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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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49
LICENSE.txt
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@ -9,6 +9,8 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
│   ├── reference_designs
│   │   └── Type-C Schematic Reference.pdf
│   └── simple_model
│   ├── H20.stp
│   ├── H20T.stp
│   ├── M300_OSDK_Adapter.stp
│   ├── M300_RTK_1.stp
│   ├── M300_RTK_2.stp
@ -147,6 +149,14 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
│   │   │   │   ├── test_gimbal_manager.c
│   │   │   │   └── test_gimbal_manager.h
│   │   │   ├── hms
│   │   │   │   ├── hms_text
│   │   │   │   │   ├── cn
│   │   │   │   │   │   └── hms_text_config.json
│   │   │   │   │   └── en
│   │   │   │   │   └── hms_text_config.json
│   │   │   │   ├── hms_text_c
│   │   │   │   │   └── en
│   │   │   │   │   └── hms_text_config_json.h
│   │   │   │   ├── test_hms.c
│   │   │   │   └── test_hms.h
│   │   │   ├── liveview
@ -293,7 +303,20 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
│   │   │   │   └── upgrade_platform_opt
│   │   │   │   ├── upgrade_platform_opt_linux.c
│   │   │   │   └── upgrade_platform_opt_linux.h
│   │   │   └── manifold2
│   │   │   ├── manifold2
│   │   │   │   ├── application
│   │   │   │   │   ├── dji_sdk_app_info.h
│   │   │   │   │   ├── dji_sdk_config.h
│   │   │   │   │   └── main.c
│   │   │   │   ├── CMakeLists.txt
│   │   │   │   └── hal
│   │   │   │   ├── hal_network.c
│   │   │   │   ├── hal_network.h
│   │   │   │   ├── hal_uart.c
│   │   │   │   ├── hal_uart.h
│   │   │   │   ├── hal_usb_bulk.c
│   │   │   │   └── hal_usb_bulk.h
│   │   │   └── nvidia_jeston
│   │   │   ├── application
│   │   │   │   ├── dji_sdk_app_info.h
│   │   │   │   ├── dji_sdk_config.h
@ -420,10 +443,17 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
│   │   └── readme.txt
│   └── sample_c++
│   ├── module_sample
│   │   ├── camera_manager
│   │   │   ├── test_camera_manager_entry.cpp
│   │   │   └── test_camera_manager_entry.h
│   │   ├── gimbal
│   │   │   ├── test_gimbal_entry.cpp
│   │   │   └── test_gimbal_entry.hpp
│   │   ├── liveview
│   │   │   ├── data
│   │   │   │   ├── haarcascade_frontalface_alt.xml
│   │   │   │   └── tensorflow
│   │   │   │   ├── frozen_inference_graph.pb
│   │   │   │   └── ssd_inception_v2_coco_2017_11_17.pbtxt
│   │   │   ├── dji_camera_image_handler.cpp
│   │   │   ├── dji_camera_image_handler.hpp
@ -452,7 +482,22 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
│   │   ├── osal.h
│   │   ├── osal_socket.c
│   │   └── osal_socket.h
│   └── manifold2
│   ├── manifold2
│   │   ├── application
│   │   │   ├── application.cpp
│   │   │   ├── application.hpp
│   │   │   ├── dji_sdk_app_info.h
│   │   │   ├── dji_sdk_config.h
│   │   │   └── main.cpp
│   │   ├── CMakeLists.txt
│   │   └── hal
│   │   ├── hal_network.c
│   │   ├── hal_network.h
│   │   ├── hal_uart.c
│   │   ├── hal_uart.h
│   │   ├── hal_usb_bulk.c
│   │   └── hal_usb_bulk.h
│   └── nvidia_jeston
│   ├── application
│   │   ├── application.cpp
│   │   ├── application.hpp

55
README.md
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@ -1,6 +1,6 @@
# DJI Payload SDK (PSDK)
![](https://img.shields.io/badge/version-V3.3.0-red.svg)
![](https://img.shields.io/badge/version-V3.4.0-pink.svg)
![](https://img.shields.io/badge/platform-linux_|_rtos-green.svg)
![](https://img.shields.io/badge/license-MIT-blue.svg)
@ -23,30 +23,37 @@ to get the latest version information.
## Latest Release
PSDK 3.3.0 was released on 18 November 2022. This version of Payload SDK mainly add support for Mavic 3E/3T, also add
some new features support and fixed some bugs. Please refer to the release notes for detailed changes list.
PSDK 3.4.0 was released on 18 April 2023. This version of Payload SDK mainly add some new features support and fixed
some bugs. Please refer to the release notes for detailed changes list.
* Add the Mavic 3E/3T support
* Add getting the perception image support on M30/M30T and M3E/M3T
* Add downloading and deleting camera media file support on M30/M30T
* Add USB convert to Ethernet support on M30/M30T and M3E/M3T
* Add hybrid zoom function support of camera H20/H20T/H20N in Camera Manager module
* Add gimbal speed control mode in Gimbal Manager module
* Add getting aircraft connection state support in Aircraft Info module
* Fix the problem that Camera P1 can not set the parameter of interval shooting in Camera Manager module
* Fix the camera type recognition problem of H20 in Camera Manager module
* Fix the abnormal camera switching working mode of H20/H20T/H20N in Camera Manager module
* Fix the infrared zoom interface error in Camera Manager module
* Fix the occasional problem that force landing fail in Flight Controller module
* Fix the abnormal display in specific configuration of custom widget function
* Fix the occasional black screen when the M300 RTK PSDK camera is playing back
* Fix the abnormal display of custom widget icon in Pilot App because the dual PSDK payload is mounted on M300 RTK.
* Fix the occasional abnormal bandwidth occupation of Data Subscription function on M30/M30T
* Optimize the getting the camera laser measuring data function in Camera Manager module
* Optimize the Gimbal Manager module Sample
* Optimize the channel configuration method of USB-Bulk and Ethernet
* Optimize the problem that the memory occupation is too large in STM32 platform in some cases
* Optimize the import audio transmission quality of Speaker widget function
* Added support for SDK interconnection on M30/M30T
* Added support for downloading camera media files on M3E/M3T
* Added support for infrared temperature in camera management on M30T/M3T
* Added support for waypoint action status push on M30/M30T and M3E/M3T
* Added support for custom HMS function on all models
* Added support for custom device version number and serial number on all models
* Added support for subscribing to video stream request I-frame on all models
* Added support for obtaining H20N laser distance measurement data camera management on M300 RTK
* Added support for controlling H20N infrared zoom in camera management on M300 RTK
* Added support for subscribing perception grayscale image by Ethernet on M30/M30T and M3E/M3T
* Added support for downloading camera media files by Ethernet on M30/M30T and M3E/M3T
* Added support for Nvidia Jeston series development boards sample
* Added support for H20/H20T model files
* Fixed issue with unsuccessful initialization in USB single Bulk mode on M30/M30T and M3E/M3T
* Fixed issue with unstable data transmission OSDK expansion port to PSDK port for passing through small data on M300 RTK
* Fixed issue with third-party camera function causing payload disconnection due to deleting all media files in certain platforms on M300 RTK
* Fixed issue with gimbal mode abnormal setting in gimbal management on M300 RTK
* Fixed issue with deleting L1 camera media files in camera management on M300 RTK
* Fixed issue with abnormal triggering of text input box widget function in RTOS platform on M300 RTK
* Fixed issue with abnormal payload power supply during hot plugging in some scenarios in RTOS platform on M3E/M3T
* Fixed issue with CPU loading abnormal usage due to multiple video stream subscriptions on M30/M30T
* Fixed issue with occasional payload negotiation failure on M30/M30T and M3E/M3T
* Fixed issue with obtaining camera work mode on M30/M30T and M3E/M3T
* Fixed issue with obtaining camera zoom parameters on M30/M30T and M3E/M3T
* Fixed issue with altitude and distance limitations when using joystick function in some scenarios on all models
* Fixed some memory leak issues
* Optimized camera management C++ Sample support
* Optimized gimbal management C++ Sample support
## License

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81
psdk_lib/include/dji_camera_manager.h
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@ -487,7 +487,7 @@ typedef struct {
} T_DjiCameraManagerFileAttributeData;
typedef struct {
char fileName[32];
char fileName[256];
uint32_t fileSize;
uint32_t fileIndex;
T_DjiCameraManagerFileCreateTime createTime;
@ -506,11 +506,47 @@ typedef enum {
DJI_DOWNLOAD_FILE_EVENT_END,
} E_DjiDownloadFileEvent;
/*!< Attention: when the remote control is in split-screen mode, the coordinate range of the x-axis is 0 ~ 0.5
* */
typedef struct {
dji_f32_t pointX; /*! x-coordinate of point thermometry, range: 0 ~ 1 */
dji_f32_t pointY; /*! y-coordinate of point thermometry, range: 0 ~ 1 */
} T_DjiCameraManagerPointThermometryCoordinate;
typedef struct {
dji_f32_t areaTempLtX; /*! x-coordinate of the upper left corner of the area thermometry, range: 0 ~ 1 */
dji_f32_t areaTempLtY; /*! y-coordinate of the upper left corner of the area thermometry, range: 0 ~ 1 */
dji_f32_t areaTempRbX; /*! x-coordinate of the lower right corner of the area thermometry, range: 0 ~ 1 */
dji_f32_t areaTempRbY; /*! y-coordinate of the lower right corner of the area thermometry, range: 0 ~ 1 */
} T_DjiCameraManagerAreaThermometryCoordinate;
//result of point thermometry
typedef struct {
dji_f32_t pointX; /*! x-coordinate of point thermometry, range: 0 ~ 1 */
dji_f32_t pointY; /*! y-coordinate of point thermometry, range: 0 ~ 1 */
dji_f32_t pointTemperature; /*! The temperature of the current point */
} T_DjiCameraManagerPointThermometryData;
//result of area thermometry
typedef struct {
dji_f32_t areaTempLtX; /*! x_coordinate of the upper left corner of the current thermometry area */
dji_f32_t areaTempLtY; /*! y_coordinate of the upper left corner of the current thermometry area */
dji_f32_t areaTempRbX; /*! x_coordinate of the lower right corner of the current thermometry area */
dji_f32_t areaTempRbY; /*! y_coordinate of the lower right corner of the current thermometry area */
dji_f32_t areaAveTemp; /*! The average temperature of the current thermometry area */
dji_f32_t areaMinTemp; /*! The minimum temperature of the current thermometry area */
dji_f32_t areaMaxTemp; /*! The maximum temperature of the current thermometry area */
dji_f32_t areaMinTempPointX; /*! x_coordinate of the minimum temperature in the thermometry area */
dji_f32_t areaMinTempPointY; /*! y_coordinate of the minimum temperature in the thermometry area */
dji_f32_t areaMaxTempPointX; /*! x_coordinate of the maximum temperature in the thermometry area */
dji_f32_t areaMaxTempPointY; /*! y_coordinate of the maximum temperature in the thermometry area */
} T_DjiCameraManagerAreaThermometryData;
typedef struct {
E_DjiDownloadFileEvent downloadFileEvent;
uint32_t fileIndex;
uint32_t fileSize;
float progressInPercent;
dji_f32_t progressInPercent;
} T_DjiDownloadFilePacketInfo;
typedef struct {
@ -1012,6 +1048,47 @@ T_DjiReturnCode DjiCameraManager_DeleteFileByIndex(E_DjiMountPosition position,
*/
T_DjiReturnCode DjiCameraManager_GetLaserRangingInfo(E_DjiMountPosition position,
T_DjiCameraManagerLaserRangingInfo *laserRangingInfo);
/**
* @brief Set point thermometry coordinates of the selected camera mounted position.
* @param position: camera mounted position
* @param pointCoordinate: point thermometry coordinates
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetPointThermometryCoordinate(E_DjiMountPosition position,
T_DjiCameraManagerPointThermometryCoordinate pointCoordinate);
/**
* @brief Get point thermometry result.
* @note Before get point thermometry data from camera, DjiCameraManager_SetPointThermometryCoordinate()
* function has to be called.
* @param position: camera mounted position
* @param pointThermometryData: point thermometry result
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetPointThermometryData(E_DjiMountPosition position,
T_DjiCameraManagerPointThermometryData *pointThermometryData);
/**
* @brief Set area thermometry coordinates of the selected camera mounted position.
* @param position: camera mounted position
* @param areaCoordinate: area thermometry coordinates
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetAreaThermometryCoordinate(E_DjiMountPosition position,
T_DjiCameraManagerAreaThermometryCoordinate areaCoordinate);
/**
* @brief Get area thermometry result.
* @note Before get area thermometry data from camera, DjiCameraManager_SetAreaThermometryCoordinate()
* function has to be called.
* @param position: camera mounted position
* @param areaThermometryData: area thermometry result
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetAreaThermometryData(E_DjiMountPosition position,
T_DjiCameraManagerAreaThermometryData *areaThermometryData);
#ifdef __cplusplus
}
#endif

16
psdk_lib/include/dji_core.h
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@ -81,6 +81,22 @@ T_DjiReturnCode DjiCore_Init(const T_DjiUserInfo *userInfo);
*/
T_DjiReturnCode DjiCore_SetAlias(const char *productAlias);
/**
* @brief Set custom firmware version for DJI application or product.
* @details Payload firmware version will always display in DJI Pilot payload settings interface.
* @param version: the custom firmware version to be set.
* @return Execution result.
*/
T_DjiReturnCode DjiCore_SetFirmwareVersion(T_DjiFirmwareVersion version);
/**
* @brief Set custom serial number for DJI application or product.
* @details Payload custom serial number will always display in DJI Pilot payload settings interface.
* @param productSerialNumber: the custom serial number to be set, needs to be no larger than 32 bytes.
* @return Execution result.
*/
T_DjiReturnCode DjiCore_SetSerialNumber(const char *productSerialNumber);
/**
* @brief Notify that the Payload SDK core application starts.
* @note The call location of this interface requires special attention, The call needs to be completed after all the

