You get the configuration on ServerCommandService using the GetConfiguration method.
You get video on the recording servers Image Server protocol.
The sample TCPVideoViewer shows how to do it all, the sample is c# .Net but it uses protocol methods so that you can implement the same in other languages and environments.
I found ServerCommandService.wsdl file, all wsdl are located in the C: \ Program Files \ Milestone \ MIPSDK \ WSDL subdirectory. Life is beautiful and it goes on. Thank you a lot.
Please note that the sample TCPVideoViewer (and other samples) references the ServerCommandWrapper sample.
This means that you cannot build the TCPVideoViewer sample without first building the ServerCommandWrapper. If you try you will get the error you have experienced.