NEW: release DJI Payload-SDK version 3.1

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

README.md

@@ -1,6 +1,6 @@
 # DJI Payload SDK (PSDK)
 
-![](https://img.shields.io/badge/version-V3.0.0-orange.svg)
+![](https://img.shields.io/badge/version-V3.1.0-orange.svg)
 ![](https://img.shields.io/badge/platform-linux_|_rtos-green.svg)
 ![](https://img.shields.io/badge/license-MIT-blue.svg)
 [![Join the chat at https://gitter.im/dji-sdk/Payload-SDK](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/dji-sdk/Payload-SDK?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
@@ -20,12 +20,12 @@ Documentation regarding the code can be found in the [PSDK API Reference](https:
 Please visit the [Latest Version Information](https://developer.dji.com/payload-sdk/documentation/appendix/firmware.html) to get the latest version information.
 
 ## Latest Release
-PSDK 3.0.0 was released on 20 October 2021. This version inherit the PSDK 2.2.1 existing functions (use X-Port or Skyport-V2 
+
-to develop payload), and add extension port existing functions(based on OSDK 4.1.0) support, add the DJI offline certificate 
+PSDK 3.1.0 was released on 21 March 2022. This version of Payload SDK mainly add some features support, such as add the 
-support, add the serial port baud rate adaptive support, add the arrest-flying feature support in flight-controller module, 
+Matrice 30/30T support, add the standard speaker widget support on M30/M30T, add the waypoint 3.0 support on M30/30T, add the 
-add the custom widget feature support on extend port, add the remote controller custom button mapping function support, 
+get camera laser ranging data support on M30/30T, add the power-off notification support on M300 RTK OSDK port, etc. At 
-add the DJI L1/P1 camera support in camera-manager module. Also enhance the camera media file download speed and fix some 
+the same time, we also fixed some bugs on the last version, add more sample support and add ESP32 toolchain support. 
-bugs on the last version. At the same time, add more api sample support and more toolchain support.
+Please refer to the release notes for detailed changes list.
 
 ## License
 

psdk_lib/include/dji_camera_manager.h

@@ -509,6 +509,17 @@ typedef struct {
     uint8_t progressInPercent;
 } T_DjiDownloadFilePacketInfo;
 
+typedef struct {
+    dji_f64_t longitude; /*! Range: [-180,180] */
+    dji_f64_t latitude; /*! Range: [-90,90] */
+    int32_t altitude; /*! Unit: 0.1m */
+    int32_t distance; /*! Unit: 0.1m */
+    int16_t screenX; /*! Unit: 0.1% */
+    int16_t screenY; /*! Unit: 0.1% */
+    bool enable_lidar;
+    bool exception;
+} T_DjiCameraManagerLaserRangingInfo;
+
 typedef T_DjiReturnCode (*DjiCameraManagerDownloadFileDataCallback)(T_DjiDownloadFilePacketInfo packetInfo,
                                                                     const uint8_t *data,
                                                                     uint16_t dataLen);
@@ -976,6 +987,14 @@ T_DjiReturnCode DjiCameraManager_DownloadFileByIndex(E_DjiMountPosition position
  */
 T_DjiReturnCode DjiCameraManager_DeleteFileByIndex(E_DjiMountPosition position, uint32_t fileIndex);
 
+/**
+ * @brief Get the camera laser ranging info of the selected camera mounted position.
+ * @param position: the mount position of the camera
+ * @param laserRangingInfo: the pointer to the camera laser ranging info
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetLaserRangingInfo(E_DjiMountPosition position,
+                                                     T_DjiCameraManagerLaserRangingInfo *laserRangingInfo);
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_core.h

@@ -55,7 +55,7 @@ typedef struct {
 
 /* Exported functions --------------------------------------------------------*/
 /**
- * @brief Initialize the Onboard SDK core in blocking mode.
+ * @brief Initialize the Payload SDK core in blocking mode.
  * @note The call location of this interface requires special attention, The call needs to be completed after the
  * registration of console/OSAL handler functions/HAL handler functions are completed. At the same time, it must be
  * initialized at the beginning of calling other functional module interfaces. You need to fill in the developer
@@ -82,7 +82,7 @@ T_DjiReturnCode DjiCore_Init(const T_DjiUserInfo *userInfo);
 T_DjiReturnCode DjiCore_SetAlias(const char *productAlias);
 
 /**
- * @brief Notify that the Onboard SDK core application starts.
+ * @brief Notify that the Payload SDK core application starts.
  * @note The call location of this interface requires special attention, The call needs to be completed after all the
  * module initialize and register interfaces.
  * @return Execution result.

psdk_lib/include/dji_typedef.h

@@ -90,6 +90,7 @@ typedef enum {
     DJI_AIRCRAFT_SERIES_UNKNOWN = 0,
     DJI_AIRCRAFT_SERIES_M200_V2 = 1,
     DJI_AIRCRAFT_SERIES_M300 = 2,
+    DJI_AIRCRAFT_SERIES_M30 = 3,
 } E_DjiAircraftSeries;
 
 typedef enum {
@@ -98,6 +99,8 @@ typedef enum {
     DJI_AIRCRAFT_TYPE_M210_V2 = 45, /*!< Aircraft type is Matrice 220 V2. */
     DJI_AIRCRAFT_TYPE_M210RTK_V2 = 46, /*!< Aircraft type is Matrice 210 RTK V2. */
     DJI_AIRCRAFT_TYPE_M300_RTK = 60, /*!< Aircraft type is Matrice 300 RTK. */
+    DJI_AIRCRAFT_TYPE_M30 = 67, /*!< Aircraft type is Matrice 30. */
+    DJI_AIRCRAFT_TYPE_M30T = 68, /*!< Aircraft type is Matrice 30T. */
 } E_DjiAircraftType;
 
 /**
@@ -113,6 +116,8 @@ typedef enum {
     DJI_CAMERA_TYPE_H20T = 43, /*!< Camera type is H20T. */
     DJI_CAMERA_TYPE_P1 = 50, /*!< Camera type is P1. */
     DJI_CAMERA_TYPE_L1, /*!< Camera type is L1. */
+    DJI_CAMERA_TYPE_M30, /*!< Camera type is M30. */
+    DJI_CAMERA_TYPE_M30T, /*!< Camera type is M30T. */
 } E_DjiCameraType;
 
 /**

psdk_lib/include/dji_version.h

@@ -28,24 +28,21 @@
 #define DJI_VERSION_H
 
 /* Includes ------------------------------------------------------------------*/
-
-
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /* Exported constants --------------------------------------------------------*/
 #define DJI_VERSION_MAJOR     3 /*!< DJI SDK major version num, when have incompatible API changes. Range from 0 to 99. */
-#define DJI_VERSION_MINOR     0 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
+#define DJI_VERSION_MINOR     1 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
 #define DJI_VERSION_MODIFY    0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
 #define DJI_VERSION_BETA      0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
-#define DJI_VERSION_BUILD     1462 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1491 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 
 /* Exported functions --------------------------------------------------------*/
 
-
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_waypoint_v2.h

@@ -36,9 +36,11 @@ extern "C" {
 #endif
 
 /* Exported constants --------------------------------------------------------*/
+
 /* Exported types ------------------------------------------------------------*/
 typedef T_DjiReturnCode (*WaypointV2EventCbFunc)(T_DjiWaypointV2MissionEventPush eventData);
 typedef T_DjiReturnCode (*WaypointV2StateCbFunc)(T_DjiWaypointV2MissionStatePush stateData);
+
 /* Exported functions --------------------------------------------------------*/
 /**
  * @brief Initialise waypoint v2 module, and user should call this function

psdk_lib/include/dji_waypoint_v3.h

@@ -0,0 +1,122 @@
+/**
+ ********************************************************************
+ * @file    dji_waypoint_v3.h
+ * @brief   This is the header file for "dji_waypoint_v3.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * 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
+ * prohibited without the express written consent of DJI.
+ *
+ * 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
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef DJI_WAYPOINT_V3_H
+#define DJI_WAYPOINT_V3_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+/**
+* @brief Waypoint v3 mission action.
+*/
+typedef enum {
+    DJI_WAYPOINT_V3_ACTION_START = 0, /*!< Waypoint v3 mission start action. */
+    DJI_WAYPOINT_V3_ACTION_STOP = 1, /*!< Waypoint v3 mission stop action. */
+    DJI_WAYPOINT_V3_ACTION_PAUSE = 2, /*!< Waypoint v3 mission pause action. */
+    DJI_WAYPOINT_V3_ACTION_RESUME = 3, /*!< Waypoint v3 mission resume action. */
+} E_DjiWaypointV3Action;
+
+/**
+*  Waypoint v3 current aircraft state.
+*/
+typedef enum {
+    DJI_WAYPOINT_V3_STATE_IDLE = 0, /*!< Waypoint v3 aircraft in idle state. */
+    DJI_WAYPOINT_V3_STATE_PREPARE = 16, /*!< Waypoint v3 aircraft in prepare state. */
+    DJI_WAYPOINT_V3_STATE_TRANS_MISSION = 32, /*!< Waypoint v3 aircraft in trans mission state. */
+    DJI_WAYPOINT_V3_STATE_MISSION = 48, /*!< Waypoint v3 aircraft in mission state. */
+    DJI_WAYPOINT_V3_STATE_BREAK = 64, /*!< Waypoint v3 aircraft in break state. */
+    DJI_WAYPOINT_V3_STATE_RESUME = 80, /*!< Waypoint v3 aircraft in resume state. */
+    DJI_WAYPOINT_V3_STATE_RETURN_FIRSTPOINT = 98, /*!< Waypoint v3 aircraft in return first point state. */
+} E_DjiWaypointV3State;
+
+/**
+*  Waypoint v3 mission state.
+*/
+typedef struct {
+    E_DjiWaypointV3State state; /*!< Waypoint v3 current aircraft state, #E_DjiWaypointV3State. */
+    uint32_t wayLineId; /*!< Waypoint v3 current way line id. */
+    uint16_t currentWaypointIndex; /*!< Waypoint v3 current waypoint index. */
+} T_DjiWaypointV3MissionState;
+
+/**
+ * @brief Prototype of callback function used to receive the waypoint v3 mission state.
+ * @warning User can not execute blocking style operations or functions in callback function, because that will block
+ * root thread, causing problems such as slow system response, payload disconnection or infinite loop.
+ * @param missionState: current waypoint v3 mission state.
+ * @return Execution result.
+ */
+typedef T_DjiReturnCode (*WaypointV3StateCallback)(T_DjiWaypointV3MissionState missionState);
+
+/* Exported functions --------------------------------------------------------*/
+/**
+ * @brief Initialise waypoint v3 module, and user should call this function.
+ * before using waypoint v3 features.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_Init(void);
+
+/**
+ * @brief Deinitialise waypoint v3 module.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_DeInit(void);
+
+/**
+ * @brief Upload kmz file by raw data.
+ * @note The size of kmz file is very small, you can use this interface to upload quickly.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_UploadKmzFile(const uint8_t *data, uint32_t dataLen);
+
+/**
+ * @brief Execute the mission action.
+ * @note This action should be called after uploading the kmz file.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_Action(E_DjiWaypointV3Action action);
+
+/**
+ * @brief Register the mission state callback for waypoint mission.
+ * @note If you want to monitor the state of waypoint mission, this interface should be called before uploading kmz
+ * file or executing this mission action.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_RegMissionStateCallback(WaypointV3StateCallback callback);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_WAYPOINT_V3_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

