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MW22-02A/APP/Agent/agent_hyt.c

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汇源原始工程
2025-05-21 01:55:40 +00:00
/// Agent文件
///
/// 指令处理模块、处理外部接收指令
/// @file Agent.c
/// @author
/// @date 2022-04-22
/// @version v2.0
#include "agent_hyt.h"
#include "includes.h"
#include "gd32f4xx.h"
#include "enet_to_udp.h"
#include "ptz_struct.h"
#include "Usart.h"
#include "device_dac_out.h"
#include "ptz_header_file.h"
#include "device_wdog.h"
#include "service_autoreturn.h"
#include "device_heatresistor.h"
#include "speed_to_step.h"
#include "service_error_count.h"
#include "mb85rc64.h"
char tiedian_id[3]={0};
int ptz_communicaton;
PTZ_DATA_PACK ptz_data_pack;
static BSP_OS_SEM cmd_crc_mutex;
static BSP_OS_SEM pack_process_mutex;//共享资源锁
static unsigned char angle_error[7] = {0xff,0x00,0x00,0x00,0x00,0x00,0x00};
int ptz_communicaton = PTZ_CONNECT_STATE_DEAD;
///向指定的IP地址和端口发送数据
void send_udp_data_aim(u_int8_t *buff,u_int16_t buff_size, struct sockaddr* source, socklen_t sourcelen)
{
BSP_OS_SemWait(&udp_send_data_mutex, 0u);
if(ptz_communicaton == PTZ_CONNECT_STATE_SUCCESS){
int ret = sendto(ptz_sock_fd, buff, buff_size, 0, source, sourcelen);
if(ret == -1){
ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
close(ptz_sock_fd);
}
}
BSP_OS_SemPost(&udp_send_data_mutex);
}
/*******************************************************************************
** 函数名称：uint8_t MotorCalPelcoDSUM(FIFO_DATA_TYPE Data)
** 函数功能：计算派尔高D协议效验码
** 变量:Data，数据头指针
*******************************************************************************/
u_int8_t MotorCalPelcoDSUM(u_int8_t *data,u_int16_t datalen)
{
BSP_OS_SemWait(&cmd_crc_mutex, 0u);
uint16_t checksum = 0;
uint8_t checksum1 = 0;
data = data+1;
datalen = datalen - 2;
while(datalen--)
{
checksum = checksum + (u_int8_t)(*data++);
}
checksum1=(uint8_t)(checksum & 0x00ff);
BSP_OS_SemPost(&cmd_crc_mutex);
return checksum1;
}
/// 发送udp数据
void send_udp_data(u_int8_t *buff,u_int16_t buff_size)
{
BSP_OS_SemWait(&udp_send_data_mutex, 0u);
if(ptz_communicaton == PTZ_CONNECT_STATE_SUCCESS){
int ret = sendto(ptz_sock_fd, buff, buff_size, 0, (struct sockaddr*)&ptz_from, ptz_fromlen);
if(ret == -1){
ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
close(ptz_sock_fd);
}
}
BSP_OS_SemPost(&udp_send_data_mutex);
}
/// 发送udp广播数据 INADDR_BROADCAST
void send_udp_data_broadcast(u_int8_t *buff,u_int16_t buff_size)
{
BSP_OS_SemWait(&udp_send_data_mutex, 0u);
if(ptz_communicaton == PTZ_CONNECT_STATE_SUCCESS)
{
ptz_from.sin_addr.s_addr = INADDR_BROADCAST;
int ret = sendto(ptz_sock_fd, buff, buff_size, 0,
(struct sockaddr*)&ptz_from, ptz_fromlen);
if(ret == -1)
{
ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
close(ptz_sock_fd);
}
}
BSP_OS_SemPost(&udp_send_data_mutex);
}
///云台指令回复,type回复类型
void ptz_reply(char dev, unsigned char type)
{
//回复分为3种：
//1.指令正确，且执行成功，收到什么回复什么；
//2.指令错误，回复错误；
//3.指令正确，但执行失败，回复执行失败。
unsigned char reply_wrong[7] = {0xff,g_ptz.address,0xff,0xff,0xff,0xff,0xff};
unsigned char reply_fail[7] = {0xff,g_ptz.address,0xee,0xee,0xee,0xee,0xee};
unsigned char reply_right[7];
reply_wrong[6] = MotorCalPelcoDSUM(reply_wrong,sizeof(reply_wrong));
reply_fail[6] = MotorCalPelcoDSUM(reply_fail,sizeof(reply_fail));
if(g_ptz.cmd_reply_switch == CMD_REPLY)
{
switch(type)
{
case CMD_RIGHT://指令正确，并执行成功
memcpy(reply_right, g_ptz.cmd_save.cmd_data, sizeof(reply_right));
ptz_send_data(dev, reply_right, sizeof(reply_right));
break;
case CMD_WRONG://指令错误
ptz_send_data(dev, reply_wrong, sizeof(reply_wrong));
break;
case CMD_FAIL://指令正确，但执行失败
ptz_send_data(dev, reply_fail, sizeof(reply_fail));
break;
}
}
}
//发送数据
void ptz_send_data(char dev, unsigned char *buff, unsigned short int buff_size)
{
switch(dev)
{
case PTZ_UDP:
send_udp_data(buff,buff_size);
break;
case PTZ_UART_485:
ptz_uart_dev_send(uart_485_handle, buff, buff_size);
break;
case PTZ_UART_422:
ptz_uart_dev_send(uart_422_handle, buff, buff_size);
break;
}
}
/// 处理云台接收消息
void ptz_data_pack_process(char dev, PTZ_DATA_PACK *pack)
{
BSP_OS_SemWait(&pack_process_mutex, 0u);
int16_t int16_angle;
PresetBit bit;
//保存指令
memcpy(g_ptz.cmd_save.cmd_data, (u_int8_t*)pack, sizeof(g_ptz.cmd_save.cmd_data));
g_ptz.cmd_save.cmd_data_flag = 1;
if(dev == PTZ_UDP)
{//保存指令来源
memcpy(&g_ptz.cmd_save.cmd_from,&ptz_from,ptz_fromlen);
g_ptz.cmd_save.cmd_fromlen = ptz_fromlen;
g_ptz.cmd_save.cmd_data_udp_flag = 1;
}
//首先判断效验码
if(MotorCalPelcoDSUM((u_int8_t*)pack,sizeof(PTZ_DATA_PACK)) != pack->checksum)
{
ptz_reply(dev, CMD_WRONG);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//其次判断云台地址
if(pack->addr != g_ptz.address)
{
ptz_reply(dev, CMD_WRONG);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//云台指令保存预处理功能
#ifdef PTZ_CMD_SAVE_BEFORE
if(g_ptz.cmd_before_handle_swtich == CMD_BEFORE_SAVE_ON &&
pack->command[0] != 0xba &&
pack->command[0] != 0xbb &&
pack->command[0] != 0xCE &&
pack->command[0] != 0XDE &&
pack->command[0] != 0xC0)
{
if(cmd_before_count < CMD_BEFORE_AMOUNT)
{
//保存指令
memcpy(BeforeData[cmd_before_count].cmd_data, (u_int8_t*)pack, sizeof(BeforeData[cmd_before_count].cmd_data));
if(dev == PTZ_UDP)
{
memcpy(&BeforeData[cmd_before_count].cmd_from, &ptz_from, ptz_fromlen);
BeforeData[cmd_before_count].cmd_fromlen = ptz_fromlen;
}
BeforeData[cmd_before_count].cmd_dev = dev;
BeforeData[cmd_before_count].swtich = CMD_BEFORE_ON;
cmd_before_count ++;
}
else
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
ptz_reply(dev, CMD_RIGHT);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
#endif
/********************************* 云台停止指令 *******************************/
//最后判断是否是云台停止指令
if(pack->command[1] == 0 && pack->command[0] == 0
&& pack->data[0] == 0 && pack->data[1] == 0)//如果指令码和数据码全为0，表示停止
{
g_ptz.cameralens.foucs_state = CAMERA_LES_FOCUS_STOP;
g_ptz.cameralens.zoom_state = CAMERA_LES_ZOOM_STOP;
if(ptz_cmd_execute_judge().manual_stop == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DEC_BRAKE_A;
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_DEC_BRAKE_A;
ptz_reply(dev, CMD_RIGHT);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
/********************************* 标准PELCO指令 ******************************/
if(pack->command[1] != 0 && pack->command[0] == 0)//指令码2不为0,指令码1必须为0
{
switch(pack->command[1])
{
/********************************** 方位指令 *********************************/
case HYT_PACK_CMD_1_FUNC_KEEP_UP: //0x08: //向上
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
// read_mb_id((uint8_t*)&tiedian_id);//读取铁电ID
g_ptz.vert_speed_control = pack->data[1] / 10.0;
ptz_vert_rotate_plan(PTZ_VERT_UP_KEEP);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_UP_KEEP;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_1_FUNC_KEEP_DUWN: //0x10://向下
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_ptz.vert_speed_control = pack->data[1] / 10.0;
ptz_vert_rotate_plan(PTZ_VERT_DOWN_KEEP);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DOWN_KEEP;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_1_FUNC_KEEP_LEFT: //0x04://向左
