cgo+gSoap+onvif学习总结：6、进行PTZ控制
文章目录
1. 前言
接下来我们进行简单的ptz控制，进行一些基础的上、下、左、右、左上、左下、右上、右下、停止等的控制，ptz的模式我们仍使用连续移动方式，对于ptz的一些基本概念可以看我们之前对onvif协议的Go实现方式，这里就不再多说了。
2. gSoap生成c代码框架
网络接口规范地址：https://www.onvif.org/profiles/specifications/
cd ./soap/
//注意这里的typemap.dat是我们修改过的，不然还会出现duration.c编译报错
wsdl2h -c -t ./typemap.dat -o onvif.h http://www.onvif.org/onvif/ver10/network/wsdl/remotediscovery.wsdl https://www.onvif.org/ver10/device/wsdl/devicemgmt.wsdl https://www.onvif.org/ver10/events/wsdl/event.wsdl https://www.onvif.org/ver10/media/wsdl/media.wsdl https://www.onvif.org/ver20/ptz/wsdl/ptz.wsdl
vim onvif.h
添加 #import "wsse.h"
//需要依赖如下文件，从gSoap源码拷贝到我们的工程中
//拷贝一次后续就可以一直用了
dom.c、dom.h、wsseapi.c、wsseapi.h、smdevp.c、smdevp.h、mecevp.c、mecevp.h、threads.c、threads.h、wsaapi.c、wsaapi.h
//注意下面的文件需要custom文件夹，否则路径不对
struct_timeval.h、struct_timeval.c
//duration.c以及duration.h对于生成框架代码和编译c代码路径可能会有差异，根据实际情况可能需要两个位置都有
//只生成客户端源文件，我们只实现客户端，不添加-C会多生成服务端代码
soapcpp2 -x -L -C onvif.h
整个过程截图：
部分内容在滚动截图时丢失了。
3. 实现c代码实例并运行
获取设备能力后传递ptz需要的服务地址后调用ptz的接口，我们再根据速度和方向设置不同的参数，实现8个方向及停止的控制。
3.1 c代码
//
// Created by admin on 2022/3/3.
//
#include <string.h>
#include <unistd.h>
#include "soap/soapStub.h"
#include "soap/wsdd.nsmap"
#include "soap/soapH.h"
#include "soap/wsseapi.h"
#include "client.h"
struct soap *new_soap(struct soap *soap) {
//soap初始化，申请空间
soap = soap_new();
if (soap == NULL) {
printf("func:%s,line:%d.malloc soap error.\n", __FUNCTION__, __LINE__);
return NULL;
}
soap_set_namespaces(soap, namespaces);
soap->recv_timeout = 5;
printf("func:%s,line:%d.new soap success!\n", __FUNCTION__, __LINE__);
return soap;
}
void del_soap(struct soap *soap) {
//清除soap
soap_end(soap);
soap_free(soap);
}
int discovery(struct soap *soap) {
//发送消息描述
struct wsdd__ProbeType req;
struct __wsdd__ProbeMatches resp;
//描述查找那类的Web消息
struct wsdd__ScopesType sScope;
//soap消息头消息
struct SOAP_ENV__Header header;
//获得的设备信息个数
int count = 0;
//返回值
int res;
//存放uuid 格式(8-4-4-4-12)
char uuid_string[64];
printf("func:%s,line:%d.discovery dev!\n", __FUNCTION__, __LINE__);
if (soap == NULL) {
printf("func:%s,line:%d.soap is nil.\n", __FUNCTION__, __LINE__);
return -1;
}
sprintf(uuid_string, "464A4854-4656-5242-4530-110000000000");
printf("func:%s,line:%d.uuid = %s\n", __FUNCTION__, __LINE__, uuid_string);
//将header设置为soap消息，头属性，暂且认为是soap和header绑定
soap_default_SOAP_ENV__Header(soap, &header);
header.wsa5__MessageID = uuid_string;
header.wsa5__To = "urn:schemas-xmlsoap-org:ws:2005:04:discovery";
header.wsa5__Action = "http://schemas.xmllocal_soap.org/ws/2005/04/discovery/Probe";
//设置soap头消息的ID
soap->header = &header;
/* 设置所需寻找设备的类型和范围，二者至少设置一个
否则可能收到非ONVIF设备，出现异常
*/
//设置soap消息的请求服务属性
soap_default_wsdd__ScopesType(soap, &sScope);
sScope.__item = "onvif://www.onvif.org";
soap_default_wsdd__ProbeType(soap, &req);
req.Scopes = &sScope;
/* 设置所需设备的类型，ns1为命名空间前缀，在wsdd.nsmap 文件中
{"tdn","http://www.onvif.org/ver10/network/wsdl"}的tdn,如果不是tdn,而是其它,
例如ns1这里也要随之改为ns1
*/
req.Types = "ns1:NetworkVideoTransmitter";
//调用gSoap接口 向 239.255.255.250:3702 发送udp消息
res = soap_send___wsdd__Probe(soap, "soap.udp://239.255.255.250:3702/", NULL, &req);
if (res == -1) {
printf("func:%s,line:%d.soap error: %d, %s, %s \n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
res = soap->error;
} else {
do {
printf("func:%s,line:%d.begin receive probe match, find dev count:%d.... \n", __FUNCTION__, __LINE__,
count);
