385 lines
13 KiB
Python
385 lines
13 KiB
Python
#!/usr/bin/python3
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import json
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import time
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import xml.etree.ElementTree
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import requests
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from requests.auth import HTTPDigestAuth
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def PTZData(d, root="PTZData"):
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op = lambda tag: '<' + tag + '>'
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cl = lambda tag: '</' + tag + '>\n'
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ml = lambda v, xml: xml + op(key) + str(v) + cl(key)
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xml = op(root) + '\n' if root else ""
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if isinstance(d, list):
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for v in d:
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xml = ml(v, xml)
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else:
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for key, vl in d.items():
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if isinstance(vl, list):
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for v in vl:
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xml = ml(v, xml)
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if isinstance(vl, dict):
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xml = ml('\n' + PTZData(vl, None), xml)
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if not isinstance(vl, (list, dict)):
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xml = ml(vl, xml)
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xml += cl(root) if root else ""
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return xml
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def etree_to_list(t):
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d = []
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k = t.tag.split('}')[-1]
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v = list(map(etree_to_dict, t.getchildren()))
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if len(v) == 1:
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v = v[0]
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elif v and not isinstance(v[0], dict):
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v_ = {}
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for kv in v:
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for key, value in kv.items():
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if isinstance(value, str) and (value.isdigit() or value[1:].isdigit()):
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value = int(value)
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v_[key] = value
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v = v_
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return v
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def etree_to_dict(t):
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d = {}
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k = t.tag.split('}')[-1]
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v = list(map(etree_to_dict, t.getchildren()))
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if len(v) == 1:
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v = v[0]
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#elif v and not isinstance(v[0], dict):
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else:
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v_ = {}
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for kv in v:
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for key, value in kv.items():
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if isinstance(value, str) and (value.isdigit() or value[1:].isdigit()):
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value = int(value)
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v_[key] = value
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v = v_
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d = {k: v}
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#d.update(('@' + k, v) for k, v in t.attrib.items())
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if not v:
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d[k] = t.text
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elif t.text.strip():
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d['text'] = t.text
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return d
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def is_close_enough(a, b):
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return abs(a['elevation'] - b['elevation']) < 2 \
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and abs(a['absoluteZoom'] - b['absoluteZoom']) < 2 \
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and abs(a['azimuth'] - b['azimuth']) < 2
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class Camera:
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STOP = {'pan': 0, 'tilt': 0, 'zoom': 0}
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LEFT = {'pan': -1, 'tilt': 0, 'zoom': 0}
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RIGHT = {'pan': 1, 'tilt': 0, 'zoom': 0}
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UP = {'pan': 0, 'tilt': 1, 'zoom': 0}
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DOWN = {'pan': 0, 'tilt': -1, 'zoom': 0}
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LEFT_UP = {'pan': -1, 'tilt': 1, 'zoom': 0}
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LEFT_DOWN = {'pan': -1, 'tilt': -1, 'zoom': 0}
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RIGHT_UP = {'pan': 1, 'tilt': 1, 'zoom': 0}
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RIGHT_DOWN = {'pan': 1, 'tilt': -1, 'zoom': 0}
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IN = {'pan': 1, 'tilt': 0, 'zoom': 1}
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OUT = {'pan': 1, 'tilt': 0, 'zoom': -1}
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abort = False
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sequence_time = 0
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segment_times = {}
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next_target = None
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last_position = {}
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def __init__(self, ip='192.168.1.64', username='admin', password='admin', channel=1):
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self.ip = ip
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self.username = username
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self.password = password
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self.channel = channel
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self.auth = HTTPDigestAuth(self.username, self.password)
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def url(self, method):
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return 'http://{}/ISAPI/PTZCtrl/channels/{}/{}'.format(self.ip, self.channel, method)
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def parse_xml(self, data):
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return etree_to_dict(xml.etree.ElementTree.fromstring(data))
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def status(self):
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s = self.parse_xml(self.get('status'))
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if 'PTZStatus' in s:
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self.last_position = s['PTZStatus']['AbsoluteHigh']
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return self.last_position
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return {}
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def get(self, method):
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return requests.get(self.url(method), auth=self.auth).text
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def put(self, method, data):
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if isinstance(data, dict):
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data = PTZData(data)
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return requests.put(self.url(method), data=data, auth=self.auth).text
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def momentary(self, cmd, duration=None):
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if duration:
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cmd['Momentary'] = {
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'duration': int(duration * 1000)
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}
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r = self.put('momentary', cmd)
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if '<statusCode>1</statusCode>' not in r:
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print(r)
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def continuous(self, cmd, duration=None):
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r = self.put('continuous', cmd)
