增加云台控制时间精准控制

增加云台控制时间精准控制

app/src/main/cpp/PtzController.cpp

@@ -103,13 +103,17 @@ void PtzController::ExitAndWait()
 
 void PtzController::PtzProc()
 {
-    PTZ_STATE state = PTZS_POWER_OFF;
+    PROC_PTZ_STATE state = PTZS_POWER_OFF;
     SERIAL_CMD cmd;
+    PTZ_STATE ptz_state;
     bool hasCmd = false;
+    int i=0;
 
     std::shared_ptr<PowerControl> powerCtrl;
     time_t selfTestingStartTime = 0;
     time_t selfTestingWaitTime = 0;
+    time_t PTZ_preset_start_time=0;
+    time_t PTZ_preset_wait_time=0;
 
     while(true)
     {
@@ -153,10 +157,28 @@ void PtzController::PtzProc()
                 time_t timeout = time(NULL) - selfTestingStartTime;
                 if (timeout >= selfTestingWaitTime)
                 {
+                    XYLOG(XYLOG_SEVERITY_INFO, "超时(%d秒)未收到云台自检结束应答，状态改为空闲！", timeout);
                     state = PTZS_IDLE;
                     m_sem.release();
                     continue;
                 }
+                else
+                {
+                    if(timeout >= CAMERA_SELF_TEST_TIME)
+                    {
+                        //XYLOG(XYLOG_SEVERITY_INFO, "开始查询云台自检状态！timeout=%d秒", timeout);
+                        if(0 == QueryPtzState(&ptz_state, QUERY_PTZ_STATE, cmd.serfile, cmd.baud, cmd.addr))
+                        {
+                            if(0 == ptz_state.ptz_status)
+                            {
+                                XYLOG(XYLOG_SEVERITY_INFO, "收到云台自检结束应答，状态改为空闲！timeout=%d秒", timeout);
+                                state = PTZS_IDLE;
+                                m_sem.release();
+                                continue;
+                            }
+                        }
+                    }
+                }
                 std::this_thread::sleep_for(std::chrono::milliseconds(1000));
                 m_sem.release();
                 continue;
@@ -178,6 +200,7 @@ void PtzController::PtzProc()
                         selfTestingStartTime = time(NULL);
                         selfTestingWaitTime = cmd.photoParams->mPhotoInfo.selfTestingTime;
                         state = PTZS_SELF_TESTING;
+                        XYLOG(XYLOG_SEVERITY_INFO, "1、收到拍照指令，摄像机从关机状态改为自检状态！");
 
                         m_locker.lock();
                         m_cmds.insert(m_cmds.begin(), cmd);
@@ -186,12 +209,33 @@ void PtzController::PtzProc()
                         continue;
                     }
                 }
+                XYLOG(XYLOG_SEVERITY_INFO, "2、收到拍照指令，state=%d！", state);
 
                 state = PTZS_TAKING_PHOTO;
                 if (cmd.preset != 0 && cmd.preset != 0xFF)
                 {
                     CameraPhotoCmd(0, cmd.channel, MOVE_PRESETNO, 0, cmd.preset, cmd.serfile, cmd.baud, cmd.addr);
-                    std::this_thread::sleep_for(std::chrono::milliseconds(10 * 1000));
+
+                    XYLOG(XYLOG_SEVERITY_INFO, "摄像机拍照前开始调用预置点！state=%d", state);
+                    PTZ_preset_start_time = time(NULL);
+                    PTZ_preset_wait_time = MOVE_PRESET_WAIT_TIME;
+                    for(;;)
+                    {
+                        if(0 == QueryPtzState(&ptz_state, QUERY_PTZ_STATE, cmd.serfile, cmd.baud, cmd.addr))
+                        {
+                            if(0 == ptz_state.ptz_status)
+                            {
+                                XYLOG(XYLOG_SEVERITY_INFO, "摄像机拍照前调用预置点，收到移动结束应答！移动时长=%d秒 state=%d", time(NULL)-PTZ_preset_start_time, state);
+                                break;
+                            }
+                        }
+                        if(time(NULL) - PTZ_preset_start_time >= PTZ_preset_wait_time)
+                        {
+                            XYLOG(XYLOG_SEVERITY_INFO, "摄像机拍照前调用预置点，摄像机在%d秒内未收到调用预置点结束应答！state=%d", PTZ_preset_wait_time, state);
+                            break;
+                        }
+                        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+                    }
                 }
                 m_pPhoneDevice->TakePhotoWithNetCamera(cmd.photoParams->mPhotoInfo, cmd.photoParams->mPath, cmd.photoParams->mOsds, powerCtrl);
                 state = PTZS_IDLE;
@@ -203,22 +247,36 @@ void PtzController::PtzProc()
                 {
                     if (!powerCtrl)
                     {
-                        powerCtrl = std::make_shared<PlzCameraPowerCtrl>(cmd.delayTime);
+                        powerCtrl = std::make_shared<PlzCameraPowerCtrl>(150);
                         selfTestingStartTime = time(NULL);
-                        selfTestingWaitTime = cmd.ts;
+                        selfTestingWaitTime = 150;
                         state = PTZS_SELF_TESTING;
+                        m_sem.release();
+                        XYLOG(XYLOG_SEVERITY_INFO, "收到开机指令，摄像机从关机状态改为自检状态！设置的自检等待时间%d秒", selfTestingWaitTime);
+                    }
                 }
+                else
+                {
+                    XYLOG(XYLOG_SEVERITY_INFO, "收到开机指令，摄像机处于state=%d！", state);
                 }
                 break;
             case CLOSE_TOTAL:
                 if (state == PTZS_POWER_OFF)
                 {
+                    XYLOG(XYLOG_SEVERITY_INFO, "收到关机指令，摄像机本来就处于关机状态！");
                     // Do Nothing
                 }
                 else
                 {
+                    XYLOG(XYLOG_SEVERITY_INFO, "收到关机指令，通知云台准备关机！state=%d", state);
+                    for(i=0; i<3; i++)
+                    {
+                        if(0 == QueryPtzState(&ptz_state, NOTIFY_PTZ_CLOSE, cmd.serfile, cmd.baud, cmd.addr))
+                            break;
+                    }
                     powerCtrl.reset();
                     state = PTZS_POWER_OFF;
+                    XYLOG(XYLOG_SEVERITY_INFO, "关闭云台电源！state=%d", state);
                 }
                 break;
             default:

