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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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4
samples/sample_c/platform/linux/common/osal/osal_fs.c
View File

@ -271,7 +271,7 @@ T_DjiReturnCode Osal_Stat(const char *filePath, T_DjiFileInfo *fileInfo)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
fileTm = localtime(&(st.st_ctime));
fileTm = localtime(&(st.st_mtim));
if (fileTm == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -279,7 +279,7 @@ T_DjiReturnCode Osal_Stat(const char *filePath, T_DjiFileInfo *fileInfo)
fileInfo->size = st.st_size;
fileInfo->createTime.year = fileTm->tm_year + 1900 - 1980;
fileInfo->createTime.month = fileTm->tm_mon;
fileInfo->createTime.month = fileTm->tm_mon + 1;
fileInfo->createTime.day = fileTm->tm_mday;
fileInfo->createTime.hour = fileTm->tm_hour;
fileInfo->createTime.minute = fileTm->tm_min;

2
samples/sample_c/platform/linux/common/osal/osal_socket.c
View File

@ -124,7 +124,7 @@ T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipA
addr.sin_port = htons(port);
addr.sin_addr.s_addr = inet_addr(ipAddr);
ret = sendto(socketHandleStruct->socketFd, buf, len, MSG_DONTWAIT, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
ret = sendto(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
if (ret >= 0) {
*realLen = ret;
} else {

4
samples/sample_c/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.c
View File

@ -95,7 +95,7 @@ out:
}
T_DjiReturnCode DjiUpgradePlatformLinux_GetUpgradeRebootState(bool *isUpgradeReboot,
T_DjiUpgradeEndInfo *upgradeEndInfo)
T_DjiUpgradeEndInfo *upgradeEndInfo)
{
FILE *rebootStateFile;
size_t res;
@ -162,7 +162,7 @@ DjiUpgradePlatformLinux_WriteUpgradeProgramFile(uint32_t offset, const uint8_t *
}
T_DjiReturnCode DjiUpgradePlatformLinux_ReadUpgradeProgramFile(uint32_t offset, uint16_t readDataLen, uint8_t *data,
uint16_t *realLen)
uint16_t *realLen)
{
uint32_t readRtn;

2
samples/sample_c/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.h
View File

@ -38,7 +38,7 @@ extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define DJI_TEST_UPGRADE_OLD_FIRMWARE_PATH "/usr/local/bin/dji_sdk_demo"
#define DJI_TEST_UPGRADE_OLD_FIRMWARE_PATH "/usr/local/bin/dji_sdk_demo_linux"
#define DJI_TEST_UPGRADE_FILE_DIR "/upgrade/"
/* Exported types ------------------------------------------------------------*/

6
samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h
View File

@ -48,12 +48,14 @@ extern "C" {
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
#define CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
#define CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
/*!< Attention: This function needs to be used together with mobile sdk mop sample.
* */
//#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON

