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更新到psdk 3.13.0，适配M400

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tangchao0503
2025-09-10 16:03:18 +08:00
parent 985374a323 d856dd6ee8
commit 7fe9650e97
517 changed files with 197499 additions and 7197653 deletions
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2
samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_core.c
View File

@ -155,7 +155,7 @@ T_DjiReturnCode DjiMediaFile_GetMediaFileAttr(T_DjiMediaFileHandle mediaFileHand
}
T_DjiReturnCode DjiMediaFile_GetDataOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
uint8_t *data, uint16_t *realLen)
uint8_t *data, uint32_t *realLen)
{
if (mediaFileHandle->mediaFileOptItem.getDataOrgFunc == NULL) {
USER_LOG_ERROR("Media file handle getDataOrgFunc null error");

4
samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_core.h
View File

@ -57,7 +57,7 @@ typedef struct {
T_DjiReturnCode (*getAttrFunc)(struct _DjiMediaFile *mediaFileHandle, T_DjiCameraMediaFileAttr *mediaFileAttr);
T_DjiReturnCode (*getDataOrgFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
uint8_t *data, uint16_t *realLen);
uint8_t *data, uint32_t *realLen);
T_DjiReturnCode (*getFileSizeOrgFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
T_DjiReturnCode (*createThmFunc)(struct _DjiMediaFile *mediaFileHandle);
@ -91,7 +91,7 @@ T_DjiReturnCode DjiMediaFile_GetMediaFileAttr(T_DjiMediaFileHandle mediaFileHand
T_DjiCameraMediaFileAttr *mediaFileAttr);
T_DjiReturnCode DjiMediaFile_GetDataOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
uint8_t *data, uint16_t *realLen);
uint8_t *data, uint32_t *realLen);
T_DjiReturnCode DjiMediaFile_GetFileSizeOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
T_DjiReturnCode DjiMediaFile_CreateThm(T_DjiMediaFileHandle mediaFileHandle);

2
samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_jpg.c
View File

@ -82,7 +82,7 @@ T_DjiReturnCode DjiMediaFile_GetAttrFunc_JPG(struct _DjiMediaFile *mediaFileHand
}
T_DjiReturnCode DjiMediaFile_GetDataOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
uint8_t *data, uint16_t *realLen)
uint8_t *data, uint32_t *realLen)
{
return UtilFile_GetFileDataByPath(mediaFileHandle->filePath, offset, len, data, realLen);
}

2
samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_jpg.h
View File

@ -49,7 +49,7 @@ T_DjiReturnCode DjiMediaFile_GetAttrFunc_JPG(struct _DjiMediaFile *mediaFileHand
T_DjiCameraMediaFileAttr *mediaFileAttr);
T_DjiReturnCode DjiMediaFile_GetDataOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
uint8_t *data, uint16_t *realLen);
uint8_t *data, uint32_t *realLen);
T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
T_DjiReturnCode DjiMediaFile_CreateThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle);

2
samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_mp4.c
View File

@ -115,7 +115,7 @@ out:
}
T_DjiReturnCode DjiMediaFile_GetDataOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
uint8_t *data, uint16_t *realLen)
uint8_t *data, uint32_t *realLen)
{
return UtilFile_GetFileDataByPath(mediaFileHandle->filePath, offset, len, data, realLen);
}

2
samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_mp4.h
View File

@ -49,7 +49,7 @@ T_DjiReturnCode DjiMediaFile_GetAttrFunc_MP4(struct _DjiMediaFile *mediaFileHand
T_DjiCameraMediaFileAttr *mediaFileAttr);
T_DjiReturnCode DjiMediaFile_GetDataOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
uint8_t *data, uint16_t *realLen);
uint8_t *data, uint32_t *realLen);
T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
T_DjiReturnCode DjiMediaFile_CreateThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle);

65
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;
static int sockfd;
static struct sockaddr_in server;
@ -222,6 +224,7 @@ 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) {
@ -252,6 +255,7 @@ 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);
@ -284,6 +288,7 @@ 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);
@ -307,6 +312,7 @@ 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) {
@ -317,6 +323,7 @@ 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);
@ -340,6 +347,7 @@ 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;
@ -456,8 +464,9 @@ 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);
@ -929,6 +938,8 @@ static T_DjiReturnCode DjiTest_CameraRotationGimbal(T_TestCameraGimbalRotationAr
}
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);
@ -967,6 +978,7 @@ 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);
@ -1164,8 +1176,7 @@ 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);
@ -1174,13 +1185,21 @@ out:
// 预估可拍照张数和可录像时长的功能。
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) {
@ -1189,10 +1208,16 @@ 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)) {
@ -1200,13 +1225,14 @@ 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;
@ -1214,8 +1240,9 @@ 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--;
}
}

