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NEW: release DJI Payload-SDK version 3.12.0

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DJI
2025-06-27 22:36:34 +08:00
parent 54b9f6c6c1
commit 326b8698dd
381 changed files with 122574 additions and 451 deletions
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75
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.c
View File

@ -33,6 +33,7 @@
#include "dji_gimbal.h"
#include "dji_xport.h"
#include "gimbal_emu/test_payload_gimbal_emu.h"
#include <widget_interaction_test/test_widget_interaction.h>
/* Private constants ---------------------------------------------------------*/
#define PAYLOAD_CAMERA_EMU_TASK_FREQ (100)
@ -118,6 +119,7 @@ static T_TestCameraGimbalRotationArgument s_tapZoomNewestGimbalRotationArgument
static uint32_t s_tapZoomNewestTargetHybridFocalLength = 0; // unit: 0.1mm
static T_DjiMutexHandle s_tapZoomMutex = NULL;
static E_DjiCameraVideoStreamType s_cameraVideoStreamType;
static uint32_t s_currentVideoRecordTimeInSeconds = 0;
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode GetSystemState(T_DjiCameraSystemState *systemState);
@ -205,6 +207,7 @@ static T_DjiReturnCode SetMode(E_DjiCameraMode mode)
s_cameraState.cameraMode = mode;
USER_LOG_INFO("set camera mode:%d", mode);
DjiTest_WidgetLogAppend("set cam mode %d", mode);
returnCode = osalHandler->MutexUnlock(s_commonMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -235,6 +238,7 @@ static T_DjiReturnCode StartRecordVideo(void)
s_cameraState.isRecording = true;
USER_LOG_INFO("start record video");
DjiTest_WidgetLogAppend("start record video");
out:
djiStat = osalHandler->MutexUnlock(s_commonMutex);
@ -267,6 +271,7 @@ static T_DjiReturnCode StopRecordVideo(void)
s_cameraState.isRecording = false;
s_cameraState.currentVideoRecordingTimeInSeconds = 0;
USER_LOG_INFO("stop record video");
DjiTest_WidgetLogAppend("stop record video");
out:
djiStat = osalHandler->MutexUnlock(s_commonMutex);
@ -290,6 +295,7 @@ static T_DjiReturnCode StartShootPhoto(void)
}
USER_LOG_INFO("start shoot photo");
DjiTest_WidgetLogAppend("start shoot photo");
s_cameraState.isStoring = true;
if (s_cameraShootPhotoMode == DJI_CAMERA_SHOOT_PHOTO_MODE_SINGLE) {
@ -300,6 +306,7 @@ static T_DjiReturnCode StartShootPhoto(void)
s_cameraState.shootingState = DJI_CAMERA_SHOOTING_INTERVAL_PHOTO;
s_cameraState.isShootingIntervalStart = true;
s_cameraState.currentPhotoShootingIntervalTimeInSeconds = s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds;
s_cameraState.currentPhotoShootingIntervalTimeInMs = s_cameraPhotoTimeIntervalSettings.timeIntervalMilliseconds;
}
returnCode = osalHandler->MutexUnlock(s_commonMutex);
@ -323,6 +330,7 @@ static T_DjiReturnCode StopShootPhoto(void)
}
USER_LOG_INFO("stop shoot photo");
DjiTest_WidgetLogAppend("stop shoot photo");
s_cameraState.shootingState = DJI_CAMERA_SHOOTING_PHOTO_IDLE;
s_cameraState.isStoring = false;
s_cameraState.isShootingIntervalStart = false;
@ -439,8 +447,9 @@ static T_DjiReturnCode SetPhotoTimeIntervalSettings(T_DjiCameraPhotoTimeInterval
s_cameraPhotoTimeIntervalSettings.captureCount = settings.captureCount;
s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds = settings.timeIntervalSeconds;
USER_LOG_INFO("set photo interval settings count:%d seconds:%d", settings.captureCount,
settings.timeIntervalSeconds);
s_cameraPhotoTimeIntervalSettings.timeIntervalMilliseconds = settings.timeIntervalMilliseconds;
USER_LOG_INFO("set photo interval settings count:%d seconds:%d.%d", settings.captureCount,
settings.timeIntervalSeconds, settings.timeIntervalMilliseconds / 100);
s_cameraState.currentPhotoShootingIntervalCount = settings.captureCount;
returnCode = osalHandler->MutexUnlock(s_commonMutex);
@ -907,7 +916,17 @@ static T_DjiReturnCode DjiTest_CameraRotationGimbal(T_TestCameraGimbalRotationAr
return returnCode;
}
if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V3 ||
aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_EPORT_V2_RIBBON_CABLE ||
aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
returnCode = DjiTest_GimbalRotate(gimbalRotationArgument.rotationMode, gimbalRotationArgument.rotationProperty,
gimbalRotationArgument.rotationValue);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("rotate gimbal error: 0x%08llX.", returnCode);
return returnCode;
}
} else if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
returnCode = DjiXPort_RotateSync(gimbalRotationArgument.rotationMode, gimbalRotationArgument.rotationProperty,
gimbalRotationArgument.rotationValue);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -938,6 +957,7 @@ static void *UserCamera_Task(void *arg)
uint32_t currentTime = 0;
bool isStartIntervalPhotoAction = false;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
uint32_t intervalFreq = 10;
USER_UTIL_UNUSED(arg);
@ -1130,8 +1150,7 @@ out:
}
}
// 1Hz
if (USER_UTIL_IS_WORK_TURN(step, 1, PAYLOAD_CAMERA_EMU_TASK_FREQ)) {
if (USER_UTIL_IS_WORK_TURN(step, intervalFreq, PAYLOAD_CAMERA_EMU_TASK_FREQ)) {
returnCode = osalHandler->MutexLock(s_commonMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
@ -1139,13 +1158,21 @@ out:
}
if (s_cameraState.isRecording) {
s_cameraState.currentVideoRecordingTimeInSeconds++;
s_cameraSDCardState.remainSpaceInMB =
s_cameraSDCardState.remainSpaceInMB - SDCARD_PER_SECONDS_RECORD_SPACE_IN_MB;
if (s_cameraSDCardState.remainSpaceInMB > SDCARD_TOTAL_SPACE_IN_MB) {
s_cameraSDCardState.remainSpaceInMB = 0;
s_cameraSDCardState.isFull = true;
uint16_t preTimeInSeconds = s_cameraState.currentVideoRecordingTimeInSeconds;
s_currentVideoRecordTimeInSeconds++;
s_cameraState.currentVideoRecordingTimeInSeconds = s_currentVideoRecordTimeInSeconds / intervalFreq;
if (s_cameraState.currentVideoRecordingTimeInSeconds > preTimeInSeconds) {
s_cameraSDCardState.remainSpaceInMB =
s_cameraSDCardState.remainSpaceInMB - SDCARD_PER_SECONDS_RECORD_SPACE_IN_MB;
if (s_cameraSDCardState.remainSpaceInMB > SDCARD_TOTAL_SPACE_IN_MB) {
s_cameraSDCardState.remainSpaceInMB = 0;
s_cameraSDCardState.isFull = true;
}
}
} else {
s_currentVideoRecordTimeInSeconds = 0;
}
if (s_cameraState.isShootingIntervalStart == false) {
@ -1154,10 +1181,16 @@ out:
if (s_cameraShootPhotoMode == DJI_CAMERA_SHOOT_PHOTO_MODE_INTERVAL
&& s_cameraState.isShootingIntervalStart == true && s_cameraPhotoTimeIntervalSettings.captureCount > 0
&& s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds > 0) {
s_cameraState.currentPhotoShootingIntervalTimeInSeconds--;
&& (s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds > 0 || s_cameraPhotoTimeIntervalSettings.timeIntervalMilliseconds > 0)) {
uint16_t currentPhotoShootingIntervalTimeInMs = s_cameraState.currentPhotoShootingIntervalTimeInSeconds * 1000 +
s_cameraState.currentPhotoShootingIntervalTimeInMs;
if ((s_cameraState.currentPhotoShootingIntervalTimeInSeconds == 0 &&
currentPhotoShootingIntervalTimeInMs -= 1000 / intervalFreq;
s_cameraState.currentPhotoShootingIntervalTimeInSeconds = currentPhotoShootingIntervalTimeInMs / 1000;
s_cameraState.currentPhotoShootingIntervalTimeInMs = currentPhotoShootingIntervalTimeInMs % 1000;
if ((currentPhotoShootingIntervalTimeInMs == 0 &&
s_cameraState.currentPhotoShootingIntervalCount > 0) ||
(s_cameraState.isShootingIntervalStart == true && isStartIntervalPhotoAction == false)) {
@ -1165,13 +1198,14 @@ out:
s_cameraState.shootingState = DJI_CAMERA_SHOOTING_INTERVAL_PHOTO;
s_cameraState.isStoring = true;
s_cameraState.currentPhotoShootingIntervalTimeInSeconds
= s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds;
s_cameraState.currentPhotoShootingIntervalTimeInSeconds = s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds;
s_cameraState.currentPhotoShootingIntervalTimeInMs = s_cameraPhotoTimeIntervalSettings.timeIntervalMilliseconds;
if (s_cameraState.currentPhotoShootingIntervalCount < INTERVAL_PHOTOGRAPH_ALWAYS_COUNT) {
USER_LOG_INFO("interval taking photograph count:%d interval_time:%ds",
USER_LOG_INFO("interval taking photograph count:%d interval_time:%d.%ds",
(s_cameraPhotoTimeIntervalSettings.captureCount -
s_cameraState.currentPhotoShootingIntervalCount + 1),
s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds);
s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds,
s_cameraPhotoTimeIntervalSettings.timeIntervalMilliseconds / 100);
s_cameraState.currentPhotoShootingIntervalCount--;
if (s_cameraState.currentPhotoShootingIntervalCount == 0) {
s_cameraState.shootingState = DJI_CAMERA_SHOOTING_PHOTO_IDLE;
@ -1179,8 +1213,9 @@ out:
s_cameraState.isShootingIntervalStart = false;
}
} else {
USER_LOG_INFO("interval taking photograph always, interval_time:%ds",
s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds);
USER_LOG_INFO("interval taking photograph always, interval_time:%d.%ds",
s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds,
s_cameraPhotoTimeIntervalSettings.timeIntervalMilliseconds / 100);
s_cameraState.currentPhotoShootingIntervalCount--;
}
}

