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MW22-02A/APP/Device/Device_rotate/rotate_plan.c

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#include "ptz_header_file.h"
//#include "rotate_plan.h"
///云台定位回传到点回复
void ptz_location_return_return(char hori_vert)
{
if(g_ptz.location_return.net_udp_location_switch == LOCATION_RETURN_ON)
{//如果是到了指定位置需要回传数据
if(hori_vert == LOCATION_HORI && g_ptz.location_return.hori_cmd == LOCATION_UDP_CMD_ON)
{//转动到水平位置回复
g_ptz.location_return.hori_angle[2] = 0xc5;//修改命令
g_ptz.location_return.hori_angle[3] = LOCATION_HORI;//回传水平位置到达
g_ptz.location_return.hori_angle[6] =
MotorCalPelcoDSUM(g_ptz.location_return.hori_angle,sizeof(g_ptz.location_return.hori_angle));
//发送数据
send_udp_data_aim(g_ptz.location_return.hori_angle, sizeof(g_ptz.location_return.hori_angle),
(struct sockaddr*)&g_ptz.location_return.hori_cmd_from, g_ptz.location_return.hori_cmd_fromlen);
g_ptz.location_return.hori_cmd = LOCATION_CMD_OFF;
}
if(hori_vert == LOCATION_VERT && g_ptz.location_return.vert_cmd == LOCATION_UDP_CMD_ON)
{//转动到垂直位置回复
g_ptz.location_return.vert_angle[2] = 0xc5;//修改命令
g_ptz.location_return.vert_angle[3] = LOCATION_VERT;//回传垂直位置到达
g_ptz.location_return.vert_angle[6] =
MotorCalPelcoDSUM(g_ptz.location_return.vert_angle,sizeof(g_ptz.location_return.vert_angle));
//发送数据
send_udp_data_aim(g_ptz.location_return.vert_angle, sizeof(g_ptz.location_return.vert_angle),
(struct sockaddr*)&g_ptz.location_return.vert_cmd_from, g_ptz.location_return.vert_cmd_fromlen);
g_ptz.location_return.vert_cmd = LOCATION_CMD_OFF;
}
}
if(g_ptz.location_return.uart_422_location_switch == LOCATION_RETURN_ON)
{//如果是到了指定位置需要回传数据
if(hori_vert == LOCATION_HORI && g_ptz.location_return.hori_cmd == LOCATION_UART_422_CMD_ON)
{//转动到水平位置回复
g_ptz.location_return.hori_angle[2] = 0xc5;//修改命令
g_ptz.location_return.hori_angle[3] = LOCATION_HORI;//回传水平位置到达
g_ptz.location_return.hori_angle[6] =
MotorCalPelcoDSUM(g_ptz.location_return.hori_angle,sizeof(g_ptz.location_return.hori_angle));
//发送数据
ptz_send_data(PTZ_UART_422, g_ptz.location_return.hori_angle,
sizeof(g_ptz.location_return.hori_angle));
g_ptz.location_return.hori_cmd = LOCATION_CMD_OFF;
}
if(hori_vert == LOCATION_VERT && g_ptz.location_return.vert_cmd == LOCATION_UART_422_CMD_ON)
{//转动到垂直位置回复
g_ptz.location_return.vert_angle[2] = 0xc5;//修改命令
g_ptz.location_return.vert_angle[3] = LOCATION_VERT;//回传垂直位置到达
g_ptz.location_return.vert_angle[6] =
MotorCalPelcoDSUM(g_ptz.location_return.vert_angle,sizeof(g_ptz.location_return.vert_angle));
//发送数据
ptz_send_data(PTZ_UART_422, g_ptz.location_return.vert_angle,
sizeof(g_ptz.location_return.vert_angle));
g_ptz.location_return.vert_cmd = LOCATION_CMD_OFF;
