def __init__(self, hostname, username, password, flip, speed_control, frame_id="axis_camera",
use_encrypted_password=False, state_publishing_frequency=50, camera_id=1):
"""Initialize the PTZ driver and start publishing positional data.
:param hostname: Hostname of the camera (without http://, can be an IP address).
:type hostname: basestring
:param username: If login is needed, provide a username here.
:type username: basestring|None
:param password: If login is needed, provide a password here.
:type password: basestring|None
:param flip: Whether to flip the controls (for ceiling-mounted cameras). Deprecated.
:type flip: bool
:param speed_control: Use speed control instead of positional. Deprecated.
:type speed_control: bool
:param frame_id: Id of the frame in which positinal data should be published.
:type frame_id: basestring
:param use_encrypted_password: Whether to use Plain HTTP Auth (False) or Digest HTTP Auth (True).
:type use_encrypted_password: bool
:param state_publishing_frequency: The frequency at which joint states should be published.
:type state_publishing_frequency: int
:param camera_id: ID (number) of the camera. Can be 1 to 4.
:type camera_id: int
"""
self._hostname = hostname
self._camera_id = camera_id
self._frame_id = frame_id
self._state_publishing_frequency = state_publishing_frequency
self._executing_reconfigure = False
self._reconfigure_mutex = threading.Lock()
self._api = None
# autodetect the VAPIX API and connect to it; try it forever
while self._api is None and not rospy.is_shutdown():
try:
self._api = VAPIX.get_api_for_camera(hostname, username, password, camera_id, use_encrypted_password)
except (IOError, ValueError):
rospy.loginfo(
"Retrying connection to VAPIX on host %s, camera %d in 2 seconds." % (hostname, camera_id))
rospy.sleep(2)
if rospy.is_shutdown():
return
if not self._api.has_ptz():
raise RuntimeError("Camera %d on host %s doesn't have a Pan-Tilt-Zoom unit." % (self._camera_id, self._hostname))
# Create a controller of the camera
self._camera_controller = AxisCameraController(self._api, self, flip_vertically=flip, flip_horizontally=flip)
# BACKWARDS COMPATIBILITY LAYER
self.username = username # deprecated
self.password = password # deprecated
self.flip = flip # deprecated
self.speedControl = speed_control # deprecated
self.mirror = False # deprecated
self.msg = None # deprecated
self.cmdString = "" # deprecated
self.pub = rospy.Publisher("state", Axis, queue_size=100) # deprecated
self.command_subscriber = rospy.Subscriber("cmd", Axis, self.cmd, queue_size=100) # deprecated
self.mirror_subscriber = rospy.Subscriber("mirror", Bool, self.mirrorCallback, queue_size=100) # deprecated
self.srv = Server(PTZConfig, self.callback) # deprecated
# Needs to be after the backwards compatibility setup
# start the publisher thread
self._publisher_thread = PositionStreamingThread(self, self._api)
self.st = self._publisher_thread # deprecated
self._publisher_thread.start()