3
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c
View File

@ -194,7 +194,8 @@ T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
UtilBuffer_Init(&s_mediaPlayCommandBufferHandler, s_mediaPlayCommandBuffer, sizeof(s_mediaPlayCommandBuffer));
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M400) {
returnCode = DjiPayloadCamera_RegMediaDownloadPlaybackHandler(&s_psdkCameraMedia);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk camera media function init error.");

25
samples/sample_c/module_sample/camera_manager/test_camera_manager.c
View File

@ -855,6 +855,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
|| DJI_CAMERA_TYPE_M30 == cameraType || DJI_CAMERA_TYPE_M30T == cameraType
|| DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
|| DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4TD == cameraType
|| DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
|| DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
|| DJI_CAMERA_TYPE_M4TD == cameraType || DJI_CAMERA_TYPE_M4D == cameraType
@ -899,9 +901,10 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
|| DJI_CAMERA_TYPE_M30 == cameraType || DJI_CAMERA_TYPE_M30T == cameraType
|| DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
|| DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
|| DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
|| DJI_CAMERA_TYPE_M4TD == cameraType || DJI_CAMERA_TYPE_M4D == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4TD == cameraType
|| DJI_CAMERA_TYPE_M4E == cameraType || DJI_CAMERA_TYPE_H30 == cameraType
|| DJI_CAMERA_TYPE_H30T == cameraType|| DJI_CAMERA_TYPE_M4TD == cameraType
|| DJI_CAMERA_TYPE_M4D == cameraType
) {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
mountPosition);
@ -1938,7 +1941,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 ||
cameraType == DJI_CAMERA_TYPE_M4T || cameraType == DJI_CAMERA_TYPE_M4TD) {
cameraType == DJI_CAMERA_TYPE_M4TD || cameraType == DJI_CAMERA_TYPE_M4D ||
cameraType == DJI_CAMERA_TYPE_M4T) {
USER_LOG_WARN("Camera type %s don't support FFC function.",
s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
goto exitCameraModule;
@ -1985,7 +1989,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 ||
cameraType == DJI_CAMERA_TYPE_M4T || cameraType == DJI_CAMERA_TYPE_M4TD) {
cameraType == DJI_CAMERA_TYPE_M4TD || cameraType == DJI_CAMERA_TYPE_M4D ||
cameraType == DJI_CAMERA_TYPE_M4T) {
USER_LOG_WARN("Camera type %s don't support infrared function.",
s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
goto exitCameraModule;
@ -2133,6 +2138,7 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
return returnCode;
}
USER_LOG_INFO("obtain downloader rights of pos %d", position);
returnCode = DjiCameraManager_ObtainDownloaderRights(position);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Obtain downloader rights failed, error code: 0x%08X.", returnCode);
@ -2215,10 +2221,10 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
}
if (s_meidaFileList.fileListInfo[0].type == DJI_CAMERA_FILE_TYPE_JPEG) {
USER_LOG_INFO("delete camera file of index %d", s_meidaFileList.fileListInfo[0].fileIndex);
returnCode = DjiCameraManager_DeleteFileByIndex(position, s_meidaFileList.fileListInfo[0].fileIndex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Delete media file by index failed, error code: 0x%08X.", returnCode);
return returnCode;
}
}
@ -2227,6 +2233,7 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
USER_LOG_WARN("Media file is not existed in sdcard.\r\n");
}
ReleaseDownloaderRights:
returnCode = DjiCameraManager_ReleaseDownloaderRights(position);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Release downloader rights failed, error code: 0x%08X.", returnCode);
@ -2575,6 +2582,7 @@ T_DjiReturnCode DjiTest_CameraManagerSubscribePointCloud(E_DjiMountPosition posi
uint32_t colorPointCloudDataByte = 0;
uint32_t colorPointsNum = 0;
static bool isMopInit = false;
E_DjiChannelAddress mopChannelAddress = 0;
returnCode = DjiCameraManager_StartRecordPointCloud(position);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -2613,7 +2621,10 @@ T_DjiReturnCode DjiTest_CameraManagerSubscribePointCloud(E_DjiMountPosition posi
RECONNECT:
osalHandler->TaskSleepMs(TEST_CAMERA_MOP_CHANNEL_WAIT_TIME_MS);
returnCode = DjiMopChannel_Connect(s_mopChannelHandle, DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1,
mopChannelAddress = position - DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 + DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
USER_LOG_INFO("connect to mop channel addr %d, channel id %d",
mopChannelAddress, TEST_CAMERA_MOP_CHANNEL_SUBSCRIBE_POINT_CLOUD_CHANNEL_ID);
returnCode = DjiMopChannel_Connect(s_mopChannelHandle, mopChannelAddress,
TEST_CAMERA_MOP_CHANNEL_SUBSCRIBE_POINT_CLOUD_CHANNEL_ID);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Connect point cloud mop channel error, stat:0x%08llX.", returnCode);

99
samples/sample_c/module_sample/cloud_api/test_cloud_api_by_web_socket.c Normal file
View File

