NEW: release DJI Payload-SDK version 3.1
Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
272
samples/sample_c++/platform/linux/common/osal/osal_socket.c
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272
samples/sample_c++/platform/linux/common/osal/osal_socket.c
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/**
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********************************************************************
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* @file osal_socket.c
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* @brief
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*
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* @copyright (c) 2021 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "osal_socket.h"
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <unistd.h>
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#include "stdlib.h"
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/* Private constants ---------------------------------------------------------*/
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typedef struct {
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int socketFd;
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} T_SocketHandleStruct;
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/* Private types -------------------------------------------------------------*/
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/* Private values -------------------------------------------------------------*/
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/* Private functions declaration ---------------------------------------------*/
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/* Exported functions definition ---------------------------------------------*/
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T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle)
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{
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T_SocketHandleStruct *socketHandleStruct;
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if (socketHandle == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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socketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
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if (socketHandleStruct == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
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}
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if (mode == DJI_SOCKET_MODE_UDP) {
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socketHandleStruct->socketFd = socket(PF_INET, SOCK_DGRAM, 0);
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} else if (mode == DJI_SOCKET_MODE_TCP) {
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socketHandleStruct->socketFd = socket(PF_INET, SOCK_STREAM, 0);
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} else {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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*socketHandle = socketHandleStruct;
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle)
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{
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T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
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int32_t ret;
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if (socketHandleStruct->socketFd <= 0) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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ret = close(socketHandleStruct->socketFd);
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if (ret < 0) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
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{
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T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
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struct sockaddr_in addr;
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int32_t ret;
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if (socketHandle == NULL || ipAddr == NULL || port == 0) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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bzero(&addr, sizeof(addr));
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addr.sin_family = AF_INET;
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addr.sin_port = htons(port);
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addr.sin_addr.s_addr = inet_addr(ipAddr);
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ret = bind(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
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if (ret < 0) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
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const uint8_t *buf, uint32_t len, uint32_t *realLen)
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{
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struct sockaddr_in addr;
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T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
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int32_t ret;
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if (socketHandle <= 0 || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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bzero(&addr, sizeof(addr));
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addr.sin_family = AF_INET;
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addr.sin_port = htons(port);
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addr.sin_addr.s_addr = inet_addr(ipAddr);
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ret = sendto(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
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if (ret >= 0) {
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*realLen = ret;
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} else {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
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uint8_t *buf, uint32_t len, uint32_t *realLen)
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{
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struct sockaddr_in addr;
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T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
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uint32_t addrLen = 0;
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int32_t ret;
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if (socketHandle == NULL || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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ret = recvfrom(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, &addrLen);
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if (ret >= 0) {
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*realLen = ret;
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strcpy(ipAddr, inet_ntoa(addr.sin_addr));
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*port = ntohs(addr.sin_port);
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} else {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle)
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{
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int32_t ret;
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T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
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if (socketHandle == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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ret = listen(socketHandleStruct->socketFd, 5);
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if (ret < 0) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
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T_DjiSocketHandle *outSocketHandle)
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{
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T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
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T_SocketHandleStruct *outSocketHandleStruct;
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struct sockaddr_in addr;
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uint32_t addrLen = 0;
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if (socketHandle == NULL || ipAddr == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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outSocketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
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if (outSocketHandleStruct == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
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}
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outSocketHandleStruct->socketFd = accept(socketHandleStruct->socketFd, (struct sockaddr *) &addr, &addrLen);
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if (outSocketHandleStruct->socketFd < 0) {
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free(outSocketHandleStruct);
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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*port = ntohs(addr.sin_port);
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*outSocketHandle = outSocketHandleStruct;
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
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{
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struct sockaddr_in addr;
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T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
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int32_t ret;
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if (socketHandle == NULL || ipAddr == NULL || port == 0) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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bzero(&addr, sizeof(addr));
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addr.sin_family = AF_INET;
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addr.sin_port = htons(port);
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addr.sin_addr.s_addr = inet_addr(ipAddr);
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ret = connect(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
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if (ret < 0) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
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const uint8_t *buf, uint32_t len, uint32_t *realLen)
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{
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T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
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int32_t ret;
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if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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ret = send(socketHandleStruct->socketFd, buf, len, 0);
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if (ret >= 0) {
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*realLen = ret;
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} else {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
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uint8_t *buf, uint32_t len, uint32_t *realLen)
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{
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T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
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int32_t ret;
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if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
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return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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ret = recv(socketHandleStruct->socketFd, buf, len, 0);
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if (ret >= 0) {
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*realLen = ret;
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} else {
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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/* Private functions definition-----------------------------------------------*/
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/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
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72
samples/sample_c++/platform/linux/common/osal/osal_socket.h
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72
samples/sample_c++/platform/linux/common/osal/osal_socket.h
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@ -0,0 +1,72 @@
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/**
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********************************************************************
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* @file osal_socket.h
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* @brief This is the header file for "osal_socket.c", defining the structure and
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* (exported) function prototypes.
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*
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* @copyright (c) 2021 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
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* and protected by trade secret or copyright law. Dissemination of this
|
||||
* information, including but not limited to data and other proprietary
|
||||
* material(s) incorporated within the information, in any form, is strictly
|
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* prohibited without the express written consent of DJI.
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||||
*
|
||||
* If you receive this source code without DJI’s authorization, you may not
|
||||
* further disseminate the information, and you must immediately remove the
|
||||
* source code and notify DJI of its removal. DJI reserves the right to pursue
|
||||
* legal actions against you for any loss(es) or damage(s) caused by your
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||||
* failure to do so.
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||||
*
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||||
*********************************************************************
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||||
*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef OSAL_SOCKET_H
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#define OSAL_SOCKET_H
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/* Includes ------------------------------------------------------------------*/
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#include "dji_platform.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle);
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T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle);
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T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
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T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
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const uint8_t *buf, uint32_t len, uint32_t *realLen);
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T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
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uint8_t *buf, uint32_t len, uint32_t *realLen);
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T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle);
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T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
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T_DjiSocketHandle *outSocketHandle);
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T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
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T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
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const uint8_t *buf, uint32_t len, uint32_t *realLen);
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T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
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uint8_t *buf, uint32_t len, uint32_t *realLen);
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#ifdef __cplusplus
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}
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#endif
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#endif // OSAL_SOCKET_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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