增加云台控制时间精准控制

增加云台控制时间精准控制

app/src/main/cpp/CMakeLists.txt

@@ -383,6 +383,7 @@ add_library( # Sets the name of the library.
         GPIOControl.cpp
         MicroPhoto.cpp
         PhoneDevice.cpp
+        PtzController.cpp
         # PhoneDevice2.cpp
         Camera.cpp
         Camera2Reader.cpp
@@ -442,6 +443,7 @@ add_library( # Sets the name of the library.
         ${TERM_CORE_ROOT}/Client/Terminal_NX.cpp
         ${TERM_CORE_ROOT}/Client/Terminal_ZJ.cpp
         ${TERM_CORE_ROOT}/Client/Terminal_NW.cpp
+        ${TERM_CORE_ROOT}/Client/DataController.cpp
         ${TERM_CORE_ROOT}/Client/UpgradeReceiver.cpp
         ${TERM_CORE_ROOT}/Client/Database.cpp
         ${TERM_CORE_ROOT}/Client/SimulatorDevice.cpp

app/src/main/cpp/PhoneDevice.cpp

@@ -559,6 +559,9 @@ CPhoneDevice::CPhoneDevice(JavaVM* vm, jobject service, const std::string& appPa
     GpioControl::setCam3V3Enable(true);
     GpioControl::setSpiPower(true);
 #endif
+
+    m_ptzController = new PtzController(this);
+    m_ptzController->Startup();
 }
 
 CPhoneDevice::~CPhoneDevice()
@@ -2084,6 +2087,8 @@ bool CPhoneDevice::TakePhoto(const IDevice::PHOTO_INFO& photoInfo, const vector<
     }
     else if (mPhotoInfo.mediaType == 0 && (mPhotoInfo.cameraType == CAM_TYPE_PLZ))
     {
+        m_ptzController->AddPhotoCommand(mPhotoInfo, mPath, mOsds);
+#if 0
         uint64_t wid_serial = RequestWakelock(0);
         CPhoneDevice* pThis = this;
         IDevice::PHOTO_INFO localPhotoInfo = mPhotoInfo;
@@ -2118,6 +2123,7 @@ bool CPhoneDevice::TakePhoto(const IDevice::PHOTO_INFO& photoInfo, const vector<
         });
 
         t.detach();
+#endif
     }
     else if ((mPhotoInfo.mediaType == XY_MEDIA_TYPE_STREAM || mPhotoInfo.mediaType == XY_MEDIA_TYPE_STREAM_OFF) && (mPhotoInfo.cameraType == CAM_TYPE_NET || mPhotoInfo.cameraType == CAM_TYPE_PLZ))
     {
@@ -4170,6 +4176,9 @@ void CPhoneDevice::ConvertDngToPng(const std::string& dngPath, const std::string
 
 void CPhoneDevice::CameraCtrl(unsigned short waitTime, unsigned short delayTime, unsigned char channel, int cmdidx, unsigned char preset, const char *serfile, unsigned int baud, int addr)
 {
+
+    m_ptzController->AddCommand(channel, cmdidx, 0, preset, serfile, baud, addr);
+#if 0
     if(GpioControl::GetSelftestStatus(waitTime) && GpioControl::GetCamerastatus()) {
         CPhoneDevice *pThis = this;
         string serfileStr(serfile);
@@ -4186,6 +4195,7 @@ void CPhoneDevice::CameraCtrl(unsigned short waitTime, unsigned short delayTime,
         });
         ctrlThread.detach();
     }
+#endif
 }
 
 int CPhoneDevice::GetSerialPhoto(int devno, D_IMAGE_DEF *photo)

app/src/main/cpp/PhoneDevice.h

@@ -31,6 +31,8 @@
 #include <android/multinetwork.h>
 #include "SensorsProtocol.h"
 
+#include "PtzController.h"
+
 #define LOGE(...) ((void)__android_log_print(ANDROID_LOG_ERROR, "error", __VA_ARGS__))
 #define LOGD(...) ((void)__android_log_print(ANDROID_LOG_DEBUG, "debug", __VA_ARGS__))
 