@ -0,0 +1,99 @@
/**
********************************************************************
* @file test_cloud_api_by_web_socket.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <utils/util_misc.h>
#include <stdio.h>
#include <utils/util_md5.h>
#include "dji_cloud_api_by_websockt.h"
#include "dji_logger.h"
#include "dji_platform.h"
#include "test_cloud_api_by_web_socket.h"
/* Private constants ---------------------------------------------------------*/
#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER (64 * 1024)
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
static T_DjiTaskHandle s_testCloudApiByWebSocketSendTask;
/* Private functions definition-----------------------------------------------*/
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
#pragma GCC diagnostic ignored "-Wreturn-type"
static void *DjiTest_CloudApiByWebSocketSendTask(void *arg)
{
uint8_t *sendBuf = NULL;
uint32_t realLen = 0;
T_DjiReturnCode returnCode;
uint32_t sendDataCount = 0;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
USER_UTIL_UNUSED(arg);
sendBuf = osalHandler->Malloc(TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
if (sendBuf == NULL) {
USER_LOG_ERROR("cloud_api over mop malloc send buffer error");
return NULL;
}
while (1) {
sendDataCount++;
memset(sendBuf, 'A' - 1 + (sendDataCount % 26), TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
returnCode = DjiCloudApi_SendDataByWebSocket(sendBuf, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER, &realLen);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_WARN("cloud_api over mop send data to channel error,stat:0x%08llX", returnCode);
} else {
USER_LOG_INFO("cloud_api over mop send data to channel length:%d count:%d", realLen, sendDataCount);
}
osalHandler->TaskSleepMs(1000);
}
}
#pragma GCC diagnostic pop
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_CloudApiByWebSocketStartService(void)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
USER_LOG_INFO("cloud_api over mop send task create error, stat:0x%08llX.", returnCode);
returnCode = osalHandler->TaskCreate("CloudApiByWebSocket", DjiTest_CloudApiByWebSocketSendTask,
2048, NULL, &s_testCloudApiByWebSocketSendTask);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("cloud_api over mop send task create error, stat:0x%08llX.", returnCode);
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

49
samples/sample_c/module_sample/cloud_api/test_cloud_api_by_web_socket.h Normal file
View File

@ -0,0 +1,49 @@
/**
********************************************************************
* @file test_mop_channel.h
* @brief This is the header file for "test_mop_channel.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 TEST_CLOUD_API_BY_WEEBSOCKET_H
#define TEST_CLOUD_API_BY_WEEBSOCKET_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_CloudApiByWebSocketStartService(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_CLOUD_API_BY_WEEBSOCKET_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

7
samples/sample_c/module_sample/data_transmission/test_data_transmission.c
View File

@ -87,7 +87,7 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4D ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4D ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4TD) {
channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromCloud);
@ -97,7 +97,10 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
}
}
if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M400) {
USER_LOG_INFO("M400 is not support to use data transmition between PSDK device.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 ||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) {
channelAddress = DJI_CHANNEL_ADDRESS_EXTENSION_PORT;

122
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -99,6 +99,7 @@ static void DjiTest_FlightControlVelocityControlSample(void);
static void DjiTest_FlightControlArrestFlyingSample(void);
static void DjiTest_FlightControlSetGetParamSample(void);
static void DjiTest_FlightControlPassiveTriggerFtsSample(void);
static void DjiTest_FlightControlSlowRotateMotorSample(void);
static T_DjiReturnCode DjiTest_TriggerFtsEventCallback(void);
static void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect);
@ -922,6 +923,63 @@ void DjiTest_FlightControlPassiveTriggerFtsSample(void)
}
}
static void DjiTest_FlightControlSlowRotateMotorSample(void)
{
E_DjiFlightControllerElectronicSpeedControllerStatus escStatus;
T_DjiReturnCode returnCode = 0;
USER_LOG_INFO("Start rotating.");
returnCode = DjiFlightController_StartSlowRotateMotor();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Start slow rotate blade failed, error code is 0x%08X", returnCode);
return ;
}
returnCode = DjiFlightController_GetElectronicSpeedControllerStatus(&escStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Fail to get ESC status, error code is 0x%08X", returnCode);
}
USER_LOG_INFO("The ESC status is: %s motor(s) in rotate mode",
escStatus == DJI_FLIGHT_CONTROLLER_NO_MOTOR_IN_SLOW_ROTATE_MODE ? "no" :
escStatus == DJI_FLIGHT_CONTROLLER_SOME_MOTOR_IN_SLOW_ROTATE_MODE ? "some" :
escStatus == DJI_FLIGHT_CONTROLLER_ALL_MOTOR_IN_SLOW_ROTATE_MODE ? "all" : "(error)");
for (int32_t i = 0; i < 8; i++) {
s_osalHandler->TaskSleepMs(1000);
returnCode = DjiFlightController_GetElectronicSpeedControllerStatus(&escStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Fail to get ESC status, error code is 0x%08X", returnCode);
}
USER_LOG_INFO("The ESC status is: %s motor(s) in rotate mode",
escStatus == DJI_FLIGHT_CONTROLLER_NO_MOTOR_IN_SLOW_ROTATE_MODE ? "no" :
escStatus == DJI_FLIGHT_CONTROLLER_SOME_MOTOR_IN_SLOW_ROTATE_MODE ? "some" :
escStatus == DJI_FLIGHT_CONTROLLER_ALL_MOTOR_IN_SLOW_ROTATE_MODE ? "all" : "(error)");
}
USER_LOG_INFO("Stop rotating.");
returnCode = DjiFlightController_StopSlowRotateMotor();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_INFO("Stop slow rotate blade failed, error code is 0x%08X", returnCode);
return ;
}
s_osalHandler->TaskSleepMs(1000);
returnCode = DjiFlightController_GetElectronicSpeedControllerStatus(&escStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Fail to get ESC status, error code is 0x%08X", returnCode);
}
USER_LOG_INFO("The ESC status is: %s motor(s) in rotate mode",
escStatus == DJI_FLIGHT_CONTROLLER_NO_MOTOR_IN_SLOW_ROTATE_MODE ? "no" :
escStatus == DJI_FLIGHT_CONTROLLER_SOME_MOTOR_IN_SLOW_ROTATE_MODE ? "some" :
escStatus == DJI_FLIGHT_CONTROLLER_ALL_MOTOR_IN_SLOW_ROTATE_MODE ? "all" : "(error)");
}
void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect)
{
switch (flightCtrlSampleSelect) {
@ -953,6 +1011,10 @@ void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampl
DjiTest_FlightControlPassiveTriggerFtsSample();
break;
}
case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SLOW_ROTATE_BLADE: {
DjiTest_FlightControlSlowRotateMotorSample();
break;
}
default:
break;
}
@ -1305,6 +1367,8 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
if (DJI_AIRCRAFT_TYPE_M3E == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3D == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4D == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4E == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4D == aircraftInfoBaseInfo.aircraftType
@ -1608,4 +1672,62 @@ DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback(T_DjiFlightControllerJo
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiTest_FlightControlSetFtsTrigger(E_DjiMountPosition position, char* desc)
{
T_DjiReturnCode djiStat;
T_DjiFtsPwmEscTriggerStatus esc_status;
djiStat = DjiFlightController_SelectFtsPwmTrigger(position);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("select fts pwm trigger E-PORT error, error code: 0x%08X", djiStat);
return djiStat;
}
djiStat = DjiFlightController_GetFtsPwmTriggerStatus(&esc_status);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get pwm trigger status error, error code: 0x%08X", djiStat);
return djiStat;
}
if (esc_status.ESC[0].fts_select != position || esc_status.ESC[1].fts_select != position)
{
USER_LOG_ERROR("pwm trigger status incorrect");
return djiStat;
}
if (esc_status.ESC[0].fts_status == DJI_FLIGHT_CONTROLLER_FTS_NOT_TRIGGERD && esc_status.ESC[1].fts_status == DJI_FLIGHT_CONTROLLER_FTS_NOT_TRIGGERD)
USER_LOG_INFO("Set fts trigger position %s success", desc);
return djiStat;
}
T_DjiReturnCode DjiTest_FlightControlFtsPwmTriggerSample(void)
{
T_DjiReturnCode returnCode;
returnCode = DjiTest_FlightControlInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init flight Control sample failed,error code:0x%08llX", returnCode);
return returnCode;
}
returnCode = DjiTest_FlightControlSetFtsTrigger(DJI_MOUNT_POSITION_EXTENSION_PORT, "DJI_MOUNT_POSITION_EXTENSION_PORT");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Test select DJI_MOUNT_POSITION_EXTENSION_PORT fts pwm trigger failed");
return returnCode;
}
returnCode = DjiTest_FlightControlSetFtsTrigger(DJI_MOUNT_POSITION_EXTENSION_LITE_PORT, "DJI_MOUNT_POSITION_EXTENSION_LITE_PORT");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Test select DJI_MOUNT_POSITION_EXTENSION_LITE_PORT fts pwm trigger failed");
return returnCode;
}
returnCode = DjiTest_FlightControlDeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Deinit Flight Control sample failed,error code:0x%08llX", returnCode);
return returnCode;
}
return returnCode;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