57
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c
View File

@ -23,6 +23,7 @@
*/
/* Includes ------------------------------------------------------------------*/
#include <errno.h>
#include <fcntl.h>
#include <stdlib.h>
#include "dji_logger.h"
@ -132,6 +133,7 @@ static T_DjiPlaybackInfo s_playbackInfo = {0};//非常重要的变量!!!!!!!!!!!
static T_DjiTaskHandle s_userSendVideoThread;
static T_UtilBuffer s_mediaPlayCommandBufferHandler = {0};//非常重要的变量,用户自定义功能读取此变量中的命令执行相应的操作!!!!!!!!!!!!!!!!!!!
static T_DjiMutexHandle s_mediaPlayCommandBufferMutex = {0};
static T_DjiSemaHandle s_mediaPlayWorkSem = NULL;
static uint8_t s_mediaPlayCommandBuffer[sizeof(T_TestPayloadCameraPlaybackCommand) * 32] = {0};
static const char *s_frameKeyChar = "[PACKET]";
static const char *s_frameDurationTimeKeyChar = "duration_time";
@ -190,6 +192,11 @@ T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
s_psdkCameraMedia.StartDownloadNotification = StartDownloadNotification;
s_psdkCameraMedia.StopDownloadNotification = StopDownloadNotification;
if (DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreCreate(0, &s_mediaPlayWorkSem)) {
USER_LOG_ERROR("SemaphoreCreate(\"%s\") error.", "s_mediaPlayWorkSem");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (osalHandler->MutexCreate(&s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mutex create error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
@ -199,7 +206,8 @@ T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
// 注册相机类负载设备的下载回放功能
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.");
@ -327,6 +335,7 @@ static T_DjiReturnCode DjiPlayback_PausePlay(T_DjiPlaybackInfo *playbackInfo)
USER_LOG_ERROR("mutex unlock error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
osalHandler->SemaphorePost(s_mediaPlayWorkSem);
}
playbackInfo->isInPlayProcess = 0;
@ -511,7 +520,7 @@ static T_DjiReturnCode DjiPlayback_StartPlayProcess(const char *filePath, uint32
USER_LOG_ERROR("mutex unlock error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
osalHandler->SemaphorePost(s_mediaPlayWorkSem);
return returnCode;
}
@ -540,7 +549,7 @@ static T_DjiReturnCode DjiPlayback_StopPlayProcess(void)
USER_LOG_ERROR("mutex unlock error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
osalHandler->SemaphorePost(s_mediaPlayWorkSem);
return returnCode;
}
@ -751,7 +760,7 @@ static T_DjiReturnCode DjiPlayback_GetFrameRateOfVideoFile(const char *path, flo
ret = fscanf(fpCommand, "r_frame_rate=%d/%d", &frameRateMolecule, &frameRateDenominator);
if (ret <= 0) {
USER_LOG_ERROR("can not find frame rate.");
USER_LOG_ERROR("can not find frame rate form \"%s\".", path);
returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
goto out;
}
@ -802,7 +811,7 @@ static T_DjiReturnCode GetMediaFileDir(char *dirPath)
static T_DjiReturnCode GetMediaFileOriginData(const char *filePath, uint32_t offset, uint32_t length, uint8_t *data)
{
T_DjiReturnCode returnCode;
uint16_t realLen = 0;
uint32_t realLen = 0;
T_DjiMediaFileHandle mediaFileHandle;
returnCode = DjiMediaFile_CreateHandle(filePath, &mediaFileHandle);
@ -1198,6 +1207,9 @@ static void *UserCameraMedia_SendVideoTask(void *arg)
char *videoFilePath = NULL;
char *transcodedFilePath = NULL;//转换视频编码后的文件路径
float frameRate = 1.0f;
uint32_t waitDuration = 1000 / SEND_VIDEO_TASK_FREQ;
uint32_t rightNow = 0;
uint32_t sendExpect = 0;
T_TestPayloadCameraVideoFrameInfo *frameInfo = NULL;//时长,大小,此帧在文件中的位置
uint32_t frameNumber = 0;
uint32_t frameCount = 0;
@ -1221,7 +1233,7 @@ static void *UserCameraMedia_SendVideoTask(void *arg)
exit(1);
}
if (s_isMediaFileDirPathConfigured == true) {
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%sPSDK_0005.h264", s_mediaFileDirPath);
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%smedia_file/PSDK_0005.h264", s_mediaFileDirPath);
} else {
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%smedia_file/PSDK_0005.h264", curFileDirPath);
}
@ -1255,8 +1267,16 @@ static void *UserCameraMedia_SendVideoTask(void *arg)
int frameNumberSendCounter=0;
(void)osalHandler->GetTimeMs(&rightNow);
sendExpect = rightNow + waitDuration;
while (1) {
osalHandler->TaskSleepMs(1000 / SEND_VIDEO_TASK_FREQ);
(void)osalHandler->GetTimeMs(&rightNow);
if (sendExpect > rightNow) {
waitDuration = sendExpect - rightNow;
} else {
waitDuration = 1000 / SEND_VIDEO_TASK_FREQ;
}
(void)osalHandler->SemaphoreTimedWait(s_mediaPlayWorkSem, waitDuration);
// response playback command
if (osalHandler->MutexLock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -1335,13 +1355,13 @@ static void *UserCameraMedia_SendVideoTask(void *arg)
fpFile = fopen(transcodedFilePath, "rb+");//打开编码后的文件
if (fpFile == NULL) {
USER_LOG_ERROR("open video file fail.111111111111111111111111");
USER_LOG_ERROR("open video file:\"%s\" fail:%d.", transcodedFilePath, errno);
continue;
}
send:
if (fpFile == NULL) {
USER_LOG_ERROR("open video file fail.222222222222222222222222222");
USER_LOG_ERROR("open video file fail.");
continue;
}
@ -1363,16 +1383,10 @@ send:
continue;
}
//????????????????????????????????
if (!USER_UTIL_IS_WORK_TURN(sendVideoStep++, frameRate, SEND_VIDEO_TASK_FREQ))
continue;
//3. 解析视频流文件
//基于PSDK 开发的相机类负载设备获取视频流文件的信息后，将解析视频流文件的内容，识别视频流文件的帧头。
frameBufSize = frameInfo[frameNumber].size;//这行几行代码的意思：每一帧的大小不一样
printf("第 %d 帧大小：%d\n", frameNumberSendCounter, frameBufSize);
frameNumberSendCounter++;
if (videoStreamType == DJI_CAMERA_VIDEO_STREAM_TYPE_H264_DJI_FORMAT) {
frameBufSize = frameBufSize + VIDEO_FRAME_AUD_LEN;
}
@ -1406,7 +1420,7 @@ send:
// for(int i=0;i<dataLength - VIDEO_FRAME_AUD_LEN;i++)
// {
//// printf("%c",data[i]);
// //printf("%c",data[i]);
// printf("%02X ",dataBuffer[i]);
// }
// printf("\n");
@ -1423,6 +1437,9 @@ send:
lengthOfDataHaveBeenSent += lengthOfDataToBeSent;
}
(void)osalHandler->GetTimeMs(&sendExpect);
sendExpect += (1000 / frameRate);
if ((frameNumber++) >= frameCount) {
USER_LOG_DEBUG("reach file tail.");
frameNumber = 0;
@ -1436,10 +1453,10 @@ send:
returnCode = DjiPayloadCamera_GetVideoStreamState(&videoStreamState);
if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_DEBUG(
"video stream state: realtimeBandwidthLimit: %d, realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController:%d busyState: %d.",
videoStreamState.realtimeBandwidthLimit, videoStreamState.realtimeBandwidthBeforeFlowController,
videoStreamState.realtimeBandwidthAfterFlowController,
videoStreamState.busyState);
"video stream state: realtimeBandwidthLimit: %d, realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController:%d busyState: %d.",
videoStreamState.realtimeBandwidthLimit, videoStreamState.realtimeBandwidthBeforeFlowController,
videoStreamState.realtimeBandwidthAfterFlowController,
videoStreamState.busyState);
} else {
USER_LOG_ERROR("get video stream state error.");
}

1366
samples/sample_c/module_sample/camera_manager/test_camera_manager.c
View File

File diff suppressed because it is too large Load Diff

30
samples/sample_c/module_sample/camera_manager/test_camera_manager.h
View File

@ -47,7 +47,6 @@ typedef enum {
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_TAP_ZOOM_POINT,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ZOOM_PARAM,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_AEB_PHOTO,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_BURST_PHOTO,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO,
@ -56,6 +55,23 @@ typedef enum {
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_SET_NIGHT_SCENE_MODE,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAPTURE_RECORDING_STREAMS,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FORMAT_SD_CARD,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_LINK_ZOOM,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_USER_CUSTOM_DIR_FILE_NAME,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RESET_CAMERA_SETTINGS,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_AE_LOCK_MODE,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_FOCUS_RING_VALUE,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_CONNECT_STATUS_TEST,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GET_PHOTO_VIDEO_PARAM,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_MODE,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_POINT,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FFC_MODE_AND_TRRIGER,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GAIN_MODE,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_CAMERA_STATUS,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SUBSCRIBE_POINT_CLOUD,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX
} E_DjiTestCameraManagerSampleSelect;
/* Exported functions --------------------------------------------------------*/
@ -206,18 +222,6 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootSinglePhoto(E_DjiMountPosition po
T_DjiReturnCode DjiTest_CameraManagerStartShootBurstPhoto(E_DjiMountPosition position,
E_DjiCameraBurstCount burstCount);
/*! @brief Sample to shoot AEB photo, using async api
*
* @note In this interface, camera will be set to be the SHOOT_PHOTO mode
* then start to shoot a AEB photo.
* @param index payload node index, input limit see enum
* DJI::OSDK::PayloadIndexType
* @param photoNum The number of pictures in each AEB shooting
* @return T_DjiReturnCode error code
*/
T_DjiReturnCode DjiTest_CameraManagerStartShootAEBPhoto(E_DjiMountPosition position,
E_DjiCameraManagerPhotoAEBCount aebCount);
/*! @brief Sample to start shooting interval photo, using async api
*
* @note In this interface, camera will be set to be the SHOOT_PHOTO mode

98
samples/sample_c/module_sample/cloud_api/test_cloud_api_by_web_socket.c Normal file
View File

@ -0,0 +1,98 @@
/**
********************************************************************
* @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 = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
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******/

130
samples/sample_c/module_sample/data_transmission/test_data_transmission.c
View File

