Bootstrap

Onvif协议：IPC客户端开发之PTZ控制

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：

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

main.cpp修改为：

#include <assert.h>
#include "soapH.h"
#include "wsdd.nsmap"
#include "soapStub.h"
#include "wsseapi.h"
#include "wsaapi.h"
#include <map>




#define SOAP_ASSERT     assert
#define SOAP_DBGLOG     printf
#define SOAP_DBGERR     printf

#define SOAP_TO         "urn:schemas-xmlsoap-org:ws:2005:04:discovery"
#define SOAP_ACTION     "http://schemas.xmlsoap.org/ws/2005/04/discovery/Probe"

#define SOAP_MCAST_ADDR "soap.udp://239.255.255.250:3702"                       // onvif规定的组播地址

#define SOAP_ITEM       ""                                                      // 寻找的设备范围
#define SOAP_TYPES      "dn:NetworkVideoTransmitter"                            // 寻找的设备类型

#define SOAP_SOCK_TIMEOUT    (10)               // socket超时时间（单秒秒）




void soap_perror(struct soap *soap, const char *str)
{
    if (nullptr == str) {
        SOAP_DBGERR("[soap] error: %d, %s, %s\n", soap->error, *soap_faultcode(soap), *soap_faultstring(soap));
    } else {
        SOAP_DBGERR("[soap] %s error: %d, %s, %s\n", str, soap->error, *soap_faultcode(soap), *soap_faultstring(soap));
    }
}

void* ONVIF_soap_malloc(struct soap *soap, unsigned int n)
{
    void *p = nullptr;

    if (n > 0) {
        p = soap_malloc(soap, n);
                SOAP_ASSERT(nullptr != p);
        memset(p, 0x00 ,n);
    }
    return p;
}

struct soap *ONVIF_soap_new(int timeout)
{
    struct soap *soap = nullptr;                                                   // soap环境变量

            SOAP_ASSERT(nullptr != (soap = soap_new()));

    soap_set_namespaces(soap, namespaces);                                      // 设置soap的namespaces
    soap->recv_timeout    = timeout;                                            // 设置超时（超过指定时间没有数据就退出）
    soap->send_timeout    = timeout;
    soap->connect_timeout = timeout;

#if defined(__linux__) || defined(__linux)                                      // 参考https://www.genivia.com/dev.html#client-c的修改：
    soap->socket_flags = MSG_NOSIGNAL;                                          // To prevent connection reset errors
#endif

    soap_set_mode(soap, SOAP_C_UTFSTRING);                                      // 设置为UTF-8编码，否则叠加中文OSD会乱码

    return soap;
}

void ONVIF_soap_delete(struct soap *soap)
{
    soap_destroy(soap);                                                         // remove deserialized class instances (C++ only)
    soap_end(soap);                                                             // Clean up deserialized data (except class instances) and temporary data
    soap_done(soap);                                                            // Reset, close communications, and remove callbacks
    soap_free(soap);                                                            // Reset and deallocate the context created with soap_new or soap_copy
}

/************************************************************************
**函数：ONVIF_init_header
**功能：初始化soap描述消息头
**参数：
        [in] soap - soap环境变量
**返回：无
**备注：
    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
************************************************************************/
void ONVIF_init_header(struct soap *soap)
{
    struct SOAP_ENV__Header *header = nullptr;

            SOAP_ASSERT(nullptr != soap);

    header = (struct SOAP_ENV__Header *)ONVIF_soap_malloc(soap, sizeof(struct SOAP_ENV__Header));
    soap_default_SOAP_ENV__Header(soap, header);
    header->wsa__MessageID =  (char*)soap_wsa_rand_uuid(soap);
    header->wsa__To        = (char*)ONVIF_soap_malloc(soap, strlen(SOAP_TO) + 1);
    header->wsa__Action    = (char*)ONVIF_soap_malloc(soap, strlen(SOAP_ACTION) + 1);
    strcpy(header->wsa__To, SOAP_TO);
    strcpy(header->wsa__Action, SOAP_ACTION);
    soap->header = header;
}

