动速度结构体成员
};
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其中ProfileToken是一个标识。可以用获取配置文件函数soap_call___trt__GetProfiles获得，函数定义：
soap_call___trt__GetProfiles(struct soap *soap, const char *soap_endpoint, const char *soap_action, struct _trt__GetProfiles *trt__GetProfiles, struct _trt__GetProfilesResponse *trt__GetProfilesResponse)
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tt__PTZVector为转动位置结构体：
struct tt__PTZVector {
/** Optional element 'tt:PanTilt' of XSD type 'tt:Vector2D' */
struct tt__Vector2D *PanTilt;//2维坐标结构体
/** Optional element 'tt:Zoom' of XSD type 'tt:Vector1D' */
struct tt__Vector1D *Zoom;//1维坐标结构体
};
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tt__PTZSpeed为转动速度结构体
struct tt__PTZSpeed {
/** Optional element 'tt:PanTilt' of XSD type 'tt:Vector2D' */
struct tt__Vector2D *PanTilt;
/** Optional element 'tt:Zoom' of XSD type 'tt:Vector1D' */
struct tt__Vector1D *Zoom;
};
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tt__Vector2D 2维坐标：
struct tt__Vector2D {
/** Required attribute 'x' of XSD type 'xsd:float' */
float x; //Pan
/** Required attribute 'y' of XSD type 'xsd:float' */
float y; //Tilt
/** Optional attribute 'space' of XSD type 'xsd:anyURI' */
//URI:一般填入"http://www.onvif.org/ver10/tptz/PanTiltSpaces/PositionGenericSpace"即可
char *space;
};
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tt__Vector1D 1维坐标：
struct tt__Vector1D {
/** Required attribute 'x' of XSD type 'xsd:float' */
float x;
/** Optional attribute 'space' of XSD type 'xsd:anyURI' */
char *space;
};
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五、简例
1、soap结构初始化
soap_p = soap_new();
soap_set_namespaces(soap_p, namespaces);
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2、鉴权（用户认证）
soap_wsse_add_UsernameTokenDigest(soap_p, NULL, "admin", "ADMIN123456");
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3、配置文件获取(profiletoken)
struct _trt__GetProfiles req;
struct _trt__GetProfilesResponse rep;
soap_call___trt__GetProfiles(soap, MediaXAddr, NULL, &req, &rep);
if (rep.__sizeProfiles > 0)
{
// 分配缓存
(*profiles) = (struct tagProfile *)malloc(rep.__sizeProfiles * sizeof(struct tagProfile));
SOAP_ASSERT(NULL != (*profiles));
memset((*profiles), 0x00, rep.__sizeProfiles * sizeof(struct tagProfile));
}
for(i = 0; i < rep.__sizeProfiles; i++)
{
// 提取所有配置文件信息（我们所关心的）
struct tt__Profile *ttProfile = &rep.Profiles[i];
struct tagProfile *plst = &(*profiles)[i];
if (NULL != ttProfile->token)
{
// 配置文件Token
strncpy(plst->token, ttProfile->token, sizeof(plst->token) - 1);
}
}
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4、为结构体分配内存并填充结构体
在发送命令之前要为结构体_tptz__AbsoluteMove 和_tptz__AbsoluteMoveResponse申请内存空间，其成员也需要分配内存：
soap_malloc(struct soap *soap, size_t n)
......//为结构体分配内存
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然后填充结构体：
soap_default__tptz__AbsoluteMove(soap_p, &AbsoluteMove);//内存清零
soap_default__tptz__AbsoluteMoveResponse(soap_p, &AbsoluteMoveResponse);
AbsoluteMove.ProfileToken = (char*)soap_malloc(soap_p, 128);
strcpy(AbsoluteMove.ProfileToken, "Profile_1");//profiletoken
AbsoluteMove.Position->PanTilt = (tt__Vector2D*)soap_malloc(soap_p, sizeof(struct tt__Vector2D));
AbsoluteMove.Position->PanTilt->x = -0.9798;//P这里是随便写的几个数
AbsoluteMove.Position->PanTilt->y = 0.6768;//T
AbsoluteMove.Position->PanTilt->xmlns = (char*)soap_malloc(soap_p, 128);
strcpy(AbsoluteMove.Position->PanTilt->xmlns, "http://www.onvif.org/ver10/schema");
AbsoluteMove.Speed->PanTilt = (tt__Vector2D*)soap_malloc(soap_p, sizeof(struct tt__Vector2D));;
AbsoluteMove.Speed->PanTilt->x = 1.0;//P方向转速
AbsoluteMove.Speed->PanTilt->y = 1.0;//T方向转速
AbsoluteMove.Speed->PanTilt->xmlns = (char*)soap_malloc(soap_p, 128);
strcpy(AbsoluteMove.Speed->PanTilt->xmlns, "http://www.onvif.org/ver10/schema");
AbsoluteMove.Position->Zoom =(tt__Vector1D*) soap_malloc(soap_p, sizeof(struct tt__Vector1D));
AbsoluteMove.Position->Zoom->x = 0.7646;//Z
AbsoluteMove.Position->Zoom->xmlns = (char*)soap_malloc(soap_p, 128);
strcpy(AbsoluteMove.Position->Zoom->xmlns, "http://www.onvif.org/ver10/schema");
AbsoluteMove.Speed->Zoom = (tt__Vector1D*)soap_malloc(soap_p, sizeof(struct tt__Vector1D));;
AbsoluteMove.Speed->Zoom->x = 1.0;//Z缩放速度
AbsoluteMove.Speed->Zoom->xmlns = (char*)soap_malloc(soap_p, 128);
strcpy(AbsoluteMove.Speed->Zoom->xmlns, "http://www.onvif.org/ver10/schema");
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5、发送调用命令
soap_call___tptz__AbsoluteMove(soap_p, ball_onvifserver, NULL, &AbsoluteMove, &AbsoluteMoveResponse);
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6、soap结构清理
soap_destroy(soap_p);
soap_end(soap_p);
soap_done(soap_p);
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