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NEW: release DJI Payload-SDK version 3.2

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2022-08-08 15:43:55 +08:00
parent 42099ba7df
commit 08b76b678d
50 changed files with 567 additions and 263 deletions
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0
samples/sample_c++/platform/linux/manifold2/FindFFMPEG.cmake → samples/sample_c++/platform/linux/common/3rdparty/FindFFMPEG.cmake vendored
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34
samples/sample_c++/platform/linux/common/3rdparty/FindLIBUSB.cmake vendored Normal file
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@ -0,0 +1,34 @@
#
# Find the native LIBUSB includes and library
#
# This module defines
# LIBUSB_INCLUDE_DIR, where to find libusb.h
# LIBUSB_LIBRARY, the libraries to link against to use LIBUSB.
# LIBUSB_FOUND, If false, do not try to use LIBUSB.
FIND_PATH(LIBUSB_INCLUDE_DIR libusb.h
PATHS
/usr/local/include/libusb-1.0
/usr/include/libusb-1.0
/opt/local/include
/opt/include
)
get_filename_component(LIBUSB_INCLUDE_DIR ${LIBUSB_INCLUDE_DIR} ABSOLUTE)
FIND_LIBRARY(LIBUSB_LIBRARY usb-1.0
/usr/local/lib
/usr/lib
)
IF (LIBUSB_INCLUDE_DIR)
IF (LIBUSB_LIBRARY)
SET(LIBUSB_FOUND "YES")
ENDIF (LIBUSB_LIBRARY)
ENDIF (LIBUSB_INCLUDE_DIR)
MARK_AS_ADVANCED(
LIBUSB_INCLUDE_DIR
LIBUSB_LIBRARY
LIBUSB_FOUND
)

34
samples/sample_c++/platform/linux/common/3rdparty/FindOPUS.cmake vendored Normal file
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@ -0,0 +1,34 @@
#
# Find the native OPUS includes and library
#
# This module defines
# OPUS_INCLUDE_DIR, where to find opus.h
# OPUS_LIBRARY, the libraries to link against to use OPUS.
# OPUS_FOUND, If false, do not try to use OPUS.
FIND_PATH(OPUS_INCLUDE_DIR opus.h
PATHS
/usr/local/include/opus
/usr/include/opus
/opt/local/include
/opt/include
)
get_filename_component(OPUS_INCLUDE_DIR ${OPUS_INCLUDE_DIR} ABSOLUTE)
FIND_LIBRARY(OPUS_LIBRARY opus
/usr/local/lib
/usr/lib
)
IF (OPUS_INCLUDE_DIR)
IF (OPUS_LIBRARY)
SET(OPUS_FOUND "YES")
ENDIF (OPUS_LIBRARY)
ENDIF (OPUS_INCLUDE_DIR)
MARK_AS_ADVANCED(
OPUS_INCLUDE_DIR
OPUS_LIBRARY
OPUS_FOUND
)

24
samples/sample_c++/platform/linux/common/osal/osal.c
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@ -1,8 +1,6 @@
/**
********************************************************************
* @file psdk_osal.c
* @version V2.0.0
* @date 2019/07/01
* @file osal.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
@ -32,6 +30,10 @@
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static uint32_t s_localTimeMsOffset = 0;
static uint64_t s_localTimeUsOffset = 0;
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
@ -281,6 +283,12 @@ T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
gettimeofday(&time, NULL);
*ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
if (s_localTimeMsOffset == 0) {
s_localTimeMsOffset = *ms;
} else {
*ms = *ms - s_localTimeMsOffset;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
@ -291,15 +299,17 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
gettimeofday(&time, NULL);
*us = (time.tv_sec * 1000000 + time.tv_usec);
if (s_localTimeUsOffset == 0) {
s_localTimeUsOffset = *us;
} else {
*us = *us - s_localTimeMsOffset;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
void *Osal_Malloc(uint32_t size)
{
if (size == 0) {
return NULL;
}
return malloc(size);
}