@@ -159,6 +161,8 @@ class CPhoneDevice : public IDevice
 {
 public:
 
+	friend PtzController;
+
     struct NETWORK
     {
         std::string iface;
@@ -420,6 +424,9 @@ protected:
 	std::atomic<bool> m_collecting;
 	unsigned long long localDelayTime;
 
+
+    PtzController* m_ptzController;
+
 };
 
 

app/src/main/cpp/PtzController.cpp

@@ -0,0 +1,292 @@
+//
+// Created by Matthew on 2025/3/5.
+//
+
+#include "PtzController.h"
+#include "SensorsProtocol.h"
+#include "GPIOControl.h"
+#include "PhoneDevice.h"
+#include <memory>
+
+PtzController::PtzController(CPhoneDevice* pPhoneDevice) : m_pPhoneDevice(pPhoneDevice)
+{
+    m_exit = false;
+}
+
+void PtzController::Startup()
+{
+    m_thread = std::thread(PtzThreadProc, this);
+}
+
+void PtzController::PtzThreadProc(PtzController* pThis)
+{
+    pThis->PtzProc();
+}
+
+void PtzController::AddCommand(uint8_t channel, int cmdidx, uint8_t bImageSize, uint8_t preset, const char *serfile, uint32_t baud, int addr)
+{
+    SERIAL_CMD cmd = { 0 };
+    cmd.channel = channel;
+    cmd.channel = preset;
+    cmd.cmdidx = cmdidx;
+    cmd.bImageSize = bImageSize;
+    strcpy(cmd.serfile, serfile);
+    cmd.baud = baud;
+    cmd.addr = addr;
+
+    m_locker.lock();
+    m_cmds.push_back(cmd);
+    m_locker.unlock();
+
+    m_sem.release();
+}
+
+void PtzController::AddPhotoCommand(IDevice::PHOTO_INFO& photoInfo, const std::string& path, const std::vector<IDevice::OSD_INFO>& osds)
+{
+    IDevice::SerialsPhotoParam param = { "", 0, 0 };
+    m_pPhoneDevice->GetPhotoSerialsParamCb(param);
+
+    SERIAL_CMD cmdPreset = { 0 };
+    time_t ts = time(NULL);
+    // if (photoInfo.preset != 0 && photoInfo.preset != 0xFF)
+    {
+        cmdPreset.ts = photoInfo.selfTestingTime;
+        cmdPreset.delayTime = photoInfo.closeDelayTime;
+        cmdPreset.channel = photoInfo.channel;
+        cmdPreset.channel = photoInfo.preset;
+        cmdPreset.cmdidx = OPEN_TOTAL;
+        strcpy(cmdPreset.serfile, param.serfile);
+        cmdPreset.baud = param.baud;
+        cmdPreset.addr = param.addr;
+    }
+    SERIAL_CMD cmd = { 0 };
+    cmd.ts = ts;
+    cmd.delayTime = photoInfo.closeDelayTime;
+    cmd.channel = photoInfo.channel;
+    cmd.preset = photoInfo.preset;
+    cmd.cmdidx = Take_Photo;
+    cmd.bImageSize = photoInfo.resolution;
+
+    strcpy(cmd.serfile, param.serfile);
+    cmd.baud = param.baud;
+    cmd.addr = param.addr;
+
+    PtzPhotoParams* ppp = new PtzPhotoParams(photoInfo, path, osds);
+    cmd.photoParams.reset(ppp);
+    // cmd.delayTime;
+    // uint8_t bImageSize;
+    // char serfile[128];
+    // uint32_t baud;
+    // int addr;
+    m_locker.lock();
+    if (cmdPreset.cmdidx != 0)
+    {
+        m_cmds.push_back(cmdPreset);
+    }
+    m_cmds.push_back(cmd);
+    m_locker.unlock();
+
+    m_sem.release();
+    m_sem.release();
+}
+
+void PtzController::ExitAndWait()
+{
+    m_exit = true;
+    m_sem.release();
+
+    if (m_thread.joinable())
+    {
+        m_thread.join();
+    }
+}
+
+void PtzController::PtzProc()
+{
+    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)
+    {
+        m_sem.acquire();
+
+        if (m_exit)
+        {
+            break;
+        }
+
+        hasCmd = false;
+
+        m_locker.lock();
+        for (auto it = m_cmds.begin(); it != m_cmds.end(); ++it)
+        {
+            if (state == PTZS_SELF_TESTING)
+            {
+                // find first non-taking-photo cmd
+                if (it->cmdidx != Take_Photo)
+                {
+                    cmd = *it;
+                    m_cmds.erase(it);
+                    hasCmd = true;
+                    break;
+                }
+            }
+            else
+            {
+                cmd = *it;
+                m_cmds.erase(it);
+                hasCmd = true;
+                break;
+            }
+        }
+        m_locker.unlock();
+
+        if (!hasCmd)
+        {
+            if (state == PTZS_SELF_TESTING)
+            {
+                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;
+            }
+
+            powerCtrl.reset();
+            continue;
+        }
+
+        switch (cmd.cmdidx)
+        {
+            case Take_Photo:
+            {
+                if (state == PTZS_POWER_OFF)
+                {
+                    if (!powerCtrl)
+                    {
+                        powerCtrl = std::make_shared<PlzCameraPowerCtrl>(cmd.photoParams->mPhotoInfo.closeDelayTime);
+                        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);
+                        m_locker.unlock();
+                        m_sem.release();
+                        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);
+
+                    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;
+            }
+
+                break;
+            case OPEN_TOTAL:
+                if (state == PTZS_POWER_OFF)
+                {
+                    if (!powerCtrl)
+                    {
+                        powerCtrl = std::make_shared<PlzCameraPowerCtrl>(150);
+                        selfTestingStartTime = time(NULL);
+                        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:
+            {
+                CameraPhotoCmd(cmd.ts, cmd.channel, cmd.cmdidx, 0, cmd.preset, cmd.serfile, cmd.baud, cmd.addr);
+
+            }
+                break;
+        }
+    }
+
+
+}