//接收 ProbeMatches，成功返回0，错误返回-1
res = soap_recv___wsdd__ProbeMatches(soap, &resp);
printf("func:%s,line:%d.result=%d \n", __FUNCTION__, __LINE__, res);
if (res == -1) {
break;
} else {
//读取服务器回应的Probematch消息
printf("soap_recv___wsdd__Probe: __sizeProbeMatch = %d \n", resp.wsdd__ProbeMatches->__sizeProbeMatch);
printf("Target EP Address : %s \n",
resp.wsdd__ProbeMatches->ProbeMatch->wsa__EndpointReference.Address);
printf("Target Type : %s \n", resp.wsdd__ProbeMatches->ProbeMatch->Types);
printf("Target Service Address : %s \n", resp.wsdd__ProbeMatches->ProbeMatch->XAddrs);
printf("Target Metadata Version: %d \n", resp.wsdd__ProbeMatches->ProbeMatch->MetadataVersion);
printf("Target Scope Address : %s \n", resp.wsdd__ProbeMatches->ProbeMatch->Scopes->__item);
count++;
}
} while (1);
}
return res;
}
int set_auth_info(struct soap *soap, const char *username, const char *password) {
if (NULL == username) {
printf("func:%s,line:%d.username is null.\n", __FUNCTION__, __LINE__);
return -1;
}
if (NULL == password) {
printf("func:%s,line:%d.password is nil.\n", __FUNCTION__, __LINE__);
return -2;
}
int result = soap_wsse_add_UsernameTokenDigest(soap, NULL, username, password);
return result;
}
int get_device_info(struct soap *soap, const char *username, const char *password, char *xAddr) {
if (NULL == xAddr) {
printf("func:%s,line:%d.dev addr is nil.\n", __FUNCTION__, __LINE__);
return -1;
}
if (soap == NULL) {
printf("func:%s,line:%d.malloc soap error.\n", __FUNCTION__, __LINE__);
return -2;
}
struct _tds__GetDeviceInformation deviceInformation;
struct _tds__GetDeviceInformationResponse deviceInformationResponse;
set_auth_info(soap, username, password);
int res = soap_call___tds__GetDeviceInformation(soap, xAddr, NULL, &deviceInformation, &deviceInformationResponse);
if (NULL != soap) {
printf("Manufacturer:%s\n", deviceInformationResponse.Manufacturer);
printf("Model:%s\n", deviceInformationResponse.Model);
printf("FirmwareVersion:%s\n", deviceInformationResponse.FirmwareVersion);
printf("SerialNumber:%s\n", deviceInformationResponse.SerialNumber);
printf("HardwareId:%s\n", deviceInformationResponse.HardwareId);
}
return res;
}
int get_capabilities(struct soap *soap, const char *username, const char *password, char *xAddr, char *mediaAddr) {
struct _tds__GetCapabilities capabilities;
struct _tds__GetCapabilitiesResponse capabilitiesResponse;
set_auth_info(soap, username, password);
int res = soap_call___tds__GetCapabilities(soap, xAddr, NULL, &capabilities, &capabilitiesResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
if (capabilitiesResponse.Capabilities == NULL) {
printf("func:%s,line:%d.GetCapabilities failed! result=%d \n", __FUNCTION__, __LINE__, res);
} else {
printf("func:%s,line:%d.Media->XAddr=%s \n", __FUNCTION__, __LINE__,
capabilitiesResponse.Capabilities->Media->XAddr);
strcpy(mediaAddr, capabilitiesResponse.Capabilities->Media->XAddr);
}
return res;
}
int get_profiles(struct soap *soap, const char *username, const char *password, char *profileToken, char *xAddr) {
struct _trt__GetProfiles profiles;
struct _trt__GetProfilesResponse profilesResponse;
set_auth_info(soap, username, password);
int res = soap_call___trt__GetProfiles(soap, xAddr, NULL, &profiles, &profilesResponse);
if (res == -1)
//NOTE: it may be regular if result isn't SOAP_OK.Because some attributes aren't supported by server.
