cgo+gSoap+onvif学习总结：6、进行PTZ控制

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逍遥游10 2022-08-25 09:42:34 博主文章分类：c ©著作权

文章标签 onvif gSoap cgo 音视频 #include 文章分类 代码人生

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cgo+gSoap+onvif学习总结：6、进行PTZ控制

文章目录

cgo+gSoap+onvif学习总结：6、进行PTZ控制

1. 前言
2. gSoap生成c代码框架
3. 实现c代码实例并运行

3.1 c代码
3.2 cmake
3.3 运行结果

4. 实现cgo代码示例并运行

4.1 相关代码
4.2 cmake
4.3 运行结果

5. 整体项目结构
6. 最后

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"

整个过程截图：

cgo+gSoap+onvif学习总结：6、进行PTZ控制_gSoap

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

cgo+gSoap+onvif学习总结：6、进行PTZ控制_音视频_02

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
#define


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

cgo+gSoap+onvif学习总结：6、进行PTZ控制_gSoap_03

5. 整体项目结构

zy@LS2-R910CQQT:/mnt/d/code/onvif_cgo$ tree -a -I ".idea|.git|build"
.

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，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。

上一篇：浏览器播放rtsp视频流：1、开源方案

下一篇：cgo+gSoap+onvif学习总结：5、获取profileToken、rtsp流地址、快照地址及cgo程序signal SIGSEGV: segmentation violation解决方法

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