@ -42,8 +42,12 @@
/* Private functions declaration ---------------------------------------------*/
static void *UserDataTransmission_Task(void *arg);
static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromPayload1(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromPayload2(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromPayload3(const uint8_t *data, uint16_t len);
/* Private variables ---------------------------------------------------------*/
static T_DjiTaskHandle s_userDataTransmissionThread;//线程句柄
@ -80,13 +84,31 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
if ((s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
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_M4TD) &&
s_aircraftInfoBaseInfo.mountPositionType != DJI_MOUNT_POSITION_TYPE_MANIFOLD3_ONBOARD) {
channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromCloud);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from cloud error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M400) {
USER_LOG_INFO("Only supports small data transmission between PSDK and MSDK.");
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;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromOnboardComputer);
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromExtensionPort);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from onboard coputer error.");
USER_LOG_ERROR("register receive data from extension port error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
@ -103,9 +125,24 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
USER_LOG_ERROR("get data stream remote address error.");
}
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT
|| DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition) {
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload);
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload1);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from payload NO1 error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO2;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload2);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from payload NO1 error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO3;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload3);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from payload NO1 error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
@ -154,7 +191,7 @@ T_DjiReturnCode DjiTest_DataTransmissionStopService(void)
static void *UserDataTransmission_Task(void *arg)
{
T_DjiReturnCode djiStat;
const uint8_t dataToBeSent[] = "DJI Data Transmission Test Data.\r\n";
const uint8_t dataToBeSent[] = "DJI Data Transmission Test Data.";
T_DjiDataChannelState state = {0};
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
E_DjiChannelAddress channelAddress;
@ -179,25 +216,48 @@ static void *UserDataTransmission_Task(void *arg)
USER_LOG_ERROR("get send to mobile channel state error.");
}
if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
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_M4TD ) {
channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
USER_LOG_ERROR("send data to cloud error.");
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_DEBUG(
"send to cloud state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
state.busyState);
} else {
USER_LOG_ERROR("get send to cloud channel state error.");
}
}
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;
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
USER_LOG_ERROR("send data to onboard computer error.");
USER_LOG_ERROR("send data to extension port error.");
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_DEBUG(
"send to onboard computer state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
"send to extension port state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
state.busyState);
} else {
USER_LOG_ERROR("get send to onboard computer channel state error.");
USER_LOG_ERROR("get send to extension port channel state error.");
}
if (DjiPlatform_GetSocketHandler() != NULL) {
#ifdef SYSTEM_ARCH_LINUX
djiStat = DjiHighSpeedDataChannel_SendDataStreamData(dataToBeSent, sizeof(dataToBeSent));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
USER_LOG_ERROR("send data to data stream error.");
@ -210,21 +270,22 @@ static void *UserDataTransmission_Task(void *arg)
} else {
USER_LOG_ERROR("get data stream state error.");
}
#endif
}
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
USER_LOG_ERROR("send data to onboard computer error.");
USER_LOG_ERROR("send data to extension port error.");
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_DEBUG(
"send to onboard computer state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
"send to extension port state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
state.busyState);
} else {
USER_LOG_ERROR("get send to onboard computer channel state error.");
USER_LOG_ERROR("get send to extension port channel state error.");
}
}
}
@ -255,7 +316,7 @@ static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len)
static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len)
{
char *printData = NULL;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
@ -268,7 +329,28 @@ static T_DjiReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint1
strncpy(printData, (const char *) data, len);
printData[len] = '\0';
USER_LOG_INFO("receive data from onboard computer: %s, len:%d.", printData, len);
USER_LOG_INFO("receive data from cloud: %s, len:%d.", printData, len);
DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
osalHandler->Free(printData);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len)
{
char *printData = NULL;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
printData = osalHandler->Malloc(len + 1);
if (printData == NULL) {
USER_LOG_ERROR("malloc memory for printData fail.");
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
strncpy(printData, (const char *) data, len);
printData[len] = '\0';
USER_LOG_INFO("receive data from extension port: %s, len:%d.", printData, len);
DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
osalHandler->Free(printData);
@ -297,4 +379,22 @@ static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode ReceiveDataFromPayload1(const uint8_t *data, uint16_t len)
{
USER_LOG_INFO("Receive from payload on port 1");
return ReceiveDataFromPayload(data, len);
}
static T_DjiReturnCode ReceiveDataFromPayload2(const uint8_t *data, uint16_t len)
{
USER_LOG_INFO("Receive from payload on port 2");
return ReceiveDataFromPayload(data, len);
}
static T_DjiReturnCode ReceiveDataFromPayload3(const uint8_t *data, uint16_t len)
{
USER_LOG_INFO("Receive from payload on port 3");
return ReceiveDataFromPayload(data, len);
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

31
samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c
View File

@ -32,7 +32,7 @@
/* Private constants ---------------------------------------------------------*/
#define FC_SUBSCRIPTION_TASK_FREQ (1)
#define FC_SUBSCRIPTION_TASK_STACK_SIZE (1024)
#define FC_SUBSCRIPTION_TASK_STACK_SIZE (2048)
/* Private types -------------------------------------------------------------*/
@ -168,9 +168,9 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
USER_LOG_INFO("--> Step 3: Get latest value of the subscribed topics in the next 20 seconds\r\n");
USER_LOG_INFO("--> Step 3: Get latest value of the subscribed topics in the next 10 seconds\r\n");
for (int i = 0; i < 20; ++i) {
for (int i = 0; i < 10; ++i) {
osalHandler->TaskSleepMs(1000 / FC_SUBSCRIPTION_TASK_FREQ);
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY,
(uint8_t *) &velocity,
@ -194,8 +194,8 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
USER_LOG_INFO("gps position: x = %d y = %d z = %d.", gpsPosition.x, gpsPosition.y, gpsPosition.z);
}
//Attention: if you want to subscribe the single battery info on M300 RTK, you need connect USB cable to
//OSDK device or use topic DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_INFO instead.
// Attention: if you want to subscribe the single battery info on M300 RTK, you need connect USB cable to
// OSDK device or use topic DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_INFO instead.
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_SINGLE_INFO_INDEX1,
(uint8_t *) &singleBatteryInfo,
sizeof(T_DjiFcSubscriptionSingleBatteryInfo),
@ -225,7 +225,26 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
}
}
USER_LOG_INFO("--> Step 4: Deinit fc subscription module");
USER_LOG_INFO("--> Step 4: Unsubscribe the topics of quaternion, velocity and gps position");
djiStat = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("UnSubscribe topic quaternion error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
djiStat = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("UnSubscribe topic quaternion error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
djiStat = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("UnSubscribe topic quaternion error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
USER_LOG_INFO("--> Step 5: Deinit fc subscription module");
djiStat = DjiFcSubscription_DeInit();
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