psdk_lib/include/dji_widget.h

@@ -66,6 +66,42 @@ typedef enum {
     DJI_WIDGET_SWITCH_STATE_ON = 1 /*!< Switch is turned on */
 } E_DjiWidgetSwitchState;
 
+/**
+ * @brief Switch widget speaker work mode.
+ */
+typedef enum {
+    DJI_WIDGET_SPEAKER_WORK_MODE_TTS,
+    DJI_WIDGET_SPEAKER_WORK_MODE_VOICE,
+} E_DjiWidgetSpeakerWorkMode;
+
+/**
+ * @brief Switch widget speaker play mode.
+ */
+typedef enum {
+    DJI_WIDGET_SPEAKER_PLAY_MODE_SINGLE_PLAY,
+    DJI_WIDGET_SPEAKER_PLAY_MODE_LOOP_PLAYBACK,
+} E_DjiWidgetSpeakerPlayMode;
+
+/**
+ * @brief Switch widget speaker state.
+ */
+typedef enum {
+    DJI_WIDGET_SPEAKER_STATE_IDEL,
+    DJI_WIDGET_SPEAKER_STATE_TRANSMITTING,
+    DJI_WIDGET_SPEAKER_STATE_PLAYING,
+    DJI_WIDGET_SPEAKER_STATE_ERROR,
+} E_DjiWidgetSpeakerState;
+
+/**
+ * @brief Switch widget transmit data event.
+ */
+typedef enum {
+    DJI_WIDGET_TRANSMIT_DATA_EVENT_START,
+    DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT,
+    DJI_WIDGET_TRANSMIT_DATA_EVENT_FINISH,
+    DJI_WIDGET_TRANSMIT_DATA_EVENT_ABORT,
+} E_DjiWidgetTransmitDataEvent;
+
 /**
  * @brief Widget file binary array.
  */
@@ -132,6 +168,45 @@ typedef struct {
     void *userData;
 } T_DjiWidgetHandlerListItem;
 
+typedef struct {
+    uint16_t size;
+    uint32_t uuid;
+    uint8_t md5Sum[16];
+} T_DjiWidgetTtsDataInfo;
+
+typedef struct {
+    uint16_t size;
+    uint32_t uuid;
+    uint8_t md5Sum[16];
+} T_DjiWidgetVoiceDataInfo;
+
+typedef struct {
+    E_DjiWidgetSpeakerState state;
+    E_DjiWidgetSpeakerWorkMode workMode;
+    E_DjiWidgetSpeakerPlayMode playMode;
+    uint8_t volume;
+    uint32_t uuid;
+} T_DjiWidgetSpeakerState;
+
+typedef struct {
+    T_DjiReturnCode (*GetSpeakerState)(T_DjiWidgetSpeakerState *speakerState);
+
+    T_DjiReturnCode (*SetWorkMode)(E_DjiWidgetSpeakerWorkMode workMode);
+    T_DjiReturnCode (*GetWorkMode)(E_DjiWidgetSpeakerWorkMode *workMode);
+    T_DjiReturnCode (*SetPlayMode)(E_DjiWidgetSpeakerPlayMode playMode);
+    T_DjiReturnCode (*GetPlayMode)(E_DjiWidgetSpeakerPlayMode *playMode);
+    T_DjiReturnCode (*SetVolume)(uint8_t volume);
+    T_DjiReturnCode (*GetVolume)(uint8_t *volume);
+
+    T_DjiReturnCode (*StartPlay)(void);
+    T_DjiReturnCode (*StopPlay)(void);
+
+    T_DjiReturnCode (*ReceiveTtsData)(E_DjiWidgetTransmitDataEvent event,
+                                      uint32_t offset, uint8_t *buf, uint16_t size);
+    T_DjiReturnCode (*ReceiveVoiceData)(E_DjiWidgetTransmitDataEvent event,
+                                        uint32_t offset, uint8_t *buf, uint16_t size);
+} T_DjiWidgetSpeakerHandler;
+
 /* Exported functions --------------------------------------------------------*/
 /**
  * @brief Initialise widget module, and user should call this function before using widget features.
@@ -215,6 +290,15 @@ T_DjiReturnCode DjiWidgetFloatingWindow_ShowMessage(const char *str);
  */
 T_DjiReturnCode DjiWidgetFloatingWindow_GetChannelState(T_DjiDataChannelState *state);
 
+/**
+ * @brief Register the handler for widget speaker function interfaces.
+ * @note This interface registers the widget speaker function interface, including speaker settings, play operation,
+ * speaker status interface.
+ * @param widgetSpeakerHandler: pointer to the handler for widget speaker functions.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWidget_RegSpeakerHandler(const T_DjiWidgetSpeakerHandler *widgetSpeakerHandler);
+
 #ifdef __cplusplus
 }
 #endif

samples/sample_c++/module_sample/perception/test_perception.cpp

@@ -25,6 +25,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include <stdexcept>
 #include "test_perception.hpp"
+#include "dji_logger.h"
 
 /* Private constants ---------------------------------------------------------*/
 
@@ -41,6 +42,11 @@ PerceptionSample::PerceptionSample()
 
     returnCode = DjiPerception_Init();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+
+        if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT) {
+            USER_LOG_ERROR("Perception feature will support on later version.");
+        }
+
         throw std::runtime_error("Perception init failed");
     }
 }

samples/sample_c++/platform/linux/common/osal/osal_socket.c

@@ -0,0 +1,272 @@
+/**
+ ********************************************************************
+ * @file    osal_socket.c
+ * @brief
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * 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
+ * prohibited without the express written consent of DJI.
+ *
+ * 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
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "osal_socket.h"
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include "stdlib.h"
+
+/* Private constants ---------------------------------------------------------*/
+typedef struct {
+    int socketFd;
+} T_SocketHandleStruct;
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle)
+{
+    T_SocketHandleStruct *socketHandleStruct;
+
+    if (socketHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    socketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
+    if (socketHandleStruct == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    if (mode == DJI_SOCKET_MODE_UDP) {
+        socketHandleStruct->socketFd = socket(PF_INET, SOCK_DGRAM, 0);
+    } else if (mode == DJI_SOCKET_MODE_TCP) {
+        socketHandleStruct->socketFd = socket(PF_INET, SOCK_STREAM, 0);
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    *socketHandle = socketHandleStruct;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle)
+{
+    T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
+    int32_t ret;
+
+    if (socketHandleStruct->socketFd <= 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = close(socketHandleStruct->socketFd);
+    if (ret < 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
+{
+    T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
+    struct sockaddr_in addr;
+    int32_t ret;
+
+    if (socketHandle == NULL || ipAddr == NULL || port == 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    bzero(&addr, sizeof(addr));
+    addr.sin_family = AF_INET;
+    addr.sin_port = htons(port);
+    addr.sin_addr.s_addr = inet_addr(ipAddr);
+
+    ret = bind(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
+    if (ret < 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
+                                 const uint8_t *buf, uint32_t len, uint32_t *realLen)
+{
+    struct sockaddr_in addr;
+    T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
+    int32_t ret;
+
+    if (socketHandle <= 0 || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    bzero(&addr, sizeof(addr));
+    addr.sin_family = AF_INET;
+    addr.sin_port = htons(port);
+    addr.sin_addr.s_addr = inet_addr(ipAddr);
+
+    ret = sendto(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
+    if (ret >= 0) {
+        *realLen = ret;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
+                                 uint8_t *buf, uint32_t len, uint32_t *realLen)
+{
+    struct sockaddr_in addr;
+    T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
+    uint32_t addrLen = 0;
+    int32_t ret;
+
+    if (socketHandle == NULL || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = recvfrom(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, &addrLen);
+    if (ret >= 0) {
+        *realLen = ret;
+        strcpy(ipAddr, inet_ntoa(addr.sin_addr));
+        *port = ntohs(addr.sin_port);
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle)
+{
+    int32_t ret;
+    T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
+
+    if (socketHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = listen(socketHandleStruct->socketFd, 5);
+    if (ret < 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
+                               T_DjiSocketHandle *outSocketHandle)
+{
+    T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
+    T_SocketHandleStruct *outSocketHandleStruct;
+    struct sockaddr_in addr;
+    uint32_t addrLen = 0;
+
+    if (socketHandle == NULL || ipAddr == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    outSocketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
+    if (outSocketHandleStruct == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    outSocketHandleStruct->socketFd = accept(socketHandleStruct->socketFd, (struct sockaddr *) &addr, &addrLen);
+    if (outSocketHandleStruct->socketFd < 0) {
+        free(outSocketHandleStruct);
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    *port = ntohs(addr.sin_port);
+    *outSocketHandle = outSocketHandleStruct;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
+{
+    struct sockaddr_in addr;
+    T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
+    int32_t ret;
+
+    if (socketHandle == NULL || ipAddr == NULL || port == 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    bzero(&addr, sizeof(addr));
+    addr.sin_family = AF_INET;
+    addr.sin_port = htons(port);
+    addr.sin_addr.s_addr = inet_addr(ipAddr);
+
+    ret = connect(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
+    if (ret < 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
+                                 const uint8_t *buf, uint32_t len, uint32_t *realLen)
+{
+    T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
+    int32_t ret;
+
+    if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = send(socketHandleStruct->socketFd, buf, len, 0);
+    if (ret >= 0) {
+        *realLen = ret;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
+                                 uint8_t *buf, uint32_t len, uint32_t *realLen)
+{
+    T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
+    int32_t ret;
+
+    if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = recv(socketHandleStruct->socketFd, buf, len, 0);
+    if (ret >= 0) {
+        *realLen = ret;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/platform/linux/common/osal/osal_socket.h