475
samples/sample_c/platform/linux/manifold2/application/main.c
View File

@ -30,25 +30,26 @@
#include <errno.h>
#include <signal.h>
#include <power_management/test_power_management.h>
#include <upgrade/test_upgrade.h>
#include <payload_collaboration/test_payload_collaboration.h>
#include <mop_channel/test_mop_channel.h>
#include <xport/test_payload_xport.h>
#include <gimbal_emu/test_payload_gimbal_emu.h>
#include <fc_subscription/test_fc_subscription.h>
#include <camera_emu/test_payload_cam_emu_media.h>
#include <camera_emu/test_payload_cam_emu_base.h>
#include <upgrade/test_upgrade.h>
#include <upgrade_platform_opt/upgrade_platform_opt_linux.h>
#include <mop_channel/test_mop_channel.h>
#include <payload_collaboration/test_payload_collaboration.h>
#include <xport/test_payload_xport.h>
#include "monitor/sys_monitor.h"
#include "osal/osal.h"
#include "osal/osal_fs.h"
#include "osal/osal_socket.h"
#include "upgrade_platform_opt/upgrade_platform_opt_linux.h"
#include "../hal/hal_uart.h"
#include "../hal/hal_network.h"
#include "../hal/hal_usb_bulk.h"
#include "dji_sdk_app_info.h"
#include "dji_aircraft_info.h"
#include "widget/test_widget.h"
#include "widget/test_widget_speaker.h"
#include "widget_interaction_test/test_widget_interaction.h"
#include "data_transmission/test_data_transmission.h"
#include "dji_sdk_config.h"
@ -59,9 +60,8 @@
#define DJI_LOG_FOLDER_NAME "Logs"
#define DJI_LOG_PATH_MAX_SIZE (128)
#define DJI_LOG_FOLDER_NAME_MAX_SIZE (32)
#define DJI_LOG_SYSTEM_CMD_MAX_SIZE (64)
#define DJI_LOG_MAX_COUNT (10)
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
#define DJI_USE_WIDGET_INTERACTION 0
@ -78,6 +78,7 @@ static FILE *s_djiLogFileCnt;
static pthread_t s_monitorThread = 0;
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void);
static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo);
static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
@ -85,7 +86,6 @@ static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path);
static void *DjiUser_MonitorTask(void *argument);
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit();
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState);
static bool DjiUser_CheckNetCableConnectStatus(void);
/* Exported functions definition ---------------------------------------------*/
int main(int argc, char **argv)
@ -93,7 +93,204 @@ int main(int argc, char **argv)
T_DjiReturnCode returnCode;
T_DjiUserInfo userInfo;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
DjiTestDataTransmissionConfig dataTransmissionConfig;
USER_UTIL_UNUSED(argc);
USER_UTIL_UNUSED(argv);
/*!< Step 1: Prepare system environment, such as osal, hal uart, console function and so on. */
returnCode = DjiUser_PrepareSystemEnvironment();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Prepare system environment error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
/*!< Step 2: Fill your application information in dji_sdk_app_info.h and use this interface to fill it. */
returnCode = DjiUser_FillInUserInfo(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Fill user info error, please check user info config");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
/*!< Step 3: Initialize the Payload SDK core by your application information. */
returnCode = DjiCore_Init(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Core init error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft base info error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set alias error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
/*!< Step 4: Initialize the selected modules by macros in dji_sdk_config.h . */
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
.pinInit = DjiTest_HighPowerApplyPinInit,
.pinWrite = DjiTest_WriteHighPowerApplyPin,
};
returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("regsiter apply high power handler error");
}
returnCode = DjiTest_PowerManagementStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("power management init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
returnCode = DjiTest_DataTransmissionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT &&
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK) {
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction sample init error");
}
} else {
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
returnCode = DjiTest_CameraEmuBaseStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu common init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
returnCode = DjiTest_CameraEmuMediaStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu media init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
returnCode = DjiTest_FcSubscriptionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("data subscription sample init error\n");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_XPORT_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
if (DjiTest_XPortStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk xport init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_ON
#if DJI_USE_WIDGET_INTERACTION
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction test init error");
}
#else
returnCode = DjiTest_WidgetStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
#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");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
returnCode = DjiTest_MopChannelStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mop channel sample init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
returnCode = DjiTest_PayloadCollaborationStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Payload collaboration sample init error\n");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
T_DjiTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
.rebootSystem = DjiUpgradePlatformLinux_RebootSystem,
.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = DjiUpgradePlatformLinux_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = DjiUpgradePlatformLinux_WriteUpgradeProgramFile,
.readUpgradeProgramFile = DjiUpgradePlatformLinux_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = DjiUpgradePlatformLinux_CloseUpgradeProgramFile,
.replaceOldProgram = DjiUpgradePlatformLinux_ReplaceOldProgram,
.setUpgradeRebootState = DjiUpgradePlatformLinux_SetUpgradeRebootState,
.getUpgradeRebootState = DjiUpgradePlatformLinux_GetUpgradeRebootState,
.cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = true
};
if (DjiTest_UpgradeStartService(&linuxUpgradePlatformOpt, testUpgradeConfig) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk upgrade init error");
}
#endif
}
/*!< Step 5: Tell the DJI Pilot you are ready. */
returnCode = DjiCore_ApplicationStart();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("start sdk application error");
}
if (pthread_create(&s_monitorThread, NULL, DjiUser_MonitorTask, NULL) != 0) {
USER_LOG_ERROR("create monitor task fail.");
}
if (pthread_setname_np(s_monitorThread, "monitor task") != 0) {
USER_LOG_ERROR("set name for monitor task fail.");
}
while (1) {
sleep(1);
}
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler osalHandler = {
.TaskCreate = Osal_TaskCreate,
.TaskDestroy = Osal_TaskDestroy,
@ -112,6 +309,7 @@ int main(int argc, char **argv)