//any question email leoluopy@gmail.com
{
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
if (profilesResponse.__sizeProfiles <= 0) {
printf("func:%s,line:%d.Profiles Get Error\n", __FUNCTION__, __LINE__);
return res;
}
for (int i = 0; i < profilesResponse.__sizeProfiles; i++) {
if (profilesResponse.Profiles[i].token != NULL) {
printf("func:%s,line:%d.Profiles token:%s\n", __FUNCTION__, __LINE__, profilesResponse.Profiles->Name);
//默认我们取第一个即可，可以优化使用字符串数组存储多个
if (i == 0) {
strcpy(profileToken, profilesResponse.Profiles[i].token);
}
}
}
return res;
}
int get_rtsp_uri(struct soap *soap, const char *username, const char *password, char *profileToken, char *xAddr) {
struct _trt__GetStreamUri streamUri;
struct _trt__GetStreamUriResponse streamUriResponse;
streamUri.StreamSetup = (struct tt__StreamSetup *) soap_malloc(soap, sizeof(struct tt__StreamSetup));
streamUri.StreamSetup->Stream = 0;
streamUri.StreamSetup->Transport = (struct tt__Transport *) soap_malloc(soap, sizeof(struct tt__Transport));
streamUri.StreamSetup->Transport->Protocol = 0;
streamUri.StreamSetup->Transport->Tunnel = 0;
streamUri.StreamSetup->__size = 1;
streamUri.StreamSetup->__any = NULL;
streamUri.StreamSetup->__anyAttribute = NULL;
streamUri.ProfileToken = profileToken;
set_auth_info(soap, username, password);
int res = soap_call___trt__GetStreamUri(soap, xAddr, NULL, &streamUri, &streamUriResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
printf("func:%s,line:%d.RTSP uri is :%s \n", __FUNCTION__, __LINE__, streamUriResponse.MediaUri->Uri);
return res;
}
int get_snapshot(struct soap *soap, const char *username, const char *password, char *profileToken, char *xAddr) {
struct _trt__GetSnapshotUri snapshotUri;
struct _trt__GetSnapshotUriResponse snapshotUriResponse;
set_auth_info(soap, username, password);
snapshotUri.ProfileToken = profileToken;
int res = soap_call___trt__GetSnapshotUri(soap, xAddr, NULL, &snapshotUri, &snapshotUriResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
printf("func:%s,line:%d.Snapshot uri is :%s \n", __FUNCTION__, __LINE__,
snapshotUriResponse.MediaUri->Uri);
return res;
}
int ptz(struct soap *soap, const char *username, const char *password, int direction, float speed, char *profileToken,
char *xAddr) {
struct _tptz__ContinuousMove continuousMove;
struct _tptz__ContinuousMoveResponse continuousMoveResponse;
struct _tptz__Stop tptzStop;
struct _tptz__StopResponse stopResponse;
int res;
set_auth_info(soap, username, password);
continuousMove.ProfileToken = profileToken;
continuousMove.Velocity = (struct tt__PTZSpeed *)soap_malloc(soap, sizeof(struct tt__PTZSpeed));
continuousMove.Velocity->PanTilt = (struct tt__Vector2D *)soap_malloc(soap, sizeof(struct tt__Vector2D));
switch (direction) {
case 1:
continuousMove.Velocity->PanTilt->x = 0;
continuousMove.Velocity->PanTilt->y = speed;
break;
case 2:
continuousMove.Velocity->PanTilt->x = 0;
continuousMove.Velocity->PanTilt->y = -speed;
break;
case 3:
continuousMove.Velocity->PanTilt->x = -speed;
continuousMove.Velocity->PanTilt->y = 0;
break;
case 4:
continuousMove.Velocity->PanTilt->x = speed;
continuousMove.Velocity->PanTilt->y = 0;
break;
case 5:
continuousMove.Velocity->PanTilt->x = -speed;
continuousMove.Velocity->PanTilt->y = speed;
break;
case 6:
continuousMove.Velocity->PanTilt->x = -speed;
continuousMove.Velocity->PanTilt->y = -speed;
break;
case 7:
continuousMove.Velocity->PanTilt->x = speed;
continuousMove.Velocity->PanTilt->y = speed;
break;
case 8:
continuousMove.Velocity->PanTilt->x = speed;
continuousMove.Velocity->PanTilt->y = -speed;
break;
case 9:
tptzStop.ProfileToken = profileToken;