}
}
if(g_ptz.location_return.uart_485_location_switch == LOCATION_RETURN_ON)
{//如果是到了指定位置需要回传数据
if(hori_vert == LOCATION_HORI && g_ptz.location_return.hori_cmd == LOCATION_UART_485_CMD_ON)
{//转动到水平位置回复
g_ptz.location_return.hori_angle[2] = 0xc5;//修改命令
g_ptz.location_return.hori_angle[3] = LOCATION_HORI;//回传水平位置到达
g_ptz.location_return.hori_angle[6] =
MotorCalPelcoDSUM(g_ptz.location_return.hori_angle,sizeof(g_ptz.location_return.hori_angle));
//发送数据
ptz_send_data(PTZ_UART_485, g_ptz.location_return.hori_angle,
sizeof(g_ptz.location_return.hori_angle));
g_ptz.location_return.hori_cmd = LOCATION_CMD_OFF;
}
if(hori_vert == LOCATION_VERT && g_ptz.location_return.vert_cmd == LOCATION_UART_485_CMD_ON)
{//转动到垂直位置回复
g_ptz.location_return.vert_angle[2] = 0xc5;//修改命令
g_ptz.location_return.vert_angle[3] = LOCATION_VERT;//回传垂直位置到达
g_ptz.location_return.vert_angle[6] =
MotorCalPelcoDSUM(g_ptz.location_return.vert_angle,sizeof(g_ptz.location_return.vert_angle));
//发送数据
ptz_send_data(PTZ_UART_485, g_ptz.location_return.vert_angle,
sizeof(g_ptz.location_return.vert_angle));
g_ptz.location_return.vert_cmd = LOCATION_CMD_OFF;
}
}
}
void ptz_location_return_angle_save(char hori_vert, unsigned char *data, char dev)
{
if(g_ptz.location_return.uart_485_location_switch == LOCATION_RETURN_ON ||
g_ptz.location_return.net_udp_location_switch == LOCATION_RETURN_ON||
g_ptz.location_return.uart_422_location_switch == LOCATION_RETURN_ON)
{
//防止角度定位回传和预置位回传发生冲突，即定位回传和预置位到位回传只能回传一个
g_ptz.preset_bit_return.preset_bit_location_cmd = 0;
//如果是刚刚接收到角度控制指令，则保存数据
if(hori_vert == LOCATION_HORI)
{//收到水平角度控制指令
//保存具体指令内容
memcpy(g_ptz.location_return.hori_angle, data, sizeof(g_ptz.location_return.hori_angle));
}
if(hori_vert == LOCATION_VERT)
{//收到垂直角度控制指令
//保存具体指令内容
memcpy(g_ptz.location_return.vert_angle, data, sizeof(g_ptz.location_return.vert_angle));
}
if(hori_vert == LOCATION_HORI)
{
switch(dev)
{
case PTZ_UDP:
g_ptz.location_return.hori_cmd = LOCATION_UDP_CMD_ON;
break;
case PTZ_UART_422:
g_ptz.location_return.hori_cmd = LOCATION_UART_422_CMD_ON;
break;
case PTZ_UART_485:
g_ptz.location_return.hori_cmd = LOCATION_UART_485_CMD_ON;
break;
}
}
if(hori_vert == LOCATION_VERT)
{
switch(dev)
{
case PTZ_UDP:
g_ptz.location_return.vert_cmd = LOCATION_UDP_CMD_ON;
break;
case PTZ_UART_422:
g_ptz.location_return.vert_cmd = LOCATION_UART_422_CMD_ON;
break;
case PTZ_UART_485:
g_ptz.location_return.vert_cmd = LOCATION_UART_485_CMD_ON;
break;
}
}
}
}
char ptz_hori_rotate_plan(char rot_mode)
{
float M,M1,M2;
g_ptz.hori_rotate_plan.start_angle = g_ptz.hori_angle_actual;
g_ptz.hori_rotate_plan.stop_angle = g_ptz.hori_angle_control;
g_ptz.hori_rotate_plan.max_speed = g_ptz.hori_speed_control;
