diff --git a/app/src/main/cpp/SensorsProtocol.cpp b/app/src/main/cpp/SensorsProtocol.cpp
index a54939f8..9693cf1c 100644
--- a/app/src/main/cpp/SensorsProtocol.cpp
+++ b/app/src/main/cpp/SensorsProtocol.cpp
@@ -1,7 +1,6 @@
 #include <jni.h>
 #include <string>
 
-#include <stdio.h>
 #include <fcntl.h>
 #include <unistd.h>
 #include <sys/ioctl.h>
@@ -41,411 +40,6 @@ AI_DEF		rallypntmsg[6][RALLY_DATA_NUM];
 AI_DEF		slantpntmsg[6][SLANTANGLE_DATA_NUM];
 char logPath[512];
 
-#if 0
-/*********************************************************************************
-*						            气象数据处理							         *
-**********************************************************************************/
-static void PortDataProcess(void)
-{
-	float			fvalue, fcorvalue, *fvalua, frnb/*, fwind*/;
-	//uint16_t		uDevAddr;
-	unsigned char		cmdidx;
-	int			i, j, aipnt, datanum;
-	SIO_PARAM_SERIAL_DEF	*pPortParam;
-	char			szbuf[64];
-
-	pPortParam = &serialport;
-	//取出装置地址,开始处理地址+++
-	if (0x02 == pPortParam->m_au8RecvBuf[5])
-	{
-		//pPortParam->devaddr = pPortParam->m_au8RecvBuf[4];
-		return;
-	}
-	cmdidx = pPortParam->m_au8RecvBuf[5];
-#if 0
-	aipnt = pPortParam->SameTypeDevIdx;
-	uDevAddr = serialport->m_au8RecvBuf[4];
-	if (0 == srdt.IsReadWireTem)
-	{
-		if (uDevAddr != pPortParam->devaddr)
-			return;
-	}
-#endif
-	fvalua = &fvalue;
-	datanum = pPortParam->m_au8RecvBuf[6];
-	if ((0x08 != cmdidx) && (0x09 != cmdidx))
-		return;
-
-	for (i = 0, j = 7; (i < datanum) && (j < 6 + pPortParam->m_au8RecvBuf[1]); i++, j += 5)
-	{
-		if (0x08 == cmdidx)
-			fvalue = (pPortParam->m_au8RecvBuf[j + 1] << 24) + (pPortParam->m_au8RecvBuf[j + 2] << 16)
-			+ (pPortParam->m_au8RecvBuf[j + 3] << 8) + pPortParam->m_au8RecvBuf[j + 4];
-		else
-		{
-			*(u_char *)fvalua = pPortParam->m_au8RecvBuf[j + 4];
-			*((u_char *)fvalua + 1) = pPortParam->m_au8RecvBuf[j + 3];
-			*((u_char *)fvalua + 2) = pPortParam->m_au8RecvBuf[j + 2];
-			*((u_char *)fvalua + 3) = pPortParam->m_au8RecvBuf[j + 1];
-		}
-		switch (pPortParam->m_au8RecvBuf[j])
-		{
-		case	1:	/*温度*/
-			weatherpntmsg[0] = fvalue;
-			LOGE("温度:%0.3f  ", fvalue);
-			break;
-		case	2:	/*气压*/
-			weatherpntmsg[5] = fvalue;
-			LOGE("气压:%0.3f  ", fvalue);
-			break;
-		case	3:	/*湿度*/
-			weatherpntmsg[1] = fvalue;
-			LOGE("湿度:%0.3f  ", fvalue);
-			break;
-		case	4:	/*雨量*/
-			break;
-		case	5:	/*日照*/
-			break;
-		case	6:	/*风速*/
-			weatherpntmsg[2] = fvalue;
-			LOGE("风速:%0.3f  ", fvalue);
-			break;
-		case	7:	/*风向*/
-			weatherpntmsg[3] = fvalue;
-			LOGE("风向:%0.3f  ", fvalue);
-			break;
-		case	8:	/*拉力*/
-		case	9:	/*倾角传感器X轴倾角*/
-		case	10:	/*倾角传感器Y轴倾角*/
-		case	11:	/*测温球导线温度*/
-		case	12:	/*测温球内部温度*/
-			break;
-		case	13:	/*测温球导线X轴倾角*/
-			break;
-		case	14:	/*测温球导线Y轴倾角*/
-			break;
-		case	15:	/*测温球导线电流*/
-			break;
-		case	16:	/*测温球电池电压*/
-			break;
-		case	17: /*A相泄漏电流平均值；*/
-			break;
-		case	18: /*A相泄漏电流最大值；*/
-			break;
-		case	19: /*A相超过3mA的脉冲频次*/
-			break;
-		case	20: /*A相超过10mA的脉冲频次*/
-			break;
-		case	21: /*B相泄漏电流平均值；*/
-			break;
-		case	22: /*B相泄漏电流最大值；*/
-			break;
-		case	23: /*B相超过3mA的脉冲频次*/
-			break;
-		case	24: /*B相超过10mA的脉冲频次*/
-		case	25: /*C相泄漏电流平均值；*/
-		case	26: /*C相泄漏电流最大值；*/
-		case	27: /*C相超过3mA的脉冲频次*/
-		case	28: /*C相超过10mA的脉冲频次*/
-			break;
-		}
-	}
-}
-
-/***************************************************************
-*    		     		按照协议格式化接收数据				       *
-***************************************************************/
-static void RecvData(u_char *buf, int len)// 规约读数据处理
-{
-	int  				i, ictime;