@@ -0,0 +1,72 @@
+/**
+ ********************************************************************
+ * @file    osal_socket.h
+ * @brief   This is the header file for "osal_socket.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * 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
+ * prohibited without the express written consent of DJI.
+ *
+ * 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
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef OSAL_SOCKET_H
+#define OSAL_SOCKET_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle);
+
+T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle);
+
+T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
+
+T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
+                                 const uint8_t *buf, uint32_t len, uint32_t *realLen);
+
+T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
+                                 uint8_t *buf, uint32_t len, uint32_t *realLen);
+
+T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle);
+
+T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
+                               T_DjiSocketHandle *outSocketHandle);
+
+T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
+
+T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
+                                 const uint8_t *buf, uint32_t len, uint32_t *realLen);
+
+T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
+                                 uint8_t *buf, uint32_t len, uint32_t *realLen);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // OSAL_SOCKET_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/platform/linux/manifold2/CMakeLists.txt

@@ -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*)

samples/sample_c++/platform/linux/manifold2/application/application.cpp

@@ -32,8 +32,9 @@
 
 #include "../common/osal/osal.h"
 #include "../common/osal/osal_fs.h"
-#include "../manifold2//hal/hal_usb_bulk.h"
+#include "../common/osal/osal_socket.h"
-#include "../manifold2//hal/hal_uart.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);

samples/sample_c++/platform/linux/manifold2/application/main.cpp

@@ -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"
+        << "| [0] Fc subscribe sample - subscribe quaternion and gps data                                 |\n"
-        << "| [1] Stereo vision view sample                              |\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****/

samples/sample_c++/platform/linux/manifold2/hal/hal_uart.c

@@ -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;

samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.c

@@ -1234,7 +1234,8 @@ T_DjiReturnCode DjiTest_CameraEmuBaseStartService(void)
 
     returnCode = DjiPayloadCamera_Init();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("payload camera init error:0x%08llX", returnCode);
+        USER_LOG_ERROR("init payload camera error:0x%08llX", returnCode);
+        return returnCode;
     }
 
     /* Init the SDcard parameters */

samples/sample_c/module_sample/camera_manager/test_camera_manager.c

@@ -51,6 +51,8 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
     {DJI_CAMERA_TYPE_H20T,    "Zenmuse H20T"},
     {DJI_CAMERA_TYPE_P1,      "Zenmuse P1"},
     {DJI_CAMERA_TYPE_L1,      "Zenmuse L1"},
+    {DJI_CAMERA_TYPE_M30,     "Zenmuse M30"},
+    {DJI_CAMERA_TYPE_M30T,    "Zenmuse M30T"},
 };
 
 static FILE *s_downloadMediaFile = NULL;

samples/sample_c/module_sample/data_transmission/test_data_transmission.c

@@ -48,10 +48,9 @@ static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len)
 /* Private variables ---------------------------------------------------------*/
 static T_DjiTaskHandle s_userDataTransmissionThread;
 static T_DjiAircraftInfoBaseInfo s_aircraftInfoBaseInfo;
-static DjiTestDataTransmissionConfig s_dataTransmissionConfig = {0};
 
 /* Exported functions definition ---------------------------------------------*/
-T_DjiReturnCode DjiTest_DataTransmissionStartService(DjiTestDataTransmissionConfig config)
+T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
 {
     T_DjiReturnCode djiStat;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
@@ -61,8 +60,6 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(DjiTestDataTransmissionConf
     char ipAddr[DJI_IP_ADDR_STR_SIZE_MAX];
     uint16_t port;
 
-    memcpy(&s_dataTransmissionConfig, &config, sizeof(DjiTestDataTransmissionConfig));
-
     djiStat = DjiLowSpeedDataChannel_Init();
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("init data transmission module error.");
@@ -179,7 +176,7 @@ static void *UserDataTransmission_Task(void *arg)
                 USER_LOG_ERROR("get send to onboard computer channel state error.");
             }
 
-            if (s_dataTransmissionConfig.isEnableHighSpeedDataChannel == true) {
+#ifdef SYSTEM_ARCH_LINUX
             djiStat = DjiHighSpeedDataChannel_SendDataStreamData(dataToBeSent, sizeof(dataToBeSent));
             if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
                 USER_LOG_ERROR("send data to data stream error.");
@@ -192,7 +189,7 @@ static void *UserDataTransmission_Task(void *arg)
             } else {
                 USER_LOG_ERROR("get data stream state error.");
             }
-            }
+#endif
         } else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
             channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
             djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));

samples/sample_c/module_sample/data_transmission/test_data_transmission.h

@@ -38,13 +38,10 @@ extern "C" {
 
 
 /* Exported types ------------------------------------------------------------*/
-typedef struct {
+
-    bool isEnableLowSpeedDataChannel;
-    bool isEnableHighSpeedDataChannel;
-} DjiTestDataTransmissionConfig;
 
 /* Exported functions --------------------------------------------------------*/
-T_DjiReturnCode DjiTest_DataTransmissionStartService(DjiTestDataTransmissionConfig config);
+T_DjiReturnCode DjiTest_DataTransmissionStartService(void);
 
 #ifdef __cplusplus
 }

samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c

@@ -147,7 +147,7 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
 
     USER_LOG_INFO("--> Step 3: Get latest value of the subscribed topics in the next 20s\r\n");
 
-    for (int i = 0; i < 20; ++i) {
+    for (int i = 0; i < 10; ++i) {
         osalHandler->TaskSleepMs(1000 / FC_SUBSCRIPTION_TASK_FREQ);
         djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY,
                                                           (uint8_t *) &velocity,

samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c

@@ -127,6 +127,12 @@ T_DjiReturnCode DjiTest_GimbalStartService(void)
     s_commonHandler.Reset = Reset;
     s_commonHandler.FineTuneAngle = FineTuneAngle;
 
+    djiStat = DjiFcSubscription_Init();
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("init data subscription module error.");
+        return djiStat;
+    }
+
     if (osalHandler->MutexCreate(&s_commonMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("mutex create error");
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
@@ -145,11 +151,13 @@ T_DjiReturnCode DjiTest_GimbalStartService(void)
     djiStat = DjiGimbal_Init();
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("init gimbal module error: 0x%08llX", djiStat);
+        return djiStat;
     }
 
     djiStat = DjiGimbal_RegCommonHandler(&s_commonHandler);
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("gimbal register common handler error: 0x%08llX", djiStat);
+        return djiStat;
     }
 
     if (osalHandler->TaskCreate("user_gimbal_task", UserGimbal_Task,
@@ -379,6 +387,14 @@ static void *UserGimbal_Task(void *arg)
 
     USER_UTIL_UNUSED(arg);
 
+    djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
+                                               NULL);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Subscribe topic quaternion error.");
+    } else {
+        USER_LOG_DEBUG("Subscribe topic quaternion success.");
+    }
+
     while (1) {
         osalHandler->TaskSleepMs(1000 / PAYLOAD_GIMBAL_TASK_FREQ);
         step++;

samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c

@@ -78,7 +78,6 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
         returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Target gimbal pry = (30, 0, 0) failed, error code: 0x%08X", returnCode);
-            goto out;
         }
 
         osalHandler->TaskSleepMs(1000);
@@ -88,7 +87,6 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
         returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Target gimbal pry = (0, 30, 0) failed, error code: 0x%08X", returnCode);
-            goto out;
         }
         osalHandler->TaskSleepMs(1000);
 
@@ -97,7 +95,6 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
         returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Target gimbal pry = (0, 0, 30) failed, error code: 0x%08X", returnCode);
-            goto out;
         }
         osalHandler->TaskSleepMs(1000);
 
@@ -105,7 +102,6 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
         returnCode = DjiGimbalManager_Reset(mountPosition);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
-            goto out;
         }
         osalHandler->TaskSleepMs(2000);
     }
@@ -119,7 +115,6 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
         returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Target gimbal pry = (30, 0, 0) failed, error code: 0x%08X", returnCode);
-            goto out;
         }
 
         osalHandler->TaskSleepMs(1000);
@@ -129,7 +124,6 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
         returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Target gimbal pry = (0, 30, 0) failed, error code: 0x%08X", returnCode);
-            goto out;
         }
         osalHandler->TaskSleepMs(1000);
 
@@ -138,7 +132,6 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
         returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Target gimbal pry = (0, 0, 30) failed, error code: 0x%08X", returnCode);
-            goto out;
         }
         osalHandler->TaskSleepMs(1000);
 
@@ -146,7 +139,6 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
         returnCode = DjiGimbalManager_Reset(mountPosition);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
-            goto out;
         }
         osalHandler->TaskSleepMs(2000);
     }

samples/sample_c/module_sample/hms/test_hms.c

@@ -78,7 +78,7 @@ T_DjiReturnCode DjiTest_HmsRunSample(void)
         goto out;
     }
 