g_ptz.hori_rotate_plan.rotate_switch = 1;//先置为需要转动
//首先判断云台速度是否满足要求
if(g_ptz.hori_rotate_plan.max_speed > PTZ_HORI_MAX_SPEED)
{
g_ptz.hori_rotate_plan.max_speed = PTZ_HORI_MAX_SPEED;
}
if(g_ptz.hori_rotate_plan.max_speed < PTZ_HORI_MIN_SPEED)
{
g_ptz.hori_rotate_plan.max_speed = PTZ_HORI_MIN_SPEED;
}
//判断停止角度是否满足要求
while(g_ptz.hori_rotate_plan.stop_angle < 0)
{
g_ptz.hori_rotate_plan.stop_angle = 360.0 + g_ptz.hori_rotate_plan.stop_angle;
}
while(g_ptz.hori_rotate_plan.stop_angle > 360.0)
{
g_ptz.hori_rotate_plan.stop_angle = g_ptz.hori_rotate_plan.stop_angle - 360.0;
}
//根据转动要求的模式规划路径
switch(rot_mode)
{
case PTZ_HORI_MIN_DISTANCE://if(rot_mode == PTZ_HORI_MIN_DISTANCE)
M1 = fabs(g_ptz.hori_rotate_plan.start_angle - g_ptz.hori_rotate_plan.stop_angle);
if(g_ptz.hori_rotate_plan.start_angle < g_ptz.hori_rotate_plan.stop_angle)
{
M2 = fabs(360.0 - g_ptz.hori_rotate_plan.stop_angle) +
fabs(g_ptz.hori_rotate_plan.start_angle - 0);
if(M1 <= M2)
{
M = M1;
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_RIGHT;
}
else //if(M1 > M2)
{
M = M2;
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_LEFT;
}
}
if(g_ptz.hori_rotate_plan.start_angle > g_ptz.hori_rotate_plan.stop_angle)
{
M2 = fabs(360.0 - g_ptz.hori_rotate_plan.start_angle) +
fabs(g_ptz.hori_rotate_plan.stop_angle - 0);
if(M1 < M2)
{
M = M1;
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_LEFT;
}
else //if(M1 >= M2)
{
M = M2;
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_RIGHT;
}
}
if(g_ptz.hori_rotate_plan.start_angle == g_ptz.hori_rotate_plan.stop_angle)
{
M = 0;
g_ptz.hori_rotate_plan.rotate_switch = 0;
return 1;
}
//转动总距离
g_ptz.hori_rotate_plan.total_rotate_range = M;
break;
case PTZ_HORI_MAX_DISTANCE://if(rot_mode == PTZ_HORI_MAX_DISTANCE)
M1 = fabs(g_ptz.hori_rotate_plan.start_angle - g_ptz.hori_rotate_plan.stop_angle);
if(g_ptz.hori_rotate_plan.start_angle < g_ptz.hori_rotate_plan.stop_angle)
{
M2 = fabs(360.0 - g_ptz.hori_rotate_plan.stop_angle) +
fabs(g_ptz.hori_rotate_plan.start_angle - 0);
if(M1 <= M2)
{
M = M2;
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_LEFT;
}
else //if(M1 > M2)
{
M = M1;
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_RIGHT;
}
}
if(g_ptz.hori_rotate_plan.start_angle > g_ptz.hori_rotate_plan.stop_angle)
{
M2 = fabs(360.0 - g_ptz.hori_rotate_plan.start_angle) +
fabs(g_ptz.hori_rotate_plan.stop_angle - 0);
if(M1 < M2)
{
M = M2;
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_RIGHT;
}
else //if(M1 >= M2)
{
M = M1;
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_LEFT;
}
}
if(g_ptz.hori_rotate_plan.start_angle == g_ptz.hori_rotate_plan.stop_angle)
{
M = 0;
g_ptz.hori_rotate_plan.rotate_switch = 0;