73
psdk_lib/include/dji_hms.h
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@ -37,6 +37,14 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
typedef enum {
DJI_HMS_ERROR_LEVEL_NONE = 0,
DJI_HMS_ERROR_LEVEL_HINT,
DJI_HMS_ERROR_LEVEL_WARN,
DJI_HMS_ERROR_LEVEL_CRITICAL,
DJI_HMS_ERROR_LEVEL_FATAL,
} E_DjiHmsErrorLevel;
typedef struct {
uint32_t errorCode;
uint8_t componentIndex;
@ -48,6 +56,17 @@ typedef struct {
uint32_t hmsInfoNum;
} T_DjiHmsInfoTable;
typedef struct {
char *fileName; /*!< The file name of the hms text config file */
uint32_t fileSize; /*!< The file size of the hms text config file, uint : byte */
const uint8_t *fileBinaryArray; /*!< The binary C array of the hms text config file */
} T_DjiHmsFileBinaryArray;
typedef struct {
uint16_t binaryArrayCount; /*!< Binary array count. */
T_DjiHmsFileBinaryArray *fileBinaryArrayList; /*!< Pointer to binary array list */
} T_DjiHmsBinaryArrayConfig;
typedef T_DjiReturnCode (*DjiHmsInfoCallback)(T_DjiHmsInfoTable hmsInfoTable);
/* Exported functions --------------------------------------------------------*/
@ -72,6 +91,60 @@ T_DjiReturnCode DjiHms_DeInit(void);
*/
T_DjiReturnCode DjiHms_RegHmsInfoCallback(DjiHmsInfoCallback callback);
/**
* @brief Inject custom hms error code to APP.
* @note: For the same hms error code, a single call is enough, no need to call repeatedly.
* @param errorCode: hms error code, value range: [0x1E020000 ~ 0x1E02FFFF].
* @param errorLevel: hms error level, see reference of E_DjiHmsErrorLevel.
* @return Execution result.
*/
T_DjiReturnCode DjiHms_InjectHmsErrorCode(uint32_t errorCode, E_DjiHmsErrorLevel errorLevel);
/**
* @brief Eliminate custom hms error code to APP.
* @note: For the same hms error code, a single call is enough, no need to call repeatedly.
* @param errorCode: hms error code, value range: [0x1E020000 ~ 0x1E02FFFF].
* @return Execution result.
*/
T_DjiReturnCode DjiHms_EliminateHmsErrorCode(uint32_t errorCode);
/**
* @brief Register default hms text configuration file by directory path.
* @param configDirPath: the hms text configuration by directory path.
* @return Execution result.
*/
T_DjiReturnCode DjiHms_RegDefaultHmsTextConfigByDirPath(const char *configDirPath);
/**
* @brief Register hms text configuration file by directory path.
* @note Different hms text configurations for several language require the same hms config.
* @param appLanguage: mobile app language type.
* @param configDirPath: the hms text configuration by directory path.
* @return Execution result.
*/
T_DjiReturnCode DjiHms_RegHmsTextConfigByDirPath(E_DjiMobileAppLanguage appLanguage,
const char *configDirPath);
/**
* @brief Register default hms text configuration config by binary array.
* @note In RTOS, most likely there is no file system. The hms text config file content can use C array express. Use this
* function and DjiHms_RegDefaultHmsTextConfigByBinaryArray set hms text configuration. When the language is not cover in
* your setting by DjiHms_RegHmsTextConfigByBinaryArray, the hms text configuration uses setting by this function.
* @param binaryArrayConfig: the binary array config for hms text configuration.
* @return Execution result.
*/
T_DjiReturnCode DjiHms_RegDefaultHmsTextConfigByBinaryArray(const T_DjiHmsBinaryArrayConfig *binaryArrayConfig);
/**
* @brief Register hms text config by binary array configuration.
* @note Different hms text configurations for several language require the same hms config.
* @param appLanguage: mobile app language type.
* @param binaryArrayConfig: the binary array config for hms text configuration.
* @return Execution result.
*/
T_DjiReturnCode DjiHms_RegHmsTextConfigByBinaryArray(E_DjiMobileAppLanguage appLanguage,
const T_DjiHmsBinaryArrayConfig *binaryArrayConfig);
#ifdef __cplusplus
}
#endif

9
psdk_lib/include/dji_liveview.h
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@ -107,6 +107,15 @@ T_DjiReturnCode DjiLiveview_StartH264Stream(E_DjiLiveViewCameraPosition position
*/
T_DjiReturnCode DjiLiveview_StopH264Stream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source);
/**
* @brief Request the intraframe Frame of Camera H264 Stream by selected position.
* @param position: point out which camera to output the H264 stream
* @param source: point out which sub camera to output the H264 stream
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_RequestIntraframeFrameData(E_DjiLiveViewCameraPosition position,
E_DjiLiveViewCameraSource source);
#ifdef __cplusplus
}
#endif

12
psdk_lib/include/dji_typedef.h
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@ -357,6 +357,18 @@ typedef struct {
uint32_t microsecond; /*!< Microsecond. */
} T_DjiDataTimestamp;
/**
* @brief The firmware version of payload.
* @note If majorVersion = AA, minorVersion = BB, modifyVersion = CC, debugVersion = DD, The version show in
* terminal APP is AA.BB.CC.DD
*/
typedef struct {
uint8_t majorVersion; /*!< The major version of firmware, the range is 0 ~ 99. */
uint8_t minorVersion; /*!< The minor version of firmware, the range is 0 ~ 99. */
uint8_t modifyVersion; /*!< The modify version of firmware, the range is 0 ~ 99. */
uint8_t debugVersion; /*!< The debug version of firmware, the range is 0 ~ 99. */
} T_DjiFirmwareVersion;
#pragma pack ()
/**
* @brief Prototype of callback function used to receive data of topic.

12
psdk_lib/include/dji_upgrade.h
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@ -69,18 +69,6 @@ typedef enum {
DJI_UPGRADE_END_STATE_UNKNOWN_ERROR = 2, /*!< Upgrade failure due to unknown reason. */
} E_DjiUpgradeEndState;
/**
* @brief The firmware version of payload.
* @note If majorVersion = AA, minorVersion = BB, modifyVersion = CC, debugVersion = DD, The version show in
* terminal APP is AA.BB.CC.DD
*/
typedef struct {
uint8_t majorVersion; /*!< The major version of firmware, the range is 0 ~ 99. */
uint8_t minorVersion; /*!< The minor version of firmware, the range is 0 ~ 99. */
uint8_t modifyVersion; /*!< The modify version of firmware, the range is 0 ~ 99. */
uint8_t debugVersion; /*!< The debug version of firmware, the range is 0 ~ 99. */
} T_DjiFirmwareVersion;
typedef struct {
uint8_t upgradeProgress; /*!< The upgrade progress, the range is 0 ~ 100. */
} T_DjiUpgradeOngoingInfo;

4
psdk_lib/include/dji_version.h
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@ -34,10 +34,10 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
#define DJI_VERSION_MAJOR 3 /*!< DJI SDK major version num, when have incompatible API changes. Range from 0 to 99. */
#define DJI_VERSION_MINOR 3 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
#define DJI_VERSION_MINOR 4 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
#define DJI_VERSION_MODIFY 0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
#define DJI_VERSION_BETA 0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
#define DJI_VERSION_BUILD 1705 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
#define DJI_VERSION_BUILD 1743 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
/* Exported types ------------------------------------------------------------*/

61
psdk_lib/include/dji_waypoint_v3.h
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@ -48,27 +48,47 @@ typedef enum {
} E_DjiWaypointV3Action;
/**
* Waypoint v3 current aircraft state.
* Waypoint v3 current mission state.
*/
typedef enum {
DJI_WAYPOINT_V3_STATE_IDLE = 0, /*!< Waypoint v3 aircraft in idle state. */
DJI_WAYPOINT_V3_STATE_PREPARE = 16, /*!< Waypoint v3 aircraft in prepare state. */
DJI_WAYPOINT_V3_STATE_TRANS_MISSION = 32, /*!< Waypoint v3 aircraft in trans mission state. */
DJI_WAYPOINT_V3_STATE_MISSION = 48, /*!< Waypoint v3 aircraft in mission state. */
DJI_WAYPOINT_V3_STATE_BREAK = 64, /*!< Waypoint v3 aircraft in break state. */
DJI_WAYPOINT_V3_STATE_RESUME = 80, /*!< Waypoint v3 aircraft in resume state. */
DJI_WAYPOINT_V3_STATE_RETURN_FIRSTPOINT = 98, /*!< Waypoint v3 aircraft in return first point state. */
} E_DjiWaypointV3State;
DJI_WAYPOINT_V3_MISSION_STATE_IDLE = 0, /*!< Waypoint v3 mission in idle state. */
DJI_WAYPOINT_V3_MISSION_STATE_PREPARE = 16, /*!< Waypoint v3 mission in prepare state. */
DJI_WAYPOINT_V3_MISSION_STATE_TRANS_MISSION = 32, /*!< Waypoint v3 mission in trans mission state. */
DJI_WAYPOINT_V3_MISSION_STATE_MISSION = 48, /*!< Waypoint v3 mission in mission state. */
DJI_WAYPOINT_V3_MISSION_STATE_BREAK = 64, /*!< Waypoint v3 mission in break state. */
DJI_WAYPOINT_V3_MISSION_STATE_RESUME = 80, /*!< Waypoint v3 mission in resume state. */
DJI_WAYPOINT_V3_MISSION_STATE_RETURN_FIRSTPOINT = 98, /*!< Waypoint v3 mission in return first point state. */
} E_DjiWaypointV3MissionState;
/**
* Waypoint v3 current action state.
*/
typedef enum {
DJI_WAYPOINT_V3_ACTION_STATE_IDLE = 0, /*!< Waypoint v3 action in idle state. */
DJI_WAYPOINT_V3_ACTION_STATE_RUNNING = 1, /*!< Waypoint v3 action in idle state. */
DJI_WAYPOINT_V3_ACTION_STATE_FINISHED = 5, /*!< Waypoint v3 action in idle state. */
} E_DjiWaypointV3ActionState;
/**
* Waypoint v3 mission state.
*/
typedef struct {
E_DjiWaypointV3State state; /*!< Waypoint v3 current aircraft state, #E_DjiWaypointV3State. */
E_DjiWaypointV3MissionState state; /*!< Waypoint v3 current mission state, #E_DjiWaypointV3MissionState. */
uint32_t wayLineId; /*!< Waypoint v3 current way line id. */
uint16_t currentWaypointIndex; /*!< Waypoint v3 current waypoint index. */
} T_DjiWaypointV3MissionState;
/**
* Waypoint v3 action state.
*/
typedef struct {
E_DjiWaypointV3ActionState state; /*!< Waypoint v3 current action state, #E_DjiWaypointV3ActionState. */
uint32_t wayLineId; /*!< Waypoint v3 current way line id. */
uint16_t currentWaypointIndex; /*!< Waypoint v3 current waypoint index. */
uint16_t actionGroupId; /*!< Waypoint v3 current action group index. */
uint16_t actionId; /*!< Waypoint v3 current action index. */
} T_DjiWaypointV3ActionState;
/**
* @brief Prototype of callback function used to receive the waypoint v3 mission state.
* @warning User can not execute blocking style operations or functions in callback function, because that will block
@ -76,7 +96,16 @@ typedef struct {
* @param missionState: current waypoint v3 mission state.
* @return Execution result.
*/
typedef T_DjiReturnCode (*WaypointV3StateCallback)(T_DjiWaypointV3MissionState missionState);
typedef T_DjiReturnCode (*WaypointV3MissionStateCallback)(T_DjiWaypointV3MissionState missionState);
/**
* @brief Prototype of callback function used to receive the waypoint v3 mission state.
* @warning User can not execute blocking style operations or functions in callback function, because that will block
* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
* @param missionState: current waypoint v3 mission state.
* @return Execution result.
*/
typedef T_DjiReturnCode (*WaypointV3ActionStateCallback)(T_DjiWaypointV3ActionState missionState);
/* Exported functions --------------------------------------------------------*/
/**
@ -112,7 +141,15 @@ T_DjiReturnCode DjiWaypointV3_Action(E_DjiWaypointV3Action action);
* file or executing this mission action.
* @return Execution result.
*/
T_DjiReturnCode DjiWaypointV3_RegMissionStateCallback(WaypointV3StateCallback callback);
T_DjiReturnCode DjiWaypointV3_RegMissionStateCallback(WaypointV3MissionStateCallback callback);
/**
* @brief Register the action state callback for waypoint mission.
* @note If you want to monitor the state of waypoint action, this interface should be called before uploading kmz
* file or executing this mission action.
* @return Execution result.
*/
T_DjiReturnCode DjiWaypointV3_RegActionStateCallback(WaypointV3ActionStateCallback callback);
#ifdef __cplusplus
}