-	//uint16_t				crc, check;
-	SIO_PARAM_SERIAL_DEF	*pPortParam;
-
-	pPortParam = &serialport;
-	ictime = (int)time(NULL);
-
-	if (pPortParam->m_iRecvLen == 0)
-	{
-		pPortParam->iRecvTime = ictime;
-	}
-	else
-	{
-		if ((ictime - pPortParam->iRecvTime > 6) || (ictime - pPortParam->iRecvTime < 0))
-			pPortParam->iRecvTime = ictime;
-		else if (ictime - pPortParam->iRecvTime > 2)
-		{
-			pPortParam->m_iRecvLen = 0;
-			pPortParam->m_iRevStatus = 0;
-		}
-	}
-
-	for (i = 0; i < len; i++)
-	{
-		switch (pPortParam->m_iRevStatus)
-		{
-		case 0:			// 0x68
-			pPortParam->m_iRecvLen = 0;
-			pPortParam->m_au8RecvBuf[pPortParam->m_iRecvLen++] = buf[i];
-			if (0x68 == buf[i])
-				pPortParam->m_iRevStatus++;
-			else
-				pPortParam->m_iRevStatus = 18;
-			break;
-		case 1:			// len1
-			pPortParam->m_au8RecvBuf[pPortParam->m_iRecvLen++] = buf[i];
-			pPortParam->m_iRevStatus++;
-			break;
-		case 2:			// len2
-			pPortParam->m_au8RecvBuf[pPortParam->m_iRecvLen++] = buf[i];
-			if (buf[i] == pPortParam->m_au8RecvBuf[pPortParam->m_iRecvLen - 2])
-			{
-				pPortParam->m_iRevStatus++;
-				pPortParam->m_iNeedRevLength = buf[i] + 5;
-			}
-			else
-				pPortParam->m_iRevStatus = 18;
-			break;
-		case 3:			// 0x68
-			pPortParam->m_au8RecvBuf[pPortParam->m_iRecvLen++] = buf[i];
-			pPortParam->m_iNeedRevLength--;
-			if (0x68 == buf[i])
-				pPortParam->m_iRevStatus++;
-			else
-				pPortParam->m_iRevStatus = 18;
-			break;
-		case 4:	// 正确接收数据
-			pPortParam->m_iNeedRevLength--;
-			pPortParam->m_au8RecvBuf[pPortParam->m_iRecvLen++] = buf[i];
-			if (pPortParam->m_iNeedRevLength > 0)
-				break;
-			if (buf[i] != 0x16)
-			{
-				pPortParam->m_iRevStatus = 18;
-				break;
-			}
-
-			//if(CheckLpcError(serialport->m_au8RecvBuf, pPortParam->m_iRecvLen) == TRUE)
-			{
-				PortDataProcess();
-				pPortParam->m_iRevStatus = 0;
-				pPortParam->RevCmdFlag = 1;
-			}
-			pPortParam->m_iRecvLen = 0;
-			break;
-		case 255:// 错误接收数据
-		default:
-			if (buf[i] == 0x68)
-			{
-				pPortParam->m_iRevStatus = 1;
-				pPortParam->m_iRecvLen = 1;
-				pPortParam->m_au8RecvBuf[0] = buf[i];
-			}
-			else if (buf[i] == 0x16)
-			{
-				pPortParam->m_au8RecvBuf[pPortParam->m_iRecvLen++] = buf[i];
-				pPortParam->m_iRevStatus = 0;
-				pPortParam->m_iRecvLen = 0;
-			}
-			else
-			{
-				pPortParam->m_au8RecvBuf[pPortParam->m_iRecvLen++] = buf[i];
-				if (pPortParam->m_iRecvLen > 200)
-				{
-					pPortParam->m_iRecvLen = 0;
-				}
-			}
-			break;
-		}
-	}
-}
-
-static int64_t get_msec(void)
-{
-	struct timeval tv;
-
-	gettimeofday(&tv, NULL);
-	int64_t time_in_msec = tv.tv_sec * 1000 + tv.tv_usec / 1000;
-
-	return time_in_msec;
-}
-//int inum =0;
-//int itimecnt=0;
-static int weather_comm(SERIAL_PARAM weatherport)
-{
-	int fd = -1;
-	int len, i, ret, icnt = 0;
-	int64_t ictime, iruntime, isendtime, irecvtime;
-	unsigned char sendbuf[] = { 0x68,0x00,0x00,0x68,0x01,0x09,0x0a,0x16 };
-	char recvbuf[256], szbuf[512];
-	//char serial_description[] = "/dev/ttyS0";
-
-#if 0
-	DIR *dir = opendir("/dev");
-	if (dir == NULL) {
-		LOGE("_test_ opendir");
-		return -1;
-	}
-
-	// 读取目录项
-	struct dirent *entry;
-	while ((entry = readdir(dir)) != NULL) {
-		// 过滤出串口设备，通常以"ttyS"或"ttyUSB"开头
-		if ((strncmp(entry->d_name, "ttyS2", 5) == 0) ||
-			(strncmp(entry->d_name, "ttyS0", 5) == 0)) {
-			LOGE("_test_ Found serial port: %s\n", entry->d_name);
-		}
-	}
-
-	// 关闭目录
-	closedir(dir);
-#endif
-	serialport.RevCmdFlag = 1;
-	serialport.m_iRecvLen = 0;
-	serialport.m_iRevStatus = 0;
-
-	set12VEnable(true);