app/src/main/cpp/PtzController.h

@@ -14,7 +14,7 @@
 #include <SemaphoreEx.h>
 #include <Client/Device.h>
 
-enum PTZ_STATE
+enum PROC_PTZ_STATE
 {
     PTZS_POWER_OFF = 0,
     PTZS_IDLE = 1,
@@ -23,6 +23,9 @@ enum PTZ_STATE
     PTZS_TAKING_PHOTO = 4,
 };
 
+#define CAMERA_SELF_TEST_TIME     60    /* Camera self-test time (excluding PTZ self-test)*/
+#define MOVE_PRESET_WAIT_TIME     20    /* Waiting for the maximum time for the PTZ to move to the preset position*/
+
 class PtzPhotoParams
 {
 public:

app/src/main/cpp/SensorsProtocol.h

@@ -27,6 +27,7 @@
 #define IOT_PARAM_WRITE 0xAE
 #define IOT_PARAM_READ 0xAF
 
+#define MAX_FIELDS_NUM              20      /* BD_NMEA0183单组字符串数据内含数据最大数量*/
 #define	MAX_SERIAL_DEV_NUM			25		/* 最大接串口传感器数量*/
 #define	MAX_SERIAL_PORT_NUM		    5
 #define MAX_DEV_VALUE_NUM           12      /* 一台装置最大的采样值数量*/
@@ -39,6 +40,7 @@
 #define	PELCO_D_PROTOCOL			6			/* 摄像机Pelco_D协议序号*/
 #define	SERIALCAMERA_PROTOCOL	    8			/* 串口摄像机协议序号*/
 #define MUTIWEATHER_PROTOCOL        9           /*多合一气象*/
+#define NMEA0183_PROTOCOL           10          /* 单一北斗NMEA0183标准协议*/
 #define	RESERVE2_PROTOCOL			17			/* 备用2协议序号*/
 #define	RESERVE4_PROTOCOL			19			/* 备用4协议序号*/
 #define	RESERVE5_PROTOCOL			20			/* 备用5协议序号*/
@@ -106,10 +108,10 @@
 #define D_OPEN_MODULE_POWER			0x0009000C /* 打开机芯电源(1 有效)*/
 
 /* 摄像机下发命令宏定义*/
-#define Take_Photo					    0 /* 拍照*/
+#define TAKE_PHOTO					20000 /* 拍照*/
-#define Stop_Baud					10000 /* 设置球机波特率*/
+#define SET_BAUD					10000 /* 设置球机波特率*/
-#define Stop_Cmd					10005 /* 取消或停止指令*/
+#define STOP_CMD					10005 /* 取消或停止指令*/
-#define Auto_Scan					10006 /* 自动扫描功能控制(1/0 打开/关闭该功能)*/
+#define AUTO_SCAN					10006 /* 自动扫描功能控制(1/0 打开/关闭该功能)*/
 #define IRIS_CLOSE				    10007 /* 光圈缩小(1 有效)*/
 #define IRIS_OPEN					10008 /* 光圈放大(1 有效)*/
 #define FOCUS_NEAR				    10009 /* 近距离聚焦(1 有效)*/
@@ -124,8 +126,8 @@
 #define SAVE_PRESETNO			    10018 // 设置预置点
 #define OPEN_TOTAL				    10019 /* 打开总电源(1 有效)*/
 #define OPEN_MODULE_POWER			10020 /* 打开机芯电源(1 有效)*/
-#define CLOSE_TOTAL				    10040 /* 关闭总电源*/
+#define NOTIFY_PTZ_CLOSE			10021 // 通知云台关闭
-
+#define QUERY_PTZ_STATE			    10022 // 查询云台状态
 #define			SPEED_DOME_CAMERA		0	/* 球机摄像机*/
 #define			SERIAL_CAMERA			2	/* 串口摄像机a*/
 