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if '<statusCode>1</statusCode>' not in r:
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print(r)
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elif duration:
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time.sleep(duration)
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self.continuous(self.STOP)
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def set_preset(self, id, name):
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data = PTZData({
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'id': str(id),
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'presetName': name
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}, 'PTZPreset')
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r = self.put('presets/%s' % id, data)
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if '<statusCode>1</statusCode>' not in r:
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print(r)
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def set_presets(self, presets):
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for preset in presets:
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self.absolute(**preset['position'])
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time.sleep(5)
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self.goto(**preset['position'])
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self.set_preset(preset['id'], preset['name'])
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time.sleep(1)
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print('presets loaded')
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def sequence(self, steps=[], speed=12, goto_first=True):
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self.sequence_start = 0
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if goto_first:
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#self.goto_preset(steps[0], pan=100, tilt=100, zoom=100)
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first = steps[0]
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if isinstance(first, dict):
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if 'seqid' in first and first['seqid'] not in self.segment_times:
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self.segment_times[first['seqid']] = 0
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first = first['preset']
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self.fast_preset(first, True)
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#self.goto_preset(first, pan=speed, tilt=speed)
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if self.abort:
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return
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time.sleep(3)
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steps = steps[1:]
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self.sequence_start = t0 = time.time()
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for step in steps:
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self.next_target = step
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segment_t0 = time.time()
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if self.abort:
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return
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if isinstance(step, dict):
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if 'fast' in step or ('speed' in step and step['speed'] > 100):
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self.fast_preset(step.get('fast', step.get('preset')), True)
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else:
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if 'preset' in step:
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kwargs = {
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'pan': step['speed'],
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'tilt': step['speed'],
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}
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if step.get('zoom'):
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kwargs['zoom'] = step['zoom']
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if 'zoom_last' in step:
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kwargs['zoom_last'] = step['zoom_last']
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self.goto_preset(step['preset'], **kwargs)
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if 'sleep' in step:
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if self.abort:
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return
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time.sleep(float(step['sleep']))
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else:
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self.goto_preset(step, pan=speed, tilt=speed)
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segment_time = time.time() - segment_t0
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if isinstance(step, dict) and 'seqid' in step:
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self.segment_times[step['seqid']] = segment_time
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self.sequence_time = time.time() - t0
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self.next_target = None
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def fast_preset(self, id, wait=False):
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self.put('presets/%s/goto' % id, None)
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if wait:
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preset = self.get_preset(id)['position']
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last = self.status()
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while not is_close_enough(last, preset):
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time.sleep(0.1)
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last = self.status()
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def goto_preset(self, id, pan, tilt, zoom=1, zoom_last=False):
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if self.abort:
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return
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presets = self.get_presets(True)
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if isinstance(id, str):
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preset = [p for p in presets if p['name'] == id]
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if not preset:
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raise Exception('unknown preset %s' % id)
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id = preset[0]['id']
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else:
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preset = [p for p in presets if p['id'] == id]
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if not preset:
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raise Exception('unknown preset %s' % id)
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preset = preset[0]
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i = preset['position']
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if i['elevation'] < 0:
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i['elevation'] -= 1
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i['azimuth'] += 1
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print('goto preset', id, i['elevation'], i['azimuth'], i['absoluteZoom'])
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return self.goto(i['elevation'], i['azimuth'], i['absoluteZoom'],
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pan=pan, tilt=tilt, zoom=zoom, zoom_last=zoom_last)
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def goto(self, elevation, azimuth, absoluteZoom, speed=1, pan=None, tilt=None, zoom=None, zoom_last=False):
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t0 = time.time()
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start = self.status()
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target = {'elevation': elevation, 'azimuth': azimuth, 'absoluteZoom': absoluteZoom}
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print('start:', start, 'target:', target)
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if zoom_last:
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goto_last = {
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'speed': speed,
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'pan': pan,
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'tilt': tilt,
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'zoom': zoom,
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}
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goto_last.update(target)
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target['absoluteZoom'] = start['absoluteZoom']
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def get_delta():
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current = self.status()
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delta = {}
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for key in current:
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delta[key] = target[key] - current[key]