86
samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
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@ -7,19 +7,6 @@ set(CMAKE_C_COMPILER "gcc")
set(CMAKE_CXX_COMPILER "g++")
add_definitions(-D_GNU_SOURCE)
# Try to see if user has OpenCV installed
# if yes, default callback will display the image
find_package( OpenCV QUIET )
if (OpenCV_FOUND)
message( "\n${PROJECT_NAME}...")
message( STATUS "Found OpenCV installed in the system, will use it to display image in AdvancedSensing APIs")
message( STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
message( STATUS " - Libraries: ${OpenCV_LIBRARIES}")
add_definitions(-DOPEN_CV_INSTALLED)
else()
message( STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
endif ()
set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
@ -50,31 +37,72 @@ else ()
message(FATAL_ERROR "FATAL: Please confirm your platform.")
endif ()
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
find_package(FFMPEG REQUIRED)
if(FFMPEG_FOUND)
message("Found FFMPEG FFMPEG_INCLUDE_DIR = ${FFMPEG_INCLUDE_DIR}")
message("Found FFMPEG FFMPEG_LIBRARIES = ${FFMPEG_LIBRARIES}")
else()
message("Cannot Find FFMPEG")
endif(FFMPEG_FOUND)
include_directories(${FFMPEG_INCLUDE_DIR})
include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/include)
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})
link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME}/libpayloadsdk.a -lstdc++)
if (NOT EXECUTABLE_OUTPUT_PATH)
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
endif ()
add_executable(${PROJECT_NAME}
${MODULE_APP_SRC}
${MODULE_SAMPLE_SRC}
${MODULE_COMMON_SRC}
${MODULE_HAL_SRC})
target_link_libraries(${PROJECT_NAME} m usb-1.0 ${FFMPEG_LIBRARIES})
# Try to see if user has OpenCV installed因为额
# if yes, default callback will display the image
find_package(OpenCV QUIET)
if (OpenCV_FOUND)
message("\n${PROJECT_NAME}...")
message(STATUS "Found OpenCV installed in the system, will use it to display image in AdvancedSensing APIs")
message(STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
message(STATUS " - Libraries: ${OpenCV_LIBRARIES}")
add_definitions(-DOPEN_CV_INSTALLED)
else ()
message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
endif ()
find_package(FFMPEG REQUIRED)
if (FFMPEG_FOUND)
message(STATUS "Found FFMPEG installed in the system")
message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES})
else ()
message(STATUS "Cannot Find FFMPEG")
endif (FFMPEG_FOUND)
include_directories(${FFMPEG_INCLUDE_DIR})
include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/include)
find_package(OPUS REQUIRED)
if (OPUS_FOUND)
message(STATUS "Found OPUS installed in the system")
message(STATUS " - Includes: ${OPUS_INCLUDE_DIR}")
message(STATUS " - Libraries: ${OPUS_LIBRARY}")
add_definitions(-DOPUS_INSTALLED)
target_link_libraries(${PROJECT_NAME} /usr/local/lib/libopus.a)
else ()
message(STATUS "Cannot Find OPUS")
endif (OPUS_FOUND)
find_package(LIBUSB REQUIRED)
if (LIBUSB_FOUND)
message(STATUS "Found LIBUSB installed in the system")
message(STATUS " - Includes: ${LIBUSB_INCLUDE_DIR}")
message(STATUS " - Libraries: ${LIBUSB_LIBRARY}")
add_definitions(-DLIBUSB_INSTALLED)
target_link_libraries(${PROJECT_NAME} usb-1.0)
else ()
message(STATUS "Cannot Find LIBUSB")
endif (LIBUSB_FOUND)
if (NOT EXECUTABLE_OUTPUT_PATH)
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
endif ()
target_link_libraries(${PROJECT_NAME} m)
add_custom_command(TARGET ${PROJECT_NAME}
PRE_LINK COMMAND cmake ..

50
samples/sample_c++/platform/linux/manifold2/application/main.cpp
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@ -64,28 +64,29 @@ int main(int argc, char **argv)
start:
std::cout
<< "\n"
<< "| Available commands: |\n"
<< "| [0] Fc subscribe sample - subscribe quaternion and gps data |\n"
<< "| [1] Flight controller sample - take off landing |\n"
<< "| [2] Flight controller sample - take off position ctrl landing |\n"
<< "| [3] Flight controller sample - take off go home force landing |\n"
<< "| [4] Flight controller sample - take off velocity ctrl landing |\n"
<< "| [5] Flight controller sample - arrest flying |\n"
<< "| [6] Flight controller sample - set get parameters |\n"
<< "| [7] Hms info sample - get health manger system info |\n"
<< "| [8] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK) |\n"
<< "| [9] Waypoint 3.0 sample - run airline mission by kmz file (only support on M30/30T) |\n"
<< "| [a] Gimbal manager sample - rotate gimbal on free mode |\n"
<< "| [b] Gimbal manager sample - rotate gimbal on yaw follow mode |\n"
<< "| [c] Camera stream view sample - display the camera video stream |\n"
<< "| [d] Stereo vision view sample - display the stereo image (only support on M300 RTK) |\n"
<< "| [e] Start camera all feautes sample - you can operate the camera on DJI Pilot |\n"
<< "| [f] Start gimbal all feautes sample - you can operate the gimbal on DJI Pilot |\n"
<< "| [g] Start widget all feautes sample - you can operate the widget on DJI Pilot |\n"
<< "| [h] Start widget speaker sample - you can operate the speaker on MSDK demo |\n"
<< "| [i] Start power management sample - you will see notification when aircraft power off |\n"
<< "| [j] Start data transmission sample - you can send or recv custom data on MSDK demo |\n"
<< "| [l] Run camera manager sample - shoot photo by the selected camera mounted position |\n"
<< "| Available commands: |\n"
<< "| [0] Fc subscribe sample - subscribe quaternion and gps data |\n"
<< "| [1] Flight controller sample - take off landing |\n"
<< "| [2] Flight controller sample - take off position ctrl landing |\n"
<< "| [3] Flight controller sample - take off go home force landing |\n"
<< "| [4] Flight controller sample - take off velocity ctrl landing |\n"
<< "| [5] Flight controller sample - arrest flying |\n"
<< "| [6] Flight controller sample - set get parameters |\n"
<< "| [7] Hms info sample - get health manger system info |\n"
<< "| [8] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK) |\n"
<< "| [9] Waypoint 3.0 sample - run airline mission by kmz file (only support on M30/30T) |\n"
<< "| [a] Gimbal manager sample - rotate gimbal on free mode |\n"
<< "| [b] Gimbal manager sample - rotate gimbal on yaw follow mode |\n"
<< "| [c] Camera stream view sample - display the camera video stream |\n"
<< "| [d] Stereo vision view sample - display the stereo image (only support on M300 RTK) |\n"
<< "| [e] Start camera all feautes sample - you can operate the camera on DJI Pilot |\n"
<< "| [f] Start gimbal all feautes sample - you can operate the gimbal on DJI Pilot |\n"
<< "| [g] Start widget all feautes sample - you can operate the widget on DJI Pilot |\n"
<< "| [h] Start widget speaker sample - you can operate the speaker on MSDK demo |\n"
<< "| [i] Start power management sample - you will see notification when aircraft power off |\n"
<< "| [j] Start data transmission sample - you can send or recv custom data on MSDK demo |\n"
<< "| [l] Run camera manager sample - shoot photo by the selected camera mounted position |\n"
<< "| [m] Run camera manager download sample - download camera media file (only support on M300 RTK) |\n"
<< std::endl;
std::cin >> inputChar;
@ -206,6 +207,11 @@ start:
DjiTest_CameraManagerRunSample(DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO);
break;
case 'm':
DjiTest_CameraManagerRunSample(DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE);
exit(1);
break;
default:
break;
}

