fix: Modify pan tilt function by getting pan/tilt range dynamically (#…

…181) * fix: Get pan/tilt values dynamically Signed-off-by: preethi-satishcandra <preethi.satishchandra@intel.com>
edgexfoundry · Feb 8, 2023 · a843b28 · a843b28
1 parent eb00fe3
commit a843b28
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Showing 4 changed files with 112 additions and 20 deletions.
diff --git a/application-services/custom/camera-management/appcamera/app.go b/application-services/custom/camera-management/appcamera/app.go
@@ -19,6 +19,8 @@ type CameraManagementApp struct {
 	config         *ServiceConfig
 	pipelinesMap   map[string]PipelineInfo
 	pipelinesMutex sync.RWMutex
+	panTiltMap     map[string]PanTiltRange
+	panTiltMutex   sync.RWMutex
 	fileServer     http.Handler
 }
 
@@ -28,6 +30,7 @@ func NewCameraManagementApp(service interfaces.ApplicationService) *CameraManage
 		lc:           service.LoggingClient(),
 		config:       &ServiceConfig{},
 		pipelinesMap: make(map[string]PipelineInfo),
+		panTiltMap:   make(map[string]PanTiltRange),
 	}
 }
 

diff --git a/application-services/custom/camera-management/appcamera/commands.go b/application-services/custom/camera-management/appcamera/commands.go
@@ -16,15 +16,14 @@ import (
 )
 
 const (
-	relativeMoveCommand = "RelativeMove"
-	gotoPresetCommand   = "GotoPreset"
-	streamUriCommand    = "StreamUri"
-	profilesCommand     = "Profiles"
-	getPresetsCommand   = "GetPresets"
-
-	moveScaleX = 10
-	moveScaleY = 5
-	zoomScale  = 1
+	relativeMoveCommand      = "RelativeMove"
+	gotoPresetCommand        = "GotoPreset"
+	streamUriCommand         = "StreamUri"
+	profilesCommand          = "Profiles"
+	getPresetsCommand        = "GetPresets"
+	getConfigurationsCommand = "GetConfigurations"
+
+	zoomScale = 1
 )
 
 func (app *CameraManagementApp) getProfiles(deviceName string) (ProfilesResponse, error) {
@@ -60,8 +59,8 @@ func (app *CameraManagementApp) queryStreamUri(deviceName, profileToken string)
 func (app *CameraManagementApp) doPTZ(deviceName, profileToken string, x, y, zoom float64) (dtosCommon.BaseResponse, error) {
 	trans := ptz.Vector{
 		PanTilt: &onvif.Vector2D{
-			X: x * moveScaleX,
-			Y: y * moveScaleY,
+			X: x,
+			Y: y,
 		},
 	}
 	if zoom != 0 {
@@ -97,6 +96,24 @@ func (app *CameraManagementApp) getPresets(deviceName string, profileToken strin
 	return pr, err
 }
 
+func (app *CameraManagementApp) getPTZConfiguration(deviceName string) (GetPTZConfigurationsResponse, error) {
+	cmd := &ptz.GetConfigurations{}
+
+	config, err := app.issueGetCommand(context.Background(), deviceName, getConfigurationsCommand, cmd)
+	if err != nil {
+		return GetPTZConfigurationsResponse{}, errors.Wrapf(err, "failed to issue get configurations command")
+	}
+
+	val := config.Event.Readings[0].ObjectValue
+	js, err := json.Marshal(val)
+	if err != nil {
+		return GetPTZConfigurationsResponse{}, errors.Wrapf(err, "failed to marshal configurations json object")
+	}
+	pr := GetPTZConfigurationsResponse{}
+	err = json.Unmarshal(js, &pr)
+	return pr, err
+}
+
 func (app *CameraManagementApp) gotoPreset(deviceName string, profile string, preset string) (dtosCommon.BaseResponse, error) {
 	cmd := &ptz.GotoPreset{
 		ProfileToken: (*onvif.ReferenceToken)(&profile),

diff --git a/application-services/custom/camera-management/appcamera/routes.go b/application-services/custom/camera-management/appcamera/routes.go
@@ -17,12 +17,9 @@ import (
 )
 
 const (
-	left    = -1
-	right   = 1
-	up      = 1
-	down    = -1
-	zoomIn  = 1
-	zoomOut = -1
+	panTiltOffset = 0.05
+	zoomIn        = 1
+	zoomOut       = -1
 
 	webUIDistDir = "./web-ui/dist"
 
@@ -257,6 +254,18 @@ func (app *CameraManagementApp) ptzRoute(w http.ResponseWriter, req *http.Reques
 	var res dtosCommon.BaseResponse
 	var err error
 