-	setCam3V3Enable(true);
-	setRS485Enable(true);
-	sleep(2);
-	//ictime = (int)time(NULL);
-	ictime = get_msec();
-	for (;;)
-	{
-		if (fd < 0)
-		{
-			fd = open(weatherport.pathname, O_RDWR | O_NDELAY);
-			//fd = open(weatherport.pathname, O_RDWR | O_NOCTTY);
-			if (fd < 0)
-			{
-				LOGE("_test_ open serial error \n");
-				perror(weatherport.pathname);
-				return -1;
-			}
-
-			ret = set_port_attr(fd, weatherport.baudrate, weatherport.databit, weatherport.stopbit, weatherport.parity, 0, 0);/*9600 8n1 */
-			if (ret < 0)
-			{
-				LOGE("_test_ set uart arrt faile \n");
-				return -1;
-			}
-		}
-
-		usleep(10000);
-		//iruntime = (int)time(NULL);
-		iruntime = get_msec();
-		if ((iruntime - ictime > 120000) || (iruntime - ictime < 0))
-			ictime = iruntime;
-		if (iruntime - ictime > 20000)
-		{
-			memset(szbuf, 0, sizeof(szbuf));
-			sprintf(szbuf, "气象采样时间=%0.3f秒,停止采样!", (iruntime - ictime) / 1000.0);
-			LOGE("%s", szbuf);
-			break;
-		}
-
-		if (1 == serialport.RevCmdFlag)
-		{
-			set485WriteMode();
-
-			len = write(fd, sendbuf, sizeof(sendbuf));/* 向串囗发送字符串 */
-			serialport.RevCmdFlag = 0;
-			LOGE("发送命令时间差%ld毫秒", get_msec() - isendtime);
-			//isendtime = time(NULL);
-			isendtime = get_msec();
-			if (len < 0) {
-				LOGE("write data error \n");
-				return -1;
-			}
-			else {
-				memset(szbuf, 0, sizeof(szbuf));
-				sprintf(szbuf, "Send：");
-				for (i = 0; i < len; i++) {
-					sprintf(szbuf, "%s %02X", szbuf, sendbuf[i]);
-				}
-				LOGE("%s", szbuf);
-				//icnt = 0;
-				//inum++;
-			}
-			tcdrain(fd);
-			//usleep(50000);
-		}
-		else
-		{
-			//irecvtime = time(NULL);
-			irecvtime = get_msec();
-			if ((irecvtime - isendtime > 6000) || (irecvtime - isendtime < 0))
-				isendtime = irecvtime;
-			if (irecvtime - isendtime > 300)
-			{
-				LOGE("传感器超过%ld毫秒未应答", irecvtime - isendtime);
-				serialport.RevCmdFlag = 1;
-				serialport.m_iRecvLen = 0;
-				serialport.m_iRevStatus = 0;
-				close(fd);
-				fd = -1;
-				continue;
-			}
-		}
-		set485ReadMode();
-		memset(recvbuf, 0, sizeof(recvbuf));
-		len = read(fd, recvbuf, sizeof(recvbuf));/* 在串口读取字符串 */
-		if (len < 0) {
-			LOGE("serial read error \n");
-			continue;
-		}
-		if (0 == len)
-		{
-			//icnt++;
-			continue;
-		}
-		memset(szbuf, 0, sizeof(szbuf));
-		sprintf(szbuf, "Recv：");
-		for (i = 0; i < len; i++) {
-			sprintf(szbuf, "%s %02X", szbuf, recvbuf[i]);
-		}
-		__android_log_print(ANDROID_LOG_INFO, "serial", "%s", szbuf);
-		RecvData((u_char*)recvbuf, len);
-		//LOGE("一周期空循环次数%d, 读取次数%d, 时间：%d %d", icnt, inum, (int)time(NULL), itimecnt);
-		icnt = 0;
-		//serialport.RevCmdFlag =1;
-	}
-
-	close(fd);
-	set12VEnable(false);
-	setCam3V3Enable(false);
-	setRS485Enable(false);
-
-	//exit(-1);
-	return(0);
-}
-
-int serial_port_comm()
-{
-	SERIAL_PARAM  portparm;
-
-	//struct timeval tv;
-
-	//gettimeofday(&tv, NULL);
-	//int64_t time_in_microseconds = tv.tv_sec * 1000000 + tv.tv_usec;
-
-	//LOGE("Current time in microseconds: %ld\n", time_in_microseconds);
-
-#if 1
-	memset(portparm.pathname, 0, sizeof(portparm.pathname));
-	sprintf(portparm.pathname, "/dev/ttyS0");
-	portparm.parity = 'N';
-	portparm.databit = 8;
-	portparm.baudrate = B9600;
-	memset(portparm.stopbit, 0, sizeof(portparm.stopbit));
-	sprintf(portparm.stopbit, "1");
-#endif
-	//itimecnt = (int)time(NULL);
-
-	//for(;;)
-	weather_comm(portparm);
-	return 0;
-}
-#endif
 extern int Gm_SetSerialPortParam(int commid);
 static speed_t getBaudrate(unsigned int baudrate)
 {
@@ -1094,7 +688,7 @@ void testComm()
