云台 在调用预置位前等待自检

app/src/main/cpp/PhoneDevice.cpp

@@ -1900,11 +1900,20 @@ bool CPhoneDevice::TakePhoto(const IDevice::PHOTO_INFO& photoInfo, const vector<
 
         std::thread t([localPhotoInfo, param, pThis, path, osds, wid_serial, powerCtrlPtr]() mutable
         {
+            uint32_t waitTime = localPhotoInfo.selfTestingTime;
+            if(!GpioControl::GetSelftestStatus(waitTime))
+            {
+                XYLOG(XYLOG_SEVERITY_INFO, "Camera is SeltTesting, selfTestingtime=%u", waitTime);
+                waitTime = (waitTime != 0) ? (waitTime * 1024) : 10240;
+                std::this_thread::sleep_for(std::chrono::milliseconds(waitTime));
+                XYLOG(XYLOG_SEVERITY_INFO, "Camera SeltTesting is over");
+            }
+
             if (localPhotoInfo.preset != 0 && localPhotoInfo.preset != 0xFF)
             {
-              XYLOG(XYLOG_SEVERITY_INFO,"Recv CameraCtrl Command, action= MOVE_PRESETNO, preset = %u", localPhotoInfo.preset);
-              CameraPhotoCmd(time(NULL), localPhotoInfo.channel, MOVE_PRESETNO, 0, localPhotoInfo.preset, param.serfile, param.baud, param.addr);
-              std::this_thread::sleep_for(std::chrono::seconds(5));
+                XYLOG(XYLOG_SEVERITY_INFO,"Recv CameraCtrl Command, action= MOVE_PRESETNO, preset = %u", localPhotoInfo.preset);
+                CameraPhotoCmd(time(NULL), localPhotoInfo.channel, MOVE_PRESETNO, 0, localPhotoInfo.preset, param.serfile, param.baud, param.addr);
+                std::this_thread::sleep_for(std::chrono::seconds(5));
             }
 
             pThis->TakePhotoWithNetCamera(localPhotoInfo, path, osds, powerCtrlPtr);