.GetTimeMs = Osal_GetTimeMs,
.GetTimeUs = Osal_GetTimeUs,
};
T_DjiLoggerConsole printConsole = {
.func = DjiUser_PrintConsole,
.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO,
@ -121,7 +319,7 @@ int main(int argc, char **argv)
T_DjiLoggerConsole localRecordConsole = {
.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG,
.func = DjiUser_LocalWrite,
.isSupportColor = false,
.isSupportColor = true,
};
T_DjiHalUartHandler uartHandler = {
@ -227,211 +425,15 @@ int main(int argc, char **argv)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiUser_FillInUserInfo(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
osalHandler.TaskSleepMs(1000);
USER_LOG_ERROR("fill user info error, please check user info config");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiCore_Init(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("core init error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft base info error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set alias error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
dataTransmissionConfig.isEnableLowSpeedDataChannel = true;
dataTransmissionConfig.isEnableHighSpeedDataChannel = false;
returnCode = DjiTest_DataTransmissionStartService(dataTransmissionConfig);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("data transmission init error");
}
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction sample init error");
}
} else {
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
.pinInit = DjiTest_HighPowerApplyPinInit,
.pinWrite = DjiTest_WriteHighPowerApplyPin,
};
returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("regsiter apply high power handler error");
}
returnCode = DjiTest_PowerManagementStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("power management init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
returnCode = DjiTest_CameraEmuBaseStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu common init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
if (DjiUser_CheckNetCableConnectStatus() == true) {
returnCode = DjiTest_CameraEmuMediaStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu media init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
returnCode = DjiTest_FcSubscriptionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("data subscription sample init error\n");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_XPORT_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
if (DjiTest_XPortStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk xport init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_ON
#if DJI_USE_WIDGET_INTERACTION
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction test init error");
}
#else
returnCode = DjiTest_WidgetStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
#endif
#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
dataTransmissionConfig.isEnableLowSpeedDataChannel = true;
dataTransmissionConfig.isEnableHighSpeedDataChannel = DjiUser_CheckNetCableConnectStatus();
returnCode = DjiTest_DataTransmissionStartService(dataTransmissionConfig);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
returnCode = DjiTest_MopChannelStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mop channel sample init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
returnCode = DjiTest_PayloadCollaborationStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Payload collaboration sample init error\n");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
T_DjiTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
.rebootSystem = DjiUpgradePlatformLinux_RebootSystem,
.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = DjiUpgradePlatformLinux_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = DjiUpgradePlatformLinux_WriteUpgradeProgramFile,
.readUpgradeProgramFile = DjiUpgradePlatformLinux_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = DjiUpgradePlatformLinux_CloseUpgradeProgramFile,
.replaceOldProgram = DjiUpgradePlatformLinux_ReplaceOldProgram,
.setUpgradeRebootState = DjiUpgradePlatformLinux_SetUpgradeRebootState,
.getUpgradeRebootState = DjiUpgradePlatformLinux_GetUpgradeRebootState,
.cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_FTP,
.needReplaceProgramBeforeReboot = true
};
if (DjiTest_UpgradeStartService(&linuxUpgradePlatformOpt, testUpgradeConfig) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk upgrade init error");
}
#endif
}
returnCode = DjiCore_ApplicationStart();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("start sdk application error");
}
if (pthread_create(&s_monitorThread, NULL, DjiUser_MonitorTask, NULL) != 0) {
USER_LOG_ERROR("create monitor task fail.");
}
if (pthread_setname_np(s_monitorThread, "monitor task") != 0) {
USER_LOG_ERROR("set name for monitor task fail.");
}
while (1) {
sleep(1);
}
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
{
USER_UTIL_UNUSED(dataLen);
printf("%s", data);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
{
int32_t realLen;
if (s_djiLogFile == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
realLen = fwrite(data, 1, dataLen, s_djiLogFile);
fflush(s_djiLogFile);
if (realLen == dataLen) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
{
if (userInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
memset(userInfo->appName, 0, sizeof(userInfo->appName));
memset(userInfo->appId, 0, sizeof(userInfo->appId));
memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
@ -446,6 +448,7 @@ static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount) ||
strlen(USER_BAUD_RATE) > sizeof(userInfo->baudRate)) {
USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
sleep(1);
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
@ -457,6 +460,7 @@ static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
!strcmp(USER_BAUD_RATE, "your_baud_rate")) {
USER_LOG_ERROR(
"Please fill in correct user information to 'samples/sample_c/platform/linux/manifold2/application/dji_sdk_app_info.h' file.");
sleep(1);
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
@ -471,11 +475,37 @@ static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
{
USER_UTIL_UNUSED(dataLen);
printf("%s", data);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
{
uint32_t realLen;
if (s_djiLogFile == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
realLen = fwrite(data, 1, dataLen, s_djiLogFile);
fflush(s_djiLogFile);
if (realLen == dataLen) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
static T_DjiReturnCode 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(NULL);
struct tm *localTime = localtime(&currentTime);
@ -621,25 +651,4 @@ static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinSta
#pragma GCC diagnostic pop
static bool DjiUser_CheckNetCableConnectStatus(void)
{
FILE *fp;
char *ret = NULL;
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE] = {0};
char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
sprintf(systemCmd, "ifconfig %s | grep RUNNING", LINUX_NETWORK_DEV);
fp = popen(systemCmd, "r");
if (fp == NULL) {
return false;
}
ret = fgets(lineBuf, sizeof(lineBuf), fp);
if (ret == NULL) {
return false;
}
return true;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