23
samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.c
View File

@ -32,12 +32,16 @@
#define LINUX_USB_BULK_EP_OUT "/dev/usb-ffs/bulk/ep1"
#define LINUX_USB_BULK_EP_IN "/dev/usb-ffs/bulk/ep2"
#define LINUX_USB_PID (0x0955)
#define LINUX_USB_VID (0x7020)
#define LINUX_USB_PID (0x7020)
#define LINUX_USB_VID (0x0955)
/* Private types -------------------------------------------------------------*/
typedef struct {
#ifdef LIBUSB_INSTALLED
libusb_device_handle *handle;
#else
void *handle;
#endif
int32_t ep1;
int32_t ep2;
T_DjiHalUsbBulkInfo usbBulkInfo;
@ -59,6 +63,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
}
if (usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
ret = libusb_init(NULL);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@ -78,7 +83,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
#endif
} else {
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
@ -109,9 +114,11 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
osalHandler->TaskSleepMs(100);
libusb_exit(NULL);
#endif
} else {
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
@ -136,18 +143,21 @@ T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uin
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
(uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*realLen = actualLen;
#endif
} else {
*realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
@ -164,13 +174,16 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
if (ret < 0) {
USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*realLen = actualLen;
#endif
} else {
*realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
}

15
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c
View File

@ -189,11 +189,16 @@ T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
returnCode = osalHandler->TaskCreate("user_camera_media_task", UserCameraMedia_SendVideoTask, 2048,
NULL, &s_userSendVideoThread);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("user send video task create error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
if (DjiPlatform_GetSocketHandler() != NULL) {
returnCode = osalHandler->TaskCreate("user_camera_media_task", UserCameraMedia_SendVideoTask, 2048,
NULL, &s_userSendVideoThread);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("user send video task create error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
} else {
USER_LOG_WARN(
"Socket handler is null. Probably because socket handler is not be registered. Camera media sample may not be running.");
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

