NEW: release DJI Payload-SDK version 3.4

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

samples/sample_c++/module_sample/camera_manager/test_camera_manager_entry.cpp

@@ -0,0 +1,163 @@
+/**
+ ********************************************************************
+ * @file    test_camera_manager_entry.cpp
+ * @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 <iostream>
+#include <string>
+#include <dji_logger.h>
+#include <dji_typedef.h>
+#include "utils/util_misc.h"
+#include "dji_camera_manager.h"
+#include "camera_manager/test_camera_manager.h"
+#include "camera_manager/test_camera_manager_entry.h"
+#include "test_camera_manager_entry.h"
+
+using namespace std;
+
+/* Private constants ---------------------------------------------------------*/
+static const char *s_cameraManagerSampleSelectList[] = {
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED]       = "Set camera shutter speed                            |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE]            = "Set camera aperture                                 |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_EV]                  = "Set camera ev                                       |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ISO]                 = "Set camera iso                                      |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_FOCUS_POINT]         = "Set camera focus point                              |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_TAP_ZOOM_POINT]      = "Set camera tap zoom point                           |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ZOOM_PARAM]          = "Set camera zoom param                               |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO]             = "Shoot single photo                                  |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_AEB_PHOTO]                = "Shoot aeb photo                                     |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_BURST_PHOTO]              = "Shoot busrt photo                                   |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO]           = "Shoot interval photo                                |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO]                   = "Record video                                        |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE] = "Download and delete media file                      |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY]                    = "Thermometry test                                    |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO]         = "Get lidar ranging info                              |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM]           = "Set ir camera zoom param                            |",
+};
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+static void DjiTest_CmareManagerShowStringList(const char **list, int size)
+{
+    for (int i = 0; i < size; i++) {
+        printf("| [%2d] %s\r\n", i, list[i]);
+    }
+}
+
+static void DjiTest_CameraManagerShowSampleSelectList(void)
+{
+    DjiTest_CmareManagerShowStringList(s_cameraManagerSampleSelectList,
+                                       UTIL_ARRAY_SIZE(s_cameraManagerSampleSelectList));
+}
+
+/* Exported functions definition ---------------------------------------------*/
+void DjiUser_RunCameraManagerSample(void)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    string mountPositionStr;
+    int posNum;
+    E_DjiMountPosition cameraMountPosition;
+    string sampleSelectStr;
+    int sampleSelectNum;
+    E_DjiTestCameraManagerSampleSelect cameraSample;
+
+    USER_LOG_INFO("DjiUser_RunCameraManagerSample");
+
+    while (true) {
+        osalHandler->TaskSleepMs(10);
+        cout
+            << "| Available position:                                                                              |"
+            <<
+            endl;
+        cout
+            << "| [1] Select gimbal mount position at NO.1 payload port                                            |"
+            <<
+            endl;
+        cout
+            << "| [2] Select gimbal mount position at NO.2 payload port                                            |"
+            <<
+            endl;
+        cout
+            << "| [3] Select gimbal mount position at NO.3 payload port                                            |"
+            <<
+            endl;
+        cout
+            << "| [q] Quit                                                                                         |"
+            <<
+            endl;
+
+        cout << "Please input number to select position (input q to quit): ";
+        cin >> mountPositionStr;
+        if (mountPositionStr == "q") {
+            return;
+        }
+
+        posNum = atoi(mountPositionStr.c_str());
+
+        if (posNum > 3 || posNum < 1) {
+            USER_LOG_ERROR("Input mount position is invalid");
+            continue;
+        }
+        else {
+            break;
+        }
+    }
+
+    cameraMountPosition = E_DjiMountPosition(posNum);
+
+    while (true) {
+        osalHandler->TaskSleepMs(10);
+        cout << "\nAvailable samples:\n";
+        DjiTest_CameraManagerShowSampleSelectList();
+
+        cout << "Please input number to select sample (input q to quit): ";
+        cin >> sampleSelectStr;
+
+        if (sampleSelectStr == "q") {
+            return;
+        }
+
+        sampleSelectNum =  atoi(sampleSelectStr.c_str());
+
+        if (sampleSelectNum < 0 ||
+            sampleSelectNum >= (int)E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX) {
+            USER_LOG_ERROR("Input camera sample is invalid");
+            continue;
+        }
+
+        cameraSample = (E_DjiTestCameraManagerSampleSelect)sampleSelectNum;
+
+        cout << "Start test: position " << cameraMountPosition
+             << ", sample " << cameraSample << endl;
+
+        DjiTest_CameraManagerRunSample(cameraMountPosition, cameraSample);
+    }
+
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/module_sample/camera_manager/test_camera_manager_entry.h

@@ -0,0 +1,52 @@
+/**
+ ********************************************************************
+ * @file    test_camera_manager_entry.h
+ * @brief   This is the header file for "test_camera_manager_entry.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_CAMERA_MANAGER_ENTRY_H
+#define TEST_CAMERA_MANAGER_ENTRY_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+/**
+ * @brief Run camera Manager sample.
+ * @return void.
+ */
+void DjiUser_RunCameraManagerSample(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_CAMERA_MANAGER_ENTRY_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp

@@ -0,0 +1,129 @@
+/**
+ ********************************************************************
+ * @file    test_gimbal_entry.cpp
+ * @version V2.0.0
+ * @date    2023/3/28
+ * @brief
+ *
+ * @copyright (c) 2018-2023 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 <stdexcept>
+#include "test_gimbal_entry.hpp"
+#include "dji_logger.h"
+#include "utils/util_misc.h"
+#include <iostream>
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+typedef enum {
+    E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_FREE_MODE,
+    E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE,
+    E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT,
+} E_DjiTestGimbalManagerSampleSelect;
+
+/* Private values -------------------------------------------------------------*/
+static const char *s_gimbalManagerSampleList[] = {
+    [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_FREE_MODE] =
+    "| [0] Gimbal manager sample - Rotate gimbal on free mode                                           |",
+    [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE] =
+    "| [1] Gimbal manager sample - Rotate gimbal on yaw follow mode                                     |",
+    [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT] =
+    "| [q] Gimbal manager sample - Quit                                                                 |",
+};
+
+/* Private functions declaration ---------------------------------------------*/
+void DjiTest_GimbalManagerShowSampleSelectList(const char **SampleList, uint8_t size);
+
+/* Exported functions definition ---------------------------------------------*/
+void DjiUser_RunGimbalManagerSample(void)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    char inputTestCase;
+    char mountPosition;
+    E_DjiMountPosition gimbalMountPosition;
+
+start:
+    osalHandler->TaskSleepMs(100);
+    std::cout
+        << "| Available position:                                                                              |"
+        <<
+        std::endl;
+    std::cout
+        << "| [1] Select gimbal mount position at NO.1 payload port                                            |"
+        <<
+        std::endl;
+    std::cout
+        << "| [2] Select gimbal mount position at NO.2 payload port                                            |"
+        <<
+        std::endl;
+    std::cout
+        << "| [3] Select gimbal mount position at NO.3 payload port                                            |"
+        <<
+        std::endl;
+    std::cout
+        << "| [q] Quit                                                                                         |"
+        <<
+        std::endl;
+
+    std::cin >> mountPosition;
+    if (mountPosition == 'q') {
+        return;
+    }
+    if (mountPosition > '3' || mountPosition < '1') {
+        USER_LOG_ERROR("Input mount position is invalid");
+        goto start;
+    }
+    gimbalMountPosition = E_DjiMountPosition(mountPosition - '0');
+
+    osalHandler->TaskSleepMs(100);
+    std::cout
+        << "| Available commands:                                                                              |"
+        <<
+        std::endl;
+    DjiTest_GimbalManagerShowSampleSelectList(s_gimbalManagerSampleList, UTIL_ARRAY_SIZE(s_gimbalManagerSampleList));
+
+    std::cin >> inputTestCase;
+    switch (inputTestCase) {
+        case '0':
+            DjiTest_GimbalManagerRunSample(gimbalMountPosition, DJI_GIMBAL_MODE_FREE);
+            goto start;
+        case '1':
+            DjiTest_GimbalManagerRunSample(gimbalMountPosition, DJI_GIMBAL_MODE_YAW_FOLLOW);
+            goto start;
+        case 'q':
+            break;
+        default:
+            USER_LOG_ERROR("Input command is invalid");
+            goto start;
+    }
+
+    return;
+}
+/* Private functions definition-----------------------------------------------*/
+void DjiTest_GimbalManagerShowSampleSelectList(const char **SampleList, uint8_t size) {
+    uint8_t i = 0;
+
+    for (i = 0; i < size; i++) {
+        std::cout << SampleList[i] << std::endl;
+    }
+}
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/module_sample/gimbal/test_gimbal_entry.hpp

@@ -0,0 +1,51 @@
+/**
+ ********************************************************************
+ * @file    test_gimbal_entry.hpp
+ * @version V2.0.0
+ * @date    2023/3/28
+ * @brief   This is the header file for "test_gimbal_entry.cpp", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2023 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_GIMBAL_ENTRY_H
+#define TEST_GIMBAL_ENTRY_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <gimbal_manager/test_gimbal_manager.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+void DjiUser_RunGimbalManagerSample(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_GIMBAL_ENTRY_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.cpp

@@ -43,6 +43,7 @@ DJICameraStreamDecoder::DJICameraStreamDecoder()
       cbThreadStatus(-1),
       cb(nullptr),
       cbUserParam(nullptr),
+#ifdef FFMPEG_INSTALLED
       pCodecCtx(nullptr),
       pCodec(nullptr),
       pCodecParserCtx(nullptr),
@@ -50,6 +51,7 @@ DJICameraStreamDecoder::DJICameraStreamDecoder()
       pFrameYUV(nullptr),
       pFrameRGB(nullptr),
       rgbBuf(nullptr),
+#endif
       bufSize(0)
 {
     pthread_mutex_init(&decodemutex, nullptr);
@@ -75,6 +77,7 @@ bool DJICameraStreamDecoder::init()
         return true;
     }
 
+#ifdef FFMPEG_INSTALLED
     avcodec_register_all();
     pCodecCtx = avcodec_alloc_context3(nullptr);
     if (!pCodecCtx) {
@@ -105,8 +108,8 @@ bool DJICameraStreamDecoder::init()
     pSwsCtx = nullptr;
 
     pCodecCtx->flags2 |= AV_CODEC_FLAG2_SHOW_ALL;
+#endif
     initSuccess = true;
-
     pthread_mutex_unlock(&decodemutex);
 
     return true;
@@ -117,6 +120,8 @@ void DJICameraStreamDecoder::cleanup()
     pthread_mutex_lock(&decodemutex);
 
     initSuccess = false;
+
+#ifdef FFMPEG_INSTALLED
     if (nullptr != pSwsCtx) {
         sws_freeContext(pSwsCtx);
         pSwsCtx = nullptr;
@@ -151,7 +156,7 @@ void DJICameraStreamDecoder::cleanup()
         av_free(pFrameRGB);
         pFrameRGB = nullptr;
     }
-
+#endif
     pthread_mutex_unlock(&decodemutex);
 }
 
@@ -184,6 +189,7 @@ void DJICameraStreamDecoder::decodeBuffer(const uint8_t *buf, int bufLen)
     int remainingLen = bufLen;
     int processedLen = 0;
 
+#ifdef FFMPEG_INSTALLED
     AVPacket pkt;
     av_init_packet(&pkt);
     pthread_mutex_lock(&decodemutex);
@@ -238,6 +244,7 @@ void DJICameraStreamDecoder::decodeBuffer(const uint8_t *buf, int bufLen)
     }
     pthread_mutex_unlock(&decodemutex);
     av_free_packet(&pkt);
+#endif
 }
 
 bool DJICameraStreamDecoder::registerCallback(CameraImageCallback f, void *param)

samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.hpp

@@ -29,9 +29,11 @@
 
 /* Includes ------------------------------------------------------------------*/
 extern "C" {
+#ifdef FFMPEG_INSTALLED
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
 #include <libswscale/swscale.h>
+#endif
 }
 
 #include "pthread.h"
@@ -66,6 +68,8 @@ private:
     void *cbUserParam;
 
     pthread_mutex_t decodemutex;
+
+#ifdef FFMPEG_INSTALLED
     AVCodecContext *pCodecCtx;
     AVCodec *pCodec;
     AVCodecParserContext *pCodecParserCtx;
@@ -73,6 +77,7 @@ private:
 
     AVFrame *pFrameYUV;
     AVFrame *pFrameRGB;
+#endif
     uint8_t *rgbBuf;
     size_t bufSize;
 };

samples/sample_c++/module_sample/liveview/test_liveview.cpp

@@ -42,7 +42,7 @@ LiveviewSample::LiveviewSample()
 
     returnCode = DjiLiveview_Init();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        throw std::runtime_error("Liveview init failed");
+        perror("Liveview init failed");
     }
 
     streamDecoder = {
@@ -59,7 +59,7 @@ LiveviewSample::~LiveviewSample()
 
     returnCode = DjiLiveview_Deinit();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        throw std::runtime_error("Liveview deinit failed");
+        perror("Liveview deinit failed");
     }
 
     for (auto pair : streamDecoder) {

samples/sample_c++/module_sample/liveview/test_liveview_entry.cpp

@@ -204,9 +204,17 @@ static void DjiUser_ShowRgbImageCallback(CameraRGBImage img, void *userData)
             cout << "  x: " << faces[i].x;
             cout << "  y: " << faces[i].y << endl;
 
+#ifdef OPEN_CV_VERSION_3
             cv::rectangle(mat, cvPoint(faces[i].x, faces[i].y),
                           cvPoint(faces[i].x + faces[i].width, faces[i].y + faces[i].height),
                           Scalar(0, 0, 255), 2, 1, 0);
+#endif
+
+#ifdef OPEN_CV_VERSION_4
+            cv::rectangle(mat, cv::Point(faces[i].x, faces[i].y),
+                          cv::Point(faces[i].x + faces[i].width, faces[i].y + faces[i].height),
+                          Scalar(0, 0, 255), 2, 1, 0);
+#endif
         }
         imshow(name, mat);
     } else if (s_demoIndex == 3) {
@@ -265,8 +273,15 @@ static void DjiUser_ShowRgbImageCallback(CameraRGBImage img, void *userData)
 
                 int baseLine = 0;
                 Size labelSize = getTextSize(label, FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine);
+#ifdef OPEN_CV_VERSION_3
                 rectangle(mat, Rect(Point(xLeftBottom, yLeftBottom - labelSize.height),
                                     Size(labelSize.width, labelSize.height + baseLine)), Scalar(0, 255, 0), CV_FILLED);
+#endif
+
+#ifdef OPEN_CV_VERSION_4
+                rectangle(mat, Rect(Point(xLeftBottom, yLeftBottom - labelSize.height),
+                                    Size(labelSize.width, labelSize.height + baseLine)), Scalar(0, 255, 0), cv::FILLED);
+#endif
                 putText(mat, label, Point(xLeftBottom, yLeftBottom), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0));
             }
         }

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

@@ -42,12 +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");
+        perror("Perception init failed");
     }
 }
 
@@ -57,7 +56,7 @@ PerceptionSample::~PerceptionSample()
 
     returnCode = DjiPerception_Deinit();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        throw std::runtime_error("Perception deinit failed");
+        perror("Perception deinit failed");
     }
 }
 

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

@@ -39,6 +39,8 @@
 
 /* Private constants ---------------------------------------------------------*/
 #define USER_PERCEPTION_TASK_STACK_SIZE    (1024)
+#define USER_PERCEPTION_DIRECTION_NUM      (12)
+#define FPS_STRING_LEN                     (50)
 
 /* Private types -------------------------------------------------------------*/
 typedef struct {
@@ -320,6 +322,14 @@ static void *DjiTest_StereoImagesDisplayTask(void *arg)
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
     auto *pack = (T_DjiTestStereoImagePacket *) arg;
     char nameStr[32] = {0};
+    char fpsStr[20] = "FPS: ";
+    int fps = 0;
+    double timePrev[USER_PERCEPTION_DIRECTION_NUM] = {0};
+    double timeNow[USER_PERCEPTION_DIRECTION_NUM] = {0};
+    double timeFess[USER_PERCEPTION_DIRECTION_NUM] = {0};
+    int count[USER_PERCEPTION_DIRECTION_NUM] = {1};
+    char showFpsString[USER_PERCEPTION_DIRECTION_NUM][FPS_STRING_LEN] = {0};
+    int i = 0;
 
     while (true) {
         osalHandler->TaskSleepMs(1);
@@ -338,7 +348,7 @@ static void *DjiTest_StereoImagesDisplayTask(void *arg)
             pack->imageRawBuffer = NULL;
         }
 
-        for (int i = 0; i < sizeof(positionName) / sizeof(T_DjiTestPerceptionCameraPositionName); ++i) {
+        for (i = 0; i < sizeof(positionName) / sizeof(T_DjiTestPerceptionCameraPositionName); ++i) {
             if (positionName[i].cameraPosition == pack->info.dataType) {
                 sprintf(nameStr, "Image position: %s", positionName[i].name);
                 break;
@@ -355,6 +365,31 @@ static void *DjiTest_StereoImagesDisplayTask(void *arg)
             cv::moveWindow(nameStr, (200 + (int) pack->info.rawInfo.width), 0);
         }
 
+        if (i < USER_PERCEPTION_DIRECTION_NUM) {
+            /*! Calculate frame rate */
+            timeNow[i] = (double) cv::getTickCount();
+            if (timePrev[i] != 0) {
+                timeFess[i] = (timeNow[i] - timePrev[i]) / cv::getTickFrequency() + timeFess[i];
+                count[i]++;
+            }
+            if (timeFess[i] > 1) {
+                memset(&showFpsString[i][0], 0, FPS_STRING_LEN);
+                fps = count[i] / timeFess[i];
+                timeFess[i] = 0;
+                count[i] = 0;
+                sprintf(&showFpsString[i][0], "%s%d", fpsStr, fps);
+            }
+            timePrev[i] = timeNow[i];
+#ifdef OPEN_CV_VERSION_3
+            cv::putText(cv_img_stereo, &showFpsString[i][0], cv::Point(5, 20),
+                        CV_FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
+#endif
+
+#ifdef OPEN_CV_VERSION_4
+            cv::putText(cv_img_stereo, &showFpsString[i][0], cv::Point(5, 20),
+                        cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
+#endif
+        }
         cv::imshow(nameStr, cv_img_stereo);
         cv::waitKey(1);
 #else

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

@@ -42,15 +42,10 @@
 /* Exported functions definition ---------------------------------------------*/
 T_DjiReturnCode Osal_FileOpen(const char *fileName, const char *fileMode, T_DjiFileHandle *fileObj)
 {
-    if (fileName == NULL || fileMode == NULL) {
+    if (fileName == NULL || fileMode == NULL || fileObj == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
     }
 
-    *fileObj = malloc(sizeof(FILE));
-    if (*fileObj == NULL) {
-        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
-    }
-
     *fileObj = fopen(fileName, fileMode);
     if (*fileObj == NULL) {
         goto out;

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

@@ -31,12 +31,13 @@
 #include "stdlib.h"
 
 /* Private constants ---------------------------------------------------------*/
+#define SOCKET_RECV_BUF_MAX_SIZE    (1000 * 1000 * 10)
+
+/* Private types -------------------------------------------------------------*/
 typedef struct {
     int socketFd;
 } T_SocketHandleStruct;
 
-/* Private types -------------------------------------------------------------*/
-
 /* Private values -------------------------------------------------------------*/
 
 /* Private functions declaration ---------------------------------------------*/
@@ -45,6 +46,15 @@ typedef struct {
 T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle)
 {
     T_SocketHandleStruct *socketHandleStruct;
+    socklen_t optlen = sizeof(int);
+    int rcvBufSize = SOCKET_RECV_BUF_MAX_SIZE;
+    int opt = 1;
+
+    /*! set the socket default read buffer to 20MByte */
+    system("echo 20000000 > /proc/sys/net/core/rmem_default");
+
+    /*! set the socket max read buffer to 50MByte */
+    system("echo 50000000 > /proc/sys/net/core/rmem_max");
 
     if (socketHandle == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
@@ -57,15 +67,30 @@ T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandl
 
     if (mode == DJI_SOCKET_MODE_UDP) {
         socketHandleStruct->socketFd = socket(PF_INET, SOCK_DGRAM, 0);
+
+        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_REUSEADDR, &opt, optlen) < 0) {
+            goto out;
+        }
+
+        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0) {
+            goto out;
+        }
     } else if (mode == DJI_SOCKET_MODE_TCP) {
         socketHandleStruct->socketFd = socket(PF_INET, SOCK_STREAM, 0);
     } else {
-        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+        goto out;
     }
 
     *socketHandle = socketHandleStruct;
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+
+    close(socketHandleStruct->socketFd);
+    free(socketHandleStruct);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
 }
 
 T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle)
@@ -82,6 +107,8 @@ T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle)
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 
+    free(socketHandle);
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 

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

@@ -19,7 +19,9 @@ include_directories(../manifold2/application)
 
 file(GLOB_RECURSE MODULE_SAMPLE_SRC
         ../../../module_sample/liveview/*.c*
+        ../../../module_sample/camera_manager/*.c*
         ../../../module_sample/perception/*.c*
+        ../../../module_sample/gimbal/*.c*
         ../../../../sample_c/module_sample/*.c
         )
 file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c*)
@@ -49,7 +51,7 @@ add_executable(${PROJECT_NAME}
         ${MODULE_COMMON_SRC}
         ${MODULE_HAL_SRC})
 
-# Try to see if user has OpenCV installed因为额
+# Try to see if user has OpenCV installed
 # if yes, default callback will display the image
 find_package(OpenCV QUIET)
 if (OpenCV_FOUND)
@@ -58,6 +60,12 @@ if (OpenCV_FOUND)
     message(STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
     message(STATUS " - Libraries: ${OpenCV_LIBRARIES}")
     add_definitions(-DOPEN_CV_INSTALLED)
+    execute_process(COMMAND opencv_version OUTPUT_VARIABLE OPENCV_VERSION)
+    if (${OPENCV_VERSION} STRLESS "4.0.0")
+        add_definitions(-DOPEN_CV_VERSION_3)
+    else()
+        add_definitions(-DOPEN_CV_VERSION_4)
+    endif()
 else ()
     message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
 endif ()
@@ -83,10 +91,11 @@ if (FFMPEG_FOUND)
     endif ()
 
     target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES})
+    include_directories(${FFMPEG_INCLUDE_DIR})
+    add_definitions(-DFFMPEG_INSTALLED)
 else ()
     message(STATUS "Cannot Find FFMPEG")
 endif (FFMPEG_FOUND)
-include_directories(${FFMPEG_INCLUDE_DIR})
 include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/include)
 
 find_package(OPUS REQUIRED)

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

@@ -29,6 +29,7 @@
 #include <dji_logger.h>
 #include <dji_core.h>
 #include <dji_aircraft_info.h>
+#include <csignal>
 #include "dji_sdk_config.h"
 
 #include "../common/osal/osal.h"
@@ -58,6 +59,7 @@ static FILE *s_djiLogFile;
 static FILE *s_djiLogFileCnt;
 
 /* Private functions declaration ---------------------------------------------*/
+static void DjiUser_NormalExitHandler(int signalNum);
 
 /* Exported functions definition ---------------------------------------------*/
 Application::Application(int argc, char **argv)
@@ -206,6 +208,15 @@ void Application::DjiUser_ApplicationStart()
     T_DjiUserInfo userInfo;
     T_DjiReturnCode returnCode;
     T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+    T_DjiFirmwareVersion firmwareVersion = {
+        .majorVersion = 1,
+        .minorVersion = 0,
+        .modifyVersion = 0,
+        .debugVersion = 0,
+    };
+
+    // attention: when the program is hand up ctrl-c will generate the coredump file
+    signal(SIGTERM, DjiUser_NormalExitHandler);
 
     returnCode = DjiUser_FillInUserInfo(&userInfo);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -231,6 +242,16 @@ void Application::DjiUser_ApplicationStart()
         throw std::runtime_error("Set alias error.");
     }
 
+    returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Set firmware version error.");
+    }
+
+    returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Set serial number error");
+    }
+
     returnCode = DjiCore_ApplicationStart();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         throw std::runtime_error("Start sdk application error.");
@@ -389,4 +410,10 @@ T_DjiReturnCode Application::DjiUser_LocalWriteFsInit(const char *path)
     return djiReturnCode;
 }
 
+static void DjiUser_NormalExitHandler(int signalNum)
+{
+    USER_UTIL_UNUSED(signalNum);
+    exit(0);
+}
+
 /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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

@@ -26,6 +26,7 @@
 #include <liveview/test_liveview_entry.hpp>
 #include <perception/test_perception_entry.hpp>
 #include <flight_control/test_flight_control.h>
+#include <gimbal/test_gimbal_entry.hpp>
 #include <hms/test_hms.h>
 #include <waypoint_v2/test_waypoint_v2.h>
 #include <waypoint_v3/test_waypoint_v3.h>
@@ -41,6 +42,7 @@
 #include <power_management/test_power_management.h>
 #include "data_transmission/test_data_transmission.h"
 #include <camera_manager/test_camera_manager.h>
+#include "camera_manager/test_camera_manager_entry.h"
 