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_ptz.hori_speed_control = pack->data[0] / 10.0;
ptz_hori_rotate_plan(PTZ_HORI_LEFT_KEEP);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_KEEP;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_1_FUNC_KEEP_RIGHT: //0x02: //向右
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_ptz.hori_speed_control = pack->data[0] / 10.0;
ptz_hori_rotate_plan(PTZ_HORI_RIGHT_KEEP);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_KEEP;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_1_FUNC_KEEP_LEFT_UP: //0x0c://左上
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_ptz.hori_speed_control = pack->data[0] / 10.0;
ptz_hori_rotate_plan(PTZ_HORI_LEFT_KEEP);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_KEEP;
g_ptz.vert_speed_control = pack->data[1] / 10.0;
ptz_vert_rotate_plan(PTZ_VERT_UP_KEEP);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_UP_KEEP;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_1_FUNC_KEEP_RIGHT_UP: //0x0a://右上
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_ptz.hori_speed_control = pack->data[0] / 10.0;
ptz_hori_rotate_plan(PTZ_HORI_RIGHT_KEEP);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_KEEP;
g_ptz.vert_speed_control = pack->data[1] / 10.0;
ptz_vert_rotate_plan(PTZ_VERT_UP_KEEP);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_UP_KEEP;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_1_FUNC_KEEP_LEFT_DUWN: //0x14://左下
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_ptz.hori_speed_control = pack->data[0] / 10.0;
ptz_hori_rotate_plan(PTZ_HORI_LEFT_KEEP);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_KEEP;
g_ptz.vert_speed_control = pack->data[1] / 10.0;
ptz_vert_rotate_plan(PTZ_VERT_DOWN_KEEP);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DOWN_KEEP;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_1_FUNC_KEEP_RIGHT_DUWN: //0x12://右下
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_ptz.hori_speed_control = pack->data[0] / 10.0;
ptz_hori_rotate_plan(PTZ_HORI_RIGHT_KEEP);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_KEEP;
g_ptz.vert_speed_control = pack->data[1] / 10.0;
ptz_vert_rotate_plan(PTZ_VERT_DOWN_KEEP);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DOWN_KEEP;
ptz_reply(dev, CMD_RIGHT);
break;
/********************************** 角度定位 *********************************/
case HYT_PACK_CMD_1_FUNC_LOCATE_VERT_ANGLE: //0x4d://垂直角度控制
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//云台定位回传
ptz_location_return_angle_save(LOCATION_VERT, (unsigned char *)pack, dev);
int16_angle = (pack->data[0] << 8) | pack->data[1];
g_ptz.vert_angle_control = int16_angle / 100.0;
g_ptz.vert_speed_control = PTZ_VERT_BEST_SPEED;
ptz_vert_rotate_plan(PTZ_VERT_ANGLE);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_ANGLE;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_1_FUNC_LOCATE_HORI_ANGLE: //0x4b://水平角度控制
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//云台定位回传
ptz_location_return_angle_save(LOCATION_HORI, (unsigned char *)pack, dev);
g_ptz.hori_angle_control =
((pack->data[0] << 8) | pack->data[1]) / 100.0;
g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
ptz_hori_rotate_plan(PTZ_HORI_MIN_DISTANCE);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_MIN_DISTANCE;
ptz_reply(dev, CMD_RIGHT);
break;
/********************************** 角度查询 *********************************/
case HYT_PACK_CMD_1_FUNC_INQUIRE_VERT_ANGLE: //0X53://查询垂直角度
ptz_send_angle(dev, PTZ_VERT);
break;
case HYT_PACK_CMD_1_FUNC_INQUIRE_HORI_ANGLE: //0x51://查询水平角度
ptz_send_angle(dev, PTZ_HORI);
break;
/********************************* 预置位设置 ********************************/
case HYT_PACK_CMD_1_FUNC_SET_PRESET_BIT_V: //0x03://视频设置预置位
if(ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW ||
((pack->data[0] << 8) | pack->data[1]) >= PRESET_BIT_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
bit.hori_angle = g_ptz.hori_angle_actual;
bit.vert_angle = g_ptz.vert_angle_actual;
bit.focus_v = g_ptz.cameralens.focus_v;
bit.zoom_v = g_ptz.cameralens.zoom_v;
bit.enable = PRESET_BIT_ENABLE;
bit.crc =
ptz_preset_bit_crc(bit);
ptz_preset_bit_save(bit ,((pack->data[0] << 8) | pack->data[1]));
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_1_FUNC_SELECT_PRESET_BIT: //0x07://召回预置位
if(ptz_cmd_execute_judge().preset_bit_call == CMD_NOT_ALLOW ||
((pack->data[0] << 8) | pack->data[1]) >= PRESET_BIT_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//从FLASH读取预置位参数
bit = ptz_preset_bit_read(((pack->data[0] << 8) | pack->data[1]));
//首先判断预置位编号是否正确,正确
if((bit.crc == //判断效验码是否正确
ptz_preset_bit_crc(bit)) &&
bit.enable == PRESET_BIT_ENABLE)//判断预置位是否有效,有效
{
//调用预置位
g_ptz.vert_angle_control = bit.vert_angle;
g_ptz.vert_speed_control = PTZ_VERT_BEST_SPEED;
ptz_vert_rotate_plan(PTZ_VERT_ANGLE);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_ANGLE;
g_ptz.hori_angle_control = bit.hori_angle;
g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
ptz_hori_rotate_plan(PTZ_HORI_MIN_DISTANCE);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_MIN_DISTANCE;
g_ptz.cameralens.focus_v_bit = bit.focus_v;
g_ptz.cameralens.zoom_v_bit = bit.zoom_v;
g_ptz.cameralens.zoom_state = CAMERA_LES_ZOOM_BIT;
g_ptz.cameralens.foucs_state = CAMERA_LES_FOCUS_BIT;
ptz_preset_bit_location_return_save(((pack->data[0] << 8) | pack->data[1]),dev);
ptz_reply(dev, CMD_RIGHT);
}
else
{
ptz_reply(dev, CMD_FAIL);
}
break;
case HYT_PACK_CMD_1_FUNC_DELETE_PRESET_BIT: //0x05://删除预置位
if((ptz_cmd_execute_judge().preset_bit_del == CMD_NOT_ALLOW ||
((pack->data[0] << 8) | pack->data[1]) >= PRESET_BIT_AMOUNT) &&
(pack->data[1] != 0xff && pack->data[0] != 0xff))
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
if(pack->data[1] == 0xff && pack->data[0] == 0xff)//表示删除所有预置位
{
ptz_preset_bit_all_erase();
}
else//删除指定预置位
{
bit.enable = PRESET_BIT_DISABLE;
bit.crc =
ptz_preset_bit_crc(bit);
}
ptz_preset_bit_save(bit ,((pack->data[0] << 8) | pack->data[1]));
ptz_reply(dev, CMD_RIGHT);
break;
/******************************** 顶部辅助开关 *******************************/
case HYT_PACK_CMD_1_FUNC_CONTROL_TOP_POWER_ON: //0x09://打开辅助开关
switch(pack->data[1])
{
case 3:
PHOTO_POWER_PHOTO_ON;
g_ptz.power.aux_switch_3 = POWER_ON;
break;
case 4:
FARIR_POWER_FARIR_ON;
g_ptz.power.aux_switch_4 = POWER_ON;
break;
}
// ptz_aux_switch(pack->data[1], POWER_ON);
添加顶部电源开关状态保存
2025-05-23 06:23:50 +00:00
// ptz_reply(dev, CMD_RIGHT);
if(aux_switch_cfg_save())
{
ptz_reply(dev, CMD_RIGHT);
}else{
ptz_reply(dev, CMD_FAIL);
}
汇源原始工程
2025-05-21 01:55:40 +00:00
break;
case HYT_PACK_CMD_1_FUNC_CONTROL_TOP_POWER_OFF: //0x0b://关闭辅助开关
switch(pack->data[1])
{
case 3:
PHOTO_POWER_PHOTO_OFF;
g_ptz.power.aux_switch_3 = POWER_OFF;
break;
case 4:
FARIR_POWER_FARIR_OFF;
g_ptz.power.aux_switch_4 = POWER_OFF;
break;
}
// ptz_aux_switch(pack->data[1], POWER_OFF);
添加顶部电源开关状态保存
2025-05-23 06:23:50 +00:00
