int GetServiceCap::GetService(OnvifClientDevice &onvifDevice)
{
OnvifClientDevice *onvifDeviceobj;
onvifDeviceobj=&onvifDevice;
OnvifClientPTZ ptz(*onvifDeviceobj);
_tptz__GetServiceCapabilitiesResponse ServiceCapResponse;
int test1=-1;
ptz.Initialize();
test1=ptz.GetServiceCapabilities(ServiceCapResponse);
bool x1;
x1=ServiceCapResponse.Capabilities->EFlip; // EFlip Support means camera will adjust itself after 90' tilt to display image normally else it will be shown upside down
cout<<"EFLIP_SUPPORT : "<<x1<<"\n";
bool x2;
x2=ServiceCapResponse.Capabilities->Reverse; // Indicates whether or not reversing of PT control direction is supported
cout<<"REVERSE_SUPPORT : "<<x2<<"\n";
bool x3;
x3=ServiceCapResponse.Capabilities->GetCompatibleConfigurations; // Indicates support for the GetCompatibleConfigurations command
cout<<"GETCOMPATIBLECONFIGURATIONS_COMMAND_SUPPORT : "<<x3<<"\n";
bool x4;
x4=ServiceCapResponse.Capabilities->MoveStatus; // Indicates that the PTZVector includes MoveStatus information
cout<<"PTZVECTOR_MOVESTATUS_INFORMATION : "<<x4<<"\n";
bool x5;
x5=ServiceCapResponse.Capabilities->StatusPosition; // Indicates that the PTZVector includes Position information
cout<<"PTZVECTOR_POSITION_INFORMATION : "<<x5<<"\n";
cout<<"\n";
return 0;
}
int main(int argc, char **argv)
{
Aria::init();
ArRobot robot;
ArArgumentParser parser(&argc, argv);
ArRobotConnector con(&parser, &robot);
if (!con.connectRobot())
{
ArLog::log(ArLog::Terse, "Error connecting to robot.");
Aria::exit(1);
}
if(!Aria::parseArgs())
{
ArLog::log(ArLog::Terse, "Error parsing program arguments.");
Aria::logOptions();
Aria::exit(2);
}
//ArRVisionPTZ ptz(&robot);
ArVCC4 ptz(&robot);
//ArSonyPTZ ptz(&robot);
//ArDPPTU ptz(&robot);
ArLog::log(ArLog::Normal, "Using robot connection. (Aux. serial port 1)");
robot.runAsync(true);
robot.comInt(ArCommands::SONAR, 0);
robot.comInt(ArCommands::ENABLE, 0);
robot.comInt(ArCommands::SOUNDTOG, 0);
if(!ptz.init())
{
ArLog::log(ArLog::Terse, "Error connecting to and initializing PTZ.");
Aria::exit(3);
}
// ptz.getRealPanTilt(); // vcc4 only
if(ptz.canGetRealPanTilt()) ArLog::log(ArLog::Normal, "PTU will report real measured pan/tilt positions.");
else ArLog::log(ArLog::Normal, "PTU cannot report real measured pan/tilt positions, will report commanded positions instead.");
testPan(&ptz, ptz.getMaxPosPan(), "max");
testPan(&ptz, ptz.getMaxNegPan(), "min");
testPan(&ptz, 45);
testPan(&ptz, -45);
testPan(&ptz, 0);
ArLog::log(ArLog::Normal, "Reset...");
ptz.reset();
ArUtil::sleep(WAIT);
testPanRel(&ptz, 45);
testPanRel(&ptz, -45);
testPan(&ptz, 0);
ArLog::log(ArLog::Normal, "Reset...");
ptz.reset();
ArUtil::sleep(WAIT);
ArLog::log(ArLog::Normal, "");
testTilt(&ptz, ptz.getMaxPosTilt(), "max");
testTilt(&ptz, ptz.getMaxNegTilt(), "min");
testTilt(&ptz, 45);
testTilt(&ptz, -45);
testTilt(&ptz, 0);
ArLog::log(ArLog::Normal, "Reset...");
ptz.reset();
ArUtil::sleep(WAIT);
testTiltRel(&ptz, 45);
testTiltRel(&ptz, -45);
testTilt(&ptz, 0);
ArLog::log(ArLog::Normal, "Reset...");
ptz.reset();
ArUtil::sleep(WAIT);
ArLog::log(ArLog::Normal, "");
if(ptz.canZoom())
{
if(ptz.canGetRealZoom()) ArLog::log(ArLog::Normal, "PTZ will report real measured zoom positions.");
else ArLog::log(ArLog::Normal, "PTZ cannot report real measured zoom positions, will report commanded positions instead.");
testZoom(&ptz, ptz.getMaxZoom(), "max");
testZoom(&ptz, ptz.getMinZoom(), "min");
testZoom(&ptz, 0);
ptz.reset();
ArUtil::sleep(WAIT);
}
else
{
ArLog::log(ArLog::Normal, "PTU has no zoom feature.");
}
Aria::exit(0);
}