+	panTiltRange, err := app.getPanTiltRange(deviceName)
+	if err != nil {
+		respondError(app.lc, w, http.StatusInternalServerError,
+			fmt.Sprintf("Failed to get PTZ configuration for the device %s: %v", deviceName, err))
+		return
+	}
+
+	right := panTiltOffset * panTiltRange.XRange
+	left := -right
+	up := panTiltOffset * panTiltRange.YRange
+	down := -up
+
 	switch action {
 	case "left":
 		res, err = app.doPTZ(deviceName, profileToken, left, 0, 0)
@@ -296,3 +305,24 @@ func (app *CameraManagementApp) ptzRoute(w http.ResponseWriter, req *http.Reques
 		app.lc.Error(err.Error())
 	}
 }
+
+func (app *CameraManagementApp) getPanTiltRange(deviceName string) (PanTiltRange, error) {
+	app.panTiltMutex.Lock()
+	defer app.panTiltMutex.Unlock()
+	panTiltRange, exists := app.panTiltMap[deviceName]
+	if !exists {
+		ptzConfigs, err := app.getPTZConfiguration(deviceName)
+		if err != nil {
+			return PanTiltRange{}, err
+		}
+
+		xRange := ptzConfigs.PTZConfiguration[0].PanTiltLimits.Range.XRange.Max - ptzConfigs.PTZConfiguration[0].PanTiltLimits.Range.XRange.Min
+		yRange := ptzConfigs.PTZConfiguration[0].PanTiltLimits.Range.YRange.Max - ptzConfigs.PTZConfiguration[0].PanTiltLimits.Range.YRange.Min
+		panTiltRange = PanTiltRange{
+			XRange: xRange,
+			YRange: yRange,
+		}
+		app.panTiltMap[deviceName] = panTiltRange
+	}
+	return panTiltRange, nil
+}
diff --git a/application-services/custom/camera-management/appcamera/types.go b/application-services/custom/camera-management/appcamera/types.go
@@ -188,17 +188,59 @@ type GetPresetsResponse struct {
 		Name        string `json:"Name"`
 		PTZPosition struct {
 			PanTilt struct {
-				Space string `json:"Space"`
-				X     int    `json:"X"`
-				Y     int    `json:"Y"`
+				Space string  `json:"Space"`
+				X     float64 `json:"X"`
+				Y     float64 `json:"Y"`
 			} `json:"PanTilt"`
 		} `json:"PTZPosition"`
 		Token string `json:"Token"`
 	} `json:"Preset"`
 }
 
+type GetPTZConfigurationsResponse struct {
+	PTZConfiguration []struct {
+		DefaultAbsolutePantTiltPositionSpace  string `json:"DefaultAbsolutePantTiltPositionSpace"`
+		DefaultAbsoluteZoomPositionSpace      string `json:"DefaultAbsoluteZoomPositionSpace"`
+		DefaultContinuousPanTiltVelocitySpace string `json:"DefaultContinuousPanTiltVelocitySpace"`
+		DefaultContinuousZoomVelocitySpace    string `json:"DefaultContinuousZoomVelocitySpace"`
+		DefaultPTZSpeed                       struct {
+		} `json:"DefaultPTZSpeed"`
+		DefaultPTZTimeout                      string `json:"DefaultPTZTimeout"`
+		DefaultRelativePanTiltTranslationSpace string `json:"DefaultRelativePanTiltTranslationSpace"`
+		DefaultRelativeZoomTranslationSpace    string `json:"DefaultRelativeZoomTranslationSpace"`
+		PanTiltLimits                          struct {
+			Range struct {
+				URI    string `json:"URI"`
+				XRange struct {
+					Max float64 `json:"Max"`
+					Min float64 `json:"Min"`
+				} `json:"XRange"`
+				YRange struct {
+					Max float64 `json:"Max"`
+					Min float64 `json:"Min"`
+				} `json:"YRange"`
+			} `json:"Range"`
+		} `json:"PanTiltLimits"`
+		Token      string `json:"Token"`
+		ZoomLimits struct {
+			Range struct {
+				URI    string `json:"URI"`
+				XRange struct {
+					Max float64 `json:"Max"`
+					Min float64 `json:"Min"`
+				} `json:"XRange"`
+			} `json:"Range"`
+		} `json:"ZoomLimits"`
+	} `json:"PTZConfiguration"`
+}
+
 type StartPipelineRequest struct {
 	ProfileToken    string `json:"profile_token"`
 	PipelineName    string `json:"pipeline_name"`
 	PipelineVersion string `json:"pipeline_version"`
 }
+
+type PanTiltRange struct {
+	XRange float64 `json:"XRange"`
+	YRange float64 `json:"YRange"`
+}