// ptz_reply(dev, CMD_RIGHT);
if(aux_switch_cfg_save())
{
ptz_reply(dev, CMD_RIGHT);
}else{
ptz_reply(dev, CMD_FAIL);
}
汇源原始工程
2025-05-21 01:55:40 +00:00
break;
/********************************* flash擦除 ********************************/
case HYT_PACK_CMD_1_FUNC_FLASH_ERASE: //0x88://擦除flash
FLASH_BulkErase();//FLASH整片擦除
OSTimeDlyHMSM(0u, 0u, 2u, 0u);
ptz_reply(dev, CMD_RIGHT);
OSTimeDlyHMSM(0u, 0u, 1u, 0u);
GD32_RESET();//系统重启
break;
case HYT_PACK_CMD_1_HORI_ANGLE_ERROR_SWITCH://0x89,,水平角度误差消除开关
switch(pack->data[0])
{
case 0://水平角度误差消除关闭
g_ptz.hori_angle_erro_switch = 0;
break;
case 1://水平角度误差消除打开
g_ptz.hori_angle_erro_switch = 1;
break;
}
break;
case 0x8A://误差查询
// conut_state = 1;
// g_ptz.hori_as5047d.as5047d_state = 0;//数据不可正常使用
int16_angle = (unsigned short int)(g_ptz.hori_angle_error * 100 + 0.5);
angle_error[1] = g_ptz.address;
angle_error[2] = 0x00;
angle_error[3] = 0x8A;
angle_error[4] = (unsigned char)(int16_angle>>8 & 0x00ff);
angle_error[5] = (unsigned char)(int16_angle & 0x00ff);
angle_error[6] = MotorCalPelcoDSUM(angle_error,sizeof(angle_error));
ptz_send_data(dev, angle_error, sizeof(angle_error));
break;
case 0x8c:// 上位机打印输出开关 ff01008c01008e
switch(pack->data[0])
{
case 1://打开
switch(dev)
{
case PTZ_UDP:
g_ptz.ptz_printf.printf_fromlen = ptz_fromlen;
memcpy(&g_ptz.ptz_printf.printf_from, &ptz_from, ptz_fromlen);
g_ptz.ptz_printf.net_udp_printf_switch
= LOCATION_RETURN_ON;
break;
case PTZ_UART_422:
g_ptz.ptz_printf.uart_422_printf_switch
= LOCATION_RETURN_ON;
break;
case PTZ_UART_485:
g_ptz.ptz_printf.uart_485_printf_switch
= LOCATION_RETURN_ON;
break;
}
ptz_reply(dev, CMD_RIGHT);
break;
default://关闭
switch(dev)
{
case PTZ_UDP:
g_ptz.ptz_printf.net_udp_printf_switch
= LOCATION_RETURN_OFF;
break;
case PTZ_UART_422:
g_ptz.ptz_printf.uart_422_printf_switch
= LOCATION_RETURN_OFF;
break;
case PTZ_UART_485:
g_ptz.ptz_printf.uart_485_printf_switch
= LOCATION_RETURN_OFF;
break;
}
ptz_reply(dev, CMD_RIGHT);
break;
}
break;
}
}
/********************************** 自定义协议 ********************************/
if(pack->command[0] != 0)
{
switch(pack->command[0])
{
/******************************** 角度定位（速度） ***************************/
case HYT_PACK_CMD_0_FUNC_LOCATE_HORI_ANGLE_SPEED: //0x4b:以设定的速度到达指定水平位置
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//云台定位回传
ptz_location_return_angle_save(LOCATION_HORI, (unsigned char *)pack, dev);
g_ptz.hori_speed_control = pack->command[1] / 10.0;
g_ptz.hori_angle_control = ((pack->data[0] << 8) | pack->data[1]) / 100.0;
ptz_hori_rotate_plan(PTZ_HORI_MIN_DISTANCE);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_MIN_DISTANCE;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_LOCATE_VERT_ANGLE_SPEED: //0x4d:以设定的速度到达指定垂直位置
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//云台定位回传
ptz_location_return_angle_save(LOCATION_VERT, (unsigned char *)pack, dev);
int16_angle = (pack->data[0] << 8) | pack->data[1];
g_ptz.vert_angle_control = int16_angle / 100.0;
g_ptz.vert_speed_control = pack->command[1] / 10.0;
ptz_vert_rotate_plan(PTZ_VERT_ANGLE);
g_ptz.vert_rotate_monitor_switch = PTZ_VERT_ANGLE;
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_CONTROL_HORI_ANGLE: //0xbd:水平角度方向定位控制
if(ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//云台定位回传
ptz_location_return_angle_save(LOCATION_HORI, (unsigned char *)pack, dev);
switch(pack->command[1])
{
case 0x00://向右转动到指定角度
g_ptz.hori_angle_control = ((pack->data[0] << 8) | pack->data[1]) / 100.0;
g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
ptz_hori_rotate_plan(PTZ_HORI_RIGHT_ANGLE);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_ANGLE;
break;
case 0x01://向左转动到指定角度
g_ptz.hori_angle_control = ((pack->data[0] << 8) | pack->data[1]) / 100.0;
g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
ptz_hori_rotate_plan(PTZ_HORI_LEFT_ANGLE);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_ANGLE;
break;
case 0x02://向右转动一整圈
g_ptz.hori_angle_control = g_ptz.hori_angle_actual;
g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
ptz_hori_rotate_plan(PTZ_HORI_RIGHT_CYCLE);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_CYCLE;
break;
case 0x03://向左转动一整圈
g_ptz.hori_angle_control = g_ptz.hori_angle_actual;
g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
ptz_hori_rotate_plan(PTZ_HORI_LEFT_CYCLE);
g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_CYCLE;
break;
}
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_ANGLE_LOCATION_RETURN_SWITCH:// 0xc5:角度定位回传打开/关闭
switch(pack->command[1])
{
case LOCATION_RETURN_ON://打开
switch(dev)
{
case PTZ_UDP:
g_ptz.location_return.hori_cmd_fromlen = ptz_fromlen;
memcpy(&g_ptz.location_return.hori_cmd_from, &ptz_from, ptz_fromlen);
g_ptz.location_return.vert_cmd_fromlen = ptz_fromlen;
memcpy(&g_ptz.location_return.vert_cmd_from, &ptz_from, ptz_fromlen);
g_ptz.location_return.net_udp_location_switch
= LOCATION_RETURN_ON;
break;
case PTZ_UART_422:
g_ptz.location_return.uart_422_location_switch
= LOCATION_RETURN_ON;
break;
case PTZ_UART_485:
g_ptz.location_return.uart_485_location_switch
= LOCATION_RETURN_ON;
break;
}
ptz_reply(dev, CMD_RIGHT);
break;
default://关闭
switch(dev)
{
case PTZ_UDP:
g_ptz.location_return.net_udp_location_switch
= LOCATION_RETURN_OFF;
break;
case PTZ_UART_422:
g_ptz.location_return.uart_422_location_switch
= LOCATION_RETURN_OFF;
break;
case PTZ_UART_485:
g_ptz.location_return.uart_485_location_switch
= LOCATION_RETURN_OFF;
break;
}
ptz_reply(dev, CMD_RIGHT);
break;
}
break;
/**************************预置位设置、控制指令********************************/
case HYT_PACK_CMD_0_FUNC_SET_PRESET_BIT_HORI_A:// 0xe4:通过给定角度设置预置位的水平角度
if(ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW ||
pack->command[1] >= PRESET_BIT_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//从FLASH读取预置位参数
bit = ptz_preset_bit_read(pack->command[1]);
bit.hori_angle =
((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
bit.enable = PRESET_BIT_ENABLE;
bit.crc =
ptz_preset_bit_crc(bit);
ptz_preset_bit_save(bit ,pack->command[1]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_PRESET_BIT_VERT_A://0xe5:通过给定角度设置预置位的垂直角度
if(ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW ||
pack->command[1] >= PRESET_BIT_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//从FLASH读取预置位参数
bit = ptz_preset_bit_read(pack->command[1]);
bit.vert_angle =
((short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
bit.enable = PRESET_BIT_ENABLE;
bit.crc =
ptz_preset_bit_crc(bit);
ptz_preset_bit_save(bit, pack->command[1]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_PRESET_BIT_STOP_TIME://0xf1:设置预置位停留时间
if(ptz_cmd_execute_judge().preset_bit_set== CMD_NOT_ALLOW ||
pack->command[1] >= PRESET_BIT_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//从FLASH读取预置位参数
bit = ptz_preset_bit_read(pack->command[1]);
bit.step_stop_time = (pack->data[0] << 8) | pack->data[1];
bit.crc =
ptz_preset_bit_crc(bit);