return 1;
}
//转动总距离
g_ptz.hori_rotate_plan.total_rotate_range = M;
break;
case PTZ_HORI_RIGHT_ANGLE://if(rot_mode == PTZ_HORI_RIGHT_ANGLE),右转到指定角度
M1 = fabs(g_ptz.hori_rotate_plan.start_angle - g_ptz.hori_rotate_plan.stop_angle);
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_RIGHT;
if(g_ptz.hori_rotate_plan.start_angle < g_ptz.hori_rotate_plan.stop_angle)
{
M = M1;
}
if(g_ptz.hori_rotate_plan.start_angle > g_ptz.hori_rotate_plan.stop_angle)
{
M2 = fabs(360.0 - g_ptz.hori_rotate_plan.start_angle) +
fabs(g_ptz.hori_rotate_plan.stop_angle - 0);
M = M2;
}
if(g_ptz.hori_rotate_plan.start_angle == g_ptz.hori_rotate_plan.stop_angle)
{
M = 0;
g_ptz.hori_rotate_plan.rotate_switch = 0;
return 1;
}
//转动总距离
g_ptz.hori_rotate_plan.total_rotate_range = M;
break;
case PTZ_HORI_LEFT_ANGLE://if(rot_mode == PTZ_HORI_LEFT_ANGLE)，左转到指定角度
M1 = fabs(g_ptz.hori_rotate_plan.start_angle - g_ptz.hori_rotate_plan.stop_angle);
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_LEFT;
if(g_ptz.hori_rotate_plan.start_angle < g_ptz.hori_rotate_plan.stop_angle)
{
M2 = fabs(360.0 - g_ptz.hori_rotate_plan.stop_angle) +
fabs(g_ptz.hori_rotate_plan.start_angle - 0);
M = M2;
}
if(g_ptz.hori_rotate_plan.start_angle > g_ptz.hori_rotate_plan.stop_angle)
{
M = M1;
}
if(g_ptz.hori_rotate_plan.start_angle == g_ptz.hori_rotate_plan.stop_angle)
{
M = 0;
g_ptz.hori_rotate_plan.rotate_switch = 0;
return 1;
}
//转动总距离
g_ptz.hori_rotate_plan.total_rotate_range = M;
break;
case PTZ_HORI_RIGHT_CYCLE:
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_RIGHT;
M = 360.0;
g_ptz.hori_rotate_plan.total_rotate_range = M;
break;
case PTZ_HORI_LEFT_CYCLE:
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_LEFT;
M = 360.0;
g_ptz.hori_rotate_plan.total_rotate_range = M;
break;
case PTZ_HORI_RIGHT_KEEP:
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_RIGHT;
return 1;
break;
case PTZ_HORI_LEFT_KEEP:
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_LEFT;
return 1;
break;
case PTZ_HORI_RIGHT_ANGLE_INC://右转角度增量规划
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_RIGHT;
g_ptz.hori_rotate_plan.total_rotate_range = g_ptz.hori_angle_right_inc_control;
if(g_ptz.hori_rotate_plan.total_rotate_range == 0)
{
g_ptz.hori_rotate_plan.rotate_switch = 0;
return 1;
}
break;
case PTZ_HORI_LEFT_ANGLE_INC://左转角度增量规划
g_ptz.hori_rotate_plan.direction = PTZ_HORI_DIR_LEFT;
g_ptz.hori_rotate_plan.total_rotate_range = g_ptz.hori_angle_left_inc_control;
if(g_ptz.hori_rotate_plan.total_rotate_range == 0)
{
g_ptz.hori_rotate_plan.rotate_switch = 0;
return 1;
}
break;
}
//计算刹车最近点
if(g_ptz.hori_rotate_plan.direction == PTZ_HORI_DIR_RIGHT)
{
/*计算最近刹车点*/
g_ptz.hori_rotate_plan.stop_near_angle =