90
samples/sample_c/module_sample/camera_manager/test_camera_manager.c
View File

@ -31,8 +31,8 @@
#include "dji_logger.h"
#include "dji_liveview.h"
/* Private constants ---------------------------------------------------------*/
#define TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE 32
#define TEST_CAMERA_MANAGER_MEDIA_EXTEND_INFO_MAX_SIZE 128
#define TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE 256
#define TEST_CAMERA_MANAGER_MEDIA_DOWNLOAD_FILE_NUM 5
/* Private types -------------------------------------------------------------*/
typedef struct {
@ -53,10 +53,14 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
{DJI_CAMERA_TYPE_L1, "Zenmuse L1"},
{DJI_CAMERA_TYPE_M30, "Zenmuse M30"},
{DJI_CAMERA_TYPE_M30T, "Zenmuse M30T"},
{DJI_CAMERA_TYPE_H20N, "Zenmuse H20N"},
};
static FILE *s_downloadMediaFile = NULL;
static T_DjiCameraManagerFileList s_meidaFileList;
static uint32_t downloadStartMs = 0;
static uint32_t downloadEndMs = 0;
static char downloadFileName[TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE] = {0};
/* Private functions declaration ---------------------------------------------*/
static uint8_t DjiTest_CameraManagerGetCameraTypeIndex(E_DjiCameraType cameraType);
@ -817,7 +821,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
mountPosition, returnCode);
goto exitCameraModule;
}
USER_LOG_INFO("Mounted position %d camera's firmware is V%d.%d.%d.%d\r\n", mountPosition,
USER_LOG_INFO("Mounted position %d camera's firmware is V%02d.%02d.%02d.%02d\r\n", mountPosition,
firmwareVersion.firmware_version[0], firmwareVersion.firmware_version[1],
firmwareVersion.firmware_version[2], firmwareVersion.firmware_version[3]);
@ -850,7 +854,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED: {
USER_LOG_INFO("--> Function a: Set camera shutter speed to 1/100 s");
DjiTest_WidgetLogAppend("--> Function a: Set camera shutter speed to 1/100 s");
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T) {
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T) {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
mountPosition);
returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@ -886,7 +891,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE: {
USER_LOG_INFO("--> Function b: Set camera aperture to 400(F/4)");
DjiTest_WidgetLogAppend("--> Function b: Set camera aperture to 400(F/4)");
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T) {
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T
|| cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T) {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
mountPosition);
returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@ -1188,12 +1194,7 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
returnCode = DjiCameraManager_DownloadFileList(position, &s_meidaFileList);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Download file list failed, error code: 0x%08X.", returnCode);
return returnCode;
}
uint16_t downloadCount = 0;
returnCode = DjiCameraManager_RegDownloadFileDataCallback(position, DjiTest_CameraManagerDownloadFileDataCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -1201,11 +1202,21 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
return returnCode;
}
returnCode = DjiCameraManager_DownloadFileList(position, &s_meidaFileList);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Download file list failed, error code: 0x%08X.", returnCode);
return returnCode;
}
if (s_meidaFileList.totalCount > 0) {
for (int i = 0; i < s_meidaFileList.totalCount; ++i) {
downloadCount = s_meidaFileList.totalCount;
printf(
"\033[1;33;40m -> Download file list finished, total file count is %d, the following %d is list details: \033[0m\r\n",
s_meidaFileList.totalCount, downloadCount);
for (int i = 0; i < downloadCount; ++i) {
if (s_meidaFileList.fileListInfo[i].fileSize < 1 * 1024 * 1024) {
USER_LOG_INFO(
"Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f KB, type: %d",
printf(
"\033[1;32;40m ### Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f KB, type: %d \033[0m\r\n",
i, s_meidaFileList.fileListInfo[i].fileName,
s_meidaFileList.fileListInfo[i].fileIndex,
s_meidaFileList.fileListInfo[i].createTime.year,
@ -1217,8 +1228,8 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
(dji_f32_t) s_meidaFileList.fileListInfo[i].fileSize / 1024,
s_meidaFileList.fileListInfo[i].type);
} else {
USER_LOG_INFO(
"Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f MB, type: %d",
printf(
"\033[1;32;40m ### Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f MB, type: %d \033[0m\r\n",
i, s_meidaFileList.fileListInfo[i].fileName,
s_meidaFileList.fileListInfo[i].fileIndex,
s_meidaFileList.fileListInfo[i].createTime.year,
@ -1231,16 +1242,23 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
s_meidaFileList.fileListInfo[i].type);
}
}
printf("\r\n");
osalHandler->TaskSleepMs(1000);
returnCode = DjiCameraManager_DownloadFileByIndex(position, s_meidaFileList.fileListInfo[0].fileIndex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Download media file by index failed, error code: 0x%08X.", returnCode);
return returnCode;
if (s_meidaFileList.totalCount < TEST_CAMERA_MANAGER_MEDIA_DOWNLOAD_FILE_NUM) {
downloadCount = s_meidaFileList.totalCount;
} else {
downloadCount = TEST_CAMERA_MANAGER_MEDIA_DOWNLOAD_FILE_NUM;
}
osalHandler->TaskSleepMs(1000);
for (int i = 0; i < downloadCount; ++i) {
returnCode = DjiCameraManager_DownloadFileByIndex(position, s_meidaFileList.fileListInfo[i].fileIndex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Download media file by index failed, error code: 0x%08X.", returnCode);
return returnCode;
}
}
returnCode = DjiCameraManager_DeleteFileByIndex(position, s_meidaFileList.fileListInfo[0].fileIndex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -1250,7 +1268,7 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
osalHandler->TaskSleepMs(1000);
} else {
USER_LOG_WARN("Media file is not existed in sdcard.");
USER_LOG_WARN("Media file is not existed in sdcard.\r\n");
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@ -1259,11 +1277,9 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownloadFilePacketInfo packetInfo,
const uint8_t *data, uint16_t len)
{
char fileName[TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE];
char extendInfo[TEST_CAMERA_MANAGER_MEDIA_EXTEND_INFO_MAX_SIZE];
int32_t i;
sprintf(extendInfo, " FileIndex: %d", packetInfo.fileIndex);
float downloadSpeed = 0.0f;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
if (packetInfo.downloadFileEvent == DJI_DOWNLOAD_FILE_EVENT_START) {
for (i = 0; i < s_meidaFileList.totalCount; ++i) {
@ -1271,9 +1287,12 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
break;
}
}
sprintf(fileName, "%s", s_meidaFileList.fileListInfo[i].fileName);
USER_LOG_INFO("Start download media file %s", s_meidaFileList.fileListInfo[i].fileName);
s_downloadMediaFile = fopen(fileName, "wb+");
osalHandler->GetTimeMs(&downloadStartMs);
memset(downloadFileName, 0, sizeof(downloadFileName));
snprintf(downloadFileName, sizeof(downloadFileName), "%s", s_meidaFileList.fileListInfo[i].fileName);
USER_LOG_INFO("Start download media file");
s_downloadMediaFile = fopen(downloadFileName, "wb+");
if (s_downloadMediaFile == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -1282,13 +1301,24 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
if (s_downloadMediaFile != NULL) {
fwrite(data, 1, len, s_downloadMediaFile);
}
printf("\033[1;32;40m ### [Complete rate : %0.1f%%] (%s), size: %d, fileIndex: %d\033[0m\r\n",
packetInfo.progressInPercent, downloadFileName, packetInfo.fileSize, packetInfo.fileIndex);
printf("\033[1A");
USER_LOG_DEBUG("Transfer download media file data, len: %d, percent: %.1f", len, packetInfo.progressInPercent);
} else if (packetInfo.downloadFileEvent == DJI_DOWNLOAD_FILE_EVENT_END) {
if (s_downloadMediaFile != NULL) {
fwrite(data, 1, len, s_downloadMediaFile);
}
osalHandler->GetTimeMs(&downloadEndMs);
USER_LOG_INFO("End download media file");
downloadSpeed = (float) packetInfo.fileSize / (float) (downloadEndMs - downloadStartMs);
printf("\033[1;32;40m ### [Complete rate : %0.1f%%] (%s), size: %d, fileIndex: %d\033[0m\r\n",
packetInfo.progressInPercent, downloadFileName, packetInfo.fileSize, packetInfo.fileIndex);
printf("\033[1A");
printf("\r\n");
USER_LOG_INFO("End download media file, Download Speed %.2f KB/S\r\n\r\n", downloadSpeed);
fclose(s_downloadMediaFile);
s_downloadMediaFile = NULL;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

