Onvif协议：IPC客户端开发之PTZ控制

分手后的思念是犯贱 2022-11-21 04:05 1332阅读 0赞

介绍

在安防摄像头中，不仅仅涉及到固定摄像头的枪击，同样还包含可以360°转动的球机。因此对球机的云台方向控制是Onvif协议开发过程中必不可少的过程

球机的云台控制主要包含：八个方向（上、下、左、右、左上、左下、右上、右下），放大、缩小等，这在个过程中还包含对转动速度的控制或者放大缩小的速度控制。对应的方向及正负值如下图：

在这里插入图片描述

编码流程

1、通过设备服务地址（形如http://xx/onvif/device\_service），调用GetCapabilities函数接口，获取到Ptz的URL；

2、通过Ptz的URL，调用GetProfiles函数接口，获取到ProfileToken;

3、对_tptz__AbsoluteMove结构体进行填充；

4、调用soap_call___tptz__AbsoluteMove函数接口实现摄像头转动功能；

实践

具体请参见

除了onvif_head.sh修改为：

  1. #!/bin/bash
  2. mkdir onvif_head
  3. cd onvif_head
  4. ../bin/wsdl2h -o  onvif.h  -s -d -x -t ../gsoap/WS/typemap.dat \
  5. http://www.onvif.org/onvif/ver10/network/wsdl/remotediscovery.wsdl \
  6. https://www.onvif.org/onvif/ver10/device/wsdl/devicemgmt.wsdl \
  7. http://www.onvif.org/onvif/ver10/media/wsdl/media.wsdl \
  8. http://www.onvif.org/onvif/ver20/ptz/wsdl/ptz.wsdl