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samples/sample_c++/module_sample/camera_manager/test_camera_manager_entry.cpp Normal file
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@ -0,0 +1,163 @@
/**
********************************************************************
* @file test_camera_manager_entry.cpp
* @brief
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <iostream>
#include <string>
#include <dji_logger.h>
#include <dji_typedef.h>
#include "utils/util_misc.h"
#include "dji_camera_manager.h"
#include "camera_manager/test_camera_manager.h"
#include "camera_manager/test_camera_manager_entry.h"
#include "test_camera_manager_entry.h"
using namespace std;
/* Private constants ---------------------------------------------------------*/
static const char *s_cameraManagerSampleSelectList[] = {
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED] = "Set camera shutter speed |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE] = "Set camera aperture |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_EV] = "Set camera ev |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ISO] = "Set camera iso |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_FOCUS_POINT] = "Set camera focus point |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_TAP_ZOOM_POINT] = "Set camera tap zoom point |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ZOOM_PARAM] = "Set camera zoom param |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO] = "Shoot single photo |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_AEB_PHOTO] = "Shoot aeb photo |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_BURST_PHOTO] = "Shoot busrt photo |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO] = "Shoot interval photo |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO] = "Record video |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE] = "Download and delete media file |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY] = "Thermometry test |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO] = "Get lidar ranging info |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM] = "Set ir camera zoom param |",
};
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
static void DjiTest_CmareManagerShowStringList(const char **list, int size)
{
for (int i = 0; i < size; i++) {
printf("| [%2d] %s\r\n", i, list[i]);
}
}
static void DjiTest_CameraManagerShowSampleSelectList(void)
{
DjiTest_CmareManagerShowStringList(s_cameraManagerSampleSelectList,
UTIL_ARRAY_SIZE(s_cameraManagerSampleSelectList));
}
/* Exported functions definition ---------------------------------------------*/
void DjiUser_RunCameraManagerSample(void)
{
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
string mountPositionStr;
int posNum;
E_DjiMountPosition cameraMountPosition;
string sampleSelectStr;
int sampleSelectNum;
E_DjiTestCameraManagerSampleSelect cameraSample;
USER_LOG_INFO("DjiUser_RunCameraManagerSample");
while (true) {
osalHandler->TaskSleepMs(10);
cout
<< "| Available position: |"
<<
endl;
cout
<< "| [1] Select gimbal mount position at NO.1 payload port |"
<<
endl;
cout
<< "| [2] Select gimbal mount position at NO.2 payload port |"
<<
endl;
cout
<< "| [3] Select gimbal mount position at NO.3 payload port |"
<<
endl;
cout
<< "| [q] Quit |"
<<
endl;
cout << "Please input number to select position (input q to quit): ";
cin >> mountPositionStr;
if (mountPositionStr == "q") {
return;
}
posNum = atoi(mountPositionStr.c_str());
if (posNum > 3 || posNum < 1) {
USER_LOG_ERROR("Input mount position is invalid");
continue;
}
else {
break;
}
}
cameraMountPosition = E_DjiMountPosition(posNum);
while (true) {
osalHandler->TaskSleepMs(10);
cout << "\nAvailable samples:\n";
DjiTest_CameraManagerShowSampleSelectList();
cout << "Please input number to select sample (input q to quit): ";
cin >> sampleSelectStr;
if (sampleSelectStr == "q") {
return;
}
sampleSelectNum = atoi(sampleSelectStr.c_str());
if (sampleSelectNum < 0 ||
sampleSelectNum >= (int)E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX) {
USER_LOG_ERROR("Input camera sample is invalid");
continue;
}
cameraSample = (E_DjiTestCameraManagerSampleSelect)sampleSelectNum;
cout << "Start test: position " << cameraMountPosition
<< ", sample " << cameraSample << endl;
DjiTest_CameraManagerRunSample(cameraMountPosition, cameraSample);
}
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

52
samples/sample_c++/module_sample/camera_manager/test_camera_manager_entry.h Normal 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.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef TEST_CAMERA_MANAGER_ENTRY_H
#define TEST_CAMERA_MANAGER_ENTRY_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/**
* @brief Run camera Manager sample.
* @return void.
*/
void DjiUser_RunCameraManagerSample(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_CAMERA_MANAGER_ENTRY_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

129
samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp Normal file
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@ -0,0 +1,129 @@
/**
********************************************************************
* @file test_gimbal_entry.cpp
* @version V2.0.0
* @date 2023/3/28
* @brief
*
* @copyright (c) 2018-2023 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <stdexcept>
#include "test_gimbal_entry.hpp"
#include "dji_logger.h"
#include "utils/util_misc.h"
#include <iostream>
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
typedef enum {
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_FREE_MODE,
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE,
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT,
} E_DjiTestGimbalManagerSampleSelect;
/* Private values -------------------------------------------------------------*/
static const char *s_gimbalManagerSampleList[] = {
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_FREE_MODE] =
"| [0] Gimbal manager sample - Rotate gimbal on free mode |",
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE] =
"| [1] Gimbal manager sample - Rotate gimbal on yaw follow mode |",
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT] =
"| [q] Gimbal manager sample - Quit |",
};
/* Private functions declaration ---------------------------------------------*/
void DjiTest_GimbalManagerShowSampleSelectList(const char **SampleList, uint8_t size);
/* Exported functions definition ---------------------------------------------*/
void DjiUser_RunGimbalManagerSample(void)
{
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
char inputTestCase;
char mountPosition;
E_DjiMountPosition gimbalMountPosition;
start:
osalHandler->TaskSleepMs(100);
std::cout
<< "| Available position: |"
<<
std::endl;
std::cout
<< "| [1] Select gimbal mount position at NO.1 payload port |"
<<
std::endl;
std::cout
<< "| [2] Select gimbal mount position at NO.2 payload port |"
<<
std::endl;
std::cout
<< "| [3] Select gimbal mount position at NO.3 payload port |"
<<
std::endl;
std::cout
<< "| [q] Quit |"
<<
std::endl;
std::cin >> mountPosition;
if (mountPosition == 'q') {
return;
}
if (mountPosition > '3' || mountPosition < '1') {
USER_LOG_ERROR("Input mount position is invalid");
goto start;
}
gimbalMountPosition = E_DjiMountPosition(mountPosition - '0');
osalHandler->TaskSleepMs(100);
std::cout
<< "| Available commands: |"
<<
std::endl;
DjiTest_GimbalManagerShowSampleSelectList(s_gimbalManagerSampleList, UTIL_ARRAY_SIZE(s_gimbalManagerSampleList));
std::cin >> inputTestCase;
switch (inputTestCase) {
case '0':
DjiTest_GimbalManagerRunSample(gimbalMountPosition, DJI_GIMBAL_MODE_FREE);
goto start;
case '1':
DjiTest_GimbalManagerRunSample(gimbalMountPosition, DJI_GIMBAL_MODE_YAW_FOLLOW);
goto start;
case 'q':
break;
default:
USER_LOG_ERROR("Input command is invalid");
goto start;
}
return;
}
/* Private functions definition-----------------------------------------------*/
void DjiTest_GimbalManagerShowSampleSelectList(const char **SampleList, uint8_t size) {
uint8_t i = 0;
for (i = 0; i < size; i++) {
std::cout << SampleList[i] << std::endl;
}
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

51
samples/sample_c++/module_sample/gimbal/test_gimbal_entry.hpp Normal file
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@ -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******/

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11
samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.cpp
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@ -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)

5
samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.hpp
View File

@ -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;
};

4
samples/sample_c++/module_sample/liveview/test_liveview.cpp
View File

@ -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) {

15
samples/sample_c++/module_sample/liveview/test_liveview_entry.cpp
View File

@ -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));
}
}

5
samples/sample_c++/module_sample/perception/test_perception.cpp
View File

@ -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");
}
}

37
samples/sample_c++/module_sample/perception/test_perception_entry.cpp
View File

@ -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

7
samples/sample_c++/platform/linux/common/osal/osal_fs.c
View File

@ -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;

33
samples/sample_c++/platform/linux/common/osal/osal_socket.c
View File

@ -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;
}

13
samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
View File

@ -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
View File

@ -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
View 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;

2
samples/sample_c++/platform/linux/manifold2/hal/hal_network.h
View File

@ -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
View File

@ -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
View 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 ()

419
samples/sample_c++/platform/linux/nvidia_jeston/application/application.cpp Normal file
View File

@ -0,0 +1,419 @@
/**
********************************************************************
* @file application.cpp
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "application.hpp"
#include "dji_sdk_app_info.h"
#include <dji_platform.h>
#include <dji_logger.h>
#include <dji_core.h>
#include <dji_aircraft_info.h>
#include <csignal>
#include "dji_sdk_config.h"
#include "../common/osal/osal.h"
#include "../common/osal/osal_fs.h"
#include "../common/osal/osal_socket.h"
#include "../manifold2/hal/hal_usb_bulk.h"
#include "../manifold2/hal/hal_uart.h"
#include "../manifold2/hal/hal_network.h"
/* Private constants ---------------------------------------------------------*/
#define DJI_LOG_PATH "Logs/DJI"
#define DJI_LOG_INDEX_FILE_NAME "Logs/latest"
#define DJI_LOG_FOLDER_NAME "Logs"
#define DJI_LOG_PATH_MAX_SIZE (128)
#define DJI_LOG_FOLDER_NAME_MAX_SIZE (32)
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
#define DJI_LOG_MAX_COUNT (10)
#define USER_UTIL_UNUSED(x) ((x) = (x))
#define USER_UTIL_MIN(a, b) (((a) < (b)) ? (a) : (b))
#define USER_UTIL_MAX(a, b) (((a) > (b)) ? (a) : (b))
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static FILE *s_djiLogFile;
static FILE *s_djiLogFileCnt;
/* Private functions declaration ---------------------------------------------*/
static void DjiUser_NormalExitHandler(int signalNum);
/* Exported functions definition ---------------------------------------------*/
Application::Application(int argc, char **argv)
{
Application::DjiUser_SetupEnvironment();
Application::DjiUser_ApplicationStart();
Osal_TaskSleepMs(3000);
}
Application::~Application()
= default;
/* Private functions definition-----------------------------------------------*/
void Application::DjiUser_SetupEnvironment()
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler osalHandler;
T_DjiHalUartHandler uartHandler;
T_DjiHalUsbBulkHandler usbBulkHandler;
T_DjiLoggerConsole printConsole;
T_DjiLoggerConsole localRecordConsole;
T_DjiFileSystemHandler fileSystemHandler;
T_DjiSocketHandler socketHandler;
T_DjiHalNetworkHandler networkHandler;
networkHandler.NetworkInit = HalNetWork_Init;
networkHandler.NetworkDeInit = HalNetWork_DeInit;
networkHandler.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo;
socketHandler.Socket = Osal_Socket;
socketHandler.Bind = Osal_Bind;
socketHandler.Close = Osal_Close;
socketHandler.UdpSendData = Osal_UdpSendData;
socketHandler.UdpRecvData = Osal_UdpRecvData;
socketHandler.TcpListen = Osal_TcpListen;
socketHandler.TcpAccept = Osal_TcpAccept;
socketHandler.TcpConnect = Osal_TcpConnect;
socketHandler.TcpSendData = Osal_TcpSendData;
socketHandler.TcpRecvData = Osal_TcpRecvData;
osalHandler.TaskCreate = Osal_TaskCreate;
osalHandler.TaskDestroy = Osal_TaskDestroy;
osalHandler.TaskSleepMs = Osal_TaskSleepMs;
osalHandler.MutexCreate = Osal_MutexCreate;
osalHandler.MutexDestroy = Osal_MutexDestroy;
osalHandler.MutexLock = Osal_MutexLock;
osalHandler.MutexUnlock = Osal_MutexUnlock;
osalHandler.SemaphoreCreate = Osal_SemaphoreCreate;
osalHandler.SemaphoreDestroy = Osal_SemaphoreDestroy;
osalHandler.SemaphoreWait = Osal_SemaphoreWait;
osalHandler.SemaphoreTimedWait = Osal_SemaphoreTimedWait;
osalHandler.SemaphorePost = Osal_SemaphorePost;
osalHandler.Malloc = Osal_Malloc;
osalHandler.Free = Osal_Free;
osalHandler.GetTimeMs = Osal_GetTimeMs;
osalHandler.GetTimeUs = Osal_GetTimeUs;
printConsole.func = DjiUser_PrintConsole;
printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;
printConsole.isSupportColor = true;
localRecordConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG;
localRecordConsole.func = DjiUser_LocalWrite;
localRecordConsole.isSupportColor = false;
uartHandler.UartInit = HalUart_Init;
uartHandler.UartDeInit = HalUart_DeInit;
uartHandler.UartWriteData = HalUart_WriteData;
uartHandler.UartReadData = HalUart_ReadData;
uartHandler.UartGetStatus = HalUart_GetStatus;
usbBulkHandler.UsbBulkInit = HalUsbBulk_Init;
usbBulkHandler.UsbBulkDeInit = HalUsbBulk_DeInit;
usbBulkHandler.UsbBulkWriteData = HalUsbBulk_WriteData;
usbBulkHandler.UsbBulkReadData = HalUsbBulk_ReadData;
usbBulkHandler.UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo;
fileSystemHandler.FileOpen = Osal_FileOpen,
fileSystemHandler.FileClose = Osal_FileClose,
fileSystemHandler.FileWrite = Osal_FileWrite,
fileSystemHandler.FileRead = Osal_FileRead,
fileSystemHandler.FileSync = Osal_FileSync,
fileSystemHandler.FileSeek = Osal_FileSeek,
fileSystemHandler.DirOpen = Osal_DirOpen,
fileSystemHandler.DirClose = Osal_DirClose,
fileSystemHandler.DirRead = Osal_DirRead,
fileSystemHandler.Mkdir = Osal_Mkdir,
fileSystemHandler.Unlink = Osal_Unlink,
fileSystemHandler.Rename = Osal_Rename,
fileSystemHandler.Stat = Osal_Stat,
returnCode = DjiPlatform_RegOsalHandler(&osalHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Register osal handler error.");
}
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Register hal uart handler error.");
}
#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Register hal usb bulk handler error.");
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Register hal network handler error");
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
/*!< Attention: Only use uart hardware connection.
*/
#endif
//Attention: if you want to use camera stream view function, please uncomment it.
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("register osal socket handler error");
}
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Register osal filesystem handler error.");
}
if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("File system init error.");
}
returnCode = DjiLogger_AddConsole(&printConsole);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Add printf console error.");
}
returnCode = DjiLogger_AddConsole(&localRecordConsole);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Add printf console error.");
}
}
void Application::DjiUser_ApplicationStart()
{
T_DjiUserInfo userInfo;
T_DjiReturnCode returnCode;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
T_DjiFirmwareVersion firmwareVersion = {
.majorVersion = 1,
.minorVersion = 0,
.modifyVersion = 0,
.debugVersion = 0,
};
// attention: when the program is hand up ctrl-c will generate the coredump file
signal(SIGTERM, DjiUser_NormalExitHandler);
returnCode = DjiUser_FillInUserInfo(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Fill user info error, please check user info config.");
}
returnCode = DjiCore_Init(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Core init error.");
}
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Get aircraft base info error.");
}
if (aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_EXTENSION_PORT) {
throw std::runtime_error("Please run this sample on extension port.");
}
returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Set alias error.");
}
returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Set firmware version error.");
}
returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Set serial number error");
}
returnCode = DjiCore_ApplicationStart();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
throw std::runtime_error("Start sdk application error.");
}
USER_LOG_INFO("Application start.");
}
T_DjiReturnCode Application::DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
{
printf("%s", data);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Application::DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
{
int32_t realLen;
if (s_djiLogFile == nullptr) {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
realLen = fwrite(data, 1, dataLen, s_djiLogFile);
fflush(s_djiLogFile);
if (realLen == dataLen) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
T_DjiReturnCode Application::DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
{
memset(userInfo->appName, 0, sizeof(userInfo->appName));
memset(userInfo->appId, 0, sizeof(userInfo->appId));
memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
memset(userInfo->appLicense, 0, sizeof(userInfo->appLicense));
memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
memset(userInfo->baudRate, 0, sizeof(userInfo->baudRate));
if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
strlen(USER_APP_LICENSE) > sizeof(userInfo->appLicense) ||
strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount) ||
strlen(USER_BAUD_RATE) > sizeof(userInfo->baudRate)) {
USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
if (!strcmp(USER_APP_NAME, "your_app_name") ||
!strcmp(USER_APP_ID, "your_app_id") ||
!strcmp(USER_APP_KEY, "your_app_key") ||
!strcmp(USER_BAUD_RATE, "your_app_license") ||
!strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
!strcmp(USER_BAUD_RATE, "your_baud_rate")) {
USER_LOG_ERROR(
"Please fill in correct user information to 'samples/sample_c++/platform/linux/manifold2/application/dji_sdk_app_info.h' file.");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
memcpy(userInfo->appLicense, USER_APP_LICENSE,
USER_UTIL_MIN(sizeof(userInfo->appLicense), strlen(USER_APP_LICENSE)));
memcpy(userInfo->baudRate, USER_BAUD_RATE, USER_UTIL_MIN(sizeof(userInfo->baudRate), strlen(USER_BAUD_RATE)));
strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Application::DjiUser_LocalWriteFsInit(const char *path)
{
T_DjiReturnCode djiReturnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
char filePath[DJI_LOG_PATH_MAX_SIZE];
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
char folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
time_t currentTime = time(nullptr);
struct tm *localTime = localtime(&currentTime);
uint16_t logFileIndex = 0;
uint16_t currentLogFileIndex;
uint8_t ret;
if (localTime == nullptr) {
printf("Get local time error.\r\n");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (access(DJI_LOG_FOLDER_NAME, F_OK) != 0) {
sprintf(folderName, "mkdir %s", DJI_LOG_FOLDER_NAME);
ret = system(folderName);
if (ret != 0) {
printf("Create new log folder error, ret:%d.\r\n", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "rb+");
if (s_djiLogFileCnt == nullptr) {
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "wb+");
if (s_djiLogFileCnt == nullptr) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else {
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
if (ret != 0) {
printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = fread((uint16_t * ) & logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
if (ret != sizeof(uint16_t)) {
printf("Read log file index error.\r\n");
}
}
currentLogFileIndex = logFileIndex;
logFileIndex++;
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
if (ret != 0) {
printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = fwrite((uint16_t * ) & logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
if (ret != sizeof(uint16_t)) {
printf("Write log file index error.\r\n");
fclose(s_djiLogFileCnt);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
fclose(s_djiLogFileCnt);
sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
s_djiLogFile = fopen(filePath, "wb+");
if (s_djiLogFile == nullptr) {
USER_LOG_ERROR("Open filepath time error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (logFileIndex >= DJI_LOG_MAX_COUNT) {
sprintf(systemCmd, "rm -rf %s_%04d*.log", path, currentLogFileIndex - DJI_LOG_MAX_COUNT);
ret = system(systemCmd);
if (ret != 0) {
printf("Remove file error, ret:%d.\r\n", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
return djiReturnCode;
}
static void DjiUser_NormalExitHandler(int signalNum)
{
USER_UTIL_UNUSED(signalNum);
exit(0);
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @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******/