 /* Private constants ---------------------------------------------------------*/
 
@@ -75,8 +77,7 @@ start:
         << "| [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 (not support on M300 RTK)              |\n"
-        << "| [a] Gimbal manager sample - rotate gimbal on free mode                                           |\n"
-        << "| [b] Gimbal manager sample - rotate gimbal on yaw follow mode                                     |\n"
+        << "| [a] Gimbal manager sample                                                                        |\n"
         << "| [c] Camera stream view sample - display the camera video stream                                  |\n"
         << "| [d] Stereo vision view sample - display the stereo image                                         |\n"
         << "| [e] Start camera all features sample - you can operate the camera on DJI Pilot                   |\n"
@@ -85,8 +86,7 @@ start:
         << "| [h] Start widget speaker sample - you can operate the speaker on DJI Pilot2                      |\n"
         << "| [i] Start power management sample - you will see notification when aircraft power off            |\n"
         << "| [j] Start data transmission sample - you can send or recv custom data on MSDK demo               |\n"
-        << "| [l] Run camera manager sample - shoot photo by the selected camera mounted position              |\n"
-        << "| [m] Run camera manager download sample - download camera media file (not support on M3E/M3T)     |\n"
+        << "| [k] Run camera manager sample - you can test camera's functions interactively                    |\n"
         << std::endl;
 
     std::cin >> inputChar;
@@ -122,10 +122,7 @@ start:
             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);
+            DjiUser_RunGimbalManagerSample();
             break;
         case 'c':
             DjiUser_RunCameraStreamViewSample();
@@ -203,14 +200,8 @@ start:
 
             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;
-        case 'm':
-            DjiTest_CameraManagerRunSample(DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1,
-                                           E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE);
-            exit(1);
+        case 'k':
+            DjiUser_RunCameraManagerSample();
             break;
         default:
             break;

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

@@ -40,7 +40,7 @@ extern "C" {
  * NIC name micro define as #define 'LINUX_NETWORK_DEV   "your NIC name"'.
  */
 #ifdef PLATFORM_ARCH_x86_64
-#define LINUX_NETWORK_DEV           "enx000ec6688213"
+#define LINUX_NETWORK_DEV           "enxf8e43b7bbc2c"
 #else
 #define LINUX_NETWORK_DEV           "l4tbr0"
 #endif

samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.h

@@ -38,6 +38,7 @@
 #include <sys/socket.h>
 #include <netinet/in.h>
 #include <arpa/inet.h>
+
 #ifdef LIBUSB_INSTALLED
 
 #include <libusb-1.0/libusb.h>

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

@@ -0,0 +1,134 @@
+cmake_minimum_required(VERSION 3.5)
+project(dji_sdk_demo_on_jeston_cxx CXX)
+
+set(CMAKE_C_FLAGS "-pthread -std=gnu99")
+set(CMAKE_EXE_LINKER_FLAGS "-pthread")
+set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
+set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
+add_definitions(-D_GNU_SOURCE)
+
+if (BUILD_TEST_CASES_ON MATCHES TRUE)
+    set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+endif ()
+
+include_directories(../../../module_sample)
+include_directories(../../../../sample_c/module_sample)
+include_directories(../common)
+include_directories(../manifold2/application)
+
+file(GLOB_RECURSE MODULE_SAMPLE_SRC
+        ../../../module_sample/liveview/*.c*
+        ../../../module_sample/camera_manager/*.c*
+        ../../../module_sample/perception/*.c*
+        ../../../module_sample/gimbal/*.c*
+        ../../../../sample_c/module_sample/*.c
+        )
+file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c*)
+file(GLOB_RECURSE MODULE_HAL_SRC hal/*.c*)
+file(GLOB_RECURSE MODULE_APP_SRC application/*.c*)
+
+set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc)
+add_definitions(-DPLATFORM_ARCH_aarch64=1)
+add_definitions(-DSYSTEM_ARCH_LINUX=1)
+
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
+
+link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../out/lib/${TOOLCHAIN_NAME})
+link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../out/lib/${TOOLCHAIN_NAME}/libpayloadsdk.a -lstdc++)
+
+add_executable(${PROJECT_NAME}
+        ${MODULE_APP_SRC}
+        ${MODULE_SAMPLE_SRC}
+        ${MODULE_COMMON_SRC}
+        ${MODULE_HAL_SRC})
+
+# Try to see if user has OpenCV installed
+# if yes, default callback will display the image
+find_package(OpenCV QUIET)
+if (OpenCV_FOUND)
+    message("\n${PROJECT_NAME}...")
+    message(STATUS "Found OpenCV installed in the system, will use it to display image in AdvancedSensing APIs")
+    message(STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
+    message(STATUS " - Libraries: ${OpenCV_LIBRARIES}")
+    add_definitions(-DOPEN_CV_INSTALLED)
+    execute_process(COMMAND opencv_version OUTPUT_VARIABLE OPENCV_VERSION)
+    if (${OPENCV_VERSION} STRLESS "4.0.0")
+        add_definitions(-DOPEN_CV_VERSION_3)
+    else()
+        add_definitions(-DOPEN_CV_VERSION_4)
+    endif()
+else ()
+    message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
+endif ()
+
+find_package(FFMPEG REQUIRED)
+if (FFMPEG_FOUND)
+    message(STATUS "Found FFMPEG installed in the system")
+    message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
+    add_definitions(-DFFMPEG_INSTALLED)
+
+    EXECUTE_PROCESS(COMMAND ffmpeg -version
+            OUTPUT_VARIABLE ffmpeg_version_output
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+            )
+    string(REGEX MATCH "version.*Copyright" ffmpeg_version_line ${ffmpeg_version_output})
+    string(REGEX MATCH " .* " ffmpeg_version ${ffmpeg_version_line})
+    string(REGEX MATCH "^ 5.*$" ffmpeg_major_version ${ffmpeg_version})
+
+    if (HEAD${ffmpeg_major_version} STREQUAL "HEAD")
+        message(STATUS " - Version: ${ffmpeg_version}")
+    else ()
+        message(FATAL_ERROR " - Not support FFMPEG version: ${ffmpeg_major_version}, please install 4.x.x instead.")
+    endif ()
+
+    target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES})
+else ()
+    message(STATUS "Cannot Find FFMPEG")
+endif (FFMPEG_FOUND)
+
+include_directories(${FFMPEG_INCLUDE_DIR})
+include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../out/include)
+
+
+find_package(OPUS REQUIRED)
+if (OPUS_FOUND)
+    message(STATUS "Found OPUS installed in the system")
+    message(STATUS " - Includes: ${OPUS_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${OPUS_LIBRARY}")
+
+    add_definitions(-DOPUS_INSTALLED)
+    target_link_libraries(${PROJECT_NAME} /usr/local/lib/libopus.a)
+else ()
+    message(STATUS "Cannot Find OPUS")
+endif (OPUS_FOUND)
+
+find_package(LIBUSB REQUIRED)
+if (LIBUSB_FOUND)
+    message(STATUS "Found LIBUSB installed in the system")
+    message(STATUS " - Includes: ${LIBUSB_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${LIBUSB_LIBRARY}")
+
+    add_definitions(-DLIBUSB_INSTALLED)
+    target_link_libraries(${PROJECT_NAME} usb-1.0)
+else ()
+    message(STATUS "Cannot Find LIBUSB")
+endif (LIBUSB_FOUND)
+
+if (NOT EXECUTABLE_OUTPUT_PATH)
+    set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
+endif ()
+
+target_link_libraries(${PROJECT_NAME} m)
+
+add_custom_command(TARGET ${PROJECT_NAME}
+        PRE_LINK COMMAND cmake ..
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
+
+target_include_directories(${PROJECT_NAME} PRIVATE ${OpenCV_INCLUDE_DIRS})
+if (OpenCV_FOUND)
+    target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
+endif ()

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

@@ -0,0 +1,419 @@
+/**
+ ********************************************************************
+ * @file    application.cpp
+ * @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 "application.hpp"
+#include "dji_sdk_app_info.h"
+#include <dji_platform.h>
+#include <dji_logger.h>
+#include <dji_core.h>
+#include <dji_aircraft_info.h>
+#include <csignal>
+#include "dji_sdk_config.h"
+
+#include "../common/osal/osal.h"
+#include "../common/osal/osal_fs.h"
+#include "../common/osal/osal_socket.h"
+#include "../manifold2/hal/hal_usb_bulk.h"
+#include "../manifold2/hal/hal_uart.h"
+#include "../manifold2/hal/hal_network.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define DJI_LOG_PATH                    "Logs/DJI"
+#define DJI_LOG_INDEX_FILE_NAME         "Logs/latest"
+#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_MAX_COUNT               (10)
+
+#define USER_UTIL_UNUSED(x)                                 ((x) = (x))
+#define USER_UTIL_MIN(a, b)                                 (((a) < (b)) ? (a) : (b))
+#define USER_UTIL_MAX(a, b)                                 (((a) > (b)) ? (a) : (b))
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static FILE *s_djiLogFile;
+static FILE *s_djiLogFileCnt;
+
+/* Private functions declaration ---------------------------------------------*/
+static void DjiUser_NormalExitHandler(int signalNum);
+
+/* Exported functions definition ---------------------------------------------*/
+Application::Application(int argc, char **argv)
+{
+    Application::DjiUser_SetupEnvironment();
+    Application::DjiUser_ApplicationStart();
+
+    Osal_TaskSleepMs(3000);
+}
+
+Application::~Application()
+= default;
+
+/* Private functions definition-----------------------------------------------*/
+void Application::DjiUser_SetupEnvironment()
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler osalHandler;
+    T_DjiHalUartHandler uartHandler;
+    T_DjiHalUsbBulkHandler usbBulkHandler;
+    T_DjiLoggerConsole printConsole;
+    T_DjiLoggerConsole localRecordConsole;
+    T_DjiFileSystemHandler fileSystemHandler;
+    T_DjiSocketHandler socketHandler;
+    T_DjiHalNetworkHandler networkHandler;
+
+    networkHandler.NetworkInit = HalNetWork_Init;
+    networkHandler.NetworkDeInit = HalNetWork_DeInit;
+    networkHandler.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo;
+
+    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;
+    osalHandler.TaskSleepMs = Osal_TaskSleepMs;
+    osalHandler.MutexCreate = Osal_MutexCreate;
+    osalHandler.MutexDestroy = Osal_MutexDestroy;
+    osalHandler.MutexLock = Osal_MutexLock;
+    osalHandler.MutexUnlock = Osal_MutexUnlock;
+    osalHandler.SemaphoreCreate = Osal_SemaphoreCreate;
+    osalHandler.SemaphoreDestroy = Osal_SemaphoreDestroy;
+    osalHandler.SemaphoreWait = Osal_SemaphoreWait;
+    osalHandler.SemaphoreTimedWait = Osal_SemaphoreTimedWait;
+    osalHandler.SemaphorePost = Osal_SemaphorePost;
+    osalHandler.Malloc = Osal_Malloc;
+    osalHandler.Free = Osal_Free;
+    osalHandler.GetTimeMs = Osal_GetTimeMs;
+    osalHandler.GetTimeUs = Osal_GetTimeUs;
+
+    printConsole.func = DjiUser_PrintConsole;
+    printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;
+    printConsole.isSupportColor = true;
+
+    localRecordConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG;
+    localRecordConsole.func = DjiUser_LocalWrite;
+    localRecordConsole.isSupportColor = false;
+
+    uartHandler.UartInit = HalUart_Init;
+    uartHandler.UartDeInit = HalUart_DeInit;
+    uartHandler.UartWriteData = HalUart_WriteData;
+    uartHandler.UartReadData = HalUart_ReadData;
+    uartHandler.UartGetStatus = HalUart_GetStatus;
+
+    usbBulkHandler.UsbBulkInit = HalUsbBulk_Init;
+    usbBulkHandler.UsbBulkDeInit = HalUsbBulk_DeInit;
+    usbBulkHandler.UsbBulkWriteData = HalUsbBulk_WriteData;
+    usbBulkHandler.UsbBulkReadData = HalUsbBulk_ReadData;
+    usbBulkHandler.UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo;
+
+    fileSystemHandler.FileOpen = Osal_FileOpen,
+    fileSystemHandler.FileClose = Osal_FileClose,
+    fileSystemHandler.FileWrite = Osal_FileWrite,
+    fileSystemHandler.FileRead = Osal_FileRead,
+    fileSystemHandler.FileSync = Osal_FileSync,
+    fileSystemHandler.FileSeek = Osal_FileSeek,
+    fileSystemHandler.DirOpen = Osal_DirOpen,
+    fileSystemHandler.DirClose = Osal_DirClose,
+    fileSystemHandler.DirRead = Osal_DirRead,
+    fileSystemHandler.Mkdir = Osal_Mkdir,
+    fileSystemHandler.Unlink = Osal_Unlink,
+    fileSystemHandler.Rename = Osal_Rename,
+    fileSystemHandler.Stat = Osal_Stat,
+
+    returnCode = DjiPlatform_RegOsalHandler(&osalHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Register osal handler error.");
+    }
+
+    returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Register hal uart handler error.");
+    }
+
+#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
+    returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Register hal usb bulk handler error.");
+    }
+#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
+    returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Register hal network handler error");
+    }
+#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
+    /*!< Attention: Only use uart hardware connection.
+     */
+#endif
+
+    //Attention: if you want to use camera stream view function, please uncomment it.
+    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.");
+    }
+
+    if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("File system init error.");
+    }
+
+    returnCode = DjiLogger_AddConsole(&printConsole);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Add printf console error.");
+    }
+
+    returnCode = DjiLogger_AddConsole(&localRecordConsole);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Add printf console error.");
+    }
+}
+
+void Application::DjiUser_ApplicationStart()
+{
+    T_DjiUserInfo userInfo;
+    T_DjiReturnCode returnCode;
+    T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+    T_DjiFirmwareVersion firmwareVersion = {
+        .majorVersion = 1,
+        .minorVersion = 0,
+        .modifyVersion = 0,
+        .debugVersion = 0,
+    };
+
+    // attention: when the program is hand up ctrl-c will generate the coredump file
+    signal(SIGTERM, DjiUser_NormalExitHandler);
+
+    returnCode = DjiUser_FillInUserInfo(&userInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Fill user info error, please check user info config.");
+    }
+
+    returnCode = DjiCore_Init(&userInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Core init error.");
+    }
+
+    returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Get aircraft base info error.");
+    }
+
+    if (aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_EXTENSION_PORT) {
+        throw std::runtime_error("Please run this sample on extension port.");
+    }
+
+    returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Set alias error.");
+    }
+
+    returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Set firmware version error.");
+    }
+
+    returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Set serial number error");
+    }
+
+    returnCode = DjiCore_ApplicationStart();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        throw std::runtime_error("Start sdk application error.");
+    }
+
+    USER_LOG_INFO("Application start.");
+}
+
+T_DjiReturnCode Application::DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
+{
+    printf("%s", data);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Application::DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
+{
+    int32_t realLen;
+
+    if (s_djiLogFile == nullptr) {
+        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;
+    }
+}
+
+T_DjiReturnCode Application::DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
+{
+    memset(userInfo->appName, 0, sizeof(userInfo->appName));
+    memset(userInfo->appId, 0, sizeof(userInfo->appId));
+    memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
+    memset(userInfo->appLicense, 0, sizeof(userInfo->appLicense));
+    memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
+    memset(userInfo->baudRate, 0, sizeof(userInfo->baudRate));
+
+    if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
+        strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
+        strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
+        strlen(USER_APP_LICENSE) > sizeof(userInfo->appLicense) ||
+        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.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (!strcmp(USER_APP_NAME, "your_app_name") ||
+        !strcmp(USER_APP_ID, "your_app_id") ||
+        !strcmp(USER_APP_KEY, "your_app_key") ||
+        !strcmp(USER_BAUD_RATE, "your_app_license") ||
+        !strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
+        !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.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
+    memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
+    memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
+    memcpy(userInfo->appLicense, USER_APP_LICENSE,
+           USER_UTIL_MIN(sizeof(userInfo->appLicense), strlen(USER_APP_LICENSE)));
+    memcpy(userInfo->baudRate, USER_BAUD_RATE, USER_UTIL_MIN(sizeof(userInfo->baudRate), strlen(USER_BAUD_RATE)));
+    strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+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 folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
+    time_t currentTime = time(nullptr);
+    struct tm *localTime = localtime(&currentTime);
+    uint16_t logFileIndex = 0;
+    uint16_t currentLogFileIndex;
+    uint8_t ret;
+
+    if (localTime == nullptr) {
+        printf("Get local time error.\r\n");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (access(DJI_LOG_FOLDER_NAME, F_OK) != 0) {
+        sprintf(folderName, "mkdir %s", DJI_LOG_FOLDER_NAME);
+        ret = system(folderName);
+        if (ret != 0) {
+            printf("Create new log folder error, ret:%d.\r\n", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    }
+
+    s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "rb+");
+    if (s_djiLogFileCnt == nullptr) {
+        s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "wb+");
+        if (s_djiLogFileCnt == nullptr) {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    } else {
+        ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
+        if (ret != 0) {
+            printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        ret = fread((uint16_t * ) & logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
+        if (ret != sizeof(uint16_t)) {
+            printf("Read log file index error.\r\n");
+        }
+    }
+
+    currentLogFileIndex = logFileIndex;
+    logFileIndex++;
+
+    ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
+    if (ret != 0) {
+        printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    ret = fwrite((uint16_t * ) & logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
+    if (ret != sizeof(uint16_t)) {
+        printf("Write log file index error.\r\n");
+        fclose(s_djiLogFileCnt);
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    fclose(s_djiLogFileCnt);
+
+    sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
+            localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
+            localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
+
+    s_djiLogFile = fopen(filePath, "wb+");
+    if (s_djiLogFile == nullptr) {
+        USER_LOG_ERROR("Open filepath time error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (logFileIndex >= DJI_LOG_MAX_COUNT) {
+        sprintf(systemCmd, "rm -rf %s_%04d*.log", path, currentLogFileIndex - DJI_LOG_MAX_COUNT);
+        ret = system(systemCmd);
+        if (ret != 0) {
+            printf("Remove file error, ret:%d.\r\n", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    }
+
+    return djiReturnCode;
+}
+
+static void DjiUser_NormalExitHandler(int signalNum)
+{
+    USER_UTIL_UNUSED(signalNum);
+    exit(0);
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/platform/linux/nvidia_jeston/application/application.hpp

@@ -0,0 +1,67 @@
+/**
+ ********************************************************************
+ * @file    dji_application.hpp
+ * @brief   This is the header file for "dji_application.cpp", 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 APPLICATION_H
+#define APPLICATION_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <iostream>
+#include <fstream>
+#include "dji_typedef.h"
+#include "dji_core.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+using namespace std;
+
+class Application {
+public:
+    Application(int argc, char **argv);
+    ~Application();
+
+private:
+    static void DjiUser_SetupEnvironment();
+    static void DjiUser_ApplicationStart();
+    static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
+    static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
+    static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo);
+    static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path);
+};
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // APPLICATION_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/platform/linux/nvidia_jeston/application/dji_sdk_app_info.h

@@ -0,0 +1,55 @@
+/**
+ ********************************************************************
+ * @file    dji_sdk_app_info.h
+ * @brief   This is the header file for 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 DJI_SDK_APP_INFO_H
+#define DJI_SDK_APP_INFO_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+// ATTENTION: User must goto https://developer.dji.com/user/apps/#all to create your own dji sdk application, get dji sdk application
+// information then fill in the application information here.
+#define USER_APP_NAME               "your_app_name"
+#define USER_APP_ID                 "your_app_id"
+#define USER_APP_KEY                "your_app_key"
+#define USER_APP_LICENSE            "your_app_license"
+#define USER_DEVELOPER_ACCOUNT      "your_developer_account"
+#define USER_BAUD_RATE              "460800"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_SDK_APP_INFO_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/platform/linux/nvidia_jeston/application/dji_sdk_config.h

@@ -0,0 +1,54 @@
+/**
+ ********************************************************************
+ * @file    dji_sdk_config.h
+ * @brief   This is the header file for "dji_config.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_SDK_CONFIG_H
+#define DJI_SDK_CONFIG_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define DJI_USE_ONLY_UART                  (0)
+#define DJI_USE_UART_AND_USB_BULK_DEVICE   (1)
+#define DJI_USE_UART_AND_NETWORK_DEVICE    (2)
+
+/*!< Attention: Select your hardware connection mode here.
+* */
+#define CONFIG_HARDWARE_CONNECTION         DJI_USE_UART_AND_NETWORK_DEVICE
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_SDK_CONFIG_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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

@@ -0,0 +1,227 @@
+/**
+ ********************************************************************
+ * @file    main.cpp
+ * @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 <liveview/test_liveview_entry.hpp>
+#include <perception/test_perception_entry.hpp>
+#include <flight_control/test_flight_control.h>
+#include <gimbal/test_gimbal_entry.hpp>
+#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>
+#include "camera_manager/test_camera_manager_entry.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* 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] Fc subscribe sample - subscribe quaternion and gps data                                      |\n"
+        << "| [1] Flight controller sample - take off landing                                                  |\n"
+        << "| [2] Flight controller sample - take off position ctrl landing                                    |\n"
+        << "| [3] Flight controller sample - take off go home force landing                                    |\n"
+        << "| [4] Flight controller sample - take off velocity ctrl landing                                    |\n"
+        << "| [5] Flight controller sample - arrest flying                                                     |\n"
+        << "| [6] Flight controller sample - set get parameters                                                |\n"
+        << "| [7] Hms info sample - get health manger system info                                              |\n"
+        << "| [8] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK)             |\n"
+        << "| [9] Waypoint 3.0 sample - run airline mission by kmz file (not support on M300 RTK)              |\n"
+        << "| [a] Gimbal manager sample                                                                        |\n"
+        << "| [c] Camera stream view sample - display the camera video stream                                  |\n"
+        << "| [d] Stereo vision view sample - display the stereo image                                         |\n"
+        << "| [e] Start camera all features sample - you can operate the camera on DJI Pilot                   |\n"
+        << "| [f] Start gimbal all features sample - you can operate the gimbal on DJI Pilot                   |\n"
+        << "| [g] Start widget all features sample - you can operate the widget on DJI Pilot                   |\n"
+        << "| [h] Start widget speaker sample - you can operate the speaker on DJI Pilot2                      |\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"
+        << "| [k] Run camera manager sample - you can test camera's functions interactively                    |\n"
+        << std::endl;
+
+    std::cin >> inputChar;
+    switch (inputChar) {
+        case '0':
+            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':
+            DjiUser_RunGimbalManagerSample();
+            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() != nullptr) {
+                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 'k':
+            DjiUser_RunCameraManagerSample();
+            break;
+        default:
+            break;
+    }
+
+    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/nvidia_jeston/hal/hal_network.c

@@ -0,0 +1,92 @@
+/**
+ ********************************************************************
+ * @file    hal_network.c
+ * @version V2.0.0
+ * @date    3/27/20
+ * @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 "string.h"
+#include "stdlib.h"
+#include "stdio.h"
+#include "hal_network.h"
+#include "dji_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj)
+{
+    int32_t ret;
+    char cmdStr[LINUX_CMD_STR_MAX_SIZE];
+
+    if (ipAddr == NULL || netMask == NULL) {
+        USER_LOG_ERROR("hal network config param error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    //Attention: need root permission to config ip addr and netmask.
+    memset(cmdStr, 0, sizeof(cmdStr));
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
+    ret = system(cmdStr);
+    if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Can't open the network."
+                       "Probably the program not execute with root permission."
+                       "Please use the root permission to execute the program.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
+    ret = system(cmdStr);
+    if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Can't config the ip address of network."
+                       "Probably the program not execute with root permission."
+                       "Please use the root permission to execute the program.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj)
+{
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo)
+{
+    deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
+    deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_network.h

@@ -0,0 +1,73 @@
+/**
+ ********************************************************************
+ * @file    hal_network.h
+ * @brief   This is the header file for "hal_network.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 HAL_NETWORK_H
+#define HAL_NETWORK_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @attention  User can config network card name here, if your device is not MF2C/G, please comment below and add your
+ * NIC name micro define as #define 'LINUX_NETWORK_DEV   "your NIC name"'.
+ */
+#ifdef PLATFORM_ARCH_x86_64
+#define LINUX_NETWORK_DEV           "enxf8e43b7bbc2c"
+#else
+#define LINUX_NETWORK_DEV           "l4tbr0"
+#endif
+/**
+ * @attention
+ */
+
+#ifdef PLATFORM_ARCH_x86_64
+#define USB_NET_ADAPTER_VID                   (0x0B95)
+#define USB_NET_ADAPTER_PID                   (0x1790)
+#else
+#define USB_NET_ADAPTER_VID                   (0x0955)
+#define USB_NET_ADAPTER_PID                   (0x7020)
+#endif
+
+#define LINUX_CMD_STR_MAX_SIZE      (128)
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj);
+T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj);
+T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_NETWORK_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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