 		CameraPhotoCmd(time(NULL), 1, 0, 6, 1, "/dev/ttyS0",38400, 1);
 		sleep(5);
 
-		CameraPhotoCmd(time(NULL), 1, 10017, 0, 2, "/dev/ttyS1",38400, 1);
+		CameraPhotoCmd(time(NULL), 1, MOVE_PRESETNO, 0, 2, "/dev/ttyS1",38400, 1);
 		sleep(5);
 
 		CameraPhotoCmd(0, 1, MOVE_LEFT, 0, 0, "/dev/ttyS1",38400, 1);
@@ -1105,7 +699,7 @@ void testComm()
 		sleep(5);
 		CameraPhotoCmd(0, 1, MOVE_UP, 0, 0, "/dev/ttyS1",38400, 1);
 		sleep(5);
-		CameraPhotoCmd(0, 1, 10017, 0, 1, "/dev/ttyS1",38400, 1);
+		CameraPhotoCmd(0, 1, MOVE_PRESETNO, 0, 1, "/dev/ttyS1",38400, 1);
 		sleep(5);
 		sleep(5);
 		//CameraPhotoCmd(0, 1, ZOOM_WIDE, 0, 0);
@@ -1849,7 +1443,9 @@ void CameraRecvData(SIO_PARAM_SERIAL_DEF *pPortParam, u_char *buf, int len)
 void CameraPhotoPortDataProcess(SIO_PARAM_SERIAL_DEF *curserial)
 {
 	RTUMSG		rtumsg;
-	int img_file_size, packetnum, iNo, packsize, i = 0, presetno, iphototime, pidx;
+	int img_file_size, packetnum, iNo, packsize, i = 0, j = 0, presetno, iphototime, pidx;
+	int	datanum;
+	float  fvalue;
 	char			szbuf[128];
 	uint16_t		uDevAddr, datalen=0;
 	uint8_t			cmdidx, recvend;
@@ -1990,6 +1586,87 @@ void CameraPhotoPortDataProcess(SIO_PARAM_SERIAL_DEF *curserial)
 			curserial->RevCmdFlag = 1;
 			curserial->FirstCmdTimeCnt = get_msec();
 			break;
+		case	0xA0:
+			sprintf(szbuf, "云台收到关电通知响应!");
+			DebugLog(0, szbuf, 'I');
+			curserial->SerialCmdidx = -1;
+			break;
+		case	0x08:
+			datanum = curserial->m_au8RecvBuf[6];
+			memset(szbuf, 0, sizeof(szbuf));
+			for (i = 0, j = 7; (i < datanum) && (j < 6 + datalen); i++, j += 5)
+			{
+				fvalue = (curserial->m_au8RecvBuf[j + 1] << 24) + (curserial->m_au8RecvBuf[j + 2] << 16)
+						 + (curserial->m_au8RecvBuf[j + 3] << 8) + curserial->m_au8RecvBuf[j + 4];
+				switch (curserial->m_au8RecvBuf[j])
+				{
+					case	200:	/* 云台状态*/
+						curserial->ptz_state.ptz_process = curserial->m_au8RecvBuf[j + 1];
+						curserial->ptz_state.ptz_status = curserial->m_au8RecvBuf[j+4];
+						switch (curserial->ptz_state.ptz_process)
+						{
+							case 1: // 自检
+								if (0 == curserial->ptz_state.ptz_status)
+									sprintf(szbuf, "云台自检结束！");
+								else if (1 == curserial->ptz_state.ptz_status)
+									sprintf(szbuf, "云台正在自检！");
+								else
+									sprintf(szbuf, "云台自检发生错误！");
+								DebugLog(0, szbuf, 'I');
+								break;
+							case 2: // 调用预置点
+								if (0 == curserial->ptz_state.ptz_status)
+									sprintf(szbuf, "调用预置位结束，云台处于所调预置位！");
+								else if (1 == curserial->ptz_state.ptz_status)
+									sprintf(szbuf, "调用预置位，云台正在前往所调预置位位置！");
+								else if (2 == curserial->ptz_state.ptz_status)
+									sprintf(szbuf, "调用预置位时，机芯电源未打开！");
+								else
+									sprintf(szbuf, "调用预置位时，发生了错误，未正确执行！");
+								DebugLog(0, szbuf, 'I');
+								break;
+							case 3: // 一般状态
+								if (0 == curserial->ptz_state.ptz_status)
+									sprintf(szbuf, "云台处于静止状态！");
+								else if (1 == curserial->ptz_state.ptz_status)
+									sprintf(szbuf, "云台正在运动！");
+								else
+									sprintf(szbuf, "云台发生错误！");
+								DebugLog(0, szbuf, 'I');
+								break;
+							default:
+								sprintf(szbuf, "未知错误，云台应答错误！");
+								DebugLog(0, szbuf, 'I');
+								break;
+						}
+						break;
+					case	201:	/* 云台预置点*/
+						curserial->ptz_state.presetno = (curserial->m_au8RecvBuf[j + 3] << 8) + curserial->m_au8RecvBuf[j + 4];
+						sprintf(szbuf, "云台预置点号=%d", curserial->ptz_state.presetno);
+						DebugLog(0, szbuf, 'I');
+						break;
+					case	202:	/* 云台坐标*/