/************************************************************************
**函数：ONVIF_init_ProbeType
**功能：初始化探测设备的范围和类型
**参数：
        [in]  soap  - soap环境变量
        [out] probe - 填充要探测的设备范围和类型
**返回：
        0表明探测到，非0表明未探测到
**备注：
    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
************************************************************************/
void ONVIF_init_ProbeType(struct soap *soap, struct wsdd__ProbeType *probe)
{
    struct wsdd__ScopesType *scope = nullptr;                                      // 用于描述查找哪类的Web服务

            SOAP_ASSERT(nullptr != soap);
            SOAP_ASSERT(nullptr != probe);

    scope = (struct wsdd__ScopesType *)ONVIF_soap_malloc(soap, sizeof(struct wsdd__ScopesType));
    soap_default_wsdd__ScopesType(soap, scope);                                 // 设置寻找设备的范围
    scope->__item = (char*)ONVIF_soap_malloc(soap, strlen(SOAP_ITEM) + 1);
    strcpy(scope->__item, SOAP_ITEM);

    memset(probe, 0x00, sizeof(struct wsdd__ProbeType));
    soap_default_wsdd__ProbeType(soap, probe);
    probe->Scopes = scope;
    probe->Types  = (char*)ONVIF_soap_malloc(soap, strlen(SOAP_TYPES) + 1);     // 设置寻找设备的类型
    strcpy(probe->Types, SOAP_TYPES);
}

void ONVIF_DetectDevice(void (*cb)(char *DeviceXAddr))
{
    int i;
    int result = 0;
    unsigned int count = 0;                                                     // 搜索到的设备个数
    struct soap *soap = nullptr;                                                   // soap环境变量
    struct wsdd__ProbeType      req;                                            // 用于发送Probe消息
    struct __wsdd__ProbeMatches rep;                                            // 用于接收Probe应答
    struct wsdd__ProbeMatchType *probeMatch;

    SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));

    ONVIF_init_header(soap);                                                    // 设置消息头描述
    ONVIF_init_ProbeType(soap, &req);                                           // 设置寻找的设备的范围和类型
    result = soap_send___wsdd__Probe(soap, SOAP_MCAST_ADDR, nullptr, &req);        // 向组播地址广播Probe消息
    while (SOAP_OK == result)                                                   // 开始循环接收设备发送过来的消息
    {
        memset(&rep, 0x00, sizeof(rep));
        result = soap_recv___wsdd__ProbeMatches(soap, &rep);
        if (SOAP_OK == result) {
            if (soap->error) {
                soap_perror(soap, "ProbeMatches");
            } else {                                                            // 成功接收到设备的应答消息
                if (nullptr != rep.wsdd__ProbeMatches) {
                    count += rep.wsdd__ProbeMatches->__sizeProbeMatch;
                    for(i = 0; i < rep.wsdd__ProbeMatches->__sizeProbeMatch; i++) {
                        probeMatch = rep.wsdd__ProbeMatches->ProbeMatch + i;
                        if (nullptr != cb ) {
                            std::string url = probeMatch->XAddrs;
                            if(url == "http://192.168.0.116/onvif/device_service"){
                                cb(probeMatch->XAddrs);                             // 使用设备服务地址执行函数回调
                            }
                        }
                    }
                }
            }
        } else if (soap->error) {
            break;
        }
    }

    SOAP_DBGLOG("\ndetect end! It has detected %d devices!\n", count);

    if (nullptr != soap) {
        ONVIF_soap_delete(soap);
    }

}


#define SOAP_CHECK_ERROR(result, soap, str) \
    do { \
        if (SOAP_OK != (result) || SOAP_OK != (soap)->error) { \
            soap_perror((soap), (str)); \
            if (SOAP_OK == (result)) { \
                (result) = (soap)->error; \
            } \
            goto EXIT; \
        } \
} while (0)



/************************************************************************
**函数：ONVIF_SetAuthInfo
**功能：设置认证信息
**参数：
        [in] soap     - soap环境变量
        [in] username - 用户名
        [in] password - 密码
**返回：
        0表明成功，非0表明失败
**备注：
************************************************************************/
static int ONVIF_SetAuthInfo(struct soap *soap, const char *username, const char *password)
{
    int result = 0;