ptz_preset_bit_save(bit , pack->command[1]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_PRESET_BIT_SPEED://0xf2:设置到达预置位的速度
if(ptz_cmd_execute_judge().preset_bit_set== CMD_NOT_ALLOW ||
pack->command[1] >= PRESET_BIT_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
//从FLASH读取预置位参数
bit = ptz_preset_bit_read(pack->command[1]);
bit.hori_scan_speed = pack->data[0] / 10.0;
bit.vert_scan_speed = pack->data[1] / 10.0;
bit.crc = ptz_preset_bit_crc(bit);
ptz_preset_bit_save(bit ,pack->command[1]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_TYPE_SET_PRESET_BIT_MODEL:// 0xf0 打开预置位巡航、暂停预置位巡航、关闭预置位巡航、恢复预置位巡航
switch(pack->command[1])
{
case 0x01://打开预置位扫描,预置位循环扫描
if(ptz_cmd_execute_judge().preset_bit_scan_start == CMD_NOT_ALLOW ||
pack->data[0] >= PRESET_BIT_AMOUNT ||
pack->data[1] >= PRESET_BIT_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
ptz_return_clear();
memset(&g_preset_bit_scan, 0, sizeof(g_preset_bit_scan));
g_preset_bit_scan.start_num = pack->data[0];
g_preset_bit_scan.end_num = pack->data[1];
g_preset_bit_scan.state = PRESET_BIT_SCAN_START;
g_preset_bit_scan.mode = 0;
ptz_reply(dev, CMD_RIGHT);
break;
case 0x02://暂停预置位扫描
if(ptz_cmd_execute_judge().preset_bit_scan_pause == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_preset_bit_scan.state = PRESET_BIT_SCAN_PAUSE_A;
ptz_reply(dev, CMD_RIGHT);
break;
case 0x03://恢复预置位扫描
if(ptz_cmd_execute_judge().preset_bit_scan_recovery == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
ptz_return_clear();
g_preset_bit_scan.state = PRESET_BIT_SCAN_RECOVERY;
ptz_reply(dev, CMD_RIGHT);
break;
case 0x04://彻底关闭预置位扫描
if(ptz_cmd_execute_judge().preset_bit_scan_close == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_preset_bit_scan.state = PRESET_BIT_SCAN_CLOSE_A;
ptz_reply(dev, CMD_RIGHT);
break;
case 0x05://打开预置位扫描，单次预置位扫描，即从起始预置位扫描到结束预置位就自动关闭扫描
if(ptz_cmd_execute_judge().preset_bit_scan_start == CMD_NOT_ALLOW ||
pack->data[0] >= PRESET_BIT_AMOUNT ||
pack->data[1] >= PRESET_BIT_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
ptz_return_clear();
memset(&g_preset_bit_scan, 0, sizeof(g_preset_bit_scan));
g_preset_bit_scan.start_num = pack->data[0];
g_preset_bit_scan.end_num = pack->data[1];
g_preset_bit_scan.state = PRESET_BIT_SCAN_START;
g_preset_bit_scan.mode = 1;
ptz_reply(dev, CMD_RIGHT);
break;
}
break;
case HYT_PACK_CMD_0_TYPE_RETURN_PRESET_BIT_SWITCH: //0x9f,预置位回传开关
switch(pack->command[1])
{
case PRESET_BIT_SCAN_END_RETURN_OFF: //0//关闭预置位扫描结束回传
switch(dev)
{
case PTZ_UDP:
g_ptz.preset_bit_return.preset_bit_scan_end_udp_switch
= PRESET_BIT_RETURN_OFF;
break;
case PTZ_UART_422:
g_ptz.preset_bit_return.preset_bit_scan_end_uart_422_switch
= PRESET_BIT_RETURN_OFF;
break;
case PTZ_UART_485:
g_ptz.preset_bit_return.preset_bit_scan_end_uart_485_switch
= PRESET_BIT_RETURN_OFF;
break;
}
break;
case PRESET_BIT_SCAN_END_RETURN_ON: //1//打开预置位扫描结束回传
switch(dev)
{
case PTZ_UDP:
g_ptz.preset_bit_return.preset_bit_scan_end_fromlen = ptz_fromlen;
memcpy(&g_ptz.preset_bit_return.preset_bit_scan_end_from, &ptz_from, ptz_fromlen);
g_ptz.preset_bit_return.preset_bit_scan_end_udp_switch
= PRESET_BIT_RETURN_ON;
break;
case PTZ_UART_422:
g_ptz.preset_bit_return.preset_bit_scan_end_uart_422_switch
= PRESET_BIT_RETURN_ON;
break;
case PTZ_UART_485:
g_ptz.preset_bit_return.preset_bit_scan_end_uart_485_switch
= PRESET_BIT_RETURN_ON;
break;
}
break;
case PRESET_BIT_SCAN_LOCATION_RETURN_ON: //2//打开预置位扫描到位回传
switch(dev)
{
case PTZ_UDP:
g_ptz.preset_bit_return.preset_bit_scan_location_fromlen = ptz_fromlen;
memcpy(&g_ptz.preset_bit_return.preset_bit_scan_location_from, &ptz_from, ptz_fromlen);
g_ptz.preset_bit_return.preset_bit_scan_location_udp_switch
= PRESET_BIT_RETURN_ON;
break;
case PTZ_UART_422:
g_ptz.preset_bit_return.preset_bit_scan_location_uart_422_switch
= PRESET_BIT_RETURN_ON;
break;
case PTZ_UART_485:
g_ptz.preset_bit_return.preset_bit_scan_location_uart_485_switch
= PRESET_BIT_RETURN_ON;
break;
}
break;
case PRESET_BIT_SCAN_LOCATION_RETURN_OFF: //3//关闭预置位扫描到位回传
switch(dev)
{
case PTZ_UDP:
g_ptz.preset_bit_return.preset_bit_scan_location_udp_switch
= PRESET_BIT_RETURN_OFF;
break;
case PTZ_UART_422:
g_ptz.preset_bit_return.preset_bit_scan_location_uart_422_switch
= PRESET_BIT_RETURN_OFF;
break;
case PTZ_UART_485:
g_ptz.preset_bit_return.preset_bit_scan_location_uart_485_switch
= PRESET_BIT_RETURN_OFF;
break;
}
break;
case PRESET_BIT_LOCATION_RETURN_ON: //4//打开普通调用预置位到位回传
switch(dev)
{
case PTZ_UDP:
g_ptz.preset_bit_return.preset_bit_location_fromlen = ptz_fromlen;
memcpy(&g_ptz.preset_bit_return.preset_bit_location_from, &ptz_from, ptz_fromlen);
g_ptz.preset_bit_return.preset_bit_location_udp_switch
= PRESET_BIT_RETURN_ON;
break;
case PTZ_UART_422:
g_ptz.preset_bit_return.preset_bit_location_uart_422_switch
= PRESET_BIT_RETURN_ON;
break;
case PTZ_UART_485:
g_ptz.preset_bit_return.preset_bit_location_uart_485_switch
= PRESET_BIT_RETURN_ON;
break;
}
break;
case PRESET_BIT_LOCATION_RETURN_OFF: //5//关闭普通调用预置位到位回传
switch(dev)
{
case PTZ_UDP:
g_ptz.preset_bit_return.preset_bit_location_udp_switch
= PRESET_BIT_RETURN_OFF;
break;
case PTZ_UART_422:
g_ptz.preset_bit_return.preset_bit_location_uart_422_switch
= PRESET_BIT_RETURN_OFF;
break;
case PTZ_UART_485:
g_ptz.preset_bit_return.preset_bit_location_uart_485_switch
= PRESET_BIT_RETURN_OFF;
break;
}
break;
}
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_TYPE_INQUIRE_PRESET_SCAN_DATA: //0xea预置位参数查询
if(ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW )
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
presetbit_data_return(dev,pack->command[1]);
ptz_reply(dev, CMD_RIGHT);
break;
/**************************** 区域扫描控制指令 ******************************/
case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_START_BORDER_V: //0xe6:通过视频设置扫描水平起始边界
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].hori_start_angle = g_ptz.hori_angle_actual;
g_area[pack->command[1]].hsa = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_END_BOTDER_V: //0xe7:通过视频设置扫描水平结束边界
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].hori_end_angle = g_ptz.hori_angle_actual;
g_area[pack->command[1]].hea = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_START_BORDER_V: //0xe8:通过视频设置扫描垂直起始边界
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].vert_start_angle = g_ptz.vert_angle_actual;
g_area[pack->command[1]].vsa = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_END_BORDER_V: //0xe9:通过视频设置扫描垂直结束边界
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].vert_end_angle = g_ptz.vert_angle_actual;
g_area[pack->command[1]].vea = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_VERT_STOP_TIME: //0xf6:设置区域扫描水平垂直停止时间
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].step_stop_time =
(pack->data[0] << 8) | pack->data[1];
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_START_BORDER_A: //0xf7:通过角度设置区域扫描水平起始边界
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].hori_start_angle =
((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