+						fvalue = (uint16_t)((curserial->m_au8RecvBuf[j + 1] << 8) + (curserial->m_au8RecvBuf[j + 2]));
+						fvalue /=100.0;
+						curserial->ptz_state.x_coordinate = fvalue;
+						fvalue = (uint16_t)((curserial->m_au8RecvBuf[j + 3] << 8) + (curserial->m_au8RecvBuf[j + 4]));
+						fvalue /=100.0;
+#if 0
+                        if(fvalue < 180)
+                            fvalue *= -1;
+                        else
+                            fvalue = 360-fvalue;
+#endif
+                        if(fvalue > 180)
+                            fvalue -= 360;
+						curserial->ptz_state.y_coordinate = fvalue;
+						sprintf(szbuf, "云台坐标水平（X）=%0.2f°, 垂直（Y）=%0.2f°", curserial->ptz_state.x_coordinate, curserial->ptz_state.y_coordinate);
+						DebugLog(0, szbuf, 'I');
+						break;
+				}
+			}
+			curserial->SerialCmdidx = -1;
+			break;
 		case	0x15:
 			if (0xFF == rtumsg.MsgData[6])
 			{
@@ -2233,7 +1910,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 	}
 	switch (cmdno)
 	{
-		case 0:/* 下发拍照指令*/
+		case TAKE_PHOTO:/* 下发拍照指令*/
 			if (lcurtime - pPortParam->FirstCmdTimeCnt < 3800)
 				return -1;
 			if ((lcurtime - pPortParam->FirstCmdTimeCnt > 3 * 35 * 1000) || (lcurtime - pPortParam->FirstCmdTimeCnt < 0))
@@ -2260,7 +1937,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			imagesize = srdt.bImageSize;
 			break;
 
-		case 10000: /* 下发设置串口波特率命令*/
+		case SET_BAUD: /* 下发设置串口波特率命令*/
 #if 0
 			switch (devparam[devidx].baudrate)
 			{
@@ -2308,7 +1985,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			packetsize = (uint16_t)MAX_PHOTO_FRAME_LEN;
 			break;
 
-		case 10005:     /* 关闭功能*/
+		case STOP_CMD:     /* 关闭功能*/
 			//Gm_CtrlPtzCmd(1, P_MOVE_LEFT);
 			//sleep(2);
 			Gm_CtrlPtzCmd(pPortParam, Cmd_Cancel);
@@ -2317,25 +1994,25 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			srdt.iLastGetPhotoNo = -1;
 			//sleep(20);
 			return 1;
-		case 10006:     /* 自动扫描功能控制(1/0 打开/关闭该功能)*/
+		case AUTO_SCAN:     /* 自动扫描功能控制(1/0 打开/关闭该功能)*/
 			Gm_CtrlPtzCmd(pPortParam, P_Auto_Scan);
 			usleep(100000);
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10007:     /* 光圈缩小(1 有效)*/
+		case IRIS_CLOSE:     /* 光圈缩小(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_IRIS_CLOSE);
 			usleep(100000);
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10008:     /* 光圈放大(1 有效)*/
+		case IRIS_OPEN:     /* 光圈放大(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_IRIS_OPEN);
 			usleep(100000);
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10009:     /* 近距离聚焦(1 有效)*/
+		case FOCUS_NEAR:     /* 近距离聚焦(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_FOCUS_NEAR);
 			usleep(500000);
 			Gm_CtrlPtzCmd(pPortParam, Cmd_Cancel);
@@ -2343,7 +2020,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10010:     /* 远距离聚焦(1 有效)*/
+		case FOCUS_FAR:     /* 远距离聚焦(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_FOCUS_FAR);
 			usleep(500000);
 			Gm_CtrlPtzCmd(pPortParam, Cmd_Cancel);
@@ -2351,7 +2028,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10011:     /* 远离物体(1 有效)*/
+		case ZOOM_WIDE:     /* 远离物体(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_ZOOM_WIDE);
 			usleep(500000);
 			Gm_CtrlPtzCmd(pPortParam, Cmd_Cancel);
@@ -2359,7 +2036,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10012:     /* 接近物体(1 有效)*/
+		case ZOOM_TELE:     /* 接近物体(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_ZOOM_TELE);
 			usleep(500000);
 			Gm_CtrlPtzCmd(pPortParam, Cmd_Cancel);
@@ -2367,7 +2044,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10013:     /* 向下移动镜头(1 有效)*/