g_ptz.hori_rotate_plan.stop_angle - PTZ_HORI_STOP_NEAR_DISTANCE ;
if(g_ptz.hori_rotate_plan.stop_near_angle < 0)
{
g_ptz.hori_rotate_plan.stop_near_angle =
g_ptz.hori_rotate_plan.stop_near_angle + 360.0;
}
/*计算最远刹车点*/
g_ptz.hori_rotate_plan.stop_far_angle =
g_ptz.hori_rotate_plan.stop_angle + PTZ_HORI_STOP_FAR_DISTANCE;
if(g_ptz.hori_rotate_plan.stop_far_angle > 360.0)
{
g_ptz.hori_rotate_plan.stop_far_angle =
g_ptz.hori_rotate_plan.stop_far_angle - 360.0;
}
}
if(g_ptz.hori_rotate_plan.direction == PTZ_HORI_DIR_LEFT)
{
/*计算最近刹车点*/
g_ptz.hori_rotate_plan.stop_near_angle =
g_ptz.hori_rotate_plan.stop_angle + PTZ_HORI_STOP_NEAR_DISTANCE;
if(g_ptz.hori_rotate_plan.stop_angle > 360.0)
{
g_ptz.hori_rotate_plan.stop_near_angle =
g_ptz.hori_rotate_plan.stop_near_angle - 360.0;
}
/*计算最远刹车点*/
g_ptz.hori_rotate_plan.stop_far_angle =
g_ptz.hori_rotate_plan.stop_angle - PTZ_HORI_STOP_FAR_DISTANCE;
if(g_ptz.hori_rotate_plan.stop_far_angle < 0)
{
g_ptz.hori_rotate_plan.stop_far_angle =
g_ptz.hori_rotate_plan.stop_far_angle + 360.0;
}
}
/* 水平误差补偿 */
if(g_ptz.hori_angle_erro_switch == 1)
{
if(g_ptz.hori_direction_actual != g_ptz.hori_rotate_plan.direction)
{//两次转向不同，转向不同，有结构间隙，需要消除，误差为结构误差
if(g_ptz.hori_rotate_plan.direction == PTZ_HORI_DIR_LEFT)
{//左转，表示上次为右转，角度减小，加上结构误差，编码器角度到位，实际云台角度少走了误差角度,实际输出角度向右增加偏移量
g_ptz.offset_angle.offset_anle = (g_ptz.hori_angle_error * 3.2);//0.5;结构误差进行放大处理，放大系数待定
}
if(g_ptz.hori_rotate_plan.direction == PTZ_HORI_DIR_RIGHT)
{//右转，即上次为左转，实际输出角度向左增加偏移量
g_ptz.offset_angle.offset_anle = (-1.0)*(g_ptz.hori_angle_error * 3.2);//-0.2;
}
}
if(g_ptz.hori_direction_actual == g_ptz.hori_rotate_plan.direction)
{//两次转向不同，转向不同，有结构间隙，需要消除，误差为结构误差
if(g_ptz.hori_rotate_plan.direction == PTZ_HORI_DIR_LEFT)
{//左转，表示上次为右转，角度减小，加上结构误差，编码器角度到位，实际云台角度少走了误差角度
g_ptz.offset_angle.offset_anle = 0.0;//0.3;
}
if(g_ptz.hori_rotate_plan.direction == PTZ_HORI_DIR_RIGHT)
{//左转，表示上次为右转，角度减小，加上结构误差，编码器角度到位，实际云台角度少走了误差角度
g_ptz.offset_angle.offset_anle = 0.0;//-0.2;
}
}
}
/*计算刹车范围*/
g_ptz.hori_rotate_plan.stop_angle_range =
PTZ_HORI_STOP_NEAR_DISTANCE + PTZ_HORI_STOP_FAR_DISTANCE;
return 1;
}
char ptz_vert_rotate_plan(char rot_mode)
{
g_ptz.vert_rotate_plan.start_angle = g_ptz.vert_angle_actual;
g_ptz.vert_rotate_plan.stop_angle = g_ptz.vert_angle_control;
g_ptz.vert_rotate_plan.max_speed = g_ptz.vert_speed_control;
g_ptz.vert_rotate_plan.rotate_switch = 1;//先置为需要转动
//首先判断云台速度是否满足要求
if(g_ptz.vert_rotate_plan.max_speed > PTZ_VERT_MAX_SPEED)
{
g_ptz.vert_rotate_plan.max_speed = PTZ_VERT_MAX_SPEED;
}
if(g_ptz.vert_rotate_plan.max_speed < PTZ_VERT_MIN_SPEED)
{
g_ptz.vert_rotate_plan.max_speed = PTZ_VERT_MIN_SPEED;
}
//判断停止角度是否满足要求
