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NEW: release DJI Payload-SDK version 3.1

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2022-03-21 22:25:37 +08:00
parent 7b5f853e87
commit 0e06bc3fd3
62 changed files with 9042 additions and 348 deletions
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2
samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
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@ -26,11 +26,13 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
include_directories(../../../module_sample)
include_directories(../../../../sample_c/module_sample)
include_directories(../common)
file(GLOB_RECURSE MODULE_SAMPLE_SRC
../../../module_sample/liveview/*.c*
../../../module_sample/perception/*.c*
../../../../sample_c/module_sample/*.c
)
file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c*)
file(GLOB_RECURSE MODULE_HAL_SRC hal/*.c*)

28
samples/sample_c++/platform/linux/manifold2/application/application.cpp
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@ -32,8 +32,9 @@
#include "../common/osal/osal.h"
#include "../common/osal/osal_fs.h"
#include "../manifold2//hal/hal_usb_bulk.h"
#include "../manifold2//hal/hal_uart.h"
#include "../common/osal/osal_socket.h"
#include "../manifold2/hal/hal_usb_bulk.h"
#include "../manifold2/hal/hal_uart.h"
/* Private constants ---------------------------------------------------------*/
#define DJI_LOG_PATH "Logs/DJI"
@ -41,7 +42,7 @@
#define DJI_LOG_FOLDER_NAME "Logs"
#define DJI_LOG_PATH_MAX_SIZE (128)
#define DJI_LOG_FOLDER_NAME_MAX_SIZE (32)
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
#define DJI_LOG_SYSTEM_CMD_MAX_SIZE (64)
#define DJI_LOG_MAX_COUNT (10)
#define USER_UTIL_UNUSED(x) ((x) = (x))
@ -62,7 +63,7 @@ Application::Application(int argc, char **argv)
Application::DjiUser_SetupEnvironment();
Application::DjiUser_ApplicationStart();
Osal_TaskSleepMs(1000);
Osal_TaskSleepMs(3000);
}
Application::~Application()
@ -78,6 +79,18 @@ void Application::DjiUser_SetupEnvironment()
T_DjiLoggerConsole printConsole;
T_DjiLoggerConsole localRecordConsole;
T_DjiFileSystemHandler fileSystemHandler;
T_DjiSocketHandler socketHandler;
socketHandler.Socket = Osal_Socket;
socketHandler.Bind = Osal_Bind;
socketHandler.Close = Osal_Close;
socketHandler.UdpSendData = Osal_UdpSendData;
socketHandler.UdpRecvData = Osal_UdpRecvData;
socketHandler.TcpListen = Osal_TcpListen;
socketHandler.TcpAccept = Osal_TcpAccept;
socketHandler.TcpConnect = Osal_TcpConnect;
socketHandler.TcpSendData = Osal_TcpSendData;
socketHandler.TcpRecvData = Osal_TcpRecvData;
osalHandler.TaskCreate = Osal_TaskCreate;
osalHandler.TaskDestroy = Osal_TaskDestroy;
@ -145,6 +158,11 @@ void Application::DjiUser_SetupEnvironment()
throw std::runtime_error("Register hal usb bulk handler error.");
}
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("register osal socket handler error");
}
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Register osal filesystem handler error.");
@ -272,7 +290,7 @@ T_DjiReturnCode Application::DjiUser_LocalWriteFsInit(const char *path)
{
T_DjiReturnCode djiReturnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
char filePath[DJI_LOG_PATH_MAX_SIZE];
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
char systemCmd[DJI_LOG_SYSTEM_CMD_MAX_SIZE];
char folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
time_t currentTime = time(nullptr);
struct tm *localTime = localtime(&currentTime);