res = soap_call___tptz__Stop(soap, xAddr, NULL, &tptzStop, &stopResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
return res;
default:
printf("func:%s,line:%d.Ptz direction unknown.\n", __FUNCTION__, __LINE__);
return -1;
}
res = soap_call___tptz__ContinuousMove(soap, xAddr, NULL, &continuousMove, &continuousMoveResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
return res;
}
int main() {
struct soap *soap = NULL;
soap = new_soap(soap);
const char username[] = "admin";
const char password[] = "admin";
char serviceAddr[] = "http://40.40.40.101:80/onvif/device_service";
discovery(soap);
get_device_info(soap, username, password, serviceAddr);
char mediaAddr[200] = {'\0'};
get_capabilities(soap, username, password, serviceAddr, mediaAddr);
char profileToken[200] = {'\0'};
get_profiles(soap, username, password, profileToken, mediaAddr);
get_rtsp_uri(soap, username, password, profileToken, mediaAddr);
get_snapshot(soap, username, password, profileToken, mediaAddr);
int res = -1;
while(res != 0) {
printf("请输入数字进行ptz,1-9分别代表上、下、左、右、左上、左下、右上、右下、停止;退出请输入0：");
scanf("%d",&res);
ptz(soap, username, password, res, 0.5f, profileToken, mediaAddr);
}
del_soap(soap);
}
3.2 cmake
cmake_minimum_required(VERSION 3.0)
project(onvif-cgo)
set(CMAKE_C_FLAGS "-DWITH_DOM -DWITH_OPENSSL -DWITH_NONAMESPACES")
aux_source_directory(./soap/ SRC_LIST)
include_directories(./ /usr/include/ ./soap/custom)
link_directories(~/ /usr/local/ /usr/lib/)
add_executable(gsoap-onvif ${SRC_LIST} client.c client.h ./soap/custom)
target_link_libraries(gsoap-onvif -lpthread -ldl -lssl -lcrypto)
#ADD_LIBRARY(c_onvif SHARED ${SRC_LIST} client.c)
#ADD_LIBRARY(c_onvif_static STATIC ${SRC_LIST} client.c client.h ./soap/custom)
3.3 运行结果
4. 实现cgo代码示例并运行
4.1 相关代码
client.c:
//
// Created by admin on 2022/3/3.
//
#include <string.h>
#include <unistd.h>
#include "soap/soapStub.h"
#include "soap/wsdd.nsmap"
#include "soap/soapH.h"
#include "soap/wsseapi.h"
#include "client.h"
struct soap *new_soap(struct soap *soap) {
//soap初始化，申请空间
soap = soap_new();
if (soap == NULL) {
printf("func:%s,line:%d.malloc soap error.\n", __FUNCTION__, __LINE__);
return NULL;
}
soap_set_namespaces(soap, namespaces);
soap->recv_timeout = 5;
printf("func:%s,line:%d.new soap success!\n", __FUNCTION__, __LINE__);
return soap;
}
void del_soap(struct soap *soap) {
//清除soap
soap_end(soap);
soap_free(soap);
}
int discovery(struct soap *soap) {
//发送消息描述
struct wsdd__ProbeType req;
struct __wsdd__ProbeMatches resp;
//描述查找那类的Web消息
struct wsdd__ScopesType sScope;
//soap消息头消息
struct SOAP_ENV__Header header;
//获得的设备信息个数
int count = 0;
//返回值
int res;
//存放uuid 格式(8-4-4-4-12)
char uuid_string[64];
printf("func:%s,line:%d.discovery dev!\n", __FUNCTION__, __LINE__);
if (soap == NULL) {
printf("func:%s,line:%d.soap is nil.\n", __FUNCTION__, __LINE__);
return -1;
}
sprintf(uuid_string, "464A4854-4656-5242-4530-110000000000");
printf("func:%s,line:%d.uuid = %s\n", __FUNCTION__, __LINE__, uuid_string);
//将header设置为soap消息，头属性，暂且认为是soap和header绑定
soap_default_SOAP_ENV__Header(soap, &header);
header.wsa5__MessageID = uuid_string;
header.wsa5__To = "urn:schemas-xmlsoap-org:ws:2005:04:discovery";
header.wsa5__Action = "http://schemas.xmllocal_soap.org/ws/2005/04/discovery/Probe";
//设置soap头消息的ID
soap->header = &header;
/* 设置所需寻找设备的类型和范围，二者至少设置一个
否则可能收到非ONVIF设备，出现异常
*/
//设置soap消息的请求服务属性
soap_default_wsdd__ScopesType(soap, &sScope);
sScope.__item = "onvif://www.onvif.org";
soap_default_wsdd__ProbeType(soap, &req);
req.Scopes = &sScope;
/* 设置所需设备的类型，ns1为命名空间前缀，在wsdd.nsmap 文件中
{"tdn","http://www.onvif.org/ver10/network/wsdl"}的tdn,如果不是tdn,而是其它,
例如ns1这里也要随之改为ns1
*/
req.Types = "ns1:NetworkVideoTransmitter";
//调用gSoap接口 向 239.255.255.250:3702 发送udp消息