278
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -34,14 +34,6 @@
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
#pragma pack(1)
typedef struct {
dji_f32_t x;
dji_f32_t y;
dji_f32_t z;
} T_DjiTestFlightControlVector3f; // pack(1)
#pragma pack()
typedef struct {
E_DjiFcSubscriptionDisplayMode displayMode;
char *displayModeStr;
@ -51,6 +43,8 @@ typedef struct {
static T_DjiOsalHandler *s_osalHandler = NULL;
static const double s_earthCenter = 6378137.0;
static const double s_degToRad = 0.01745329252;
static bool s_isFtsCallbackRegistered = false;
static int32_t s_ftsTriggerCount = 0;
static const T_DjiTestFlightControlDisplayModeStr s_flightControlDisplayModeStr[] = {
{.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ATTITUDE, .displayModeStr = "attitude mode"},
@ -96,8 +90,6 @@ static bool DjiTest_FlightControlMoveByPositionOffset(T_DjiTestFlightControlVect
float yawDesiredInDeg,
float posThresholdInM,
float yawThresholdInDeg);
static void DjiTest_FlightControlVelocityAndYawRateCtrl(T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
uint32_t timeMs);
static T_DjiReturnCode DjiTest_FlightControlInit(void);
static T_DjiReturnCode DjiTest_FlightControlDeInit(void);
static void DjiTest_FlightControlTakeOffLandingSample(void);
@ -105,6 +97,10 @@ static void DjiTest_FlightControlPositionControlSample(void);
static void DjiTest_FlightControlGoHomeForceLandingSample(void);
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);
/* Exported functions definition ---------------------------------------------*/
@ -138,11 +134,16 @@ T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect f
T_DjiReturnCode DjiTest_FlightControlInit(void)
{
T_DjiReturnCode returnCode;
T_DjiFlightControllerRidInfo ridInfo = {0};
s_osalHandler = DjiPlatform_GetOsalHandler();
if (!s_osalHandler) return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
returnCode = DjiFlightController_Init();
ridInfo.latitude = 22.542812;
ridInfo.longitude = 113.958902;
ridInfo.altitude = 10;
returnCode = DjiFlightController_Init(ridInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init flight controller module failed, error code:0x%08llX", returnCode);
return returnCode;
@ -236,7 +237,7 @@ T_DjiReturnCode DjiTest_FlightControlDeInit(void)
{
T_DjiReturnCode returnCode;
returnCode = DjiFlightController_Deinit();
returnCode = DjiFlightController_DeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Deinit flight controller module failed, error code:0x%08llX",
returnCode);
@ -325,25 +326,25 @@ void DjiTest_FlightControlPositionControlSample()
USER_LOG_INFO("Successful take off\r\n");
DjiTest_WidgetLogAppend("Successful take off\r\n");
USER_LOG_INFO("--> Step 3: Move to north:0(m), earth:6(m), up:6(m) , yaw:30(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), earth:6(m), up:6(m) , yaw:30(degree) from current point");
USER_LOG_INFO("--> Step 3: Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {0, 6, 6}, 30, 0.8, 1)) {
USER_LOG_ERROR("Move to north:0(m), earth:6(m), up:6(m) , yaw:30(degree) from current point failed");
USER_LOG_ERROR("Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point failed");
goto out;
};
USER_LOG_INFO("--> Step 4: Move to north:6(m), earth:0(m), up:-3(m) , yaw:-30(degree) from current point");
USER_LOG_INFO("--> Step 4: Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point");
DjiTest_WidgetLogAppend(
"--> Step 4: Move to north:6(m), earth:0(m), up:-3(m) , yaw:-30(degree) from current point");
"--> Step 4: Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {6, 0, -3}, -30, 0.8, 1)) {
USER_LOG_ERROR("Move to north:6(m), earth:0(m), up:-3(m) , yaw:-30(degree) from current point failed");
USER_LOG_ERROR("Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point failed");
goto out;
};
USER_LOG_INFO("--> Step 5: Move to north:-6(m), earth:-6(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 5: Move to north:-6(m), earth:-6(m), up:0(m) , yaw:0(degree) from current point");
USER_LOG_INFO("--> Step 5: Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 5: Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {-6, -6, 0}, 0, 0.8, 1)) {
USER_LOG_ERROR("Move to north:-6(m), earth:-6(m), up:0(m) , yaw:0(degree) from current point failed");
USER_LOG_ERROR("Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point failed");
goto out;
}
@ -394,17 +395,17 @@ void DjiTest_FlightControlGoHomeForceLandingSample()
USER_LOG_INFO("Successful take off\r\n");
DjiTest_WidgetLogAppend("Successful take off\r\n");
USER_LOG_INFO("--> Step 3: Move to north:0(m), earth:0(m), up:30(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), earth:0(m), up:30(m) , yaw:0(degree) from current point");
USER_LOG_INFO("--> Step 3: Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {0, 0, 30}, 0, 0.8, 1)) {
USER_LOG_ERROR("Move to north:0(m), earth:0(m), up:30(m) , yaw:0(degree) from current point failed");
USER_LOG_ERROR("Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point failed");
goto out;
}
USER_LOG_INFO("--> Step 4: Move to north:10(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 4: Move to north:10(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
USER_LOG_INFO("--> Step 4: Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 4: Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {10, 0, 0}, 0, 0.8, 1)) {
USER_LOG_ERROR("Move to north:10(m), earth:0(m), up:0(m) , yaw:0(degree) from current point failed");
USER_LOG_ERROR("Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point failed");
goto out;
}
@ -434,10 +435,10 @@ void DjiTest_FlightControlGoHomeForceLandingSample()
USER_LOG_INFO("Current go home altitude is %d m\r\n", goHomeAltitude);
DjiTest_WidgetLogAppend("Current go home altitude is %d m\r\n", goHomeAltitude);
USER_LOG_INFO("--> Step 7: Move to north:20(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 7: Move to north:20(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
USER_LOG_INFO("--> Step 7: Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 7: Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {20, 0, 0}, 0, 0.8, 1)) {
USER_LOG_ERROR("Move to north:20(m), earth:0(m), up:0(m) , yaw:0(degree) from current point failed");
USER_LOG_ERROR("Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point failed");
goto out;
}
@ -489,9 +490,9 @@ void DjiTest_FlightControlVelocityControlSample()
DjiTest_WidgetLogAppend("Successful take off\r\n");
USER_LOG_INFO(
"--> Step 3: Move with north:0(m/s), earth:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
"--> Step 3: Move with north:0(m/s), east:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
DjiTest_WidgetLogAppend(
"--> Step 3: Move with north:0(m/s), earth:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
"--> Step 3: Move with north:0(m/s), east:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {0, 0, 5.0}, 0, 2000);
USER_LOG_INFO("--> Step 4: Emergency brake for 2s");
@ -509,9 +510,9 @@ void DjiTest_FlightControlVelocityControlSample()
}
USER_LOG_INFO(
"--> Step 5: Move with north:-1.5(m/s), earth:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
"--> Step 5: Move with north:-1.5(m/s), east:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
DjiTest_WidgetLogAppend(
"--> Step 5: Move with north:-1.5(m/s), earth:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
"--> Step 5: Move with north:-1.5(m/s), east:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {-1.5, 2, 0}, 20, 2000);
USER_LOG_INFO("--> Step 6: Emergency brake for 2s");
@ -529,9 +530,9 @@ void DjiTest_FlightControlVelocityControlSample()
}
USER_LOG_INFO(
"--> Step 7: Move with north:3(m/s), earth:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
"--> Step 7: Move with north:3(m/s), east:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
DjiTest_WidgetLogAppend(
"--> Step 7: Move with north:3(m/s), earth:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
"--> Step 7: Move with north:3(m/s), east:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 2500);
USER_LOG_INFO("--> Step 8: Emergency brake for 2s");
@ -549,9 +550,9 @@ void DjiTest_FlightControlVelocityControlSample()
}
USER_LOG_INFO(
"--> Step 9: Move with north:-1.6(m/s), earth:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
"--> Step 9: Move with north:-1.6(m/s), east:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
DjiTest_WidgetLogAppend(
"--> Step 9: Move with north:-1.6(m/s), earth:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
"--> Step 9: Move with north:-1.6(m/s), east:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {-1.6, -2, 0}, 0, 2200);
USER_LOG_INFO("--> Step 10: Emergency brake for 2s");
@ -669,6 +670,7 @@ void DjiTest_FlightControlSetGetParamSample()
E_DjiFlightControllerRtkPositionEnableStatus rtkEnableStatus;
E_DjiFlightControllerRCLostAction rcLostAction;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
uint16_t countryCode;
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -678,6 +680,12 @@ void DjiTest_FlightControlSetGetParamSample()
USER_LOG_INFO("Flight control set-get-param sample start");
DjiTest_WidgetLogAppend("Flight control set-get-param sample start");
returnCode = DjiFlightController_GetCountryCode(&countryCode);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get aircraft country code error.");
}
USER_LOG_INFO("country code: %hd", countryCode);
/*! Turn on horizontal vision avoid enable */
USER_LOG_INFO("--> Step 1: Turn on horizontal visual obstacle avoidance");
DjiTest_WidgetLogAppend("--> Step 1: Turn on horizontal visual obstacle avoidance");
@ -881,6 +889,97 @@ out:
DjiTest_WidgetLogAppend("Flight control set-get-param sample end");
}
T_DjiReturnCode DjiTest_TriggerFtsEventCallback(void)
{
USER_LOG_INFO("Received FTS Trigger event, count = %d.", s_ftsTriggerCount);
if (s_ftsTriggerCount == 0) {
USER_LOG_WARN("Note: Simulate a trigger failure scenario and return an error value, this function will be invoked again.");
s_ftsTriggerCount++;
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
} else {
USER_LOG_WARN("Note: This is an empty implementation, and the FTS signal needs to be triggered by the PWM signal.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
}
void DjiTest_FlightControlPassiveTriggerFtsSample(void)
{
T_DjiReturnCode returnCode;
USER_LOG_INFO("Flight control passive trigger FTS sample start.");
if (s_isFtsCallbackRegistered == false) {
returnCode = DjiFlightController_RegTriggerFtsEventCallback(DjiTest_TriggerFtsEventCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register trigger FTS event callback failed.");
return;
} else {
s_isFtsCallbackRegistered = true;
USER_LOG_INFO("Register trigger FTS event callback successfully."
"Please wait for the aircraft to trigger the payload to execute FTS action.");
}
} else {
USER_LOG_WARN("FTS trigger event callback has been registered, no need to register again.");
}
}
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) {
@ -908,6 +1007,14 @@ void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampl
DjiTest_FlightControlSetGetParamSample();
break;
}
case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_FTS_TRIGGER: {
DjiTest_FlightControlPassiveTriggerFtsSample();
break;
}
case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SLOW_ROTATE_BLADE: {
DjiTest_FlightControlSlowRotateMotorSample();
break;
}
default:
break;
}
@ -1218,6 +1325,12 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
{
T_DjiReturnCode djiStat;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
E_DjiFlightControllerObstacleAvoidanceEnableStatus enableStatus;
djiStat = DjiFlightController_GetDownwardsVisualObstacleAvoidanceEnableStatus(&enableStatus);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get downwards visual obstacle avoidance enable status error");
}
djiStat = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -1251,8 +1364,16 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
T_DjiFcSubscriptionHeightFusion heightFusion = DjiTest_FlightControlGetValueOfHeightFusion();
s_osalHandler->TaskSleepMs(1000);
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
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_M3TA == 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
) {
if ((dji_f64_t) 0.45 < heightFusion && heightFusion < (dji_f64_t) 0.55) {
break;
}
@ -1272,11 +1393,20 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
return false;
}
if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING)) {
return false;
if (enableStatus == DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE) {
if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING)) {
return false;
} else {
while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
DjiTest_FlightControlGetValueOfDisplayMode() ==
DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
s_osalHandler->TaskSleepMs(1000);
}
}
} else {
while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
DjiTest_FlightControlGetValueOfDisplayMode() ==
DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
s_osalHandler->TaskSleepMs(1000);
}
}
@ -1454,11 +1584,12 @@ DjiTest_FlightControlMoveByPositionOffset(const T_DjiTestFlightControlVector3f o
void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
uint32_t timeMs)
{
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
uint32_t originTime = 0;
uint32_t currentTime = 0;
uint32_t elapsedTimeInMs = 0;
s_osalHandler->GetTimeMs(&originTime);
s_osalHandler->GetTimeMs(&currentTime);
osalHandler->GetTimeMs(&originTime);
osalHandler->GetTimeMs(&currentTime);
elapsedTimeInMs = currentTime - originTime;
T_DjiFlightControllerJoystickMode joystickMode = {
DJI_FLIGHT_CONTROLLER_HORIZONTAL_VELOCITY_CONTROL_MODE,
@ -1474,8 +1605,8 @@ void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVec
while (elapsedTimeInMs <= timeMs) {
DjiFlightController_ExecuteJoystickAction(joystickCommand);
s_osalHandler->TaskSleepMs(2);
s_osalHandler->GetTimeMs(&currentTime);
osalHandler->TaskSleepMs(2);
osalHandler->GetTimeMs(&currentTime);
elapsedTimeInMs = currentTime - originTime;
}
}
@ -1542,4 +1673,57 @@ DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback(T_DjiFlightControllerJo
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiTest_FlightControlSetFtsTrigger(E_DjiMountPosition position, const 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(E_DjiMountPosition position, const char* port_name)
{
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(position, port_name);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Test select %s fts pwm trigger failed", port_name);
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****/