@@ -0,0 +1,260 @@
+/**
+ ********************************************************************
+ * @file    hal_uart.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 <dji_logger.h>
+#include "hal_uart.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define UART_DEV_NAME_STR_SIZE             (128)
+#define DJI_SYSTEM_CMD_STR_MAX_SIZE        (64)
+#define DJI_SYSTEM_RESULT_STR_MAX_SIZE     (128)
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    int uartFd;
+} T_UartHandleStruct;
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
+{
+    T_UartHandleStruct *uartHandleStruct;
+    struct termios options;
+    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 *ret = NULL;
+    char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
+    FILE *fp;
+
+    uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
+    if (uartHandleStruct == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    if (uartNum == DJI_HAL_UART_NUM_0) {
+        strcpy(uartName, LINUX_UART_DEV1);
+    } else if (uartNum == DJI_HAL_UART_NUM_1) {
+        strcpy(uartName, LINUX_UART_DEV2);
+    } else {
+        goto free_uart_handle;
+    }
+
+#ifdef USE_CLION_DEBUG
+    sprintf(systemCmd, "ls -l %s", uartName);
+    fp = popen(systemCmd, "r");
+    if (fp == NULL) {
+        goto free_uart_handle;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fp);
+    if (ret == NULL) {
+        goto close_fp;
+    }
+
+    if (strstr(lineBuf, "crwxrwxrwx") == NULL) {
+        USER_LOG_ERROR("Can't operation the device. "
+                       "Probably the device has not operation permission. "
+                       "Please execute command 'sudo chmod 777 %s' to add permission. ", uartName);
+        goto close_fp;
+    }
+#else
+    sprintf(systemCmd, "chmod 777 %s", uartName);
+    fp = popen(systemCmd, "r");
+    if (fp == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+#endif
+
+    uartHandleStruct->uartFd = open(uartName, (unsigned) O_RDWR | (unsigned) O_NOCTTY | (unsigned) O_NDELAY);
+    if (uartHandleStruct->uartFd == -1) {
+        goto close_fp;
+    }
+
+    // Forbid multiple psdk programs to access the serial port
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+
+    if (fcntl(uartHandleStruct->uartFd, F_GETLK, &lock) < 0) {
+        goto close_uart_fd;
+    }
+    if (lock.l_type != F_UNLCK) {
+        goto close_uart_fd;
+    }
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+    if (fcntl(uartHandleStruct->uartFd, F_SETLKW, &lock) < 0) {
+        goto close_uart_fd;
+    }
+
+    if (tcgetattr(uartHandleStruct->uartFd, &options) != 0) {
+        goto close_uart_fd;
+    }
+
+    switch (baudRate) {
+        case 115200:
+            cfsetispeed(&options, B115200);
+            cfsetospeed(&options, B115200);
+            break;
+        case 230400:
+            cfsetispeed(&options, B230400);
+            cfsetospeed(&options, B230400);
+            break;
+        case 460800:
+            cfsetispeed(&options, B460800);
+            cfsetospeed(&options, B460800);
+            break;
+        case 921600:
+            cfsetispeed(&options, B921600);
+            cfsetospeed(&options, B921600);
+            break;
+        case 1000000:
+            cfsetispeed(&options, B1000000);
+            cfsetospeed(&options, B1000000);
+            break;
+        default:
+            goto close_uart_fd;
+    }
+
+    options.c_cflag |= (unsigned) CLOCAL;
+    options.c_cflag |= (unsigned) CREAD;
+    options.c_cflag &= ~(unsigned) CRTSCTS;
+    options.c_cflag &= ~(unsigned) CSIZE;
+    options.c_cflag |= (unsigned) CS8;
+    options.c_cflag &= ~(unsigned) PARENB;
+    options.c_iflag &= ~(unsigned) INPCK;
+    options.c_cflag &= ~(unsigned) CSTOPB;
+    options.c_oflag &= ~(unsigned) OPOST;
+    options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
+    options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
+    options.c_cc[VTIME] = 0;
+    options.c_cc[VMIN] = 0;
+
+    tcflush(uartHandleStruct->uartFd, TCIFLUSH);
+
+    if (tcsetattr(uartHandleStruct->uartFd, TCSANOW, &options) != 0) {
+        goto close_uart_fd;
+    }
+
+    *uartHandle = uartHandleStruct;
+    pclose(fp);
+
+    return returnCode;
+
+close_uart_fd:
+    close(uartHandleStruct->uartFd);
+
+close_fp:
+    pclose(fp);
+
+free_uart_handle:
+    free(uartHandleStruct);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+}
+
+T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle)
+{
+    int32_t ret;
+    T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
+
+    if (uartHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    ret = close(uartHandleStruct->uartFd);
+    if (ret < 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    free(uartHandleStruct);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
+{
+    int32_t ret;
+    T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
+
+    if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = write(uartHandleStruct->uartFd, buf, len);
+    if (ret >= 0) {
+        *realLen = ret;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
+{
+    int32_t ret;
+    T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
+
+    if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = read(uartHandleStruct->uartFd, buf, len);
+    if (ret >= 0) {
+        *realLen = ret;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status)
+{
+    if (uartNum == DJI_HAL_UART_NUM_0) {
+        status->isConnect = true;
+    } else if (uartNum == DJI_HAL_UART_NUM_1) {
+        status->isConnect = true;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_uart.h

@@ -0,0 +1,65 @@
+/**
+ ********************************************************************
+ * @file    hal_uart.h
+ * @brief   This is the header file for "hal_uart.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 HAL_UART_H
+#define HAL_UART_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stdint.h"
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+#include <string.h>
+#include "stdlib.h"
+
+#include "dji_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+//User can config dev based on there environmental conditions
+#define LINUX_UART_DEV1    "/dev/ttyUSB0"
+#define LINUX_UART_DEV2    "/dev/ttyACM0"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
+T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
+T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
+T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
+T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_UART_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_usb_bulk.c

@@ -0,0 +1,224 @@
+/**
+ ********************************************************************
+ * @file    hal_usb_bulk.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 "hal_usb_bulk.h"
+#include "dji_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS    (50)
+#define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER  (-1)
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+#ifdef LIBUSB_INSTALLED
+    libusb_device_handle *handle;
+#else
+    void *handle;
+#endif
+    int32_t ep1;
+    int32_t ep2;
+    uint32_t interfaceNum;
+    T_DjiHalUsbBulkInfo usbBulkInfo;
+} T_HalUsbBulkObj;
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle)
+{
+    int32_t ret;
+    struct libusb_device_handle *handle = NULL;
+
+    *usbBulkHandle = malloc(sizeof(T_HalUsbBulkObj));
+    if (*usbBulkHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
+        ret = libusb_init(NULL);
+        if (ret < 0) {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
+        if (handle == NULL) {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
+        if (ret != LIBUSB_SUCCESS) {
+            printf("libusb claim interface error");
+            libusb_close(handle);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
+        memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
+#endif
+    } else {
+        ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
+        memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
+        ((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
+
+        if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
+            if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+            }
+
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
+            if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+            }
+        } else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
+            if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+            }
+
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
+            if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+            }
+        }
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
+{
+    struct libusb_device_handle *handle = NULL;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    if (usbBulkHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
+
+    if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
+        libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
+        osalHandler->TaskSleepMs(100);
+        libusb_exit(NULL);
+#endif
+    } else {
+        close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
+        close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
+    }
+
+    free(usbBulkHandle);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
+                                     uint32_t *realLen)
+{
+    int32_t ret;
+    int32_t actualLen;
+    struct libusb_device_handle *handle = NULL;
+
+    if (usbBulkHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
+
+    if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
+        ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
+                                   (uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
+        if (ret < 0) {
+            USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        *realLen = actualLen;
+#endif
+    } else {
+        *realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
+                                    uint32_t *realLen)
+{
+    int32_t ret;
+    struct libusb_device_handle *handle = NULL;
+    int32_t actualLen;
+
+    if (usbBulkHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
+
+    if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
+        ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
+                                   buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
+        if (ret < 0) {
+            USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        *realLen = actualLen;
+#endif
+    } else {
+        *realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
+{
+    //attention: this interface only be called in usb device mode.
+    deviceInfo->vid = LINUX_USB_VID;
+    deviceInfo->pid = LINUX_USB_PID;
+
+    // This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
+
+    // This bulk channel is used to obtain DJI perception image and download camera media file.
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_usb_bulk.h

@@ -0,0 +1,92 @@
+/**
+ ********************************************************************
+ * @file    hal_usb_bulk.h
+ * @brief   This is the header file for "hal_usb_bulk.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 HAL_USB_BULK_H
+#define HAL_USB_BULK_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stdint.h"
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+
+#ifdef LIBUSB_INSTALLED
+
+#include <libusb-1.0/libusb.h>
+
+#endif
+
+#include "dji_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define LINUX_USB_BULK1_EP_OUT_FD               "/dev/usb-ffs/bulk1/ep1"
+#define LINUX_USB_BULK1_EP_IN_FD                "/dev/usb-ffs/bulk1/ep2"
+
+#define LINUX_USB_BULK1_INTERFACE_NUM           (7)
+#define LINUX_USB_BULK1_END_POINT_IN            (0x88)
+#define LINUX_USB_BULK1_END_POINT_OUT           (5)
+
+#define LINUX_USB_BULK2_EP_OUT_FD               "/dev/usb-ffs/bulk2/ep1"
+#define LINUX_USB_BULK2_EP_IN_FD                "/dev/usb-ffs/bulk2/ep2"
+
+#define LINUX_USB_BULK2_INTERFACE_NUM           (8)
+#define LINUX_USB_BULK2_END_POINT_IN            (0x89)
+#define LINUX_USB_BULK2_END_POINT_OUT           (6)
+
+#ifdef PLATFORM_ARCH_x86_64
+#define LINUX_USB_VID                         (0x0B95)
+#define LINUX_USB_PID                         (0x1790)
+#else
+#define LINUX_USB_VID                         (0x0955)
+#define LINUX_USB_PID                         (0x7020)
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);
+T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle);
+T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
+                                     uint32_t *realLen);
+T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
+T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_USB_BULK_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c/module_sample/camera_manager/test_camera_manager.c

@@ -33,6 +33,10 @@
 /* Private constants ---------------------------------------------------------*/
 #define TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE             256
 #define TEST_CAMERA_MANAGER_MEDIA_DOWNLOAD_FILE_NUM              5
+#define CAMERA_MANAGER_SUBSCRIPTION_FREQ                         5
+
+#define TEST_CAMERA_MAX_INFRARED_ZOOM_FACTOR          8
+#define TEST_CAMERA_MIN_INFRARED_ZOOM_FACTOR          2
 
 /* Private types -------------------------------------------------------------*/
 typedef struct {
@@ -63,13 +67,17 @@ static T_DjiCameraManagerFileList s_meidaFileList;
 static uint32_t downloadStartMs = 0;
 static uint32_t downloadEndMs = 0;
 static char downloadFileName[TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE] = {0};
-static uint32_t nextDownloadFileIndex = 0;
+static uint32_t s_nextDownloadFileIndex = 0;
 
 /* Private functions declaration ---------------------------------------------*/
 static uint8_t DjiTest_CameraManagerGetCameraTypeIndex(E_DjiCameraType cameraType);
 static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_DjiMountPosition position);
 static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownloadFilePacketInfo packetInfo,
                                                                      const uint8_t *data, uint16_t len);
+static T_DjiReturnCode DjiTest_CameraManagerGetAreaThermometryData(E_DjiMountPosition position);
+static T_DjiReturnCode DjiTest_CameraManagerGetPointThermometryData(E_DjiMountPosition position);
+
+static T_DjiReturnCode DjiTest_CameraManagerGetLidarRangingInfo(E_DjiMountPosition position);
 
 /* Exported functions definition ---------------------------------------------*/
 /*! @brief Sample to set EV for camera, using async api
@@ -480,6 +488,7 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootSinglePhoto(E_DjiMountPosition po
 {
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    E_DjiCameraManagerWorkMode workMode;
 
     /*!< set camera work mode as shoot photo */
     USER_LOG_INFO("Set mounted position %d camera's work mode as shoot-photo mode", position);
@@ -491,6 +500,17 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootSinglePhoto(E_DjiMountPosition po
         return returnCode;
     }
 
+    osalHandler->TaskSleepMs(1000);
+
+    returnCode = DjiCameraManager_GetMode(position, &workMode);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS &&
+        returnCode != DJI_ERROR_CAMERA_MANAGER_MODULE_CODE_UNSUPPORTED_COMMAND) {
+        USER_LOG_ERROR("get mounted position %d camera's work mode failed,"
+                       " error code :0x%08X", position, returnCode);
+        return returnCode;
+    }
+    USER_LOG_INFO("Camera current workmode is %d", workMode);
+
     /*!< set shoot-photo mode */
     USER_LOG_INFO("Set mounted position %d camera's shoot photo mode as single-photo mode", position);
     returnCode = DjiCameraManager_SetShootPhotoMode(position, DJI_CAMERA_MANAGER_SHOOT_PHOTO_MODE_SINGLE);
@@ -530,6 +550,7 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootBurstPhoto(E_DjiMountPosition pos
 {
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    E_DjiCameraManagerWorkMode workMode;
 
     /*!< set camera work mode as shoot photo */
     USER_LOG_INFO("set mounted position %d camera's work mode as shoot photo mode.", position);
@@ -540,6 +561,17 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootBurstPhoto(E_DjiMountPosition pos
         return returnCode;
     }
 
+    osalHandler->TaskSleepMs(1000);
+
+    returnCode = DjiCameraManager_GetMode(position, &workMode);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS &&
+        returnCode != DJI_ERROR_CAMERA_MANAGER_MODULE_CODE_UNSUPPORTED_COMMAND) {
+        USER_LOG_ERROR("get mounted position %d camera's work mode failed,"
+                       " error code :0x%08X", position, returnCode);
+        return returnCode;
+    }
+    USER_LOG_INFO("Camera current workmode is %d", workMode);
+
     /*!< set shoot-photo mode */
     USER_LOG_INFO("Set mounted position %d camera's shoot photo mode as burst-photo mode", position);
     returnCode = DjiCameraManager_SetShootPhotoMode(position, DJI_CAMERA_MANAGER_SHOOT_PHOTO_MODE_BURST);
@@ -592,6 +624,7 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootAEBPhoto(E_DjiMountPosition posit
 {
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    E_DjiCameraManagerWorkMode workMode;
 
     /*!< set camera work mode as shoot photo */
     USER_LOG_INFO("set mounted position %d camera's work mode as shoot photo mode.", position);
@@ -603,6 +636,17 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootAEBPhoto(E_DjiMountPosition posit
         return returnCode;
     }
 
+    osalHandler->TaskSleepMs(1000);
+
+    returnCode = DjiCameraManager_GetMode(position, &workMode);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS &&
+        returnCode != DJI_ERROR_CAMERA_MANAGER_MODULE_CODE_UNSUPPORTED_COMMAND) {
+        USER_LOG_ERROR("get mounted position %d camera's work mode failed,"
+                       " error code :0x%08X", position, returnCode);
+        return returnCode;
+    }
+    USER_LOG_INFO("Camera current workmode is %d", workMode);
+
     /*!< set shoot-photo mode */
     USER_LOG_INFO("Set mounted position %d camera's shoot photo mode as AEB-photo mode", position);
     returnCode = DjiCameraManager_SetShootPhotoMode(position, DJI_CAMERA_MANAGER_SHOOT_PHOTO_MODE_AEB);
@@ -654,6 +698,7 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootIntervalPhoto(E_DjiMountPosition
 {
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    E_DjiCameraManagerWorkMode workMode;
 
     /*!< set camera work mode as shoot photo */
     USER_LOG_INFO("set mounted position %d camera's work mode as shoot photo mode.", position);
@@ -666,6 +711,15 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootIntervalPhoto(E_DjiMountPosition
 
     osalHandler->TaskSleepMs(1000);
 
+    returnCode = DjiCameraManager_GetMode(position, &workMode);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS &&
+        returnCode != DJI_ERROR_CAMERA_MANAGER_MODULE_CODE_UNSUPPORTED_COMMAND) {
+        USER_LOG_ERROR("get mounted position %d camera's work mode failed,"
+                       " error code :0x%08X", position, returnCode);
+        return returnCode;
+    }
+    USER_LOG_INFO("Camera current workmode is %d", workMode);
+
     /*!< set shoot-photo mode */
     USER_LOG_INFO("Set mounted position %d camera's shoot photo mode as interval-photo mode", position);
     returnCode = DjiCameraManager_SetShootPhotoMode(position, DJI_CAMERA_MANAGER_SHOOT_PHOTO_MODE_INTERVAL);
@@ -743,6 +797,9 @@ T_DjiReturnCode DjiTest_CameraManagerStopShootPhoto(E_DjiMountPosition position)
 T_DjiReturnCode DjiTest_CameraManagerStartRecordVideo(E_DjiMountPosition position)
 {
     T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    E_DjiCameraManagerWorkMode workMode;
+
     /*!< set camera work mode as record video */
     USER_LOG_INFO("set mounted position %d camera's work mode as record-video mode", position);
     returnCode = DjiCameraManager_SetMode(position, DJI_CAMERA_MANAGER_WORK_MODE_RECORD_VIDEO);
@@ -753,6 +810,17 @@ T_DjiReturnCode DjiTest_CameraManagerStartRecordVideo(E_DjiMountPosition positio
         return returnCode;
     }
 
+    osalHandler->TaskSleepMs(1000);
+
+    returnCode = DjiCameraManager_GetMode(position, &workMode);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS &&
+        returnCode != DJI_ERROR_CAMERA_MANAGER_MODULE_CODE_UNSUPPORTED_COMMAND) {
+        USER_LOG_ERROR("get mounted position %d camera's work mode failed,"
+                       " error code :0x%08X", position, returnCode);
+        return returnCode;
+    }
+    USER_LOG_INFO("Camera current workmode is %d", workMode);
+
     /*!< start to take video */
     USER_LOG_INFO("Mounted position %d camera start to record video.", position);
     returnCode = DjiCameraManager_StartRecordVideo(position);
@@ -797,7 +865,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
     T_DjiCameraManagerFocusPosData focusPosData;
     T_DjiCameraManagerTapZoomPosData tapZoomPosData;
 
-    USER_LOG_INFO("Camera manager sample start");
+    USER_LOG_INFO("Camera manager sample start, cameraManagerSampleSelect %d", cameraManagerSampleSelect);
     DjiTest_WidgetLogAppend("Camera manager sample start");
 
     USER_LOG_INFO("--> Step 1: Init camera manager module");
@@ -835,8 +903,9 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             USER_LOG_INFO("--> Function a: Set camera shutter speed to 1/100 s");
             DjiTest_WidgetLogAppend("--> Function a: Set camera shutter speed to 1/100 s");
             if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
-                cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T ||
-                cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T) {
+                cameraType == DJI_CAMERA_TYPE_H20N || cameraType == DJI_CAMERA_TYPE_M30 ||
+                cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
+                cameraType == DJI_CAMERA_TYPE_M3T) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -872,9 +941,10 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
         case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE: {
             USER_LOG_INFO("--> Function b: Set camera aperture to 400(F/4)");
             DjiTest_WidgetLogAppend("--> Function b: Set camera aperture to 400(F/4)");
-            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T
-                || cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T
-                || cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T) {
+            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20N
+                || cameraType == DJI_CAMERA_TYPE_H20T || cameraType == DJI_CAMERA_TYPE_M30
+                || cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E
+                || cameraType == DJI_CAMERA_TYPE_M3T) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -1117,13 +1187,54 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             }
             break;
         }
-        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE:
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE: {
 #ifdef SYSTEM_ARCH_LINUX
             DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(mountPosition);
 #else
             USER_LOG_WARN("This feature does not support RTOS platform.");
 #endif
             break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY: {
+            returnCode = DjiTest_CameraManagerGetPointThermometryData(mountPosition);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Mounted position %d camera start point thermometry failed, error code: 0x%08X\r\n",
+                               mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiTest_CameraManagerGetAreaThermometryData(mountPosition);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Mounted position %d camera start area thermometry failed, error code: 0x%08X\r\n",
+                               mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO: {
+            returnCode = DjiTest_CameraManagerGetLidarRangingInfo(mountPosition);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Get lidar ranging info failed at position %d, error code: 0x%08X\r\n",
+                              mountPosition, returnCode);
+            }
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM: {
+            for (uint16_t factor = TEST_CAMERA_MIN_INFRARED_ZOOM_FACTOR;
+                 factor <= TEST_CAMERA_MAX_INFRARED_ZOOM_FACTOR;
+                 factor = factor * 2) {
+
+                USER_LOG_INFO("Set infrared zoom factor to %d", factor);
+                returnCode = DjiCameraManager_SetInfraredZoomParam(mountPosition, (dji_f32_t) factor);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Mounted position %d camera infrared zoom factor %d rfailed, error code: 0x%08X\r\n",
+                                   mountPosition, factor, returnCode);
+                    goto exitCameraModule;
+                }
+                osalHandler->TaskSleepMs(2000);
+            }
+            break;
+        }
         default: {
             USER_LOG_ERROR("There is no valid command input!");
             break;
@@ -1160,8 +1271,8 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
     uint16_t downloadCount = 0;
-    nextDownloadFileIndex = 0;
 
+    s_nextDownloadFileIndex = 0;
     returnCode = DjiCameraManager_RegDownloadFileDataCallback(position, DjiTest_CameraManagerDownloadFileDataCallback);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Register download file data callback failed, error code: 0x%08X.", returnCode);
@@ -1216,14 +1327,14 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
 
         for (int i = 0; i < downloadCount; ++i) {
         redownload:
-            if (i != nextDownloadFileIndex) {
-                i = nextDownloadFileIndex;
+            if (i != s_nextDownloadFileIndex) {
+                i = s_nextDownloadFileIndex;
             }
 
             returnCode = DjiCameraManager_DownloadFileByIndex(position, s_meidaFileList.fileListInfo[i].fileIndex);
             if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
                 USER_LOG_ERROR("Download media file by index failed, error code: 0x%08X.", returnCode);
-                nextDownloadFileIndex--;
+                s_nextDownloadFileIndex--;
                 goto redownload;
             }
         }
@@ -1252,7 +1363,7 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
     if (packetInfo.downloadFileEvent == DJI_DOWNLOAD_FILE_EVENT_START) {
         for (i = 0; i < s_meidaFileList.totalCount; ++i) {
             if (s_meidaFileList.fileListInfo[i].fileIndex == packetInfo.fileIndex) {
-                nextDownloadFileIndex = i + 1;
+                s_nextDownloadFileIndex = i + 1;
                 break;
             }
         }
@@ -1260,7 +1371,7 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
 
         memset(downloadFileName, 0, sizeof(downloadFileName));
         snprintf(downloadFileName, sizeof(downloadFileName), "%s", s_meidaFileList.fileListInfo[i].fileName);
-        USER_LOG_INFO("Start download media file, index : %d, next download media file, index: %d", i, nextDownloadFileIndex);
+        USER_LOG_INFO("Start download media file, index : %d, next download media file, index: %d", i, s_nextDownloadFileIndex);
         s_downloadMediaFile = fopen(downloadFileName, "wb+");
         if (s_downloadMediaFile == NULL) {
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@@ -1293,4 +1404,118 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+static T_DjiReturnCode DjiTest_CameraManagerGetPointThermometryData(E_DjiMountPosition position)
+{
+    T_DjiReturnCode djiStat;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiCameraManagerPointThermometryCoordinate pointCoordinate = {0};
+    T_DjiCameraManagerPointThermometryData pointThermometryData = {0};
+
+    USER_LOG_INFO("--> Step 1: Set point thermometry coordinate");
+
+    pointCoordinate.pointX = 0.5;
+    pointCoordinate.pointY = 0.5;
+    djiStat = DjiCameraManager_SetPointThermometryCoordinate(position, pointCoordinate);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Set point thermometry coordinate failed, stat = 0x%08llX", djiStat);
+        return djiStat;
+    }
+
+    USER_LOG_INFO("--> Step 2: Get data of point thermometry");
+
+    for (int i = 0; i < 30; ++i) {
+        osalHandler->TaskSleepMs(1000 / CAMERA_MANAGER_SUBSCRIPTION_FREQ);
+
+        djiStat = DjiCameraManager_GetPointThermometryData(position, &pointThermometryData);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Get data of point thermometry error.");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        }
+
+        USER_LOG_INFO("received camera point thermometry data, point_x = %.2f, point_y = %.2f "
+                      "point temperature = %.2f\r\n", pointThermometryData.pointX,
+                      pointThermometryData.pointY, pointThermometryData.pointTemperature);
+    }
+
+    return djiStat;
+}
+
+static T_DjiReturnCode DjiTest_CameraManagerGetAreaThermometryData(E_DjiMountPosition position)
+{
+    T_DjiReturnCode djiStat;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiCameraManagerAreaThermometryData areaThermometryData = {0};
+    T_DjiCameraManagerAreaThermometryCoordinate areaCoordinate = {0};
+
+    USER_LOG_INFO("--> Step 1: Set area thermometry coordinate");
+    areaCoordinate.areaTempLtX = 0.2;
+    areaCoordinate.areaTempLtY = 0.2;
+    areaCoordinate.areaTempRbX = 0.8;
+    areaCoordinate.areaTempRbY = 0.8;
+
+    djiStat = DjiCameraManager_SetAreaThermometryCoordinate(position, areaCoordinate);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Set area coordinate failed, stat = 0x%08llX", djiStat);
+        return djiStat;
+    }
+
+    USER_LOG_INFO("--> Step 2: Get data of area thermometry");
+
+    for (int i = 0; i < 30; ++i) {
+        osalHandler->TaskSleepMs(1000 / CAMERA_MANAGER_SUBSCRIPTION_FREQ);
+
+        djiStat = DjiCameraManager_GetAreaThermometryData(position, &areaThermometryData);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Get data of area thermometry error.");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        }
+
+        USER_LOG_INFO("received camera area thermometry data, lt_point_x = %.2f, lt_point_y = %.2f "
+                      "rb_point_x = %.2f, rb_point_y = %.2f, area min temperature = %.2f, area max temperature = %.2f, "
+                      "area average temperature = %.2f\r\n", areaThermometryData.areaTempLtX,
+                      areaThermometryData.areaTempLtY,
+                      areaThermometryData.areaTempRbX, areaThermometryData.areaTempRbY, areaThermometryData.areaMinTemp,
+                      areaThermometryData.areaMaxTemp, areaThermometryData.areaAveTemp);
+        USER_LOG_INFO("min temperature point_x = %.2f, min temperature point_y = %.2f, max temperature point_x = %.2f, "
+                      "max temperature point_y = %.2f\r\n", areaThermometryData.areaMinTempPointX,
+                      areaThermometryData.areaMinTempPointY,
+                      areaThermometryData.areaMaxTempPointX, areaThermometryData.areaMaxTempPointY);
+    }
+
+    return djiStat;
+}
+
+static T_DjiReturnCode DjiTest_CameraManagerGetLidarRangingInfo(E_DjiMountPosition position)
+{
+    T_DjiReturnCode returnCode = 0;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    T_DjiCameraManagerLaserRangingInfo rangingInfo = {0};
+
+    for (int i = 0; i < 5; i++) {
+
+        osalHandler->TaskSleepMs(1000);
+
+        returnCode = DjiCameraManager_GetLaserRangingInfo(position, &rangingInfo);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Get mounted position %d laser ranging info failed, error code: 0x%08X.",
+                           position, returnCode);
+            return returnCode;
+        }
+
+        USER_LOG_INFO(
+            "Receive lidar range info, lon:%.6f, lat:%.6f, alt:%.1f, dis:%d, enable:%d, exception:%d, x:%d, y:%d",
+            rangingInfo.longitude,
+            rangingInfo.latitude,
+            (float) rangingInfo.altitude / 10,
+            rangingInfo.distance,
+            rangingInfo.enable_lidar,
+            rangingInfo.exception,
+            rangingInfo.screenX,
+            rangingInfo.screenY);
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/module_sample/camera_manager/test_camera_manager.h