res = soap_send___wsdd__Probe(soap, "soap.udp://239.255.255.250:3702/", NULL, &req);
if (res == -1) {
printf("func:%s,line:%d.soap error: %d, %s, %s \n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
res = soap->error;
} else {
do {
printf("func:%s,line:%d.begin receive probe match, find dev count:%d.... \n", __FUNCTION__, __LINE__,
count);
//接收 ProbeMatches，成功返回0，错误返回-1
res = soap_recv___wsdd__ProbeMatches(soap, &resp);
printf("func:%s,line:%d.result=%d \n", __FUNCTION__, __LINE__, res);
if (res == -1) {
break;
} else {
//读取服务器回应的Probematch消息
printf("soap_recv___wsdd__Probe: __sizeProbeMatch = %d \n", resp.wsdd__ProbeMatches->__sizeProbeMatch);
printf("Target EP Address : %s \n",
resp.wsdd__ProbeMatches->ProbeMatch->wsa__EndpointReference.Address);
printf("Target Type : %s \n", resp.wsdd__ProbeMatches->ProbeMatch->Types);
printf("Target Service Address : %s \n", resp.wsdd__ProbeMatches->ProbeMatch->XAddrs);
printf("Target Metadata Version: %d \n", resp.wsdd__ProbeMatches->ProbeMatch->MetadataVersion);
printf("Target Scope Address : %s \n", resp.wsdd__ProbeMatches->ProbeMatch->Scopes->__item);
count++;
}
} while (1);
}
return res;
}
int set_auth_info(struct soap *soap, const char *username, const char *password) {
if (NULL == username) {
printf("func:%s,line:%d.username is null.\n", __FUNCTION__, __LINE__);
return -1;
}
if (NULL == password) {
printf("func:%s,line:%d.password is nil.\n", __FUNCTION__, __LINE__);
return -2;
}
int result = soap_wsse_add_UsernameTokenDigest(soap, NULL, username, password);
return result;
}
int get_device_info(struct soap *soap, const char *username, const char *password, char *xAddr) {
if (NULL == xAddr) {
printf("func:%s,line:%d.dev addr is nil.\n", __FUNCTION__, __LINE__);
return -1;
}
if (soap == NULL) {
printf("func:%s,line:%d.malloc soap error.\n", __FUNCTION__, __LINE__);
return -2;
}
struct _tds__GetDeviceInformation deviceInformation;
struct _tds__GetDeviceInformationResponse deviceInformationResponse;
set_auth_info(soap, username, password);
int res = soap_call___tds__GetDeviceInformation(soap, xAddr, NULL, &deviceInformation, &deviceInformationResponse);
if (NULL != soap) {
printf("Manufacturer:%s\n", deviceInformationResponse.Manufacturer);
printf("Model:%s\n", deviceInformationResponse.Model);
printf("FirmwareVersion:%s\n", deviceInformationResponse.FirmwareVersion);
printf("SerialNumber:%s\n", deviceInformationResponse.SerialNumber);
printf("HardwareId:%s\n", deviceInformationResponse.HardwareId);
}
return res;
}
int get_capabilities(struct soap *soap, const char *username, const char *password, char *xAddr, char *mediaAddr) {
struct _tds__GetCapabilities capabilities;
struct _tds__GetCapabilitiesResponse capabilitiesResponse;
set_auth_info(soap, username, password);
int res = soap_call___tds__GetCapabilities(soap, xAddr, NULL, &capabilities, &capabilitiesResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
if (capabilitiesResponse.Capabilities == NULL) {
printf("func:%s,line:%d.GetCapabilities failed! result=%d \n", __FUNCTION__, __LINE__, res);
} else {
printf("func:%s,line:%d.Media->XAddr=%s \n", __FUNCTION__, __LINE__,
capabilitiesResponse.Capabilities->Media->XAddr);
strcpy(mediaAddr, capabilitiesResponse.Capabilities->Media->XAddr);
}
return res;
}
int get_profiles(struct soap *soap, const char *username, const char *password, char *profileToken, char *xAddr) {
struct _trt__GetProfiles profiles;
struct _trt__GetProfilesResponse profilesResponse;
set_auth_info(soap, username, password);
int res = soap_call___trt__GetProfiles(soap, xAddr, NULL, &profiles, &profilesResponse);
if (res == -1)
//NOTE: it may be regular if result isn't SOAP_OK.Because some attributes aren't supported by server.