13
samples/sample_c/module_sample/flight_control/test_flight_control.h
View File

@ -42,12 +42,25 @@ typedef enum {
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING,
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)
typedef struct {
dji_f32_t x;
dji_f32_t y;
dji_f32_t z;
} T_DjiTestFlightControlVector3f; // pack(1)
#pragma pack()
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect);
void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
uint32_t timeMs);
T_DjiReturnCode DjiTest_FlightControlFtsPwmTriggerSample(E_DjiMountPosition position, const char* port_name);
#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);

62
samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c
View File

@ -29,6 +29,8 @@
#include "dji_platform.h"
#include "dji_logger.h"
#include "dji_gimbal_manager.h"
#include "dji_fc_subscription.h"
#include "dji_aircraft_info.h"
/* Private constants ---------------------------------------------------------*/
@ -73,10 +75,34 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiReturnCode returnCode;
T_DjiGimbalManagerRotation rotation;
T_DjiAircraftInfoBaseInfo baseInfo;
E_DjiAircraftSeries aircraftSeries;
bool gimbalAnglesSubscribedFlag = false;
returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed to get aircraft base info, return code 0x%08X", returnCode);
goto out;
}
aircraftSeries = baseInfo.aircraftSeries;
USER_LOG_INFO("Gimbal manager sample start");
DjiTest_WidgetLogAppend("Gimbal manager sample start");
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");
DjiTest_WidgetLogAppend("--> Step 1: Init gimbal manager module");
returnCode = DjiGimbalManager_Init();
@ -99,7 +125,7 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
}
USER_LOG_INFO("--> Step 3: Reset gimbal angles.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
returnCode = DjiGimbalManager_Reset(mountPosition, DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
@ -108,7 +134,7 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
for (int i = 0; i < sizeof(s_rotationActionList) / sizeof(T_DjiTestGimbalActionList); ++i) {
if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_RESET) {
USER_LOG_INFO("Target gimbal reset.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
returnCode = DjiGimbalManager_Reset(mountPosition, DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
@ -120,11 +146,27 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
continue;
}
USER_LOG_INFO("Target gimbal pry = (%.1f, %.1f, %.1f)",
s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
s_rotationActionList[i].rotation.yaw);
rotation = s_rotationActionList[i].rotation;
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
) {
if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
T_DjiDataTimestamp timestamp = {0};
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
(uint8_t *) &gimbalAngles,
sizeof(T_DjiFcSubscriptionGimbalAngles),
&timestamp);
rotation.yaw = gimbalAngles.z;
}
}
USER_LOG_INFO("Target gimbal pry = (%.1f, %.1f, %.1f)", rotation.pitch, rotation.roll, rotation.yaw);
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (%.1f, %.1f, %.1f) failed, error code: 0x%08X",
@ -136,6 +178,14 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
}
}
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");
DjiTest_WidgetLogAppend("--> Step 5: Deinit gimbal manager module");
returnCode = DjiGimbalManager_Deinit();