2
samples/sample_c/module_sample/flight_control/test_flight_control.h
View File

@ -43,6 +43,7 @@ typedef enum {
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING,
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM,
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_FTS_TRIGGER,
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SLOW_ROTATE_BLADE,
} E_DjiTestFlightCtrlSampleSelect;
#pragma pack(1)
@ -59,6 +60,7 @@ typedef struct {
T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect);
void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
uint32_t timeMs);
T_DjiReturnCode DjiTest_FlightControlFtsPwmTriggerSample(void);
#ifdef __cplusplus
}

3
samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c
View File

@ -30,6 +30,7 @@
#include "dji_logger.h"
#include "dji_platform.h"
#include "utils/util_misc.h"
#include "widget_interaction_test/test_widget_interaction.h"
/* Private constants ---------------------------------------------------------*/
#define PAYLOAD_GIMBAL_EMU_TASK_STACK_SIZE (2048)
@ -277,6 +278,7 @@ T_DjiReturnCode DjiTest_GimbalRotate(E_DjiGimbalRotationMode rotationMode,
break;
case DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE:
DjiTest_WidgetLogAppend("abs mode (%d %d %d)", rotationValue.pitch, rotationValue.roll, rotationValue.yaw);
USER_LOG_INFO("gimbal absolute rotate angle: pitch %d, roll %d, yaw %d.", rotationValue.pitch,
rotationValue.roll, rotationValue.yaw);
USER_LOG_DEBUG("gimbal absolute rotate action time: %d.",
@ -325,6 +327,7 @@ T_DjiReturnCode DjiTest_GimbalRotate(E_DjiGimbalRotationMode rotationMode,
break;
case DJI_GIMBAL_ROTATION_MODE_SPEED:
DjiTest_WidgetLogAppend("speed mode (%d %d %d)", rotationValue.pitch, rotationValue.roll, rotationValue.yaw);
USER_LOG_INFO("gimbal rotate speed: pitch %d, roll %d, yaw %d.", rotationValue.pitch,
rotationValue.roll, rotationValue.yaw);

25
samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c
View File

@ -77,6 +77,7 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
T_DjiGimbalManagerRotation rotation;
T_DjiAircraftInfoBaseInfo baseInfo;
E_DjiAircraftSeries aircraftSeries;
bool gimbalAnglesSubscribedFlag = false;
returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -89,10 +90,17 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
USER_LOG_INFO("Gimbal manager sample start");
DjiTest_WidgetLogAppend("Gimbal manager sample start");
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed to subscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
goto out;
if (DJI_AIRCRAFT_SERIES_M30 == aircraftSeries ||
DJI_AIRCRAFT_SERIES_M3 == aircraftSeries ||
DJI_AIRCRAFT_SERIES_M3D == aircraftSeries ||
DJI_AIRCRAFT_SERIES_M4 == aircraftSeries ||
DJI_AIRCRAFT_SERIES_M4D == aircraftSeries) {
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed to subscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
goto out;
}
gimbalAnglesSubscribedFlag = true;
}
USER_LOG_INFO("--> Step 1: Init gimbal manager module");
@ -170,9 +178,12 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
}
}
returnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed to unsubscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
if (gimbalAnglesSubscribedFlag) {
returnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed to unsubscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
}
gimbalAnglesSubscribedFlag = false;
}
USER_LOG_INFO("--> Step 5: Deinit gimbal manager module");

4
samples/sample_c/module_sample/hms/test_hms.c
View File

@ -43,7 +43,11 @@
#define MAX_HMS_ERROR_LEVEL (6)
#define HMS_DIR_PATH_LEN_MAX (256)
#ifdef SYSTEM_ARCH_LINUX
#define DJI_CUSTOM_HMS_CODE_INJECT_ON (0)
#else
#define DJI_CUSTOM_HMS_CODE_INJECT_ON (1)
#endif
/* Private types -------------------------------------------------------------*/

32
samples/sample_c/module_sample/interest_point/test_interest_point.c
View File

@ -28,6 +28,7 @@
#include "dji_logger.h"
#include "dji_flight_controller.h"
#include "flight_control/test_flight_control.h"
#include "dji_aircraft_info.h"
/* Private constants ---------------------------------------------------------*/
@ -45,11 +46,18 @@ T_DjiReturnCode DjiTest_InterestPointRunSample(void)
T_DjiInterestPointSettings interestPointSettings = {0};
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiFlightControllerRidInfo ridInfo = {0};
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo = {0};
ridInfo.latitude = 22.542812;
ridInfo.longitude = 113.958902;
ridInfo.altitude = 10;
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 = DjiFlightController_Init(ridInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Flight control init failed, errno=%lld", returnCode);
@ -74,8 +82,8 @@ T_DjiReturnCode DjiTest_InterestPointRunSample(void)
osalHandler->TaskSleepMs(1000);
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 5000);
interestPointSettings.latitude = 22.542812;
interestPointSettings.longitude = 113.958902;
interestPointSettings.latitude = 22.57775;
interestPointSettings.longitude = 113.94265;
returnCode = DjiInterestPoint_RegMissionStateCallback(DjiUser_InterestPointMissionStateCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -83,25 +91,37 @@ T_DjiReturnCode DjiTest_InterestPointRunSample(void)
return returnCode;
}
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M400) {
interestPointSettings.payloadCameraIndex = 1;
USER_LOG_INFO("The sample try to use payload camera on position %d for poi, please make sure that DJI camera mounted on this position.",
interestPointSettings.payloadCameraIndex);
}
USER_LOG_INFO("Start interest point circle, circumcenter(%f, %f)", interestPointSettings.latitude, interestPointSettings.longitude);
returnCode = DjiInterestPoint_Start(interestPointSettings);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Point interest start failed, errno=%lld", returnCode);
return returnCode;
}
DjiInterestPoint_SetSpeed(5.0f);
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("set speed to 15");
DjiInterestPoint_SetSpeed(15.0f);
for (int i = 0; i < 60; ++i) {
USER_LOG_INFO("Interest point mission running %d.", i);
osalHandler->TaskSleepMs(1000);
}
USER_LOG_INFO("Stop interest point circle");
returnCode = DjiInterestPoint_Stop();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Point interest stop failed, errno=%lld", returnCode);
return returnCode;
}
USER_LOG_INFO("Force landing");
DjiFlightController_StartForceLanding();
returnCode = DjiInterestPoint_DeInit();
@ -122,7 +142,11 @@ T_DjiReturnCode DjiTest_InterestPointRunSample(void)
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState)
{
USER_LOG_INFO("Interest point state: %d, radius: %.2f m, speed: %.2f m/s", missionState.state, missionState.radius,
USER_LOG_INFO("Interest point state: %s, radius: %.2f m, speed: %.2f m/s",
missionState.state == DJI_INTEREST_POINT_MISSION_ACTION_STATE_NOT_STARTED ? "not started" :
missionState.state == DJI_INTEREST_POINT_MISSION_ACTION_STATE_PAUSE ? "pause" :
missionState.state == DJI_INTEREST_POINT_MISSION_ACTION_STATE_RUNNING ? "running" : "unknown",
missionState.radius,
missionState.curSpeed);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