//any question email leoluopy@gmail.com
{
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
if (profilesResponse.__sizeProfiles <= 0) {
printf("func:%s,line:%d.Profiles Get Error\n", __FUNCTION__, __LINE__);
return res;
}
for (int i = 0; i < profilesResponse.__sizeProfiles; i++) {
if (profilesResponse.Profiles[i].token != NULL) {
printf("func:%s,line:%d.Profiles token:%s\n", __FUNCTION__, __LINE__, profilesResponse.Profiles->Name);
//默认我们取第一个即可，可以优化使用字符串数组存储多个
if (i == 0) {
strcpy(profileToken, profilesResponse.Profiles[i].token);
}
}
}
return res;
}
int get_rtsp_uri(struct soap *soap, const char *username, const char *password, char *profileToken, char *xAddr) {
struct _trt__GetStreamUri streamUri;
struct _trt__GetStreamUriResponse streamUriResponse;
streamUri.StreamSetup = (struct tt__StreamSetup *) soap_malloc(soap, sizeof(struct tt__StreamSetup));
streamUri.StreamSetup->Stream = 0;
streamUri.StreamSetup->Transport = (struct tt__Transport *) soap_malloc(soap, sizeof(struct tt__Transport));
streamUri.StreamSetup->Transport->Protocol = 0;
streamUri.StreamSetup->Transport->Tunnel = 0;
streamUri.StreamSetup->__size = 1;
streamUri.StreamSetup->__any = NULL;
streamUri.StreamSetup->__anyAttribute = NULL;
streamUri.ProfileToken = profileToken;
set_auth_info(soap, username, password);
int res = soap_call___trt__GetStreamUri(soap, xAddr, NULL, &streamUri, &streamUriResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
printf("func:%s,line:%d.RTSP uri is :%s \n", __FUNCTION__, __LINE__, streamUriResponse.MediaUri->Uri);
return res;
}
int get_snapshot(struct soap *soap, const char *username, const char *password, char *profileToken, char *xAddr) {
struct _trt__GetSnapshotUri snapshotUri;
struct _trt__GetSnapshotUriResponse snapshotUriResponse;
set_auth_info(soap, username, password);
snapshotUri.ProfileToken = profileToken;
int res = soap_call___trt__GetSnapshotUri(soap, xAddr, NULL, &snapshotUri, &snapshotUriResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
printf("func:%s,line:%d.Snapshot uri is :%s \n", __FUNCTION__, __LINE__,
snapshotUriResponse.MediaUri->Uri);
return res;
}
int ptz(struct soap *soap, const char *username, const char *password, int direction, float speed, char *profileToken,
char *xAddr) {
struct _tptz__ContinuousMove continuousMove;
struct _tptz__ContinuousMoveResponse continuousMoveResponse;
struct _tptz__Stop tptzStop;
struct _tptz__StopResponse stopResponse;
int res;
set_auth_info(soap, username, password);
continuousMove.ProfileToken = profileToken;
continuousMove.Velocity = (struct tt__PTZSpeed *)soap_malloc(soap, sizeof(struct tt__PTZSpeed));
continuousMove.Velocity->PanTilt = (struct tt__Vector2D *)soap_malloc(soap, sizeof(struct tt__Vector2D));
switch (direction) {
case 1:
continuousMove.Velocity->PanTilt->x = 0;
continuousMove.Velocity->PanTilt->y = speed;
break;
case 2:
continuousMove.Velocity->PanTilt->x = 0;
continuousMove.Velocity->PanTilt->y = -speed;
break;
case 3:
continuousMove.Velocity->PanTilt->x = -speed;
continuousMove.Velocity->PanTilt->y = 0;
break;
case 4:
continuousMove.Velocity->PanTilt->x = speed;
continuousMove.Velocity->PanTilt->y = 0;
break;
case 5:
continuousMove.Velocity->PanTilt->x = -speed;
continuousMove.Velocity->PanTilt->y = speed;
break;
case 6:
continuousMove.Velocity->PanTilt->x = -speed;
continuousMove.Velocity->PanTilt->y = -speed;
break;
case 7:
continuousMove.Velocity->PanTilt->x = speed;
continuousMove.Velocity->PanTilt->y = speed;
break;
case 8:
continuousMove.Velocity->PanTilt->x = speed;
continuousMove.Velocity->PanTilt->y = -speed;
break;
case 9:
tptzStop.ProfileToken = profileToken;
