ONVIF PTZ云台控制--RelativeMove

上周弄了一周都没有弄出来，今天又去研究了下ONVIF Device Test Tool。终于有所发现了。

首先肯定是soap，关于鉴权的soap就不展开说了。

然后是获取能力。这里我是获取了所有能力。

接着是GetProfiles，为了得到在控制PTZ时的token。

代码已经调试通了某华和某康的IPC。

一开始我们用的是某华，在GetProfiles是的地址是PTZ的。但是在兼容某康时，变成了为实现可选项。通过上面说到的工具发现。用的token是Media的。但是控制的时候的地址是PTZ的。

下面上代码。实现的是相对位移的接口。

int onvif_OptPTZ(char* strIp, int port, char* user, char* password, ptz_common commond, float move_step)
{
    int result = 0;
    struct SOAP_ENV__Header Header;
    struct soap *soap = NULL;
    char *strOptPtz = NULL;
    char *strGetToken = NULL;


    //鉴权信息
    USERINFO stUserInfo;
    USERINFO *pAuth = NULL;


    memset(&stUserInfo, 0x0, sizeof(stUserInfo));
    if(user == NULL || password == NULL)
    {
        pAuth = NULL;
    }
    else
    {
        snprintf(stUserInfo.username, 64, "%s", user);
        snprintf(stUserInfo.password, 32, "%s", password);
        pAuth = &stUserInfo;
    }


    //创建一个带鉴权的soap
    soap = ONVIF_Initsoap(&Header, NULL, NULL, 5, pAuth);
    if(NULL == soap)
    {
        printf("FUNCTION:(%s) ---- Init soap error!\n", __FUNCTION__);
        return -1;
    }


    char soap_endpoint[128];
    snprintf(soap_endpoint, 128, "http://%s:%d/onvif/device_service", strIp, port);


    _tds__GetCapabilities abi_req;
    _tds__GetCapabilitiesResponse abi_resp;


    memset(&abi_req, 0x0, sizeof(abi_req));
    memset(&abi_resp, 0x0, sizeof(abi_resp));


    abi_req.__sizeCategory = 1;
    abi_req.Category = (enum tt__CapabilityCategory *)soap_malloc(soap, sizeof(int));
    *(abi_req.Category) = tt__CapabilityCategory__All;


    soap->header = &Header;
    result = soap_call___tds__GetCapabilities(soap, soap_endpoint, NULL, &abi_req, &abi_resp);
    if(result != SOAP_OK || abi_resp.Capabilities == NULL)
    {
        printf("soap error: %d--%d, %s, %s\n", __LINE__, soap->error, *soap_faultcode(soap), *soap_faultstring(soap));
        goto onvif_OptPTZ_end;
    }


    if(abi_resp.Capabilities->Media)
    {
//        printf("Media: XAddr: (%s)\n", abi_resp.Capabilities->Media->XAddr);
        strGetToken = abi_resp.Capabilities->Media->XAddr;
        strOptPtz = abi_resp.Capabilities->PTZ->XAddr;
    }




    _trt__GetProfiles request_pro;
    _trt__GetProfilesResponse reponse_pro;
    memset(&request_pro,0,sizeof(request_pro));
    memset(&reponse_pro,0,sizeof(reponse_pro));
    soap->header = &Header;
    result = soap_call___trt__GetProfiles(soap, strGetToken, NULL, &request_pro, &reponse_pro);
    if(SOAP_OK != result)
    {
        printf("soap error: %d--%d, %s, %s\n", __LINE__, soap->error, *soap_faultcode(soap), *soap_faultstring(soap));
        goto onvif_OptPTZ_end;
    }


    _tptz__RelativeMove ptz_req;
    _tptz__RelativeMoveResponse ptz_resp;


    memset(&ptz_req, 0x0, sizeof(ptz_req));
    memset(&ptz_resp, 0x0, sizeof(ptz_resp));
    
//    printf("__sizeProfiles: %d\n", reponse_pro.__sizeProfiles);
//    printf("token: %s\n", reponse_pro.Profiles->token);
    ptz_req.ProfileToken = reponse_pro.Profiles->token;
    ptz_req.Translation = (struct tt__PTZVector *)soap_malloc(soap, sizeof(tt__PTZVector));
    memset(ptz_req.Translation, 0x0, sizeof(tt__PTZVector));
    ptz_req.Translation->PanTilt = (struct tt__Vector2D *)soap_malloc(soap, sizeof(tt__Vector2D));
    memset(ptz_req.Translation->PanTilt, 0x0, sizeof(tt__Vector2D));
    ptz_req.Translation->Zoom = (struct tt__Vector1D *)soap_malloc(soap, sizeof(tt__Vector1D));
    memset(ptz_req.Translation->Zoom, 0x0, sizeof(tt__Vector1D));


    if(move_step >= 1)
    {
        move_step = 0.99999;
    }


    switch(commond)
    {
        case PTZ_LEFT:
            ptz_req.Translation->PanTilt->x = move_step;
            break;
        case PTZ_RIGHT:
            ptz_req.Translation->PanTilt->x = -move_step;
            break;
        case PTZ_UP:
            ptz_req.Translation->PanTilt->y = -move_step;
            break;
        case PTZ_DOWN:
            ptz_req.Translation->PanTilt->y = move_step;
            break;
        case PTZ_LEFTUP:
            ptz_req.Translation->PanTilt->x = move_step;
            ptz_req.Translation->PanTilt->y = -move_step;
            break;
        case PTZ_LEFTDOWN:
            ptz_req.Translation->PanTilt->x = move_step;
            ptz_req.Translation->PanTilt->y = move_step;
            break;
        case PTZ_RIGHTUP:
            ptz_req.Translation->PanTilt->x = -move_step;
            ptz_req.Translation->PanTilt->y = -move_step;
            break;
        case PTZ_RIGHTDOWN:
            ptz_req.Translation->PanTilt->x = -move_step;
            ptz_req.Translation->PanTilt->y = move_step;
            break;
        case PTZ_ZOOMIN:
            ptz_req.Translation->Zoom->x = move_step;
            break;
        case PTZ_ZOOMOUT:
            ptz_req.Translation->Zoom->x = -move_step;
            break;
        default:
            goto onvif_OptPTZ_end;
        break;
    }




    soap->header = &Header;
    result = soap_call___tptz__RelativeMove(soap, strOptPtz, NULL, &ptz_req, &ptz_resp);
    if(SOAP_OK == result)
    {
        printf("RelativeMove----OK\n");
    }
    else
    {
        printf("RelativeMove----faild\n");
        printf("soap error: %d--%d, %s, %s\n", __LINE__, soap->error, *soap_faultcode(soap), *soap_faultstring(soap));
    }


onvif_OptPTZ_end:


    soap_destroy(soap);
    soap_end(soap);
    soap_free(soap);


    return result;
}