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/**
********************************************************************
* @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******/

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/**
********************************************************************
* @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******/

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/**
********************************************************************
* @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****/

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/**
********************************************************************
* @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****/

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/**
********************************************************************
* @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******/

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/**
********************************************************************
* @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****/

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/**
********************************************************************
* @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******/

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/**
********************************************************************
* @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****/

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/**
********************************************************************
* @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******/

253
samples/sample_c/module_sample/camera_manager/test_camera_manager.c
View File

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

4
samples/sample_c/module_sample/camera_manager/test_camera_manager.h
View File

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

2
samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c
View File

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

1
samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c
View File

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

76
samples/sample_c/module_sample/hms/hms_text/cn/hms_text_config.json Normal file
View File

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

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

188
samples/sample_c/module_sample/hms/hms_text_c/en/hms_text_config_json.h Normal file
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@ -0,0 +1,188 @@
/* Generated by file2c, do not edit manually */
#ifndef __hms_text_config_json_h_included
#define __hms_text_config_json_h_included
#include <stdint.h>
/* Contents of file hms_text_config.json */
#define hms_text_config_json_fileName "hms_text_config.json"
#define hms_text_config_json_fileSize 2783
static const uint8_t hms_text_config_json_fileBinaryArray[2783] = {
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};
#endif /* __hms_text_config_json_h_included */

103
samples/sample_c/module_sample/hms/test_hms.c
View File

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

1
samples/sample_c/module_sample/hms/test_hms.h
View File

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

23
samples/sample_c/module_sample/liveview/test_liveview.c
View File

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

41
samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c
View File

@ -39,7 +39,8 @@
static T_DjiWaypointV3MissionState s_lastWaypointV3MissionState = {0};
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionState missionState);
static T_DjiReturnCode DjiTest_WaypointV3MissionStateCallback(T_DjiWaypointV3MissionState missionState);
static T_DjiReturnCode DjiTest_WaypointV3ActionStateCallback(T_DjiWaypointV3ActionState actionState);
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
@ -47,7 +48,7 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
#ifdef SYSTEM_ARCH_LINUX
FILE *kmzFile;
FILE *kmzFile = NULL;
uint32_t kmzFileSize = 0;
uint8_t *kmzFileBuf;
uint16_t readLen;
@ -60,12 +61,18 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
return returnCode;
}
returnCode = DjiWaypointV3_RegMissionStateCallback(DjiTest_WaypointV3StateCallback);
returnCode = DjiWaypointV3_RegMissionStateCallback(DjiTest_WaypointV3MissionStateCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register waypoint v3 state callback failed.");
goto out;
}
returnCode = DjiWaypointV3_RegActionStateCallback(DjiTest_WaypointV3ActionStateCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register waypoint v3 action state callback failed.");
goto out;
}
returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX,
curFileDirPath);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -113,8 +120,8 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
returnCode = DjiWaypointV3_UploadKmzFile(waypoint_v3_test_file_kmz_fileBinaryArray,
waypoint_v3_test_file_kmz_fileSize);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Upload kmz file failed.");
goto out;
USER_LOG_ERROR("Upload kmz file binary array failed.");
return returnCode;
}
#endif
@ -125,14 +132,24 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
goto out;
}
#ifdef SYSTEM_ARCH_LINUX
fclose(kmzFile);
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
out:
#ifdef SYSTEM_ARCH_LINUX
if (kmzFile != NULL) {
fclose(kmzFile);
}
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionState missionState)
static T_DjiReturnCode DjiTest_WaypointV3MissionStateCallback(T_DjiWaypointV3MissionState missionState)
{
if (s_lastWaypointV3MissionState.state == missionState.state
&& s_lastWaypointV3MissionState.currentWaypointIndex == missionState.currentWaypointIndex
@ -147,4 +164,16 @@ static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionSta
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiTest_WaypointV3ActionStateCallback(T_DjiWaypointV3ActionState actionState)
{
USER_LOG_INFO(
"Waypoint v3 action state: %d, current waypoint index: %d, wayLine id: %d, action group: %d, action id: %d",
actionState.state,
actionState.currentWaypointIndex, actionState.wayLineId,
actionState.actionGroupId, actionState.actionId);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

BIN
samples/sample_c/module_sample/waypoint_v3/waypoint_file/waypoint_v3_test_file.kmz
View File

Binary file not shown.

441
samples/sample_c/module_sample/waypoint_v3/waypoint_file_c/waypoint_v3_test_file_kmz.h
View File