@@ -52,6 +52,10 @@ typedef enum {
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO,
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO,
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX
 } E_DjiTestCameraManagerSampleSelect;
 /* Exported functions --------------------------------------------------------*/
 

samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c

@@ -391,7 +391,7 @@ static void *UserGimbal_Task(void *arg)
                                                NULL);
     if (djiStat == DJI_ERROR_SUBSCRIPTION_MODULE_CODE_TOPIC_DUPLICATE) {
         USER_LOG_DEBUG("Subscribe topic quaternion duplicate.");
-    } else {
+    } else if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)  {
         USER_LOG_ERROR("Subscribe topic quaternion error.");
     }
 

samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c

@@ -152,4 +152,5 @@ out:
 
 /* Private functions definition-----------------------------------------------*/
 
+
 /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/module_sample/hms/hms_text/cn/hms_text_config.json

@@ -0,0 +1,76 @@
+{
+  "version": {
+    "major": 1,
+    "minor": 0
+  },
+  "hms_database": {
+    "hms_position_desc": "负载%position_index",
+    "hms_error_code_list": [
+      {
+        "hms_error_code": "0x1E020000",
+        "hms_interface": {
+          "message_title": "HMS测试文案: 我是错误码标题0",
+          "message_content": "HMS测试文案: 我是错误码内容0"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS测试文案: 我在地面发生了错误0",
+          "is_keep_history_on_the_ground": false,
+          "message_in_the_sky": "HMS测试文案: 我在空中发生了错误0",
+          "is_keep_history_in_the_sky": false
+        }
+      },
+      {
+        "hms_error_code": "0x1E020001",
+        "hms_interface": {
+          "message_title": "HMS测试文案: 我是错误码标题1",
+          "message_content": "HMS测试文案: 我是错误码内容1"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS测试文案: 我在地面发生了错误1",
+          "is_keep_history_on_the_ground": false,
+          "message_in_the_sky": "HMS测试文案: 我在空中发生了错误1",
+          "is_keep_history_in_the_sky": false
+        }
+      },
+      {
+        "hms_error_code": "0x1E020002",
+        "hms_interface": {
+          "message_title": "HMS测试文案: 我是错误码标题2",
+          "message_content": "HMS测试文案: 我是错误码内容2"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS测试文案: 我在地面发生了错误2",
+          "is_keep_history_on_the_ground": true,
+          "message_in_the_sky": "HMS测试文案: 我在空中发生了错误2",
+          "is_keep_history_in_the_sky": true
+        }
+      },
+      {
+        "hms_error_code": "0x1E020003",
+        "hms_interface": {
+          "message_title": "HMS测试文案: 我是错误码标题3",
+          "message_content": "HMS测试文案: 我是错误码内容3"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS测试文案: 我在地面发生了错误3",
+          "is_keep_history_on_the_ground": true,
+          "message_in_the_sky": "HMS测试文案: 我在空中发生了错误3",
+          "is_keep_history_in_the_sky": true
+        }
+      },
+      {
+        "hms_error_code": "0x1E020004",
+        "hms_interface": {
+          "message_title": "HMS测试文案: 我是错误码标题4",
+          "message_content": "HMS测试文案: 我是错误码内容4"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS测试文案: 我在地面发生了错误4",
+          "is_keep_history_on_the_ground": true,
+          "message_in_the_sky": "HMS测试文案: 我在空中发生了错误4",
+          "is_keep_history_in_the_sky": true
+        }
+      }
+    ]
+  }
+}

samples/sample_c/module_sample/hms/hms_text/en/hms_text_config.json

@@ -0,0 +1,76 @@
+{
+  "version": {
+    "major": 1,
+    "minor": 0
+  },
+  "hms_database": {
+    "hms_position_desc": "Payload %position_index",
+    "hms_error_code_list": [
+      {
+        "hms_error_code": "0x1E020000",
+        "hms_interface": {
+          "message_title": "HMS test text: I am error code Title 0",
+          "message_content": "HMS test text: I am error code Content 0"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS test text: I got error on the ground 0",
+          "is_keep_history_on_the_ground": false,
+          "message_in_the_sky": "HMS test text: I got error in the sky 0",
+          "is_keep_history_in_the_sky": false
+        }
+      },
+      {
+        "hms_error_code": "0x1E020001",
+        "hms_interface": {
+          "message_title": "HMS test text: I am error code Title 1",
+          "message_content": "HMS test text: I am error code Content 1"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS test text: I got error on the ground 1",
+          "is_keep_history_on_the_ground": false,
+          "message_in_the_sky": "HMS test text: I got error in the sky 1",
+          "is_keep_history_in_the_sky": false
+        }
+      },
+      {
+        "hms_error_code": "0x1E020002",
+        "hms_interface": {
+          "message_title": "HMS test text: I am error code Title 2",
+          "message_content": "HMS test text: I am error code Content 2"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS test text: I got error on the ground 2",
+          "is_keep_history_on_the_ground": true,
+          "message_in_the_sky": "HMS test text: I got error in the sky 2",
+          "is_keep_history_in_the_sky": true
+        }
+      },
+      {
+        "hms_error_code": "0x1E020003",
+        "hms_interface": {
+          "message_title": "HMS test text: I am error code Title 3",
+          "message_content": "HMS test text: I am error code Content 3"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS test text: I got error on the ground 3",
+          "is_keep_history_on_the_ground": true,
+          "message_in_the_sky": "HMS test text: I got error in the sky 3",
+          "is_keep_history_in_the_sky": true
+        }
+      },
+      {
+        "hms_error_code": "0x1E020004",
+        "hms_interface": {
+          "message_title": "HMS test text: I am error code Title 4",
+          "message_content": "HMS test text: I am error code Content 4"
+        },
+        "fpv_interface": {
+          "message_on_the_ground": "HMS test text: I got error on the ground 4",
+          "is_keep_history_on_the_ground": true,
+          "message_in_the_sky": "HMS test text: I got error in the sky 4",
+          "is_keep_history_in_the_sky": true
+        }
+      }
+    ]
+  }
+}

samples/sample_c/module_sample/hms/hms_text_c/en/hms_text_config_json.h

@@ -0,0 +1,188 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __hms_text_config_json_h_included
+#define __hms_text_config_json_h_included
+
+#include <stdint.h>
+
+/* Contents of file hms_text_config.json */
+#define hms_text_config_json_fileName        "hms_text_config.json"
+#define hms_text_config_json_fileSize        2783
+
+static const uint8_t hms_text_config_json_fileBinaryArray[2783] = {
+    0x7B, 0x0A, 0x20, 0x20, 0x22, 0x76, 0x65, 0x72, 0x73, 0x69, 0x6F, 0x6E, 0x22, 0x3A, 0x20, 0x7B,
+    0x0A, 0x20, 0x20, 0x20, 0x20, 0x22, 0x6D, 0x61, 0x6A, 0x6F, 0x72, 0x22, 0x3A, 0x20, 0x31, 0x2C,
+    0x0A, 0x20, 0x20, 0x20, 0x20, 0x22, 0x6D, 0x69, 0x6E, 0x6F, 0x72, 0x22, 0x3A, 0x20, 0x30, 0x0A,
+    0x20, 0x20, 0x7D, 0x2C, 0x0A, 0x20, 0x20, 0x22, 0x68, 0x6D, 0x73, 0x5F, 0x64, 0x61, 0x74, 0x61,
+    0x62, 0x61, 0x73, 0x65, 0x22, 0x3A, 0x20, 0x7B, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x22, 0x68, 0x6D,
+    0x73, 0x5F, 0x70, 0x6F, 0x73, 0x69, 0x74, 0x69, 0x6F, 0x6E, 0x5F, 0x64, 0x65, 0x73, 0x63, 0x22,
+    0x3A, 0x20, 0x22, 0x50, 0x61, 0x79, 0x6C, 0x6F, 0x61, 0x64, 0x20, 0x25, 0x70, 0x6F, 0x73, 0x69,
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+    0x61, 0x63, 0x65, 0x22, 0x3A, 0x20, 0x7B, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
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+    0x64, 0x22, 0x3A, 0x20, 0x74, 0x72, 0x75, 0x65, 0x2C, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
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+    0x65, 0x72, 0x72, 0x6F, 0x72, 0x20, 0x69, 0x6E, 0x20, 0x74, 0x68, 0x65, 0x20, 0x73, 0x6B, 0x79,
+    0x20, 0x34, 0x22, 0x2C, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x22,
+    0x69, 0x73, 0x5F, 0x6B, 0x65, 0x65, 0x70, 0x5F, 0x68, 0x69, 0x73, 0x74, 0x6F, 0x72, 0x79, 0x5F,
+    0x69, 0x6E, 0x5F, 0x74, 0x68, 0x65, 0x5F, 0x73, 0x6B, 0x79, 0x22, 0x3A, 0x20, 0x74, 0x72, 0x75,
+    0x65, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x7D, 0x0A, 0x20, 0x20, 0x20, 0x20,
+    0x20, 0x20, 0x7D, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x5D, 0x0A, 0x20, 0x20, 0x7D, 0x0A, 0x7D
+};
+
+#endif    /* __hms_text_config_json_h_included */

samples/sample_c/module_sample/hms/test_hms.c

@@ -24,25 +24,34 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include <widget_interaction_test/test_widget_interaction.h>
+#include <utils/util_misc.h>
 #include "test_hms.h"
 #include "dji_hms.h"
 #include "dji_hms_info_table.h"
 #include "dji_logger.h"
 #include "dji_platform.h"
 #include "dji_fc_subscription.h"
+#include "hms_text_c/en/hms_text_config_json.h"
 
 /* Private constants ---------------------------------------------------------*/
-#define MAX_HMS_PRINT_COUNT 150
-#define MAX_BUFFER_LEN 256
-#define MIN_HMS_ERROR_LEVEL 0
-#define MID_HMS_ERROR_LEVEL 3
-#define MAX_HMS_ERROR_LEVEL 6
+#define MAX_HMS_PRINT_COUNT              (150)
+#define MAX_BUFFER_LEN                   (256)
+#define MIN_HMS_ERROR_LEVEL              (0)
+#define MID_HMS_ERROR_LEVEL              (3)
+#define MAX_HMS_ERROR_LEVEL              (6)
+#define HMS_DIR_PATH_LEN_MAX             (256)
+
+#define DJI_CUSTOM_HMS_CODE_INJECT_ON    (0)
+
 /* Private types -------------------------------------------------------------*/
 
 /* Private values -------------------------------------------------------------*/
 static const char *oldReplaceAlarmIdStr = "%alarmid";
 static const char *oldReplaceIndexStr = "%index";
 static const char *oldReplaceComponentIndexStr = "%component_index";
+static T_DjiHmsFileBinaryArray s_EnHmsTextConfigFileBinaryArrayList[] = {
+    {hms_text_config_json_fileName, hms_text_config_json_fileSize, hms_text_config_json_fileBinaryArray},
+};
 
 /* Private functions declaration ---------------------------------------------*/
 static T_DjiReturnCode DjiTest_HmsInit(void);
@@ -94,6 +103,75 @@ out:
     return returnCode;
 }
 
+T_DjiReturnCode DjiTest_HmsStartService(void)
+{
+    T_DjiReturnCode returnCode;
+#ifdef SYSTEM_ARCH_LINUX
+    char curFileDirPath[HMS_DIR_PATH_LEN_MAX];
+    char tempPath[HMS_DIR_PATH_LEN_MAX];
+#endif
+
+    returnCode = DjiHms_Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Hms init error, error code:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+#ifdef SYSTEM_ARCH_LINUX
+    //Step 2 : Set hms text Config (Linux environment)
+    returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, HMS_DIR_PATH_LEN_MAX, curFileDirPath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", curFileDirPath);
+
+    //set default hms text config path
+    returnCode = DjiHms_RegDefaultHmsTextConfigByDirPath(tempPath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Add default hms text config error, stat = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    //set hms text config for English language
+    returnCode = DjiHms_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_ENGLISH,
+                                                  tempPath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Add hms text config error, stat = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    //set hms text config for Chinese language
+    snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", curFileDirPath);
+    returnCode = DjiHms_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_CHINESE,
+                                                  tempPath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Add hms text config error, stat = 0x%08llX", returnCode);
+        return returnCode;
+    }
+#else
+    //Step 2 : Set hms text Config (RTOS environment)
+    T_DjiHmsBinaryArrayConfig enHmsTextBinaryArrayConfig = {
+        .binaryArrayCount = sizeof(s_EnHmsTextConfigFileBinaryArrayList) / sizeof(T_DjiHmsFileBinaryArray),
+        .fileBinaryArrayList = s_EnHmsTextConfigFileBinaryArrayList
+    };
+
+    //set default hms text config
+    returnCode = DjiHms_RegDefaultHmsTextConfigByBinaryArray(&enHmsTextBinaryArrayConfig);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Add default hms text config error, stat = 0x%08llX", returnCode);
+        return returnCode;
+    }
+#endif
+
+#if DJI_CUSTOM_HMS_CODE_INJECT_ON
+    DjiHms_InjectHmsErrorCode(0x1E020000, DJI_HMS_ERROR_LEVEL_FATAL);
+#endif
+
+    return returnCode;
+}
+
 /* Private functions definition-----------------------------------------------*/
 static T_DjiReturnCode DjiTest_HmsInit(void)
 {
@@ -134,17 +212,17 @@ static T_DjiReturnCode DjiTest_HmsDeInit(void)
 
 static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void)
 {
-    T_DjiReturnCode djiStat;
+    T_DjiReturnCode returnCode;
     T_DjiFcSubscriptionFlightStatus flightStatus;
     T_DjiDataTimestamp flightStatusTimestamp = {0};
 
-    djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
-                                                      (uint8_t *) &flightStatus,
-                                                      sizeof(T_DjiFcSubscriptionFlightStatus),
-                                                      &flightStatusTimestamp);
+    returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
+                                                         (uint8_t *) &flightStatus,
+                                                         sizeof(T_DjiFcSubscriptionFlightStatus),
+                                                         &flightStatusTimestamp);
 
-    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("Get value of topic flight status failed, error code:0x%08llX", djiStat);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get value of topic flight status failed, error code:0x%08llX", returnCode);
         flightStatus = 0;
     } else {
         USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", flightStatusTimestamp.millisecond,
@@ -184,7 +262,6 @@ static bool DjiTest_ReplaceStr(char *buffer, uint32_t bufferMaxLen, const char *
     return true;
 }
 
-
 static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable)
 {
     char alarmIdStr[20] = {0};

samples/sample_c/module_sample/hms/test_hms.h

@@ -40,6 +40,7 @@ extern "C" {
 
 /* Exported functions --------------------------------------------------------*/
 T_DjiReturnCode DjiTest_HmsRunSample(void);
+T_DjiReturnCode DjiTest_HmsStartService(void);
 
 #ifdef __cplusplus
 }

samples/sample_c/module_sample/liveview/test_liveview.c

@@ -33,8 +33,11 @@
 #include "time.h"
 
 /* Private constants ---------------------------------------------------------*/
-#define TEST_LIVEVIEW_STREAM_FILE_PATH_STR_MAX_SIZE    256
-#define TEST_LIVEVIEW_STREAM_STROING_TIME_IN_SECONDS   20
+#define TEST_LIVEVIEW_STREAM_FILE_PATH_STR_MAX_SIZE             256
+#define TEST_LIVEVIEW_STREAM_STROING_TIME_IN_SECONDS            20
+
+#define TEST_LIVEVIEW_STREAM_REQUEST_I_FRAME_ON                 1
+#define TEST_LIVEVIEW_STREAM_REQUEST_I_FRAME_TICK_IN_SECONDS    5
 
 /* Private types -------------------------------------------------------------*/
 
@@ -109,15 +112,25 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
 
     for (int i = 0; i < TEST_LIVEVIEW_STREAM_STROING_TIME_IN_SECONDS; ++i) {
         USER_LOG_INFO("Storing camera h264 stream, second: %d.", i + 1);
+#if TEST_LIVEVIEW_STREAM_REQUEST_I_FRAME_ON
+        if (i % TEST_LIVEVIEW_STREAM_REQUEST_I_FRAME_TICK_IN_SECONDS == 0) {
+            returnCode = DjiLiveview_RequestIntraframeFrameData((E_DjiLiveViewCameraPosition) mountPosition,
+                                                                DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Request stream I frame of payload %d failed, error code: 0x%08X", mountPosition,
+                               returnCode);
+            }
+        }
+#endif
         osalHandler->TaskSleepMs(1000);
     }
 
     USER_LOG_INFO("--> Step 3: Stop h264 stream of the fpv and selected payload\r\n");
     DjiTest_WidgetLogAppend("--> Step 3: Stop h264 stream of the fpv and selected payload");
     if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E) {
-        //TODO: how to use on M3E
+
     } else if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
-        //TODO: how to use on M3T
+
     } else {
         returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -157,7 +170,7 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
         }
 
         returnCode = DjiLiveview_StopH264Stream((E_DjiLiveViewCameraPosition) mountPosition,
-                                                DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
+                                                DJI_LIVEVIEW_CAMERA_SOURCE_M3T_IR);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Request to stop h264 of payload %d failed, error code: 0x%08X", mountPosition, returnCode);
             goto out;

samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c

@@ -39,7 +39,8 @@
 static T_DjiWaypointV3MissionState s_lastWaypointV3MissionState = {0};
 
 /* Private functions declaration ---------------------------------------------*/
-static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionState missionState);
+static T_DjiReturnCode DjiTest_WaypointV3MissionStateCallback(T_DjiWaypointV3MissionState missionState);
+static T_DjiReturnCode DjiTest_WaypointV3ActionStateCallback(T_DjiWaypointV3ActionState actionState);
 
 /* Exported functions definition ---------------------------------------------*/
 T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
@@ -47,7 +48,7 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
 #ifdef SYSTEM_ARCH_LINUX
-    FILE *kmzFile;
+    FILE *kmzFile = NULL;
     uint32_t kmzFileSize = 0;
     uint8_t *kmzFileBuf;
     uint16_t readLen;
@@ -60,12 +61,18 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
         return returnCode;
     }
 
-    returnCode = DjiWaypointV3_RegMissionStateCallback(DjiTest_WaypointV3StateCallback);
+    returnCode = DjiWaypointV3_RegMissionStateCallback(DjiTest_WaypointV3MissionStateCallback);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Register waypoint v3 state callback failed.");
         goto out;
     }
 
+    returnCode = DjiWaypointV3_RegActionStateCallback(DjiTest_WaypointV3ActionStateCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register waypoint v3 action 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) {
@@ -113,8 +120,8 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
     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;
+        USER_LOG_ERROR("Upload kmz file binary array failed.");
+        return returnCode;
     }
 #endif
 
@@ -125,14 +132,24 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
         goto out;
     }
 
+#ifdef SYSTEM_ARCH_LINUX
+    fclose(kmzFile);
+#endif
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 
 out:
+#ifdef SYSTEM_ARCH_LINUX
+    if (kmzFile != NULL) {
+        fclose(kmzFile);
+    }
+#endif
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
 }
 
 /* Private functions definition-----------------------------------------------*/
-static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionState missionState)
+static T_DjiReturnCode DjiTest_WaypointV3MissionStateCallback(T_DjiWaypointV3MissionState missionState)
 {
     if (s_lastWaypointV3MissionState.state == missionState.state
         && s_lastWaypointV3MissionState.currentWaypointIndex == missionState.currentWaypointIndex
@@ -147,4 +164,16 @@ static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionSta
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
+
+static T_DjiReturnCode DjiTest_WaypointV3ActionStateCallback(T_DjiWaypointV3ActionState actionState)
+{
+    USER_LOG_INFO(
+        "Waypoint v3 action state: %d, current waypoint index: %d, wayLine id: %d, action group: %d, action id: %d",
+        actionState.state,
+        actionState.currentWaypointIndex, actionState.wayLineId,
+        actionState.actionGroupId, actionState.actionId);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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

@@ -6,209 +6,250 @@
 
 /* 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        3186
+#define waypoint_v3_test_file_kmz_fileSize        3856
 
