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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
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@ -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);
}