#Python 3.7 POSIX (UNIX/LINUX)
#Pan Tilt application for ONVIF devices
#Modifications was done from https://github.com/rambo/onvif-py3
#WSDiscovery from #https://pypi.org/project/WSDiscovery
#WSDiscovery only available on Raspberry PI, not windows

from time import sleep
from onvif import ONVIFCamera
from wsdiscovery.discovery import ThreadedWSDiscovery as WSDiscovery
from wsdiscovery.publishing import ThreadedWSPublishing as WSPublishing
from wsdiscovery import QName, Scope

print('WSDiscovery will try to detect potential ONVIF Cameras')
print('Not all ONVIF Cameras will be detected, some ONVIF cameras does not use WSDiscovery')
print('Non ONVIF devices, using WSDiscovery may also be detected')
      
#WSDiscovery part____________________________________________________
# Define type, scope & address of service
ttype1 = QName("http://www.onvif.org/ver10/device/wsdl", "Device")
scope1 = Scope("onvif://www.onvif.org/Model")
xAddr1 = "localhost:8080/abc"

# Publish the service
wsp = WSPublishing()
wsp.start()
wsp.publishService(types=[ttype1], scopes=[scope1], xAddrs=[xAddr1])

# Discover it (along with any other service out there)
wsd = WSDiscovery()
wsd.start()
services = wsd.searchServices()
for service in services:
    print(service.getEPR() + ":" + service.getXAddrs()[0])
wsd.stop()
#WSDiscovery part End_____________________________________________

XMAX = 1
XMIN = -1
YMAX = 1
YMIN = -1
ip=input('Provide camera IP: ')
port=input('Provide ONVIF Port: ')
username=input('Provide camera username: ')
password=input('Provide camera password: ')
print('\nFor Sonoff WiFi camera (K-200MP2-B) your RTSP Stream URLs for HD and SD is:')
print('Your RTSP URL is: rtsp://'+username+':'+password+'@'+ip+':554/av_stream/ch0')
print('Your RTSP URL is: rtsp://'+username+':'+password+'@'+ip+':554/av_stream/ch1')

print('\nFor the V380 camera your RTSP Stream URL is:')
print('rtsp://'+username+':'+password+'@'+ip+':554/Live/ch00_1')



print('\nOpen vlc and enter the above URL in the menu MEDIA>Open Network Stream')


def perform_move(ptz, request, timeout):
    # Start continuous move
    ptz.ContinuousMove(request)
    # Wait a certain time
    sleep(timeout)
    # Stop continuous move
    ptz.Stop({'ProfileToken': request.ProfileToken})


def move_up(ptz, request, timeout=1):
    print('move up...')
    request.Velocity.PanTilt._x = 0
    request.Velocity.PanTilt._y = YMAX
    perform_move(ptz, request, timeout)


def move_down(ptz, request, timeout=1):
    print('move down...')
    request.Velocity.PanTilt._x = 0
    request.Velocity.PanTilt._y = YMIN
    perform_move(ptz, request, timeout)


def move_right(ptz, request, timeout=1):
    print('move right...')
    request.Velocity.PanTilt._x = XMAX
    request.Velocity.PanTilt._y = 0
    perform_move(ptz, request, timeout)


def move_left(ptz, request, timeout=1):
    print('move left...')
    request.Velocity.PanTilt._x = XMIN
    request.Velocity.PanTilt._y = 0
    perform_move(ptz, request, timeout)


def continuous_move():
    mycam = ONVIFCamera(ip, port, username, password)
    # Create media service object
    media = mycam.create_media_service()
    # Create ptz service object
    ptz = mycam.create_ptz_service()

    # Get target profile
    media_profile = media.GetProfiles()[0]

    # Get PTZ configuration options for getting continuous move range
    request = ptz.create_type('GetConfigurationOptions')
    request.ConfigurationToken = media_profile.PTZConfiguration._token
    ptz_configuration_options = ptz.GetConfigurationOptions(request)

    request = ptz.create_type('ContinuousMove')
    request.ProfileToken = media_profile._token

    ptz.Stop({'ProfileToken': media_profile._token})

    # Get range of pan and tilt
    # NOTE: X and Y are velocity vector
    global XMAX, XMIN, YMAX, YMIN
    XMAX = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].XRange.Max
    XMIN = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].XRange.Min
    YMAX = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].YRange.Max
    YMIN = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].YRange.Min

#PT control
    var=1
    while var==1: #Create infinite loop
        direction=input('Type the direction that you want to pan/tilt: \n Pan Right:6 or r \n Pan Left: 4 or l \n Tilt Up: 8 or u \n Tilt Down: 2 or d \nProvide Direction:')
        print (direction)
        if direction=='6'or direction=='r':
            move_right(ptz, request)
        if direction=='4' or direction== 'l':
            move_left(ptz, request)
        if direction=='8' or direction== 'u':
            move_up(ptz, request)
        if direction=='2' or direction== 'd':
            move_down(ptz, request)
        #Double Moves
        if direction=='66' or direction== 'rr':
            move_right(ptz, request)
            move_right(ptz, request)
        if direction=='44' or direction== 'll':
            move_left(ptz, request)
            move_left(ptz, request)
        if direction=='88' or direction== 'uu':
            move_up(ptz, request)
            move_up(ptz, request)
        if direction=='22' or direction== 'dd':
            move_down(ptz, request)
            move_down(ptz, request)

        #Tripple Moves
        if direction=='666' or direction== 'rrr':
            move_right(ptz, request)
            move_right(ptz, request)
            move_right(ptz, request)
        if direction=='444'or direction== 'lll':
            move_left(ptz, request)
            move_left(ptz, request)
            move_left(ptz, request)
        if direction=='888' or direction== 'uuu':
            move_up(ptz, request)
            move_up(ptz, request)
            move_up(ptz, request)
        if direction=='222' or direction== 'ddd':
            move_down(ptz, request)
            move_down(ptz, request)
            move_down(ptz, request)
if __name__ == '__main__':
    continuous_move()