g_area[pack->command[1]].hsa = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_END_BOTDER_A: //0xf8:通过角度设置区域扫描水平结束边界
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].hori_end_angle =
((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
g_area[pack->command[1]].hea = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_START_BORDER_A: //0xf9通过角度设置区域扫描垂直起始边界
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].vert_start_angle =
((short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
//防止角度超出界限
if(g_area[pack->command[1]].vert_start_angle > g_ptz.vert_angleP.angle_allow_max)
{
g_area[pack->command[1]].vert_start_angle = g_ptz.vert_angleP.angle_allow_max;
}
if(g_area[pack->command[1]].vert_start_angle < g_ptz.vert_angleP.angle_allow_min)
{
g_area[pack->command[1]].vert_start_angle = g_ptz.vert_angleP.angle_allow_min;
}
g_area[pack->command[1]].vsa = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_END_BORDER_A: //0xfa:通过角度设置区域扫描垂直结束边界
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].vert_end_angle =
((short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
//防止角度超出界限
if(g_area[pack->command[1]].vert_end_angle > g_ptz.vert_angleP.angle_allow_max)
{
g_area[pack->command[1]].vert_end_angle = g_ptz.vert_angleP.angle_allow_max;
}
if(g_area[pack->command[1]].vert_end_angle < g_ptz.vert_angleP.angle_allow_min)
{
g_area[pack->command[1]].vert_end_angle = g_ptz.vert_angleP.angle_allow_min;
}
g_area[pack->command[1]].vea = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_GAP_ANGLE: //0xfb通过发送角度设置水平扫描间隔角度
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].hori_step_angle =
((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
g_area[pack->command[1]].h_step = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_GAP_ANGLE: //0xfc:通过发送角度设置垂直扫描间隔角度
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].vert_step_angle =
((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
g_area[pack->command[1]].v_step = 1;
g_area[pack->command[1]].enable =
ptz_area_auto_enable(g_area[pack->command[1]]);
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_VERT_SPEED: //0xfd:设置区域扫描水平垂直扫描速度
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area[pack->command[1]].hori_scan_speed = pack->data[0] / 10.0;
g_area[pack->command[1]].vert_scan_speed = pack->data[1] / 10.0;
g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_FUNC_SAVE_AREA_SCAN_DATA: //0xf3:保存区域扫描参数
ptz_area_save();
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_TYPE_SET_SCAN_STATE: //0xf4:区域扫描状态，使能或不使能某个扫描区域
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
if(pack->data[1] == 0xff)//删除所有扫描区域
{
memset(g_area, 0, sizeof(g_area));
}
else//使能和不使能某个扫描区域
{
if(pack->data[0] == AREA_ENABLE)
{
g_area[pack->command[1]].enable = AREA_ENABLE;
}
else
{
g_area[pack->command[1]].enable = AREA_DISABLE;
}
}
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_TYPE_SET_AREA_SCAN_FUNC: //0xf5:设置区域扫描扫描模式
switch(pack->command[1])
{
case 1://启动单个区域扫描
case 0:
if(ptz_cmd_execute_judge().area_scan_start == CMD_NOT_ALLOW ||
pack->data[0] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
ptz_return_clear();
g_area_scan.start_num = pack->data[0];
g_area_scan.sin_mul_mode = AREA_SIN_SCAN;
g_area_scan.state = AREA_SCAN_START;
ptz_reply(dev, CMD_RIGHT);
break;
case 2://启动多个区域扫描
if(ptz_cmd_execute_judge().area_scan_start == CMD_NOT_ALLOW ||
pack->data[0] >= AREA_AMOUNT ||
pack->data[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
ptz_return_clear();
g_area_scan.start_num = pack->data[0];
g_area_scan.end_num = pack->data[1];
g_area_scan.sin_mul_mode = AREA_MUL_SCAN;
g_area_scan.state = AREA_SCAN_START;
ptz_reply(dev, CMD_RIGHT);
break;
case 3://暂停扫描
if(ptz_cmd_execute_judge().area_scan_pause == CMD_NOT_ALLOW ||
pack->data[0] >= AREA_AMOUNT ||
pack->data[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area_scan.state = AREA_SCAN_PAUSE_A;
ptz_reply(dev, CMD_RIGHT);
break;
case 4://恢复扫描
if(ptz_cmd_execute_judge().area_scan_recovery == CMD_NOT_ALLOW ||
pack->data[0] >= AREA_AMOUNT ||
pack->data[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
ptz_return_clear();
g_area_scan.state = AREA_SCAN_RECOVERY;
ptz_reply(dev, CMD_RIGHT);
break;
case 5://彻底关闭扫描
if(ptz_cmd_execute_judge().area_scan_close == CMD_NOT_ALLOW ||
pack->data[0] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
g_area_scan.state = AREA_SCAN_CLOSE_A;
ptz_reply(dev, CMD_RIGHT);
break;
case 6://设置某个区域的扫描模式
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->data[0] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
if(pack->data[1] == AREA_SCAN_MODE_STEP)
{
g_area[pack->data[0]].scan_mode = AREA_SCAN_MODE_STEP;
}
else// AREA_SCAN_MODE_CONT
{
g_area[pack->data[0]].scan_mode = AREA_SCAN_MODE_CONT;
}
g_area[pack->data[0]].crc = ptz_area_crc(g_area[pack->data[0]]);
ptz_reply(dev, CMD_RIGHT);
break;
}
break;
case HYT_PACK_CMD_0_TYPE_AREA_SCAN_RETURN_SWITCH: //0xc4:设置区域扫描回传开关
switch(pack->command[1])
{
case AREA_SCAN_END_RETURN_ON://打开
switch(dev)
{
case PTZ_UDP:
ptz_area_scan_end_return_save(dev);
g_ptz.area_scan_return.area_scan_end_udp_switch
= AREA_SCAN_RETURN_ON;
break;
case PTZ_UART_422:
g_ptz.area_scan_return.area_scan_end_uart_422_switch
= AREA_SCAN_RETURN_ON;
break;
case PTZ_UART_485:
g_ptz.area_scan_return.area_scan_end_uart_485_switch
= AREA_SCAN_RETURN_ON;
break;
}
break;
case AREA_SCAN_END_RETURN_OFF://关闭
switch(dev)
{
case PTZ_UDP:
g_ptz.area_scan_return.area_scan_end_udp_switch
= AREA_SCAN_RETURN_OFF;
break;
case PTZ_UART_422:
g_ptz.area_scan_return.area_scan_end_uart_422_switch
= AREA_SCAN_RETURN_OFF;
break;
case PTZ_UART_485:
g_ptz.area_scan_return.area_scan_end_uart_485_switch
= AREA_SCAN_RETURN_OFF;
break;
}
break;
case AREA_STEP_SCAN_LOCATION_RETURN_ON://打开
switch(dev)
{
case PTZ_UDP:
ptz_area_step_scan_location_return_save(dev);
g_ptz.area_scan_return.area_step_scan_location_udp_switch
= AREA_SCAN_RETURN_ON;
break;
case PTZ_UART_422:
g_ptz.area_scan_return.area_step_scan_location_uart_422_switch
= AREA_SCAN_RETURN_ON;
break;
case PTZ_UART_485:
g_ptz.area_scan_return.area_step_scan_location_uart_485_switch
= AREA_SCAN_RETURN_ON;
break;
}
break;
case AREA_STEP_SCAN_LOCATION_RETURN_OFF://关闭
switch(dev)
{
case PTZ_UDP:
g_ptz.area_scan_return.area_step_scan_location_udp_switch
= AREA_SCAN_RETURN_OFF;
break;
case PTZ_UART_422:
g_ptz.area_scan_return.area_step_scan_location_uart_422_switch
= AREA_SCAN_RETURN_OFF;
break;
case PTZ_UART_485:
g_ptz.area_scan_return.area_step_scan_location_uart_485_switch
= AREA_SCAN_RETURN_OFF;
break;
}
break;
}
ptz_reply(dev, CMD_RIGHT);
break;
case HYT_PACK_CMD_0_TYPE_INQUIRE_AREA_SCAN_DATA: //0xca:查询区域扫描参数
if(ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
pack->command[1] >= AREA_AMOUNT)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
ptz_send_area_data(dev, pack->command[1]);
ptz_reply(dev, CMD_RIGHT);
break;
/***********************云台状态参数查询及实时回传开关 ************************/