-    osalHandler->TaskSleepMs(30000);
+    osalHandler->TaskSleepMs(10000);
 
 out:
     USER_LOG_INFO("--> Step 3: Deinit hms sample");

samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c

@@ -0,0 +1,161 @@
+/**
+ ********************************************************************
+ * @file    test_waypoint_v3.c
+ * @brief
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * 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
+ * prohibited without the express written consent of DJI.
+ *
+ * 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
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include <utils/util_file.h>
+#include <utils/util_misc.h>
+#include "test_waypoint_v3.h"
+#include "dji_logger.h"
+#include "dji_waypoint_v3.h"
+#include "waypoint_file_c/waypoint_v3_test_file_kmz.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX         (256)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionState missionState);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+#ifdef SYSTEM_ARCH_LINUX
+    FILE *kmzFile;
+    uint32_t kmzFileSize = 0;
+    uint8_t *kmzFileBuf;
+    uint16_t readLen;
+    char curFileDirPath[DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX];
+    char tempPath[DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX];
+
+    returnCode = DjiWaypointV3_Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Waypoint v3 init failed.");
+        return returnCode;
+    }
+
+    returnCode = DjiWaypointV3_RegMissionStateCallback(DjiTest_WaypointV3StateCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register waypoint v3 state callback failed.");
+        goto out;
+    }
+
+    returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX,
+                                                   curFileDirPath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
+        goto out;
+    }
+
+    /*! Attention: suggest use the exported kmz file by DJI pilot. If use this test file, you need set the longitude as
+     * 113.94755, latitude as 22.51853 on DJI Assistant 2 simulator */
+    snprintf(tempPath, DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX, "%s/waypoint_file/waypoint_v3_test_file.kmz",
+             curFileDirPath);
+
+    kmzFile = fopen(tempPath, "r");
+    if (kmzFile == NULL) {
+        USER_LOG_ERROR("Open kmz file failed.");
+        goto out;
+    }
+
+    returnCode = UtilFile_GetFileSize(kmzFile, &kmzFileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get kmz file size failed.");
+        goto out;
+    }
+
+    kmzFileBuf = osalHandler->Malloc(kmzFileSize);
+    if (kmzFileBuf == NULL) {
+        USER_LOG_ERROR("Malloc kmz file buf error.");
+        goto out;
+    }
+
+    readLen = fread(kmzFileBuf, 1, kmzFileSize, kmzFile);
+    if (readLen != kmzFileSize) {
+        USER_LOG_ERROR("Read kmz file data failed.");
+        goto out;
+    }
+
+    returnCode = DjiWaypointV3_UploadKmzFile(kmzFileBuf, kmzFileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Upload kmz file failed.");
+        goto out;
+    }
+
+    osalHandler->Free(kmzFileBuf);
+#else
+    returnCode = DjiWaypointV3_UploadKmzFile(waypoint_v3_test_file_kmz_fileBinaryArray,
+                                             waypoint_v3_test_file_kmz_fileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Upload kmz file failed.");
+        goto out;
+    }
+#endif
+
+    USER_LOG_INFO("Execute start action");
+    returnCode = DjiWaypointV3_Action(DJI_WAYPOINT_V3_ACTION_START);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Execute start action failed.");
+        goto out;
+    }
+
+    for (int i = 0; i < 30; ++i) {
+        osalHandler->TaskSleepMs(1000);
+    }
+
+    USER_LOG_INFO("Execute pause action");
+    returnCode = DjiWaypointV3_Action(DJI_WAYPOINT_V3_ACTION_PAUSE);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Execute start action failed.");
+        goto out;
+    }
+
+    for (int i = 0; i < 5; ++i) {
+        osalHandler->TaskSleepMs(1000);
+    }
+
+    USER_LOG_INFO("Execute resume action");
+    returnCode = DjiWaypointV3_Action(DJI_WAYPOINT_V3_ACTION_RESUME);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Execute start action failed.");
+        goto out;
+    }
+
+out:
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionState missionState)
+{
+    USER_LOG_INFO("Waypoint v3 mission state: %d, current waypoint index: %d, wayLine id: %d", missionState.state,
+                  missionState.currentWaypointIndex, missionState.wayLineId);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.h

@@ -0,0 +1,49 @@
+/**
+ ********************************************************************
+ * @file    test_waypoint_v3.h
+ * @brief   This is the header file for "test_waypoint_v3.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * 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
+ * prohibited without the express written consent of DJI.
+ *
+ * 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
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef TEST_WAYPOINT_V3_H
+#define TEST_WAYPOINT_V3_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_WaypointV3RunSample(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_WAYPOINT_V3_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c/module_sample/waypoint_v3/waypoint_file_c/waypoint_v3_test_file_kmz.h