5
samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c
View File

@ -156,8 +156,9 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get value of topic velocity error.");
} else {
USER_LOG_INFO("velocity: x = %f y = %f z = %f healthFlag = %d.", velocity.data.x, velocity.data.y,
velocity.data.z, velocity.health);
USER_LOG_INFO("velocity: x = %f y = %f z = %f healthFlag = %d, timestamp ms = %d us = %d.", velocity.data.x,
velocity.data.y,
velocity.data.z, velocity.health, timestamp.millisecond, timestamp.microsecond);
}
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION,

43
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -30,6 +30,7 @@
#include "dji_logger.h"
#include <math.h>
#include <widget_interaction_test/test_widget_interaction.h>
#include <dji_aircraft_info.h>
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
@ -665,6 +666,12 @@ void DjiTest_FlightControlSetGetParamSample()
E_DjiFlightControllerGoHomeAltitude goHomeAltitude;
E_DjiFlightControllerRtkPositionEnableStatus rtkEnableStatus;
E_DjiFlightControllerRCLostAction rcLostAction;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft base info error");
}
USER_LOG_INFO("Flight control set-get-param sample start");
DjiTest_WidgetLogAppend("Flight control set-get-param sample start");
@ -823,25 +830,27 @@ void DjiTest_FlightControlSetGetParamSample()
s_osalHandler->TaskSleepMs(1000);
/*! Set rc lost action */
USER_LOG_INFO("--> Step 15: Set rc lost action");
DjiTest_WidgetLogAppend("--> Step 15: Set rc lost action");
returnCode = DjiFlightController_SetRCLostAction(DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_GOHOME);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set rc lost action failed, error code: 0x%08X", returnCode);
goto out;
}
s_osalHandler->TaskSleepMs(1000);
if (aircraftInfoBaseInfo.aircraftType != DJI_AIRCRAFT_TYPE_M300_RTK) {
USER_LOG_INFO("--> Step 15: Set rc lost action");
DjiTest_WidgetLogAppend("--> Step 15: Set rc lost action");
returnCode = DjiFlightController_SetRCLostAction(DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_GOHOME);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set rc lost action failed, error code: 0x%08X", returnCode);
goto out;
}
s_osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("--> Step 16: Get rc lost action\r\n");
DjiTest_WidgetLogAppend("--> Step 16: Get rc lost action\r\n");
returnCode = DjiFlightController_GetRCLostAction(&rcLostAction);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get rc lost action failed, error code: 0x%08X", returnCode);
goto out;
USER_LOG_INFO("--> Step 16: Get rc lost action\r\n");
DjiTest_WidgetLogAppend("--> Step 16: Get rc lost action\r\n");
returnCode = DjiFlightController_GetRCLostAction(&rcLostAction);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get rc lost action failed, error code: 0x%08X", returnCode);
goto out;
}
USER_LOG_INFO("Current rc lost action is %d\r\n", rcLostAction);
DjiTest_WidgetLogAppend("Current rc lost action is %d\r\n", rcLostAction);
s_osalHandler->TaskSleepMs(1000);
}
USER_LOG_INFO("Current rc lost action is %d\r\n", rcLostAction);
DjiTest_WidgetLogAppend("Current rc lost action is %d\r\n", rcLostAction);
s_osalHandler->TaskSleepMs(1000);
out:
USER_LOG_INFO("Flight control set-get-param sample end");