-static const uint8_t waypoint_v3_test_file_kmz_fileBinaryArray[3186] = {
-    0x50, 0x4B, 0x03, 0x04, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x22, 0x6D, 0x34, 0x55, 0x00, 0x00,
+static const uint8_t waypoint_v3_test_file_kmz_fileBinaryArray[3856] = {
+    0x50, 0x4B, 0x03, 0x04, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x8A, 0x81, 0x3E, 0x56, 0x00, 0x00,
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x77, 0x70,
     0x6D, 0x7A, 0x2F, 0x74, 0x65, 0x6D, 0x70, 0x6C, 0x61, 0x74, 0x65, 0x2E, 0x6B, 0x6D, 0x6C, 0xED,
-    0x5B, 0x4D, 0x8F, 0xDB, 0x36, 0x10, 0xBD, 0xE7, 0x57, 0x08, 0x3E, 0xB5, 0x40, 0x6A, 0x53, 0xDF,
-    0x52, 0xE0, 0x38, 0xD8, 0x6E, 0x3E, 0x76, 0x91, 0x4D, 0x63, 0xC4, 0x4E, 0xF7, 0x58, 0x30, 0x32,
-    0x6D, 0xB3, 0x2B, 0x91, 0x86, 0x44, 0xAD, 0xD7, 0x3D, 0x05, 0x28, 0x52, 0xB4, 0x40, 0x4E, 0x2D,
-    0x8A, 0x1E, 0x8A, 0x1E, 0x52, 0xA0, 0x40, 0x4F, 0xBD, 0x34, 0xC7, 0xB4, 0xFF, 0x66, 0x83, 0xF4,
-    0x5F, 0x94, 0x92, 0x25, 0x59, 0x94, 0xE8, 0x4D, 0x10, 0x05, 0xD8, 0xAC, 0x6D, 0x9F, 0x2C, 0xCE,
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+    0xEC, 0x34, 0xC8, 0x06, 0x5C, 0x2C, 0xEE, 0x6A, 0xF1, 0x37, 0xDB, 0xAB, 0xA0, 0xF3, 0xC0, 0xF3,
+    0x49, 0xE8, 0xC5, 0x9F, 0x6A, 0x49, 0xCD, 0xE7, 0x60, 0xF9, 0x59, 0xB4, 0xF8, 0x8C, 0xC5, 0x82,
+    0x2B, 0xC5, 0x84, 0x26, 0xF5, 0xF6, 0xA3, 0x23, 0x00, 0x50, 0xCF, 0x35, 0x11, 0x80, 0x08, 0x63,
+    0xD7, 0x32, 0xCC, 0xA7, 0x10, 0xF6, 0x2C, 0x8C, 0x4D, 0x17, 0xB9, 0x8E, 0x6D, 0xDA, 0x75, 0x8C,
+    0xBE, 0x12, 0x64, 0xD0, 0x6F, 0xF4, 0x56, 0x5C, 0x06, 0x95, 0xD6, 0x10, 0xAD, 0x2F, 0x1A, 0x65,
+    0x2A, 0xC5, 0xD4, 0x1A, 0xAA, 0xAC, 0x35, 0x83, 0x44, 0x86, 0xE6, 0x59, 0x7F, 0xF2, 0xE4, 0xC8,
+    0xAD, 0x1D, 0x21, 0x6F, 0x88, 0x97, 0x95, 0x8B, 0x73, 0x2F, 0xF6, 0x42, 0x69, 0x72, 0x54, 0x5E,
+    0xF9, 0x6A, 0x99, 0xB0, 0x20, 0x60, 0xD7, 0x25, 0x4F, 0x37, 0xBA, 0xAA, 0xFB, 0xDD, 0x05, 0xF6,
+    0x32, 0x9A, 0x06, 0xA4, 0xBE, 0xC8, 0xDA, 0xC6, 0x4E, 0x08, 0x31, 0xBB, 0xC5, 0x04, 0x1B, 0x3D,
+    0x23, 0xFF, 0xF7, 0xB4, 0xF5, 0x43, 0x03, 0x77, 0x11, 0xB1, 0xD6, 0xB0, 0x5E, 0x47, 0xDE, 0xD5,
+    0x1D, 0x83, 0x2B, 0x5D, 0xEE, 0x82, 0x13, 0x9D, 0xCA, 0xCC, 0xD1, 0x65, 0xAF, 0xAD, 0x9D, 0x35,
+    0x12, 0x24, 0xF7, 0x35, 0x4A, 0xE3, 0xE8, 0x8E, 0x0C, 0x66, 0x2E, 0x79, 0x5A, 0x38, 0xCB, 0xE7,
+    0xE1, 0x65, 0x34, 0xBE, 0xE4, 0x6C, 0xFE, 0x81, 0xF2, 0xD9, 0x09, 0x4D, 0x7C, 0x16, 0x71, 0x1A,
+    0xA5, 0xA2, 0x06, 0xBD, 0x4A, 0xE3, 0xCF, 0x1E, 0x4F, 0xE3, 0x66, 0x66, 0x17, 0xF1, 0x2B, 0x7B,
+    0x38, 0xF1, 0xC2, 0xB9, 0x18, 0xAC, 0x40, 0xE4, 0xAD, 0x0B, 0x6E, 0xDA, 0xBB, 0x2E, 0x58, 0x71,
+    0x31, 0x45, 0x47, 0x69, 0x42, 0x2E, 0x79, 0xEC, 0x65, 0x37, 0xC0, 0x99, 0x58, 0x7A, 0x43, 0x50,
+    0x06, 0x36, 0xDB, 0x1B, 0x61, 0x5E, 0x5E, 0x97, 0x7F, 0x8A, 0x59, 0x3A, 0x6F, 0x0F, 0xBE, 0x66,
+    0xAC, 0x31, 0x9E, 0xDC, 0xBA, 0x2A, 0x28, 0x67, 0x57, 0x39, 0xC1, 0x6A, 0xEB, 0x2A, 0x90, 0xD7,
+    0xD1, 0xB8, 0x13, 0x62, 0x61, 0x5B, 0x05, 0x50, 0x68, 0x29, 0xF2, 0x47, 0x2A, 0xD4, 0x1F, 0x69,
+    0x63, 0xA8, 0xF3, 0x56, 0x38, 0x8C, 0x62, 0x3A, 0x9D, 0x2E, 0x4B, 0x4F, 0xA7, 0xC3, 0xE8, 0x76,
+    0x9E, 0x55, 0x15, 0xCF, 0x9F, 0xD5, 0x6B, 0x49, 0xDB, 0x45, 0xE2, 0xC6, 0xD5, 0xFD, 0xD4, 0x7B,
+    0xE9, 0xEE, 0xBF, 0x95, 0x16, 0x39, 0x23, 0xB2, 0xB3, 0xD0, 0x60, 0xA9, 0xC7, 0x59, 0x7C, 0x9A,
+    0x46, 0xBE, 0x20, 0x2A, 0x3F, 0x4D, 0xA4, 0x50, 0xC9, 0xBC, 0x16, 0x48, 0xEB, 0xAE, 0x5A, 0x3A,
+    0xE7, 0xF0, 0xBF, 0x09, 0x06, 0x82, 0x15, 0xE1, 0x96, 0x2D, 0xDD, 0xDE, 0x1F, 0x5B, 0xDE, 0x1F,
+    0x57, 0x78, 0x5F, 0x90, 0xA9, 0x18, 0xCD, 0x07, 0x3A, 0xE6, 0x33, 0x11, 0x27, 0x85, 0xD5, 0x4D,
+    0x77, 0x01, 0x94, 0x25, 0x43, 0x89, 0xD0, 0x2C, 0x27, 0x75, 0x08, 0x9A, 0xE4, 0x99, 0x3E, 0xCD,
+    0xBC, 0x97, 0x35, 0xAB, 0xDE, 0xD8, 0x11, 0x26, 0x14, 0x8F, 0x50, 0xE4, 0x9C, 0x34, 0x23, 0xE5,
+    0x76, 0x65, 0xF0, 0xD6, 0x9A, 0xAB, 0x04, 0xE9, 0x4A, 0x76, 0x9B, 0x1C, 0xFB, 0x1D, 0x8B, 0x6F,
+    0xED, 0x45, 0x09, 0xB6, 0x5B, 0x94, 0x99, 0xE4, 0x3F, 0x9F, 0x31, 0xCE, 0xF6, 0xB8, 0x30, 0x69,
+    0x20, 0x24, 0xF8, 0x64, 0x42, 0x6F, 0x86, 0xFF, 0xFD, 0xF5, 0xF7, 0xBF, 0x7F, 0xFE, 0x53, 0x0D,
+    0xB5, 0x66, 0xD8, 0xC7, 0xEC, 0xD7, 0x78, 0xFA, 0xA7, 0xFC, 0x4B, 0xC9, 0x79, 0x11, 0x72, 0x46,
+    0xA2, 0x44, 0xC6, 0xEA, 0xF6, 0xF8, 0xBA, 0xE9, 0x6C, 0x53, 0xE1, 0x52, 0xA3, 0xB7, 0x24, 0xE2,
+    0xD7, 0x12, 0x8D, 0x86, 0x6D, 0x42, 0xD3, 0x04, 0x4E, 0x21, 0x1A, 0x85, 0xBC, 0x45, 0xA6, 0xE5,
+    0x18, 0x36, 0x04, 0x3B, 0xCA, 0xC6, 0x2A, 0x8B, 0x5A, 0x36, 0x6A, 0xD9, 0xA8, 0x65, 0xE3, 0x21,
+    0xC9, 0x46, 0xD0, 0xE6, 0x99, 0xF5, 0x65, 0xA3, 0x22, 0x78, 0x53, 0xD9, 0xA8, 0x80, 0xD0, 0xB2,
+    0x71, 0x6B, 0xD9, 0x98, 0x64, 0xB3, 0x7F, 0x41, 0x7C, 0xC1, 0xCF, 0xF7, 0x58, 0xA3, 0xE1, 0xF7,
+    0x5A, 0xA3, 0xF7, 0x2F, 0xB9, 0x12, 0x41, 0x58, 0xFB, 0xCE, 0xE7, 0x43, 0x0B, 0xD7, 0x07, 0x50,
+    0x3A, 0x10, 0x19, 0xB6, 0x6B, 0x1A, 0x0E, 0xB6, 0x4A, 0xA5, 0x03, 0x0C, 0x80, 0xC4, 0x7F, 0x26,
+    0xB0, 0x76, 0x54, 0x3A, 0x50, 0x2B, 0x1D, 0xAD, 0x74, 0xB4, 0xD2, 0x39, 0x40, 0xA5, 0x03, 0x77,
+    0x51, 0x3A, 0x8A, 0xE0, 0x4D, 0x95, 0x8E, 0x02, 0x42, 0x2B, 0x9D, 0xAD, 0x95, 0xCE, 0x94, 0x86,
+    0xA2, 0xBE, 0x5F, 0x30, 0x2E, 0xB8, 0x79, 0x7F, 0xA5, 0xB1, 0xDE, 0x4B, 0x3E, 0xD1, 0xDE, 0x55,
+    0xC2, 0x02, 0x41, 0xD5, 0x39, 0x4B, 0x54, 0xA7, 0x98, 0x4D, 0xA7, 0x15, 0x50, 0xE7, 0x94, 0xFB,
+    0xB3, 0xC2, 0xB5, 0xE4, 0x18, 0x20, 0xA1, 0xB4, 0xED, 0xEB, 0x81, 0xC9, 0x7C, 0xDB, 0x61, 0x5E,
+    0x79, 0x89, 0x41, 0x20, 0x75, 0x6B, 0x34, 0x2E, 0xAE, 0x61, 0x5E, 0x0B, 0x4A, 0x35, 0xA8, 0xA6,
+    0x75, 0x05, 0xD0, 0x47, 0xEF, 0x7A, 0xC5, 0x90, 0x9A, 0xD6, 0x75, 0x80, 0x54, 0x03, 0x6A, 0x18,
+    0xEF, 0x5C, 0x06, 0x23, 0x1A, 0x76, 0xCD, 0x51, 0xC3, 0xBC, 0x16, 0x54, 0x27, 0x88, 0xD6, 0x6A,
+    0xA5, 0x56, 0x03, 0x36, 0x86, 0x00, 0x3A, 0x0E, 0xC4, 0x95, 0x56, 0x03, 0xAE, 0x8B, 0xA0, 0x0B,
+    0x5C, 0xBC, 0xA3, 0x56, 0x43, 0x5A, 0xAB, 0x69, 0xAD, 0xA6, 0xB5, 0xDA, 0x01, 0x6A, 0x35, 0xD4,
+    0xE6, 0x99, 0xF5, 0xB5, 0x9A, 0x22, 0x78, 0x53, 0xAD, 0xA6, 0x80, 0xD0, 0x5A, 0x6D, 0x6B, 0xAD,
+    0xF6, 0x85, 0xB1, 0x70, 0xAF, 0x67, 0x99, 0x5E, 0x70, 0x46, 0xA2, 0x29, 0x9F, 0x0D, 0x4D, 0x67,
+    0x79, 0x4E, 0xB8, 0x68, 0x54, 0x46, 0xD1, 0xE4, 0x7D, 0x92, 0x9D, 0xE6, 0x79, 0xC1, 0xA9, 0xE8,
+    0x8D, 0xC5, 0xB5, 0xB3, 0xBE, 0x86, 0x41, 0xD7, 0xE1, 0xB2, 0x0E, 0x03, 0x2C, 0x2A, 0x2F, 0xC2,
+    0xE5, 0x13, 0x45, 0x36, 0x46, 0x36, 0x74, 0x45, 0x6D, 0xB6, 0xDC, 0x1D, 0xCB, 0xB0, 0xA9, 0xCB,
+    0xB0, 0x2E, 0xC3, 0xBA, 0x0C, 0x1F, 0x60, 0x19, 0x36, 0x77, 0x29, 0xC3, 0x8A, 0xE0, 0x4D, 0xCB,
+    0xB0, 0x02, 0x42, 0x97, 0x61, 0xFD, 0x4C, 0x91, 0x7E, 0xA6, 0xE8, 0xBE, 0x64, 0xC6, 0x06, 0x8B,
+    0xF2, 0x11, 0x3D, 0x53, 0xB4, 0x48, 0xBC, 0x3E, 0xAF, 0xEC, 0x4C, 0x27, 0xDC, 0x2E, 0x9D, 0x0F,
+    0x73, 0x00, 0xAD, 0x13, 0x7A, 0x77, 0x42, 0xD1, 0xB6, 0x09, 0xFD, 0xF6, 0x0F, 0xA0, 0x37, 0x98,
+    0x45, 0x73, 0xBB, 0x59, 0xD4, 0xA7, 0x15, 0xFA, 0xB4, 0x42, 0x9F, 0x56, 0x1C, 0xF2, 0x8D, 0x6D,
+    0x6D, 0x77, 0x63, 0xEB, 0xAD, 0xAD, 0x6F, 0x62, 0x6B, 0x0B, 0xBA, 0xC8, 0x40, 0xC0, 0xAA, 0x7E,
+    0x59, 0x0E, 0x59, 0x06, 0x84, 0x06, 0xB0, 0xEC, 0x5D, 0x7F, 0x5D, 0xAE, 0x5A, 0x55, 0x7A, 0x6B,
+    0x4B, 0x6F, 0x6D, 0xE9, 0xAD, 0xAD, 0x43, 0xDA, 0xDA, 0xB2, 0xDA, 0x34, 0xB3, 0xFE, 0xD6, 0x96,
+    0x22, 0x78, 0xD3, 0xAD, 0x2D, 0x05, 0x84, 0xDE, 0xDA, 0xDA, 0x7A, 0x6B, 0xCB, 0x4F, 0xC5, 0xF7,
+    0x94, 0xF0, 0x84, 0xC6, 0xBF, 0x78, 0xE1, 0x1E, 0x05, 0xF6, 0xF7, 0x58, 0x1A, 0x2D, 0xCB, 0x00,
+    0x08, 0x1B, 0x66, 0xF9, 0xF4, 0x05, 0x76, 0x6D, 0x0B, 0x00, 0x6C, 0xB8, 0xD6, 0xAE, 0x4F, 0x5F,
+    0xD8, 0xBA, 0x36, 0xEA, 0xDA, 0xA8, 0x6B, 0xE3, 0xBE, 0x6B, 0xE3, 0xFE, 0x9E, 0xA1, 0x87, 0x86,
+    0x6B, 0x40, 0x21, 0x9A, 0x41, 0xC1, 0x0C, 0x8E, 0x85, 0x50, 0x76, 0x48, 0x6C, 0x19, 0xBB, 0x32,
+    0x03, 0xD6, 0xCC, 0xA0, 0x99, 0x41, 0x33, 0xC3, 0x01, 0xAA, 0x66, 0xBB, 0xAD, 0x40, 0xD6, 0x57,
+    0xCD, 0xB8, 0x1D, 0xBC, 0xA9, 0x6A, 0x56, 0x40, 0x1C, 0x94, 0x6A, 0x0E, 0xD3, 0x80, 0xD3, 0x79,
+    0x40, 0x4E, 0xCA, 0xF7, 0x07, 0xAD, 0xA3, 0x9D, 0x95, 0x68, 0x45, 0x7E, 0x81, 0xA1, 0x02, 0x58,
+    0xAD, 0x16, 0xF5, 0xC1, 0xB2, 0x3E, 0x58, 0xD6, 0x07, 0xCB, 0xF7, 0x72, 0xB0, 0xFC, 0xCD, 0x1D,
+    0x27, 0x3E, 0xC0, 0xF7, 0x4B, 0xE8, 0x22, 0xD3, 0x71, 0xA1, 0x83, 0xCB, 0x77, 0x4E, 0x38, 0x26,
+    0x30, 0x91, 0x05, 0x91, 0x01, 0x9C, 0x1D, 0x55, 0x64, 0xB5, 0x5F, 0xAE, 0x55, 0xA4, 0x56, 0x91,
+    0x5A, 0x45, 0x3E, 0xBE, 0xEF, 0x97, 0x08, 0x1A, 0x26, 0x30, 0x90, 0xEB, 0x56, 0x1B, 0x4F, 0xD0,
+    0x31, 0x91, 0x0B, 0xB1, 0xBB, 0x2B, 0x31, 0xB8, 0x9A, 0x18, 0x34, 0x31, 0x68, 0x62, 0x78, 0xB4,
+    0xC4, 0x00, 0xB1, 0x6D, 0x02, 0x17, 0xC3, 0xEA, 0xE5, 0x0D, 0xD8, 0x74, 0x21, 0x04, 0x8E, 0x68,
+    0xD9, 0xF5, 0xB8, 0x76, 0xF1, 0x7D, 0x4B, 0x53, 0x83, 0xA6, 0x06, 0x4D, 0x0D, 0x8F, 0x90, 0x1A,
+    0x10, 0x14, 0xDF, 0x28, 0x0C, 0xCB, 0x2E, 0xF7, 0xA4, 0xB1, 0x61, 0x59, 0xAE, 0xEB, 0xD8, 0xB6,
+    0x85, 0x76, 0xA5, 0x06, 0xFD, 0x0A, 0x3B, 0x4D, 0x0D, 0x9A, 0x1A, 0x1E, 0x2F, 0x35, 0x08, 0xC5,
+    0x80, 0x4D, 0x0B, 0x98, 0x4E, 0xF5, 0xCA, 0x27, 0x1B, 0x58, 0x8E, 0xED, 0x42, 0xE4, 0xEC, 0xFC,
+    0x72, 0x4B, 0xFD, 0xCE, 0x27, 0x4D, 0x0D, 0x9A, 0x1A, 0x1E, 0x31, 0x35, 0x60, 0xC7, 0x72, 0x30,
+    0x06, 0xD5, 0x1E, 0x24, 0xB6, 0x4C, 0x64, 0xDB, 0x0E, 0xC2, 0xF6, 0xAE, 0x5B, 0x0D, 0x40, 0xBF,
+    0x62, 0x44, 0x53, 0x83, 0xA6, 0x86, 0xFB, 0xA7, 0x86, 0x41, 0x7F, 0xF9, 0x67, 0x69, 0x06, 0xFD,
+    0xE5, 0x9F, 0x7A, 0x1A, 0x64, 0x7F, 0x2E, 0x6A, 0xF8, 0xE4, 0x7F, 0x50, 0x4B, 0x07, 0x08, 0x9F,
+    0x7E, 0x60, 0xC2, 0x2B, 0x07, 0x00, 0x00, 0x7E, 0x6A, 0x00, 0x00, 0x50, 0x4B, 0x01, 0x02, 0x14,
+    0x00, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x8A, 0x81, 0x3E, 0x56, 0xF2, 0xB2, 0xDF, 0xE7, 0xD1,
+    0x06, 0x00, 0x00, 0x66, 0x4D, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    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, 0x14, 0x00,
+    0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x8A, 0x81, 0x3E, 0x56, 0x9F, 0x7E, 0x60, 0xC2, 0x2B, 0x07,
+    0x00, 0x00, 0x7E, 0x6A, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x10, 0x07, 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, 0x7B, 0x0E, 0x00, 0x00, 0x00, 0x00
 };
 
 #endif    /* __waypoint_v3_test_file_kmz_h_included */

samples/sample_c/module_sample/widget/test_widget_speaker.c

@@ -23,8 +23,6 @@
  */
 
 /* Includes ------------------------------------------------------------------*/
-#ifdef SYSTEM_ARCH_LINUX
-
 #include "test_widget_speaker.h"
 #include "dji_logger.h"
 #include <stdlib.h>
@@ -92,6 +90,7 @@ 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);
+#ifdef SYSTEM_ARCH_LINUX
 static void *DjiTest_WidgetSpeakerTask(void *arg);
 static uint32_t DjiTest_GetVoicePlayProcessId(void);
 static uint32_t DjiTest_KillVoicePlayProcess(uint32_t pid);
@@ -99,6 +98,7 @@ 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);
+#endif
 
 /* Exported functions definition ---------------------------------------------*/
 T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
@@ -149,17 +149,20 @@ T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
         return returnCode;
     }
 
+#ifdef SYSTEM_ARCH_LINUX
     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;
     }
+#endif
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
 /* Private functions definition-----------------------------------------------*/
+#ifdef SYSTEM_ARCH_LINUX
 static uint32_t DjiTest_GetVoicePlayProcessId(void)
 {
     FILE *fp;
@@ -217,21 +220,21 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void)
     /*! 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));
+        USER_LOG_ERROR("failed to open input file: %s\n", strerror(errno));
         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_ERROR("failed to open output file: %s\n", strerror(errno));
+        goto open_pcm_audio_failed;
+    }
+
+    /* Create a new decoder state. */
+    decoder = opus_decoder_create(WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE, WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS, &err);
+    if (err < 0) {
+        USER_LOG_ERROR("failed to create decoder: %s\n", opus_strerror(err));
+        goto create_decoder_failed;
     }
 
     while (1) {
@@ -251,8 +254,8 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void)
            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_ERROR("decoder failed: %s\n", opus_strerror(frame_size));
+            goto decode_data_failed;
         }
 
         USER_LOG_DEBUG("decode data to file: %d\r\n", frame_size * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS);
@@ -265,16 +268,18 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void)
         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...");
     s_isDecodeFinished = true;
 
+decode_data_failed:
+    opus_decoder_destroy(decoder);
+create_decoder_failed:
+    fclose(fout);
+open_pcm_audio_failed:
+    fclose(fin);
 #endif
-    return EXIT_SUCCESS;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
 static T_DjiReturnCode DjiTest_PlayAudioData(void)
@@ -311,17 +316,19 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
     } else {
         txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");
         if (txtFile == NULL) {
-            fprintf(stderr, "failed to open input file: %s\n", strerror(errno));
+            USER_LOG_ERROR("failed to open input file: %s\n", strerror(errno));
             return EXIT_FAILURE;
         }
 
-        readLen = fread(data, 1, WIDGET_SPEAKER_TTS_FILE_MAX_SIZE, txtFile);
+        readLen = fread(data, 1, WIDGET_SPEAKER_TTS_FILE_MAX_SIZE - 1, 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;
         }
 
+        data[readLen] = '\0';
+
         fclose(txtFile);
 
         USER_LOG_INFO("Read tts file success, len: %d", readLen);
@@ -358,7 +365,7 @@ static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, u
     uint16_t readLen;
     T_DjiReturnCode returnCode;
     uint8_t readBuf[1024];
-    uint8_t md5Sum[16];
+    uint8_t md5Sum[16] = {0};
     FILE *file = NULL;;
 
     UtilMd5_Init(&md5Ctx);
@@ -400,6 +407,7 @@ static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, u
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
+#endif
 
 static void SetSpeakerState(E_DjiWidgetSpeakerState speakerState)
 {
@@ -492,10 +500,12 @@ static T_DjiReturnCode StartPlay(void)
     uint32_t pid;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
 
+#ifdef SYSTEM_ARCH_LINUX
     pid = DjiTest_GetVoicePlayProcessId();
     if (pid != 0) {
         DjiTest_KillVoicePlayProcess(pid);
     }
+#endif
 
     osalHandler->TaskSleepMs(5);
     USER_LOG_INFO("Start widget speaker play");
@@ -519,10 +529,12 @@ static T_DjiReturnCode StopPlay(void)
     USER_LOG_INFO("Stop widget speaker play");
     s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_IDEL;
 
+#ifdef SYSTEM_ARCH_LINUX
     pid = DjiTest_GetVoicePlayProcessId();
     if (pid != 0) {
         DjiTest_KillVoicePlayProcess(pid);
     }
+#endif
 
     returnCode = osalHandler->MutexUnlock(s_speakerMutex);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -588,15 +600,18 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
 
     if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
         USER_LOG_INFO("Create tts file.");
+#ifdef SYSTEM_ARCH_LINUX
         s_ttsFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "wb");
         if (s_ttsFile == NULL) {
             USER_LOG_ERROR("Open tts file error.");
         }
+#endif
         if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
             SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
         }
     } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT) {
         USER_LOG_INFO("Transmit tts file, offset: %d, size: %d", offset, size);
+#ifdef SYSTEM_ARCH_LINUX
         if (s_ttsFile != NULL) {
             fseek(s_ttsFile, offset, SEEK_SET);
             writeLen = fwrite(buf, 1, size, s_ttsFile);
@@ -604,11 +619,13 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
                 USER_LOG_ERROR("Write tts file error %d", writeLen);
             }
         }
+#endif
         if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
             SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
         }
     } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_FINISH) {
         USER_LOG_INFO("Close tts file.");
+#ifdef SYSTEM_ARCH_LINUX
         if (s_ttsFile != NULL) {
             fclose(s_ttsFile);
         }
@@ -617,6 +634,7 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("File md5 sum check failed");
         }
+#endif
         if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
             SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IDEL);
         }
@@ -634,6 +652,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
 
     if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
         s_isDecodeFinished = false;
+#ifdef SYSTEM_ARCH_LINUX
         USER_LOG_INFO("Create voice file.");
         s_audioFile = fopen(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, "wb");
         if (s_audioFile == NULL) {
@@ -642,6 +661,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
         if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
             SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
         }
+#endif
 
         memcpy(&transDataContent, buf, size);
         s_decodeBitrate = transDataContent.transDataStartContent.fileDecodeBitrate;
@@ -649,6 +669,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
                       transDataContent.transDataStartContent.fileDecodeBitrate);
     } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT) {
         USER_LOG_INFO("Transmit voice file, offset: %d, size: %d", offset, size);
+#ifdef SYSTEM_ARCH_LINUX
         if (s_audioFile != NULL) {
             fseek(s_audioFile, offset, SEEK_SET);
             writeLen = fwrite(buf, 1, size, s_audioFile);
@@ -656,6 +677,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
                 USER_LOG_ERROR("Write tts file error %d", writeLen);
             }
         }
+#endif
         if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
             SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
         }
@@ -665,21 +687,25 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
             fclose(s_audioFile);
         }
 
+#ifdef SYSTEM_ARCH_LINUX
         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");
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
-
+#endif
         if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
             SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IDEL);
         }
+#ifdef SYSTEM_ARCH_LINUX
         DjiTest_DecodeAudioData();
+#endif
     }
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+#ifdef SYSTEM_ARCH_LINUX
 #ifndef __CC_ARM
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wmissing-noreturn"
@@ -752,7 +778,6 @@ static void *DjiTest_WidgetSpeakerTask(void *arg)
 #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

@@ -34,7 +34,6 @@
 extern "C" {
 #endif
 
-#ifdef SYSTEM_ARCH_LINUX
 
 /* Exported constants --------------------------------------------------------*/
 T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void);
@@ -43,8 +42,6 @@ T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void);
 
 /* Exported functions --------------------------------------------------------*/
 
-#endif
-
 #ifdef __cplusplus
 }
 #endif

samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.c

@@ -45,6 +45,8 @@
 #include <payload_collaboration/test_payload_collaboration.h>
 #include <waypoint_v3/test_waypoint_v3.h>
 #include "dji_sdk_config.h"
+#include "hms/hms_text_c/en/hms_text_config_json.h"
+#include "dji_hms.h"
 
 /* Private constants ---------------------------------------------------------*/
 #define WIDGET_DIR_PATH_LEN_MAX         (256)
@@ -83,10 +85,27 @@ typedef enum {
     E_DJI_SAMPLE_INDEX_CAMMGR_INTERVAL_PHOTO = 25,
     E_DJI_SAMPLE_INDEX_CAMMGR_RECORDER_VIDEO = 26,
     E_DJI_SAMPLE_INDEX_CAMMGR_MEDIA_DOWNLOAD = 27,
+    E_DJI_SAMPLE_INDEX_CAMMGR_THERMOMETRY = 28,
 