case HYT_PACK_CMD_0_TYPE_INQUIRE_CURRENT: //0xc8:电流查询与回复
ptz_send_current(dev);
break;
case HYT_PACK_CMD_0_TYPE_INQUIRE_VOLTAGE: //0xcd:电压查询与回复
ptz_send_voltage(dev);
break;
case HYT_PACK_CMD_0_FUNC_INQUIRE_TEMP: //0xd6:温度查询与回复
ptz_send_temperature(dev);
break;
case HYT_PACK_CMD_0_TYPE_INQUIRE_SPEED: //0xd0:速度查询与回复
ptz_send_speed(dev, pack->command[1]);
break;
case HYT_PACK_CMD_0_TYPE_INQUIRE_WORK_MODEL: //0xe0:查询工作模式
ptz_send_work_mode(dev);
break;
case HYT_PACK_CMD_0_TYPE_INQUIRE_WORK_STATE: //0xdd:查询工作状态
ptz_send_fault_state(dev, ALL_FAULT_STATE);
break;
case HYT_PACK_CMD_0_FUNC_INQUIRE_ANGLE_STATE: //0x9d:查询角度状态
ptz_send_sw_angle_state(dev);
break;
case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_SPEED_SWITCH: //0xdc:转速自动回传开关
case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_ANGLE_SWITCH: //0xe1:云台角度自动回传开关
case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_VERF_SWITCH: //0xbf:云台电机驱动芯片模拟电压输入等级回传
case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_CURRENT_SWITCH://0xc1:云台工作电流实时回传开关
case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_VOLTAGE_SWITCH://0xcc:云台工作电压实时回传开关
case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_TEMP_SWITCH: //0xd4:云台工作温度实时回传开关
case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_CPU_SWITCH: //0xb0:云台CPU占有率实时回传开关
ptz_auto_return_off_on(dev, pack);
if(dev == PTZ_UART_485)
{
ptz_reply(dev, CMD_FAIL);
}
else
{
ptz_reply(dev, CMD_RIGHT);
}
break;
/********************************设置云台基准0位 *****************************/
case HYT_PACK_CMD_0_TYPE_SET_ZERO_POSITION: //0xe3零位设置
if(ptz_cmd_execute_judge().set_zero == CMD_NOT_ALLOW)
{
ptz_reply(dev, CMD_FAIL);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
ptz_zero_offset_angle_set(dev, pack);
break;
case HYT_PACK_CMD_0_TYPE_INQUIRE_ZERO_POSITION: //0x3e查询基准零位
ptz_zero_offset_angle_return(dev);
break;
/********************************云台重启&自检指令 *****************************/
case HYT_PACK_CMD_0_FUNC_REBOOT: //0xde云台重启
ptz_hori_stop(0);
ptz_vert_stop(0);
ptz_reply(dev, CMD_RIGHT);
#ifdef PTZ_NO_SELF_CHECK
g_ptz.no_self_check_force_save = 1;
OSTimeDlyHMSM(0u, 0u, 2u, 0u);
#endif
GD32_RESET();
break;
case HYT_PACK_CMD_0_FUNC_COMPLETE_CHECK_AGAIN: //0xce清除自检数据重新进行全范围自检
ptz_hori_stop(0);
ptz_vert_stop(0);
ptz_self_check_data_erase();
#ifdef PTZ_NO_SELF_CHECK
//强制擦除保存的掉电位置数据
g_ptz.no_self_check_force_erase = 1;
OSTimeDlyHMSM(0u, 0u, 2u, 0u);
#endif
ptz_reply(dev, CMD_RIGHT);
GD32_RESET();
break;
case HYT_PACK_CMD_0_FUNC_SIMPLY_CHECK_AGAIN: //0xbb清除掉电数据重新进行简易自检
#ifdef PTZ_NO_SELF_CHECK
ptz_reply(dev, CMD_RIGHT);
switch(pack->command[1])
{
case 0x01:
ptz_hori_stop(0);
ptz_vert_stop(0);
g_ptz.no_self_check_force_erase = 1;
OSTimeDlyHMSM(0u, 0u, 2u, 0u);
GD32_RESET();
// mb85rc64_page_write(PTZ_MB85RC64_ADD_A, (unsigned char *)&test_data, sizeof(test_data));
break;
case 0x02:
//强制保存当前位置数据
g_ptz.no_self_check_force_save = 1;
// mb85rc64_add_read(PTZ_MB85RC64_ADD_A, (unsigned char *)&test_bata, sizeof(test_bata));
break;
}
#endif
break;
/***********************************指令回复开关 ******************************/
case HYT_PACK_CMD_0_TYPE_SET_CMD_REPLY_SWITCH: //0xdf开启或关闭指令回复开关
ptz_reply(dev, CMD_RIGHT);
if(pack->data[0] == CMD_REPLY)
{
g_ptz.cmd_reply_switch = CMD_REPLY;
}
else
{
g_ptz.cmd_reply_switch = CMD_NO_REPLY;
}
break;
/********************************** 加热电阻开关 ******************************/
case HYT_PACK_CMD_0_TYPE_HEAT_RESISTANCE_SWITCH: //0xcf加热电阻开关
ptz_heat_resistor_switch(pack);
ptz_reply(dev, CMD_RIGHT);
break;
/****************************** 指令保存预处理功能 ****************************/
case HYT_PACK_CMD_0_FUNC_CMD_SAVE_BEFORE: //0xba指令保存预处理功能
#ifdef PTZ_CMD_SAVE_BEFORE
if(ptz_cmd_before_mode(dev, pack) == 1)
{
ptz_reply(dev, CMD_RIGHT);
}
else
{
ptz_reply(dev, CMD_FAIL);
}
#endif
break;
/********************************* 继电器开关 ********************************/
case HYT_PACK_CMD_0_TYPE_MOTOR_RELAY_SWITCH: //0xc0继电器开关
switch(pack->command[1])
{
case PTZ_RELAY_ON://打开
ptz_motor_relay_on();
break;
default://关闭
ptz_motor_relay_off();
break;
}
ptz_reply(dev, CMD_RIGHT);
break;
/********************************** ***其他*** ********************************/
/***************************步进电机专用0x50-0x5f******************************/
#ifdef PTZ_STEP_MOTOR
#ifdef TMC2160
case 0x50://查询步进电机TMC2160的状态
tmc2160_state_return( dev);
break;
case 0x51:
case 0x52:
tmc2160_parameter_process(dev, pack);
break;
case 0x53:
tmc2160_parameter_process(dev, pack);
ptz_reply(dev, CMD_RIGHT);
break;
case 0x54://水平驱动器电源开关
if(pack->command[1] == 0)
{
ptz_hori_stop(PTZ_HORI_STOP_TIME);
OSTimeDlyHMSM(0u, 0u, 0u, 2u);
TMC2160_H_POWER_OFF;//驱动器电源关
}
if(pack->command[1] == 1)
{
//驱动器电源开
h_tmc2160_power_on();
}
ptz_reply(dev, CMD_RIGHT);
break;
case 0x55://垂直驱动器电源开关
if(pack->command[1] == 0)
{
ptz_vert_stop(PTZ_VERT_STOP_TIME);
OSTimeDlyHMSM(0u, 0u, 0u, 2u);
TMC2160_V_POWER_OFF;//驱动器电源关
}
if(pack->command[1] == 1)
{
//驱动器电源开
v_tmc2160_power_on();
}
ptz_reply(dev, CMD_RIGHT);
break;
#endif
#endif
/******************************************************************************/
}
}
BSP_OS_SemPost(&pack_process_mutex);
}
/*
*************************** 不定长协议 ******************************************
*/
static char send_buff[1500];
static char net_rece_buff[1500] = {0x00};
#define PACK_A_R_MAX_LEN 80//接收数据的最大长度
#define PACK_A_S_MAX_LEN 500//发送数据的最大长度
//不定长协议包头校验码计算
unsigned int ptz_data_pack_a_head_crc(PTZ_DATA_PACK_A *pack)
{
unsigned short int len = 0,len_count = 0;
unsigned int crc = 0;
len = sizeof(PTZ_DATA_PACK_A) - sizeof(unsigned int)- sizeof(unsigned char);
for(len_count = 0; len_count < len; len_count++)
{
crc = crc + *(((unsigned char *)pack) + len_count);
}
return crc;
}
//云台不定长协议总效验码计算
unsigned int ptz_data_pack_a_crc(PTZ_DATA_PACK_A *pack)
{
unsigned short int len = 0,len_count = 0;
unsigned int crc = 0;
len = sizeof(PTZ_DATA_PACK_A) - 1 + pack->cmd_len;
for(len_count = 0; len_count < len; len_count++)
{
crc = crc + *(((unsigned char *)pack) + len_count);
}
return crc;
}
//云台不定长协议检查
char ptz_data_pack_a_check(PTZ_DATA_PACK_A *pack)
{
unsigned int crc,crc_read;
unsigned short int len = 0,len1 = 0;
//判断头效验码
if(pack->head_crc != ptz_data_pack_a_head_crc(pack))
{
return 0;
}
//判断协议头
if(pack->head != PACK_A_HEAD)
{
return 0;
}
//判断地址
if(pack->addr != g_ptz.address)
{
return 0;
}
//判断长度是否正确,长度不能超过接收缓冲区长度
len1 = sizeof(PTZ_DATA_PACK_A) - 1 + pack->cmd_len + sizeof(unsigned int) + sizeof(unsigned char);
if(len1 > PACK_A_R_MAX_LEN)
{
return 0;
}
//判断总效验码
len = sizeof(PTZ_DATA_PACK_A) - 1 + pack->cmd_len;
crc = ptz_data_pack_a_crc(pack);
crc_read = *((unsigned int *)(((unsigned char *)pack) + len));
if(crc != crc_read)
{
return 0;
}
//判断结束符
len = len + sizeof(int);
if(*((unsigned char *)pack + len) != PACK_A_TAIL)
{
return 0;
}
return 1;
}
//云台数据封包,返回封包后数据整体长度，并将数据包存放到send_buff中
unsigned short int ptz_data_pack_a_pack(char *data, unsigned short int len,
unsigned char type, unsigned char func)
{
unsigned short int len1 = 0,len2 = 0;