2
samples/sample_c/module_sample/utils/util_file.h
View File

@ -67,4 +67,4 @@ T_DjiReturnCode UtilFile_GetFileData(FILE *file, uint32_t offset, uint16_t len,
#endif // UTIL_FILE_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

94
samples/sample_c/module_sample/widget/test_widget_speaker.c
View File

@ -36,7 +36,7 @@
#ifdef OPUS_INSTALLED
#include <opus.h>
#include <opus/opus.h>
#endif
@ -80,13 +80,10 @@ static bool s_isDecodeFinished = true;
static void SetSpeakerState(E_DjiWidgetSpeakerState speakerState);
static T_DjiReturnCode GetSpeakerState(T_DjiWidgetSpeakerState *speakerState);
static T_DjiReturnCode SetWorkMode(E_DjiWidgetSpeakerWorkMode workMode);
static T_DjiReturnCode GetWorkMode(E_DjiWidgetSpeakerWorkMode *workMode);
static T_DjiReturnCode SetPlayMode(E_DjiWidgetSpeakerPlayMode playMode);
static T_DjiReturnCode GetPlayMode(E_DjiWidgetSpeakerPlayMode *playMode);
static T_DjiReturnCode StartPlay(void);
static T_DjiReturnCode StopPlay(void);
static T_DjiReturnCode SetVolume(uint8_t volume);
static T_DjiReturnCode GetVolume(uint8_t *volume);
static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
uint32_t offset, uint8_t *buf, uint16_t size);
static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
@ -107,13 +104,10 @@ T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
s_speakerHandler.GetSpeakerState = GetSpeakerState;
s_speakerHandler.SetWorkMode = SetWorkMode;
s_speakerHandler.GetWorkMode = GetWorkMode;
s_speakerHandler.StartPlay = StartPlay;
s_speakerHandler.StopPlay = StopPlay;
s_speakerHandler.SetPlayMode = SetPlayMode;
s_speakerHandler.GetPlayMode = GetPlayMode;
s_speakerHandler.SetVolume = SetVolume;
s_speakerHandler.GetVolume = GetVolume;
s_speakerHandler.ReceiveTtsData = ReceiveTtsData;
s_speakerHandler.ReceiveVoiceData = ReceiveAudioData;
@ -322,12 +316,13 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IN_TTS_CONVERSION);
#ifdef EKHO_INSTALLED
#if EKHO_INSTALLED
/*! Attention: you can use other tts opensource function to convert txt to speech, example used ekho v7.5 */
snprintf(cmdStr, sizeof(cmdStr), " ekho %s -s 20 -p 20 -a 100", data);
snprintf(cmdStr, sizeof(cmdStr), " ekho %s -s 20 -p 20 -a 100 -o %s", data, WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
#else
snprintf(cmdStr, sizeof(cmdStr), "tts_offline_sample '%s' %s", data,
WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
USER_LOG_WARN(
"Ekho is not installed, please visit https://www.eguidedog.net/ekho.php to install it or use other TTS tools to convert audio");
#endif
DjiUserUtil_RunSystemCmd(cmdStr);
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_PLAYING);
@ -335,7 +330,6 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "ffplay -nodisp -autoexit -ar 16000 -ac 1 -f s16le -i %s 2>/dev/null",
WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
#endif
return DjiUserUtil_RunSystemCmd(cmdStr);
}
@ -453,28 +447,6 @@ static T_DjiReturnCode SetWorkMode(E_DjiWidgetSpeakerWorkMode workMode)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode GetWorkMode(E_DjiWidgetSpeakerWorkMode *workMode)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
returnCode = osalHandler->MutexLock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
return returnCode;
}
*workMode = s_speakerState.workMode;
returnCode = osalHandler->MutexUnlock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
return returnCode;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode SetPlayMode(E_DjiWidgetSpeakerPlayMode playMode)
{
T_DjiReturnCode returnCode;
@ -498,28 +470,6 @@ static T_DjiReturnCode SetPlayMode(E_DjiWidgetSpeakerPlayMode playMode)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode GetPlayMode(E_DjiWidgetSpeakerPlayMode *playMode)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
returnCode = osalHandler->MutexLock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
return returnCode;
}
*playMode = s_speakerState.playMode;
returnCode = osalHandler->MutexUnlock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
return returnCode;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode StartPlay(void)
{
uint32_t pid;
@ -581,9 +531,10 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
}
realVolume = 1.5f * (float) volume;
USER_LOG_INFO("Set widget speaker volume: %d", volume);
s_speakerState.volume = volume;
#ifdef PLATFORM_ARCH_x86_64
USER_LOG_INFO("Set widget speaker volume: %d", volume);
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "pactl set-sink-volume %s %d%%", WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME,
(int32_t) realVolume);
@ -592,28 +543,9 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
if (returnCode < 0) {
USER_LOG_ERROR("Set widget speaker volume error: %d", ret);
}
returnCode = osalHandler->MutexUnlock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
return returnCode;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode GetVolume(uint8_t *volume)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
returnCode = osalHandler->MutexLock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
return returnCode;
}
*volume = s_speakerState.volume;
#else
USER_LOG_WARN("Add set speaker volume function here!");
#endif
returnCode = osalHandler->MutexUnlock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -737,7 +669,7 @@ static void *DjiTest_WidgetSpeakerTask(void *arg)
if (s_speakerState.state == DJI_WIDGET_SPEAKER_STATE_PLAYING) {
if (s_speakerState.playMode == DJI_WIDGET_SPEAKER_PLAY_MODE_LOOP_PLAYBACK) {
if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) {
USER_LOG_WARN("Waiting opus decoder finished...");
USER_LOG_DEBUG("Waiting opus decoder finished...");
while (s_isDecodeFinished == false) {
osalHandler->TaskSleepMs(1);
}
@ -754,7 +686,7 @@ static void *DjiTest_WidgetSpeakerTask(void *arg)
osalHandler->TaskSleepMs(1000);
} else {
if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) {
USER_LOG_WARN("Waiting opus decoder finished...");
USER_LOG_DEBUG("Waiting opus decoder finished...");
while (s_isDecodeFinished == false) {
osalHandler->TaskSleepMs(1);
}