+		case MOVE_DOWN:     /* 向下移动镜头(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_MOVE_DOWN);
 			sleep(1);
 			Gm_CtrlPtzCmd(pPortParam, Cmd_Cancel);
@@ -2375,7 +2052,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10014:     /* 向上移动镜头(1 有效)*/
+		case MOVE_UP:     /* 向上移动镜头(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_MOVE_UP);
 			sleep(1);
 			Gm_CtrlPtzCmd(pPortParam, Cmd_Cancel);
@@ -2383,7 +2060,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10015:     /* 向左移动镜头(1 有效)*/
+		case MOVE_LEFT:     /* 向左移动镜头(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_MOVE_LEFT);
 			sleep(1);
 			Gm_CtrlPtzCmd(pPortParam, Cmd_Cancel);
@@ -2391,7 +2068,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10016:     /* 向右移动镜头(1 有效)*/
+		case MOVE_RIGHT:     /* 向右移动镜头(1 有效)*/
 			Gm_CtrlPtzCmd(pPortParam, P_MOVE_RIGHT);
 			sleep(1);
 			Gm_CtrlPtzCmd(pPortParam, Cmd_Cancel);
@@ -2399,26 +2076,55 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
-		case 10017:     /* 调用预置点*/
+		case MOVE_PRESETNO:     /* 调用预置点*/
 			//srdt.presetno = 2;
 			Gm_CtrlPtzCmd(pPortParam, MOVE_TO_PRESETNO + srdt.presetno);
+#if 0
 			sleep(2);
 			if (0 == srdt.IsSleep)
 			{
-				pPortParam->SerialCmdidx = 10017;
+				pPortParam->SerialCmdidx = MOVE_PRESETNO;
 				srdt.IsSleep++;
 				return 1;
 			}
+#endif
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			srdt.IsSleep = 0;
 			return 1;
-		case 10018:     /* 设置预置点*/
+		case SAVE_PRESETNO:     /* 设置预置点*/
 			Gm_CtrlPtzCmd(pPortParam, SET_PRESETNO + srdt.presetno);
 			usleep(100000);
 			pPortParam->SerialCmdidx = srdt.iLastGetPhotoNo;
 			srdt.iLastGetPhotoNo = -1;
 			return 1;
+		case NOTIFY_PTZ_CLOSE:     /* 通知云台关闭电源*/
+            if (pPortParam->sendptzstatecmd > 0)
+            {
+                pPortParam->SerialCmdidx = -2;
+                pPortParam->sendptzstatecmd = 0;
+                strcpy(szbuf, "云台未接或故障!结束通知!");
+                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)
+            {
+                pPortParam->SerialCmdidx = -2;
+                pPortParam->sendptzstatecmd = 0;
+                strcpy(szbuf, "云台未接或故障!结束查询!");
+                DebugLog(0, szbuf, 'I');
+                return -1;
+            }
+            pPortParam->sendptzstatecmd++;
+			cmdidx = 0x08;
+			//pPortParam->SerialCmdidx = -1;
+			break;
+
 		default:
 			imagesize = 0xFF;
 			packetsize = (uint16_t)pPortParam->SerialCmdidx;
@@ -3077,8 +2783,8 @@ void ShxyProtocolDataProcess(int devno)
 				}
 				else
 				{
-					pPortParam->aiValue[AirTempNo].EuValue = fvalue;/*pPortParam->aiValue[0].AiParam.fFactor + pPortParam->aiValue[0].AiParam.EuValueDelta;*/
-					weatherpntmsg[AirTempNo].EuValue = fvalue;/*weatherpntmsg[AirTempNo].AiParam.fFactor + weatherpntmsg[AirTempNo].AiParam.EuValueDelta;*/
+					pPortParam->aiValue[AirTempNo].EuValue = fvalue;
+					weatherpntmsg[AirTempNo].EuValue = fvalue;
 				}
 				pPortParam->aiValue[AirTempNo].AiState = SER_SAMPLE;
 				weatherpntmsg[AirTempNo].AiState = SER_SAMPLE;
@@ -3086,7 +2792,7 @@ void ShxyProtocolDataProcess(int devno)
 				//if ((gDisSunRain & 0x80) == 0x80)
 				{
 					sprintf(szbuf, "ID:%d 温度:%0.3f  ", devparam[devno].devaddr, fvalue);
-					//DebugLog(devparam[devno].commid, szbuf, 'V');
+					DebugLog(devparam[devno].commid, szbuf, 'V');
 				}
 				break;
 			case	2:	/*气压*/
@@ -3098,16 +2804,16 @@ void ShxyProtocolDataProcess(int devno)
 				}
 				else
 				{
-					pPortParam->aiValue[AtmosNo].EuValue = fvalue;/*pPortParam->aiValue[5].AiParam.fFactor + pPortParam->aiValue[5].AiParam.EuValueDelta;*/