32210
samples/sample_c/module_sample/hms/data/hms.json Normal file
View File

File diff suppressed because it is too large Load Diff

193
samples/sample_c/module_sample/hms/test_hms.c
View File

@ -25,6 +25,8 @@
/* Includes ------------------------------------------------------------------*/
#include <widget_interaction_test/test_widget_interaction.h>
#include <utils/util_misc.h>
#include <utils/cJSON.h>
#include <utils/util_file.h>
#include "test_hms.h"
#include "dji_hms.h"
#include "dji_hms_info_table.h"
@ -41,7 +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 -------------------------------------------------------------*/
@ -49,31 +55,42 @@
static const char *oldReplaceAlarmIdStr = "%alarmid";
static const char *oldReplaceIndexStr = "%index";
static const char *oldReplaceComponentIndexStr = "%component_index";
static bool isHmsManagerInit = false;
static T_DjiHmsFileBinaryArray s_EnHmsTextConfigFileBinaryArrayList[] = {
{hms_text_config_json_fileName, hms_text_config_json_fileSize, hms_text_config_json_fileBinaryArray},
};
static bool s_hmsServiceRunFlag = false;
#ifdef SYSTEM_ARCH_LINUX
static uint8_t *s_hmsJsonData = NULL;
#endif
static E_DjiMobileAppLanguage s_hmsLanguage = DJI_MOBILE_APP_LANGUAGE_ENGLISH;
static bool s_isHmsConfigFileDirPathConfigured = false;
static char s_hmsConfigFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiTest_HmsInit(void);
static T_DjiReturnCode DjiTest_HmsDeInit(void);
static T_DjiReturnCode DjiTest_HmsManagerInit(void);
static T_DjiReturnCode DjiTest_HmsManagerDeInit(void);
static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void);
static bool DjiTest_ReplaceStr(char *buffer, uint32_t bufferMaxLen, const char *target, const char *dest);
static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable);
#ifdef SYSTEM_ARCH_LINUX
static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable);
#endif
static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable);
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_HmsRunSample(void)
T_DjiReturnCode DjiTest_HmsManagerRunSample(E_DjiMobileAppLanguage language)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler;
s_hmsLanguage = language;
USER_LOG_INFO("Hms Sample Start");
DjiTest_WidgetLogAppend("Hms Sample Start");
USER_LOG_INFO("--> Step 1: Init hms sample");
DjiTest_WidgetLogAppend("--> Step 1: Init hms sample");
returnCode = DjiTest_HmsInit();
returnCode = DjiTest_HmsManagerInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Hms sample init error, error code:0x%08llX", returnCode);
goto out;
@ -82,7 +99,7 @@ T_DjiReturnCode DjiTest_HmsRunSample(void)
osalHandler = DjiPlatform_GetOsalHandler();
USER_LOG_INFO("--> Step 2: Register callback function of push HMS information");
DjiTest_WidgetLogAppend("--> Step 2: Register callback function of push HMS information");
returnCode = DjiHms_RegHmsInfoCallback(DjiTest_HmsInfoCallback);
returnCode = DjiHmsManager_RegHmsInfoCallback(DjiTest_HmsInfoCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register callback function of push HMS information failed, error code:0x%08llX", returnCode);
goto out;
@ -93,7 +110,7 @@ T_DjiReturnCode DjiTest_HmsRunSample(void)
out:
USER_LOG_INFO("--> Step 3: Deinit hms sample");
DjiTest_WidgetLogAppend("--> Step 3: Deinit hms sample");
returnCode = DjiTest_HmsDeInit();
returnCode = DjiTest_HmsManagerDeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Hms sample deinit error, error code:0x%08llX", returnCode);
}
@ -104,7 +121,7 @@ out:
return returnCode;
}
T_DjiReturnCode DjiTest_HmsStartService(void)
T_DjiReturnCode DjiTest_HmsCustomizationStartService(void)
{
T_DjiReturnCode returnCode;
#ifdef SYSTEM_ARCH_LINUX
@ -112,7 +129,7 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
char tempPath[HMS_DIR_PATH_LEN_MAX];
#endif
returnCode = DjiHms_Init();
returnCode = DjiHmsCustomization_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Hms init error, error code:0x%08llX", returnCode);
return returnCode;
@ -126,27 +143,36 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
return returnCode;
}
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", curFileDirPath);
if (s_isHmsConfigFileDirPathConfigured == true) {
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", s_hmsConfigFileDirPath);
} else {
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", curFileDirPath);
}
//set default hms text config path
returnCode = DjiHms_RegDefaultHmsTextConfigByDirPath(tempPath);
returnCode = DjiHmsCustomization_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);
returnCode = DjiHmsCustomization_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 (s_isHmsConfigFileDirPathConfigured == true) {
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", s_hmsConfigFileDirPath);
} else {
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", curFileDirPath);
}
returnCode = DjiHmsCustomization_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;
@ -159,7 +185,7 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
};
//set default hms text config
returnCode = DjiHms_RegDefaultHmsTextConfigByBinaryArray(&enHmsTextBinaryArrayConfig);
returnCode = DjiHmsCustomization_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;
@ -167,18 +193,34 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
#endif
#if DJI_CUSTOM_HMS_CODE_INJECT_ON
DjiHms_InjectHmsErrorCode(0x1E020000, DJI_HMS_ERROR_LEVEL_FATAL);
DjiHmsCustomization_InjectHmsErrorCode(0x1E020000, DJI_HMS_ERROR_LEVEL_FATAL);
DjiHmsCustomization_InjectHmsErrorCode(0x1E020001, DJI_HMS_ERROR_LEVEL_CRITICAL);
DjiHmsCustomization_InjectHmsErrorCode(0x1E020002, DJI_HMS_ERROR_LEVEL_WARN);
DjiHmsCustomization_InjectHmsErrorCode(0x1E020003, DJI_HMS_ERROR_LEVEL_HINT);
#endif
s_hmsServiceRunFlag = true;
return returnCode;
}
T_DjiReturnCode DjiTest_HmsCustomizationSetConfigFilePath(const char *path)
{
memset(s_hmsConfigFileDirPath, 0, sizeof(s_hmsConfigFileDirPath));
memcpy(s_hmsConfigFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_hmsConfigFileDirPath) - 1));
s_isHmsConfigFileDirPathConfigured = true;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiTest_HmsInit(void)
static T_DjiReturnCode DjiTest_HmsManagerInit(void)
{
T_DjiReturnCode returnCode;
#ifdef SYSTEM_ARCH_LINUX
char curFileDirPath[HMS_DIR_PATH_LEN_MAX];
char tempFileDirPath[HMS_DIR_PATH_LEN_MAX];
uint32_t fileSize = 0;
uint32_t readRealSize = 0;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
#endif
returnCode = DjiFcSubscription_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -190,22 +232,48 @@ static T_DjiReturnCode DjiTest_HmsInit(void)
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("HMS sample subscribe topic flight status error, error code:0x%08llX", returnCode);
return returnCode;
}
if (s_hmsServiceRunFlag == true) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
#ifdef SYSTEM_ARCH_LINUX
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;
}
return DjiHms_Init();
snprintf(tempFileDirPath, HMS_DIR_PATH_LEN_MAX, "%s/data/hms.json", curFileDirPath);
returnCode = UtilFile_GetFileSizeByPath(tempFileDirPath, &fileSize);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get file size by path failed, stat = 0x%08llX", returnCode);
return returnCode;
}
USER_LOG_DEBUG("Hms json file size is %d", fileSize);
s_hmsJsonData = osalHandler->Malloc(fileSize);
if (s_hmsJsonData == NULL) {
USER_LOG_ERROR("Malloc failed.");
}
UtilFile_GetFileDataByPath(tempFileDirPath, 0, fileSize, s_hmsJsonData, &readRealSize);
#endif
isHmsManagerInit = true;
return DjiHmsManager_Init();
}
static T_DjiReturnCode DjiTest_HmsDeInit(void)
static T_DjiReturnCode DjiTest_HmsManagerDeInit(void)
{
T_DjiReturnCode returnCode;
#ifdef SYSTEM_ARCH_LINUX
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
#endif
returnCode = DjiFcSubscription_DeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -214,11 +282,13 @@ static T_DjiReturnCode DjiTest_HmsDeInit(void)
return returnCode;
}
if (s_hmsServiceRunFlag == true) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
#ifdef SYSTEM_ARCH_LINUX
osalHandler->Free(s_hmsJsonData);
#endif
return DjiHms_DeInit();
isHmsManagerInit = false;
return DjiHmsManager_DeInit();
}
static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void)
@ -227,6 +297,10 @@ static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void)
T_DjiFcSubscriptionFlightStatus flightStatus;
T_DjiDataTimestamp flightStatusTimestamp = {0};
if (isHmsManagerInit == false) {
return DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_ON_GROUND;
}
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
(uint8_t *) &flightStatus,
sizeof(T_DjiFcSubscriptionFlightStatus),
@ -326,12 +400,71 @@ static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable)
return true;
}
#ifdef SYSTEM_ARCH_LINUX
static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable)
{
cJSON *hmsJsonRoot = NULL;
cJSON *hmsErrorCode = NULL;
cJSON *hmsLanguage = NULL;
char hmsErrorCodeString[HMS_DIR_PATH_LEN_MAX] = {0};
hmsJsonRoot = cJSON_Parse((char *) s_hmsJsonData);
if (hmsJsonRoot == NULL) {
return 0;
}
for (int i = 0; i < hmsInfoTable.hmsInfoNum; i++) {
if (DjiTest_GetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
sprintf(hmsErrorCodeString, "fpv_tip_0x%08X_in_the_sky", hmsInfoTable.hmsInfo[i].errorCode);
} else {
sprintf(hmsErrorCodeString, "fpv_tip_0x%08X", hmsInfoTable.hmsInfo[i].errorCode);
}
hmsErrorCode = cJSON_GetObjectItem(hmsJsonRoot, hmsErrorCodeString);
if (hmsErrorCode != NULL) {
if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_CHINESE) {
hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "zh");
} else if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_ENGLISH) {
hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "en");
} else if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_JAPANESE) {
hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "ja");
} else if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_FRENCH) {
hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "fr");
}
if (hmsLanguage != NULL) {
if (hmsInfoTable.hmsInfo[i].errorLevel > MIN_HMS_ERROR_LEVEL &&
hmsInfoTable.hmsInfo[i].errorLevel < MID_HMS_ERROR_LEVEL) {
USER_LOG_WARN("[ErrorCode: 0x%2x]: %s", hmsInfoTable.hmsInfo[i].errorCode,
hmsLanguage->valuestring);
} else if (hmsInfoTable.hmsInfo[i].errorLevel >= MID_HMS_ERROR_LEVEL &&
hmsInfoTable.hmsInfo[i].errorLevel < MAX_HMS_ERROR_LEVEL) {
USER_LOG_ERROR("[ErrorCode: 0x%2x]: %s", hmsInfoTable.hmsInfo[i].errorCode,
hmsLanguage->valuestring);
}
} else {
USER_LOG_WARN("[ErrorCode: 0x%2x] There are no matching documents for this language for now.",
hmsInfoTable.hmsInfo[i].errorCode);
}
} else {
USER_LOG_WARN("[ErrorCode: 0x%2x] There are no matching documents in the current json for now.",
hmsInfoTable.hmsInfo[i].errorCode);
}
}
cJSON_Delete(hmsJsonRoot);
}
#endif
static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable)
{
#ifdef SYSTEM_ARCH_LINUX
DjiTest_MarchErrCodeInfoTableByJson(hmsInfoTable);
#else
if (!DjiTest_MarchErrCodeInfoTable(hmsInfoTable)) {
USER_LOG_ERROR("March HMS Information failed.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
#endif
if (hmsInfoTable.hmsInfoNum == 0) {
USER_LOG_INFO("All systems of drone are running well now.");