4
samples/sample_c/module_sample/widget_interaction_test/widget_file/cn_big_screen/widget_config.json
View File

@ -7,6 +7,10 @@
"floating_window": {
"is_enable": true
},
"speaker": {
"is_enable_tts": true,
"is_enable_voice": true
},
"widget_list": [
{
"widget_index": 0,

4
samples/sample_c/module_sample/widget_interaction_test/widget_file/en_big_screen/widget_config.json
View File

@ -7,6 +7,10 @@
"floating_window": {
"is_enable": true
},
"speaker": {
"is_enable_tts": true,
"is_enable_voice": true
},
"widget_list": [
{
"widget_index": 0,

0
samples/sample_c/platform/linux/common/3rdparty/ffmpeg/FindFFMPEG.cmake → samples/sample_c/platform/linux/common/3rdparty/FindFFMPEG.cmake vendored
View File

34
samples/sample_c/platform/linux/common/3rdparty/FindLIBUSB.cmake vendored Normal file
View File

@ -0,0 +1,34 @@
#
# Find the native LIBUSB includes and library
#
# This module defines
# LIBUSB_INCLUDE_DIR, where to find libusb.h
# LIBUSB_LIBRARY, the libraries to link against to use LIBUSB.
# LIBUSB_FOUND, If false, do not try to use LIBUSB.
FIND_PATH(LIBUSB_INCLUDE_DIR libusb.h
PATHS
/usr/local/include/libusb-1.0
/usr/include/libusb-1.0
/opt/local/include
/opt/include
)
get_filename_component(LIBUSB_INCLUDE_DIR ${LIBUSB_INCLUDE_DIR} ABSOLUTE)
FIND_LIBRARY(LIBUSB_LIBRARY usb-1.0
/usr/local/lib
/usr/lib
)
IF (LIBUSB_INCLUDE_DIR)
IF (LIBUSB_LIBRARY)
SET(LIBUSB_FOUND "YES")
ENDIF (LIBUSB_LIBRARY)
ENDIF (LIBUSB_INCLUDE_DIR)
MARK_AS_ADVANCED(
LIBUSB_INCLUDE_DIR
LIBUSB_LIBRARY
LIBUSB_FOUND
)

34
samples/sample_c/platform/linux/common/3rdparty/FindOPUS.cmake vendored Normal file
View File

@ -0,0 +1,34 @@
#
# Find the native OPUS includes and library
#
# This module defines
# OPUS_INCLUDE_DIR, where to find opus.h
# OPUS_LIBRARY, the libraries to link against to use OPUS.
# OPUS_FOUND, If false, do not try to use OPUS.
FIND_PATH(OPUS_INCLUDE_DIR opus.h
PATHS
/usr/local/include/opus
/usr/include/opus
/opt/local/include
/opt/include
)
get_filename_component(OPUS_INCLUDE_DIR ${OPUS_INCLUDE_DIR} ABSOLUTE)
FIND_LIBRARY(OPUS_LIBRARY opus
/usr/local/lib
/usr/lib
)
IF (OPUS_INCLUDE_DIR)
IF (OPUS_LIBRARY)
SET(OPUS_FOUND "YES")
ENDIF (OPUS_LIBRARY)
ENDIF (OPUS_INCLUDE_DIR)
MARK_AS_ADVANCED(
OPUS_INCLUDE_DIR
OPUS_LIBRARY
OPUS_FOUND
)

