解决查询云台位置命令不下发BUg

app/src/main/cpp/SensorsProtocol.cpp

@@ -1978,7 +1978,12 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
 		case NOTIFY_PTZ_CLOSE:     /* 通知云台关闭电源*/
-            if (pPortParam->sendptzstatecmd > 0)
+            if (pPortParam->sendptzstatecmd == 0)
+			{
+				cmdidx = 0xA0;
+				pPortParam->sendptzstatecmd++;
+			}
+			else
             {
                 pPortParam->SerialCmdidx = -2;
                 pPortParam->sendptzstatecmd = 0;
@@ -1986,12 +1991,24 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
                 DebugLog(0, szbuf, 'I');
                 return -1;
             }
-			cmdidx = 0xA0;
-            pPortParam->sendptzstatecmd++;
 			//pPortParam->SerialCmdidx = -1;
 			break;
 		case QUERY_PTZ_STATE:     /* 查询云台状态信息*/
-            if (pPortParam->sendptzstatecmd > 0)
+			::memset(szbuf, 0, sizeof(szbuf));
+			sprintf(szbuf, "下发命令sendptzstatecmd=%d!", pPortParam->sendptzstatecmd);
+			DebugLog(0, szbuf, 'I');
+			//if (pPortParam->sendptzstatecmd > 0)
+#if 1
+            if (pPortParam->sendptzstatecmd == 0)
+			{
+				pPortParam->sendptzstatecmd++;
+				cmdidx = 0x08;
+				//::memset(szbuf, 0, sizeof(szbuf));
+				//sprintf(szbuf, "下发命令sendptzstatecmd=%d!", pPortParam->sendptzstatecmd);
+				//DebugLog(0, szbuf, 'I');
+			}
+			else
+#endif
             {
                 pPortParam->SerialCmdidx = -2;
                 pPortParam->sendptzstatecmd = 0;
@@ -2024,6 +2041,10 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			}
 			break;
 	}
+    ::memset(szbuf, 0, sizeof(szbuf));
+    strcpy(szbuf, "make:sendptzstatecmd");
+    DebugLog(0, szbuf, 'I');
+
     MakeCameraPhotoCommand(pPortParam, cmdidx, imagesize, packetsize, imagequality, srdt.sendphototime);
 	return 1;
 }
@@ -2039,6 +2060,10 @@ void MakeCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam, uint8_t cmdidx, in
 
 	sendbuf = pPortParam->PollCmd;
 
+	::memset(szbuf, 0, sizeof(szbuf));
+	strcpy(szbuf, "make:sendptzstatecmd start!");
+	DebugLog(0, szbuf, 'I');
+	//return;
 	icurtime = phototime;
 	i = 0;
 	sendbuf[i++] = 0x00;		/* 强制等待时间*/
@@ -2096,11 +2121,17 @@ void MakeCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam, uint8_t cmdidx, in
 	sendbuf[3] = (uint8_t)((i - 10) >> 8);
 	sendbuf[4] = (uint8_t)(i - 10);
 	pPortParam->cmdlen = i;
+#if 1
+	//::memset(szbuf, 0, sizeof(szbuf));
+	//strcpy(szbuf, "make over!");
+	//DebugLog(0, szbuf, 'I');
 	if(0x08 == cmdidx)
     {
+		::memset(szbuf, 0, sizeof(szbuf));
         strcpy(szbuf, "生成查询云台位置命令!");
         DebugLog(0, szbuf, 'I');
     }
+#endif
 	//return;
 }
 
@@ -3119,7 +3150,7 @@ void SendCameraCmdFormPollCmdBuf(SIO_PARAM_SERIAL_DEF *pPortParam)
 	char			buf[128];
 	int				len, ret;
 	int64_t            lctime;
-    char    szbuf[512];
+    //char    szbuf[512];
 
 	memset(buf, 0, sizeof(buf));
 	lctime = get_msec();
@@ -3132,8 +3163,8 @@ void SendCameraCmdFormPollCmdBuf(SIO_PARAM_SERIAL_DEF *pPortParam)
 	if (pPortParam->SendCmdFlag && (pPortParam->RevCmdFlag == 0))
 	{
 		//pPortParam->RetryTimeCnt++;
-        strcpy(szbuf, "1-send");
-        DebugLog(0, szbuf, 'E');
+        //strcpy(szbuf, "1-send");
+        //DebugLog(0, szbuf, 'E');
 
         if ((lctime - pPortParam->RetryTimeCnt > 3 * pPortParam->RetryTime) || (lctime - pPortParam->RetryTimeCnt < 0))
 		{
@@ -3160,8 +3191,8 @@ void SendCameraCmdFormPollCmdBuf(SIO_PARAM_SERIAL_DEF *pPortParam)
 
 	if (pPortParam->SendCmdFlag && pPortParam->RevCmdFlag)
 	{
-        strcpy(szbuf, "2-send");
-        DebugLog(0, szbuf, 'E');
+        //strcpy(szbuf, "2-send");
+        //DebugLog(0, szbuf, 'E');
 		// 清除当前命令
 		ClearCameraCmdFormPollCmdBuf(pPortParam);
 	}
@@ -3460,8 +3491,11 @@ int QueryPtzState(PTZ_STATE *ptz_state, int cmdidx,  const char *serfile, unsign
 
 	if (0x00 == flag)
 	{
-		sprintf(szbuf, "云台状态查询启动串口定时器!");
+        ::memset(szbuf, 0, sizeof(szbuf));
+        strcpy(szbuf, "云台状态查询启动串口定时器!");
 		DebugLog(8, szbuf, 'I');
+		//sprintf(szbuf, "下发命令sendptzstatecmd=%d!", cameraport->sendptzstatecmd);
+		//DebugLog(0, szbuf, 'I');
 		for (;;)
 		{
 			usleep(10);