13
samples/sample_c/module_sample/liveview/test_liveview.c
View File

@ -77,12 +77,13 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
goto out;
}
USER_LOG_INFO("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
USER_LOG_INFO("--> Step 2: Start h264 stream of the fpv and default of selected payload\r\n");
DjiTest_WidgetLogAppend("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M400) {
localTime = localtime(&currentTime);
sprintf(s_fpvCameraStreamFilePath, "fpv_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
@ -98,7 +99,7 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
}
localTime = localtime(&currentTime);
sprintf(s_payloadCameraStreamFilePath, "payload%d_vis_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
sprintf(s_payloadCameraStreamFilePath, "payload%d_default_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
mountPosition, localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
@ -128,7 +129,8 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
DjiTest_WidgetLogAppend("--> Step 3: Stop h264 stream of the fpv and selected payload");
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M400) {
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Request to stop h264 of fpv failed, error code: 0x%08X", returnCode);
@ -143,9 +145,6 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
goto out;
}
USER_LOG_INFO("Fpv stream is saved to file: %s", s_fpvCameraStreamFilePath);
USER_LOG_INFO("Payload%d stream is saved to file: %s\r\n", mountPosition, s_payloadCameraStreamFilePath);
if (DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType

2
samples/sample_c/module_sample/mop_channel/test_mop_channel.c
View File

@ -723,6 +723,8 @@ static void *DjiTest_MopChannelFileServiceRecvTask(void *arg)
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_DATA_SENDING;
s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
USER_LOG_INFO("fileTransfor->seqNum %d", fileTransfor->seqNum);
uploadWriteLen = fwrite(&recvBuf[UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data)], 1,
fileTransfor->dataLen, uploadFile);
if (uploadWriteLen < 0) {

20
samples/sample_c/module_sample/positioning/test_positioning.c
View File

@ -39,11 +39,11 @@
#endif
/* Private constants ---------------------------------------------------------*/
#define POSITIONING_TASK_FREQ (1)
#define POSITIONING_TASK_STACK_SIZE (2048)
#define POSITIONING_TASK_FREQ (0.1)
#define POSITIONING_TASK_STACK_SIZE (3 * 1024)
#define TEST_RTCM_FILE_PATH_STR_MAX_SIZE (64)
#define DJI_TEST_POSITIONING_EVENT_COUNT (2)
#define DJI_TEST_POSITIONING_EVENT_COUNT (1)
#define DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US (200000)
/* Private types -------------------------------------------------------------*/
@ -168,22 +168,22 @@ static void *DjiTest_PositioningTask(void *arg)
continue;
}
USER_LOG_DEBUG("request position of target points success.");
USER_LOG_DEBUG("detail position information:");
USER_LOG_INFO("request position of target points success.");
USER_LOG_INFO("detail position information:");
for (i = 0; i < DJI_TEST_POSITIONING_EVENT_COUNT; ++i) {
USER_LOG_DEBUG("position solution property: %d.", positionInfo[i].positionSolutionProperty);
USER_LOG_DEBUG("pitchAttitudeAngle: %d\trollAttitudeAngle: %d\tyawAttitudeAngle: %d",
USER_LOG_INFO("position solution property: %d.", positionInfo[i].positionSolutionProperty);
USER_LOG_INFO("pitchAttitudeAngle: %d\trollAttitudeAngle: %d\tyawAttitudeAngle: %d",
positionInfo[i].uavAttitude.pitch, positionInfo[i].uavAttitude.roll,
positionInfo[i].uavAttitude.yaw);
USER_LOG_DEBUG("northPositionOffset: %d\tearthPositionOffset: %d\tdownPositionOffset: %d",
USER_LOG_INFO("northPositionOffset: %d\tearthPositionOffset: %d\tdownPositionOffset: %d",
positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.x,
positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.y,
positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.z);
USER_LOG_DEBUG("longitude: %.8f\tlatitude: %.8f\theight: %.8f",
USER_LOG_INFO("longitude: %.8f\tlatitude: %.8f\theight: %.8f",
positionInfo[i].targetPointPosition.longitude,
positionInfo[i].targetPointPosition.latitude,
positionInfo[i].targetPointPosition.height);
USER_LOG_DEBUG(
USER_LOG_INFO(
"longStandardDeviation: %.8f\tlatStandardDeviation: %.8f\thgtStandardDeviation: %.8f",
positionInfo[i].targetPointPositionStandardDeviation.longitude,
positionInfo[i].targetPointPositionStandardDeviation.latitude,

32
samples/sample_c/module_sample/power_management/test_power_management.c
View File

@ -89,7 +89,9 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
if (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT ||
baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_FC30) {
baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V3 ||
baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_EPORT_V2_RIBBON_CABLE ||
baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_FC30) {
// apply high power
if (s_applyHighPowerHandler.pinInit == NULL) {
USER_LOG_ERROR("apply high power pin init interface is NULL error");
@ -113,15 +115,31 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
return returnCode;
}
if (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V3 ||
baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_EPORT_V2_RIBBON_CABLE) {
E_DjiHighPowerVoltage voltage = E_DJI_HIGH_POWER_VOLTAGE_17V;
USER_LOG_INFO("Start to apply high power.");
USER_LOG_INFO("Start to apply high power.");
returnCode = DjiPowerManagement_ApplyHighPowerSync();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("apply high power error");
return returnCode;
returnCode = DjiPowerManagement_ApplyHighPowerSyncV2(voltage);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("apply high power error");
return returnCode;
}
USER_LOG_INFO("Success to apply high power %s.",
voltage == E_DJI_HIGH_POWER_VOLTAGE_13V6 ? "13V6" :
voltage == E_DJI_HIGH_POWER_VOLTAGE_17V ? "17V" :
voltage == E_DJI_HIGH_POWER_VOLTAGE_24V ? "24V" : "???");
} else {
USER_LOG_INFO("Start to apply high power.");
returnCode = DjiPowerManagement_ApplyHighPowerSync();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("apply high power error");
return returnCode;
}
USER_LOG_INFO("Success to apply high power.");
}
USER_LOG_INFO("Success to apply high power.");
}
// register power off notification callback function

108
samples/sample_c/module_sample/tethered_battery/test_tethered_battery.c Normal file
View File

@ -0,0 +1,108 @@
/**
********************************************************************
* @file test_tethered_battery.c
* @brief
*
* @copyright (c) 2024 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 "test_tethered_battery.h"
#include "dji_logger.h"
#include "dji_tethered_battery.h"
#include "utils/util_misc.h"
/* Private constants ---------------------------------------------------------*/
#define TETHERED_BATTERY_TASK_STACK_SIZE (2048)
#define TETHERED_BATTERY_TETHER_LINE_MAX_LENGTH (150)
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static T_DjiTaskHandle s_tetheredBatteryTestThread;
static bool s_isTetherRetrieval = false;
/* Private functions declaration ---------------------------------------------*/
static void *DjiTest_TetheredBatteryTask(void *arg);
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_TetheredBatteryStartService(void)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
returnCode = DjiTetheredBattery_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Dji test tethered battery init failed, errno = 0x%08llX", returnCode);
return returnCode;
}
returnCode = osalHandler->TaskCreate("user_tethered_battery_task", DjiTest_TetheredBatteryTask,
TETHERED_BATTERY_TASK_STACK_SIZE, NULL,
&s_tetheredBatteryTestThread);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Dji tethered battery test task create failed, errno = 0x%08llX", returnCode);
return returnCode;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
static void *DjiTest_TetheredBatteryTask(void *arg)
{
uint32_t sysTimeMs = 0;
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiTetherLineStatus tetherLineStatus = {0};
USER_UTIL_UNUSED(arg);
tetherLineStatus.usedLength = 0;
tetherLineStatus.totalLength = TETHERED_BATTERY_TETHER_LINE_MAX_LENGTH;
while (1) {
if (tetherLineStatus.usedLength >= tetherLineStatus.totalLength) {
s_isTetherRetrieval = true;
}
if (tetherLineStatus.usedLength <= 0.01f) {
s_isTetherRetrieval = false;
}
if (s_isTetherRetrieval == false) {
tetherLineStatus.usedLength += 1.00f;
} else {
tetherLineStatus.usedLength -= 1.00f;
}
returnCode = DjiTetheredBattery_PushTetherLineStatus(tetherLineStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Test push tether line status error, stat = 0x%08llX", returnCode);
}
USER_LOG_DEBUG("Push tether line status, total: %.2f, used: %.2f", tetherLineStatus.totalLength,
tetherLineStatus.usedLength);
osalHandler->TaskSleepMs(100);
}
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