@ -6,209 +6,250 @@
/* Contents of file waypoint_v3_test_file.kmz */
#define waypoint_v3_test_file_kmz_fileName "waypoint_v3_test_file.kmz"
#define waypoint_v3_test_file_kmz_fileSize 3186
#define waypoint_v3_test_file_kmz_fileSize 3856
static const uint8_t waypoint_v3_test_file_kmz_fileBinaryArray[3186] = {
0x50, 0x4B, 0x03, 0x04, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x22, 0x6D, 0x34, 0x55, 0x00, 0x00,
static const uint8_t waypoint_v3_test_file_kmz_fileBinaryArray[3856] = {
0x50, 0x4B, 0x03, 0x04, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x8A, 0x81, 0x3E, 0x56, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x77, 0x70,
0x6D, 0x7A, 0x2F, 0x74, 0x65, 0x6D, 0x70, 0x6C, 0x61, 0x74, 0x65, 0x2E, 0x6B, 0x6D, 0x6C, 0xED,
0x5B, 0x4D, 0x8F, 0xDB, 0x36, 0x10, 0xBD, 0xE7, 0x57, 0x08, 0x3E, 0xB5, 0x40, 0x6A, 0x53, 0xDF,
0x52, 0xE0, 0x38, 0xD8, 0x6E, 0x3E, 0x76, 0x91, 0x4D, 0x63, 0xC4, 0x4E, 0xF7, 0x58, 0x30, 0x32,
0x6D, 0xB3, 0x2B, 0x91, 0x86, 0x44, 0xAD, 0xD7, 0x3D, 0x05, 0x28, 0x52, 0xB4, 0x40, 0x4E, 0x2D,
0x8A, 0x1E, 0x8A, 0x1E, 0x52, 0xA0, 0x40, 0x4F, 0xBD, 0x34, 0xC7, 0xB4, 0xFF, 0x66, 0x83, 0xF4,
0x5F, 0x94, 0x92, 0x25, 0x59, 0x94, 0xE8, 0x4D, 0x10, 0x05, 0xD8, 0xAC, 0x6D, 0x9F, 0x2C, 0xCE,
0x7B, 0x43, 0xCD, 0xCC, 0x23, 0x25, 0x0F, 0xE1, 0xEE, 0xAD, 0xB3, 0xC0, 0x57, 0x4E, 0x51, 0x18,
0x61, 0x4A, 0x6E, 0xB6, 0xD4, 0x36, 0x68, 0x29, 0x88, 0x78, 0x74, 0x84, 0xC9, 0xE4, 0x66, 0xEB,
0xF1, 0xF0, 0xEE, 0x67, 0x4E, 0xEB, 0x56, 0xEF, 0x5A, 0xF7, 0x84, 0xA3, 0x38, 0x92, 0x44, 0x37,
0x5B, 0x53, 0xC6, 0x66, 0x37, 0x3A, 0x9D, 0xF9, 0x7C, 0xDE, 0xA6, 0x33, 0x44, 0x26, 0x38, 0x6A,
0x13, 0xC4, 0x3A, 0x1C, 0xD1, 0xD1, 0xDA, 0x5A, 0x6B, 0x09, 0xBB, 0x31, 0x9F, 0x05, 0xBE, 0x80,
0x1D, 0x7D, 0x8D, 0xDB, 0x1E, 0x0D, 0x3A, 0xDC, 0xF0, 0x4D, 0x87, 0xCF, 0xD3, 0x56, 0x5B, 0xBD,
0x6B, 0x8A, 0xD2, 0xBD, 0x4D, 0xBD, 0x38, 0x40, 0x84, 0x25, 0x17, 0xFC, 0x32, 0xE1, 0xDD, 0xF0,
0x42, 0x04, 0x19, 0x1A, 0xE2, 0x00, 0xF5, 0x54, 0xCB, 0xD2, 0x2D, 0x53, 0xD3, 0x55, 0x4B, 0x07,
0x66, 0xB7, 0x53, 0x35, 0x97, 0x48, 0xF1, 0x6C, 0x54, 0x21, 0x19, 0x86, 0x6B, 0x59, 0x76, 0x46,
0x2A, 0x99, 0x4B, 0xA4, 0x00, 0x47, 0x49, 0xE4, 0xFB, 0x94, 0x8C, 0xF1, 0x64, 0x69, 0xC8, 0x4D,
0x63, 0x7F, 0x31, 0xA4, 0xC7, 0x70, 0xE1, 0x63, 0x82, 0x1E, 0xD0, 0x11, 0xEA, 0x45, 0x70, 0x8C,
0xFC, 0x45, 0xE6, 0xAE, 0x66, 0x15, 0xB9, 0x98, 0xE0, 0x68, 0xBA, 0xE7, 0x31, 0xEE, 0xBB, 0x37,
0xA1, 0x07, 0x34, 0x40, 0x39, 0xAF, 0x6C, 0x11, 0x38, 0xE8, 0x0C, 0xB3, 0x87, 0xE4, 0xD1, 0xFE,
0x11, 0x8D, 0x58, 0x0F, 0x9D, 0x21, 0x2F, 0x66, 0x28, 0xF9, 0xBE, 0xC4, 0x66, 0x74, 0x01, 0x54,
0xA1, 0xA7, 0x8C, 0xA5, 0xA9, 0x98, 0xF9, 0x73, 0xE8, 0x9D, 0x14, 0xD4, 0x3A, 0x40, 0xF0, 0xC0,
0xE0, 0x09, 0x7A, 0x38, 0x1E, 0x0F, 0x38, 0x2C, 0xC4, 0x6C, 0x71, 0x80, 0xF0, 0x64, 0xCA, 0x7A,
0x1A, 0xC8, 0xF8, 0x72, 0xB3, 0xE0, 0x61, 0xE2, 0xD3, 0x27, 0xD0, 0x1F, 0x86, 0x90, 0x44, 0x38,
0xF1, 0x0F, 0xFD, 0xC1, 0x0C, 0xA1, 0x51, 0x2F, 0x2F, 0xDC, 0x3A, 0xBB, 0xE0, 0x64, 0x14, 0x52,
0x82, 0x0E, 0xC9, 0x98, 0xE6, 0xC3, 0x82, 0xE1, 0x0E, 0x89, 0x83, 0x2F, 0xA1, 0x1F, 0xA3, 0x9E,
0x9D, 0x57, 0xB6, 0x32, 0x2E, 0x63, 0x0D, 0xE2, 0x27, 0x2B, 0x00, 0x28, 0xF3, 0x04, 0x4B, 0x7E,
0x1F, 0x1D, 0xF9, 0x8D, 0x2C, 0x1D, 0xCE, 0x78, 0xD1, 0x29, 0x1C, 0xC9, 0xEE, 0x30, 0x33, 0xAD,
0x1C, 0x5A, 0x56, 0xE6, 0xAB, 0x66, 0x91, 0x33, 0xA5, 0xF7, 0x29, 0xB3, 0xC9, 0xE9, 0x7D, 0xBA,
0xCC, 0xEB, 0x21, 0x19, 0xA1, 0xB3, 0x2A, 0x5F, 0x34, 0x8A, 0xA1, 0x4A, 0x62, 0x7A, 0x8F, 0x60,
0x4D, 0x53, 0x37, 0x2E, 0x31, 0x5E, 0xED, 0x1D, 0xE2, 0x2D, 0x76, 0x98, 0x38, 0x62, 0x34, 0xE8,
0x2F, 0x91, 0x5F, 0x40, 0xBE, 0x29, 0xF4, 0x07, 0xB7, 0xEF, 0x7F, 0xB5, 0xD7, 0xEF, 0xEF, 0x1D,
0x1D, 0xEE, 0x0D, 0xF2, 0x8D, 0xA6, 0x86, 0xAA, 0xB8, 0x19, 0x53, 0x0F, 0xFA, 0x47, 0x7C, 0x13,
0x64, 0xD3, 0xE2, 0xF6, 0xCB, 0x63, 0x15, 0x78, 0x84, 0x48, 0x44, 0xC3, 0x83, 0x02, 0x9A, 0x5F,
0x4B, 0x61, 0xC7, 0x15, 0xD8, 0x71, 0x15, 0x86, 0x03, 0x38, 0x41, 0x2B, 0x67, 0xD9, 0xA5, 0x0C,
0x74, 0x2C, 0x82, 0x6A, 0x9E, 0x02, 0x4C, 0x06, 0x53, 0x4A, 0xD9, 0x21, 0x61, 0x28, 0x3C, 0x85,
0x7E, 0x01, 0xAF, 0x19, 0x2E, 0x4A, 0xE3, 0x72, 0x4F, 0x11, 0xA5, 0x22, 0x02, 0x97, 0x88, 0xE1,
0x62, 0xC6, 0xB7, 0x68, 0x21, 0xC5, 0x25, 0xC3, 0x85, 0xD4, 0xB4, 0x06, 0xAF, 0x9F, 0xFF, 0xF0,
0xDF, 0x8F, 0x7F, 0x49, 0xF8, 0x62, 0x85, 0x64, 0xFC, 0x07, 0x98, 0xF4, 0x61, 0x08, 0x2B, 0x82,
0x5B, 0x8F, 0xB8, 0xD8, 0x19, 0x3C, 0x7B, 0x9B, 0x33, 0x01, 0x71, 0xA1, 0x33, 0x71, 0xC9, 0xD6,
0x2D, 0xAB, 0xC4, 0x4B, 0xA4, 0x29, 0xCB, 0x7C, 0xD3, 0x02, 0x19, 0xEF, 0x5F, 0xA0, 0xF3, 0xEF,
0x7F, 0x79, 0xF3, 0xE2, 0xCF, 0x8D, 0x2C, 0x90, 0x4C, 0xB6, 0x97, 0x54, 0x20, 0xAD, 0x41, 0x81,
0x5E, 0x3D, 0x3D, 0x7F, 0xF6, 0xF7, 0x46, 0x16, 0x48, 0x96, 0x95, 0x4B, 0x2A, 0x90, 0xFE, 0xFE,
0x05, 0x7A, 0xF3, 0xFC, 0xDB, 0xF3, 0x5F, 0x5F, 0xBE, 0xFE, 0xED, 0xC5, 0x07, 0xA8, 0x91, 0x0A,
0x3E, 0xBE, 0x2A, 0xC9, 0x52, 0x73, 0x49, 0x55, 0x6A, 0xFC, 0x20, 0x52, 0x64, 0x3B, 0xE5, 0xD5,
0x5F, 0x48, 0xB2, 0xA8, 0xAE, 0xF0, 0x42, 0x52, 0xCC, 0x0D, 0x5D, 0x4A, 0xB2, 0xB8, 0x2E, 0xA9,
0x4E, 0xB2, 0x5B, 0x79, 0xD7, 0xA5, 0xF4, 0xF3, 0xCB, 0xF3, 0x7F, 0x7E, 0x3F, 0x7F, 0xFA, 0xEA,
0xCD, 0xBF, 0x3F, 0x9D, 0x3F, 0xFB, 0xE3, 0xF5, 0x8B, 0xEF, 0x14, 0x6B, 0x23, 0x97, 0x95, 0x2C,
0xAA, 0xAB, 0xF7, 0x02, 0xF1, 0x98, 0xF8, 0xD4, 0x3B, 0x51, 0xC6, 0x7E, 0xD2, 0x03, 0x50, 0x3C,
0x4A, 0x58, 0x48, 0x7D, 0x25, 0x44, 0x11, 0x0B, 0x71, 0x8A, 0x8A, 0x94, 0x4F, 0xF8, 0x4F, 0x7B,
0x0F, 0x43, 0x5F, 0x81, 0x8C, 0x21, 0x92, 0x8C, 0x7D, 0xBA, 0x91, 0x05, 0xB5, 0x3F, 0x9E, 0x82,
0x36, 0x78, 0x65, 0xEF, 0xFB, 0x08, 0x46, 0x48, 0x19, 0x20, 0x1F, 0x79, 0x4C, 0xC9, 0x26, 0x57,
0xD2, 0x38, 0x36, 0xB2, 0x6A, 0xCE, 0x06, 0x56, 0x6D, 0x00, 0x83, 0x99, 0x8F, 0x36, 0xB2, 0x5C,
0xEE, 0xC7, 0x53, 0xAE, 0x06, 0xEF, 0x8B, 0x8F, 0x62, 0xB2, 0x91, 0xD5, 0x51, 0x3F, 0x58, 0xDB,
0x62, 0x5D, 0x3B, 0xB2, 0x68, 0x47, 0xD5, 0xBA, 0xF5, 0xDD, 0xBB, 0xD4, 0x1F, 0xA1, 0xB0, 0xD2,
0xC9, 0x46, 0x7C, 0x25, 0x24, 0xDD, 0xFE, 0xA4, 0x2E, 0x73, 0xB8, 0x98, 0x51, 0x4C, 0x58, 0xDE,
0xC6, 0x2E, 0xDB, 0xA4, 0xAC, 0xC3, 0x51, 0x91, 0x96, 0xD2, 0x90, 0x00, 0x9D, 0x2F, 0x1B, 0xFF,
0xFB, 0x94, 0x86, 0x23, 0x4C, 0x38, 0x60, 0xB0, 0x88, 0xD2, 0x9C, 0xD5, 0x74, 0x56, 0x20, 0xD2,
0x43, 0x82, 0xE3, 0x7B, 0x03, 0xA7, 0x58, 0xEF, 0xA2, 0xA9, 0x42, 0x9C, 0xA6, 0xED, 0xF5, 0xD4,
0x12, 0x22, 0x7E, 0x0B, 0xF8, 0x14, 0x0D, 0xE9, 0x80, 0xC1, 0x90, 0xF5, 0x4B, 0xC1, 0x94, 0x50,
0xD5, 0x0E, 0x69, 0xD6, 0xFD, 0xC4, 0x64, 0x92, 0x46, 0x7A, 0xAF, 0x9F, 0x37, 0x35, 0xAB, 0x16,
0x31, 0xF5, 0x6F, 0x8D, 0x6C, 0xE9, 0x1E, 0xC6, 0x8C, 0xDE, 0x4D, 0x9F, 0xFE, 0x62, 0x87, 0xBF,
0x3A, 0x2E, 0x39, 0x1E, 0xC8, 0x0E, 0x0E, 0x56, 0xEF, 0xD2, 0xC2, 0xB0, 0x40, 0xF0, 0xA0, 0x8F,
0x97, 0xDE, 0xEE, 0x10, 0xF8, 0xC4, 0x2F, 0xC9, 0xB5, 0x6A, 0x10, 0xE7, 0xC1, 0x01, 0x77, 0xD8,
0xC7, 0xCC, 0x9B, 0xA6, 0xA9, 0x09, 0x20, 0x89, 0xA1, 0x9F, 0xCF, 0x56, 0x31, 0x4A, 0xEE, 0xF0,
0x38, 0x53, 0xCC, 0x01, 0x82, 0xC9, 0x39, 0x98, 0xB4, 0xB0, 0x73, 0x11, 0x93, 0xBA, 0x1A, 0x53,
0xDF, 0xA7, 0xF3, 0xEC, 0x50, 0x68, 0x95, 0xCF, 0x1A, 0xEE, 0x62, 0x57, 0x7B, 0x64, 0x52, 0x8A,
0x54, 0x6A, 0x5C, 0xE3, 0x80, 0x2B, 0x23, 0x15, 0x47, 0x0F, 0xB4, 0x41, 0xFA, 0xB9, 0x5E, 0xFB,
0x52, 0xF1, 0x5A, 0x30, 0x44, 0x11, 0xBC, 0x3D, 0x0D, 0xB2, 0x74, 0x0D, 0xE3, 0x90, 0xA4, 0xF1,
0x31, 0x9A, 0x3A, 0xDD, 0x23, 0xA3, 0x01, 0xA3, 0xB3, 0x63, 0xCC, 0xA6, 0xB7, 0x71, 0x94, 0xBC,
0x24, 0x62, 0x12, 0x63, 0xB6, 0xD8, 0x8F, 0xC3, 0x53, 0xC8, 0xE2, 0x10, 0x49, 0x67, 0x2B, 0xBC,
0x48, 0x66, 0x7A, 0x1C, 0xA1, 0x01, 0x0B, 0x61, 0x52, 0xF7, 0x23, 0x9E, 0xE2, 0x62, 0x2F, 0x96,
0x5B, 0x73, 0x07, 0x7D, 0x1F, 0x7A, 0x28, 0x80, 0xE1, 0x49, 0x29, 0x6F, 0x42, 0xD4, 0xE9, 0xC8,
0x6A, 0x39, 0x46, 0xE5, 0x71, 0x45, 0x51, 0x55, 0xBD, 0xED, 0xEA, 0x36, 0xD0, 0x4C, 0xC3, 0x35,
0x00, 0xB0, 0xAF, 0x6B, 0x5A, 0xDB, 0xB4, 0x5D, 0xCB, 0xB1, 0x55, 0x5D, 0x35, 0x1D, 0xC3, 0x29,
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0x80, 0x4D, 0x0B, 0x98, 0x4E, 0xF5, 0xCA, 0x27, 0x1B, 0x58, 0x8E, 0xED, 0x42, 0xE4, 0xEC, 0xFC,
0x72, 0x4B, 0xFD, 0xCE, 0x27, 0x4D, 0x0D, 0x9A, 0x1A, 0x1E, 0x31, 0x35, 0x60, 0xC7, 0x72, 0x30,
0x06, 0xD5, 0x1E, 0x24, 0xB6, 0x4C, 0x64, 0xDB, 0x0E, 0xC2, 0xF6, 0xAE, 0x5B, 0x0D, 0x40, 0xBF,
0x62, 0x44, 0x53, 0x83, 0xA6, 0x86, 0xFB, 0xA7, 0x86, 0x41, 0x7F, 0xF9, 0x67, 0x69, 0x06, 0xFD,
0xE5, 0x9F, 0x7A, 0x1A, 0x64, 0x7F, 0x2E, 0x6A, 0xF8, 0xE4, 0x7F, 0x50, 0x4B, 0x07, 0x08, 0x9F,
0x7E, 0x60, 0xC2, 0x2B, 0x07, 0x00, 0x00, 0x7E, 0x6A, 0x00, 0x00, 0x50, 0x4B, 0x01, 0x02, 0x14,
0x00, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x8A, 0x81, 0x3E, 0x56, 0xF2, 0xB2, 0xDF, 0xE7, 0xD1,
0x06, 0x00, 0x00, 0x66, 0x4D, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x77, 0x70, 0x6D, 0x7A, 0x2F, 0x74, 0x65,
0x6D, 0x70, 0x6C, 0x61, 0x74, 0x65, 0x2E, 0x6B, 0x6D, 0x6C, 0x50, 0x4B, 0x01, 0x02, 0x14, 0x00,
0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x8A, 0x81, 0x3E, 0x56, 0x9F, 0x7E, 0x60, 0xC2, 0x2B, 0x07,
0x00, 0x00, 0x7E, 0x6A, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x10, 0x07, 0x00, 0x00, 0x77, 0x70, 0x6D, 0x7A, 0x2F, 0x77, 0x61, 0x79,
0x6C, 0x69, 0x6E, 0x65, 0x73, 0x2E, 0x77, 0x70, 0x6D, 0x6C, 0x50, 0x4B, 0x05, 0x06, 0x00, 0x00,
0x00, 0x00, 0x02, 0x00, 0x02, 0x00, 0x7F, 0x00, 0x00, 0x00, 0x7B, 0x0E, 0x00, 0x00, 0x00, 0x00
};
#endif /* __waypoint_v3_test_file_kmz_h_included */