-					weatherpntmsg[AtmosNo].EuValue = fvalue;/*weatherpntmsg[AtmosNo].AiParam.fFactor + weatherpntmsg[AtmosNo].AiParam.EuValueDelta;*/
+					pPortParam->aiValue[AtmosNo].EuValue = fvalue;
+					weatherpntmsg[AtmosNo].EuValue = fvalue;
 				}
 				pPortParam->aiValue[AtmosNo].AiState = SER_SAMPLE;
 				weatherpntmsg[AtmosNo].AiState = SER_SAMPLE;
 				//g_SelfTest.SensorsFault |= (0x10);
 				//if ((gDisSunRain & 0x80) == 0x80)
 				{
-					sprintf(szbuf, "%s气压:%0.3f  ", szbuf, fvalue);
-					//DebugLog(devparam[devno].commid, szbuf, 'V');
+					sprintf(szbuf, "气压:%0.3f  ", fvalue);
+					DebugLog(devparam[devno].commid, szbuf, 'V');
 				}
 				break;
 			case	3:	/*湿度*/
@@ -3127,9 +2833,8 @@ void ShxyProtocolDataProcess(int devno)
 				//g_SelfTest.SensorsFault |= (0x02);
 				//if ((gDisSunRain & 0x80) == 0x80)
 				{
-					sprintf(szbuf, "%s湿度:%0.3f  ", szbuf, fvalue);
-                    if(datanum < 6)
-                        DebugLog(devparam[devno].commid, szbuf, 'V');
+					sprintf(szbuf, "湿度:%0.3f  ", fvalue);
+					DebugLog(devparam[devno].commid, szbuf, 'V');
 				}
 				break;
 			case	4:	/*雨量*/
@@ -3149,9 +2854,8 @@ void ShxyProtocolDataProcess(int devno)
                 //g_SelfTest.SensorsFault |= (0x02);
                 //if ((gDisSunRain & 0x80) == 0x80)
                 {
-                    sprintf(szbuf, "%s雨量:%0.3f  ", szbuf, fvalue);
-                    if(datanum < 7)
-                        DebugLog(devparam[devno].commid, szbuf, 'V');
+                    sprintf(szbuf, "雨量:%0.3f  ", fvalue);
+                    DebugLog(devparam[devno].commid, szbuf, 'V');
                 }
 				break;
 			case	5:	/*日照*/
@@ -3169,7 +2873,7 @@ void ShxyProtocolDataProcess(int devno)
 				pPortParam->aiValue[OpticalRadiationNo].AiState = SER_SAMPLE;
 				weatherpntmsg[OpticalRadiationNo].AiState = SER_SAMPLE;
 				{
-					sprintf(szbuf, "%s日照:%0.3f  ", szbuf, fvalue);
+					sprintf(szbuf, "日照:%0.3f  ", fvalue);
 					DebugLog(devparam[devno].commid, szbuf, 'V');
 				}
 				break;
@@ -3638,13 +3342,13 @@ int GM_IsCloseCamera(SIO_PARAM_SERIAL_DEF *pPortParam)
 
 	lctime = get_msec();
 	memset(buf, 0, sizeof(buf));
-	if (-1 == pPortParam->SerialCmdidx)
+	if (0 > pPortParam->SerialCmdidx)
 	{
 		if ((SER_STARTSAMPLE == pPortParam->image.state) || (SER_SAMPLE == pPortParam->image.state))
 			pPortParam->image.state = SER_SAMPLEFAIL;
 		else if (PHOTO_SAVE_SUCC == pPortParam->image.state)
 			pPortParam->image.state = PHOTO_SAVE_SUCC;
-		strcpy(buf, "通道1摄像机使用完毕!可以关闭摄像机电源!");
+		strcpy(buf, "摄像机使用完毕!可以关闭摄像机电源!");
 		DebugLog(0, buf, 'I');
 		memset(&serialport[0].image, 0, sizeof(PHOTO_DEF));
 		memmove((void *)&serialport[0].image, (void*)&pPortParam->image, sizeof(PHOTO_DEF));
@@ -3695,9 +3399,9 @@ int GM_CameraSerialTimer(SIO_PARAM_SERIAL_DEF *pPortParam)
 {
 	int flag = -1;
 
-	GM_CameraSerialComRecv(pPortParam);
-	Gm_FindCameraCommand(pPortParam);
 	//GM_CameraSerialComRecv(pPortParam);
+	Gm_FindCameraCommand(pPortParam);
+	GM_CameraSerialComRecv(pPortParam);
 	flag = GM_IsCloseCamera(pPortParam);
 	return  flag;
 }
@@ -3729,11 +3433,11 @@ int GM_StartSerialCameraPhoto(int phototime, unsigned char channel, int cmdidx,
 #if 1
 		memset(szbuf, 0, sizeof(szbuf));
         srdt.iLastGetPhotoNo = -1;
-        if (0 == cmdidx)
+        if (TAKE_PHOTO == cmdidx)
             cameraport->image.state = SER_STARTSAMPLE;
-        if ((0 == cmdidx) && (srdt.presetno > 0))
+        if ((TAKE_PHOTO == cmdidx) && (srdt.presetno > 0))
