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优化控制云台反a应速度，添加精准云台位置控制

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优化控制云台反a应速度，添加精准云台位置控制
heatbeat
jxjajs 3 months ago
parent 160dffd274
commit 7376d4cb0f
2 changed files with 247 additions and 452 deletions
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674
app/src/main/cpp/SensorsProtocol.cpp
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@ -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*/
@ -3127,8 +2833,7 @@ void ShxyProtocolDataProcess(int devno)
//g_SelfTest.SensorsFault |= (0x02);
//if ((gDisSunRain & 0x80) == 0x80)
{
sprintf(szbuf, "%s湿度:%0.3f ", szbuf, fvalue);
if(datanum < 6)
sprintf(szbuf, "湿度:%0.3f ", fvalue);
DebugLog(devparam[devno].commid, szbuf, 'V');
}
break;
@ -3149,8 +2854,7 @@ void ShxyProtocolDataProcess(int devno)
//g_SelfTest.SensorsFault |= (0x02);
//if ((gDisSunRain & 0x80) == 0x80)
{
sprintf(szbuf, "%s雨量:%0.3f ", szbuf, fvalue);
if(datanum < 7)
sprintf(szbuf, "雨量:%0.3f ", fvalue);
DebugLog(devparam[devno].commid, szbuf, 'V');
}
break;
@ -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*/

21
app/src/main/cpp/SensorsProtocol.h
Unescape Escape View File

@ -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

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