main.cpp修改为：

  1. #include <assert.h>
  2. #include "soapH.h"
  3. #include "wsdd.nsmap"
  4. #include "soapStub.h"
  5. #include "wsseapi.h"
  6. #include "wsaapi.h"
  7. #include <map>
  12. #define SOAP_ASSERT     assert
  13. #define SOAP_DBGLOG     printf
  14. #define SOAP_DBGERR     printf
  16. #define SOAP_TO         "urn:schemas-xmlsoap-org:ws:2005:04:discovery"
  17. #define SOAP_ACTION     "http://schemas.xmlsoap.org/ws/2005/04/discovery/Probe"
  19. #define SOAP_MCAST_ADDR "soap.udp://239.255.255.250:3702"                       // onvif规定的组播地址
  21. #define SOAP_ITEM       ""                                                      // 寻找的设备范围
  22. #define SOAP_TYPES      "dn:NetworkVideoTransmitter"                            // 寻找的设备类型
  24. #define SOAP_SOCK_TIMEOUT    (10)               // socket超时时间（单秒秒）
  29. void soap_perror(struct soap *soap, const char *str)
  30. {
  32.     if (nullptr == str) {
  34.         SOAP_DBGERR("[soap] error: %d, %s, %s\n", soap->error, *soap_faultcode(soap), *soap_faultstring(soap));
  35.     } else {
  37.         SOAP_DBGERR("[soap] %s error: %d, %s, %s\n", str, soap->error, *soap_faultcode(soap), *soap_faultstring(soap));
  38.     }
  39. }
  41. void* ONVIF_soap_malloc(struct soap *soap, unsigned int n)
  42. {
  44.     void *p = nullptr;
  46.     if (n > 0) {
  48.         p = soap_malloc(soap, n);
  49.                 SOAP_ASSERT(nullptr != p);
  50.         memset(p, 0x00 ,n);
  51.     }
  52.     return p;
  53. }
  55. struct soap *ONVIF_soap_new(int timeout)
  56. {
  58.     struct soap *soap = nullptr;                                                   // soap环境变量
  60.             SOAP_ASSERT(nullptr != (soap = soap_new()));
  62.     soap_set_namespaces(soap, namespaces);                                      // 设置soap的namespaces
  63.     soap->recv_timeout    = timeout;                                            // 设置超时（超过指定时间没有数据就退出）
  64.     soap->send_timeout    = timeout;
  65.     soap->connect_timeout = timeout;
  67. #if defined(__linux__) || defined(__linux)                                      // 参考https://www.genivia.com/dev.html#client-c的修改：
  68.     soap->socket_flags = MSG_NOSIGNAL;                                          // To prevent connection reset errors
  69. #endif
  71.     soap_set_mode(soap, SOAP_C_UTFSTRING);                                      // 设置为UTF-8编码，否则叠加中文OSD会乱码
  73.     return soap;
  74. }
  76. void ONVIF_soap_delete(struct soap *soap)
  77. {
  79.     soap_destroy(soap);                                                         // remove deserialized class instances (C++ only)
  80.     soap_end(soap);                                                             // Clean up deserialized data (except class instances) and temporary data
  81.     soap_done(soap);                                                            // Reset, close communications, and remove callbacks
  82.     soap_free(soap);                                                            // Reset and deallocate the context created with soap_new or soap_copy
  83. }
  85. /************************************************************************
  86. **函数：ONVIF_init_header
  87. **功能：初始化soap描述消息头
  88. **参数：
  89.         [in] soap - soap环境变量
  90. **返回：无
  91. **备注：
  92.     1). 在本函数内部通过ONVIF_soap_malloc分配的内存，将在ONVIF_soap_delete中被释放
  93. ************************************************************************/
  94. void ONVIF_init_header(struct soap *soap)
  95. {
  97.     struct SOAP_ENV__Header *header = nullptr;
  99.             SOAP_ASSERT(nullptr != soap);
  101.     header = (struct SOAP_ENV__Header *)ONVIF_soap_malloc(soap, sizeof(struct SOAP_ENV__Header));
  102.     soap_default_SOAP_ENV__Header(soap, header);
  103.     header->wsa__MessageID =  (char*)soap_wsa_rand_uuid(soap);
  104.     header->wsa__To        = (char*)ONVIF_soap_malloc(soap, strlen(SOAP_TO) + 1);
  105.     header->wsa__Action    = (char*)ONVIF_soap_malloc(soap, strlen(SOAP_ACTION) + 1);
  106.     strcpy(header->wsa__To, SOAP_TO);
  107.     strcpy(header->wsa__Action, SOAP_ACTION);
  108.     soap->header = header;
