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增加云台控制时间精准控制

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增加云台控制时间精准控制
ptz
jxjajs 3 months ago
parent 27e4b7400e
commit b56a56bb06
4 changed files with 866 additions and 571 deletions
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66
app/src/main/cpp/PtzController.cpp
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@ -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:

5
app/src/main/cpp/PtzController.h
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@ -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:

1256
app/src/main/cpp/SensorsProtocol.cpp
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File diff suppressed because it is too large Load Diff

84
app/src/main/cpp/SensorsProtocol.h
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@ -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 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 20000 /* 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)*/
@ -124,8 +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__

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