    SOAP_ASSERT(nullptr != username);
    SOAP_ASSERT(nullptr != password);

    result = soap_wsse_add_UsernameTokenDigest(soap, nullptr, username, password);
    SOAP_CHECK_ERROR(result, soap, "add_UsernameTokenDigest");

    EXIT:

    return result;
}
/************************************************************************
**函数：make_uri_withauth
**功能：构造带有认证信息的URI地址
**参数：
        [in]  src_uri       - 未带认证信息的URI地址
        [in]  username      - 用户名
        [in]  password      - 密码
        [out] dest_uri      - 返回的带认证信息的URI地址
        [in]  size_dest_uri - dest_uri缓存大小
**返回：
        0成功，非0失败
**备注：
    1). 例子：
    无认证信息的uri：rtsp://100.100.100.140:554/av0_0
    带认证信息的uri：rtsp://username:[email protected]:554/av0_0
************************************************************************/
static int make_uri_withauth(const std::string& src_uri, const std::string&username, const std::string&password, std::string *dest_uri)
{
    int result = 0;


            SOAP_ASSERT(!src_uri.empty());

    if (username.empty() &&password.empty()) {                       // 生成新的uri地址
        *dest_uri = src_uri;
    } else {
        std::string::size_type position = src_uri.find("//");
        if (std::string::npos == position) {
            SOAP_DBGERR("can't found '//', src uri is: %s.\n", src_uri.c_str());
            result = -1;
            return result;
        }

        position += 2;
        dest_uri->append(src_uri,0,   position) ;
        dest_uri->append(username + ":" + password + "@");
        dest_uri->append(src_uri,position, std::string::npos) ;
    }


    return result;
}

#define USERNAME    "admin"
#define PASSWORD    "hik12345"
/************************************************************************
**函数：ONVIF_GetDeviceInformation
**功能：获取设备基本信息
**参数：
        [in] DeviceXAddr - 设备服务地址
**返回：
        0表明成功，非0表明失败
**备注：
************************************************************************/
int ONVIF_GetDeviceInformation(const char *DeviceXAddr)
{
    int result = 0;
    struct soap *soap = nullptr;
    _tds__GetDeviceInformation           devinfo_req;
    _tds__GetDeviceInformationResponse   devinfo_resp;

    SOAP_ASSERT(nullptr != DeviceXAddr);
    SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));



    ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);

    result = soap_call___tds__GetDeviceInformation(soap, DeviceXAddr, nullptr, &devinfo_req, devinfo_resp);
    SOAP_CHECK_ERROR(result, soap, "GetDeviceInformation");
    std::cout << "      Manufacturer:\t" << devinfo_resp.Manufacturer << "\n";
    std::cout << "      Model:\t" << devinfo_resp.Model << "\n";
    std::cout << "      FirmwareVersion:\t" << devinfo_resp.FirmwareVersion << "\n";
    std::cout << "      SerialNumber:\t" << devinfo_resp.SerialNumber << "\n";
    std::cout << "      HardwareId:\t" << devinfo_resp.HardwareId << "\n";



    EXIT:

    if (nullptr != soap) {
        ONVIF_soap_delete(soap);
    }
    return result;
}

/************************************************************************
**函数：ONVIF_GetCapabilities
**功能：获取设备能力信息
**参数：
        [in] DeviceXAddr - 设备服务地址
        [in]
**返回：
        0表明成功，非0表明失败
**备注：
    1). 其中最主要的参数之一是媒体服务地址
************************************************************************/
int ONVIF_GetCapabilities(const std::string& deviceXAddr, std::string * ptzXAddr)
{
    int result = 0;
    struct soap *soap = nullptr;
    _tds__GetCapabilities            devinfo_req;
    _tds__GetCapabilitiesResponse    devinfo_resp;


            SOAP_ASSERT(!deviceXAddr.empty());
            SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));

    result = soap_call___tds__GetCapabilities(soap, deviceXAddr.c_str(), nullptr, &devinfo_req, devinfo_resp);
    SOAP_CHECK_ERROR(result, soap, "GetCapabilities");

    if(devinfo_resp.Capabilities->PTZ != nullptr){
        *ptzXAddr = devinfo_resp.Capabilities->PTZ->XAddr;
    }