  109. }
  111. /************************************************************************
  112. **函数：ONVIF_init_ProbeType
  113. **功能：初始化探测设备的范围和类型
  114. **参数：
  115.         [in]  soap  - soap环境变量
  116.         [out] probe - 填充要探测的设备范围和类型
  117. **返回：
  118.         0表明探测到，非0表明未探测到
  119. **备注：
  120.     1). 在本函数内部通过ONVIF_soap_malloc分配的内存，将在ONVIF_soap_delete中被释放
  121. ************************************************************************/
  122. void ONVIF_init_ProbeType(struct soap *soap, struct wsdd__ProbeType *probe)
  123. {
  125.     struct wsdd__ScopesType *scope = nullptr;                                      // 用于描述查找哪类的Web服务
  127.             SOAP_ASSERT(nullptr != soap);
  128.             SOAP_ASSERT(nullptr != probe);
  130.     scope = (struct wsdd__ScopesType *)ONVIF_soap_malloc(soap, sizeof(struct wsdd__ScopesType));
  131.     soap_default_wsdd__ScopesType(soap, scope);                                 // 设置寻找设备的范围
  132.     scope->__item = (char*)ONVIF_soap_malloc(soap, strlen(SOAP_ITEM) + 1);
  133.     strcpy(scope->__item, SOAP_ITEM);
  135.     memset(probe, 0x00, sizeof(struct wsdd__ProbeType));
  136.     soap_default_wsdd__ProbeType(soap, probe);
  137.     probe->Scopes = scope;
  138.     probe->Types  = (char*)ONVIF_soap_malloc(soap, strlen(SOAP_TYPES) + 1);     // 设置寻找设备的类型
  139.     strcpy(probe->Types, SOAP_TYPES);
  140. }
  142. void ONVIF_DetectDevice(void (*cb)(char *DeviceXAddr))
  143. {
  145.     int i;
  146.     int result = 0;
  147.     unsigned int count = 0;                                                     // 搜索到的设备个数
  148.     struct soap *soap = nullptr;                                                   // soap环境变量
  149.     struct wsdd__ProbeType      req;                                            // 用于发送Probe消息
  150.     struct __wsdd__ProbeMatches rep;                                            // 用于接收Probe应答
  151.     struct wsdd__ProbeMatchType *probeMatch;
  153.     SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));
  155.     ONVIF_init_header(soap);                                                    // 设置消息头描述
  156.     ONVIF_init_ProbeType(soap, &req);                                           // 设置寻找的设备的范围和类型
  157.     result = soap_send___wsdd__Probe(soap, SOAP_MCAST_ADDR, nullptr, &req);        // 向组播地址广播Probe消息
  158.     while (SOAP_OK == result)                                                   // 开始循环接收设备发送过来的消息
  159.     {
  161.         memset(&rep, 0x00, sizeof(rep));
  162.         result = soap_recv___wsdd__ProbeMatches(soap, &rep);
  163.         if (SOAP_OK == result) {
  165.             if (soap->error) {
  167.                 soap_perror(soap, "ProbeMatches");
  168.             } else {
  169.                                                                 // 成功接收到设备的应答消息
  170.                 if (nullptr != rep.wsdd__ProbeMatches) {
  172.                     count += rep.wsdd__ProbeMatches->__sizeProbeMatch;
  173.                     for(i = 0; i < rep.wsdd__ProbeMatches->__sizeProbeMatch; i++) {
  175.                         probeMatch = rep.wsdd__ProbeMatches->ProbeMatch + i;
  176.                         if (nullptr != cb ) {
  178.                             std::string url = probeMatch->XAddrs;
  179.                             if(url == "http://192.168.0.116/onvif/device_service"){
  181.                                 cb(probeMatch->XAddrs);                             // 使用设备服务地址执行函数回调
  182.                             }
  183.                         }
  184.                     }
  185.                 }
  186.             }
  187.         } else if (soap->error) {
  189.             break;
  190.         }
  191.     }
  193.     SOAP_DBGLOG("\ndetect end! It has detected %d devices!\n", count);
  195.     if (nullptr != soap) {
  197.         ONVIF_soap_delete(soap);
  198.     }
  200. }
  203. #define SOAP_CHECK_ERROR(result, soap, str) \
  204.     do { \
  205.         if (SOAP_OK != (result) || SOAP_OK != (soap)->error) { \
  206.             soap_perror((soap), (str)); \
  207.             if (SOAP_OK == (result)) { \