app/src/main/cpp/PtzController.h

@@ -0,0 +1,96 @@
+//
+// Created by Matthew on 2025/3/5.
+//
+
+#ifndef MICROPHOTO_PTZCONTROLLER_H
+#define MICROPHOTO_PTZCONTROLLER_H
+
+#include <Buffer.h>
+#include <thread>
+#include <vector>
+#include <memory>
+#include <string>
+#include <mutex>
+#include <SemaphoreEx.h>
+#include <Client/Device.h>
+
+enum PROC_PTZ_STATE
+{
+    PTZS_POWER_OFF = 0,
+    PTZS_IDLE = 1,
+    PTZS_SELF_TESTING = 2,
+    PTZS_MOVING = 3,
+    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:
+    PtzPhotoParams(const IDevice::PHOTO_INFO& photoInfo, const std::string& path, const std::vector<IDevice::OSD_INFO>& osds) :
+        mPhotoInfo(photoInfo), mPath(path), mOsds(osds)
+    {
+    }
+
+    ~PtzPhotoParams()
+    {
+    }
+
+    IDevice::PHOTO_INFO mPhotoInfo;
+    std::string mPath;
+    std::vector<IDevice::OSD_INFO> mOsds;
+};
+
+struct SERIAL_CMD
+{
+    uint8_t channel;
+    uint8_t preset;
+    time_t ts;
+    int cmdidx;
+    uint32_t delayTime;
+    uint8_t bImageSize;
+    char serfile[128];
+    uint32_t baud;
+    int addr;
+    std::shared_ptr<PtzPhotoParams> photoParams;
+};
+
+
+class CPhoneDevice;
+class PtzController
+{
+public:
+    PtzController(CPhoneDevice* pPhoneDevice);
+
+    void Startup();
+    // ();
+    void AddCommand(uint8_t channel, int cmdidx, uint8_t bImageSize, uint8_t preset, const char *serfile, uint32_t baud, int addr);
+    void AddPhotoCommand(IDevice::PHOTO_INFO& photoInfo, const std::string& path, const std::vector<IDevice::OSD_INFO>& osds);
+
+    void ExitAndWait();
+
+protected:
+    static void PtzThreadProc(PtzController* pThis);
+
+    void PtzProc();
+
+
+protected:
+
+
+protected:
+    std::mutex m_locker;
+    std::vector<SERIAL_CMD> m_cmds;
+
+    CSemaphore m_sem;
+    bool m_exit;
+
+    std::thread m_thread;
+
+    CPhoneDevice* m_pPhoneDevice;
+};
+
+
+#endif //MICROPHOTO_PTZCONTROLLER_H