@@ -0,0 +1,245 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __waypoint_v3_test_file_kmz_h_included
+#define __waypoint_v3_test_file_kmz_h_included
+
+#include <stdint.h>
+
+/* Contents of file waypoint_v3_test_file.kmz */
+#define waypoint_v3_test_file_kmz_fileName        "waypoint_v3_test_file.kmz"
+#define waypoint_v3_test_file_kmz_fileSize        3690
+
+static const uint8_t waypoint_v3_test_file_kmz_fileBinaryArray[3690] = {
+    0x50, 0x4B, 0x03, 0x04, 0x14, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x4E, 0xA8,
+    0x54, 0x6C, 0xA8, 0x06, 0x00, 0x00, 0xD9, 0x59, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x77, 0x70,
+    0x6D, 0x7A, 0x2F, 0x74, 0x65, 0x6D, 0x70, 0x6C, 0x61, 0x74, 0x65, 0x2E, 0x6B, 0x6D, 0x6C, 0xED,
+    0x9C, 0x6D, 0x6F, 0xDB, 0x36, 0x10, 0xC7, 0xDF, 0xF7, 0x53, 0x04, 0x79, 0xDD, 0xC5, 0xBC, 0x23,
+    0x8F, 0x0F, 0x85, 0xEB, 0xA2, 0xE8, 0x33, 0xB0, 0xA1, 0xC1, 0x9C, 0x2D, 0xAF, 0x55, 0x5B, 0x49,
+    0xB4, 0xCA, 0x92, 0x61, 0xCB, 0x75, 0xB3, 0x4F, 0xBF, 0x93, 0x2D, 0xD9, 0x92, 0xAD, 0xB4, 0x03,
+    0x38, 0x0C, 0x20, 0xC0, 0xA2, 0x40, 0x6B, 0x1D, 0x8F, 0xA2, 0xC8, 0x1F, 0x8F, 0xC7, 0xBF, 0x1E,
+    0xC6, 0xAF, 0xBE, 0x2F, 0xF2, 0x8B, 0x6F, 0xE9, 0x6A, 0x9D, 0x95, 0xC5, 0xCB, 0x4B, 0xB8, 0x12,
+    0x97, 0x17, 0x69, 0x31, 0x2B, 0xE7, 0x59, 0x71, 0xFF, 0xF2, 0xF2, 0x8F, 0x9B, 0xF7, 0xBF, 0xD8,
+    0xCB, 0x57, 0x93, 0x67, 0xE3, 0xAF, 0x5C, 0x8A, 0x4B, 0x16, 0xEB, 0x97, 0x97, 0x0F, 0x55, 0xB5,
+    0x7C, 0x31, 0x1A, 0x6D, 0xB7, 0xDB, 0xAB, 0x72, 0x99, 0x16, 0xF7, 0xD9, 0xFA, 0xAA, 0x48, 0xAB,
+    0x11, 0x97, 0x18, 0xE1, 0x15, 0x5E, 0xEE, 0x8B, 0xBD, 0xD8, 0x2E, 0x17, 0x79, 0xAF, 0xEC, 0xFC,
+    0xAF, 0xEC, 0x6A, 0x56, 0x2E, 0x46, 0x6C, 0xF8, 0x7B, 0xC4, 0xE7, 0xE1, 0x33, 0x4D, 0x9E, 0x5D,
+    0x5C, 0x8C, 0xDF, 0x96, 0xB3, 0xCD, 0x22, 0x2D, 0xAA, 0xFA, 0x07, 0xFF, 0xAC, 0xFD, 0x5E, 0xCC,
+    0x56, 0x69, 0x52, 0xA5, 0x37, 0xD9, 0x22, 0x9D, 0x80, 0x56, 0x46, 0xA2, 0xB1, 0x92, 0xA4, 0xC3,
+    0xF1, 0xE8, 0xD4, 0xDC, 0x71, 0xDA, 0x2C, 0xE7, 0x27, 0x4E, 0xCE, 0x19, 0x00, 0xD3, 0x38, 0x75,
+    0xCC, 0x1D, 0xA7, 0x45, 0xB6, 0xAE, 0xAF, 0xFC, 0x4D, 0x59, 0xDC, 0x65, 0xF7, 0x7B, 0x43, 0x6B,
+    0xBA, 0xCB, 0x1F, 0x6F, 0xCA, 0xDB, 0xE4, 0x31, 0xCF, 0x8A, 0xF4, 0xB7, 0x72, 0x9E, 0x4E, 0xD6,
+    0xC9, 0x5D, 0x9A, 0x3F, 0x36, 0xD5, 0x9D, 0x59, 0xFB, 0xBE, 0x59, 0x91, 0xAD, 0x1F, 0x5E, 0xCF,
+    0x2A, 0xAE, 0x7B, 0x72, 0x5F, 0x7E, 0x2C, 0x17, 0x69, 0xEB, 0xD7, 0xB5, 0xF4, 0x7C, 0xD2, 0xEF,
+    0x59, 0xF5, 0xB9, 0xF8, 0xFD, 0xCD, 0xAF, 0xE5, 0xBA, 0x62, 0x1F, 0x6E, 0x52, 0x95, 0x15, 0x9B,
+    0xD6, 0xAF, 0x67, 0xED, 0xF9, 0x55, 0xC9, 0xD7, 0xF4, 0xF3, 0xDD, 0xDD, 0x34, 0x9D, 0x6D, 0x56,
+    0x59, 0xF5, 0xF8, 0x31, 0xCD, 0xEE, 0x1F, 0xAA, 0x09, 0x8A, 0xC6, 0x71, 0xD8, 0xDC, 0xAB, 0xE1,
+    0x3E, 0x2F, 0xBF, 0x24, 0xF9, 0xCD, 0x2A, 0x29, 0xD6, 0x59, 0xDD, 0xAE, 0x24, 0x9F, 0x2E, 0xD3,
+    0x74, 0x3E, 0xA1, 0xA6, 0x8A, 0xA7, 0xEC, 0xBD, 0x4A, 0xE6, 0xAB, 0xB2, 0x48, 0x3F, 0x15, 0x77,
+    0x65, 0x7B, 0xB8, 0x67, 0x78, 0x57, 0x6C, 0x16, 0x7F, 0x26, 0xF9, 0x26, 0x9D, 0xE8, 0x76, 0x40,
+    0x4E, 0x8E, 0x0F, 0x79, 0x4D, 0x37, 0x5F, 0x8E, 0x05, 0x44, 0xD7, 0xAF, 0x67, 0x69, 0xDB, 0x31,
+    0x1A, 0x6E, 0xC8, 0xBE, 0xC2, 0x25, 0x8F, 0x55, 0x99, 0xCC, 0x87, 0x5A, 0xD8, 0x98, 0x8E, 0x15,
+    0x52, 0x4B, 0xDA, 0x99, 0x65, 0xD8, 0x73, 0xB0, 0x9D, 0x43, 0xB6, 0x61, 0xF7, 0xEB, 0x72, 0xDF,
+    0xAF, 0x9F, 0x8A, 0x79, 0xFA, 0xFD, 0xD4, 0xBF, 0x6F, 0xEC, 0x5F, 0xEA, 0xD9, 0x35, 0x35, 0xC7,
+    0x07, 0xA8, 0x1E, 0xBF, 0x2F, 0xF3, 0x79, 0xBA, 0x3A, 0x41, 0x27, 0x5D, 0x2C, 0xF3, 0x7A, 0x56,
+    0x3C, 0x2E, 0xD3, 0xC9, 0x36, 0x79, 0x5C, 0x96, 0x59, 0x51, 0xB5, 0xDC, 0x74, 0x6D, 0x3D, 0xAF,
+    0xCD, 0x3A, 0xFD, 0xF0, 0x04, 0x11, 0x6D, 0xDB, 0x7F, 0x50, 0x64, 0xB0, 0x01, 0x9F, 0x8E, 0xAE,
+    0x9D, 0x43, 0xBD, 0xA2, 0xDB, 0xFD, 0x5C, 0x7B, 0x53, 0x96, 0x2B, 0x0E, 0x4E, 0x5C, 0x60, 0xFA,
+    0xB8, 0xBE, 0x4E, 0x56, 0xC9, 0xE2, 0xB4, 0x53, 0x67, 0x87, 0x12, 0xBB, 0x79, 0x79, 0xFB, 0x61,
+    0x6A, 0x55, 0x1B, 0x38, 0xFA, 0xA6, 0x13, 0xC7, 0x87, 0xDD, 0xD4, 0xD8, 0x59, 0x56, 0x29, 0x37,
+    0x21, 0xFB, 0x96, 0xDE, 0x94, 0xD3, 0x2A, 0x59, 0x55, 0xD7, 0x9D, 0x7E, 0xE9, 0x94, 0x3A, 0xF1,
+    0xDF, 0x4F, 0x93, 0x66, 0x82, 0x81, 0x10, 0xBD, 0xD9, 0xD3, 0x9F, 0x77, 0x07, 0x00, 0x9A, 0xC1,
+    0xE5, 0x68, 0xBB, 0xEB, 0xE7, 0x0F, 0xD7, 0xD3, 0x76, 0x68, 0x4F, 0x2C, 0xFD, 0x81, 0xFF, 0x69,
+    0x67, 0xEC, 0xAB, 0x4F, 0x36, 0x55, 0xF9, 0x3E, 0xAF, 0x4F, 0xDC, 0x9F, 0xD0, 0xA7, 0xC7, 0xFB,
+    0x63, 0xF2, 0x64, 0x1C, 0x38, 0xB7, 0xF4, 0x1C, 0x67, 0x49, 0x9E, 0xED, 0x6B, 0x7D, 0x57, 0x24,
+    0x5F, 0xF2, 0xE3, 0x4C, 0x38, 0x33, 0xF4, 0xA3, 0x4F, 0xB6, 0xE0, 0xFE, 0xB9, 0xCE, 0xAA, 0xD9,
+    0xC3, 0xAE, 0x57, 0x17, 0x49, 0xB1, 0x49, 0xF2, 0xB6, 0xF3, 0x4E, 0x8C, 0x03, 0x71, 0xEB, 0xB6,
+    0xE1, 0xF6, 0x63, 0x9A, 0xD4, 0xAB, 0xD6, 0x20, 0x13, 0xDB, 0x7E, 0x99, 0x5D, 0x55, 0x77, 0x65,
+    0x9E, 0x97, 0xDB, 0x26, 0x84, 0x1F, 0xFB, 0xF5, 0xAC, 0xDC, 0x8F, 0xAB, 0x7A, 0x5D, 0xDC, 0x77,
+    0xAE, 0x74, 0xD0, 0xF8, 0x44, 0x05, 0x0C, 0xD5, 0x8E, 0xAB, 0x09, 0x2F, 0x85, 0xBB, 0x3F, 0xCF,
+    0xCF, 0xFE, 0x73, 0x52, 0xEB, 0xC1, 0xE3, 0x5F, 0x34, 0xE9, 0x64, 0x08, 0x7E, 0x50, 0xA4, 0x4F,
+    0xD6, 0xCF, 0xFB, 0x74, 0xA8, 0xEF, 0x6F, 0x36, 0xAB, 0x62, 0xD7, 0x59, 0x55, 0xB9, 0x6B, 0xE1,
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+    0xEB, 0x2A, 0x69, 0xFA, 0xED, 0xA7, 0xD0, 0x63, 0xA6, 0xD8, 0x1A, 0x1E, 0x86, 0xEF, 0x3E, 0x3F,
+    0x1F, 0xE1, 0xFB, 0xFF, 0x00, 0x4D, 0xD6, 0x80, 0x52, 0xE1, 0x37, 0xB6, 0x40, 0x93, 0x51, 0x5A,
+    0x13, 0x21, 0xEA, 0x48, 0xA0, 0x51, 0x80, 0x16, 0xA0, 0x05, 0xE8, 0xA1, 0x81, 0x56, 0xA8, 0x94,
+    0x73, 0xDA, 0xF8, 0x16, 0x68, 0x15, 0x9C, 0x35, 0x2B, 0x6B, 0xB5, 0x76, 0x91, 0x40, 0x93, 0x00,
+    0x2D, 0x40, 0x0B, 0xD0, 0x43, 0x03, 0x1D, 0x10, 0x06, 0xEF, 0xC9, 0x9B, 0x8E, 0xE7, 0x30, 0xFE,
+    0xD6, 0xA0, 0x0D, 0xAA, 0x48, 0x9E, 0x95, 0xF0, 0x2C, 0x3C, 0x0B, 0xCF, 0x43, 0xF3, 0x6C, 0x9C,
+    0x22, 0x46, 0x26, 0xE8, 0x1C, 0xB4, 0x32, 0x0C, 0xDA, 0x72, 0xF8, 0x13, 0x09, 0xB4, 0x16, 0xA0,
+    0x05, 0x68, 0x01, 0x7A, 0x68, 0xA0, 0xAD, 0xB5, 0xC4, 0xCC, 0x06, 0x76, 0x53, 0x68, 0x8D, 0x9E,
+    0xB4, 0x05, 0x1D, 0xBB, 0x26, 0xC6, 0x02, 0xB4, 0x00, 0x2D, 0x40, 0x0F, 0x0D, 0xB4, 0x53, 0xE1,