res = soap_call___tptz__Stop(soap, xAddr, NULL, &tptzStop, &stopResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
return res;
default:
printf("func:%s,line:%d.Ptz direction unknown.\n", __FUNCTION__, __LINE__);
return -1;
}
res = soap_call___tptz__ContinuousMove(soap, xAddr, NULL, &continuousMove, &continuousMoveResponse);
if (soap->error) {
printf("func:%s,line:%d.soap error: %d, %s, %s\n", __FUNCTION__, __LINE__, soap->error, *soap_faultcode(soap),
*soap_faultstring(soap));
return soap->error;
}
return res;
}
/*
int main() {
struct soap *soap = NULL;
soap = new_soap(soap);
const char username[] = "admin";
const char password[] = "admin";
char serviceAddr[] = "http://40.40.40.101:80/onvif/device_service";
discovery(soap);
get_device_info(soap, username, password, serviceAddr);
char mediaAddr[200] = {'\0'};
get_capabilities(soap, username, password, serviceAddr, mediaAddr);
char profileToken[200] = {'\0'};
get_profiles(soap, username, password, profileToken, mediaAddr);
get_rtsp_uri(soap, username, password, profileToken, mediaAddr);
get_snapshot(soap, username, password, profileToken, mediaAddr);
int res = -1;
while(res != 0) {
printf("请输入数字进行ptz,1-9分别代表上、下、左、右、左上、左下、右上、右下、停止;退出请输入0：");
scanf("%d",&res);
ptz(soap, username, password, res, 0.5f, profileToken, mediaAddr);
}
del_soap(soap);
}
*/
client.h:
//
// Created by admin on 2022/3/3.
//
#ifndef ONVIF_CGO_CLIENT_H
#define ONVIF_CGO_CLIENT_H
typedef struct soap *P_Soap;
extern struct soap *new_soap(struct soap *soap);
extern void del_soap(struct soap *soap);
extern int discovery(struct soap *soap);
extern int get_device_info(struct soap *soap, const char *username, const char *password, char *xAddr);
extern int
get_capabilities(struct soap *soap, const char *username, const char *password, char *xAddr, char *mediaAddr);
extern int
get_profiles(struct soap *soap, const char *username, const char *password, char *profileToken, char *xAddr);
extern int
get_rtsp_uri(struct soap *soap, const char *username, const char *password, char *profileToken, char *xAddr);
extern int
get_snapshot(struct soap *soap, const char *username, const char *password, char *profileToken, char *xAddr);
extern int
ptz(struct soap *soap, const char *username, const char *password, int direction, float speed, char *profileToken,
char *xAddr);
#endif //ONVIF_CGO_CLIENT_H
main.go:
package main
/*
#cgo CFLAGS: -I ./ -I /usr/local/ -I ~/work/gsoap-2.8/gsoap/
#cgo LDFLAGS: -L ./build -lc_onvif_static -lpthread -ldl -lssl -lcrypto
#include "client.h"
#include "malloc.h"
*/
import "C"
import (
"fmt"
"unsafe"
)
func main() {
var soap C.P_Soap
soap = C.new_soap(soap)
username := C.CString("admin")
password := C.CString("admin")
serviceAddr := C.CString("http://40.40.40.101:80/onvif/device_service")
C.discovery(soap)
C.get_device_info(soap, username, password, serviceAddr)
mediaAddr := [200]C.char{}
C.get_capabilities(soap, username, password, serviceAddr, &mediaAddr[0])
fmt.Println(C.GoString(&mediaAddr[0]))
profileToken := [200]C.char{}
C.get_profiles(soap, username, password, &profileToken[0], &mediaAddr[0])
fmt.Println(C.GoString(&profileToken[0]))
C.get_rtsp_uri(soap, username, password, &profileToken[0], &mediaAddr[0])
C.get_snapshot(soap, username, password, &profileToken[0], &mediaAddr[0])
PTZ:for {
direction := uint(0)
fmt.Println("输入PTZ：1:上；2：下；3：左；4：右；5：左上；6：左下；7：右上；8：右下；9：停，0：退出")
fmt.Scanln(&direction)
switch (direction) {
case 0:
break PTZ
case 1,2,3,4,5,6,7,8,9:
C.ptz(soap, username, password, C.int(direction), C.float(0.5), &profileToken[0], &mediaAddr[0])
continue
default:
fmt.Println("Unknown direction.")