49
samples/sample_c/module_sample/tethered_battery/test_tethered_battery.h Normal file
View File

@ -0,0 +1,49 @@
/**
********************************************************************
* @file test_tethered_battery.h
* @brief This is the header file for "test_tethered_battery.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2024 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_TETHERED_BATTERY_H
#define TEST_TETHERED_BATTERY_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_TetheredBatteryStartService(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_TETHERED_BATTERY_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

13
samples/sample_c/module_sample/time_sync/test_time_sync.c
View File

@ -160,9 +160,16 @@ static void *DjiTest_TimeSyncTask(void *arg)
continue;
}
USER_LOG_DEBUG("current aircraft time is %04d-%02d-%02d %02d:%02d:%02d %d.",
aircraftTime.year, aircraftTime.month, aircraftTime.day,
aircraftTime.hour, aircraftTime.minute, aircraftTime.second, aircraftTime.microsecond);
if ((aircraftTime.second % 30) == 0) {
USER_LOG_INFO("current aircraft time is %04d-%02d-%02d %02d:%02d:%02d %d.",
aircraftTime.year, aircraftTime.month, aircraftTime.day,
aircraftTime.hour, aircraftTime.minute, aircraftTime.second, aircraftTime.microsecond);
} else {
USER_LOG_DEBUG("current aircraft time is %04d-%02d-%02d %02d:%02d:%02d %d.",
aircraftTime.year, aircraftTime.month, aircraftTime.day,
aircraftTime.hour, aircraftTime.minute, aircraftTime.second, aircraftTime.microsecond);
}
}
}

21
samples/sample_c/module_sample/utils/dji_config_manager.c
View File

@ -240,6 +240,10 @@ static T_DjiReturnCode DjiUserConfigManager_GetLinkConfigInner(const char *path,
linkConfig->type = DJI_USER_LINK_CONFIG_USE_UART_AND_NETWORK_DEVICE;
} else if (strcmp(jsonValue->valuestring, "use_uart_and_usb_bulk_device") == 0) {
linkConfig->type = DJI_USER_LINK_CONFIG_USE_UART_AND_USB_BULK_DEVICE;
} else if (strcmp(jsonValue->valuestring, "use_only_usb_bulk_device") == 0) {
linkConfig->type = DJI_USER_LINK_CONFIG_USE_ONLY_USB_BULK_DEVICE;
} else if (strcmp(jsonValue->valuestring, "use_only_network_device") == 0) {
linkConfig->type = DJI_USER_LINK_CONFIG_USE_ONLY_NETWORK_DEVICE;
}
}
@ -326,6 +330,23 @@ static T_DjiReturnCode DjiUserConfigManager_GetLinkConfigInner(const char *path,
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_endpoint_out");
printf("Config usb bulk2 endpoint out: %s\r\n", jsonConfig->valuestring);
linkConfig->usbBulkConfig.usbBulk2EndpointOut = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk3_device_name");
printf("Config usb bulk2 device name: %s\r\n", jsonConfig->valuestring);
strcpy(linkConfig->usbBulkConfig.usbBulk3DeviceName, jsonConfig->valuestring);
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk3_interface_num");
printf("Config usb bulk2 interface num: %s\r\n", jsonConfig->valuestring);
sscanf(jsonConfig->valuestring, "%X", &configValue);
linkConfig->usbBulkConfig.usbBulk3InterfaceNum = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk3_endpoint_in");
printf("Config usb bulk2 endpoint in: %s\r\n", jsonConfig->valuestring);
linkConfig->usbBulkConfig.usbBulk3EndpointIn = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk3_endpoint_out");
printf("Config usb bulk2 endpoint out: %s\r\n", jsonConfig->valuestring);
linkConfig->usbBulkConfig.usbBulk3EndpointOut = configValue;
}
}

6
samples/sample_c/module_sample/utils/dji_config_manager.h
View File

@ -43,6 +43,8 @@ typedef enum {
DJI_USER_LINK_CONFIG_USE_ONLY_UART,
DJI_USER_LINK_CONFIG_USE_UART_AND_NETWORK_DEVICE,
DJI_USER_LINK_CONFIG_USE_UART_AND_USB_BULK_DEVICE,
DJI_USER_LINK_CONFIG_USE_ONLY_USB_BULK_DEVICE,
DJI_USER_LINK_CONFIG_USE_ONLY_NETWORK_DEVICE,
} E_DjiUserLinkConfigType;
typedef struct {
@ -72,6 +74,10 @@ typedef struct {
uint8_t usbBulk2EndpointIn;
uint8_t usbBulk2EndpointOut;
char usbBulk3DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
uint8_t usbBulk3InterfaceNum;
uint8_t usbBulk3EndpointIn;
uint8_t usbBulk3EndpointOut;
} usbBulkConfig;
} T_DjiUserLinkConfig;

1
samples/sample_c/module_sample/widget/test_widget.c
View File

@ -104,6 +104,7 @@ T_DjiReturnCode DjiTest_WidgetStartService(void)
}
//set default ui config path
USER_LOG_INFO("widget file: %s", tempPath);
djiStat = DjiWidget_RegDefaultUiConfigByDirPath(tempPath);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Add default widget ui config error, stat = 0x%08llX", djiStat);

2
samples/sample_c/module_sample/widget/test_widget_speaker.c
View File

@ -324,6 +324,8 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
if (DJI_AIRCRAFT_TYPE_M3E == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3D == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4D == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4E == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4D == aircraftInfoBaseInfo.aircraftType

748
samples/sample_c/module_sample/widget/widget_file/cn_big_screen/widget_config.json
View File