+    0x5F, 0x33, 0xE2, 0xD6, 0x5B, 0xA0, 0xC1, 0x29, 0x8B, 0x60, 0x08, 0x28, 0x76, 0x0A, 0x6D, 0x04,
+    0x68, 0x01, 0x5A, 0x80, 0x1E, 0xDE, 0x43, 0x7B, 0xCF, 0xC0, 0x0A, 0xB6, 0x73, 0x68, 0xF4, 0xAC,
+    0xC3, 0x8C, 0x1A, 0xC2, 0x58, 0x3C, 0xD6, 0x43, 0x5B, 0x01, 0x5A, 0x80, 0x16, 0xA0, 0x07, 0x9F,
+    0x43, 0x7B, 0xE5, 0x9D, 0x33, 0x4C, 0xAE, 0x05, 0x5A, 0x03, 0xF3, 0xE6, 0xC5, 0xB9, 0x8D, 0x04,
+    0xDA, 0x09, 0xD0, 0x02, 0xB4, 0x00, 0x3D, 0x38, 0xD0, 0x0A, 0x9D, 0x41, 0x6F, 0x1D, 0x6D, 0x81,
+    0x76, 0xD6, 0x31, 0x80, 0x82, 0xE8, 0x45, 0x6E, 0x2F, 0x3C, 0x0B, 0xCF, 0xC2, 0xF3, 0xD0, 0x3C,
+    0x6B, 0xCB, 0x2E, 0x38, 0x64, 0xC5, 0xED, 0x88, 0xDB, 0x79, 0xEB, 0x81, 0x2C, 0x10, 0x9B, 0x48,
+    0xA0, 0x51, 0x84, 0x62, 0x42, 0xB4, 0x10, 0x3D, 0xBC, 0xAE, 0x44, 0x19, 0xEF, 0x98, 0xBC, 0x7E,
+    0x18, 0x72, 0x03, 0x87, 0x11, 0x38, 0x42, 0xAC, 0x8B, 0x46, 0x51, 0x8A, 0x09, 0xD1, 0x42, 0xF4,
+    0xF0, 0xD2, 0x4F, 0xC5, 0x4A, 0x69, 0x6F, 0xBC, 0x6E, 0x89, 0xF6, 0xCE, 0x80, 0x31, 0x26, 0x38,
+    0xE9, 0x58, 0xA2, 0x45, 0x2A, 0x26, 0x44, 0x0B, 0xD1, 0x83, 0x13, 0x0D, 0xCE, 0x35, 0x4A, 0x6E,
+    0x43, 0xB8, 0x7B, 0x71, 0xA5, 0x6C, 0x03, 0x35, 0xC6, 0x2E, 0x8B, 0xA1, 0x88, 0xC5, 0x84, 0x68,
+    0x21, 0x7A, 0x70, 0xA2, 0x11, 0xD1, 0x5B, 0xE3, 0x74, 0x2B, 0xFE, 0x44, 0x63, 0x54, 0x40, 0x1A,
+    0x55, 0xF4, 0xE6, 0x0C, 0xD1, 0x8A, 0x09, 0xCF, 0xC2, 0xF3, 0xF0, 0x3C, 0x3B, 0x56, 0xC6, 0x81,
+    0xB5, 0x1D, 0xD0, 0xDE, 0x06, 0x77, 0x1D, 0x66, 0xD5, 0x14, 0x4D, 0xB4, 0x88, 0xC5, 0x84, 0x68,
+    0x21, 0x7A, 0xF8, 0x75, 0x31, 0x32, 0xD6, 0x93, 0x71, 0xCA, 0xB7, 0x44, 0x5B, 0x05, 0xDE, 0x59,
+    0x64, 0x1B, 0xBD, 0xD2, 0x2D, 0x6A, 0x31, 0x21, 0x5A, 0x88, 0x1E, 0xFE, 0xDD, 0x95, 0x22, 0x85,
+    0x61, 0xD0, 0x6D, 0x54, 0xE7, 0xA3, 0xD9, 0x93, 0x75, 0x64, 0x20, 0x7A, 0x5D, 0x4C, 0xE4, 0x62,
+    0x42, 0xB4, 0x10, 0x3D, 0xFC, 0x16, 0x4A, 0xC3, 0x01, 0x5F, 0xC6, 0x8E, 0x67, 0x03, 0x14, 0xC2,
+    0x00, 0x62, 0xD5, 0x9F, 0x28, 0x6A, 0x31, 0xE1, 0x59, 0x78, 0x1E, 0x5E, 0x2D, 0xD6, 0xC8, 0xB7,
+    0x19, 0xAD, 0x6D, 0xC7, 0xDC, 0xE0, 0xD9, 0x90, 0xD3, 0xC8, 0x3E, 0xFA, 0x5D, 0xB4, 0xE8, 0xC5,
+    0x84, 0x68, 0x21, 0x7A, 0x78, 0x0F, 0xED, 0x91, 0x75, 0xA0, 0x9A, 0x3B, 0xA2, 0x0D, 0x31, 0x83,
+    0x07, 0x03, 0xB1, 0xB3, 0xE8, 0xDD, 0xB9, 0x82, 0x42, 0xB4, 0x10, 0x2D, 0x44, 0x0F, 0x78, 0x6C,
+    0x09, 0x38, 0xDD, 0x4C, 0xA4, 0x3B, 0xA2, 0x59, 0x03, 0x19, 0x0A, 0xA3, 0xEF, 0xE8, 0x73, 0x88,
+    0x44, 0x2F, 0x26, 0x44, 0x0B, 0xD1, 0xC3, 0xAF, 0x8B, 0x99, 0x30, 0x6B, 0x66, 0x85, 0xE8, 0x76,
+    0xEA, 0x12, 0x40, 0xB0, 0x2A, 0x78, 0xED, 0x58, 0xA2, 0x45, 0x2F, 0x26, 0x44, 0x0B, 0xD1, 0xC3,
+    0x13, 0x0D, 0x48, 0xAC, 0x34, 0x99, 0xEE, 0x6D, 0xB4, 0x22, 0xAF, 0x98, 0xD9, 0x5B, 0x8C, 0x25,
+    0x5A, 0xF4, 0x62, 0x42, 0xB4, 0x10, 0xFD, 0x0C, 0x9A, 0x6E, 0xAF, 0x1D, 0x68, 0x24, 0xEA, 0x56,
+    0xC6, 0x8C, 0x53, 0xCD, 0x6E, 0xE9, 0x68, 0x17, 0x2D, 0x82, 0x31, 0x01, 0x5A, 0x80, 0x1E, 0x5E,
+    0x5E, 0x62, 0x3C, 0x87, 0x59, 0xB4, 0xE2, 0x96, 0x67, 0xB0, 0x96, 0x39, 0x5C, 0x46, 0x2B, 0xBA,
+    0x49, 0xF4, 0x62, 0x02, 0xB4, 0x00, 0x3D, 0xFC, 0x98, 0xDB, 0x11, 0x39, 0x04, 0x52, 0xB6, 0xDD,
+    0x75, 0x65, 0x8D, 0x56, 0xA8, 0x35, 0x71, 0xB4, 0x8B, 0x16, 0xBD, 0x98, 0x10, 0x2D, 0x44, 0x0F,
+    0xFF, 0x36, 0x1A, 0x49, 0x6D, 0x56, 0xB7, 0x3B, 0xA2, 0x1D, 0x21, 0xD8, 0xC0, 0xB8, 0x8A, 0xD5,
+    0x97, 0x90, 0xE8, 0xC5, 0x84, 0x68, 0x21, 0x7A, 0xF8, 0xF3, 0x02, 0x81, 0x8D, 0x52, 0xF4, 0x30,
+    0x8B, 0x46, 0x76, 0x01, 0x70, 0x07, 0x14, 0xFD, 0x36, 0x5A, 0x14, 0x63, 0x42, 0xB4, 0x10, 0x3D,
+    0x3C, 0xD1, 0x61, 0x88, 0x6D, 0x91, 0xD1, 0xEC, 0xED, 0x8C, 0x46, 0xCD, 0x88, 0xCE, 0xC7, 0x12,
+    0x2D, 0x8A, 0x31, 0x21, 0x5A, 0x88, 0x7E, 0x8E, 0x23, 0x40, 0x9D, 0x06, 0xED, 0xD9, 0x75, 0x5B,
+    0xA3, 0xD9, 0x5A, 0x76, 0x9A, 0x21, 0x96, 0x68, 0x25, 0x8A, 0x31, 0x21, 0x5A, 0x88, 0x7E, 0x06,
+    0x55, 0x37, 0xDA, 0xE0, 0xA8, 0xA9, 0x1B, 0x75, 0x13, 0x37, 0xDD, 0xC4, 0xDB, 0xE8, 0xC3, 0x0E,
+    0x94, 0x08, 0xC6, 0x04, 0x68, 0x01, 0x7A, 0x78, 0x09, 0xA8, 0xF2, 0x6C, 0x59, 0xA3, 0x6E, 0x37,
+    0x52, 0x92, 0xB5, 0x16, 0x9B, 0xBD, 0x57, 0x14, 0xED, 0xA2, 0x45, 0x30, 0x26, 0x44, 0x0B, 0xD1,
+    0xCF, 0x20, 0x01, 0x6D, 0x86, 0xDC, 0xE0, 0x3B, 0x0F, 0xED, 0x11, 0xC9, 0x58, 0x8A, 0x5F, 0xE9,
+    0x56, 0xA2, 0x17, 0x13, 0xA0, 0x05, 0xE8, 0xE1, 0xE5, 0x25, 0xCE, 0x20, 0xA2, 0xB5, 0x60, 0x77,
+    0x2E, 0x5A, 0x23, 0xB0, 0x37, 0x3A, 0x56, 0x5F, 0xA2, 0x44, 0x30, 0x26, 0x44, 0x0B, 0xD1, 0xCF,
+    0x71, 0x1E, 0x11, 0x13, 0xA2, 0x6B, 0xCF, 0xE9, 0xA6, 0xE6, 0xDB, 0xA3, 0x19, 0x95, 0x75, 0xD1,
+    0xFB, 0xAE, 0x94, 0x28, 0xC6, 0x84, 0x68, 0x21, 0xFA, 0x19, 0x4E, 0xDE, 0x07, 0x20, 0xF6, 0x61,
+    0x26, 0xDD, 0x7E, 0x97, 0x86, 0x69, 0xBE, 0xBB, 0x0E, 0x0C, 0x63, 0xF4, 0xA8, 0x5B, 0x14, 0x63,
+    0x42, 0xB4, 0x10, 0x3D, 0xFC, 0x29, 0xA0, 0x36, 0xCC, 0xA1, 0x1D, 0xEE, 0xBE, 0x8F, 0xD2, 0x81,
+    0x65, 0x13, 0xC6, 0xDD, 0x46, 0xC7, 0x9E, 0x5F, 0xA2, 0x44, 0x31, 0x26, 0x44, 0x0B, 0xD1, 0xC3,
+    0xEF, 0xBB, 0xD2, 0xC6, 0xB3, 0x53, 0x9A, 0xDB, 0xA5, 0x6E, 0x1D, 0x18, 0x07, 0x85, 0xDA, 0x9B,
+    0xE8, 0x79, 0xB4, 0x28, 0xC6, 0x84, 0x68, 0x21, 0xFA, 0x97, 0x89, 0x9E, 0x8C, 0xCF, 0xCB, 0x7C,
+    0x9E, 0x56, 0xCD, 0xD5, 0x64, 0x7C, 0x56, 0xCE, 0xD6, 0x8B, 0xB4, 0x79, 0x8E, 0x93, 0xF1, 0xDD,
+    0x22, 0x9F, 0xBE, 0xF8, 0x17, 0x50, 0x4B, 0x01, 0x02, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x08,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x4E, 0xA8, 0x54, 0x6C, 0xA8, 0x06, 0x00, 0x00, 0xD9, 0x59, 0x00,
+    0x00, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x77, 0x70, 0x6D, 0x7A, 0x2F, 0x74, 0x65, 0x6D, 0x70, 0x6C, 0x61, 0x74, 0x65,
+    0x2E, 0x6B, 0x6D, 0x6C, 0x50, 0x4B, 0x01, 0x02, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x08, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0xB3, 0xD8, 0x8E, 0x16, 0xCE, 0x06, 0x00, 0x00, 0xD6, 0x99, 0x00, 0x00,
+    0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD7, 0x06,
+    0x00, 0x00, 0x77, 0x70, 0x6D, 0x7A, 0x2F, 0x77, 0x61, 0x79, 0x6C, 0x69, 0x6E, 0x65, 0x73, 0x2E,
+    0x77, 0x70, 0x6D, 0x6C, 0x50, 0x4B, 0x05, 0x06, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x02, 0x00,
+    0x7F, 0x00, 0x00, 0x00, 0xD5, 0x0D, 0x00, 0x00, 0x00, 0x00
+};
+
+#endif    /* __waypoint_v3_test_file_kmz_h_included */