}
}
C.del_soap(soap)
C.free(unsafe.Pointer(username))
C.free(unsafe.Pointer(password))
C.free(unsafe.Pointer(serviceAddr))
}
编译：
GOOS=linux GOARCH=amd64 CGO_ENABLE=1 go build -o onvif_cgo main.go
4.2 cmake
cmake_minimum_required(VERSION 3.0)
project(onvif-cgo)
set(CMAKE_C_FLAGS "-DWITH_DOM -DWITH_OPENSSL -DWITH_NONAMESPACES")
aux_source_directory(./soap/ SRC_LIST)
include_directories(./ /usr/include/ ./soap/custom)
link_directories(~/ /usr/local/ /usr/lib/)
#add_executable(gsoap-onvif ${SRC_LIST} client.c client.h ./soap/custom)
#target_link_libraries(gsoap-onvif -lpthread -ldl -lssl -lcrypto)
#ADD_LIBRARY(c_onvif SHARED ${SRC_LIST} client.c)
ADD_LIBRARY(c_onvif_static STATIC ${SRC_LIST} client.c client.h ./soap/custom)
4.3 运行结果
5. 整体项目结构
zy@LS2-R910CQQT:/mnt/d/code/onvif_cgo$ tree -a -I ".idea|.git|build"
.
├── CMakeLists.txt
├── client.c
├── client.h
├── main.go
├── onvif_cgo
└── soap
├── DeviceBinding.nsmap
├── MediaBinding.nsmap
├── PTZBinding.nsmap
├── PullPointSubscriptionBinding.nsmap
├── RemoteDiscoveryBinding.nsmap
├── custom
│ ├── README.txt
│ ├── chrono_duration.cpp
│ ├── chrono_duration.h
│ ├── chrono_time_point.cpp
│ ├── chrono_time_point.h
│ ├── duration.c
│ ├── duration.h
│ ├── float128.c
│ ├── float128.h
│ ├── int128.c
│ ├── int128.h
│ ├── long_double.c
│ ├── long_double.h
│ ├── long_time.c
│ ├── long_time.h
│ ├── qbytearray_base64.cpp
│ ├── qbytearray_base64.h
│ ├── qbytearray_hex.cpp
│ ├── qbytearray_hex.h
│ ├── qdate.cpp
│ ├── qdate.h
│ ├── qdatetime.cpp
│ ├── qdatetime.h
│ ├── qstring.cpp
│ ├── qstring.h
│ ├── qtime.cpp
│ ├── qtime.h
│ ├── struct_timeval.c
│ ├── struct_timeval.h
│ ├── struct_tm.c
│ ├── struct_tm.h
│ ├── struct_tm_date.c
│ └── struct_tm_date.h
├── dom.c
├── dom.h
├── duration.c
├── duration.h
├── mecevp.c
├── mecevp.h
├── onvif.h
├── smdevp.c
├── smdevp.h
├── soapC.c
├── soapClient.c
├── soapH.h
├── soapStub.h
├── stdsoap2.h
├── stdsoap2_ssl.c
├── struct_timeval.c
├── struct_timeval.h
├── threads.c
├── threads.h
├── typemap.dat
├── wsaapi.c
├── wsaapi.h
├── wsdd.nsmap
├── wsseapi.c
└── wsseapi.h
2 directories, 68 files
6. 最后
cgo似乎还有一些坑点，比如上节我们提到的分割违例错误，c的处理方式和go有差异，导致cgo交互时可能出现一些错误。
在出现类似cgo的稳定性错误后，我们也可以改用其它本地通信方式进行c和go的交互，比如socket或者gRpc或者一些其它的通信方式（比如：https://blog.csdn.net/weixin_39510813/article/details/118733935）直接进行数据层面的交互，甚至也还可以改用jni方式使用java和c交互，只要我们的底层逻辑c实现够稳定，那么上层业务实现随时可以修改。
ptz控制实现了，接下来我们再试下缩放、调焦和预置点相关的功能。
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