  208.                 (result) = (soap)->error; \
  209.             } \
  210.             goto EXIT; \
  211.         } \
  212. } while (0)
  216. /************************************************************************
  217. **函数：ONVIF_SetAuthInfo
  218. **功能：设置认证信息
  219. **参数：
  220.         [in] soap     - soap环境变量
  221.         [in] username - 用户名
  222.         [in] password - 密码
  223. **返回：
  224.         0表明成功，非0表明失败
  225. **备注：
  226. ************************************************************************/
  227. static int ONVIF_SetAuthInfo(struct soap *soap, const char *username, const char *password)
  228. {
  230.     int result = 0;
  232.     SOAP_ASSERT(nullptr != username);
  233.     SOAP_ASSERT(nullptr != password);
  235.     result = soap_wsse_add_UsernameTokenDigest(soap, nullptr, username, password);
  236.     SOAP_CHECK_ERROR(result, soap, "add_UsernameTokenDigest");
  238.     EXIT:
  240.     return result;
  241. }
  242. /************************************************************************
  243. **函数：make_uri_withauth
  244. **功能：构造带有认证信息的URI地址
  245. **参数：
  246.         [in]  src_uri       - 未带认证信息的URI地址
  247.         [in]  username      - 用户名
  248.         [in]  password      - 密码
  249.         [out] dest_uri      - 返回的带认证信息的URI地址
  250.         [in]  size_dest_uri - dest_uri缓存大小
  251. **返回：
  252.         0成功，非0失败
  253. **备注：
  254.     1). 例子：
  255.     无认证信息的uri：rtsp://100.100.100.140:554/av0_0
  256.     带认证信息的uri：rtsp://username:password@100.100.100.140:554/av0_0
  257. ************************************************************************/
  258. static int make_uri_withauth(const std::string& src_uri, const std::string&username, const std::string&password, std::string *dest_uri)
  259. {
  261.     int result = 0;
  264.             SOAP_ASSERT(!src_uri.empty());
  266.     if (username.empty() &&password.empty()) {
  267.                            // 生成新的uri地址
  268.         *dest_uri = src_uri;
  269.     } else {
  271.         std::string::size_type position = src_uri.find("//");
  272.         if (std::string::npos == position) {
  274.             SOAP_DBGERR("can't found '//', src uri is: %s.\n", src_uri.c_str());
  275.             result = -1;
  276.             return result;
  277.         }
  279.         position += 2;
  280.         dest_uri->append(src_uri,0,   position) ;
  281.         dest_uri->append(username + ":" + password + "@");
  282.         dest_uri->append(src_uri,position, std::string::npos) ;
  283.     }
  286.     return result;
  287. }
  289. #define USERNAME    "admin"
  290. #define PASSWORD    "hik12345"
  291. /************************************************************************
  292. **函数：ONVIF_GetDeviceInformation
  293. **功能：获取设备基本信息
  294. **参数：
  295.         [in] DeviceXAddr - 设备服务地址
  296. **返回：
  297.         0表明成功，非0表明失败
  298. **备注：
  299. ************************************************************************/
  300. int ONVIF_GetDeviceInformation(const char *DeviceXAddr)
  301. {
  303.     int result = 0;
  304.     struct soap *soap = nullptr;
  305.     _tds__GetDeviceInformation           devinfo_req;
  306.     _tds__GetDeviceInformationResponse   devinfo_resp;
  308.     SOAP_ASSERT(nullptr != DeviceXAddr);
  309.     SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));
  313.     ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
  315.     result = soap_call___tds__GetDeviceInformation(soap, DeviceXAddr, nullptr, &devinfo_req, devinfo_resp);
  316.     SOAP_CHECK_ERROR(result, soap, "GetDeviceInformation");
  317.     std::cout << "      Manufacturer:\t" << devinfo_resp.Manufacturer << "\n";
  318.     std::cout << "      Model:\t" << devinfo_resp.Model << "\n";
  319.     std::cout << "      FirmwareVersion:\t" << devinfo_resp.FirmwareVersion << "\n";
  320.     std::cout << "      SerialNumber:\t" << devinfo_resp.SerialNumber << "\n";
  321.     std::cout << "      HardwareId:\t" << devinfo_resp.HardwareId << "\n";
  325.     EXIT:
  327.     if (nullptr != soap) {
  329.         ONVIF_soap_delete(soap);
  330.     }
  331.     return result;
  332. }