PTZ_DATA_PACK_A *p = (PTZ_DATA_PACK_A *)send_buff;
memset(send_buff, 0, sizeof(send_buff));
p->head = PACK_A_HEAD;
p->addr = g_ptz.address;
p->cmd_type = type;
p->cmd_func = func;
p->cmd_len = len;
p->head_crc = ptz_data_pack_a_head_crc(p);
//判断长度是否正确,长度不能超过发送缓冲区长度
len2 = sizeof(PTZ_DATA_PACK_A) - 2 + p->cmd_len + sizeof(unsigned int) + sizeof(unsigned char);
if(len2 > PACK_A_S_MAX_LEN)
{
p->cmd_len = 0;
return 0;
}
if(len > 0)
{
memcpy(p->cmd_data, data, len);
}
len1 = sizeof(PTZ_DATA_PACK_A) - 1 + len;
*((unsigned int *)(((unsigned char *)p) + len1)) =
ptz_data_pack_a_crc(p);
len1 = len1 + sizeof(int);
*((unsigned char *)p + len1) = PACK_A_TAIL;
return (len1 + sizeof(char));
}
//云台不定长数据指令回复
char ptz_data_pack_a_reply(char dev, unsigned char reply)
{
PTZ_DATA_PACK_A *rece = (PTZ_DATA_PACK_A *)net_rece_buff;
unsigned int len = 0;
//#define CMDA_REPLY 0XFF
switch(reply)
{
case CMDA_RIGHT: //0XEE指令正确
len = ptz_data_pack_a_pack((char *)(rece->cmd_data), rece->cmd_len,
CMDA_REPLY, CMDA_RIGHT);
ptz_send_data(dev, (unsigned char*)send_buff, len);
break;
case CMDA_WRONG: //0XFF指令错误
len = ptz_data_pack_a_pack((char *)(rece->cmd_data), 0/*rece->cmd_len*/,
CMDA_REPLY, CMDA_WRONG);
ptz_send_data(dev, (unsigned char*)send_buff, len);
break;
case CMDA_FAIL: //0XFE指令正确但执行失败
len = ptz_data_pack_a_pack((char *)(rece->cmd_data), rece->cmd_len,
CMDA_REPLY, CMDA_FAIL);
ptz_send_data(dev, (unsigned char*)send_buff, len);
break;
default :
len = ptz_data_pack_a_pack((char *)(rece->cmd_data), 0/*rece->cmd_len*/,
CMDA_REPLY, CMDA_WRONG);
ptz_send_data(dev, (unsigned char*)send_buff, len);
break;
}
return 1;
}
//派尔高D协议数据包
char ptz_data_pack_pelco_d_check(PTZ_DATA_PACK *pack)
{
//首先判断效验码
if(MotorCalPelcoDSUM((u_int8_t*)pack,sizeof(PTZ_DATA_PACK)) != pack->checksum)
{
return 0;
}
//其次判断数据头
if(pack ->head != 0xFF)
{
return 0;
}
//其次判断云台地址
if(pack->addr != g_ptz.address)
{
return 0;
}
return 1;
}
static char process_buff[500];
//云台不定长协议处理
void ptz_data_pack_a_process(char dev, PTZ_DATA_PACK_A *pack)
{
unsigned short int len = 0;
unsigned short int len1 = 0;
char cfg_str[100] = {0};
BSP_OS_SemWait(&pack_process_mutex, 0u);
//判断协议是否正确
if(ptz_data_pack_a_check(pack) != 1)
{//回复指令错误
ptz_data_pack_a_reply(dev, CMDA_WRONG);
BSP_OS_SemPost(&pack_process_mutex);
return;
}
switch(pack->cmd_type)
{
case EDIT_CFG_FILE://编辑配置文件
memset(cfg_str, 0, sizeof(cfg_str));
memcpy(cfg_str, pack->cmd_data, pack->cmd_len);
cfg_str[pack->cmd_len] = '\0';
if(ptz_set_cfg(cfg_str,pack->cmd_func) == TRUE)
{
ptz_data_pack_a_reply(dev, CMDA_RIGHT);
}
else
{
ptz_data_pack_a_reply(dev, CMDA_FAIL);
}
break;
case UPLOAD_CFG_DATA://上传配置文件数据
if(pack->cmd_func == UPLOAD_CFG_DATA_REQUEST)
{
ptz_data_pack_a_reply(dev, CMDA_RIGHT);
memset(process_buff, 0, sizeof(process_buff));
len = 0;
len = ptz_read_cfg_data(process_buff);
if(len > 0)
{
len1 = 0;
len1 = ptz_data_pack_a_pack(process_buff, len,
UPLOAD_CFG_DATA, UPLOAD_CFG_DATA_RIGHT);
ptz_send_data(dev, (unsigned char*)send_buff, len1);
}
else
{
len1 = 0;
len1 = ptz_data_pack_a_pack(process_buff, len,
UPLOAD_CFG_DATA, UPLOAD_CFG_DATA_WRONG);
ptz_send_data(dev, (unsigned char*)send_buff, len1);
}
}
else if(pack->cmd_func == UPLOAD_CFG_DATA_REQUEST_BROADCAST)
{
memset(process_buff, 0, sizeof(process_buff));
len = 0;
len = ptz_read_cfg_data(process_buff);
if(len > 0)
{
len1 = 0;
len1 = ptz_data_pack_a_pack(process_buff, len,
UPLOAD_CFG_DATA, UPLOAD_CFG_DATA_RIGHT);
if(dev == PTZ_UDP)
{
send_udp_data_broadcast((unsigned char*)send_buff,len1);
}
else
{
ptz_send_data(dev, (unsigned char*)send_buff, len1);
}
}
else
{
len1 = 0;
len1 = ptz_data_pack_a_pack(process_buff, len,
UPLOAD_CFG_DATA, UPLOAD_CFG_DATA_WRONG);
if(dev == PTZ_UDP)
{
send_udp_data_broadcast((unsigned char*)send_buff,len1);
}
else
{
ptz_send_data(dev, (unsigned char*)send_buff, len1);
}
}
}
else
{
ptz_data_pack_a_reply(dev, CMDA_FAIL);
}
break;
case CMDA_REPLY://指令回复
break;
case UPLOAD_VERSION: //程序版本号回复
ptz_data_pack_a_reply(dev, CMDA_RIGHT);
len1 = 0;
len1 = ptz_data_pack_a_pack((char *)g_program_version_number,
sizeof(g_program_version_number),
UPLOAD_VERSION, UPLOAD_VERSION_RIGHT);
ptz_send_data(dev, (unsigned char*)send_buff, len1);
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
len1 = 0;
len1 = ptz_data_pack_a_pack((char *)g_ptz_type,
sizeof(g_ptz_type),
UPLOAD_VERSION, UPLOAD_VERSION_RIGHT);
ptz_send_data(dev, (unsigned char*)send_buff, len1);
break;
default ://其他
break;
}
BSP_OS_SemPost(&pack_process_mutex);
}
/****************************************************************************/
/***********************监听云台消息：以太网、485、422***********************/
/****************************************************************************/
#define TEST_PORT 6666
///以太网通信——UDP
static void task_ptz_udp_server()
{
while(1)
{
if(ptz_communicaton != PTZ_CONNECT_STATE_SUCCESS)
{
ptz_sock_fd = CreateUDPClientSock();
if (ptz_sock_fd != -1) {
// 设置服务器端ip和端口号
memset(&ptz_from, 0, sizeof(struct sockaddr_in));
ptz_local.sin_family = PF_INET;
// 监听端口
ptz_local.sin_port = htons(TEST_PORT);
ptz_local.sin_addr.s_addr = INADDR_ANY;
ptz_fromlen = sizeof(ptz_from);
if(0!=bind(ptz_sock_fd,(struct sockaddr*)&ptz_local,sizeof(ptz_local))){
close(ptz_sock_fd);
}else{
ptz_communicaton = PTZ_CONNECT_STATE_SUCCESS;
}
}
else{
ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
close(ptz_sock_fd);
}
}
if (ptz_communicaton == PTZ_CONNECT_STATE_SUCCESS) {
memset(net_rece_buff, 0x00, sizeof(net_rece_buff));//'\0'
int ret_len = recvfrom(ptz_sock_fd, net_rece_buff, sizeof(net_rece_buff), 0, (struct sockaddr*)&ptz_from, &ptz_fromlen);
if (ret_len <= 7 && ret_len > 0)
{
ptz_data_pack_process(PTZ_UDP, (PTZ_DATA_PACK *)net_rece_buff);
}
if (ret_len >7)
{
ptz_data_pack_a_process(PTZ_UDP, (PTZ_DATA_PACK_A *)net_rece_buff);
}
if(ret_len <= 0)
{
ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
close(ptz_sock_fd);
}
}
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
}
}
static OS_STK task_listen_ptz_server_stk[TASK_LISTEN_PTZ_SERVER_STK_SIZE];
static void task_create_listen_ptz_server (void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
task_err = OSTaskCreateExt((void (*)(void *)) task_ptz_udp_server,
(void *) 0,
(OS_STK *)&task_listen_ptz_server_stk[TASK_LISTEN_PTZ_SERVER_STK_SIZE - 1],
(INT8U ) TASK_LISTEN_PTZ_SERVER_PRIO,
(INT16U ) TASK_LISTEN_PTZ_SERVER_PRIO,
(OS_STK *)&task_listen_ptz_server_stk[0],
(INT32U ) TASK_LISTEN_PTZ_SERVER_STK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
OSTaskNameSet(TASK_LISTEN_PTZ_SERVER_PRIO, "task_ptz_udp_server", &name_err);
#endif
if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE)) {
pdebug(DEBUG_LEVEL_INFO,"create task_ptz_udp_server success\r\n");
} else {
pdebug(DEBUG_LEVEL_FATAL,"create task_ptz_udp_server failed\r\n");
}
}
///串口1，485通信
static void ptz_uart_485_data_process_task()
{
static u_int8_t uart_485_buffer[PTZ_UART_485_BUFF_SIZE];
static unsigned short int uart_485_data_len;
static unsigned char uart_485_timer;