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return current, delta
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current, delta = get_delta()
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if pan is None:
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pan = speed
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if tilt is None:
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tilt = speed
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if zoom is None:
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zoom = 1
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if delta['elevation'] > 0:
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tilt = -tilt
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if delta['azimuth'] < 0:
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pan = -pan
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if delta['absoluteZoom'] < 0:
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zoom = -zoom
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if pan and not delta['azimuth']:
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pan = 0
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if tilt and not delta['elevation']:
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tilt = 0
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if zoom and not delta['absoluteZoom']:
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zoom = 0
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move = {'pan': pan, 'tilt': tilt, 'zoom': zoom}
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direction = {k: v >= 0 for k, v in delta.items()}
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print(move, direction)
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self.continuous(move)
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n = 0
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while sum(map(abs, move.values())):
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n += 1
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#print(current, delta, move)
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current, delta = get_delta()
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changed = False
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if delta and 'azimuth' in delta and 'azimuth' in direction:
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if pan and (not delta['azimuth'] or (delta['azimuth'] >= 0) != direction['azimuth']):
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pan = 0
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changed = True
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elif delta:
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print('why no azimuth? delta: %s direction: %s' % (delta, direction))
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'''
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if pan > 0:
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pan = min(pan, delta['azimuth'])
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change = True
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elif pan < 0 and delta['azimuth'] < 0:
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pan = max(pan, delta['azimuth'])
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changed = True
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'''
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if delta and 'elevation' in delta and 'elevation' in direction:
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if tilt and delta and (not delta['elevation'] or (delta['elevation'] >= 0) != direction['elevation']):
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tilt = 0
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changed = True
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elif delta:
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print('why no elevation? delta: %s direction: %s' % (delta, direction))
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'''
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if tilt > 0:
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tilt = min(tilt, delta['elevation'])
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change = True
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elif tilt < 0 and delta['elevation'] < 0:
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tilt = max(tilt, delta['elevation'])
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changed = True
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'''
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if zoom and (not delta['absoluteZoom'] or (delta['absoluteZoom'] >= 0) != direction['absoluteZoom']):
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zoom = 0
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changed = True
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if changed or not n % 500:
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print('update move', move, current)
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move = {'pan': pan, 'tilt': tilt, 'zoom': zoom}
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self.continuous(self.STOP)
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self.continuous(move)
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if sum(map(abs, move.values())) and not self.abort:
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time.sleep(0.1)
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if self.abort:
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self.continuous(self.STOP)
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return
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self.continuous(self.STOP)
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print(time.time() - t0)
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if zoom_last:
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return self.goto(**goto_last)
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else:
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return get_delta()
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def get_preset(self, id):
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presets = self.get_presets(True)
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if isinstance(id, str):
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preset = [p for p in presets if p['name'] == id]
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if not preset:
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raise Exception('unknown preset %s' % id)
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id = preset[0]['id']
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else:
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preset = [p for p in presets if p['id'] == id]
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if not preset:
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raise Exception('unknown preset %s' % id)
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preset = preset[0]
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return preset
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def absolute(self, elevation, azimuth, absoluteZoom):
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cmd = {
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'AbsoluteHigh': {
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'elevation': elevation,
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'azimuth': azimuth,
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'absoluteZoom': absoluteZoom
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}
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}
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r = self.put('absolute', cmd)
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if '<statusCode>1</statusCode>' not in r:
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print(r)
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return False
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return True
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def get_presets_xml(self):
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return self.get('presets')
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def get_presets(self, details=False):
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system_presets = list(range(33, 47)) + list(range(90, 106))
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presets = etree_to_list(xml.etree.ElementTree.fromstring(self.get('presets')))
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presets = [k['PTZPreset'] for k in presets if k['PTZPreset']['id'] not in system_presets]
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for preset in presets:
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del preset['enabled']
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if not details:
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del preset['AbsoluteHigh']
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else:
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preset['position'] = preset.pop('AbsoluteHigh')
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preset['name'] = preset.pop('presetName')
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return presets
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