app/src/main/cpp/SensorsProtocol.h

@@ -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*/
@@ -83,9 +85,9 @@
 #define P_IRIS_OPEN					0x04000000 /* 光圈放大(1 有效)*/
 #define P_FOCUS_NEAR				0x02000000 /* 近距离聚焦(1 有效)*/
 #define P_FOCUS_FAR					0x01000000 /* 远距离聚焦(1 有效)*/
-#define P_ZOOM_WIDE				0x00400000 /* 远离物体(1 有效)*/
+#define P_ZOOM_WIDE				    0x00400000 /* 远离物体(1 有效)*/
 #define P_ZOOM_TELE					0x00200000 /* 接近物体(1 有效)*/
-#define P_MOVE_DOWN				0x0010001f /* 向下移动镜头(1 有效)*/
+#define P_MOVE_DOWN				    0x0010001f /* 向下移动镜头(1 有效)*/
 #define P_MOVE_UP					0x0008001f /* 向上移动镜头(1 有效)*/
 #define P_MOVE_LEFT					0x00041f00 /* 向左移动镜头(1 有效)*/
 #define P_MOVE_RIGHT				0x00021f00 /* 向右移动镜头(1 有效)*/
@@ -95,10 +97,10 @@
 #define D_IRIS_CLOSE				0x04000000 /* 光圈缩小(1 有效)*/
 #define D_IRIS_OPEN					0x02000000 /* 光圈放大(1 有效)*/
 #define D_FOCUS_NEAR				0x01000000 /* 近距离聚焦(1 有效)*/
-#define D_FOCUS_FAR				0x00800000 /* 远距离聚焦(1 有效)*/
-#define D_ZOOM_WIDE				0x00400000 /* 远离物体(1 有效)*/
-#define D_ZOOM_TELE				0x00200000 /* 接近物体(1 有效)*/
-#define D_MOVE_DOWN				0x0010002d /* 向下移动镜头(1 有效)*/
+#define D_FOCUS_FAR				    0x00800000 /* 远距离聚焦(1 有效)*/
+#define D_ZOOM_WIDE				    0x00400000 /* 远离物体(1 有效)*/
+#define D_ZOOM_TELE				    0x00200000 /* 接近物体(1 有效)*/
+#define D_MOVE_DOWN				    0x0010002d /* 向下移动镜头(1 有效)*/
 #define D_MOVE_UP					0x0008002d /* 向上移动镜头(1 有效)*/
 #define D_MOVE_LEFT					0x00042d00 /* 向左移动镜头(1 有效)*/
 #define D_MOVE_RIGHT				0x00022d00 /* 向右移动镜头(1 有效)*/
@@ -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)*/
@@ -124,6 +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 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 +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;	    /* */
@@ -235,16 +281,26 @@ typedef struct
     uint16_t	ForceWaitCnt;		/* 强制等待计数*/
     uint8_t		ReSendCmdFlag;		/* 重发命令标志	*/
     uint8_t		SendCmdFlag;		/* 命令发送标志 */
-    uint8_t		RevCmdFlag;		/* 命令正常接收标志*/
+    uint8_t		RevCmdFlag;		    /* 命令正常接收标志*/
     //**********************************************************
-    int64_t        lsendtime;          /* 命令发送绝对时间计时（毫秒）*/
-    int          cameraaddr;           /*　摄像机地址*/
+    int64_t     lsendtime;          /* 命令发送绝对时间计时（毫秒）*/
+    int         cameraaddr;         /*　摄像机地址*/
     int			SerialCmdidx;		/* 正在使用的串口发送命令的命令序号(-1:表示没有命令发送)
 									    摄像机使用命令序号存储*/
-    PHOTO_DEF   image;          /* 临时存储图片数据*/
+    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
 {
@@ -472,6 +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__