16
samples/sample_c/platform/linux/common/osal/osal.c
View File

@ -30,6 +30,10 @@
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static uint32_t s_localTimeMsOffset = 0;
static uint64_t s_localTimeUsOffset = 0;
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
@ -279,6 +283,12 @@ T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
gettimeofday(&time, NULL);
*ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
if (s_localTimeMsOffset == 0) {
s_localTimeMsOffset = *ms;
} else {
*ms = *ms - s_localTimeMsOffset;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
@ -289,6 +299,12 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
gettimeofday(&time, NULL);
*us = (time.tv_sec * 1000000 + time.tv_usec);
if (s_localTimeUsOffset == 0) {
s_localTimeUsOffset = *us;
} else {
*us = *us - s_localTimeMsOffset;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

28
samples/sample_c/platform/linux/manifold2/CMakeLists.txt
View File

@ -53,7 +53,33 @@ add_executable(${PROJECT_NAME}
${MODULE_SAMPLE_SRC}
${MODULE_COMMON_SRC}
${MODULE_HAL_SRC})
target_link_libraries(${PROJECT_NAME} m usb-1.0)
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
find_package(OPUS REQUIRED)
if (OPUS_FOUND)
message(STATUS "Found OPUS installed in the system")
message(STATUS " - Includes: ${OPUS_INCLUDE_DIR}")
message(STATUS " - Libraries: ${OPUS_LIBRARY}")
add_definitions(-DOPUS_INSTALLED)
target_link_libraries(${PROJECT_NAME} /usr/local/lib/libopus.a)
else ()
message(STATUS "Cannot Find OPUS")
endif (OPUS_FOUND)
find_package(LIBUSB REQUIRED)
if (LIBUSB_FOUND)
message(STATUS "Found LIBUSB installed in the system")
message(STATUS " - Includes: ${LIBUSB_INCLUDE_DIR}")
message(STATUS " - Libraries: ${LIBUSB_LIBRARY}")
add_definitions(-DLIBUSB_INSTALLED)
target_link_libraries(${PROJECT_NAME} usb-1.0)
else ()
message(STATUS "Cannot Find LIBUSB")
endif (LIBUSB_FOUND)
target_link_libraries(${PROJECT_NAME} m)
add_custom_command(TARGET ${PROJECT_NAME}
PRE_LINK COMMAND cmake ..

13
samples/sample_c/platform/linux/manifold2/application/main.c
View File

@ -162,6 +162,11 @@ int main(int argc, char **argv)
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction sample init error");
}
returnCode = DjiTest_WidgetSpeakerStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker test init error");
}
} else {
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
returnCode = DjiTest_CameraEmuBaseStartService();
@ -216,11 +221,9 @@ int main(int argc, char **argv)
#endif
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
returnCode = DjiTest_WidgetSpeakerStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker test init error");
}
returnCode = DjiTest_WidgetSpeakerStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker test init error");
}
#endif

23
samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.c
View File

@ -32,12 +32,16 @@
#define LINUX_USB_BULK_EP_OUT "/dev/usb-ffs/bulk/ep1"
#define LINUX_USB_BULK_EP_IN "/dev/usb-ffs/bulk/ep2"
#define LINUX_USB_PID (0x0955)
#define LINUX_USB_VID (0x7020)
#define LINUX_USB_PID (0x7020)
#define LINUX_USB_VID (0x0955)
/* Private types -------------------------------------------------------------*/
typedef struct {
#ifdef LIBUSB_INSTALLED
libusb_device_handle *handle;
#else
void *handle;
#endif
int32_t ep1;
int32_t ep2;
T_DjiHalUsbBulkInfo usbBulkInfo;
@ -59,6 +63,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
}
if (usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
ret = libusb_init(NULL);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@ -78,7 +83,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
#endif
} else {
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
@ -109,9 +114,11 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
osalHandler->TaskSleepMs(100);
libusb_exit(NULL);
#endif
} else {
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
@ -136,18 +143,21 @@ T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uin
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
(uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*realLen = actualLen;
#endif
} else {
*realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
@ -164,13 +174,16 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
if (ret < 0) {
USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*realLen = actualLen;
#endif
} else {
*realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
}

7
samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.h
View File

@ -38,10 +38,13 @@
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <libusb-1.0/libusb.h>
#include "dji_platform.h"
#ifdef LIBUSB_INSTALLED
#include <libusb-1.0/libusb.h>
#endif
#ifdef __cplusplus
extern "C" {
#endif

4
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/armgcc/CMakeLists.txt
View File

@ -46,7 +46,7 @@ include_directories(../../../../../module_sample
../../drivers/USB_HOST/App
../../drivers/BSP
../../hal/
../../osal/
../../../common/osal/
../../middlewares/Third_Party/FreeRTOS/Source/include
../../middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS
../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
@ -79,7 +79,7 @@ file(GLOB_RECURSE MODULE_SAMPLE_SRC
)
file(GLOB_RECURSE SOURCES
"../../osal/*.*"
"../../../common/osal/*.*"
"../../drivers/BSP/*.*"
"../../hal/*.*"
"../../drivers/USB_HOST/*.*"