if(g_ptz.vert_rotate_plan.stop_angle < g_ptz.vert_angleP.angle_allow_min)
{
g_ptz.vert_rotate_plan.stop_angle = g_ptz.vert_angleP.angle_allow_min;
}
if(g_ptz.vert_rotate_plan.stop_angle > g_ptz.vert_angleP.angle_allow_max)
{
g_ptz.vert_rotate_plan.stop_angle = g_ptz.vert_angleP.angle_allow_max;
}
//根据转动要求的模式规划路径
switch(rot_mode)
{
case PTZ_VERT_ANGLE:
#ifdef PTZ_PHOTOELECTRIC_SWITCH
if(g_ptz.vert_rotate_plan.stop_angle > g_ptz.vert_rotate_plan.start_angle)
{
g_ptz.vert_rotate_plan.direction = PTZ_VERT_DIR_UP;
if(g_ptz.vert_ps_sw2_state == PS_COVER)
{
g_ptz.vert_rotate_plan.rotate_switch = 0;//不需要转动
return 1;
}
}
if(g_ptz.vert_rotate_plan.stop_angle < g_ptz.vert_rotate_plan.start_angle)
{
g_ptz.vert_rotate_plan.direction = PTZ_VERT_DIR_DOWN;
if(g_ptz.vert_ps_sw1_state == PS_COVER)
{
g_ptz.vert_rotate_plan.rotate_switch = 0;//不需要转动
return 1;
}
}
if(g_ptz.vert_rotate_plan.stop_angle == g_ptz.vert_rotate_plan.start_angle)
{
g_ptz.vert_rotate_plan.rotate_switch = 0;//不需要转动
return 1;
}
#endif
break;
case PTZ_VERT_UP_KEEP:
#ifdef PTZ_PHOTOELECTRIC_SWITCH
g_ptz.vert_rotate_plan.stop_angle = g_ptz.vert_angleP.angle_allow_max;
g_ptz.vert_rotate_plan.direction = PTZ_VERT_DIR_UP;
if(g_ptz.vert_angle_actual >= g_ptz.vert_angleP.angle_allow_max
|| g_ptz.vert_ps_sw2_state == PS_COVER)
{
g_ptz.vert_rotate_plan.rotate_switch = 0;//不需要转动
return 1;
}
#endif
break;
case PTZ_VERT_DOWN_KEEP:
#ifdef PTZ_PHOTOELECTRIC_SWITCH
g_ptz.vert_rotate_plan.stop_angle = g_ptz.vert_angleP.angle_allow_min;
g_ptz.vert_rotate_plan.direction = PTZ_VERT_DIR_DOWN;
if(g_ptz.vert_angle_actual <= g_ptz.vert_angleP.angle_allow_min
|| g_ptz.vert_ps_sw1_state == PS_COVER)
{
g_ptz.vert_rotate_plan.rotate_switch = 0;//不需要转动
return 1;
}
#endif
break;
}
//计算转动总距离
g_ptz.vert_rotate_plan.total_rotate_range =
fabs(g_ptz.vert_rotate_plan.stop_angle - g_ptz.vert_rotate_plan.start_angle);
//计算刹车最近点和最远点
if(g_ptz.vert_rotate_plan.direction == PTZ_VERT_DIR_UP)
{
/*刹车最近点*/
g_ptz.vert_rotate_plan.stop_near_angle =
g_ptz.vert_rotate_plan.stop_angle - PTZ_VERT_STOP_NEAR_DISTANCE;
/*刹车最远点*/
g_ptz.vert_rotate_plan.stop_far_angle =
g_ptz.vert_rotate_plan.stop_angle + PTZ_VERT_STOP_FAR_DISTANCE;
}
if(g_ptz.vert_rotate_plan.direction == PTZ_VERT_DIR_DOWN)
{
/*刹车最近点*/
g_ptz.vert_rotate_plan.stop_near_angle =
g_ptz.vert_rotate_plan.stop_angle + PTZ_VERT_STOP_NEAR_DISTANCE;
/*刹车最远点*/
g_ptz.vert_rotate_plan.stop_far_angle =
g_ptz.vert_rotate_plan.stop_angle - PTZ_VERT_STOP_FAR_DISTANCE;
}
//计算刹车范围
g_ptz.vert_rotate_plan.stop_angle_range =
PTZ_VERT_STOP_NEAR_DISTANCE + PTZ_VERT_STOP_FAR_DISTANCE;
return 1;
}
//void init_rotate_module()
//{
// task_rotate_monitor_init();
//}
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