     E_DJI_SAMPLE_INDEX_UNKNOWN = 0xFF,
 } E_DjiExtensionPortSampleIndex;
 
+typedef enum {
+    E_DJI_HMS_ERROR_CODE_INDEX1 = 0,
+    E_DJI_HMS_ERROR_CODE_INDEX2,
+    E_DJI_HMS_ERROR_CODE_INDEX3,
+    E_DJI_HMS_ERROR_CODE_INDEX4,
+    E_DJI_HMS_ERROR_CODE_INDEX5,
+}E_DjiExtensionPortHmsErrorCodeIndex;
+
+typedef enum {
+    E_DJI_HMS_ERROR_LEVEL_INDEX1 = 0,
+    E_DJI_HMS_ERROR_LEVEL_INDEX2,
+    E_DJI_HMS_ERROR_LEVEL_INDEX3,
+    E_DJI_HMS_ERROR_LEVEL_INDEX4,
+    E_DJI_HMS_ERROR_LEVEL_INDEX5,
+}E_DjiExtensionPortHmsErrorLevelIndex;
+
 typedef struct {
     bool valid;
     char content[WIDGET_LOG_STRING_MAX_SIZE];
@@ -105,6 +124,10 @@ static T_DjiReturnCode DjiTestWidget_TriggerChangeAlias(void);
 static T_DjiTaskHandle s_widgetTestThread;
 static T_DjiTaskHandle s_widgetInteractionTestThread;
 static E_DjiExtensionPortSampleIndex s_extensionPortSampleIndex = E_DJI_SAMPLE_INDEX_FC_SUBSCRIPTION;
+static E_DjiExtensionPortHmsErrorCodeIndex s_extensionPortErrcodeIndex = E_DJI_HMS_ERROR_CODE_INDEX1;
+static E_DjiExtensionPortHmsErrorLevelIndex s_extensionPortErrLevelIndex = E_DJI_HMS_ERROR_LEVEL_INDEX1;
+static bool s_isInjectErrcode = false;
+static bool s_isEliminateErrcode = false;
 static bool s_isallowRunFlightControlSample = false;
 static bool s_isSampleStart = false;
 static E_DjiMountPosition s_mountPosition = DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1;
@@ -124,6 +147,10 @@ static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
     {8,  DJI_WIDGET_TYPE_LIST,          DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
     {9,  DJI_WIDGET_TYPE_LIST,          DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
     {10, DJI_WIDGET_TYPE_BUTTON,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {11, DJI_WIDGET_TYPE_LIST,          DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {12, DJI_WIDGET_TYPE_LIST,          DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {13, DJI_WIDGET_TYPE_BUTTON,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {14, DJI_WIDGET_TYPE_BUTTON,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
 };
 
 static const char *s_widgetTypeNameArray[] = {
@@ -334,6 +361,8 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
 {
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
     T_DjiReturnCode returnCode;
+    uint32_t errorCode;
+    E_DjiHmsErrorLevel errorLevel;
 
     returnCode = DjiAircraftInfo_GetBaseInfo(&s_aircraftInfoBaseInfo);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -344,6 +373,78 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
     while (1) {
         osalHandler->TaskSleepMs(100);
 
+        if (s_isInjectErrcode == true && s_isEliminateErrcode == false) {
+            switch (s_extensionPortErrcodeIndex) {
+                case E_DJI_HMS_ERROR_CODE_INDEX1:
+                    errorCode = 0x1E020000;
+                    break;
+                case E_DJI_HMS_ERROR_CODE_INDEX2:
+                    errorCode = 0x1E020001;
+                    break;
+                case E_DJI_HMS_ERROR_CODE_INDEX3:
+                    errorCode = 0x1E020002;
+                    break;
+                case E_DJI_HMS_ERROR_CODE_INDEX4:
+                    errorCode = 0x1E020003;
+                    break;
+                case E_DJI_HMS_ERROR_CODE_INDEX5:
+                    errorCode = 0x1E020004;
+                    break;
+                default:
+                    break;
+            }
+            switch (s_extensionPortErrLevelIndex) {
+                case E_DJI_HMS_ERROR_LEVEL_INDEX1:
+                    errorLevel = DJI_HMS_ERROR_LEVEL_NONE;
+                    break;
+                case E_DJI_HMS_ERROR_LEVEL_INDEX2:
+                    errorLevel = DJI_HMS_ERROR_LEVEL_HINT;
+                    break;
+                case E_DJI_HMS_ERROR_LEVEL_INDEX3:
+                    errorLevel = DJI_HMS_ERROR_LEVEL_WARN;
+                    break;
+                case E_DJI_HMS_ERROR_LEVEL_INDEX4:
+                    errorLevel = DJI_HMS_ERROR_LEVEL_CRITICAL;
+                    break;
+                case E_DJI_HMS_ERROR_LEVEL_INDEX5:
+                    errorLevel = DJI_HMS_ERROR_LEVEL_FATAL;
+                    break;
+                default:
+                    break;
+            }
+            DjiHms_InjectHmsErrorCode(errorCode, errorLevel);
+            osalHandler->TaskSleepMs(500);
+            s_isInjectErrcode = false;
+            s_isEliminateErrcode = false;
+            continue;
+        }
+        if (s_isEliminateErrcode == true && s_isInjectErrcode == false) {
+            switch (s_extensionPortErrcodeIndex) {
+                case E_DJI_HMS_ERROR_CODE_INDEX1:
+                    errorCode = 0x1E020000;
+                    break;
+                case E_DJI_HMS_ERROR_CODE_INDEX2:
+                    errorCode = 0x1E020001;
+                    break;
+                case E_DJI_HMS_ERROR_CODE_INDEX3:
+                    errorCode = 0x1E020002;
+                    break;
+                case E_DJI_HMS_ERROR_CODE_INDEX4:
+                    errorCode = 0x1E020003;
+                    break;
+                case E_DJI_HMS_ERROR_CODE_INDEX5:
+                    errorCode = 0x1E020004;
+                    break;
+                default:
+                    break;
+            }
+            DjiHms_EliminateHmsErrorCode(errorCode);
+            osalHandler->TaskSleepMs(500);
+            s_isInjectErrcode = false;
+            s_isEliminateErrcode = false;
+            continue;
+        }
+
         if (s_isSampleStart != true) {
             continue;
         }
@@ -495,12 +596,15 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
                     DjiTest_CameraManagerRunSample(s_mountPosition,
                                                    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE);
                     break;
+                case E_DJI_SAMPLE_INDEX_CAMMGR_THERMOMETRY:
+                    DjiTest_CameraManagerRunSample(s_mountPosition,
+                                                   E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY);
+                    break;
                 default:
                     break;
             }
         } else {
             USER_LOG_WARN("Can't support on payload port.");
-            break;
         }
 
         USER_LOG_INFO("--------------------------------------------------------------------------------------------->");
@@ -541,6 +645,28 @@ static T_DjiReturnCode DjiTestWidget_SetWidgetValue(E_DjiWidgetType widgetType,
         }
     }
 
+    if (widgetType == DJI_WIDGET_TYPE_LIST && index == 11) {
+        s_extensionPortErrcodeIndex = value;
+    }
+
+    if (widgetType == DJI_WIDGET_TYPE_LIST && index == 12) {
+        s_extensionPortErrLevelIndex = value;
+    }
+
+    if (widgetType == DJI_WIDGET_TYPE_BUTTON && index == 13) {
+        if (value == 1) {
+            s_isInjectErrcode = true;
+            s_isEliminateErrcode = false;
+        }
+    }
+
+    if (widgetType == DJI_WIDGET_TYPE_BUTTON && index == 14) {
+        if (value == 1) {
+            s_isInjectErrcode = false;
+            s_isEliminateErrcode = true;
+        }
+    }
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 

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

@@ -218,6 +218,9 @@
           },
           {
             "item_name": "28_test_cammgr-media_download"
+          },
+          {
+            "item_name": "29_test_cammgr-thermometry"
           }
         ]
       },
@@ -225,7 +228,61 @@
         "widget_index": 10,
         "widget_type": "button",
         "widget_name": "Run"
+      },
+      {
+        "widget_index": 11,
+        "widget_type": "list",
+        "widget_name": "Please Select Errcode",
+        "list_item": [
+          {
+            "item_name": "0x1E020000"
+          },
+          {
+            "item_name": "0x1E020001"
+          },
+          {
+            "item_name": "0x1E020002"
+          },
+          {
+            "item_name": "0x1E020003"
+          },
+          {
+            "item_name": "0x1E020004"
+          }
+        ]
+      },
+      {
+        "widget_index": 12,
+        "widget_type": "list",
+        "widget_name": "Please Select ErrLevel",
+        "list_item": [
+          {
+            "item_name": "Error level 0"
+          },
+          {
+            "item_name": "Error level 1"
+          },
+          {
+            "item_name": "Error level 2"
+          },
+          {
+            "item_name": "Error level 3"
+          },
+          {
+            "item_name": "Error level 4"
+          }
+        ]
+      },
+      {
+        "widget_index": 13,
+        "widget_type": "button",
+        "widget_name": "Inject"
+      },
+      {
+        "widget_index": 14,
+        "widget_type": "button",
+        "widget_name": "Eliminate"
       }
     ]
   }
-}
+}

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

@@ -218,6 +218,9 @@
           },
           {
             "item_name": "28_test_cammgr-media_download"
+          },
+          {
+            "item_name": "29_test_cammgr-thermometry"
           }
         ]
       },
@@ -225,7 +228,61 @@
         "widget_index": 10,
         "widget_type": "button",
         "widget_name": "Run"
+      },
+      {
+        "widget_index": 11,
+        "widget_type": "list",
+        "widget_name": "Please Select Errcode",
+        "list_item": [
+          {
+            "item_name": "0x1E020000"
+          },
+          {
+            "item_name": "0x1E020001"
+          },
+          {
+            "item_name": "0x1E020002"
+          },
+          {
+            "item_name": "0x1E020003"
+          },
+          {
+            "item_name": "0x1E020004"
+          }
+        ]
+      },
+      {
+        "widget_index": 12,
+        "widget_type": "list",
+        "widget_name": "Please Select ErrLevel",
+        "list_item": [
+          {
+            "item_name": "Error level0"
+          },
+          {
+            "item_name": "Error level1"
+          },
+          {
+            "item_name": "Error level2"
+          },
+          {
+            "item_name": "Error level3"
+          },
+          {
+            "item_name": "Error level4"
+          }
+        ]
+      },
+      {
+        "widget_index": 13,
+        "widget_type": "button",
+        "widget_name": "Inject"
+      },
+      {
+        "widget_index": 14,
+        "widget_type": "button",
+        "widget_name": "Eliminate"
       }
     ]
   }
-}
+}

samples/sample_c/module_sample/widget_interaction_test/widget_file_c/en_big_screen/widget_config_json.h

@@ -6,9 +6,9 @@
 
 /* Contents of file widget_config.json */
 #define widget_config_json_fileName        "widget_config.json"
-#define widget_config_json_fileSize        6000
+#define widget_config_json_fileSize        7255
 
-static const uint8_t widget_config_json_fileBinaryArray[6000] = {
+static const uint8_t widget_config_json_fileBinaryArray[7255] = {
     0x7B, 0x0A, 0x20, 0x20, 0x22, 0x76, 0x65, 0x72, 0x73, 0x69, 0x6F, 0x6E, 0x22, 0x3A, 0x20, 0x7B,
     0x0A, 0x20, 0x20, 0x20, 0x20, 0x22, 0x6D, 0x61, 0x6A, 0x6F, 0x72, 0x22, 0x3A, 0x20, 0x31, 0x2C,
     0x0A, 0x20, 0x20, 0x20, 0x20, 0x22, 0x6D, 0x69, 0x6E, 0x6F, 0x72, 0x22, 0x3A, 0x20, 0x30, 0x0A,
@@ -375,15 +375,94 @@ static const uint8_t widget_config_json_fileBinaryArray[6000] = {
     0x74, 0x65, 0x6D, 0x5F, 0x6E, 0x61, 0x6D, 0x65, 0x22, 0x3A, 0x20, 0x22, 0x32, 0x38, 0x5F, 0x74,
     0x65, 0x73, 0x74, 0x5F, 0x63, 0x61, 0x6D, 0x6D, 0x67, 0x72, 0x2D, 0x6D, 0x65, 0x64, 0x69, 0x61,
     0x5F, 0x64, 0x6F, 0x77, 0x6E, 0x6C, 0x6F, 0x61, 0x64, 0x22, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20,
-    0x20, 0x20, 0x20, 0x20, 0x20, 0x7D, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x5D,
-    0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x7D, 0x2C, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
-    0x7B, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x22, 0x77, 0x69, 0x64, 0x67, 0x65,
-    0x74, 0x5F, 0x69, 0x6E, 0x64, 0x65, 0x78, 0x22, 0x3A, 0x20, 0x31, 0x30, 0x2C, 0x0A, 0x20, 0x20,
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+    0x65, 0x22, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x7D, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x5D,
+    0x0A, 0x20, 0x20, 0x7D, 0x0A, 0x7D, 0x0A
 };
 
 #endif    /* __widget_config_json_h_included */

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

@@ -42,15 +42,10 @@
 /* Exported functions definition ---------------------------------------------*/
 T_DjiReturnCode Osal_FileOpen(const char *fileName, const char *fileMode, T_DjiFileHandle *fileObj)
 {
-    if (fileName == NULL || fileMode == NULL) {
+    if (fileName == NULL || fileMode == NULL || fileObj == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
     }
 
-    *fileObj = malloc(sizeof(FILE));
-    if (*fileObj == NULL) {
-        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
-    }
-
     *fileObj = fopen(fileName, fileMode);
     if (*fileObj == NULL) {
         goto out;

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

@@ -31,12 +31,13 @@
 #include "stdlib.h"
 
 /* Private constants ---------------------------------------------------------*/
+#define SOCKET_RECV_BUF_MAX_SIZE    (1000 * 1000 * 10)
+
+/* Private types -------------------------------------------------------------*/
 typedef struct {
     int socketFd;
 } T_SocketHandleStruct;
 
-/* Private types -------------------------------------------------------------*/
-
 /* Private values -------------------------------------------------------------*/
 
 /* Private functions declaration ---------------------------------------------*/
@@ -45,6 +46,15 @@ typedef struct {
 T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle)
 {
     T_SocketHandleStruct *socketHandleStruct;
+    socklen_t optlen = sizeof(int);
+    int rcvBufSize = SOCKET_RECV_BUF_MAX_SIZE;
+    int opt = 1;
+
+    /*! set the socket default read buffer to 20MByte */
+    system("echo 20000000 > /proc/sys/net/core/rmem_default");
+
+    /*! set the socket max read buffer to 50MByte */
+    system("echo 50000000 > /proc/sys/net/core/rmem_max");
 
     if (socketHandle == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
@@ -57,15 +67,29 @@ T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandl
 
     if (mode == DJI_SOCKET_MODE_UDP) {
         socketHandleStruct->socketFd = socket(PF_INET, SOCK_DGRAM, 0);
+
+        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_REUSEADDR, &opt, optlen) < 0) {
+            goto out;
+        }
+
+        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0) {
+            goto out;
+        }
     } else if (mode == DJI_SOCKET_MODE_TCP) {
         socketHandleStruct->socketFd = socket(PF_INET, SOCK_STREAM, 0);
     } else {
-        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+        goto out;
     }
 
     *socketHandle = socketHandleStruct;
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    close(socketHandleStruct->socketFd);
+    free(socketHandleStruct);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
 }
 
 T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle)
@@ -82,6 +106,8 @@ T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle)
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 
+    free(socketHandle);
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
@@ -124,7 +150,7 @@ 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/manifold2/application/dji_sdk_config.h

@@ -64,6 +64,8 @@ extern "C" {
 
 #define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
 
+#define CONFIG_MODULE_SAMPLE_HMS_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

@@ -39,6 +39,7 @@
 #include <mop_channel/test_mop_channel.h>
 #include <payload_collaboration/test_payload_collaboration.h>
 #include <xport/test_payload_xport.h>
+#include <hms/test_hms.h>
 #include "monitor/sys_monitor.h"
 #include "osal/osal.h"
 #include "osal/osal_fs.h"
@@ -87,6 +88,7 @@ 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 void DjiUser_NormalExitHandler(int signalNum);
 
 /* Exported functions definition ---------------------------------------------*/
 int main(int argc, char **argv)
@@ -94,10 +96,19 @@ int main(int argc, char **argv)
     T_DjiReturnCode returnCode;
     T_DjiUserInfo userInfo;
     T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+    T_DjiFirmwareVersion firmwareVersion = {
+        .majorVersion = 1,
+        .minorVersion = 0,
+        .modifyVersion = 0,
+        .debugVersion = 0,
+    };
 
     USER_UTIL_UNUSED(argc);
     USER_UTIL_UNUSED(argv);
 
+    // attention: when the program is hand up ctrl-c will generate the coredump file
+    signal(SIGTERM, DjiUser_NormalExitHandler);
+
     /*!< 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) {
@@ -131,6 +142,18 @@ int main(int argc, char **argv)
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 
+    returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("set firmware version error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("set serial number 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 = {
@@ -228,12 +251,9 @@ int main(int argc, char **argv)
 #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");
-            }
+        returnCode = DjiTest_MopChannelStartService();
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("mop channel sample init error");
         }
 #endif
 
@@ -272,6 +292,13 @@ int main(int argc, char **argv)
 #endif
     }
 
+#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
+    returnCode = DjiTest_HmsStartService();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("hms test init error");
+    }
+#endif
+
     /*!< Step 5: Tell the DJI Pilot you are ready. */
     returnCode = DjiCore_ApplicationStart();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -660,6 +687,12 @@ static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinSta
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+static void DjiUser_NormalExitHandler(int signalNum)
+{
+    USER_UTIL_UNUSED(signalNum);
+    exit(0);
+}
+
 #pragma GCC diagnostic pop
 
 /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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

@@ -40,7 +40,7 @@ extern "C" {
  * NIC name micro define as #define 'LINUX_NETWORK_DEV   "your NIC name"'.
  */
 #ifdef PLATFORM_ARCH_x86_64
-#define LINUX_NETWORK_DEV           "enx000ec6688213"
+#define LINUX_NETWORK_DEV           "enxf8e43b7bbc2c"
 #else
 #define LINUX_NETWORK_DEV           "l4tbr0"
 #endif

samples/sample_c/platform/linux/nvidia_jeston/CMakeLists.txt

@@ -0,0 +1,80 @@
+cmake_minimum_required(VERSION 3.5)
+project(dji_sdk_demo_on_jeston C)
+
+set(CMAKE_C_FLAGS "-pthread -std=gnu99")
+set(CMAKE_EXE_LINKER_FLAGS "-pthread")
+set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
+set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
+add_definitions(-D_GNU_SOURCE)
+
+if (BUILD_TEST_CASES_ON MATCHES TRUE)
+    set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+endif ()
+
+include_directories(../../../module_sample)
+include_directories(../common)
+include_directories(../manifold2/application)
+
+set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc)
+add_definitions(-DPLATFORM_ARCH_aarch64=1)
+add_definitions(-DSYSTEM_ARCH_LINUX=1)
+
+file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c)
+file(GLOB_RECURSE MODULE_HAL_SRC hal/*.c)
+file(GLOB_RECURSE MODULE_APP_SRC application/*.c)
+message("-- Use payload sdk package")
+file(GLOB_RECURSE MODULE_SAMPLE_SRC
+        ../../../module_sample/*.c
+        )
+
+include_directories(../../../../../out/include)
+
+add_library(${PACKAGE_NAME} STATIC IMPORTED GLOBAL)
+set_target_properties(${PACKAGE_NAME} PROPERTIES
+        IMPORTED_LOCATION ${CMAKE_CURRENT_LIST_DIR}/../../../../../out/lib/${TOOLCHAIN_NAME}/lib${PACKAGE_NAME}.a
+        )
+
+if (NOT EXECUTABLE_OUTPUT_PATH)
+    set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
+endif ()
+
+add_executable(${PROJECT_NAME}
+        ${MODULE_APP_SRC}
+        ${MODULE_SAMPLE_SRC}
+        ${MODULE_COMMON_SRC}
+        ${MODULE_HAL_SRC})
+
+target_link_libraries(${PROJECT_NAME} m)
+target_link_libraries(${PROJECT_NAME} ${PACKAGE_NAME})
+
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
+find_package(OPUS REQUIRED)
+if (OPUS_FOUND)
+    message(STATUS "Found OPUS installed in the system")
+    message(STATUS " - Includes: ${OPUS_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${OPUS_LIBRARY}")
+    add_definitions(-DOPUS_INSTALLED)
+    target_include_directories(${PROJECT_NAME} PRIVATE /usr/local/include/opus)
+    target_link_libraries(${PROJECT_NAME} /usr/local/lib/libopus.a)
+else ()
+    message(STATUS "Cannot Find OPUS")
+endif (OPUS_FOUND)
+
+find_package(LIBUSB REQUIRED)
+if (LIBUSB_FOUND)
+    message(STATUS "Found LIBUSB installed in the system")
+    message(STATUS " - Includes: ${LIBUSB_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${LIBUSB_LIBRARY}")
+
+    add_definitions(-DLIBUSB_INSTALLED)
+    target_link_libraries(${PROJECT_NAME} usb-1.0)
+else ()
+    message(STATUS "Cannot Find LIBUSB")
+endif (LIBUSB_FOUND)
+
+add_custom_command(TARGET ${PROJECT_NAME}
+        PRE_LINK COMMAND cmake ..
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR})

samples/sample_c/platform/linux/nvidia_jeston/application/dji_sdk_app_info.h

@@ -0,0 +1,55 @@
+/**
+ ********************************************************************
+ * @file    dji_sdk_app_info.h
+ * @brief   This is the header file for 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 DJI_SDK_APP_INFO_H
+#define DJI_SDK_APP_INFO_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+// ATTENTION: User must goto https://developer.dji.com/user/apps/#all to create your own dji sdk application, get dji sdk application
+// information then fill in the application information here.
+#define USER_APP_NAME               "your_app_name"
+#define USER_APP_ID                 "your_app_id"
+#define USER_APP_KEY                "your_app_key"
+#define USER_APP_LICENSE            "your_app_license"
+#define USER_DEVELOPER_ACCOUNT      "your_developer_account"
+#define USER_BAUD_RATE              "460800"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_SDK_APP_INFO_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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

@@ -0,0 +1,82 @@
+/**
+ ********************************************************************
+ * @file    dji_sdk_config.h
+ * @brief   This is the header file for "dji_config.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_SDK_CONFIG_H
+#define DJI_SDK_CONFIG_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define DJI_USE_ONLY_UART                  (0)
+#define DJI_USE_UART_AND_USB_BULK_DEVICE   (1)
+#define DJI_USE_UART_AND_NETWORK_DEVICE    (2)
+
+/*!< Attention: Select your hardware connection mode here.
+* */
+#define CONFIG_HARDWARE_CONNECTION         DJI_USE_UART_AND_NETWORK_DEVICE
+
+/*!< Attention: Select the sample you want to run here.
+* */
+#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
+
+#define CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
+
+#define CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
+
+#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
+
+#define CONFIG_MODULE_SAMPLE_XPORT_ON
+
+#define CONFIG_MODULE_SAMPLE_WIDGET_ON
+
+#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
+
+#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
+
+#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
+
+#define CONFIG_MODULE_SAMPLE_HMS_ON
+
+#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
+
+/*!< Attention: This function needs to be used together with mobile sdk mop sample.
+* */
+//#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_SDK_CONFIG_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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