75
samples/sample_c/module_sample/widget/test_widget_speaker.c
View File

@ -23,8 +23,6 @@
*/
/* Includes ------------------------------------------------------------------*/
#ifdef SYSTEM_ARCH_LINUX
#include "test_widget_speaker.h"
#include "dji_logger.h"
#include <stdlib.h>
@ -92,6 +90,7 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
uint32_t offset, uint8_t *buf, uint16_t size);
static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
uint32_t offset, uint8_t *buf, uint16_t size);
#ifdef SYSTEM_ARCH_LINUX
static void *DjiTest_WidgetSpeakerTask(void *arg);
static uint32_t DjiTest_GetVoicePlayProcessId(void);
static uint32_t DjiTest_KillVoicePlayProcess(uint32_t pid);
@ -99,6 +98,7 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void);
static T_DjiReturnCode DjiTest_PlayAudioData(void);
static T_DjiReturnCode DjiTest_PlayTtsData(void);
static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, uint16_t size);
#endif
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
@ -149,17 +149,20 @@ T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
return returnCode;
}
#ifdef SYSTEM_ARCH_LINUX
if (osalHandler->TaskCreate("user_widget_speaker_task", DjiTest_WidgetSpeakerTask, WIDGET_SPEAKER_TASK_STACK_SIZE,
NULL,
&s_widgetSpeakerTestThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Dji widget speaker test task create error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
#ifdef SYSTEM_ARCH_LINUX
static uint32_t DjiTest_GetVoicePlayProcessId(void)
{
FILE *fp;
@ -217,21 +220,21 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void)
/*! Attention: you can use "ffmpeg -i xxx.mp3 -ar 16000 -ac 1 out.wav" and use opus-tools to generate opus file for test */
fin = fopen(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, "r");
if (fin == NULL) {
fprintf(stderr, "failed to open input file: %s\n", strerror(errno));
return EXIT_FAILURE;
}
/* Create a new decoder state. */
decoder = opus_decoder_create(WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE, WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS, &err);
if (err < 0) {
fprintf(stderr, "failed to create decoder: %s\n", opus_strerror(err));
USER_LOG_ERROR("failed to open input file: %s\n", strerror(errno));
return EXIT_FAILURE;
}
fout = fopen(WIDGET_SPEAKER_AUDIO_PCM_FILE_NAME, "w");
if (fout == NULL) {
fprintf(stderr, "failed to open output file: %s\n", strerror(errno));
return EXIT_FAILURE;
USER_LOG_ERROR("failed to open output file: %s\n", strerror(errno));
goto open_pcm_audio_failed;
}
/* Create a new decoder state. */
decoder = opus_decoder_create(WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE, WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS, &err);
if (err < 0) {
USER_LOG_ERROR("failed to create decoder: %s\n", opus_strerror(err));
goto create_decoder_failed;
}
while (1) {
@ -251,8 +254,8 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void)
the frame size returned. */
frame_size = opus_decode(decoder, cbits, nbBytes, out, WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE, 0);
if (frame_size < 0) {
fprintf(stderr, "decoder failed: %s\n", opus_strerror(frame_size));
return EXIT_FAILURE;
USER_LOG_ERROR("decoder failed: %s\n", opus_strerror(frame_size));
goto decode_data_failed;
}
USER_LOG_DEBUG("decode data to file: %d\r\n", frame_size * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS);
@ -265,16 +268,18 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void)
fwrite(pcm_bytes, sizeof(short), frame_size * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS, fout);
}
/*Destroy the encoder state*/
opus_decoder_destroy(decoder);
fclose(fin);
fclose(fout);
USER_LOG_INFO("Decode Finished...");
s_isDecodeFinished = true;
decode_data_failed:
opus_decoder_destroy(decoder);
create_decoder_failed:
fclose(fout);
open_pcm_audio_failed:
fclose(fin);
#endif
return EXIT_SUCCESS;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiTest_PlayAudioData(void)
@ -311,17 +316,19 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
} else {
txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");
if (txtFile == NULL) {
fprintf(stderr, "failed to open input file: %s\n", strerror(errno));
USER_LOG_ERROR("failed to open input file: %s\n", strerror(errno));
return EXIT_FAILURE;
}
readLen = fread(data, 1, WIDGET_SPEAKER_TTS_FILE_MAX_SIZE, txtFile);
readLen = fread(data, 1, WIDGET_SPEAKER_TTS_FILE_MAX_SIZE - 1, txtFile);
if (readLen <= 0) {
USER_LOG_ERROR("Read tts file failed, error code: %d", readLen);
fclose(txtFile);
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
}
data[readLen] = '\0';
fclose(txtFile);
USER_LOG_INFO("Read tts file success, len: %d", readLen);
@ -358,7 +365,7 @@ static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, u
uint16_t readLen;
T_DjiReturnCode returnCode;
uint8_t readBuf[1024];
uint8_t md5Sum[16];
uint8_t md5Sum[16] = {0};
FILE *file = NULL;;
UtilMd5_Init(&md5Ctx);
@ -400,6 +407,7 @@ static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, u
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
#endif
static void SetSpeakerState(E_DjiWidgetSpeakerState speakerState)
{
@ -492,10 +500,12 @@ static T_DjiReturnCode StartPlay(void)
uint32_t pid;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
#ifdef SYSTEM_ARCH_LINUX
pid = DjiTest_GetVoicePlayProcessId();
if (pid != 0) {
DjiTest_KillVoicePlayProcess(pid);
}
#endif
osalHandler->TaskSleepMs(5);
USER_LOG_INFO("Start widget speaker play");
@ -519,10 +529,12 @@ static T_DjiReturnCode StopPlay(void)
USER_LOG_INFO("Stop widget speaker play");
s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_IDEL;
#ifdef SYSTEM_ARCH_LINUX
pid = DjiTest_GetVoicePlayProcessId();
if (pid != 0) {
DjiTest_KillVoicePlayProcess(pid);
}
#endif
returnCode = osalHandler->MutexUnlock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -588,15 +600,18 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
USER_LOG_INFO("Create tts file.");
#ifdef SYSTEM_ARCH_LINUX
s_ttsFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "wb");
if (s_ttsFile == NULL) {
USER_LOG_ERROR("Open tts file error.");
}
#endif
if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
}
} else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT) {
USER_LOG_INFO("Transmit tts file, offset: %d, size: %d", offset, size);
#ifdef SYSTEM_ARCH_LINUX
if (s_ttsFile != NULL) {
fseek(s_ttsFile, offset, SEEK_SET);
writeLen = fwrite(buf, 1, size, s_ttsFile);
@ -604,11 +619,13 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
USER_LOG_ERROR("Write tts file error %d", writeLen);
}
}
#endif
if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
}
} else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_FINISH) {
USER_LOG_INFO("Close tts file.");
#ifdef SYSTEM_ARCH_LINUX
if (s_ttsFile != NULL) {
fclose(s_ttsFile);
}
@ -617,6 +634,7 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("File md5 sum check failed");
}
#endif
if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IDEL);
}
@ -634,6 +652,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
s_isDecodeFinished = false;
#ifdef SYSTEM_ARCH_LINUX
USER_LOG_INFO("Create voice file.");
s_audioFile = fopen(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, "wb");
if (s_audioFile == NULL) {
@ -642,6 +661,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
}
#endif
memcpy(&transDataContent, buf, size);
s_decodeBitrate = transDataContent.transDataStartContent.fileDecodeBitrate;
@ -649,6 +669,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
transDataContent.transDataStartContent.fileDecodeBitrate);
} else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT) {
USER_LOG_INFO("Transmit voice file, offset: %d, size: %d", offset, size);
#ifdef SYSTEM_ARCH_LINUX
if (s_audioFile != NULL) {
fseek(s_audioFile, offset, SEEK_SET);
writeLen = fwrite(buf, 1, size, s_audioFile);
@ -656,6 +677,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
USER_LOG_ERROR("Write tts file error %d", writeLen);
}
}
#endif
if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
}
@ -665,21 +687,25 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
fclose(s_audioFile);
}
#ifdef SYSTEM_ARCH_LINUX
returnCode = DjiTest_CheckFileMd5Sum(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, buf, size);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("File md5 sum check failed");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#endif
if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IDEL);
}
#ifdef SYSTEM_ARCH_LINUX
DjiTest_DecodeAudioData();
#endif
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
#ifdef SYSTEM_ARCH_LINUX
#ifndef __CC_ARM
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
@ -752,7 +778,6 @@ static void *DjiTest_WidgetSpeakerTask(void *arg)
#ifndef __CC_ARM
#pragma GCC diagnostic pop
#endif
#endif
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

3
samples/sample_c/module_sample/widget/test_widget_speaker.h
View File

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

128
samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.c
View File

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

57
samples/sample_c/module_sample/widget_interaction_test/widget_file/cn_big_screen/widget_config.json
View File

@ -218,6 +218,9 @@
},
{
"item_name": "28_test_cammgr-media_download"
},
{
"item_name": "29_test_cammgr-thermometry"
}
]
},
@ -225,6 +228,60 @@
"widget_index": 10,
"widget_type": "button",
"widget_name": "Run"
},
{
"widget_index": 11,
"widget_type": "list",
"widget_name": "Please Select Errcode",
"list_item": [
{
"item_name": "0x1E020000"
},
{
"item_name": "0x1E020001"
},
{
"item_name": "0x1E020002"
},
{
"item_name": "0x1E020003"
},
{
"item_name": "0x1E020004"
}
]
},
{
"widget_index": 12,
"widget_type": "list",
"widget_name": "Please Select ErrLevel",
"list_item": [
{
"item_name": "Error level 0"
},
{
"item_name": "Error level 1"
},
{
"item_name": "Error level 2"
},
{
"item_name": "Error level 3"
},
{
"item_name": "Error level 4"
}
]
},
{
"widget_index": 13,
"widget_type": "button",
"widget_name": "Inject"
},
{
"widget_index": 14,
"widget_type": "button",
"widget_name": "Eliminate"
}
]
}

57
samples/sample_c/module_sample/widget_interaction_test/widget_file/en_big_screen/widget_config.json
View File

@ -218,6 +218,9 @@
},
{
"item_name": "28_test_cammgr-media_download"
},
{
"item_name": "29_test_cammgr-thermometry"
}
]
},
@ -225,6 +228,60 @@
"widget_index": 10,
"widget_type": "button",
"widget_name": "Run"
},
{
"widget_index": 11,
"widget_type": "list",
"widget_name": "Please Select Errcode",
"list_item": [
{
"item_name": "0x1E020000"
},
{
"item_name": "0x1E020001"
},
{
"item_name": "0x1E020002"
},
{
"item_name": "0x1E020003"
},
{
"item_name": "0x1E020004"
}
]
},
{
"widget_index": 12,
"widget_type": "list",
"widget_name": "Please Select ErrLevel",
"list_item": [
{
"item_name": "Error level0"
},
{
"item_name": "Error level1"
},
{
"item_name": "Error level2"
},
{
"item_name": "Error level3"
},
{
"item_name": "Error level4"
}
]
},
{
"widget_index": 13,
"widget_type": "button",
"widget_name": "Inject"
},
{
"widget_index": 14,
"widget_type": "button",
"widget_name": "Eliminate"
}
]
}

101
samples/sample_c/module_sample/widget_interaction_test/widget_file_c/en_big_screen/widget_config_json.h
View File

@ -6,9 +6,9 @@
/* Contents of file widget_config.json */
#define widget_config_json_fileName "widget_config.json"
#define widget_config_json_fileSize 6000
#define widget_config_json_fileSize 7255
static const uint8_t widget_config_json_fileBinaryArray[6000] = {
static const uint8_t widget_config_json_fileBinaryArray[7255] = {
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@ -375,15 +375,94 @@ static const uint8_t widget_config_json_fileBinaryArray[6000] = {
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};
#endif /* __widget_config_json_h_included */