5
samples/sample_c/module_sample/hms/test_hms.h
View File

@ -39,8 +39,9 @@ extern "C" {
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_HmsRunSample(void);
T_DjiReturnCode DjiTest_HmsStartService(void);
T_DjiReturnCode DjiTest_HmsManagerRunSample(E_DjiMobileAppLanguage language);
T_DjiReturnCode DjiTest_HmsCustomizationStartService(void);
T_DjiReturnCode DjiTest_HmsCustomizationSetConfigFilePath(const char *path);
#ifdef __cplusplus
}

155
samples/sample_c/module_sample/interest_point/test_interest_point.c Normal file
View File

@ -0,0 +1,155 @@
/**
********************************************************************
* @file test_interest_point.c
* @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 "test_interest_point.h"
#include "dji_interest_point.h"
#include "dji_logger.h"
#include "dji_flight_controller.h"
#include "flight_control/test_flight_control.h"
#include "dji_aircraft_info.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState);
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_InterestPointRunSample(void)
{
T_DjiReturnCode returnCode;
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);
return returnCode;
}
returnCode = DjiInterestPoint_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Point interest init failed, errno=%lld", returnCode);
return returnCode;
}
osalHandler->TaskSleepMs(1000);
DjiFlightController_ObtainJoystickCtrlAuthority();
osalHandler->TaskSleepMs(1000);
DjiFlightController_StartTakeoff();
osalHandler->TaskSleepMs(1000);
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {0, 0, 5}, 0, 10000);
osalHandler->TaskSleepMs(1000);
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 5000);
interestPointSettings.latitude = 22.57775;
interestPointSettings.longitude = 113.94265;
returnCode = DjiInterestPoint_RegMissionStateCallback(DjiUser_InterestPointMissionStateCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register mission state callback failed, errno=%lld", returnCode);
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;
}
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();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Point interest deinit failed, errno=%lld", returnCode);
return returnCode;
}
returnCode = DjiFlightController_DeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Flight control init failed, errno=%lld", returnCode);
return returnCode;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState)
{
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;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

49
samples/sample_c/module_sample/interest_point/test_interest_point.h Normal file
View File

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

66
samples/sample_c/module_sample/liveview/test_liveview.c
View File

@ -77,14 +77,14 @@ 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.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 {
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
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",
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
@ -98,8 +98,23 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
}
}
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M400
&& aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_MANIFOLD3_ONBOARD)
{
// XXX: On MANIFOLD3, FPV and MAIN CAMERA SOURCE_DEFAULT streams cannot be subscribed to at the same time.
for (int i = 0; i < TEST_LIVEVIEW_STREAM_STROING_TIME_IN_SECONDS; ++i) {
USER_LOG_INFO("Storing camera h264 stream, second: %d.", i + 1);
osalHandler->TaskSleepMs(1000);
}
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);
goto out;
}
}
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);
@ -113,12 +128,17 @@ 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);
if (aircraftInfoBaseInfo.mountPositionType != DJI_MOUNT_POSITION_TYPE_MANIFOLD3_ONBOARD)
{
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
@ -127,11 +147,11 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
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) {
} else if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
} else {
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30 ||
(aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M400
&& aircraftInfoBaseInfo.mountPositionType != DJI_MOUNT_POSITION_TYPE_MANIFOLD3_ONBOARD)) {
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);
@ -146,10 +166,12 @@ 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 (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
if (DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3TA == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4TD == aircraftInfoBaseInfo.aircraftType
) {
USER_LOG_INFO("--> Start h264 stream of the fpv and selected payload\r\n");
localTime = localtime(&currentTime);

4
samples/sample_c/module_sample/mop_channel/test_mop_channel.c
View File

@ -180,7 +180,7 @@ REWAIT:
}
sendDataCount++;
memset(sendBuf, sendDataCount, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
memset(sendBuf, 'A' - 1 + (sendDataCount % 26), TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
returnCode = DjiMopChannel_SendData(s_testMopChannelNormalOutHandle, sendBuf,
TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER, &realLen);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -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) {