    EXIT:

    if (nullptr != soap) {
        ONVIF_soap_delete(soap);
    }
    return result;
}

int ONVIF_GetProfiles(const std::string& ptzXAddr, std::string  * profilesToken)
{
    int result = 0;
    struct soap *soap = nullptr;
    _trt__GetProfiles           devinfo_req;
    _trt__GetProfilesResponse   devinfo_resp;

            SOAP_ASSERT(!ptzXAddr.empty());
            SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));

 
 ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
    result = soap_call___trt__GetProfiles(soap, ptzXAddr.c_str(), nullptr, &devinfo_req, devinfo_resp);
    SOAP_CHECK_ERROR(result, soap, "ONVIF_GetProfiles");


            SOAP_ASSERT(devinfo_resp.__sizeProfiles > 0);


    *profilesToken = devinfo_resp.Profiles[0]->token;

    EXIT:
    if (nullptr != soap) {
        ONVIF_soap_delete(soap);
    }

    return result;
}


/************************************************************************
**函数：ONVIF_GetSnapshotUri
**功能：获取设备图像抓拍地址(HTTP)
**参数：
        [in]  MediaXAddr    - 媒体服务地址
        [in]  ProfileToken  - the media profile token
        [out] uri           - 返回的地址
        [in]  sizeuri       - 地址缓存大小
**返回：
        0表明成功，非0表明失败
**备注：
    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。
************************************************************************/
int ONVIF_GetSnapshotUri(const std::string& MediaXAddr, const std::string& ProfileToken, std::string * snapUri)
{
    int result = 0;
    struct soap *soap = nullptr;
     _trt__GetSnapshotUri         req;
     _trt__GetSnapshotUriResponse rep;

     SOAP_ASSERT(!MediaXAddr.empty() && !ProfileToken.empty());
     SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));

    ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
    req.ProfileToken = const_cast<char *>(ProfileToken.c_str());
    result = soap_call___trt__GetSnapshotUri(soap, MediaXAddr.c_str(), nullptr, &req, rep);
    SOAP_CHECK_ERROR(result, soap, "GetSnapshotUri");


    if (nullptr != rep.MediaUri && nullptr != rep.MediaUri->Uri) {
        *snapUri = rep.MediaUri->Uri;
    }

EXIT:

    if (NULL != soap) {
        ONVIF_soap_delete(soap);
    }

    return result;
}
// 获取当前ptz的位置以及状态
int ONVIF_PTZ_GetStatus(const std::string& ptzXAddr, const std::string& ProfileToken){
    int result = 0;
    struct soap *soap = nullptr;
    _tptz__GetStatus           getStatus;
    _tptz__GetStatusResponse   getStatusResponse;

            SOAP_ASSERT(!ptzXAddr.empty());
            SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));


    ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);


    getStatus.ProfileToken = const_cast<char *>(ProfileToken.c_str());
    result = soap_call___tptz__GetStatus(soap, ptzXAddr.c_str(), nullptr, &getStatus, getStatusResponse);
    SOAP_CHECK_ERROR(result, soap, "ONVIF_PTZ_GetStatus");

    if(*getStatusResponse.PTZStatus->MoveStatus->PanTilt == tt__MoveStatus__IDLE){
        std::cout << " 空闲 ... " << std::endl;
    }else if(*getStatusResponse.PTZStatus->MoveStatus->PanTilt == tt__MoveStatus__MOVING){
        std::cout << " 移动中 ... " << std::endl;
    }else if(*getStatusResponse.PTZStatus->MoveStatus->PanTilt == tt__MoveStatus__UNKNOWN){
        std::cout << " 未知 ... " << std::endl;
    }

    std::cout << "当前p: "  <<getStatusResponse.PTZStatus->Position->PanTilt->x  << "\n";
    std::cout << "当前t: "  << getStatusResponse.PTZStatus->Position->PanTilt->y  << "\n";
    std::cout << "当前z: "  << getStatusResponse.PTZStatus->Position->Zoom->x  << "\n";
    EXIT:
    if (nullptr != soap) {
        ONVIF_soap_delete(soap);
    }

    return 0;
}

// 以指定速度移动到指定位置的ptz
// p :  -1  ~ 1   []
// t :  -1  ~ 1
// z :   0  ~ 1
int ONVIF_PTZAbsoluteMove(const std::string& ptzXAddr, const std::string& ProfileToken){
    int result = 0;
    struct soap *soap = nullptr;
    _tptz__AbsoluteMove           absoluteMove;
    _tptz__AbsoluteMoveResponse   absoluteMoveResponse;