unsigned short int i;
static unsigned char k;
PTZ_DATA_PACK_A *pack_a = (PTZ_DATA_PACK_A *)uart_485_buffer;
PTZ_DATA_PACK *pack_pelco_d = (PTZ_DATA_PACK *)uart_485_buffer;
while(1)
{
//485串口
if(ptz_uart_dev_char_present(uart_485_handle) != 0 &&
(uart_485_state == PTZ_UART_FREE_STATE))//来了第一个字节的数据
{
switch(k)
{
case 0://判断每帧数据第一个字节是不是0XFF
memset(uart_485_buffer, 0, sizeof(uart_485_buffer));
uart_485_data_len = 0;
uart_485_timer = 0;
uart_485_buffer[uart_485_data_len] = ptz_uart_dev_in_char(uart_485_handle);
if(uart_485_buffer[0] == 0XFF)
{
uart_485_data_len++;
k = 1;
}
else
{
k = 0;
uart_485_data_len = 0;
}
break;
case 1://判断每帧数据字节头是不是FF ADD的格式
uart_485_buffer[uart_485_data_len] = ptz_uart_dev_in_char(uart_485_handle);
uart_485_data_len++;
k = 0;
if(uart_485_buffer[0] == 0XFF &&
uart_485_buffer[1] == g_ptz.address)
{
uart_485_state = PTZ_UART_RECV_STATE;
}
else
{
if(uart_485_buffer[1] == 0XFF)
{
memset(uart_485_buffer, 0, sizeof(uart_485_buffer));
uart_485_data_len = 1;
uart_485_buffer[0] = 0XFF;
k = 1;
}
}
break;
}
}
if(uart_485_state == PTZ_UART_RECV_STATE)
{
for(i = 0; i < PTZ_UART_485_BUFF_SIZE - 2; i++)
{
//判断有无数据
if(ptz_uart_dev_char_present(uart_485_handle) == 0)
{
OSTimeDlyHMSM(0u, 0u, 0u, 1u);//等待一段时间
uart_485_timer ++;
if(uart_485_timer > PTZ_UART_RECV_OVERTIME)
{//接收超时，说明一帧数据接收完成
break;
}
}
else
{//读取一个字节数据
uart_485_buffer[uart_485_data_len] = ptz_uart_dev_in_char(uart_485_handle);
uart_485_data_len++;
uart_485_timer = 0;
if(uart_485_data_len % 100 == 0 && uart_485_data_len > 0)
{
OSTimeDlyHMSM(0u, 0u, 0u, 2u);
}
if(uart_485_data_len >= 7)
{
if(ptz_data_pack_pelco_d_check(pack_pelco_d) == 1)
{//成功读取一帧派尔高D协议或者自定义类似派尔高D协议，长度7字节
break;
}
}
if(uart_485_data_len >= (sizeof(PTZ_DATA_PACK_A) + sizeof(unsigned int)))
{
ptz_reply(uart_485_handle, CMD_WRONG);
if(ptz_data_pack_a_check(pack_a) == 1)
{//成功读取一帧自定义超长度协议
break;
}
}
if(uart_485_data_len >= PTZ_UART_485_BUFF_SIZE)
{
break;
}
}
}
uart_485_timer = 0;
uart_485_state = PTZ_UART_HAND_STATE;
}
//处理串口数据
if(uart_485_state == PTZ_UART_HAND_STATE)
{
if(uart_485_data_len > 7)
{//不定长数据处理，该数据每一帧都超过7个字节
ptz_data_pack_a_process(PTZ_UART_485, (PTZ_DATA_PACK_A *)uart_485_buffer);
// ptz_reply(PTZ_UART_485, CMD_WRONG);
}
else
{//7个字节的派尔高D数据以及7个字节自定义类派尔高D数据处理
ptz_data_pack_process(PTZ_UART_485, (PTZ_DATA_PACK *)uart_485_buffer);
}
memset(uart_485_buffer, 0, sizeof(uart_485_buffer));
uart_485_data_len = 0;
uart_485_timer = 0;
uart_485_state = PTZ_UART_FREE_STATE;
}
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
}
}
static OS_STK task_uart_485_data_process_stk[TASK_PTZ_UART_485_DATA_PROCESS_STK_SIZE];
static void creat_task_uart_485_data_process(void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
task_err = OSTaskCreateExt((void (*)(void *)) ptz_uart_485_data_process_task,
(void *) 0,
(OS_STK *)&task_uart_485_data_process_stk[TASK_PTZ_UART_485_DATA_PROCESS_STK_SIZE - 1],
(INT8U ) TASK_PTZ_UART_485_DATA_PROCESS_PRIO,
(INT16U ) TASK_PTZ_UART_485_DATA_PROCESS_PRIO,
(OS_STK *)&task_uart_485_data_process_stk[0],
(INT32U ) TASK_PTZ_UART_485_DATA_PROCESS_STK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
OSTaskNameSet(TASK_PTZ_UART_485_DATA_PROCESS_PRIO, "ptz_uart_485_data_process_task", &name_err);
#endif
}
///串口2，422通信
static void ptz_uart_422_data_process_task()
{
static u_int8_t uart_422_buffer[PTZ_UART_422_BUFF_SIZE];
static unsigned short int uart_422_data_len;
static unsigned char uart_422_timer;
unsigned short int i;
static unsigned char k;
PTZ_DATA_PACK_A *pack_a = (PTZ_DATA_PACK_A *)uart_422_buffer;
PTZ_DATA_PACK *pack_pelco_d = (PTZ_DATA_PACK *)uart_422_buffer;
while(1)
{
//422串口
if(ptz_uart_dev_char_present(uart_422_handle) != 0 &&
(uart_422_state == PTZ_UART_FREE_STATE))//来了第一个字节的数据
{
switch(k)
{
case 0://判断每帧数据第一个字节是不是0XFF
memset(uart_422_buffer, 0, sizeof(uart_422_buffer));
uart_422_data_len = 0;
uart_422_timer = 0;
uart_422_buffer[uart_422_data_len] = ptz_uart_dev_in_char(uart_422_handle);
if(uart_422_buffer[0] == 0XFF)
{
uart_422_data_len++;
k = 1;
}
else
{
k = 0;
uart_422_data_len = 0;
}
break;
case 1://判断每帧数据字节头是不是FF ADD的格式
uart_422_buffer[uart_422_data_len] = ptz_uart_dev_in_char(uart_422_handle);
uart_422_data_len++;
k = 0;
if(uart_422_buffer[0] == 0XFF &&
uart_422_buffer[1] == g_ptz.address)
{
uart_422_state = PTZ_UART_RECV_STATE;
}
else
{
if(uart_422_buffer[1] == 0XFF)
{
memset(uart_422_buffer, 0, sizeof(uart_422_buffer));
uart_422_data_len = 1;
uart_422_buffer[0] = 0XFF;
k = 1;
}
}
break;
}
}
if(uart_422_state == PTZ_UART_RECV_STATE)
{
for(i = 0; i < PTZ_UART_422_BUFF_SIZE - 2; i++)
{
//判断有无数据
if(ptz_uart_dev_char_present(uart_422_handle) == 0)
{
OSTimeDlyHMSM(0u, 0u, 0u, 1u);//等待一段时间
uart_422_timer ++;
if(uart_422_timer > PTZ_UART_RECV_OVERTIME)
{//接收超时，说明一帧数据接收完成
break;
}
}
else
{//读取一个字节数据
uart_422_buffer[uart_422_data_len] = ptz_uart_dev_in_char(uart_422_handle);
uart_422_data_len++;
uart_422_timer = 0;
if(uart_422_data_len % 100 == 0 && uart_422_data_len > 0)
{
OSTimeDlyHMSM(0u, 0u, 0u, 2u);
}
if(uart_422_data_len >= 7)
{
if(ptz_data_pack_pelco_d_check(pack_pelco_d) == 1)
{//成功读取一帧派尔高D协议或者自定义类似派尔高D协议，长度7字节
break;
}
}
if(uart_422_data_len >= (sizeof(PTZ_DATA_PACK_A) + sizeof(unsigned int)))
{
if(ptz_data_pack_a_check(pack_a) == 1)
{//成功读取一帧自定义超长度协议
break;
}
}
if(uart_422_data_len >= PTZ_UART_422_BUFF_SIZE)
{
break;
}
}
}
uart_422_timer = 0;
uart_422_state = PTZ_UART_HAND_STATE;
}
//处理串口数据
if(uart_422_state == PTZ_UART_HAND_STATE)
{
if(uart_422_data_len > 7)
{//不定长数据处理，该数据每一帧都超过7个字节
ptz_data_pack_a_process(PTZ_UART_422, (PTZ_DATA_PACK_A *)uart_422_buffer);
}
else
{//7个字节的派尔高D数据以及7个字节自定义类派尔高D数据处理
ptz_data_pack_process(PTZ_UART_422, (PTZ_DATA_PACK *)uart_422_buffer);
}
memset(uart_422_buffer, 0, sizeof(uart_422_buffer));
uart_422_data_len = 0;
uart_422_timer = 0;
uart_422_state = PTZ_UART_FREE_STATE;
}
OSTimeDlyHMSM(0u, 0u, 0u, 5u);
}
}
static OS_STK task_uart_422_data_process_stk[TASK_PTZ_UART_422_DATA_PROCESS_STK_SIZE];
static void creat_task_uart_422_data_process(void)
{
CPU_INT08U task_err;
CPU_INT08U name_err;
task_err = OSTaskCreateExt((void (*)(void *)) ptz_uart_422_data_process_task,
(void *) 0,
(OS_STK *)&task_uart_422_data_process_stk[TASK_PTZ_UART_422_DATA_PROCESS_STK_SIZE - 1],
(INT8U ) TASK_PTZ_UART_422_DATA_PROCESS_PRIO,
(INT16U ) TASK_PTZ_UART_422_DATA_PROCESS_PRIO,
(OS_STK *)&task_uart_422_data_process_stk[0],
(INT32U ) TASK_PTZ_UART_422_DATA_PROCESS_STK_SIZE,
(void *) 0,
(INT16U )(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
OSTaskNameSet(TASK_PTZ_UART_422_DATA_PROCESS_PRIO, "ptz_uart_422_data_process_task", &name_err);
#endif
}
//=====代理层初始化=====
void init_agent_module()
{
Usart_init_module();//串口初始化
BSP_OS_SemCreate(&udp_send_data_mutex,1u,"udp_send_data_mutex");
BSP_OS_SemCreate(&pack_process_mutex,1u,"pack_process_mutex");
BSP_OS_SemCreate(&cmd_crc_mutex,1u,"cmd_crc_mutex");
task_create_listen_ptz_server ();
creat_task_uart_485_data_process();
creat_task_uart_422_data_process();
}