7
samples/sample_c/platform/linux/common/osal/osal_fs.c
View File

@ -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;

34
samples/sample_c/platform/linux/common/osal/osal_socket.c
View File

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

2
samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h
View File

@ -64,6 +64,8 @@ extern "C" {
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
#define CONFIG_MODULE_SAMPLE_HMS_ON
/*!< Attention: This function needs to be used together with mobile sdk mop sample.
* */
//#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON

45
samples/sample_c/platform/linux/manifold2/application/main.c
View File

@ -39,6 +39,7 @@
#include <mop_channel/test_mop_channel.h>
#include <payload_collaboration/test_payload_collaboration.h>
#include <xport/test_payload_xport.h>
#include <hms/test_hms.h>
#include "monitor/sys_monitor.h"
#include "osal/osal.h"
#include "osal/osal_fs.h"
@ -87,6 +88,7 @@ static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path);
static void *DjiUser_MonitorTask(void *argument);
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit();
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState);
static void DjiUser_NormalExitHandler(int signalNum);
/* Exported functions definition ---------------------------------------------*/
int main(int argc, char **argv)
@ -94,10 +96,19 @@ int main(int argc, char **argv)
T_DjiReturnCode returnCode;
T_DjiUserInfo userInfo;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
T_DjiFirmwareVersion firmwareVersion = {
.majorVersion = 1,
.minorVersion = 0,
.modifyVersion = 0,
.debugVersion = 0,
};
USER_UTIL_UNUSED(argc);
USER_UTIL_UNUSED(argv);
// attention: when the program is hand up ctrl-c will generate the coredump file
signal(SIGTERM, DjiUser_NormalExitHandler);
/*!< Step 1: Prepare system environment, such as osal, hal uart, console function and so on. */
returnCode = DjiUser_PrepareSystemEnvironment();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -131,6 +142,18 @@ int main(int argc, char **argv)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set firmware version error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set serial number error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
/*!< Step 4: Initialize the selected modules by macros in dji_sdk_config.h . */
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
@ -228,12 +251,9 @@ int main(int argc, char **argv)
#endif
#ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
returnCode = DjiTest_MopChannelStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mop channel sample init error");
}
returnCode = DjiTest_MopChannelStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mop channel sample init error");
}
#endif
@ -272,6 +292,13 @@ int main(int argc, char **argv)
#endif
}
#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
returnCode = DjiTest_HmsStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("hms test init error");
}
#endif
/*!< Step 5: Tell the DJI Pilot you are ready. */
returnCode = DjiCore_ApplicationStart();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -660,6 +687,12 @@ static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinSta
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static void DjiUser_NormalExitHandler(int signalNum)
{
USER_UTIL_UNUSED(signalNum);
exit(0);
}
#pragma GCC diagnostic pop
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

2
samples/sample_c/platform/linux/manifold2/hal/hal_network.h
View File

@ -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

80
samples/sample_c/platform/linux/nvidia_jeston/CMakeLists.txt Normal file
View File

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

55
samples/sample_c/platform/linux/nvidia_jeston/application/dji_sdk_app_info.h Normal file
View 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******/

82
samples/sample_c/platform/linux/nvidia_jeston/application/dji_sdk_config.h Normal file
View File

@ -0,0 +1,82 @@
/**
********************************************************************
* @file dji_sdk_config.h
* @brief This is the header file for "dji_config.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef DJI_SDK_CONFIG_H
#define DJI_SDK_CONFIG_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define DJI_USE_ONLY_UART (0)
#define DJI_USE_UART_AND_USB_BULK_DEVICE (1)
#define DJI_USE_UART_AND_NETWORK_DEVICE (2)
/*!< Attention: Select your hardware connection mode here.
* */
#define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE
/*!< Attention: Select the sample you want to run here.
* */
#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
#define CONFIG_MODULE_SAMPLE_XPORT_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
#define CONFIG_MODULE_SAMPLE_HMS_ON
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
/*!< Attention: This function needs to be used together with mobile sdk mop sample.
* */
//#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
#ifdef __cplusplus
}
#endif
#endif // DJI_SDK_CONFIG_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

698
samples/sample_c/platform/linux/nvidia_jeston/application/main.c Normal file
View File

@ -0,0 +1,698 @@
/**
********************************************************************
* @file main.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <dji_platform.h>
#include <dji_logger.h>
#include <dji_core.h>
#include <utils/util_misc.h>
#include <errno.h>
#include <signal.h>
#include <power_management/test_power_management.h>
#include <gimbal_emu/test_payload_gimbal_emu.h>
#include <fc_subscription/test_fc_subscription.h>
#include <camera_emu/test_payload_cam_emu_media.h>
#include <camera_emu/test_payload_cam_emu_base.h>
#include <upgrade/test_upgrade.h>
#include <upgrade_platform_opt/upgrade_platform_opt_linux.h>
#include <mop_channel/test_mop_channel.h>
#include <payload_collaboration/test_payload_collaboration.h>
#include <xport/test_payload_xport.h>
#include <hms/test_hms.h>
#include "monitor/sys_monitor.h"
#include "osal/osal.h"
#include "osal/osal_fs.h"
#include "osal/osal_socket.h"
#include "../hal/hal_uart.h"
#include "../hal/hal_network.h"
#include "../hal/hal_usb_bulk.h"
#include "dji_sdk_app_info.h"
#include "dji_aircraft_info.h"
#include "widget/test_widget.h"
#include "widget/test_widget_speaker.h"
#include "widget_interaction_test/test_widget_interaction.h"
#include "data_transmission/test_data_transmission.h"
#include "dji_sdk_config.h"
/* Private constants ---------------------------------------------------------*/
#define DJI_LOG_PATH "Logs/DJI"
#define DJI_LOG_INDEX_FILE_NAME "Logs/latest"
#define DJI_LOG_FOLDER_NAME "Logs"
#define DJI_LOG_PATH_MAX_SIZE (128)
#define DJI_LOG_FOLDER_NAME_MAX_SIZE (32)
#define DJI_LOG_MAX_COUNT (10)
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
#define DJI_USE_WIDGET_INTERACTION 0
/* Private types -------------------------------------------------------------*/
typedef struct {
pid_t tid;
char name[16];
float pcpu;
} T_ThreadAttribute;
/* Private values -------------------------------------------------------------*/
static FILE *s_djiLogFile;
static FILE *s_djiLogFileCnt;
static pthread_t s_monitorThread = 0;
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void);
static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo);
static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path);
static void *DjiUser_MonitorTask(void *argument);
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit();
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState);
static void DjiUser_NormalExitHandler(int signalNum);
/* Exported functions definition ---------------------------------------------*/
int main(int argc, char **argv)
{
T_DjiReturnCode returnCode;
T_DjiUserInfo userInfo;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
T_DjiFirmwareVersion firmwareVersion = {
.majorVersion = 1,
.minorVersion = 0,
.modifyVersion = 0,
.debugVersion = 0,
};
USER_UTIL_UNUSED(argc);
USER_UTIL_UNUSED(argv);
// attention: when the program is hand up ctrl-c will generate the coredump file
signal(SIGTERM, DjiUser_NormalExitHandler);
/*!< Step 1: Prepare system environment, such as osal, hal uart, console function and so on. */
returnCode = DjiUser_PrepareSystemEnvironment();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Prepare system environment error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
/*!< Step 2: Fill your application information in dji_sdk_app_info.h and use this interface to fill it. */
returnCode = DjiUser_FillInUserInfo(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Fill user info error, please check user info config");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
/*!< Step 3: Initialize the Payload SDK core by your application information. */
returnCode = DjiCore_Init(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Core init error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft base info error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set alias error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set firmware version error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set serial number error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
/*!< Step 4: Initialize the selected modules by macros in dji_sdk_config.h . */
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
.pinInit = DjiTest_HighPowerApplyPinInit,
.pinWrite = DjiTest_WriteHighPowerApplyPin,
};
returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("regsiter apply high power handler error");
}
returnCode = DjiTest_PowerManagementStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("power management init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
returnCode = DjiTest_DataTransmissionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT &&
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK) {
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction sample init error");
}
returnCode = DjiTest_WidgetSpeakerStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker test init error");
}
} else {
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
returnCode = DjiTest_CameraEmuBaseStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu common init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
returnCode = DjiTest_CameraEmuMediaStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu media init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
returnCode = DjiTest_FcSubscriptionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("data subscription sample init error\n");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_XPORT_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
if (DjiTest_XPortStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk xport init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_ON
#if DJI_USE_WIDGET_INTERACTION
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction test init error");
}
#else
returnCode = DjiTest_WidgetStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
#endif
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
returnCode = DjiTest_WidgetSpeakerStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker test init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
returnCode = DjiTest_MopChannelStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mop channel sample init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
returnCode = DjiTest_PayloadCollaborationStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Payload collaboration sample init error\n");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
T_DjiTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
.rebootSystem = DjiUpgradePlatformLinux_RebootSystem,
.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = DjiUpgradePlatformLinux_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = DjiUpgradePlatformLinux_WriteUpgradeProgramFile,
.readUpgradeProgramFile = DjiUpgradePlatformLinux_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = DjiUpgradePlatformLinux_CloseUpgradeProgramFile,
.replaceOldProgram = DjiUpgradePlatformLinux_ReplaceOldProgram,
.setUpgradeRebootState = DjiUpgradePlatformLinux_SetUpgradeRebootState,
.getUpgradeRebootState = DjiUpgradePlatformLinux_GetUpgradeRebootState,
.cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = true
};
if (DjiTest_UpgradeStartService(&linuxUpgradePlatformOpt, testUpgradeConfig) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk upgrade init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
returnCode = DjiTest_HmsStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("hms test init error");
}
#endif
}
/*!< Step 5: Tell the DJI Pilot you are ready. */
returnCode = DjiCore_ApplicationStart();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("start sdk application error");
}
if (pthread_create(&s_monitorThread, NULL, DjiUser_MonitorTask, NULL) != 0) {
USER_LOG_ERROR("create monitor task fail.");
}
if (pthread_setname_np(s_monitorThread, "monitor task") != 0) {
USER_LOG_ERROR("set name for monitor task fail.");
}
while (1) {
sleep(1);
}
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler osalHandler = {
.TaskCreate = Osal_TaskCreate,
.TaskDestroy = Osal_TaskDestroy,
.TaskSleepMs = Osal_TaskSleepMs,
.MutexCreate= Osal_MutexCreate,
.MutexDestroy = Osal_MutexDestroy,
.MutexLock = Osal_MutexLock,
.MutexUnlock = Osal_MutexUnlock,
.SemaphoreCreate = Osal_SemaphoreCreate,
.SemaphoreDestroy = Osal_SemaphoreDestroy,
.SemaphoreWait = Osal_SemaphoreWait,
.SemaphoreTimedWait = Osal_SemaphoreTimedWait,
.SemaphorePost = Osal_SemaphorePost,
.Malloc = Osal_Malloc,
.Free = Osal_Free,
.GetTimeMs = Osal_GetTimeMs,
.GetTimeUs = Osal_GetTimeUs,
};
T_DjiLoggerConsole printConsole = {
.func = DjiUser_PrintConsole,
.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO,
.isSupportColor = true,
};
T_DjiLoggerConsole localRecordConsole = {
.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG,
.func = DjiUser_LocalWrite,
.isSupportColor = true,
};
T_DjiHalUartHandler uartHandler = {
.UartInit = HalUart_Init,
.UartDeInit = HalUart_DeInit,
.UartWriteData = HalUart_WriteData,
.UartReadData = HalUart_ReadData,
.UartGetStatus = HalUart_GetStatus,
};
T_DjiHalNetworkHandler networkHandler = {
.NetworkInit = HalNetWork_Init,
.NetworkDeInit = HalNetWork_DeInit,
.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo,
};
T_DjiHalUsbBulkHandler usbBulkHandler = {
.UsbBulkInit = HalUsbBulk_Init,
.UsbBulkDeInit = HalUsbBulk_DeInit,
.UsbBulkWriteData = HalUsbBulk_WriteData,
.UsbBulkReadData = HalUsbBulk_ReadData,
.UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo,
};
T_DjiFileSystemHandler fileSystemHandler = {
.FileOpen = Osal_FileOpen,
.FileClose = Osal_FileClose,
.FileWrite = Osal_FileWrite,
.FileRead = Osal_FileRead,
.FileSync = Osal_FileSync,
.FileSeek = Osal_FileSeek,
.DirOpen = Osal_DirOpen,
.DirClose = Osal_DirClose,
.DirRead = Osal_DirRead,
.Mkdir = Osal_Mkdir,
.Unlink = Osal_Unlink,
.Rename = Osal_Rename,
.Stat = Osal_Stat,
};
T_DjiSocketHandler socketHandler = {
.Socket = Osal_Socket,
.Bind = Osal_Bind,
.Close = Osal_Close,
.UdpSendData = Osal_UdpSendData,
.UdpRecvData = Osal_UdpRecvData,
.TcpListen = Osal_TcpListen,
.TcpAccept = Osal_TcpAccept,
.TcpConnect = Osal_TcpConnect,
.TcpSendData = Osal_TcpSendData,
.TcpRecvData = Osal_TcpRecvData,
};
returnCode = DjiPlatform_RegOsalHandler(&osalHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal uart handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("file system init error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
returnCode = DjiLogger_AddConsole(&printConsole);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("add printf console error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiLogger_AddConsole(&localRecordConsole);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("add printf console error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
//Attention: if you want to use camera stream view function, please uncomment it.
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal socket handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
/*!< Attention: Only use uart hardware connection.
*/
#endif
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal filesystem handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
{
if (userInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
memset(userInfo->appName, 0, sizeof(userInfo->appName));
memset(userInfo->appId, 0, sizeof(userInfo->appId));
memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
memset(userInfo->appLicense, 0, sizeof(userInfo->appLicense));
memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
memset(userInfo->baudRate, 0, sizeof(userInfo->baudRate));
if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
strlen(USER_APP_LICENSE) > sizeof(userInfo->appLicense) ||
strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount) ||
strlen(USER_BAUD_RATE) > sizeof(userInfo->baudRate)) {
USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
sleep(1);
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
if (!strcmp(USER_APP_NAME, "your_app_name") ||
!strcmp(USER_APP_ID, "your_app_id") ||
!strcmp(USER_APP_KEY, "your_app_key") ||
!strcmp(USER_BAUD_RATE, "your_app_license") ||
!strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
!strcmp(USER_BAUD_RATE, "your_baud_rate")) {
USER_LOG_ERROR(
"Please fill in correct user information to 'samples/sample_c/platform/linux/manifold2/application/dji_sdk_app_info.h' file.");
sleep(1);
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
memcpy(userInfo->appLicense, USER_APP_LICENSE,
USER_UTIL_MIN(sizeof(userInfo->appLicense), strlen(USER_APP_LICENSE)));
memcpy(userInfo->baudRate, USER_BAUD_RATE, USER_UTIL_MIN(sizeof(userInfo->baudRate), strlen(USER_BAUD_RATE)));
strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
{
USER_UTIL_UNUSED(dataLen);
printf("%s", data);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
{
uint32_t realLen;
if (s_djiLogFile == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
realLen = fwrite(data, 1, dataLen, s_djiLogFile);
fflush(s_djiLogFile);
if (realLen == dataLen) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path)
{
T_DjiReturnCode djiReturnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
char filePath[DJI_LOG_PATH_MAX_SIZE];
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
char folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
time_t currentTime = time(NULL);
struct tm *localTime = localtime(&currentTime);
uint16_t logFileIndex = 0;
uint16_t currentLogFileIndex;
uint8_t ret;
if (localTime == NULL) {
printf("Get local time error.\r\n");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (access(DJI_LOG_FOLDER_NAME, F_OK) != 0) {
sprintf(folderName, "mkdir %s", DJI_LOG_FOLDER_NAME);
ret = system(folderName);
if (ret != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "rb+");
if (s_djiLogFileCnt == NULL) {
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "wb+");
if (s_djiLogFileCnt == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else {
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
if (ret != 0) {
printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = fread((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
if (ret != sizeof(uint16_t)) {
printf("Read log file index error.\r\n");
}
}
currentLogFileIndex = logFileIndex;
logFileIndex++;
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
if (ret != 0) {
printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = fwrite((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
if (ret != sizeof(uint16_t)) {
printf("Write log file index error.\r\n");
fclose(s_djiLogFileCnt);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
fclose(s_djiLogFileCnt);
sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
s_djiLogFile = fopen(filePath, "wb+");
if (s_djiLogFile == NULL) {
USER_LOG_ERROR("Open filepath time error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (logFileIndex >= DJI_LOG_MAX_COUNT) {
sprintf(systemCmd, "rm -rf %s_%04d*.log", path, currentLogFileIndex - DJI_LOG_MAX_COUNT);
ret = system(systemCmd);
if (ret != 0) {
printf("Remove file error, ret:%d.\r\n", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
return djiReturnCode;
}
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
#pragma GCC diagnostic ignored "-Wreturn-type"
static void *DjiUser_MonitorTask(void *argument)
{
unsigned int i = 0;
unsigned int threadCount = 0;
pid_t *tidList = NULL;
T_ThreadAttribute *threadAttribute = NULL;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
USER_UTIL_UNUSED(argument);
while (1) {
threadCount = Monitor_GetThreadCountOfProcess(getpid());
tidList = osalHandler->Malloc(threadCount * sizeof(pid_t));
if (tidList == NULL) {
USER_LOG_ERROR("malloc fail.");
goto delay;
}
Monitor_GetTidListOfProcess(getpid(), tidList, threadCount);
threadAttribute = osalHandler->Malloc(threadCount * sizeof(T_ThreadAttribute));
if (threadAttribute == NULL) {
USER_LOG_ERROR("malloc fail.");
goto freeTidList;
}
for (i = 0; i < threadCount; ++i) {
threadAttribute[i].tid = tidList[i];
}
USER_LOG_DEBUG("thread pcpu:");
USER_LOG_DEBUG("tid\tname\tpcpu");
for (i = 0; i < threadCount; ++i) {
threadAttribute[i].pcpu = Monitor_GetPcpuOfThread(getpid(), tidList[i]);
Monitor_GetNameOfThread(getpid(), tidList[i], threadAttribute[i].name, sizeof(threadAttribute[i].name));
USER_LOG_DEBUG("%d\t%15s\t%f %%.", threadAttribute[i].tid, threadAttribute[i].name,
threadAttribute[i].pcpu);
}
USER_LOG_DEBUG("heap used: %d B.", Monitor_GetHeapUsed(getpid()));
USER_LOG_DEBUG("stack used: %d B.", Monitor_GetStackUsed(getpid()));
osalHandler->Free(threadAttribute);
freeTidList:
osalHandler->Free(tidList);
delay:
sleep(10);
}
}
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit()
{
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState)
{
//attention: please pull up the HWPR pin state by hardware.
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static void DjiUser_NormalExitHandler(int signalNum)
{
USER_UTIL_UNUSED(signalNum);
exit(0);
}
#pragma GCC diagnostic pop
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @file hal_network.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "string.h"
#include "stdlib.h"
#include "stdio.h"
#include "hal_network.h"
#include "dji_logger.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj)
{
int32_t ret;
char cmdStr[LINUX_CMD_STR_MAX_SIZE];
if (ipAddr == NULL || netMask == NULL) {
USER_LOG_ERROR("hal network config param error");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
//Attention: need root permission to config ip addr and netmask.
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't open the network."
"Probably the program not execute with root permission."
"Please use the root permission to execute the program.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't config the ip address of network."
"Probably the program not execute with root permission."
"Please use the root permission to execute the program.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj)
{
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo)
{
deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @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******/