  334. /************************************************************************
  335. **函数：ONVIF_GetCapabilities
  336. **功能：获取设备能力信息
  337. **参数：
  338.         [in] DeviceXAddr - 设备服务地址
  339.         [in]
  340. **返回：
  341.         0表明成功，非0表明失败
  342. **备注：
  343.     1). 其中最主要的参数之一是媒体服务地址
  344. ************************************************************************/
  345. int ONVIF_GetCapabilities(const std::string& deviceXAddr, std::string * ptzXAddr)
  346. {
  348.     int result = 0;
  349.     struct soap *soap = nullptr;
  350.     _tds__GetCapabilities            devinfo_req;
  351.     _tds__GetCapabilitiesResponse    devinfo_resp;
  354.             SOAP_ASSERT(!deviceXAddr.empty());
  355.             SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));
  357.     result = soap_call___tds__GetCapabilities(soap, deviceXAddr.c_str(), nullptr, &devinfo_req, devinfo_resp);
  358.     SOAP_CHECK_ERROR(result, soap, "GetCapabilities");
  360.     if(devinfo_resp.Capabilities->PTZ != nullptr){
  362.         *ptzXAddr = devinfo_resp.Capabilities->PTZ->XAddr;
  363.     }
  365.     EXIT:
  367.     if (nullptr != soap) {
  369.         ONVIF_soap_delete(soap);
  370.     }
  371.     return result;
  372. }
  374. int ONVIF_GetProfiles(const std::string& ptzXAddr, std::string  * profilesToken)
  375. {
  377.     int result = 0;
  378.     struct soap *soap = nullptr;
  379.     _trt__GetProfiles           devinfo_req;
  380.     _trt__GetProfilesResponse   devinfo_resp;
  382.             SOAP_ASSERT(!ptzXAddr.empty());
  383.             SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));
  386.  ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
  387.     result = soap_call___trt__GetProfiles(soap, ptzXAddr.c_str(), nullptr, &devinfo_req, devinfo_resp);
  388.     SOAP_CHECK_ERROR(result, soap, "ONVIF_GetProfiles");
  391.             SOAP_ASSERT(devinfo_resp.__sizeProfiles > 0);
  394.     *profilesToken = devinfo_resp.Profiles[0]->token;
  396.     EXIT:
  397.     if (nullptr != soap) {
  399.         ONVIF_soap_delete(soap);
  400.     }
  402.     return result;
  403. }
  406. /************************************************************************
  407. **函数：ONVIF_GetSnapshotUri
  408. **功能：获取设备图像抓拍地址(HTTP)
  409. **参数：
  410.         [in]  MediaXAddr    - 媒体服务地址
  411.         [in]  ProfileToken  - the media profile token
  412.         [out] uri           - 返回的地址
  413.         [in]  sizeuri       - 地址缓存大小
  414. **返回：
  415.         0表明成功，非0表明失败
  416. **备注：
  417.     1). 并非所有的ProfileToken都支持图像抓拍地址。举例：XXX品牌的IPC有如下三个配置profile0/profile1/TestMediaProfile，其中TestMediaProfile返回的图像抓拍地址就是空指针。
  418. ************************************************************************/
  419. int ONVIF_GetSnapshotUri(const std::string& MediaXAddr, const std::string& ProfileToken, std::string * snapUri)
  420. {
  422.     int result = 0;
  423.     struct soap *soap = nullptr;
  424.      _trt__GetSnapshotUri         req;
  425.      _trt__GetSnapshotUriResponse rep;
  427.      SOAP_ASSERT(!MediaXAddr.empty() && !ProfileToken.empty());
  428.      SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));
  430.     ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
  431.     req.ProfileToken = const_cast<char *>(ProfileToken.c_str());
  432.     result = soap_call___trt__GetSnapshotUri(soap, MediaXAddr.c_str(), nullptr, &req, rep);
  433.     SOAP_CHECK_ERROR(result, soap, "GetSnapshotUri");
  436.     if (nullptr != rep.MediaUri && nullptr != rep.MediaUri->Uri) {
  438.         *snapUri = rep.MediaUri->Uri;
  439.     }
  441. EXIT:
  443.     if (NULL != soap) {
  445.         ONVIF_soap_delete(soap);
  446.     }
  448.     return result;
  449. }
  450. // 获取当前ptz的位置以及状态
  451. int ONVIF_PTZ_GetStatus(const std::string& ptzXAddr, const std::string& ProfileToken){
  453.     int result = 0;
  454.     struct soap *soap = nullptr;
  455.     _tptz__GetStatus           getStatus;
  456.     _tptz__GetStatusResponse   getStatusResponse;
  458.             SOAP_ASSERT(!ptzXAddr.empty());
  459.             SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));