172
samples/sample_c++/platform/linux/manifold2/application/main.cpp
View File

@ -25,7 +25,22 @@
/* Includes ------------------------------------------------------------------*/
#include <liveview/test_liveview_entry.hpp>
#include <perception/test_perception_entry.hpp>
#include <flight_control/test_flight_control.h>
#include <hms/test_hms.h>
#include <waypoint_v2/test_waypoint_v2.h>
#include <waypoint_v3/test_waypoint_v3.h>
#include <gimbal_manager/test_gimbal_manager.h>
#include "application.hpp"
#include "fc_subscription/test_fc_subscription.h"
#include <gimbal_emu/test_payload_gimbal_emu.h>
#include <camera_emu/test_payload_cam_emu_media.h>
#include <camera_emu/test_payload_cam_emu_base.h>
#include <dji_logger.h>
#include "widget/test_widget.h"
#include "widget/test_widget_speaker.h"
#include <power_management/test_power_management.h>
#include "data_transmission/test_data_transmission.h"
#include <camera_manager/test_camera_manager.h>
/* Private constants ---------------------------------------------------------*/
@ -34,35 +49,182 @@
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit();
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState);
/* Exported functions definition ---------------------------------------------*/
int main(int argc, char **argv)
{
Application application(argc, argv);
char inputChar;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiReturnCode returnCode;
T_DjiTestApplyHighPowerHandler applyHighPowerHandler;
start:
std::cout
<< "\n"
<< "| Available commands: |\n"
<< "| [0] Camera stream view sample |\n"
<< "| [1] Stereo vision view sample |\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"
<< std::endl;
std::cin >> inputChar;
switch (inputChar) {
case '0':
DjiUser_RunCameraStreamViewSample();
DjiTest_FcSubscriptionRunSample();
break;
case '1':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_LANDING);
break;
case '2':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_POSITION_CTRL_LANDING);
break;
case '3':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_GO_HOME_FORCE_LANDING);
break;
case '4':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING);
break;
case '5':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING);
break;
case '6':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM);
break;
case '7':
DjiTest_HmsRunSample();
break;
case '8':
DjiTest_WaypointV2RunSample();
break;
case '9':
DjiTest_WaypointV3RunSample();
break;
case 'a':
DjiTest_GimbalManagerRunSample(DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1, DJI_GIMBAL_MODE_FREE);
break;
case 'b':
DjiTest_GimbalManagerRunSample(DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1, DJI_GIMBAL_MODE_YAW_FOLLOW);
break;
case 'c':
DjiUser_RunCameraStreamViewSample();
break;
case 'd':
DjiUser_RunStereoVisionViewSample();
break;
case 'e':
returnCode = DjiTest_CameraEmuBaseStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu common init error");
break;
}
if (DjiPlatform_GetSocketHandler() != NULL) {
returnCode = DjiTest_CameraEmuMediaStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu media init error");
break;
}
}
USER_LOG_INFO("Start camera all feautes sample successfully");
break;
case 'f':
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
break;
}
USER_LOG_INFO("Start gimbal all feautes sample successfully");
break;
case 'g':
returnCode = DjiTest_WidgetStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
break;
}
USER_LOG_INFO("Start widget all feautes sample successfully");
break;
case 'h':
returnCode = DjiTest_WidgetSpeakerStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker test init error");
break;
}
USER_LOG_INFO("Start widget speaker sample successfully");
break;
case 'i':
applyHighPowerHandler.pinInit = DjiTest_HighPowerApplyPinInit;
applyHighPowerHandler.pinWrite = DjiTest_WriteHighPowerApplyPin;
returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("regsiter apply high power handler error");
break;
}
returnCode = DjiTest_PowerManagementStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("power management init error");
break;
}
USER_LOG_INFO("Start power management sample successfully");
break;
case 'j':
returnCode = DjiTest_DataTransmissionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("data transmission sample init error");
break;
}
USER_LOG_INFO("Start data transmission sample successfully");
break;
case 'l':
DjiTest_CameraManagerRunSample(DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO);
break;
default:
break;
}
return 0;
osalHandler->TaskSleepMs(2000);
goto start;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit()
{
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState)
{
//attention: please pull up the HWPR pin state by hardware.
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

4
samples/sample_c++/platform/linux/manifold2/hal/hal_uart.c
View File

@ -28,7 +28,7 @@
/* Private constants ---------------------------------------------------------*/
#define UART_DEV_NAME_STR_SIZE (128)
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
#define DJI_SYSTEM_CMD_MAX_SIZE (64)
#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
/* Private types -------------------------------------------------------------*/
@ -48,7 +48,7 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
struct flock lock;
T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
char uartName[UART_DEV_NAME_STR_SIZE];
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
char systemCmd[DJI_SYSTEM_CMD_MAX_SIZE];
char *ret = NULL;
char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
FILE *fp;