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/**
********************************************************************
* @file hal_uart.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <dji_logger.h>
#include "hal_uart.h"
/* Private constants ---------------------------------------------------------*/
#define UART_DEV_NAME_STR_SIZE (128)
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
/* Private types -------------------------------------------------------------*/
typedef struct {
int32_t uartFd;
} T_UartHandleStruct;
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
{
T_UartHandleStruct *uartHandleStruct = NULL;
struct termios options;
struct flock lock;
T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
char uartName[UART_DEV_NAME_STR_SIZE];
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
char *ret = NULL;
char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
FILE *fp;
uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
if (uartHandleStruct == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
if (uartNum == DJI_HAL_UART_NUM_0) {
strcpy(uartName, LINUX_UART_DEV1);
} else if (uartNum == DJI_HAL_UART_NUM_1) {
strcpy(uartName, LINUX_UART_DEV2);
} else {
goto free_uart_handle;
}
#ifdef USE_CLION_DEBUG
sprintf(systemCmd, "ls -l %s", uartName);
fp = popen(systemCmd, "r");
if (fp == NULL) {
goto free_uart_handle;
}
ret = fgets(lineBuf, sizeof(lineBuf), fp);
if (ret == NULL) {
goto close_fp;
}
if (strstr(lineBuf, "crwxrwxrwx") == NULL) {
USER_LOG_ERROR("Can't operation the device. "
"Probably the device has not operation permission. "
"Please execute command 'sudo chmod 777 %s' to add permission. ", uartName);
goto close_fp;
}
#else
sprintf(systemCmd, "chmod 777 %s", uartName);
fp = popen(systemCmd, "r");
if (fp == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#endif
uartHandleStruct->uartFd = open(uartName, (unsigned) O_RDWR | (unsigned) O_NOCTTY | (unsigned) O_NDELAY);
if (uartHandleStruct->uartFd == -1) {
goto close_fp;
}
// Forbid multiple psdk programs to access the serial port
lock.l_type = F_WRLCK;
lock.l_pid = getpid();
lock.l_whence = SEEK_SET;
lock.l_start = 0;
lock.l_len = 0;
if (fcntl(uartHandleStruct->uartFd, F_GETLK, &lock) < 0) {
goto close_uart_fd;
}
if (lock.l_type != F_UNLCK) {
goto close_uart_fd;
}
lock.l_type = F_WRLCK;
lock.l_pid = getpid();
lock.l_whence = SEEK_SET;
lock.l_start = 0;
lock.l_len = 0;
if (fcntl(uartHandleStruct->uartFd, F_SETLKW, &lock) < 0) {
goto close_uart_fd;
}
if (tcgetattr(uartHandleStruct->uartFd, &options) != 0) {
goto close_uart_fd;
}
switch (baudRate) {
case 115200:
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
break;
case 230400:
cfsetispeed(&options, B230400);
cfsetospeed(&options, B230400);
break;
case 460800:
cfsetispeed(&options, B460800);
cfsetospeed(&options, B460800);
break;
case 921600:
cfsetispeed(&options, B921600);
cfsetospeed(&options, B921600);
break;
case 1000000:
cfsetispeed(&options, B1000000);
cfsetospeed(&options, B1000000);
break;
default:
goto close_uart_fd;
}
options.c_cflag |= (unsigned) CLOCAL;
options.c_cflag |= (unsigned) CREAD;
options.c_cflag &= ~(unsigned) CRTSCTS;
options.c_cflag &= ~(unsigned) CSIZE;
options.c_cflag |= (unsigned) CS8;
options.c_cflag &= ~(unsigned) PARENB;
options.c_iflag &= ~(unsigned) INPCK;
options.c_cflag &= ~(unsigned) CSTOPB;
options.c_oflag &= ~(unsigned) OPOST;
options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
tcflush(uartHandleStruct->uartFd, TCIFLUSH);
if (tcsetattr(uartHandleStruct->uartFd, TCSANOW, &options) != 0) {
goto close_uart_fd;
}
*uartHandle = uartHandleStruct;
pclose(fp);
return returnCode;
close_uart_fd:
close(uartHandleStruct->uartFd);
close_fp:
pclose(fp);
free_uart_handle:
free(uartHandleStruct);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle)
{
int32_t ret;
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
if (uartHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
ret = close(uartHandleStruct->uartFd);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
free(uartHandleStruct);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = write(uartHandleStruct->uartFd, buf, len);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = read(uartHandleStruct->uartFd, buf, len);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status)
{
if (uartNum == DJI_HAL_UART_NUM_0) {
status->isConnect = true;
} else if (uartNum == DJI_HAL_UART_NUM_1) {
status->isConnect = true;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

65
samples/sample_c/platform/linux/nvidia_jeston/hal/hal_uart.h Normal file
View 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******/

224
samples/sample_c/platform/linux/nvidia_jeston/hal/hal_usb_bulk.c Normal file
View 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****/

92
samples/sample_c/platform/linux/nvidia_jeston/hal/hal_usb_bulk.h Normal file
View 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******/

61
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c
View File

@ -23,6 +23,8 @@
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <widget/test_widget_speaker.h>
#include <hms/test_hms.h>
#include "FreeRTOS.h"
#include "FreeRTOSConfig.h"
#include "task.h"
@ -101,7 +103,6 @@ void DjiUser_StartTask(void const *argument)
.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO,
.isSupportColor = true,
};
T_DjiHalUartHandler uartHandler = {
.UartInit = HalUart_Init,
.UartDeInit = HalUart_DeInit,
@ -109,6 +110,12 @@ void DjiUser_StartTask(void const *argument)
.UartReadData = HalUart_ReadData,
.UartGetStatus = HalUart_GetStatus,
};
T_DjiFirmwareVersion firmwareVersion = {
.majorVersion = 1,
.minorVersion = 0,
.modifyVersion = 0,
.debugVersion = 0,
};
UART_Init(DJI_CONSOLE_UART_NUM, DJI_CONSOLE_UART_BAUD);
Led_Init(LED3);
@ -161,6 +168,18 @@ void DjiUser_StartTask(void const *argument)
goto out;
}
returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set firmware version error");
goto out;
}
returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set serial number error");
goto out;
}
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
.pinInit = DjiTest_HighPowerApplyPinInit,
@ -185,6 +204,13 @@ void DjiUser_StartTask(void const *argument)
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
returnCode = DjiTest_WidgetSpeakerStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker sample init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
returnCode = DjiTest_DataTransmissionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -199,20 +225,37 @@ void DjiUser_StartTask(void const *argument)
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
returnCode = DjiTest_HmsStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("hms test init error");
}
#endif
#if !USE_USB_HOST_UART
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_ON
returnCode = DjiTest_CameraEmuBaseStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu common init error");
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
&& aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
USER_LOG_WARN("Not support camera emu sample.");
} else {
returnCode = DjiTest_CameraEmuBaseStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu common init error");
goto out;
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
&& aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
USER_LOG_WARN("Not support gimbal emu sample.");
} else {
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
}
}
}
#endif

4
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h
View File

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

8
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/hal/hal_uart.c
View File

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

150
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/CMakeLists.txt
View File

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

2
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/debug_script/gdbserver.sh.in
View File

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

1
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/debug_script/init.gdb
View File

@ -1 +0,0 @@
reset

7
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/download_script/download.jlink.in
View File

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

9
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/download_script/download.sh.in
View File

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

190
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/linker_script/stm32f407igt.ld.in
View File

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

134
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/CMakeLists.txt
View File

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

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