@@ -0,0 +1,698 @@
+/**
+ ********************************************************************
+ * @file    main.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 <dji_platform.h>
+#include <dji_logger.h>
+#include <dji_core.h>
+#include <utils/util_misc.h>
+#include <errno.h>
+#include <signal.h>
+#include <power_management/test_power_management.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 <hms/test_hms.h>
+#include "monitor/sys_monitor.h"
+#include "osal/osal.h"
+#include "osal/osal_fs.h"
+#include "osal/osal_socket.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"
+
+/* Private constants ---------------------------------------------------------*/
+#define DJI_LOG_PATH                    "Logs/DJI"
+#define DJI_LOG_INDEX_FILE_NAME         "Logs/latest"
+#define DJI_LOG_FOLDER_NAME             "Logs"
+#define DJI_LOG_PATH_MAX_SIZE           (128)
+#define DJI_LOG_FOLDER_NAME_MAX_SIZE    (32)
+#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
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    pid_t tid;
+    char name[16];
+    float pcpu;
+} T_ThreadAttribute;
+
+/* Private values -------------------------------------------------------------*/
+static FILE *s_djiLogFile;
+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);
+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 void DjiUser_NormalExitHandler(int signalNum);
+
+/* Exported functions definition ---------------------------------------------*/
+int main(int argc, char **argv)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiUserInfo userInfo;
+    T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+    T_DjiFirmwareVersion firmwareVersion = {
+        .majorVersion = 1,
+        .minorVersion = 0,
+        .modifyVersion = 0,
+        .debugVersion = 0,
+    };
+
+    USER_UTIL_UNUSED(argc);
+    USER_UTIL_UNUSED(argv);
+
+    // attention: when the program is hand up ctrl-c will generate the coredump file
+    signal(SIGTERM, DjiUser_NormalExitHandler);
+
+    /*!< 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;
+    }
+
+    returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("set firmware version error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("set serial number 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");
+        }
+
+        returnCode = DjiTest_WidgetSpeakerStartService();
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("widget speaker test 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_EMU_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
+        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
+        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
+
+#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
+        returnCode = DjiTest_HmsStartService();
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("hms test 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,
+        .TaskSleepMs = Osal_TaskSleepMs,
+        .MutexCreate= Osal_MutexCreate,
+        .MutexDestroy = Osal_MutexDestroy,
+        .MutexLock = Osal_MutexLock,
+        .MutexUnlock = Osal_MutexUnlock,
+        .SemaphoreCreate = Osal_SemaphoreCreate,
+        .SemaphoreDestroy = Osal_SemaphoreDestroy,
+        .SemaphoreWait = Osal_SemaphoreWait,
+        .SemaphoreTimedWait = Osal_SemaphoreTimedWait,
+        .SemaphorePost = Osal_SemaphorePost,
+        .Malloc = Osal_Malloc,
+        .Free = Osal_Free,
+        .GetTimeMs = Osal_GetTimeMs,
+        .GetTimeUs = Osal_GetTimeUs,
+    };
+
+    T_DjiLoggerConsole printConsole = {
+        .func = DjiUser_PrintConsole,
+        .consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO,
+        .isSupportColor = true,
+    };
+
+    T_DjiLoggerConsole localRecordConsole = {
+        .consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG,
+        .func = DjiUser_LocalWrite,
+        .isSupportColor = true,
+    };
+
+    T_DjiHalUartHandler uartHandler = {
+        .UartInit = HalUart_Init,
+        .UartDeInit = HalUart_DeInit,
+        .UartWriteData = HalUart_WriteData,
+        .UartReadData = HalUart_ReadData,
+        .UartGetStatus = HalUart_GetStatus,
+    };
+
+    T_DjiHalNetworkHandler networkHandler = {
+        .NetworkInit = HalNetWork_Init,
+        .NetworkDeInit = HalNetWork_DeInit,
+        .NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo,
+    };
+
+    T_DjiHalUsbBulkHandler usbBulkHandler = {
+        .UsbBulkInit = HalUsbBulk_Init,
+        .UsbBulkDeInit = HalUsbBulk_DeInit,
+        .UsbBulkWriteData = HalUsbBulk_WriteData,
+        .UsbBulkReadData = HalUsbBulk_ReadData,
+        .UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo,
+    };
+
+    T_DjiFileSystemHandler fileSystemHandler = {
+        .FileOpen = Osal_FileOpen,
+        .FileClose = Osal_FileClose,
+        .FileWrite = Osal_FileWrite,
+        .FileRead = Osal_FileRead,
+        .FileSync = Osal_FileSync,
+        .FileSeek = Osal_FileSeek,
+        .DirOpen = Osal_DirOpen,
+        .DirClose = Osal_DirClose,
+        .DirRead = Osal_DirRead,
+        .Mkdir = Osal_Mkdir,
+        .Unlink = Osal_Unlink,
+        .Rename = Osal_Rename,
+        .Stat = Osal_Stat,
+    };
+
+    T_DjiSocketHandler socketHandler = {
+        .Socket = Osal_Socket,
+        .Bind = Osal_Bind,
+        .Close = Osal_Close,
+        .UdpSendData = Osal_UdpSendData,
+        .UdpRecvData = Osal_UdpRecvData,
+        .TcpListen = Osal_TcpListen,
+        .TcpAccept = Osal_TcpAccept,
+        .TcpConnect = Osal_TcpConnect,
+        .TcpSendData = Osal_TcpSendData,
+        .TcpRecvData = Osal_TcpRecvData,
+    };
+
+    returnCode = DjiPlatform_RegOsalHandler(&osalHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("register osal handler error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("register hal uart handler error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("file system init error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    returnCode = DjiLogger_AddConsole(&printConsole);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("add printf console error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    returnCode = DjiLogger_AddConsole(&localRecordConsole);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("add printf console error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
+    returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("register hal usb bulk handler error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
+    returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("register hal network handler error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    //Attention: if you want to use camera stream view function, please uncomment it.
+    returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("register osal socket handler error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
+    /*!< Attention: Only use uart hardware connection.
+     */
+#endif
+
+    returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("register osal filesystem handler error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+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));
+    memset(userInfo->appLicense, 0, sizeof(userInfo->appLicense));
+    memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
+    memset(userInfo->baudRate, 0, sizeof(userInfo->baudRate));
+
+    if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
+        strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
+        strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
+        strlen(USER_APP_LICENSE) > sizeof(userInfo->appLicense) ||
+        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;
+    }
+
+    if (!strcmp(USER_APP_NAME, "your_app_name") ||
+        !strcmp(USER_APP_ID, "your_app_id") ||
+        !strcmp(USER_APP_KEY, "your_app_key") ||
+        !strcmp(USER_BAUD_RATE, "your_app_license") ||
+        !strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
+        !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;
+    }
+
+    strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
+    memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
+    memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
+    memcpy(userInfo->appLicense, USER_APP_LICENSE,
+           USER_UTIL_MIN(sizeof(userInfo->appLicense), strlen(USER_APP_LICENSE)));
+    memcpy(userInfo->baudRate, USER_BAUD_RATE, USER_UTIL_MIN(sizeof(userInfo->baudRate), strlen(USER_BAUD_RATE)));
+    strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
+
+    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 folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
+    time_t currentTime = time(NULL);
+    struct tm *localTime = localtime(&currentTime);
+    uint16_t logFileIndex = 0;
+    uint16_t currentLogFileIndex;
+    uint8_t ret;
+
+    if (localTime == NULL) {
+        printf("Get local time error.\r\n");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (access(DJI_LOG_FOLDER_NAME, F_OK) != 0) {
+        sprintf(folderName, "mkdir %s", DJI_LOG_FOLDER_NAME);
+        ret = system(folderName);
+        if (ret != 0) {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    }
+
+    s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "rb+");
+    if (s_djiLogFileCnt == NULL) {
+        s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "wb+");
+        if (s_djiLogFileCnt == NULL) {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    } else {
+        ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
+        if (ret != 0) {
+            printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        ret = fread((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
+        if (ret != sizeof(uint16_t)) {
+            printf("Read log file index error.\r\n");
+        }
+    }
+
+    currentLogFileIndex = logFileIndex;
+    logFileIndex++;
+
+    ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
+    if (ret != 0) {
+        printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    ret = fwrite((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
+    if (ret != sizeof(uint16_t)) {
+        printf("Write log file index error.\r\n");
+        fclose(s_djiLogFileCnt);
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    fclose(s_djiLogFileCnt);
+
+    sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
+            localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
+            localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
+
+    s_djiLogFile = fopen(filePath, "wb+");
+    if (s_djiLogFile == NULL) {
+        USER_LOG_ERROR("Open filepath time error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (logFileIndex >= DJI_LOG_MAX_COUNT) {
+        sprintf(systemCmd, "rm -rf %s_%04d*.log", path, currentLogFileIndex - DJI_LOG_MAX_COUNT);
+        ret = system(systemCmd);
+        if (ret != 0) {
+            printf("Remove file error, ret:%d.\r\n", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    }
+
+    return djiReturnCode;
+}
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+static void *DjiUser_MonitorTask(void *argument)
+{
+    unsigned int i = 0;
+    unsigned int threadCount = 0;
+    pid_t *tidList = NULL;
+    T_ThreadAttribute *threadAttribute = NULL;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    USER_UTIL_UNUSED(argument);
+
+    while (1) {
+        threadCount = Monitor_GetThreadCountOfProcess(getpid());
+        tidList = osalHandler->Malloc(threadCount * sizeof(pid_t));
+        if (tidList == NULL) {
+            USER_LOG_ERROR("malloc fail.");
+            goto delay;
+        }
+        Monitor_GetTidListOfProcess(getpid(), tidList, threadCount);
+
+        threadAttribute = osalHandler->Malloc(threadCount * sizeof(T_ThreadAttribute));
+        if (threadAttribute == NULL) {
+            USER_LOG_ERROR("malloc fail.");
+            goto freeTidList;
+        }
+        for (i = 0; i < threadCount; ++i) {
+            threadAttribute[i].tid = tidList[i];
+        }
+
+        USER_LOG_DEBUG("thread pcpu:");
+        USER_LOG_DEBUG("tid\tname\tpcpu");
+        for (i = 0; i < threadCount; ++i) {
+            threadAttribute[i].pcpu = Monitor_GetPcpuOfThread(getpid(), tidList[i]);
+            Monitor_GetNameOfThread(getpid(), tidList[i], threadAttribute[i].name, sizeof(threadAttribute[i].name));
+            USER_LOG_DEBUG("%d\t%15s\t%f %%.", threadAttribute[i].tid, threadAttribute[i].name,
+                           threadAttribute[i].pcpu);
+        }
+
+        USER_LOG_DEBUG("heap used: %d B.", Monitor_GetHeapUsed(getpid()));
+        USER_LOG_DEBUG("stack used: %d B.", Monitor_GetStackUsed(getpid()));
+
+        osalHandler->Free(threadAttribute);
+freeTidList:
+        osalHandler->Free(tidList);
+
+delay:
+        sleep(10);
+    }
+}
+
+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;
+}
+
+static void DjiUser_NormalExitHandler(int signalNum)
+{
+    USER_UTIL_UNUSED(signalNum);
+    exit(0);
+}
+
+#pragma GCC diagnostic pop
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/platform/linux/nvidia_jeston/hal/hal_network.c

@@ -0,0 +1,90 @@
+/**
+ ********************************************************************
+ * @file    hal_network.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 "string.h"
+#include "stdlib.h"
+#include "stdio.h"
+#include "hal_network.h"
+#include "dji_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj)
+{
+    int32_t ret;
+    char cmdStr[LINUX_CMD_STR_MAX_SIZE];
+
+    if (ipAddr == NULL || netMask == NULL) {
+        USER_LOG_ERROR("hal network config param error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    //Attention: need root permission to config ip addr and netmask.
+    memset(cmdStr, 0, sizeof(cmdStr));
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
+    ret = system(cmdStr);
+    if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Can't open the network."
+                       "Probably the program not execute with root permission."
+                       "Please use the root permission to execute the program.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
+    ret = system(cmdStr);
+    if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Can't config the ip address of network."
+                       "Probably the program not execute with root permission."
+                       "Please use the root permission to execute the program.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj)
+{
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo)
+{
+    deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
+    deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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

@@ -0,0 +1,73 @@
+/**
+ ********************************************************************
+ * @file    hal_network.h
+ * @brief   This is the header file for "hal_network.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 HAL_NETWORK_H
+#define HAL_NETWORK_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @attention  User can config network card name here, if your device is not MF2C/G, please comment below and add your
+ * NIC name micro define as #define 'LINUX_NETWORK_DEV   "your NIC name"'.
+ */
+#ifdef PLATFORM_ARCH_x86_64
+#define LINUX_NETWORK_DEV           "enxf8e43b7bbc2c"
+#else
+#define LINUX_NETWORK_DEV           "l4tbr0"
+#endif
+/**
+ * @attention
+ */
+
+#ifdef PLATFORM_ARCH_x86_64
+#define USB_NET_ADAPTER_VID                   (0x0B95)
+#define USB_NET_ADAPTER_PID                   (0x1790)
+#else
+#define USB_NET_ADAPTER_VID                   (0x0955)
+#define USB_NET_ADAPTER_PID                   (0x7020)
+#endif
+
+#define LINUX_CMD_STR_MAX_SIZE      (128)
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj);
+T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj);
+T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_NETWORK_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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

@@ -0,0 +1,260 @@
+/**
+ ********************************************************************
+ * @file    hal_uart.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 <dji_logger.h>
+#include "hal_uart.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define UART_DEV_NAME_STR_SIZE             (128)
+#define DJI_SYSTEM_CMD_STR_MAX_SIZE        (64)
+#define DJI_SYSTEM_RESULT_STR_MAX_SIZE     (128)
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    int32_t uartFd;
+} T_UartHandleStruct;
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
+{
+    T_UartHandleStruct *uartHandleStruct = NULL;
+    struct termios options;
+    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 *ret = NULL;
+    char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
+    FILE *fp;
+
+    uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
+    if (uartHandleStruct == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    if (uartNum == DJI_HAL_UART_NUM_0) {
+        strcpy(uartName, LINUX_UART_DEV1);
+    } else if (uartNum == DJI_HAL_UART_NUM_1) {
+        strcpy(uartName, LINUX_UART_DEV2);
+    } else {
+        goto free_uart_handle;
+    }
+
+#ifdef USE_CLION_DEBUG
+    sprintf(systemCmd, "ls -l %s", uartName);
+    fp = popen(systemCmd, "r");
+    if (fp == NULL) {
+        goto free_uart_handle;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fp);
+    if (ret == NULL) {
+        goto close_fp;
+    }
+
+    if (strstr(lineBuf, "crwxrwxrwx") == NULL) {
+        USER_LOG_ERROR("Can't operation the device. "
+                       "Probably the device has not operation permission. "
+                       "Please execute command 'sudo chmod 777 %s' to add permission. ", uartName);
+        goto close_fp;
+    }
+#else
+    sprintf(systemCmd, "chmod 777 %s", uartName);
+    fp = popen(systemCmd, "r");
+    if (fp == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+#endif
+
+    uartHandleStruct->uartFd = open(uartName, (unsigned) O_RDWR | (unsigned) O_NOCTTY | (unsigned) O_NDELAY);
+    if (uartHandleStruct->uartFd == -1) {
+        goto close_fp;
+    }
+
+    // Forbid multiple psdk programs to access the serial port
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+
+    if (fcntl(uartHandleStruct->uartFd, F_GETLK, &lock) < 0) {
+        goto close_uart_fd;
+    }
+    if (lock.l_type != F_UNLCK) {
+        goto close_uart_fd;
+    }
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+    if (fcntl(uartHandleStruct->uartFd, F_SETLKW, &lock) < 0) {
+        goto close_uart_fd;
+    }
+
+    if (tcgetattr(uartHandleStruct->uartFd, &options) != 0) {
+        goto close_uart_fd;
+    }
+
+    switch (baudRate) {
+        case 115200:
+            cfsetispeed(&options, B115200);
+            cfsetospeed(&options, B115200);
+            break;
+        case 230400:
+            cfsetispeed(&options, B230400);
+            cfsetospeed(&options, B230400);
+            break;
+        case 460800:
+            cfsetispeed(&options, B460800);
+            cfsetospeed(&options, B460800);
+            break;
+        case 921600:
+            cfsetispeed(&options, B921600);
+            cfsetospeed(&options, B921600);
+            break;
+        case 1000000:
+            cfsetispeed(&options, B1000000);
+            cfsetospeed(&options, B1000000);
+            break;
+        default:
+            goto close_uart_fd;
+    }
+
+    options.c_cflag |= (unsigned) CLOCAL;
+    options.c_cflag |= (unsigned) CREAD;
+    options.c_cflag &= ~(unsigned) CRTSCTS;
+    options.c_cflag &= ~(unsigned) CSIZE;
+    options.c_cflag |= (unsigned) CS8;
+    options.c_cflag &= ~(unsigned) PARENB;
+    options.c_iflag &= ~(unsigned) INPCK;
+    options.c_cflag &= ~(unsigned) CSTOPB;
+    options.c_oflag &= ~(unsigned) OPOST;
+    options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
+    options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
+    options.c_cc[VTIME] = 0;
+    options.c_cc[VMIN] = 0;
+
+    tcflush(uartHandleStruct->uartFd, TCIFLUSH);
+
+    if (tcsetattr(uartHandleStruct->uartFd, TCSANOW, &options) != 0) {
+        goto close_uart_fd;
+    }
+
+    *uartHandle = uartHandleStruct;
+    pclose(fp);
+
+    return returnCode;
+
+close_uart_fd:
+    close(uartHandleStruct->uartFd);
+
+close_fp:
+    pclose(fp);
+
+free_uart_handle:
+    free(uartHandleStruct);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+}
+
+T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle)
+{
+    int32_t ret;
+    T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
+
+    if (uartHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    ret = close(uartHandleStruct->uartFd);
+    if (ret < 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    free(uartHandleStruct);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
+{
+    int32_t ret;
+    T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
+
+    if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = write(uartHandleStruct->uartFd, buf, len);
+    if (ret >= 0) {
+        *realLen = ret;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
+{
+    int32_t ret;
+    T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
+
+    if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = read(uartHandleStruct->uartFd, buf, len);
+    if (ret >= 0) {
+        *realLen = ret;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status)
+{
+    if (uartNum == DJI_HAL_UART_NUM_0) {
+        status->isConnect = true;
+    } else if (uartNum == DJI_HAL_UART_NUM_1) {
+        status->isConnect = true;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/platform/linux/nvidia_jeston/hal/hal_uart.h

@@ -0,0 +1,65 @@
+/**
+ ********************************************************************
+ * @file    hal_uart.h
+ * @brief   This is the header file for "hal_uart.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 HAL_UART_H
+#define HAL_UART_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stdint.h"
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+#include <string.h>
+#include "stdlib.h"
+
+#include "dji_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+//User can config dev based on there environmental conditions
+#define LINUX_UART_DEV1    "/dev/ttyUSB0"
+#define LINUX_UART_DEV2    "/dev/ttyACM0"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
+T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
+T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
+T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
+T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_UART_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c/platform/linux/nvidia_jeston/hal/hal_usb_bulk.c

@@ -0,0 +1,224 @@
+/**
+ ********************************************************************
+ * @file    hal_usb_bulk.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 "hal_usb_bulk.h"
+#include "dji_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS    (50)
+#define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER  (-1)
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+#ifdef LIBUSB_INSTALLED
+    libusb_device_handle *handle;
+#else
+    void *handle;
+#endif
+    int32_t ep1;
+    int32_t ep2;
+    uint32_t interfaceNum;
+    T_DjiHalUsbBulkInfo usbBulkInfo;
+} T_HalUsbBulkObj;
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle)
+{
+    int32_t ret;
+    struct libusb_device_handle *handle = NULL;
+
+    *usbBulkHandle = malloc(sizeof(T_HalUsbBulkObj));
+    if (*usbBulkHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
+        ret = libusb_init(NULL);
+        if (ret < 0) {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
+        if (handle == NULL) {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
+        if (ret != LIBUSB_SUCCESS) {
+            printf("libusb claim interface error");
+            libusb_close(handle);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
+        memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
+#endif
+    } else {
+        ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
+        memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
+        ((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
+
+        if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
+            if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+            }
+
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
+            if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+            }
+        } else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
+            if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+            }
+
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
+            if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+            }
+        }
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
+{
+    struct libusb_device_handle *handle = NULL;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    if (usbBulkHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
+
+    if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
+        libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
+        osalHandler->TaskSleepMs(100);
+        libusb_exit(NULL);
+#endif
+    } else {
+        close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
+        close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
+    }
+
+    free(usbBulkHandle);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
+                                     uint32_t *realLen)
+{
+    int32_t ret;
+    int32_t actualLen;
+    struct libusb_device_handle *handle = NULL;
+
+    if (usbBulkHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
+
+    if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
+        ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
+                                   (uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
+        if (ret < 0) {
+            USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        *realLen = actualLen;
+#endif
+    } else {
+        *realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
+                                    uint32_t *realLen)
+{
+    int32_t ret;
+    struct libusb_device_handle *handle = NULL;
+    int32_t actualLen;
+
+    if (usbBulkHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
+
+    if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
+        ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
+                                   buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
+        if (ret < 0) {
+            USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        *realLen = actualLen;
+#endif
+    } else {
+        *realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
+{
+    //attention: this interface only be called in usb device mode.
+    deviceInfo->vid = LINUX_USB_VID;
+    deviceInfo->pid = LINUX_USB_PID;
+
+    // This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
+
+    // This bulk channel is used to obtain DJI perception image and download camera media file.
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
+    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/platform/linux/nvidia_jeston/hal/hal_usb_bulk.h

@@ -0,0 +1,92 @@
+/**
+ ********************************************************************
+ * @file    hal_usb_bulk.h
+ * @brief   This is the header file for "hal_usb_bulk.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 HAL_USB_BULK_H
+#define HAL_USB_BULK_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stdint.h"
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+
+#ifdef LIBUSB_INSTALLED
+
+#include <libusb-1.0/libusb.h>
+
+#endif
+
+#include "dji_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define LINUX_USB_BULK1_EP_OUT_FD               "/dev/usb-ffs/bulk1/ep1"
+#define LINUX_USB_BULK1_EP_IN_FD                "/dev/usb-ffs/bulk1/ep2"
+
+#define LINUX_USB_BULK1_INTERFACE_NUM           (7)
+#define LINUX_USB_BULK1_END_POINT_IN            (0x88)
+#define LINUX_USB_BULK1_END_POINT_OUT           (5)
+
+#define LINUX_USB_BULK2_EP_OUT_FD               "/dev/usb-ffs/bulk2/ep1"
+#define LINUX_USB_BULK2_EP_IN_FD                "/dev/usb-ffs/bulk2/ep2"
+
+#define LINUX_USB_BULK2_INTERFACE_NUM           (8)
+#define LINUX_USB_BULK2_END_POINT_IN            (0x89)
+#define LINUX_USB_BULK2_END_POINT_OUT           (6)
+
+#ifdef PLATFORM_ARCH_x86_64
+#define LINUX_USB_VID                         (0x0B95)
+#define LINUX_USB_PID                         (0x1790)
+#else
+#define LINUX_USB_VID                         (0x0955)
+#define LINUX_USB_PID                         (0x7020)
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);
+T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle);
+T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
+                                     uint32_t *realLen);
+T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
+T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_USB_BULK_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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

@@ -23,6 +23,8 @@
  *********************************************************************
  */
 /* Includes ------------------------------------------------------------------*/
+#include <widget/test_widget_speaker.h>
+#include <hms/test_hms.h>
 #include "FreeRTOS.h"
 #include "FreeRTOSConfig.h"
 #include "task.h"
@@ -101,7 +103,6 @@ void DjiUser_StartTask(void const *argument)
         .consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO,
         .isSupportColor = true,
     };
-
     T_DjiHalUartHandler uartHandler = {
         .UartInit = HalUart_Init,
         .UartDeInit = HalUart_DeInit,
@@ -109,6 +110,12 @@ void DjiUser_StartTask(void const *argument)
         .UartReadData = HalUart_ReadData,
         .UartGetStatus = HalUart_GetStatus,
     };
+    T_DjiFirmwareVersion firmwareVersion = {
+        .majorVersion = 1,
+        .minorVersion = 0,
+        .modifyVersion = 0,
+        .debugVersion = 0,
+    };
 
     UART_Init(DJI_CONSOLE_UART_NUM, DJI_CONSOLE_UART_BAUD);
     Led_Init(LED3);
@@ -161,6 +168,18 @@ void DjiUser_StartTask(void const *argument)
         goto out;
     }
 
+    returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("set firmware version error");
+        goto out;
+    }
+
+    returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("set serial number error");
+        goto out;
+    }
+
 #ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
     T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
         .pinInit = DjiTest_HighPowerApplyPinInit,
@@ -185,6 +204,13 @@ void DjiUser_StartTask(void const *argument)
     }
 #endif
 
+#ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
+    returnCode = DjiTest_WidgetSpeakerStartService();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("widget speaker sample init error");
+    }
+#endif
+
 #ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
     returnCode = DjiTest_DataTransmissionStartService();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -199,20 +225,37 @@ void DjiUser_StartTask(void const *argument)
     }
 #endif
 
+#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
+    returnCode = DjiTest_HmsStartService();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("hms test init error");
+    }
+#endif
+
 #if !USE_USB_HOST_UART
 #ifdef CONFIG_MODULE_SAMPLE_CAMERA_ON
-    returnCode = DjiTest_CameraEmuBaseStartService();
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("camera emu common init error");
-        goto out;
+    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
+        && aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
+        USER_LOG_WARN("Not support camera emu sample.");
+    } else {
+        returnCode = DjiTest_CameraEmuBaseStartService();
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("camera emu common init error");
+            goto out;
+        }
     }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_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");
+    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
+        && aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
+        USER_LOG_WARN("Not support gimbal emu sample.");
+    } else {
+        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

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

@@ -38,6 +38,8 @@ 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_FC_SUBSCRIPTION_ON
@@ -50,6 +52,8 @@ extern "C" {
 
 #define CONFIG_MODULE_SAMPLE_UPGRADE_ON
 
+#define CONFIG_MODULE_SAMPLE_HMS_ON
+
 /*!< Attention: Please uncomment it in gps environment.
 * */
 //#define CONFIG_MODULE_SAMPLE_TIME_SYNC_ON

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/hal/hal_uart.c

@@ -30,7 +30,9 @@
 #include "dji_platform.h"
 
 #if USE_USB_HOST_UART
+
 #include "usbh_cdc.h"
+
 #endif
 
 /* Private constants ---------------------------------------------------------*/
@@ -53,7 +55,7 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
 {
     T_UartHandleStruct *uartHandleStruct;
 
-    uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
+    uartHandleStruct = pvPortMalloc(sizeof(T_UartHandleStruct));
     if (uartHandleStruct == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
     }
@@ -72,12 +74,15 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
 
 T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle)
 {
+    vPortFree(uartHandle);
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
 T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
 {
     T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
+    int32_t ret;
 
     if (uartHandleStruct->uartNum == USER_UART_NUM0) {
         UART_Write(COMMUNICATION_UART_NUM, buf, len);
@@ -91,6 +96,7 @@ T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf
 T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
 {
     T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
+    int32_t ret;
 
     if (uartHandleStruct->uartNum == USER_UART_NUM0) {
         *realLen = UART_Read(COMMUNICATION_UART_NUM, buf, len);