samples/sample_c/module_sample/widget/test_widget_speaker.c

@@ -0,0 +1,708 @@
+/**
+ ********************************************************************
+ * @file    test_widget_speaker.c
+ * @brief
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * 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
+ * prohibited without the express written consent of DJI.
+ *
+ * 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
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#ifdef SYSTEM_ARCH_LINUX
+
+#include "test_widget_speaker.h"
+#include "dji_logger.h"
+#include <stdlib.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include "utils/util_misc.h"
+#include "utils/util_md5.h"
+
+#ifdef OPUS_INSTALLED
+
+#include <opus.h>
+
+#endif
+
+/* Private constants ---------------------------------------------------------*/
+#define WIDGET_SPEAKER_TASK_STACK_SIZE          (2048)
+
+#define WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME    "alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo"
+
+#define WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME     "test_audio.opus"
+#define WIDGET_SPEAKER_AUDIO_PCM_FILE_NAME      "test_audio.pcm"
+
+#define WIDGET_SPEAKER_TTS_FILE_NAME            "test_tts.txt"
+#define WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME     "tts_sample.wav"
+#define WIDGET_SPEAKER_TTS_FILE_MAX_SIZE        (3000)
+
+/*The frame size is hardcoded for this sample code but it doesn't have to be*/
+#define WIDGET_SPEAKER_AUDIO_OPUS_MAX_PACKET_SIZE    (3 * 1276)
+#define WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE     (6 * 960)
+#define WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE        (16000)
+#define WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS           (1)
+#define WIDGET_SPEAKER_AUDIO_OPUS_DECODE_FRAME_SIZE  (160)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiWidgetSpeakerHandler s_speakerHandler = {0};
+static T_DjiMutexHandle s_speakerMutex = {0};
+static T_DjiWidgetSpeakerState s_speakerState = {0};
+static T_DjiTaskHandle s_widgetSpeakerTestThread;
+
+static FILE *audioFile = NULL;
+static FILE *ttsFile = NULL;
+
+/* Private functions declaration ---------------------------------------------*/
+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,
+                                        uint32_t offset, uint8_t *buf, uint16_t size);
+static void *DjiTest_WidgetSpeakerTask(void *arg);
+static uint32_t DjiTest_GetVoicePlayProcessId(void);
+static uint32_t DjiTest_KillVoicePlayProcess(uint32_t pid);
+static T_DjiReturnCode DjiTest_DecodeAudioData(void);
+static T_DjiReturnCode DjiTest_PlayAudioData(void);
+static T_DjiReturnCode DjiTest_PlayTtsData(void);
+static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, uint16_t size);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    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;
+
+    returnCode = osalHandler->MutexCreate(&s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Create speaker mutex error: 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiWidget_RegSpeakerHandler(&s_speakerHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register speaker handler error: 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    if (osalHandler->TaskCreate("user_widget_speaker_task", DjiTest_WidgetSpeakerTask, WIDGET_SPEAKER_TASK_STACK_SIZE,
+                                NULL,
+                                &s_widgetSpeakerTestThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Dji widget speaker test task create error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static uint32_t DjiTest_GetVoicePlayProcessId(void)
+{
+    FILE *fp;
+    char cmdStr[128];
+    uint32_t pid;
+    int ret;
+
+    snprintf(cmdStr, 128, "pgrep ffplay");
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        USER_LOG_ERROR("fp is null.");
+        return 0;
+    }
+
+    ret = fscanf(fp, "%u", &pid);
+    if (ret <= 0) {
+        USER_LOG_ERROR("get pid error.");
+        pid = 0;
+        goto out;
+    }
+
+out:
+    pclose(fp);
+
+    return pid;
+}
+
+static uint32_t DjiTest_KillVoicePlayProcess(uint32_t pid)
+{
+    FILE *fp;
+    char cmdStr[128];
+
+    snprintf(cmdStr, 128, "kill %d", pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        USER_LOG_ERROR("fp is null.");
+        return 0;
+    }
+
+    pclose(fp);
+
+    return pid;
+}
+
+static T_DjiReturnCode DjiTest_DecodeAudioData(void)
+{
+#ifdef OPUS_INSTALLED
+    FILE *fin;
+    FILE *fout;
+    OpusDecoder *decoder;
+    opus_int16 out[WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS];
+    uint8_t cbits[WIDGET_SPEAKER_AUDIO_OPUS_MAX_PACKET_SIZE];
+    int32_t nbBytes;
+    int32_t err;
+
+    /*! Attention: you can use "ffmpeg -i xxx.mp3 -ar 16000 -ac 1 out.wav" and use opus-tools to generate opus file for test */
+    fin = fopen(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, "r");
+    if (fin == NULL) {
+        fprintf(stderr, "failed to open input file: %s\n", strerror(errno));
+        return EXIT_FAILURE;
+    }
+
+    /* Create a new decoder state. */
+    decoder = opus_decoder_create(WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE, WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS, &err);
+    if (err < 0) {
+        fprintf(stderr, "failed to create decoder: %s\n", opus_strerror(err));
+        return EXIT_FAILURE;
+    }
+
+    fout = fopen(WIDGET_SPEAKER_AUDIO_PCM_FILE_NAME, "w");
+    if (fout == NULL) {
+        fprintf(stderr, "failed to open output file: %s\n", strerror(errno));
+        return EXIT_FAILURE;
+    }
+
+    USER_LOG_INFO("Decode Start...");
+
+    while (1) {
+        int i;
+        unsigned char pcm_bytes[WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS * 2];
+        int frame_size;
+
+        /* Read a 16 bits/sample audio frame. */
+        nbBytes = fread(cbits, 1, WIDGET_SPEAKER_AUDIO_OPUS_DECODE_FRAME_SIZE, fin);
+        if (feof(fin))
+            break;
+
+        /* Decode the data. In this example, frame_size will be constant because
+           the encoder is using a constant frame size. However, that may not
+           be the case for all encoders, so the decoder must always check
+           the frame size returned. */
+        frame_size = opus_decode(decoder, cbits, nbBytes, out, WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE, 0);
+        if (frame_size < 0) {
+            fprintf(stderr, "decoder failed: %s\n", opus_strerror(frame_size));
+            return EXIT_FAILURE;
+        }
+
+        USER_LOG_DEBUG("decode data to file: %d\r\n", frame_size * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS);
+        /* Convert to little-endian ordering. */
+        for (i = 0; i < WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS * frame_size; i++) {
+            pcm_bytes[2 * i] = out[i] & 0xFF;
+            pcm_bytes[2 * i + 1] = (out[i] >> 8) & 0xFF;
+        }
+        /* Write the decoded audio to file. */
+        fwrite(pcm_bytes, sizeof(short), frame_size * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS, fout);
+    }
+
+    /*Destroy the encoder state*/
+    opus_decoder_destroy(decoder);
+    fclose(fin);
+    fclose(fout);
+
+    USER_LOG_INFO("Decode Finished...");
+
+#endif
+    return EXIT_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_PlayAudioData(void)
+{
+    char cmdStr[128];
+
+    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_AUDIO_PCM_FILE_NAME);
+
+    return DjiUserUtil_RunSystemCmd(cmdStr);
+}
+
+static T_DjiReturnCode DjiTest_PlayTtsData(void)
+{
+    FILE *txtFile;
+    uint8_t data[WIDGET_SPEAKER_TTS_FILE_MAX_SIZE] = {0};
+    int32_t readLen;
+    char cmdStr[WIDGET_SPEAKER_TTS_FILE_MAX_SIZE + 128];
+
+    txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");
+    if (txtFile == NULL) {
+        fprintf(stderr, "failed to open input file: %s\n", strerror(errno));
+        return EXIT_FAILURE;
+    }
+
+    readLen = fread(data, 1, WIDGET_SPEAKER_TTS_FILE_MAX_SIZE, txtFile);
+    if (readLen <= 0) {
+        USER_LOG_ERROR("Read tts file failed, error code: %d", readLen);
+        fclose(txtFile);
+        return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+    }
+
+    fclose(txtFile);
+
+    USER_LOG_INFO("Read tts file success, len: %d", readLen);
+    USER_LOG_INFO("Content: %s", data);
+
+    memset(cmdStr, 0, sizeof(cmdStr));
+
+    /*! 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);
+
+    return DjiUserUtil_RunSystemCmd(cmdStr);
+}
+
+static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, uint16_t size)
+{
+    MD5_CTX md5Ctx;
+    uint32_t readFileTotalSize = 0;
+    uint16_t readLen;
+    T_DjiReturnCode returnCode;
+    uint8_t readBuf[1024];
+    uint8_t md5Sum[16];
+    FILE *file = NULL;;
+
+    UtilMd5_Init(&md5Ctx);
+
+    file = fopen(path, "rb");
+    if (file == NULL) {
+        USER_LOG_ERROR("Open tts file error.");
+    }
+
+    while (1) {
+        returnCode = fseek(file, readFileTotalSize, SEEK_SET);
+        if (returnCode != 0) {
+            USER_LOG_INFO("fseek file error");
+        }
+
+        readLen = fread(readBuf, 1, sizeof(readBuf), file);
+        if (readLen > 0) {
+            readFileTotalSize += readLen;
+            UtilMd5_Update(&md5Ctx, readBuf, readLen);
+        }
+
+        if (feof(file))
+            break;
+    }
+
+    UtilMd5_Final(&md5Ctx, md5Sum);
+    fclose(file);
+
+    if (size == sizeof(md5Sum)) {
+        if (memcmp(md5Sum, buf, sizeof(md5Sum)) == 0) {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+        } else {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    } else {
+        USER_LOG_ERROR("MD5 sum length error");
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetSpeakerState(T_DjiWidgetSpeakerState *speakerState)
+{
+    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;
+    }
+
+    *speakerState = s_speakerState;
+
+    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 SetWorkMode(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;
+    }
+
+    USER_LOG_INFO("Set widget speaker work mode: %d", workMode);
+    s_speakerState.workMode = 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 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;
+    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;
+    }
+
+    USER_LOG_INFO("Set widget speaker play mode: %d", playMode);
+    s_speakerState.playMode = 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 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)
+{
+    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;
+    }
+
+    USER_LOG_INFO("Start widget speaker play");
+    s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_PLAYING;
+
+    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 StopPlay(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint32_t pid;
+
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("Stop widget speaker play");
+    s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_IDEL;
+
+    pid = DjiTest_GetVoicePlayProcessId();
+    if (pid != 0) {
+        DjiTest_KillVoicePlayProcess(pid);
+    }
+
+    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 SetVolume(uint8_t volume)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    char cmdStr[128];
+    int32_t ret = 0;
+    float realVolume;
+
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    realVolume = 1.5f * (float) volume;
+    USER_LOG_INFO("Set widget speaker volume: %d", volume);
+    s_speakerState.volume = 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);
+
+    returnCode = DjiUserUtil_RunSystemCmd(cmdStr);
+    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;
+
+    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 ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
+                                      uint32_t offset, uint8_t *buf, uint16_t size)
+{
+    uint16_t writeLen;
+    T_DjiReturnCode returnCode;
+
+    if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
+        USER_LOG_INFO("Create tts file.");
+        ttsFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "wb");
+        if (ttsFile == NULL) {
+            USER_LOG_ERROR("Open tts file error.");
+        }
+    } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT) {
+        USER_LOG_INFO("Transmit tts file, offset: %d, size: %d", offset, size);
+        if (ttsFile != NULL) {
+            fseek(ttsFile, offset, SEEK_SET);
+            writeLen = fwrite(buf, 1, size, ttsFile);
+            if (writeLen != size) {
+                USER_LOG_ERROR("Write tts file error %d", writeLen);
+            }
+        }
+    } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_FINISH) {
+        USER_LOG_INFO("Close tts file.");
+        if (ttsFile != NULL) {
+            fclose(ttsFile);
+        }
+
+        returnCode = DjiTest_CheckFileMd5Sum(WIDGET_SPEAKER_TTS_FILE_NAME, buf, size);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("File md5 sum check failed");
+        }
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
+                                        uint32_t offset, uint8_t *buf, uint16_t size)
+{
+    uint16_t writeLen;
+    T_DjiReturnCode returnCode;
+
+    if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
+        USER_LOG_INFO("Create voice file.");
+        audioFile = fopen(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, "wb");
+        if (audioFile == NULL) {
+            USER_LOG_ERROR("Create tts file error.");
+        }
+    } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT) {
+        USER_LOG_INFO("Transmit voice file, offset: %d, size: %d", offset, size);
+        if (audioFile != NULL) {
+            fseek(audioFile, offset, SEEK_SET);
+            writeLen = fwrite(buf, 1, size, audioFile);
+            if (writeLen != size) {
+                USER_LOG_ERROR("Write tts file error %d", writeLen);
+            }
+        }
+    } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_FINISH) {
+        USER_LOG_INFO("Close voice file.");
+        if (audioFile != NULL) {
+            fclose(audioFile);
+        }
+
+        returnCode = DjiTest_CheckFileMd5Sum(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, buf, size);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("File md5 sum check failed");
+        }
+
+        DjiTest_DecodeAudioData();
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *DjiTest_WidgetSpeakerTask(void *arg)
+{
+    T_DjiReturnCode djiReturnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        osalHandler->TaskSleepMs(10);
+
+        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) {
+                    djiReturnCode = DjiTest_PlayAudioData();
+                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("Play audio data failed, error: 0x%08llX.", djiReturnCode);
+                    }
+                } else {
+                    djiReturnCode = DjiTest_PlayTtsData();
+                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("Play tts data failed, error: 0x%08llX.", djiReturnCode);
+                    }
+                }
+            } else {
+                if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) {
+                    djiReturnCode = DjiTest_PlayAudioData();
+                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("Play audio data failed, error: 0x%08llX.", djiReturnCode);
+                    }
+                } else {
+                    djiReturnCode = DjiTest_PlayTtsData();
+                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("Play tts data failed, error: 0x%08llX.", djiReturnCode);
+                    }
+                }
+
+                djiReturnCode = osalHandler->MutexLock(s_speakerMutex);
+                if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("lock mutex error: 0x%08llX.", djiReturnCode);
+                }
+
+                s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_IDEL;
+
+                djiReturnCode = osalHandler->MutexUnlock(s_speakerMutex);
+                if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("unlock mutex error: 0x%08llX.", djiReturnCode);
+                }
+            }
+        }
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/module_sample/widget/test_widget_speaker.h