1
samples/sample_c/platform/linux/manifold2/hal/hal_network.h
View File

@ -55,7 +55,6 @@ extern "C" {
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj);
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj);
#ifdef __cplusplus

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;

20
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c
View File

@ -78,10 +78,6 @@ void DjiUser_StartTask(void const *argument)
T_DjiReturnCode returnCode;
T_DjiUserInfo userInfo;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
DjiTestDataTransmissionConfig dataTransmissionConfig = {
.isEnableHighSpeedDataChannel = false,
.isEnableLowSpeedDataChannel = true,
};
T_DjiOsalHandler osalHandler = {
.TaskCreate = Osal_TaskCreate,
.TaskDestroy = Osal_TaskDestroy,
@ -165,19 +161,6 @@ void DjiUser_StartTask(void const *argument)
goto out;
}
if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
#if DJI_EXTENSION_PORT_SUPPORT
returnCode = DjiTest_DataTransmissionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("data transmission init error");
}
returnCode = DjiTest_WidgetStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
} else {
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
.pinInit = DjiTest_HighPowerApplyPinInit,
@ -218,7 +201,7 @@ void DjiUser_StartTask(void const *argument)
#endif
#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
returnCode = DjiTest_DataTransmissionStartService(dataTransmissionConfig);
returnCode = DjiTest_DataTransmissionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
@ -301,7 +284,6 @@ void DjiUser_StartTask(void const *argument)
printf("psdk upgrade init error");
}
#endif
}
returnCode = DjiCore_ApplicationStart();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

28
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h
View File

@ -34,34 +34,34 @@ extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
//#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_ON
//#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
#ifdef USE_BOOTLOADER
//#ifdef USE_BOOTLOADER
//Attention: If you don’t need to upgrade, you can uncomment it and change flash size from 0x70000 to 0xD0000 to build all functions.
#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
#endif
//#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
//#endif
#ifndef CONFIG_MODULE_SAMPLE_UPGRADE_ON
//#ifndef CONFIG_MODULE_SAMPLE_UPGRADE_ON
#define CONFIG_MODULE_SAMPLE_GIMBAL_ON
//#define CONFIG_MODULE_SAMPLE_GIMBAL_ON
#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
//#define CONFIG_MODULE_SAMPLE_CAMERA_ON
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
//#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
#define CONFIG_MODULE_SAMPLE_XPORT_ON
//#define CONFIG_MODULE_SAMPLE_XPORT_ON
#define CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
//#define CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
#define CONFIG_MODULE_SAMPLE_TIME_SYNC_ON
//#define CONFIG_MODULE_SAMPLE_TIME_SYNC_ON
#define CONFIG_MODULE_SAMPLE_POSITIONING_ON
//#define CONFIG_MODULE_SAMPLE_POSITIONING_ON
#endif
//#endif
/* Exported types ------------------------------------------------------------*/

15
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/mdk/mdk_app.uvprojx
View File

@ -500,6 +500,11 @@
</File>
<File>
<FileType>1</FileType>
<FileName>test_waypoint_v3.c</FileName>
<FilePath>..\..\..\..\..\module_sample\waypoint_v3\test_waypoint_v3.c</FilePath>
</File>
<File>
<FileType>1</FileType>
<FileName>test_widget.c</FileName>
<FilePath>..\..\..\..\..\module_sample\widget\test_widget.c</FilePath>
</File>
@ -510,6 +515,11 @@
</File>
<File>
<FileType>1</FileType>
<FileName>test_widget_speaker.c</FileName>
<FilePath>..\..\..\..\..\module_sample\widget\test_widget_speaker.c</FilePath>
</File>
<File>
<FileType>1</FileType>
<FileName>util_buffer.c</FileName>
<FilePath>..\..\..\..\..\module_sample\utils\util_buffer.c</FilePath>
</File>
@ -1025,6 +1035,11 @@
</File>
<File>
<FileType>5</FileType>
<FileName>dji_waypoint_v3.h</FileName>
<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_waypoint_v3.h</FilePath>
</File>
<File>
<FileType>5</FileType>
<FileName>dji_widget.h</FileName>
<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_widget.h</FilePath>
</File>