@ -1,148 +1,612 @@
{
"version": {
"major": 1,
"minor": 0
},
"main_interface": {
"floating_window": {
"is_enable": true
"version": {
"major": 1,
"minor": 0
},
"speaker": {
"is_enable_tts": true,
"is_enable_voice": true
},
"widget_list": [
{
"widget_index": 0,
"widget_type": "button",
"widget_name": "按钮",
"icon_file_set": {
"icon_file_name_selected": "icon_button1.png",
"icon_file_name_unselected": "icon_button1.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 0
}
},
{
"widget_index": 1,
"widget_type": "list",
"widget_name": "列表",
"list_item": [
{
"item_name": "选项_1",
"icon_file_set": {
"icon_file_name_selected": "icon_list_item1.png",
"icon_file_name_unselected": "icon_list_item1.png"
"ar_config": {
"circleStyleList": [
{
"face": {
"bottom": {
"backColor": -256,
"faceColor": -65536
},
"distAlpha": {
"maxAlpha": 0.4,
"maxDist": 100,
"minAlpha": 0,
"minDist": 50
},
"side": {
"backColor": -256,
"faceColor": -65536
},
"top": {
"backColor": -256,
"faceColor": -65536
}
},
"stroke": {
"bottom": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"side": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"top": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
}
},
"styleId": 10
},
{
"face": {
"bottom": {
"backColor": -256,
"faceColor": -65536
},
"distAlpha": {
"maxAlpha": 0.4,
"maxDist": 100,
"minAlpha": 0,
"minDist": 50
},
"side": {
"backColor": -256,
"faceColor": -65536
},
"top": {
"backColor": -256,
"faceColor": -65536
}
},
"stroke": {
"bottom": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"side": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"top": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
}
},
"styleId": 11
}
},
{
"item_name": "选项_2",
"icon_file_set": {
"icon_file_name_selected": "icon_list_item2.png",
"icon_file_name_unselected": "icon_list_item2.png"
],
"commonPointStyleList": [
{
"alwaysInEdge": false,
"arTextAttribute": {
"color": -65536
},
"isIgnoreBorder": true,
"styleId": 10
},
{
"alwaysInEdge": false,
"arTextAttribute": {
"color": -65536
},
"isIgnoreBorder": true,
"styleId": 11
}
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 1
}
},
{
"widget_index": 2,
"widget_type": "switch",
"widget_name": "开关",
"icon_file_set": {
"icon_file_name_selected": "icon_switch_select.png",
"icon_file_name_unselected": "icon_switch_unselect.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 2
}
},
{
"widget_index": 3,
"widget_type": "scale",
"widget_name": "范围条",
"icon_file_set": {
"icon_file_name_selected": "icon_scale.png",
"icon_file_name_unselected": "icon_scale.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 3,
"button_value_step_length": 5
}
}
]
},
"config_interface": {
"text_input_box": {
"widget_name": "文本输入框",
"placeholder_text": "请输入消息",
"is_enable": true
"lineStyleList": [
{
"color": -256,
"stokeInfo": {
"color": -65536,
"dash": false,
"width": {
"maxStrokeWidth": 2,
"maxWidthDist": 2,
"minStrokeWidth": 2,
"minWidthDist": 2
}
},
"styleId": 10,
"useDepth": false
},
{
"color": -256,
"stokeInfo": {
"color": -65536,
"dash": false,
"width": {
"maxStrokeWidth": 2,
"maxWidthDist": 2,
"minStrokeWidth": 2,
"minWidthDist": 2
}
},
"styleId": 11,
"useDepth": false
}
],
"pointStyleList": [
{
"keyName": 0,
"pointConfig": {
"arrowConfig": {
"customIcon": false,
"defaultDeg": 0,
"img": "",
"imgHeight": 0,
"imgWidth": 0,
"showMode": 0,
"translate": 0,
"type": 0
},
"needFont": true,
"needOrthographic": true,
"needPerspective": false,
"oConfig": {
"displayHeight": 20.0,
"displayWidth": 20.0,
"img": "<svg xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\" fill=\"none\"\n version=\"1.1\" width=\"8\" height=\"8\" viewBox=\"0 0 8 8\">\n <g>\n <ellipse id=\"point_normal_bg\"\n cx=\"4\" cy=\"4\" rx=\"2\" ry=\"2\"\n fill=\"#FFFFFF\" fill-opacity=\"1\" />\n </g>\n\n</svg>",
"imgHeight": 20.0,
"imgWidth": 20.0
},
"pConfig": {
"maxSVG": "",
"maxSize": 0,
"minSVG": "",
"minSize": 0,
"realSize": 0,
"strokeWidthRadio": 0
},
"textConfig": {
"backgroundColor": 1427379220,
"cornerRadius": 5,
"paddingB": 5,
"paddingL": 10,
"paddingR": 10,
"paddingT": 5,
"shadow": false,
"textGravity": 1,
"textSize": 20
}
}
},
{
"keyName": 1,
"pointConfig": {
"arrowConfig": {
"customIcon": false,
"defaultDeg": 0,
"img": "",
"imgHeight": 0,
"imgWidth": 0,
"showMode": 0,
"translate": 0,
"type": 0
},
"needFont": true,
"needOrthographic": true,
"needPerspective": false,
"oConfig": {
"displayHeight": 20.0,
"displayWidth": 20.0,
"img": "<svg xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\" fill=\"none\"\n version=\"1.1\" width=\"8\" height=\"8\" viewBox=\"0 0 8 8\">\n <g>\n <ellipse id=\"point_normal_bg\"\n cx=\"4\" cy=\"4\" rx=\"2\" ry=\"2\"\n fill=\"#FFFFFF\" fill-opacity=\"1\" />\n </g>\n\n</svg>",
"imgHeight": 20.0,
"imgWidth": 20.0
},
"pConfig": {
"maxSVG": "",
"maxSize": 0,
"minSVG": "",
"minSize": 0,
"realSize": 0,
"strokeWidthRadio": 0
},
"textConfig": {
"backgroundColor": 1427379220,
"cornerRadius": 5,
"paddingB": 5,
"paddingL": 10,
"paddingR": 10,
"paddingT": 5,
"shadow": false,
"textGravity": 1,
"textSize": 20
}
}
}
],
"polygonStyleList": [
{
"face": {
"bottom": {
"backColor": -256,
"faceColor": -65536
},
"distAlpha": {
"maxAlpha": 0.4,
"maxDist": 100,
"minAlpha": 0,
"minDist": 50
},
"side": {
"backColor": -256,
"faceColor": -65536
},
"top": {
"backColor": -256,
"faceColor": -65536
}
},
"is3DMesh": false,
"stroke": {
"bottom": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"side": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"top": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
}
},
"styleId": 10
},
{
"face": {
"bottom": {
"backColor": -256,
"faceColor": -65536
},
"distAlpha": {
"maxAlpha": 0.4,
"maxDist": 100,
"minAlpha": 0,
"minDist": 50
},
"side": {
"backColor": -256,
"faceColor": -65536
},
"top": {
"backColor": -256,
"faceColor": -65536
}
},
"is3DMesh": false,
"stroke": {
"bottom": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"side": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"top": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
}
},
"styleId": 11
}
]
},
"widget_list": [
{
"widget_index": 4,
"widget_type": "button",
"widget_name": "按钮 4",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 4
}
},
{
"widget_index": 5,
"widget_type": "scale",
"widget_name": "范围条 5",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 5,
"button_value_step_length": 5
}
},
{
"widget_index": 6,
"widget_type": "int_input_box",
"widget_name": "整形值输入框 6",
"int_input_box_hint": "unit:s"
},
{
"widget_index": 7,
"widget_type": "switch",
"widget_name": "开关 7",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 7
}
},
{
"widget_index": 8,
"widget_type": "list",
"widget_name": "列表 8",
"list_item": [
{
"item_name": "选项 1"
},
{
"item_name": "选项 2"
},
{
"item_name": "选项 3"
},
{
"item_name": "选项 4"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 8
}
}
]
}
}
"main_interface": {
"floating_window": {
"is_enable": true
},
"speaker": {
"is_enable_tts": true,
"is_enable_voice": true
},
"widget_list": [
{
"widget_index": 0,
"widget_type": "button",
"widget_name": "按钮",
"icon_file_set": {
"icon_file_name_selected": "icon_button1.png",
"icon_file_name_unselected": "icon_button1.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 0
}
},
{
"widget_index": 1,
"widget_type": "list",
"widget_name": "列表",
"list_item": [
{
"item_name": "选项_1",
"icon_file_set": {
"icon_file_name_selected": "icon_list_item1.png",
"icon_file_name_unselected": "icon_list_item1.png"
}
},
{
"item_name": "选项_2",
"icon_file_set": {
"icon_file_name_selected": "icon_list_item2.png",
"icon_file_name_unselected": "icon_list_item2.png"
}
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 1
}
},
{
"widget_index": 2,
"widget_type": "switch",
"widget_name": "开关",
"icon_file_set": {
"icon_file_name_selected": "icon_switch_select.png",
"icon_file_name_unselected": "icon_switch_unselect.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 2
}
},
{
"widget_index": 3,
"widget_type": "scale",
"widget_name": "范围条",
"icon_file_set": {
"icon_file_name_selected": "icon_scale.png",
"icon_file_name_unselected": "icon_scale.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 3,
"button_value_step_length": 5
}
}
]
},
"config_interface": {
"text_input_box": {
"widget_name": "文本输入框",
"placeholder_text": "请输入消息",
"is_enable": true
},
"widget_list": [
{
"widget_index": 4,
"widget_type": "button",
"widget_name": "按钮 4",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 4
}
},
{
"widget_index": 5,
"widget_type": "scale",
"widget_name": "范围条 5",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 5,
"button_value_step_length": 5
}
},
{
"widget_index": 6,
"widget_type": "int_input_box",
"widget_name": "整形值输入框 6",
"int_input_box_hint": "unit:s"
},
{
"widget_index": 7,
"widget_type": "switch",
"widget_name": "开关 7",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 7
}
},
{
"widget_index": 8,
"widget_type": "list",
"widget_name": "列表 8",
"list_item": [
{
"item_name": "选项 1"
},
{
"item_name": "选项 2"
},
{
"item_name": "选项 3"
},
{
"item_name": "选项 4"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 8
}
}
]
}
}

