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NEW: release DJI Payload-SDK version 3.4

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-04-18 21:26:50 +08:00
parent b621c93fde
commit 29109dd0db
106 changed files with 3030521 additions and 1114 deletions
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13
samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
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@ -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)

27
samples/sample_c++/platform/linux/manifold2/application/application.cpp
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@ -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****/

23
samples/sample_c++/platform/linux/manifold2/application/main.cpp
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@ -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;

2
samples/sample_c++/platform/linux/manifold2/hal/hal_network.h
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@ -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

1
samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.h
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@ -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>