@@ -216,6 +218,48 @@ typedef struct
     uint8_t		            Phase;		        /* 传感器所安装相别，指拉力和倾角11表示A1....*/
 } SERIAL_PARAM;
 
+// 云台状态数据
+typedef struct
+{
+    uint8_t		            ptz_process;	    /* 云台所处过程(1:自检状态;2:调用预置点;3:一般状态;)*/
+    uint8_t 		        ptz_status;	        /* 云台当前状态值(0:停止;1:运动;2:机芯未上电;其他:其他错误*/
+    int		                presetno;	        /* 云台所处预置点值*/
+    float 		            x_coordinate;		/* 云台所处位置水平方向坐标*/
+    float 		            y_coordinate;       /* 云台所处位置垂直方向坐标*/
+} PTZ_STATE;
+/*
+$--RMC 字符串 消息 ID，RMC 语句头，’--‘为系统标识
+2 UTCtime hhmmss.ss 当前定位的 UTC 时间
+3 status 字符串 位置有效标志。
+V=接收机警告，数据无效
+        A=数据有效
+4 lat ddmm.mmmmm 纬度，前 2 字符表示度，后面的字符表示分
+5 uLat 字符 纬度方向：N-北，S-南
+6 lon dddmm.mmmm
+        m
+经度，前 3 字符表示度，后面的字符表示分
+7 uLon 字符 经度方向：E-东，W-西
+8 spd 数值 对地速度，单位为节
+9 cog 数值 对地真航向，单位为度
+10 date ddmmyy 日期（dd 为日，mm 为月，yy 为年）
+11 mv 数值 磁偏角，单位为度。固定为空
+12 mvE 字符 磁偏角方向：E-东，W-西。固定为空
+13 mode 字符 定位模式标志（备注[1]）
+14 navStatus 字符 导航状态标示符（V 表示系统不输出导航状态信息）
+仅 NMEA 4.1 及以上版本有效
+15 CS 16 进制数值 校验和，$和*之间（不包括$和*）所有字符的异或结果*/
+// 北斗卫星数据
+typedef struct
+{
+    struct tm		        UTC_time;	    /* UTC时间*/
+    int                     ms_time;        /* 毫秒*/
+    double  		        lat;	        /* 纬度，原值(前 2 字符表示度，后面的字符表示分)转换后为° */
+    char		            uLat;	        /* 纬度方向：N-北，S-南*/
+    double 		            lon;		    /* 经度，原值（前 3 字符表示度，后面的字符表示分）转换后为°*/
+    char 		            uLon;           /* 经度'E'-东，'W'-西*/
+    char                    status;         /* 'A'=数据有效 其他字符表示数据无效*/
+} BD_GNSS_DATA;
+
 typedef struct
 {
     int		    m_iRevStatus;	    /* */
@@ -245,8 +289,18 @@ typedef struct
 									    摄像机使用命令序号存储*/
     PHOTO_DEF   image;              /* 临时存储图片数据*/
     int64_t		FirstCmdTimeCnt;	/* 串口读取数据起始时间*/
+    PTZ_STATE   ptz_state;
+    int         sendptzstatecmd;    // 查询命令次数控制
+    BD_GNSS_DATA bd_data;
 } SIO_PARAM_SERIAL_DEF;
 
+typedef const struct
+{
+    //char	*account;									// 命令说明
+    char	*cmd_name;								    // 命令名称
+    int	(*recv_process)(SIO_PARAM_SERIAL_DEF *);		/* urc数据处理*/
+}BD_NMEA0183_PROC_FUNC;
+
 //串口相关装置所有参数集中定义
 typedef struct
 {
@@ -474,6 +528,24 @@ int GM_IsCloseCamera(SIO_PARAM_SERIAL_DEF *pPortParam);
 
 int GM_CameraSerialTimer(SIO_PARAM_SERIAL_DEF *pPortParam);
 
+int QueryPtzState(PTZ_STATE *ptz_state, int cmdidx,  const char *serfile, unsigned int baud, int addr);
+
+int Query_BDGNSS_Data(BD_GNSS_DATA *BD_data, int samptime,  const char *serfile, unsigned int baud);
+
+int GM_BdSerialTimer(SIO_PARAM_SERIAL_DEF *pPortParam);
+
+void GM_BdSerialComRecv(SIO_PARAM_SERIAL_DEF *pPortParam);
+
+void BdRecvData(SIO_PARAM_SERIAL_DEF *pPortParam, u_char *buf, int len);
+
+unsigned char BDXorCheck(unsigned char *msg, int len);
+
+void BD_NMEA0183_PortDataProcess(SIO_PARAM_SERIAL_DEF *curserial);
+
+char** BD_NMEA0183_SplitString(char *str, int *total_fields);
+
+int BD_get_BDRMC_data(SIO_PARAM_SERIAL_DEF *curserial);
+
 #endif // __SENSOR_PROTOCOL_H__