@@ -0,0 +1,53 @@
+/**
+ ********************************************************************
+ * @file    test_widget_speaker.h
+ * @brief   This is the header file for "test_widget_speaker.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * 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
+ * prohibited without the express written consent of DJI.
+ *
+ * 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
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef TEST_WIDGET_SPEAKER_H
+#define TEST_WIDGET_SPEAKER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_widget.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef SYSTEM_ARCH_LINUX
+
+/* Exported constants --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void);
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_WIDGET_SPEAKER_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c/module_sample/widget/widget_file/cn_big_screen/widget_config.json

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

samples/sample_c/module_sample/widget/widget_file/en_big_screen/widget_config.json

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

samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.c

@@ -43,6 +43,7 @@
 #include "dji_aircraft_info.h"
 #include "dji_core.h"
 #include <payload_collaboration/test_payload_collaboration.h>
+#include <waypoint_v3/test_waypoint_v3.h>
 
 /* Private constants ---------------------------------------------------------*/
 #define WIDGET_DIR_PATH_LEN_MAX         (256)
@@ -55,18 +56,19 @@
 typedef enum {
     E_DJI_SAMPLE_INDEX_FC_SUBSCRIPTION = 0,
     E_DJI_SAMPLE_INDEX_WAYPOINT_V2 = 1,
-    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_LANDING = 2,
+    E_DJI_SAMPLE_INDEX_WAYPOINT_V3 = 2,
-    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_POSITION_CTRL_LANDING = 3,
+    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_LANDING = 3,
-    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_GO_HOME_FORCE_LANDING = 4,
+    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_POSITION_CTRL_LANDING = 4,
-    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_VELOCITY_CTRL_LANDING = 5,
+    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_GO_HOME_FORCE_LANDING = 5,
-    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_ARREST_FLYING = 6,
+    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_VELOCITY_CTRL_LANDING = 6,
-    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_SET_GET_PARAM = 7,
+    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_ARREST_FLYING = 7,
-    E_DJI_SAMPLE_INDEX_HMS = 8,
+    E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_SET_GET_PARAM = 8,
-    E_DJI_SAMPLE_INDEX_CAMERA_MANAGER = 9,
+    E_DJI_SAMPLE_INDEX_HMS = 9,
-    E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_FREE_MODE = 10,
+    E_DJI_SAMPLE_INDEX_CAMERA_MANAGER = 10,
-    E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_YAW_FOLLOW_MODE = 11,
+    E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_FREE_MODE = 11,
-    E_DJI_SAMPLE_INDEX_LIVEVIEW = 12,
+    E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_YAW_FOLLOW_MODE = 12,
-    E_DJI_SAMPLE_INDEX_PERCEPTION = 13,
+    E_DJI_SAMPLE_INDEX_LIVEVIEW = 13,
+    E_DJI_SAMPLE_INDEX_PERCEPTION = 14,
     E_DJI_SAMPLE_INDEX_UNKNOWN = 0xFF,
 } E_DjiExtensionPortSampleIndex;
 
@@ -338,6 +340,14 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
                         USER_LOG_WARN("Please turn on the 'unlock flight control restrictions' switch.");
                     }
                     break;
+                case E_DJI_SAMPLE_INDEX_WAYPOINT_V3:
+                    if (s_isallowRunFlightControlSample == true) {
+                        DjiTest_WaypointV3RunSample();
+                    } else {
+                        DjiTest_WidgetLogAppend("Please turn on the 'unlock flight control restrictions'");
+                        USER_LOG_WARN("Please turn on the 'unlock flight control restrictions' switch.");
+                    }
+                    break;
                 case E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_LANDING:
                     if (s_isallowRunFlightControlSample == true) {
                         DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_LANDING);

samples/sample_c/module_sample/widget_interaction_test/widget_file/cn_big_screen/widget_config.json

@@ -243,6 +243,9 @@
           {
             "item_name": "waypoint_v2"
           },
+          {
+            "item_name": "waypoint_v3"
+          },
           {
             "item_name": "flight_ctrl_takeoff_landing"
           },

samples/sample_c/module_sample/widget_interaction_test/widget_file/en_big_screen/widget_config.json

@@ -245,6 +245,9 @@
           {
             "item_name": "waypoint_v2"
           },
+          {
+            "item_name": "waypoint_v3"
+          },
           {
             "item_name": "flight_ctrl_takeoff_landing"
           },

samples/sample_c/platform/linux/common/osal/osal_fs.c

@@ -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;

samples/sample_c/platform/linux/common/osal/osal_socket.c

@@ -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 {

samples/sample_c/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.h

@@ -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 ------------------------------------------------------------*/

samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h

@@ -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

samples/sample_c/platform/linux/manifold2/application/main.c

@@ -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****/

samples/sample_c/platform/linux/manifold2/hal/hal_network.h

@@ -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

samples/sample_c/platform/linux/manifold2/hal/hal_uart.c

@@ -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;

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c

@@ -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) {

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h

@@ -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
+//#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
-#endif
+//#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 ------------------------------------------------------------*/
 

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/mdk/mdk_app.uvprojx

@@ -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>