  462.     ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
  465.     getStatus.ProfileToken = const_cast<char *>(ProfileToken.c_str());
  466.     result = soap_call___tptz__GetStatus(soap, ptzXAddr.c_str(), nullptr, &getStatus, getStatusResponse);
  467.     SOAP_CHECK_ERROR(result, soap, "ONVIF_PTZ_GetStatus");
  469.     if(*getStatusResponse.PTZStatus->MoveStatus->PanTilt == tt__MoveStatus__IDLE){
  471.         std::cout << " 空闲 ... " << std::endl;
  472.     }else if(*getStatusResponse.PTZStatus->MoveStatus->PanTilt == tt__MoveStatus__MOVING){
  474.         std::cout << " 移动中 ... " << std::endl;
  475.     }else if(*getStatusResponse.PTZStatus->MoveStatus->PanTilt == tt__MoveStatus__UNKNOWN){
  477.         std::cout << " 未知 ... " << std::endl;
  478.     }
  480.     std::cout << "当前p: "  <<getStatusResponse.PTZStatus->Position->PanTilt->x  << "\n";
  481.     std::cout << "当前t: "  << getStatusResponse.PTZStatus->Position->PanTilt->y  << "\n";
  482.     std::cout << "当前z: "  << getStatusResponse.PTZStatus->Position->Zoom->x  << "\n";
  483.     EXIT:
  484.     if (nullptr != soap) {
  486.         ONVIF_soap_delete(soap);
  487.     }
  489.     return 0;
  490. }
  492. // 以指定速度移动到指定位置的ptz
  493. // p :  -1  ~ 1   []
  494. // t :  -1  ~ 1
  495. // z :   0  ~ 1
  496. int ONVIF_PTZAbsoluteMove(const std::string& ptzXAddr, const std::string& ProfileToken){
  498.     int result = 0;
  499.     struct soap *soap = nullptr;
  500.     _tptz__AbsoluteMove           absoluteMove;
  501.     _tptz__AbsoluteMoveResponse   absoluteMoveResponse;
  503.     SOAP_ASSERT(!ptzXAddr.empty() && !ProfileToken.empty());
  504.     SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));
  507.     ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
  508.     absoluteMove.ProfileToken = const_cast<char *>(ProfileToken.c_str());
  510.     absoluteMove.Position = soap_new_tt__PTZVector(soap);
  511.     absoluteMove.Position->PanTilt = soap_new_tt__Vector2D(soap);
  512.     absoluteMove.Position->Zoom = soap_new_tt__Vector1D(soap);
  513.     absoluteMove.Speed = soap_new_tt__PTZSpeed(soap);
  514.     absoluteMove.Speed->PanTilt = soap_new_tt__Vector2D(soap);
  515.     absoluteMove.Speed->Zoom = soap_new_tt__Vector1D(soap);
  518.     absoluteMove.Position->PanTilt->x = 0.440833;  // p
  519.     absoluteMove.Position->PanTilt->y = 0.583455;   // t
  520.     absoluteMove.Position->Zoom->x = 0.0333333;   // z
  522.      // x 和y的绝对值越接近1，表示云台的速度越快
  523.     absoluteMove.Speed->PanTilt->x = 0.5;
  524.     absoluteMove.Speed->PanTilt->y = 0.5;
  525.     absoluteMove.Speed->Zoom->x = 0.5;
  526.     result = soap_call___tptz__AbsoluteMove(soap,ptzXAddr.c_str(), nullptr,&absoluteMove,absoluteMoveResponse);
  527.     SOAP_CHECK_ERROR(result, soap, "ONVIF_PTZAbsoluteMove");
  530. EXIT:
  531.     if (nullptr != soap) {
  533.         ONVIF_soap_delete(soap);
  534.     }
  535.     return 0;
  536. }
  539. int ONVIF_PTZStopMove(const std::string& ptzXAddr, const std::string& ProfileToken){
  541.     int result = 0;
  542.     struct soap *soap = nullptr;
  543.     _tptz__Stop tptzStop;
  544.     _tptz__StopResponse tptzStopResponse;
  546.             SOAP_ASSERT(!ptzXAddr.empty() && !ProfileToken.empty());
  547.             SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));
  549.     ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
  550.     tptzStop.ProfileToken = const_cast<char *>(ProfileToken.c_str());
  551.     result = soap_call___tptz__Stop(soap, ptzXAddr.c_str(), nullptr, &tptzStop, tptzStopResponse);
  552.     SOAP_CHECK_ERROR(result, soap, "ONVIF_PTZStopMove");
  554.     EXIT:
  555.     if (nullptr != soap) {
  557.         ONVIF_soap_delete(soap);
  558.     }
  559.     return result;
  560. }
  562. enum PTZCMD
  563. {
  565.     PTZ_CMD_LEFT,
  566.     PTZ_CMD_RIGHT,
  567.     PTZ_CMD_UP,
  568.     PTZ_CMD_DOWN,
  569.     PTZ_CMD_LEFTUP,
  570.     PTZ_CMD_LEFTDOWN,
  571.     PTZ_CMD_RIGHTUP,
  572.     PTZ_CMD_RIGHTDOWN,
  573.     PTZ_CMD_ZOOM_IN,
  574.     PTZ_CMD_ZOOM_OUT,
  575. };
  576. // speed --> (0, 1]
