NEW: release DJI Payload-SDK version 3.4
Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
@ -0,0 +1,163 @@
|
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/**
|
||||
********************************************************************
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||||
* @file test_camera_manager_entry.cpp
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||||
* @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 ------------------------------------------------------------------*/
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#include <iostream>
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#include <string>
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#include <dji_logger.h>
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#include <dji_typedef.h>
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#include "utils/util_misc.h"
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#include "dji_camera_manager.h"
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#include "camera_manager/test_camera_manager.h"
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#include "camera_manager/test_camera_manager_entry.h"
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#include "test_camera_manager_entry.h"
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using namespace std;
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/* Private constants ---------------------------------------------------------*/
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static const char *s_cameraManagerSampleSelectList[] = {
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED] = "Set camera shutter speed |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE] = "Set camera aperture |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_EV] = "Set camera ev |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ISO] = "Set camera iso |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_FOCUS_POINT] = "Set camera focus point |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_TAP_ZOOM_POINT] = "Set camera tap zoom point |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ZOOM_PARAM] = "Set camera zoom param |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO] = "Shoot single photo |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_AEB_PHOTO] = "Shoot aeb photo |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_BURST_PHOTO] = "Shoot busrt photo |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO] = "Shoot interval photo |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO] = "Record video |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE] = "Download and delete media file |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY] = "Thermometry test |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO] = "Get lidar ranging info |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM] = "Set ir camera zoom param |",
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};
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/* Private types -------------------------------------------------------------*/
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/* Private values -------------------------------------------------------------*/
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/* Private functions declaration ---------------------------------------------*/
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static void DjiTest_CmareManagerShowStringList(const char **list, int size)
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{
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for (int i = 0; i < size; i++) {
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printf("| [%2d] %s\r\n", i, list[i]);
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}
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}
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static void DjiTest_CameraManagerShowSampleSelectList(void)
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{
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DjiTest_CmareManagerShowStringList(s_cameraManagerSampleSelectList,
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UTIL_ARRAY_SIZE(s_cameraManagerSampleSelectList));
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}
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/* Exported functions definition ---------------------------------------------*/
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void DjiUser_RunCameraManagerSample(void)
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{
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T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
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string mountPositionStr;
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int posNum;
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E_DjiMountPosition cameraMountPosition;
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string sampleSelectStr;
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int sampleSelectNum;
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E_DjiTestCameraManagerSampleSelect cameraSample;
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USER_LOG_INFO("DjiUser_RunCameraManagerSample");
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while (true) {
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osalHandler->TaskSleepMs(10);
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cout
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<< "| Available position: |"
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<<
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endl;
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cout
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<< "| [1] Select gimbal mount position at NO.1 payload port |"
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<<
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endl;
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cout
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<< "| [2] Select gimbal mount position at NO.2 payload port |"
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<<
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endl;
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cout
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<< "| [3] Select gimbal mount position at NO.3 payload port |"
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<<
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endl;
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cout
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<< "| [q] Quit |"
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<<
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endl;
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cout << "Please input number to select position (input q to quit): ";
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cin >> mountPositionStr;
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if (mountPositionStr == "q") {
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return;
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}
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posNum = atoi(mountPositionStr.c_str());
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if (posNum > 3 || posNum < 1) {
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USER_LOG_ERROR("Input mount position is invalid");
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continue;
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}
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else {
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break;
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}
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}
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cameraMountPosition = E_DjiMountPosition(posNum);
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while (true) {
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osalHandler->TaskSleepMs(10);
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cout << "\nAvailable samples:\n";
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DjiTest_CameraManagerShowSampleSelectList();
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cout << "Please input number to select sample (input q to quit): ";
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cin >> sampleSelectStr;
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if (sampleSelectStr == "q") {
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return;
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}
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sampleSelectNum = atoi(sampleSelectStr.c_str());
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if (sampleSelectNum < 0 ||
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sampleSelectNum >= (int)E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX) {
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USER_LOG_ERROR("Input camera sample is invalid");
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continue;
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}
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cameraSample = (E_DjiTestCameraManagerSampleSelect)sampleSelectNum;
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cout << "Start test: position " << cameraMountPosition
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<< ", sample " << cameraSample << endl;
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DjiTest_CameraManagerRunSample(cameraMountPosition, cameraSample);
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}
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|
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}
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|
||||
/* Private functions definition-----------------------------------------------*/
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||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
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||||
@ -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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
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|
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef TEST_CAMERA_MANAGER_ENTRY_H
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#define TEST_CAMERA_MANAGER_ENTRY_H
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/* Includes ------------------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
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||||
#endif
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||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
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||||
/* Exported functions --------------------------------------------------------*/
|
||||
/**
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* @brief Run camera Manager sample.
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* @return void.
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*/
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void DjiUser_RunCameraManagerSample(void);
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#ifdef __cplusplus
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}
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#endif
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#endif // TEST_CAMERA_MANAGER_ENTRY_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
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129
samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp
Normal file
129
samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp
Normal file
@ -0,0 +1,129 @@
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/**
|
||||
********************************************************************
|
||||
* @file test_gimbal_entry.cpp
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||||
* @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>
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#include "test_gimbal_entry.hpp"
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#include "dji_logger.h"
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#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,
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||||
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****/
|
||||
@ -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******/
|
||||
Binary file not shown.
@ -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)
|
||||
|
||||
@ -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;
|
||||
};
|
||||
|
||||
@ -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) {
|
||||
|
||||
@ -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));
|
||||
}
|
||||
}
|
||||
|
||||
@ -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");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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;
|
||||
}
|
||||
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -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****/
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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>
|
||||
|
||||
134
samples/sample_c++/platform/linux/nvidia_jeston/CMakeLists.txt
Normal file
134
samples/sample_c++/platform/linux/nvidia_jeston/CMakeLists.txt
Normal file
@ -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 ()
|
||||
@ -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(¤tTime);
|
||||
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****/
|
||||
@ -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******/
|
||||
@ -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******/
|
||||
@ -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******/
|
||||
@ -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****/
|
||||
@ -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****/
|
||||
@ -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******/
|
||||
260
samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_uart.c
Normal file
260
samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_uart.c
Normal file
@ -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****/
|
||||
@ -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******/
|
||||
@ -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****/
|
||||
@ -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******/
|
||||
Reference in New Issue
Block a user