    SOAP_ASSERT(!ptzXAddr.empty() && !ProfileToken.empty());
    SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));


    ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
    absoluteMove.ProfileToken = const_cast<char *>(ProfileToken.c_str());

    absoluteMove.Position = soap_new_tt__PTZVector(soap);
    absoluteMove.Position->PanTilt = soap_new_tt__Vector2D(soap);
    absoluteMove.Position->Zoom = soap_new_tt__Vector1D(soap);
    absoluteMove.Speed = soap_new_tt__PTZSpeed(soap);
    absoluteMove.Speed->PanTilt = soap_new_tt__Vector2D(soap);
    absoluteMove.Speed->Zoom = soap_new_tt__Vector1D(soap);


    absoluteMove.Position->PanTilt->x = 0.440833;  // p
    absoluteMove.Position->PanTilt->y = 0.583455;   // t
    absoluteMove.Position->Zoom->x = 0.0333333;   // z

     // x 和y的绝对值越接近1，表示云台的速度越快
    absoluteMove.Speed->PanTilt->x = 0.5;
    absoluteMove.Speed->PanTilt->y = 0.5;
    absoluteMove.Speed->Zoom->x = 0.5;
    result = soap_call___tptz__AbsoluteMove(soap,ptzXAddr.c_str(), nullptr,&absoluteMove,absoluteMoveResponse);
    SOAP_CHECK_ERROR(result, soap, "ONVIF_PTZAbsoluteMove");


EXIT:
    if (nullptr != soap) {
        ONVIF_soap_delete(soap);
    }
    return 0;
}


int ONVIF_PTZStopMove(const std::string& ptzXAddr, const std::string& ProfileToken){
    int result = 0;
    struct soap *soap = nullptr;
    _tptz__Stop tptzStop;
    _tptz__StopResponse tptzStopResponse;

            SOAP_ASSERT(!ptzXAddr.empty() && !ProfileToken.empty());
            SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));

    ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
    tptzStop.ProfileToken = const_cast<char *>(ProfileToken.c_str());
    result = soap_call___tptz__Stop(soap, ptzXAddr.c_str(), nullptr, &tptzStop, tptzStopResponse);
    SOAP_CHECK_ERROR(result, soap, "ONVIF_PTZStopMove");

    EXIT:
    if (nullptr != soap) {
        ONVIF_soap_delete(soap);
    }
    return result;
}

enum PTZCMD
{
    PTZ_CMD_LEFT,
    PTZ_CMD_RIGHT,
    PTZ_CMD_UP,
    PTZ_CMD_DOWN,
    PTZ_CMD_LEFTUP,
    PTZ_CMD_LEFTDOWN,
    PTZ_CMD_RIGHTUP,
    PTZ_CMD_RIGHTDOWN,
    PTZ_CMD_ZOOM_IN,
    PTZ_CMD_ZOOM_OUT,
};
// speed --> (0, 1]
int ONVIF_PTZContinuousMove(const std::string& ptzXAddr, const std::string& ProfileToken, enum PTZCMD cmd, float speed){
    int result = 0;
    struct soap *soap = nullptr;
    _tptz__ContinuousMove continuousMove;
    _tptz__ContinuousMoveResponse continuousMoveResponse;

    SOAP_ASSERT(!ptzXAddr.empty() && !ProfileToken.empty());
    SOAP_ASSERT(nullptr != (soap = ONVIF_soap_new(SOAP_SOCK_TIMEOUT)));