  577. int ONVIF_PTZContinuousMove(const std::string& ptzXAddr, const std::string& ProfileToken, enum PTZCMD cmd, float speed){
  579.     int result = 0;
  580.     struct soap *soap = nullptr;
  581.     _tptz__ContinuousMove continuousMove;
  582.     _tptz__ContinuousMoveResponse continuousMoveResponse;
  584.     SOAP_ASSERT(!ptzXAddr.empty() && !ProfileToken.empty());
  585.     SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));
  587.     ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
  588.     continuousMove.ProfileToken = const_cast<char *>(ProfileToken.c_str());
  589.     continuousMove.Velocity = soap_new_tt__PTZSpeed(soap);
  590.     continuousMove.Velocity->PanTilt = soap_new_tt__Vector2D(soap);
  591.     continuousMove.Velocity->Zoom = soap_new_tt__Vector1D(soap);
  595.     switch (cmd)
  596.     {
  598.         case  PTZ_CMD_LEFT:
  599.             continuousMove.Velocity->PanTilt->x = -speed;
  600.             continuousMove.Velocity->PanTilt->y = 0;
  601.             break;
  602.         case  PTZ_CMD_RIGHT:
  603.             continuousMove.Velocity->PanTilt->x = speed;
  604.             continuousMove.Velocity->PanTilt->y = 0;
  605.             break;
  606.         case  PTZ_CMD_UP:
  607.             continuousMove.Velocity->PanTilt->x = 0;
  608.             continuousMove.Velocity->PanTilt->y = speed;
  609.             break;
  610.         case  PTZ_CMD_DOWN:
  611.             continuousMove.Velocity->PanTilt->x = 0;
  612.             continuousMove.Velocity->PanTilt->y = -speed;
  613.             break;
  614.         case  PTZ_CMD_LEFTUP:
  615.             continuousMove.Velocity->PanTilt->x = -speed;
  616.             continuousMove.Velocity->PanTilt->y = speed;
  617.             break;
  618.         case PTZ_CMD_LEFTDOWN:
  619.             continuousMove.Velocity->PanTilt->x = -speed;
  620.             continuousMove.Velocity->PanTilt->y = -speed;
  621.             break;
  622.         case  PTZ_CMD_RIGHTUP:
  623.             continuousMove.Velocity->PanTilt->x = speed;
  624.             continuousMove.Velocity->PanTilt->y = speed;
  625.             break;
  626.         case PTZ_CMD_RIGHTDOWN:
  627.             continuousMove.Velocity->PanTilt->x = speed;
  628.             continuousMove.Velocity->PanTilt->y = -speed;
  629.             break;
  630.         case  PTZ_CMD_ZOOM_IN:
  631.             continuousMove.Velocity->PanTilt->x = 0;
  632.             continuousMove.Velocity->PanTilt->y = 0;
  633.             continuousMove.Velocity->Zoom->x = speed;
  634.             break;
  635.         case  PTZ_CMD_ZOOM_OUT:
  636.             continuousMove.Velocity->PanTilt->x = 0;
  637.             continuousMove.Velocity->PanTilt->y = 0;
  638.             continuousMove.Velocity->Zoom->x = -speed;
  639.             break;
  640.         default:
  641.             break;
  642.     }
  644.     // 也可以使用soap_call___tptz__RelativeMove实现
  645.     result = soap_call___tptz__ContinuousMove(soap,ptzXAddr.c_str(), nullptr,&continuousMove,continuousMoveResponse);
  646.     SOAP_CHECK_ERROR(result, soap, "ONVIF_PTZAbsoluteMove");
  647. /*    sleep(1); //如果当前soap被删除（或者发送stop指令），就会停止移动
  648.     ONVIF_PTZStopMove(ptzXAddr, ProfileToken);*/
  649.  EXIT:
  650.     if (nullptr != soap) {
  652.         ONVIF_soap_delete(soap);
  653.     }
  654.     return result;
  655. }
  660. void cb_discovery(char *deviceXAddr)
  661. {
  663.     std::string  ptzXAddr, profilesToken, snapUri, snapAuthUri;
  664.     ONVIF_GetCapabilities(deviceXAddr, &ptzXAddr);
  665.     ONVIF_GetProfiles(ptzXAddr, &profilesToken);
  666.    // ONVIF_PTZ_GetStatus(ptzXAddr, profilesToken);
  667.    // ONVIF_PTZAbsoluteMove(ptzXAddr, profilesToken);
  668.     ONVIF_PTZContinuousMove(ptzXAddr, profilesToken, PTZ_CMD_LEFTUP, 0.3);
  669. }
  673. int main(int argc, char **argv)
  674. {
  676.     ONVIF_DetectDevice(cb_discovery);
  677.     return 0;
  678. }

Onvif协议客户端开发(8)–球机云台的控制
ONVIF PTZ云台控制–RelativeMove
初学小结使用Onvif协议进行PTZ控制
Onvif PTZ简介
使用Onvif协议进行设备PTZ云台控制
ONVIF PTZ控制

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