464
samples/sample_c/module_sample/widget/widget_file/en_big_screen/widget_config.json
View File

@ -3,6 +3,470 @@
"major": 1,
"minor": 0
},
"ar_config": {
"circleStyleList": [
{
"face": {
"bottom": {
"backColor": -256,
"faceColor": -65536
},
"distAlpha": {
"maxAlpha": 0.4,
"maxDist": 100,
"minAlpha": 0,
"minDist": 50
},
"side": {
"backColor": -256,
"faceColor": -65536
},
"top": {
"backColor": -256,
"faceColor": -65536
}
},
"stroke": {
"bottom": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"side": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"top": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
}
},
"styleId": 10
},
{
"face": {
"bottom": {
"backColor": -256,
"faceColor": -65536
},
"distAlpha": {
"maxAlpha": 0.4,
"maxDist": 100,
"minAlpha": 0,
"minDist": 50
},
"side": {
"backColor": -256,
"faceColor": -65536
},
"top": {
"backColor": -256,
"faceColor": -65536
}
},
"stroke": {
"bottom": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"side": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"top": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
}
},
"styleId": 11
}
],
"commonPointStyleList": [
{
"alwaysInEdge": false,
"arTextAttribute": {
"color": -65536
},
"isIgnoreBorder": true,
"styleId": 10
},
{
"alwaysInEdge": false,
"arTextAttribute": {
"color": -65536
},
"isIgnoreBorder": true,
"styleId": 11
}
],
"lineStyleList": [
{
"color": -256,
"stokeInfo": {
"color": -65536,
"dash": false,
"width": {
"maxStrokeWidth": 2,
"maxWidthDist": 2,
"minStrokeWidth": 2,
"minWidthDist": 2
}
},
"styleId": 10,
"useDepth": false
},
{
"color": -256,
"stokeInfo": {
"color": -65536,
"dash": false,
"width": {
"maxStrokeWidth": 2,
"maxWidthDist": 2,
"minStrokeWidth": 2,
"minWidthDist": 2
}
},
"styleId": 11,
"useDepth": false
}
],
"pointStyleList": [
{
"keyName": 0,
"pointConfig": {
"arrowConfig": {
"customIcon": false,
"defaultDeg": 0,
"img": "",
"imgHeight": 0,
"imgWidth": 0,
"showMode": 0,
"translate": 0,
"type": 0
},
"needFont": true,
"needOrthographic": true,
"needPerspective": false,
"oConfig": {
"displayHeight": 20.0,
"displayWidth": 20.0,
"img": "<svg xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\" fill=\"none\"\n version=\"1.1\" width=\"8\" height=\"8\" viewBox=\"0 0 8 8\">\n <g>\n <ellipse id=\"point_normal_bg\"\n cx=\"4\" cy=\"4\" rx=\"2\" ry=\"2\"\n fill=\"#FFFFFF\" fill-opacity=\"1\" />\n </g>\n\n</svg>",
"imgHeight": 20.0,
"imgWidth": 20.0
},
"pConfig": {
"maxSVG": "",
"maxSize": 0,
"minSVG": "",
"minSize": 0,
"realSize": 0,
"strokeWidthRadio": 0
},
"textConfig": {
"backgroundColor": 1427379220,
"cornerRadius": 5,
"paddingB": 5,
"paddingL": 10,
"paddingR": 10,
"paddingT": 5,
"shadow": false,
"textGravity": 1,
"textSize": 20
}
}
},
{
"keyName": 1,
"pointConfig": {
"arrowConfig": {
"customIcon": false,
"defaultDeg": 0,
"img": "",
"imgHeight": 0,
"imgWidth": 0,
"showMode": 0,
"translate": 0,
"type": 0
},
"needFont": true,
"needOrthographic": true,
"needPerspective": false,
"oConfig": {
"displayHeight": 20.0,
"displayWidth": 20.0,
"img": "<svg xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\" fill=\"none\"\n version=\"1.1\" width=\"8\" height=\"8\" viewBox=\"0 0 8 8\">\n <g>\n <ellipse id=\"point_normal_bg\"\n cx=\"4\" cy=\"4\" rx=\"2\" ry=\"2\"\n fill=\"#FFFFFF\" fill-opacity=\"1\" />\n </g>\n\n</svg>",
"imgHeight": 20.0,
"imgWidth": 20.0
},
"pConfig": {
"maxSVG": "",
"maxSize": 0,
"minSVG": "",
"minSize": 0,
"realSize": 0,
"strokeWidthRadio": 0
},
"textConfig": {
"backgroundColor": 1427379220,
"cornerRadius": 5,
"paddingB": 5,
"paddingL": 10,
"paddingR": 10,
"paddingT": 5,
"shadow": false,
"textGravity": 1,
"textSize": 20
}
}
}
],
"polygonStyleList": [
{
"face": {
"bottom": {
"backColor": -256,
"faceColor": -65536
},
"distAlpha": {
"maxAlpha": 0.4,
"maxDist": 100,
"minAlpha": 0,
"minDist": 50
},
"side": {
"backColor": -256,
"faceColor": -65536
},
"top": {
"backColor": -256,
"faceColor": -65536
}
},
"is3DMesh": false,
"stroke": {
"bottom": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"side": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"top": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
}
},
"styleId": 10
},
{
"face": {
"bottom": {
"backColor": -256,
"faceColor": -65536
},
"distAlpha": {
"maxAlpha": 0.4,
"maxDist": 100,
"minAlpha": 0,
"minDist": 50
},
"side": {
"backColor": -256,
"faceColor": -65536
},
"top": {
"backColor": -256,
"faceColor": -65536
}
},
"is3DMesh": false,
"stroke": {
"bottom": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"side": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
},
"top": {
"distAlpha": {
"maxAlpha": 0.6,
"maxDist": 100,
"minAlpha": 1,
"minDist": 50
},
"strokeInfo": {
"color": -65536,
"dash": true,
"width": {
"maxStrokeWidth": 20,
"maxWidthDist": 20,
"minStrokeWidth": 2.5,
"minWidthDist": 100
}
}
}
},
"styleId": 11
}
]
},
"main_interface": {
"floating_window": {
"is_enable": true

6
samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.c
View File

@ -228,7 +228,9 @@ T_DjiReturnCode DjiTest_WidgetInteractionStartService(void)
snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", curFileDirPath);
}
USER_LOG_ERROR("Dji test widget set path");
//set default ui config path
USER_LOG_INFO("widget file: %s", tempPath);
djiStat = DjiWidget_RegDefaultUiConfigByDirPath(tempPath);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Add default widget ui config error, stat = 0x%08llX", djiStat);
@ -463,7 +465,9 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
DjiTest_WidgetLogAppend("-> Sample Start");
if (s_aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT ||
s_aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_EXTENSION_LITE_PORT) {
s_aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_EXTENSION_LITE_PORT ||
s_aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_MANIFOLD3_ONBOARD ||
s_aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT_V2) {
switch (s_extensionPortSampleIndex) {
case E_DJI_SAMPLE_INDEX_WAYPOINT_V2:
if (s_isallowRunFlightControlSample == true) {