         {
-            cameraport->SerialCmdidx = 10017;
+            cameraport->SerialCmdidx = MOVE_PRESETNO;
             srdt.iLastGetPhotoNo = cmdidx;
         }
         else
@@ -3774,7 +3478,7 @@ int GM_StartSerialCameraPhoto(int phototime, unsigned char channel, int cmdidx,
 			{
 				//LOGE("12V state=%d", getInt(CMD_SET_12V_EN_STATE));
 				DebugLog(8, "退出操作摄像机流程！", 'V');
-				sleep(3);
+				//sleep(3);
 				break;
 			}
 		}
@@ -3800,6 +3504,84 @@ int CameraPhotoCmd(int phototime, unsigned char channel, int cmdidx, unsigned ch
 	pthread_mutex_unlock(&camera_mutex); // 解锁
 	return flag;
 }
+
+int QueryPtzState(PTZ_STATE *ptz_state, int cmdidx,  const char *serfile, unsigned int baud, int addr)
+{
+	pthread_mutex_lock(&camera_mutex);
+	int flag = 0;
+	char	szbuf[128], logbuf[128];
+	SIO_PARAM_SERIAL_DEF *cameraport=NULL;
+
+	if(NULL == ptz_state)
+		return -1;
+	if((NOTIFY_PTZ_CLOSE == cmdidx) || (QUERY_PTZ_STATE == cmdidx))
+		;
+	else
+		return -1;
+	cameraport = (SIO_PARAM_SERIAL_DEF*)malloc(sizeof(SIO_PARAM_SERIAL_DEF));
+
+	cameraport->cameraaddr = addr;
+	cameraport->Retry = 0;
+	cameraport->RetryTime = 1000;
+	cameraport->WaitTime = 0;
+	cameraport->m_iRevStatus = 0;
+	cameraport->m_iRecvLen = 0;
+	cameraport->m_iNeedRevLength = 0;
+	cameraport->fd = -1;
+	memset(cameraport->m_au8RecvBuf, 0, RECVDATA_MAXLENTH);	// 接收数据缓存区
+	ClearCameraCmdFormPollCmdBuf(cameraport);
+
+	flag = Gm_OpenCameraSerial(cameraport, serfile, baud);
+
+#if 1
+	memset(szbuf, 0, sizeof(szbuf));
+	srdt.iLastGetPhotoNo = -1;
+	cameraport->SerialCmdidx = cmdidx;
+	cameraport->FirstCmdTimeCnt = get_msec();
+    cameraport->sendptzstatecmd = 0;
+#endif
+	if(-1 == flag)
+	{
+		if(NULL != cameraport)
+		{
+			free(cameraport);
+			cameraport = NULL;
+		}
+		return -1;
+	}
+
+	if (0x00 == flag)
+	{
+		sprintf(szbuf, "云台状态查询启动串口定时器!");
+		DebugLog(8, szbuf, 'I');
+		for (;;)
+		{
+			usleep(10);
+			//LOGW("polltime=%ldms", get_msec()-polltime);
+			//polltime = get_msec();
+            flag = GM_CameraSerialTimer(cameraport);
+			if (flag < 0)
+			{
+				//LOGE("12V state=%d", getInt(CMD_SET_12V_EN_STATE));
+				DebugLog(8, "退出查询云台状态流程！", 'V');
+				memmove((void*)ptz_state, &cameraport->ptz_state, sizeof(PTZ_STATE));
+                if(flag == -2)
+                    flag = -1;
+                else
+                    flag = 0;
+				//sleep(3);
+				break;
+			}
+		}
+	}
+	if(NULL != cameraport)
+	{
+		free(cameraport);
+		cameraport = NULL;
+	}
+	pthread_mutex_unlock(&camera_mutex); // 解锁
+	return flag;
+}
 /* 串口启动接口函数 结束*/
 
 /* 数据和图片采集数据返回函数 开始*/
diff --git a/app/src/main/cpp/SensorsProtocol.h b/app/src/main/cpp/SensorsProtocol.h
index 6d8ee84f..f56dacd4 100644
--- a/app/src/main/cpp/SensorsProtocol.h
+++ b/app/src/main/cpp/SensorsProtocol.h
@@ -106,10 +106,10 @@
 #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 Stop_Baud					10000 /* 设置球机波特率*/
-#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 TAKE_PHOTO					    0 /* 拍照*/
+#define SET_BAUD					10000 /* 设置球机波特率*/
+#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 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)*/
@@ -124,6 +124,8 @@
 #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 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*/
 
@@ -214,6 +216,16 @@ 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;
+
 typedef struct
 {
     int		    m_iRevStatus;	    /* */
@@ -243,6 +255,7 @@ 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;
 } SIO_PARAM_SERIAL_DEF;
 
 //串口相关装置所有参数集中定义