    ONVIF_SetAuthInfo(soap, USERNAME, PASSWORD);
    continuousMove.ProfileToken = const_cast<char *>(ProfileToken.c_str());
    continuousMove.Velocity = soap_new_tt__PTZSpeed(soap);
    continuousMove.Velocity->PanTilt = soap_new_tt__Vector2D(soap);
    continuousMove.Velocity->Zoom = soap_new_tt__Vector1D(soap);



    switch (cmd)
    {
        case  PTZ_CMD_LEFT:
            continuousMove.Velocity->PanTilt->x = -speed;
            continuousMove.Velocity->PanTilt->y = 0;
            break;
        case  PTZ_CMD_RIGHT:
            continuousMove.Velocity->PanTilt->x = speed;
            continuousMove.Velocity->PanTilt->y = 0;
            break;
        case  PTZ_CMD_UP:
            continuousMove.Velocity->PanTilt->x = 0;
            continuousMove.Velocity->PanTilt->y = speed;
            break;
        case  PTZ_CMD_DOWN:
            continuousMove.Velocity->PanTilt->x = 0;
            continuousMove.Velocity->PanTilt->y = -speed;
            break;
        case  PTZ_CMD_LEFTUP:
            continuousMove.Velocity->PanTilt->x = -speed;
            continuousMove.Velocity->PanTilt->y = speed;
            break;
        case PTZ_CMD_LEFTDOWN:
            continuousMove.Velocity->PanTilt->x = -speed;
            continuousMove.Velocity->PanTilt->y = -speed;
            break;
        case  PTZ_CMD_RIGHTUP:
            continuousMove.Velocity->PanTilt->x = speed;
            continuousMove.Velocity->PanTilt->y = speed;
            break;
        case PTZ_CMD_RIGHTDOWN:
            continuousMove.Velocity->PanTilt->x = speed;
            continuousMove.Velocity->PanTilt->y = -speed;
            break;
        case  PTZ_CMD_ZOOM_IN:
            continuousMove.Velocity->PanTilt->x = 0;
            continuousMove.Velocity->PanTilt->y = 0;
            continuousMove.Velocity->Zoom->x = speed;
            break;
        case  PTZ_CMD_ZOOM_OUT:
            continuousMove.Velocity->PanTilt->x = 0;
            continuousMove.Velocity->PanTilt->y = 0;
            continuousMove.Velocity->Zoom->x = -speed;
            break;
        default:
            break;
    }

    // 也可以使用soap_call___tptz__RelativeMove实现
    result = soap_call___tptz__ContinuousMove(soap,ptzXAddr.c_str(), nullptr,&continuousMove,continuousMoveResponse);
    SOAP_CHECK_ERROR(result, soap, "ONVIF_PTZAbsoluteMove");
/*    sleep(1); //如果当前soap被删除（或者发送stop指令），就会停止移动
    ONVIF_PTZStopMove(ptzXAddr, ProfileToken);*/
 EXIT:
    if (nullptr != soap) {
        ONVIF_soap_delete(soap);
    }
    return result;
}




void cb_discovery(char *deviceXAddr)
{
    std::string  ptzXAddr, profilesToken, snapUri, snapAuthUri;
    ONVIF_GetCapabilities(deviceXAddr, &ptzXAddr);
    ONVIF_GetProfiles(ptzXAddr, &profilesToken);
   // ONVIF_PTZ_GetStatus(ptzXAddr, profilesToken);
   // ONVIF_PTZAbsoluteMove(ptzXAddr, profilesToken);
    ONVIF_PTZContinuousMove(ptzXAddr, profilesToken, PTZ_CMD_LEFTUP, 0.3);
}



int main(int argc, char **argv)
{
    ONVIF_DetectDevice(cb_discovery);
    return 0;
}

参考

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

其他文章

悦读

道可道，非常道；名可名，非常名。 无名，天地之始，有名，万物之母。 故常无欲，以观其妙，常有欲，以观其徼。 此两者，同出而异名，同谓之玄，玄之又玄，众妙之门。

最新收录
让AI帮你写代码—通义灵码入门及使用
k8s部署metrics server
两种聚类方法——K均值聚类（K-means）算法和模糊C均值聚类（FCM）算法的简述与在MATLAB中的实现
【数据结构】受限制的线性表——队列
GFLOPs、GMACs、FMA之间的关系
【设计价值观】架构设计核心价值观之一
Python网络爬虫-re正则匹配数据
React组件传值方法
android cocoscreator 相互调用(三）
8.5.2 Composition API
;