优化云台相关的代码

app/src/main/cpp/PtzController.cpp

@@ -182,7 +182,10 @@ void PtzController::PtzProc()
                 {
                     //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 (timeout == 1 || ((timeout % 10) == 0))
+                        {
+                            XYLOG(XYLOG_SEVERITY_INFO, "开始查询云台自检状态！timeout=%u秒", (uint32_t)timeout);
+                        }
                         if(0 == QueryPtzState(&ptz_state, QUERY_PTZ_STATE, cmd.serfile, cmd.baud, cmd.addr))
                         {
                             if(0 == ptz_state.ptz_status)

app/src/main/cpp/SensorsProtocol.cpp

@@ -1351,7 +1351,7 @@ void CameraPhotoPortDataProcess(SIO_PARAM_SERIAL_DEF *curserial)
 				if (srdt.RephotographCnt > 2)
 				{
 					curserial->SerialCmdidx = -1;
-					sprintf(szbuf, "因摄像机重拍%d次均未成功!结束拍照!", srdt.RephotographCnt);
+					sprintf(szbuf, "因摄像机重拍%u次均未成功!结束拍照!", (uint32_t)srdt.RephotographCnt);
 					DebugLog(0, szbuf, 'E');
 				}
 				break;
@@ -1443,7 +1443,7 @@ void CameraPhotoPortDataProcess(SIO_PARAM_SERIAL_DEF *curserial)
 			}
 			srdt.errorPhotoNoCnt++;
 			sprintf(szbuf, "问询第%d包图片摄像机应答第%d包,连续错误%d次!",
-					curserial->SerialCmdidx, iNo, srdt.errorPhotoNoCnt);
+					curserial->SerialCmdidx, iNo, (uint32_t)srdt.errorPhotoNoCnt);
 			DebugLog(0, szbuf, 'E');
 			if (srdt.errorPhotoNoCnt > 5)
 			{
@@ -1452,7 +1452,7 @@ void CameraPhotoPortDataProcess(SIO_PARAM_SERIAL_DEF *curserial)
 				if (srdt.RephotographCnt > 2)
 				{
 					curserial->SerialCmdidx = -1;
-					sprintf(szbuf, "因摄像机重拍%d次均未成功!结束拍照!", srdt.RephotographCnt);
+					sprintf(szbuf, "因摄像机重拍%d次均未成功!结束拍照!", (uint32_t)srdt.RephotographCnt);
 					DebugLog(0, szbuf, 'E');
 				}
 			}
@@ -1521,7 +1521,7 @@ void CameraPhotoPortDataProcess(SIO_PARAM_SERIAL_DEF *curserial)
 						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);
+						sprintf(szbuf, "云台预置点号=%u", (uint32_t)curserial->ptz_state.presetno);
 						DebugLog(0, szbuf, 'I');
 						break;
 					case	202:	/* 云台坐标*/
@@ -1698,7 +1698,7 @@ void SendCmdFormPollCmdBuf(int port)
 
 		sprintf(buf, "发送串口%d 装置%d命令:", port + 1, srdt.curdevidx[port] + 1);
 		BytestreamLOG(port, buf, &pPortParam->PollCmd[2], len, 'D');
-		sprintf(buf, "sendtimeconst= %lld", lctime - pPortParam->lsendtime);
+		sprintf(buf, "sendtimeconst= %lld", (long long)(lctime - pPortParam->lsendtime));
 		DebugLog(port, buf, 'W');
 		pPortParam->lsendtime = lctime;
 	}
@@ -1806,7 +1806,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 				return -1;
 			}
 			memset(szbuf, 0, sizeof(szbuf));
-			sprintf(szbuf, "time=%lldms", lcurtime - pPortParam->FirstCmdTimeCnt);
+			sprintf(szbuf, "time=%lld ms", (long long)(lcurtime - pPortParam->FirstCmdTimeCnt));
 			DebugLog(0, szbuf, 'I');
 			packetsize = (uint16_t)MAX_PHOTO_FRAME_LEN;
 			srdt.sendphotocmdcnt++;
@@ -2035,7 +2035,7 @@ int FindNextCameraPhotoCommand(SIO_PARAM_SERIAL_DEF *pPortParam)
 			if (lcurtime - pPortParam->FirstCmdTimeCnt > 35 * 1000)
 			{
 				pPortParam->SerialCmdidx = -1;
-				sprintf(szbuf, "读取第%d包图片数据35秒未收到!结束拍照!", packetsize);
+				sprintf(szbuf, "读取第%u包图片数据35秒未收到!结束拍照!", (uint32_t)packetsize);
 				DebugLog(0, szbuf, 'I');
 				return -1;
 			}
@@ -3491,17 +3491,20 @@ int CameraPhotoCmd(int phototime, unsigned char channel, int cmdidx, unsigned ch
 
 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;
@@ -3515,6 +3518,7 @@ int QueryPtzState(PTZ_STATE *ptz_state, int cmdidx,  const char *serfile, unsign
 	memset(cameraport->m_au8RecvBuf, 0, RECVDATA_MAXLENTH);	// 接收数据缓存区
 	ClearCameraCmdFormPollCmdBuf(cameraport);
 
+    pthread_mutex_lock(&camera_mutex);
 	flag = Gm_OpenCameraSerial(cameraport, serfile, baud);
 
 #if 1
@@ -3531,6 +3535,7 @@ int QueryPtzState(PTZ_STATE *ptz_state, int cmdidx,  const char *serfile, unsign
 			free(cameraport);
 			cameraport = NULL;
 		}
+        pthread_mutex_unlock(&camera_mutex);
 		return -1;
 	}
 
@@ -3577,7 +3582,10 @@ int Query_BDGNSS_Data(BD_GNSS_DATA *BD_data, int samptime,  const char *serfile,
 	SIO_PARAM_SERIAL_DEF *cameraport=NULL;
 
 	if(NULL == BD_data)
+    {
+        pthread_mutex_unlock(&bd_mutex);
         return -1;
+    }
 	if(samptime < 5)
 		samptime = 5;
 	cameraport = (SIO_PARAM_SERIAL_DEF*)malloc(sizeof(SIO_PARAM_SERIAL_DEF));