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/CMakeLists.txt

@@ -1,150 +0,0 @@
-#THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE!
-set(CMAKE_SYSTEM_NAME Generic)
-set(CMAKE_SYSTEM_VERSION 1)
-cmake_minimum_required(VERSION 3.5)
-
-# project settings
-project(dji_sdk_demo_rtos C CXX ASM)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_C_STANDARD 11)
-
-set(DEVICE STM32F407IG)
-set(DEVICE_FAMILY STM32F40_41xxx)
-set(USE_BOOTLOADER NO)
-
-if (USE_BOOTLOADER MATCHES YES)
-    add_definitions(-DUSE_BOOTLOADER)
-endif ()
-add_definitions(-DUSE_HAL_DRIVER)
-add_definitions(-DSTM32F407xx)
-add_definitions(-DUSE_CMSIS_RTOS=1)
-add_definitions(-DHSE_VALUE=8000000)
-#add_definitions(-DUSE_USB_HOST_UART=1)
-
-#Uncomment for hardware floating point
-add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
-add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
-add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
-
-#Uncomment for software floating point
-#add_compile_options(-mfloat-abi=soft)
-
-add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
-add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)
-
-# uncomment to mitigate c++17 absolute addresses warnings
-#set(ADDITIONAL_CORE_FLAGS "-Wno-unused-function -Wno-missing-braces")
-#set(CORE_FLAGS "-mthumb -mcpu=cortex-m4 -mlittle-endian -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb-interwork --specs=nano.specs --specs=nosys.specs ${ADDITIONAL_CORE_FLAGS}")
-set(CMAKE_C_FLAGS "${CORE_FLAGS} -fno-builtin -Wall -std=gnu99 -fdata-sections -ffunction-sections -u _printf_float --specs=nosys.specs -g3 -gdwarf-2" CACHE INTERNAL "c compiler flags")
-#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-register")
-
-if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
-    message(STATUS "Maximum optimization for speed")
-    add_compile_options(-Ofast)
-elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
-    message(STATUS "Maximum optimization for speed, debug info included")
-    add_compile_options(-Ofast -g)
-elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
-    message(STATUS "Maximum optimization for size")
-    add_compile_options(-Os)
-else ()
-    message(STATUS "Minimal optimization, debug info included")
-    #    add_compile_options(-Og -g)
-endif ()
-
-include_directories(
-        ../../../common/osal
-        ../../hal
-        ../../application
-        ../../bootloader
-        ../../drivers/BSP
-        ../../drivers/STM32F4xx_HAL_Driver/Inc
-        ../../drivers/STM32F4xx_HAL_Driver/Inc/Legacy
-        ../../drivers/CMSIS/Device/ST/STM32F4xx/Include
-        ../../drivers/CMSIS/Include
-        ../../middlewares/Third_Party/FreeRTOS/Source/include
-        ../../middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS
-        ../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
-        ../../../../../module_sample
-        ../../drivers/USB_HOST/Target
-        ../../drivers/USB_HOST/App
-        ../../middlewares/ST/STM32_USB_Host_Library/Core/Inc
-        ../../middlewares/ST/STM32_USB_Host_Library/Class/CDC/Inc
-)
-
-add_definitions(-DUSE_HAL_DRIVER -DSTM32F407xx)
-
-file(GLOB_RECURSE SOURCES
-        "../../../common/*.c"
-        "../../hal/*.c"
-        "../../application/*.c"
-        "../../drivers/BSP/*.c"
-        "../../drivers/USB_HOST/*.*"
-        "../../middlewares/ST/*.*"
-        "../../drivers/STM32F4xx_HAL_Driver/*.*"
-        "../../drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c"
-        "../../drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/startup_stm32f407xx.s"
-        "../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/croutine.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/event_groups.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/list.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/queue.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/tasks.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/timers.c"
-
-        "../../../../../module_sample/camera_emu/test_payload_cam_emu_base.c"
-        "../../../../../module_sample/gimbal_emu/*.c"
-        "../../../../../module_sample/xport/*.c"
-        "../../../../../module_sample/payload_collaboration/*.c"
-        "../../../../../module_sample/fc_subscription/*.c"
-        "../../../../../module_sample/data_transmission/*.c"
-        "../../../../../module_sample/widget/*.c"
-        "../../../../../module_sample/positioning/*.c"
-        "../../../../../module_sample/time_sync/*.c"
-        "../../../../../module_sample/upgrade/*.c"
-        "../../../../../module_sample/utils/*.c"
-        "../../../../../module_sample/power_management/*.c"
-        )
-
-if (USE_BOOTLOADER MATCHES YES)
-    set(FLASH_START 0x08010000)
-    set(FLASH_SIZE 448k)
-else ()
-    set(FLASH_START 0x08000000)
-    set(FLASH_SIZE 1024k)
-endif ()
-
-set(RAM_SIZE 128k)
-set(CCMRAM_SIZE 64k)
-set(HEAP_SIZE 0x800)
-set(STACK_SIZE 0x800)
-
-configure_file(linker_script/stm32f407igt.ld.in ${CMAKE_CURRENT_BINARY_DIR}/stm32f407igt.ld)
-get_filename_component(LINKER_SCRIPT ${CMAKE_CURRENT_BINARY_DIR}/stm32f407igt.ld ABSOLUTE)
-
-add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
-add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
-add_link_options(-T ${LINKER_SCRIPT})
-
-include_directories(../../../../../../../out/include)
-link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../../../out/lib/arm-none-eabi-gcc)
-link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../../../out/lib/arm-none-eabi-gcc/libpayloadsdk.a)
-
-add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT})
-
-set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
-set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
-
-add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
-        COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
-        COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
-        COMMENT "Building ${HEX_FILE}
-Building ${BIN_FILE}")
-
-configure_file(${CMAKE_CURRENT_LIST_DIR}/download_script/download.jlink.in ${CMAKE_CURRENT_BINARY_DIR}/download.jlink)
-configure_file(${CMAKE_CURRENT_LIST_DIR}/download_script/download.sh.in ${CMAKE_CURRENT_BINARY_DIR}/download.sh)
-configure_file(${CMAKE_CURRENT_LIST_DIR}/debug_script/gdbserver.sh.in ${CMAKE_CURRENT_BINARY_DIR}/gdbserver.sh)
-execute_process(COMMAND chmod 777 download.sh WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
-execute_process(COMMAND chmod 777 gdbserver.sh WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/debug_script/gdbserver.sh.in

@@ -1,2 +0,0 @@
-#!/bin/bash
-JLinkGDBServerCLExe -device ${DEVICE} -speed 8100 -if SWD -s -halt -noir -x ${CMAKE_CURRENT_LIST_DIR}/debug_script/init.gdb -rtos GDBServer/RTOSPlugin_FreeRTOS

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/debug_script/init.gdb

@@ -1 +0,0 @@
-reset

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/download_script/download.jlink.in

@@ -1,7 +0,0 @@
-device ${DEVICE}
-r
-loadbin ${PROJECT_NAME}.bin, ${FLASH_START}
-verifybin ${PROJECT_NAME}.bin, ${FLASH_START}
-r
-g
-qc

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/download_script/download.sh.in

@@ -1,9 +0,0 @@
-#!/bin/bash
-if [ ! -n "$1" ] ;then
-    JLinkExe -device ${DEVICE} -speed 1000 -if SWD -CommanderScript ${CMAKE_CURRENT_BINARY_DIR}/download.jlink
-    echo "use default jlink device"
-else
-    JLinkExe -usb $1 -device ${DEVICE} -speed 1000 -if SWD -CommanderScript ${CMAKE_CURRENT_BINARY_DIR}/download.jlink
-    echo "use selected jlink device, sn:"$1
-fi
-exit 0

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/linker_script/stm32f407igt.ld.in

@@ -1,190 +0,0 @@
-/* Default STM32F4xx linker script.
- *
- * Modify memory sections according to the targeted platform.
- */
-MEMORY
-{
-  FLASH (rx)     : ORIGIN = ${FLASH_START}, LENGTH = ${FLASH_SIZE}
-  RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = ${RAM_SIZE}
-  CCMRAM (rw)    : ORIGIN = 0x10000000, LENGTH = ${CCMRAM_SIZE}
-}
-
-/* Reset_Handler : Entry of reset handler */
-ENTRY(Reset_Handler)
-
-/* Linker script to place sections and symbol values. Should be used together
- * with other linker script that defines memory regions FLASH and RAM.
- * It defines following symbols, which code can use without definition.
- *   __exidx_start
- *   __exidx_end
- *   __etext
- *   _sdata
- *   __preinit_array_start
- *   __preinit_array_end
- *   __init_array_start
- *   __init_array_end
- *   __fini_array_start
- *   __fini_array_end
- *   _edata
- *   _sbss
- *   __bss_start__
- *   __bss_end__
- *   _ebss
- *   __end__
- *   end
- *   __HeapLimit
- *   __StackLimit
- *   __StackTop
- *   _sidata
- *   _siccmram
- */
-
-_estack = ORIGIN(RAM) + LENGTH(RAM);
-_Min_Heap_Size = ${HEAP_SIZE};
-_Min_Stack_Size = ${STACK_SIZE};
-
-SECTIONS
-{
-	.text :
-	{
-		KEEP(*(.isr_vector))
-		*(.text*)
-
-		KEEP(*(.init))
-		KEEP(*(.fini))
-
-		/* .ctors */
-		*crtbegin.o(.ctors)
-		*crtbegin?.o(.ctors)
-		*(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
-		*(SORT(.ctors.*))
-		*(.ctors)
-
-		/* .dtors */
- 		*crtbegin.o(.dtors)
- 		*crtbegin?.o(.dtors)
- 		*(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
- 		*(SORT(.dtors.*))
- 		*(.dtors)
-
-		*(.rodata*)
-
-		KEEP(*(.eh_frame*))
-	} > FLASH
-
-	.ARM.extab : 
-	{
-		*(.ARM.extab* .gnu.linkonce.armextab.*)
-	} > FLASH
-
-	__exidx_start = .;
-	.ARM.exidx :
-	{
-		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
-	} > FLASH
-	__exidx_end = .;
-
-	__etext = .;
-	
-  /* used by the startup to initialize data */
-  _sidata = LOADADDR(.data);
-	
-	.data : AT (__etext)
-	{
-		_sdata = .;
-		*(vtable)
-		*(.data*)
-
-		. = ALIGN(4);
-		/* preinit data */
-		PROVIDE_HIDDEN (__preinit_array_start = .);
-		KEEP(*(.preinit_array))
-		PROVIDE_HIDDEN (__preinit_array_end = .);
-
-		. = ALIGN(4);
-		/* init data */
-		PROVIDE_HIDDEN (__init_array_start = .);
-		KEEP(*(SORT(.init_array.*)))
-		KEEP(*(.init_array))
-		PROVIDE_HIDDEN (__init_array_end = .);
-
-
-		. = ALIGN(4);
-		/* finit data */
-		PROVIDE_HIDDEN (__fini_array_start = .);
-		KEEP(*(SORT(.fini_array.*)))
-		KEEP(*(.fini_array))
-		PROVIDE_HIDDEN (__fini_array_end = .);
-
-		KEEP(*(.jcr*))
-		. = ALIGN(4);
-		/* All data end */
-		_edata = .;
-
-	} > RAM
-
-  _siccmram = LOADADDR(.ccmram);
-
-  /* CCM-RAM section 
-  * 
-  * IMPORTANT NOTE! 
-  * If initialized variables will be placed in this section,
-  * the startup code needs to be modified to copy the init-values.  
-  */
-  .ccmram :
-  {
-    . = ALIGN(4);
-    _sccmram = .;       /* create a global symbol at ccmram start */
-    *(.ccmram)
-    *(.ccmram*)
-    
-    . = ALIGN(4);
-    _eccmram = .;       /* create a global symbol at ccmram end */
-  } >CCMRAM AT> FLASH
-  
-	.bss :
-	{
-		. = ALIGN(4);
-		_sbss = .;
-    __bss_start__ = _sbss;
-		*(.bss*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = .;
-    __bss_end__ = _ebss;
-	} > RAM
-	
-	.heap (COPY):
-	{
-		__end__ = .;
-		PROVIDE(end = .);
-		PROVIDE( _end = . );
-		*(.heap*)
-		__HeapLimit = .;
-	} > RAM
-
-	/* .stack_dummy section doesn't contains any symbols. It is only
-	 * used for linker to calculate size of stack sections, and assign
-	 * values to stack symbols later */
-	.stack_dummy (COPY):
-	{
-		*(.stack*)
-	} > RAM
-
-	/* Set stack top to end of RAM, and stack limit move down by
-	 * size of stack_dummy section */
-	__StackTop = ORIGIN(RAM) + LENGTH(RAM);
-	__StackLimit = __StackTop - SIZEOF(.stack_dummy);
-	PROVIDE(_estack = __StackTop);
-
-	/* Remove information from the standard libraries */
-    /DISCARD/ :
-    {
-       libc.a ( * )
-       libm.a ( * )
-       libgcc.a ( * )
-    }
-
-	/* Check if data + heap + stack exceeds RAM limit */
-	ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed with stack")
-}

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/CMakeLists.txt

@@ -1,134 +0,0 @@
-#THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE!
-set(CMAKE_SYSTEM_NAME Generic)
-set(CMAKE_SYSTEM_VERSION 1)
-cmake_minimum_required(VERSION 3.5)
-
-# project settings
-project(dji_sdk_demo_bootloader C CXX ASM)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_C_STANDARD 11)
-
-add_definitions(-DUSE_HAL_DRIVER)
-add_definitions(-DSTM32F407xx)
-add_definitions(-DUSE_CMSIS_RTOS=1)
-add_definitions(-DHSE_VALUE=8000000)
-set(DEVICE STM32F407IG)
-set(DEVICE_FAMILY STM32F40_41xxx)
-
-#Uncomment for hardware floating point
-add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
-add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
-add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
-
-#Uncomment for software floating point
-#add_compile_options(-mfloat-abi=soft)
-
-add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
-add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)
-
-# uncomment to mitigate c++17 absolute addresses warnings
-#set(ADDITIONAL_CORE_FLAGS "-Wno-unused-function -Wno-missing-braces")
-#set(CORE_FLAGS "-mthumb -mcpu=cortex-m4 -mlittle-endian -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb-interwork --specs=nano.specs --specs=nosys.specs ${ADDITIONAL_CORE_FLAGS}")
-set(CMAKE_C_FLAGS "${CORE_FLAGS} -fno-builtin -Wall -std=gnu99 -fdata-sections -ffunction-sections -g3 -gdwarf-2" CACHE INTERNAL "c compiler flags")
-#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-register")
-
-if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
-    message(STATUS "Maximum optimization for speed")
-    add_compile_options(-Ofast)
-elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
-    message(STATUS "Maximum optimization for speed, debug info included")
-    add_compile_options(-Ofast -g)
-elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
-    message(STATUS "Maximum optimization for size")
-    add_compile_options(-Os)
-else ()
-    message(STATUS "Minimal optimization, debug info included")
-    add_compile_options(-Og -g)
-endif ()
-
-include_directories(
-        ../../../common
-        ../../../common/osal
-        ../../hal
-        ../../application
-        ../../bootloader
-        ../../drivers/BSP
-        ../../drivers/STM32F4xx_HAL_Driver/Inc
-        ../../drivers/STM32F4xx_HAL_Driver/Inc/Legacy
-        ../../drivers/CMSIS/Device/ST/STM32F4xx/Include
-        ../../drivers/CMSIS/Include
-        ../../middlewares/Third_Party/FreeRTOS/Source/include
-        ../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
-)
-
-add_definitions(-DUSE_HAL_DRIVER -DSTM32F407xx)
-
-file(GLOB_RECURSE SOURCES
-        "../../../common/*.c"
-        "../../hal/*.c"
-        "../../bootloader/*.c"
-        "../../drivers/BSP/*.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c"
-        "../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c"
-        "../../drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c"
-        "../../drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/startup_stm32f407xx.s"
-        "../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/croutine.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/event_groups.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/list.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/queue.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/tasks.c"
-        "../../middlewares/Third_Party/FreeRTOS/Source/timers.c"
-        )
-
-#[[ LINK SCRIPT ]]
-set(FLASH_START 0x08000000)
-set(FLASH_SIZE 1024k)
-set(RAM_SIZE 128k)
-set(CCMRAM_SIZE 64k)
-set(HEAP_SIZE 0x800)
-set(STACK_SIZE 0x800)
-
-include_directories(../../../../../../../out/include)
-
-configure_file(linker_script/stm32f407igt.ld.in ${CMAKE_CURRENT_BINARY_DIR}/stm32f407igt.ld)
-get_filename_component(LINKER_SCRIPT ${CMAKE_CURRENT_BINARY_DIR}/stm32f407igt.ld ABSOLUTE)
-
-add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
-add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
-add_link_options(-T ${LINKER_SCRIPT})
-
-add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT})
-
-set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
-set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
-
-add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
-        COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
-        COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
-        COMMENT "Building ${HEX_FILE}
-Building ${BIN_FILE}")
-
-configure_file(${CMAKE_CURRENT_LIST_DIR}/download_script/download.jlink.in ${CMAKE_CURRENT_BINARY_DIR}/download.jlink)
-configure_file(${CMAKE_CURRENT_LIST_DIR}/download_script/download.sh.in ${CMAKE_CURRENT_BINARY_DIR}/download.sh)
-configure_file(${CMAKE_CURRENT_LIST_DIR}/debug_script/gdbserver.sh.in ${CMAKE_CURRENT_BINARY_DIR}/gdbserver.sh)
-execute_process(COMMAND chmod 777 download.sh WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
-execute_process(COMMAND chmod 777 gdbserver.sh WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/Readme.txt

@@ -1,15 +0,0 @@
-Config items of CLion project:
-1. Go to https://segger.com/downloads/jlink/#J-LinkSoftwareAndDocumentationPack
-   For x64 ubuntu:
-   Download <J-Link Software and Documentation pack for Linux, DEB installer, 64-bit>, double click the downloaded file to install.
-2. Go to https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads
-   Download toolchain, for x64 ubuntu is <gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2>
-   cd /usr/local/
-   sudo tar xjf ~/Downloads/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2
-   add "export PATH=$PATH:/usr/local/gcc-arm-none-eabi-9-2020-q2-update/bin" to /etc/profile
-   reboot system
-3. Create External Tool named "fw_download", Program is $CMakeCurrentBuildDir$/download.sh and Work Directory is $CMakeCurrentBuildDir$
-   You can add shortcuts to this external tool to quickly download and run program.
-4. Create Embedded GDB Server, setting GDB Server to <cmake build dir>/gdbserver.sh, 'target remote' args to 127.0.0.1:2331
-
-Note: double-check the all above path, and ensure they are correct

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/debug_script/gdbserver.sh.in

@@ -1,2 +0,0 @@
-#!/bin/bash
-JLinkGDBServerCLExe -device ${DEVICE} -speed 8100 -if SWD -s -halt -noir -x ${CMAKE_CURRENT_LIST_DIR}/debug_script/init.gdb -rtos GDBServer/RTOSPlugin_FreeRTOS

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/debug_script/init.gdb

@@ -1 +0,0 @@
-reset

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/download_script/download.jlink.in

@@ -1,7 +0,0 @@
-device ${DEVICE}
-r
-loadbin ${PROJECT_NAME}.bin, ${FLASH_START}
-verifybin ${PROJECT_NAME}.bin, ${FLASH_START}
-r
-g
-qc

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/download_script/download.sh.in

@@ -1,9 +0,0 @@
-#!/bin/bash
-if [ ! -n "$1" ] ;then
-    JLinkExe -device ${DEVICE} -speed 1000 -if SWD -CommanderScript ${CMAKE_CURRENT_BINARY_DIR}/download.jlink
-    echo "use default jlink device"
-else
-    JLinkExe -usb $1 -device ${DEVICE} -speed 1000 -if SWD -CommanderScript ${CMAKE_CURRENT_BINARY_DIR}/download.jlink
-    echo "use selected jlink device, sn:"$1
-fi
-exit 0

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/linker_script/stm32f407igt.ld.in

@@ -1,189 +0,0 @@
-/* Default STM32F4xx linker script.
- *
- * Modify memory sections according to the targeted platform.
- */
-MEMORY
-{
-  FLASH (rx)     : ORIGIN = ${FLASH_START}, LENGTH = ${FLASH_SIZE}
-  RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = ${RAM_SIZE}
-  CCMRAM (rw)    : ORIGIN = 0x10000000, LENGTH = ${CCMRAM_SIZE}
-}
-
-/* Reset_Handler : Entry of reset handler */
-ENTRY(Reset_Handler)
-
-/* Linker script to place sections and symbol values. Should be used together
- * with other linker script that defines memory regions FLASH and RAM.
- * It defines following symbols, which code can use without definition.
- *   __exidx_start
- *   __exidx_end
- *   __etext
- *   _sdata
- *   __preinit_array_start
- *   __preinit_array_end
- *   __init_array_start
- *   __init_array_end
- *   __fini_array_start
- *   __fini_array_end
- *   _edata
- *   _sbss
- *   __bss_start__
- *   __bss_end__
- *   _ebss
- *   __end__
- *   end
- *   __HeapLimit
- *   __StackLimit
- *   __StackTop
- *   _sidata
- *   _siccmram
- */
-
-_estack = ORIGIN(RAM) + LENGTH(RAM);
-_Min_Heap_Size = ${HEAP_SIZE};
-_Min_Stack_Size = ${STACK_SIZE};
-
-SECTIONS
-{
-	.text :
-	{
-		KEEP(*(.isr_vector))
-		*(.text*)
-
-		KEEP(*(.init))
-		KEEP(*(.fini))
-
-		/* .ctors */
-		*crtbegin.o(.ctors)
-		*crtbegin?.o(.ctors)
-		*(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
-		*(SORT(.ctors.*))
-		*(.ctors)
-
-		/* .dtors */
- 		*crtbegin.o(.dtors)
- 		*crtbegin?.o(.dtors)
- 		*(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
- 		*(SORT(.dtors.*))
- 		*(.dtors)
-
-		*(.rodata*)
-
-		KEEP(*(.eh_frame*))
-	} > FLASH
-
-	.ARM.extab : 
-	{
-		*(.ARM.extab* .gnu.linkonce.armextab.*)
-	} > FLASH
-
-	__exidx_start = .;
-	.ARM.exidx :
-	{
-		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
-	} > FLASH
-	__exidx_end = .;
-
-	__etext = .;
-	
-  /* used by the startup to initialize data */
-  _sidata = LOADADDR(.data);
-	
-	.data : AT (__etext)
-	{
-		_sdata = .;
-		*(vtable)
-		*(.data*)
-
-		. = ALIGN(4);
-		/* preinit data */
-		PROVIDE_HIDDEN (__preinit_array_start = .);
-		KEEP(*(.preinit_array))
-		PROVIDE_HIDDEN (__preinit_array_end = .);
-
-		. = ALIGN(4);
-		/* init data */
-		PROVIDE_HIDDEN (__init_array_start = .);
-		KEEP(*(SORT(.init_array.*)))
-		KEEP(*(.init_array))
-		PROVIDE_HIDDEN (__init_array_end = .);
-
-
-		. = ALIGN(4);
-		/* finit data */
-		PROVIDE_HIDDEN (__fini_array_start = .);
-		KEEP(*(SORT(.fini_array.*)))
-		KEEP(*(.fini_array))
-		PROVIDE_HIDDEN (__fini_array_end = .);
-
-		KEEP(*(.jcr*))
-		. = ALIGN(4);
-		/* All data end */
-		_edata = .;
-
-	} > RAM
-
-  _siccmram = LOADADDR(.ccmram);
-
-  /* CCM-RAM section 
-  * 
-  * IMPORTANT NOTE! 
-  * If initialized variables will be placed in this section,
-  * the startup code needs to be modified to copy the init-values.  
-  */
-  .ccmram :
-  {
-    . = ALIGN(4);
-    _sccmram = .;       /* create a global symbol at ccmram start */
-    *(.ccmram)
-    *(.ccmram*)
-    
-    . = ALIGN(4);
-    _eccmram = .;       /* create a global symbol at ccmram end */
-  } >CCMRAM AT> FLASH
-  
-	.bss :
-	{
-		. = ALIGN(4);
-		_sbss = .;
-    __bss_start__ = _sbss;
-		*(.bss*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = .;
-    __bss_end__ = _ebss;
-	} > RAM
-	
-	.heap (COPY):
-	{
-		__end__ = .;
-		PROVIDE(end = .);
-		*(.heap*)
-		__HeapLimit = .;
-	} > RAM
-
-	/* .stack_dummy section doesn't contains any symbols. It is only
-	 * used for linker to calculate size of stack sections, and assign
-	 * values to stack symbols later */
-	.stack_dummy (COPY):
-	{
-		*(.stack*)
-	} > RAM
-
-	/* Set stack top to end of RAM, and stack limit move down by
-	 * size of stack_dummy section */
-	__StackTop = ORIGIN(RAM) + LENGTH(RAM);
-	__StackLimit = __StackTop - SIZEOF(.stack_dummy);
-	PROVIDE(_estack = __StackTop);
-
-	/* Remove information from the standard libraries */
-    /DISCARD/ :
-    {
-       libc.a ( * )
-       libm.a ( * )
-       libgcc.a ( * )
-    }
-
-	/* Check if data + heap + stack exceeds RAM limit */
-	ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed with stack")
-}