def run(self):
r = rospy.Rate(10)
msg = Axis()
while True:
url = '%s:%s@%s' % (self.axis.username, self.axis.password, self.axis.hostname)
auth = base64.encodestring("%s:%s" % (self.axis.username, self.axis.password))
headers = {"Authorization" : "Basic %s" % auth}
conn = httplib.HTTPConnection(self.axis.hostname)
params = { 'query':'position' }
conn.request("GET", "/axis-cgi/com/ptz.cgi?query=position",headers=headers) #, urllib.urlencode(params)
response = conn.getresponse()
#print(response.status)
if response.status == 200:
body = response.read()
params = dict([s.split('=',2) for s in body.splitlines()])
msg.pan = float(params['pan'])
# Flip pan orient if the camera is mounted backwards and facing down
if self.axis.flip:
msg.pan = 180 - msg.pan
if msg.pan > 180:
msg.pan -= 360
if msg.pan < -180:
msg.pan += 360
msg.tilt = float(params['tilt'])
msg.zoom = float(params['zoom'])
msg.iris = float(params['iris'])
msg.focus = 0.0
if 'focus' in params:
msg.focus = float(params['focus'])
msg.autofocus = (params['autofocus'] == 'on')
self.axis.pub.publish(msg)
r.sleep()
def run(self):
r = rospy.Rate(10)
msg = Axis()
while True:
if not self.axis.timeout and ((rospy.Time.now() - self.axis.last_request).to_sec() > 1.0):
self.axis.timeout = True
self.axis.cmd(Twist(),reset_timeout=False)
conn = httplib.HTTPConnection(self.axis.hostname)
params = { 'query':'position' }
conn.request("GET", "/axis-cgi/com/ptz.cgi?%s" % urllib.urlencode(params))
response = conn.getresponse()
if response.status == 200:
body = response.read()
params = dict([s.split('=',2) for s in body.splitlines()])
msg.pan = float(params['pan'])
# Flip pan orient if the camera is mounted backwards and facing down
if self.axis.flip:
msg.pan = 180 - msg.pan
if msg.pan > 180:
msg.pan -= 360
if msg.pan < -180:
msg.pan += 360
msg.tilt = float(params['tilt'])
msg.zoom = float(params['zoom'])
msg.iris = float(params['iris'])
msg.focus = 0.0
if 'focus' in params:
msg.focus = float(params['focus'])
msg.autofocus = (params['autofocus'] == 'on')
self.axis.pub.publish(msg)
r.sleep()
def run(self):
r = rospy.Rate(10)
msg = Axis()
while True:
if not self.axis.twist_timeout and (
(rospy.Time.now() - self.axis.last_request).to_sec() > 1.0):
self.axis.twist_timeout = True
self.axis.cmd_twist(Twist(), reset_timeout=False)
conn = httplib.HTTPConnection(self.axis.hostname)
params = {'query': 'position'}
conn.request("GET",
"/axis-cgi/com/ptz.cgi?%s" % urllib.urlencode(params))
response = conn.getresponse()
if response.status == 200:
body = response.read()
params = dict([s.split('=', 2) for s in body.splitlines()])
msg.pan = float(params['pan'])
# Flip pan orient if the camera is mounted backwards and facing down
if self.axis.flip:
msg.pan = 180 - msg.pan
if msg.pan > 180:
msg.pan -= 360
if msg.pan < -180:
msg.pan += 360
msg.tilt = float(params['tilt'])
msg.zoom = float(params['zoom'])
msg.iris = float(params['iris'])
msg.focus = 0.0
if 'focus' in params:
msg.focus = float(params['focus'])
msg.autofocus = (params['autofocus'] == 'on')
self.axis.pub.publish(msg)
r.sleep()
def callback(self, config, level):
#self.speedControl = config.speed_control
# create temporary message and fill with data from dynamic reconfigure
temp_msg = Axis()
temp_msg.pan = config.pan
temp_msg.tilt = config.tilt
temp_msg.zoom = config.zoom
temp_msg.focus = config.focus
temp_msg.brightness = config.brightness
temp_msg.autofocus = config.autofocus
# check sanity and apply values
self.cmd(temp_msg)
# read sanitized values and update GUI
config.pan = self.msg.pan
config.tilt = self.msg.tilt
config.zoom = self.msg.zoom
config.focus = self.msg.focus
config.brightness = self.msg.brightness
config.autofocus = self.msg.autofocus
# update GUI with sanitized values
return config
def dynamicReconfigCallback(self, config, level):
#self.speedControl = config.speed_control
# create temporary message and fill with data from dynamic reconfigure
temp_msg = Axis()
temp_msg.pan = config.pan
temp_msg.tilt = config.tilt
temp_msg.zoom = config.zoom
temp_msg.focus = config.focus
temp_msg.brightness = config.brightness
temp_msg.autofocus = config.autofocus
# check sanity and apply values
self.cmdCallback(temp_msg)
# read sanitized values and update GUI
config.pan = self.msg.pan
config.tilt = self.msg.tilt
config.zoom = self.msg.zoom
config.focus = self.msg.focus
config.brightness = self.msg.brightness
config.autofocus = self.msg.autofocus
# update GUI with sanitized values
return config
def callback(self, config, level):
"""Deprecated."""
#self.speedControl = config.speed_control
if self._executing_reconfigure or (hasattr(self, '_camera_controller') and (self._camera_controller._executing_parameter_update or self._camera_controller._executing_reconfigure)):
return config
with self._reconfigure_mutex:
self._executing_reconfigure = True
# create temporary message and fill with data from dynamic reconfigure
command = Axis()
command.pan = config.pan
command.tilt = config.tilt
command.zoom = config.zoom
command.focus = config.focus
command.brightness = config.brightness
command.autofocus = config.autofocus
# check sanity and apply values
self.cmd(command)
# read sanitized values and update GUI
config.pan = command.pan
config.tilt = command.tilt
config.zoom = command.zoom
config.focus = self._camera_controller._focus
config.brightness = self._camera_controller._brightness
config.autofocus = self._camera_controller._autofocus
self._executing_reconfigure = False
# update GUI with sanitized values
return config