113
samples/sample_c/module_sample/positioning/test_positioning.c
View File

@ -32,22 +32,36 @@
#include "dji_platform.h"
#include "time_sync/test_time_sync.h"
/* Private constants ---------------------------------------------------------*/
#define POSITIONING_TASK_FREQ (1)
#define POSITIONING_TASK_STACK_SIZE (1024)
#ifdef SYSTEM_ARCH_LINUX
#define DJI_TEST_POSITIONING_EVENT_COUNT (2)
#include "time.h"
#endif
/* Private constants ---------------------------------------------------------*/
#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 (1)
#define DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US (200000)
/* Private types -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
static void *DjiTest_PositioningTask(void *arg);
static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen);
static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen);
/* Private variables ---------------------------------------------------------*/
static T_DjiTaskHandle s_userPositioningThread;
static int32_t s_eventIndex = 0;
#ifdef SYSTEM_ARCH_LINUX
static char s_rtkOnAircraftRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
static char s_rtkBaseStationRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
#endif
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_PositioningStartService(void)
@ -63,12 +77,40 @@ T_DjiReturnCode DjiTest_PositioningStartService(void)
DjiPositioning_SetTaskIndex(0);
#ifndef SYSTEM_ARCH_LINUX
if (osalHandler->TaskCreate("user_positioning_task", DjiTest_PositioningTask,
POSITIONING_TASK_STACK_SIZE, NULL, &s_userPositioningThread) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("user positioning task create error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
#else
time_t currentTime = time(NULL);
struct tm *localTime = NULL;
localTime = localtime(&currentTime);
sprintf(s_rtkOnAircraftRtcmFilePath, "rtk_on_aircraft_%04d%02d%02d_%02d-%02d-%02d.rtcm",
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
localTime = localtime(&currentTime);
sprintf(s_rtkBaseStationRtcmFilePath, "rtk_base_station_%04d%02d%02d_%02d-%02d-%02d.rtcm",
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
#endif
djiStat = DjiPositioning_RegReceiveRtcmDataCallback(DJI_POSITIONING_RTCM_DATA_TYPE_RTK_BASE_STATION,
DjiTest_ReceiveRtkBaseStationRtcmDataCallback);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register receive rtk base station callback error.");
return djiStat;
}
djiStat = DjiPositioning_RegReceiveRtcmDataCallback(DJI_POSITIONING_RTCM_DATA_TYPE_RTK_ON_AIRCRAFT,
DjiTest_ReceiveRtkOnAircraftRtcmDataCallback);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register receive rtk on aircraft callback error.");
return djiStat;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
@ -128,22 +170,22 @@ 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,
@ -158,4 +200,51 @@ static void *DjiTest_PositioningTask(void *arg)
#pragma GCC diagnostic pop
#endif
#ifdef SYSTEM_ARCH_LINUX
static int32_t DjiTest_SaveRtcmData(char *filePath, const uint8_t *data, uint32_t len)
{
FILE *fp = NULL;
size_t size;
fp = fopen(filePath, "ab+");
if (fp == NULL) {
printf("fopen failed!\n");
return -1;
}
size = fwrite(data, 1, len, fp);
if (size != len) {
fclose(fp);
return -1;
}
fflush(fp);
fclose(fp);
return 0;
}
#endif
static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen)
{
USER_LOG_INFO("Receive rtcm data from rtk on aircraft, index: %d, len: %d", index, dataLen);
#ifdef SYSTEM_ARCH_LINUX
DjiTest_SaveRtcmData(s_rtkOnAircraftRtcmFilePath, data, dataLen);
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen)
{
USER_LOG_INFO("Receive rtcm data from rtk base station, index: %d, len: %d", index, dataLen);
#ifdef SYSTEM_ARCH_LINUX
DjiTest_SaveRtcmData(s_rtkBaseStationRtcmFilePath, data, dataLen);
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

46
samples/sample_c/module_sample/power_management/test_power_management.c
View File

@ -98,10 +98,11 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
return returnCode;
}
if ((baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) &&
(baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT)) {
if (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT ||
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
//如果函数指针为空（没有指向函数），就返回错误代码：DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN
if (s_applyHighPowerHandler.pinInit == NULL) {
@ -128,11 +129,38 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
return returnCode;
}
//执行高电压请求
returnCode = DjiPowerManagement_ApplyHighPowerSync();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("apply high power error");
return returnCode;
//这是3.5申请高功率的代码
// returnCode = DjiPowerManagement_ApplyHighPowerSync();
// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("apply high power error");
// return returnCode;
//这是3.13.0申请高功率的代码
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.");
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.");
//执行高电压请求
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.");
}
}

109
samples/sample_c/module_sample/tethered_battery/test_tethered_battery.c Normal file
View File

@ -0,0 +1,109 @@
/**
********************************************************************
* @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)
{
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);
}
return NULL;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

49
samples/sample_c/module_sample/tethered_battery/test_tethered_battery.h Normal file
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@ -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);
}
}
}

2688
samples/sample_c/module_sample/utils/cJSON.c Normal file
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290
samples/sample_c/module_sample/utils/cJSON.h Normal file
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@ -0,0 +1,290 @@
/*
Copyright (c) 2009-2017 Dave Gamble and cJSON contributors
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef cJSON__h
#define cJSON__h
#ifdef __cplusplus
extern "C"
{
#endif
#if !defined(__WINDOWS__) && (defined(WIN32) || defined(WIN64) || defined(_MSC_VER) || defined(_WIN32))
#define __WINDOWS__
#endif
#ifdef __WINDOWS__
/* When compiling for windows, we specify a specific calling convention to avoid issues where we are being called from a project with a different default calling convention. For windows you have 3 define options:
CJSON_HIDE_SYMBOLS - Define this in the case where you don't want to ever dllexport symbols
CJSON_EXPORT_SYMBOLS - Define this on library build when you want to dllexport symbols (default)
CJSON_IMPORT_SYMBOLS - Define this if you want to dllimport symbol
For *nix builds that support visibility attribute, you can define similar behavior by
setting default visibility to hidden by adding
-fvisibility=hidden (for gcc)
or
-xldscope=hidden (for sun cc)
to CFLAGS
then using the CJSON_API_VISIBILITY flag to "export" the same symbols the way CJSON_EXPORT_SYMBOLS does
*/
#define CJSON_CDECL __cdecl
#define CJSON_STDCALL __stdcall
/* export symbols by default, this is necessary for copy pasting the C and header file */
#if !defined(CJSON_HIDE_SYMBOLS) && !defined(CJSON_IMPORT_SYMBOLS) && !defined(CJSON_EXPORT_SYMBOLS)
#define CJSON_EXPORT_SYMBOLS
#endif
#if defined(CJSON_HIDE_SYMBOLS)
#define CJSON_PUBLIC(type) type CJSON_STDCALL
#elif defined(CJSON_EXPORT_SYMBOLS)
#define CJSON_PUBLIC(type) __declspec(dllexport) type CJSON_STDCALL
#elif defined(CJSON_IMPORT_SYMBOLS)
#define CJSON_PUBLIC(type) __declspec(dllimport) type CJSON_STDCALL
#endif
#else /* !__WINDOWS__ */
#define CJSON_CDECL
#define CJSON_STDCALL
#if (defined(__GNUC__) || defined(__SUNPRO_CC) || defined (__SUNPRO_C)) && defined(CJSON_API_VISIBILITY)
#define CJSON_PUBLIC(type) __attribute__((visibility("default"))) type
#else
#define CJSON_PUBLIC(type) type
#endif
#endif
/* project version */
#define CJSON_VERSION_MAJOR 1
#define CJSON_VERSION_MINOR 7
#define CJSON_VERSION_PATCH 12
#include <stddef.h>
#include <stdint.h>
/* cJSON Types: */
#define cJSON_Invalid (0)
#define cJSON_False (1 << 0)
#define cJSON_True (1 << 1)
#define cJSON_NULL (1 << 2)
#define cJSON_Number (1 << 3)
#define cJSON_String (1 << 4)
#define cJSON_Array (1 << 5)
#define cJSON_Object (1 << 6)
#define cJSON_Raw (1 << 7) /* raw json */
#define cJSON_IsReference 256
#define cJSON_StringIsConst 512
/* The cJSON structure: */
typedef struct cJSON {
/* next/prev allow you to walk array/object chains. Alternatively, use GetArraySize/GetArrayItem/GetObjectItem */
struct cJSON *next;
struct cJSON *prev;
/* An array or object item will have a child pointer pointing to a chain of the items in the array/object. */
struct cJSON *child;
/* The type of the item, as above. */
int type;
/* The item's string, if type==cJSON_String and type == cJSON_Raw */
char *valuestring;
/* writing to valueint is DEPRECATED, use cJSON_SetNumberValue instead */
int valueint;
/* The item's number, if type==cJSON_Number */
double valuedouble;
/* The item's name string, if this item is the child of, or is in the list of subitems of an object. */
char *string;
} cJSON;
typedef struct cJSON_Hooks {
/* malloc/free are CDECL on Windows regardless of the default calling convention of the compiler, so ensure the hooks allow passing those functions directly. */
void *(CJSON_CDECL *malloc_fn)(size_t sz);
void (CJSON_CDECL *free_fn)(void *ptr);
} cJSON_Hooks;
typedef int cJSON_bool;
/* Limits how deeply nested arrays/objects can be before cJSON rejects to parse them.
* This is to prevent stack overflows. */
#ifndef CJSON_NESTING_LIMIT
#define CJSON_NESTING_LIMIT 1000
#endif
/* returns the version of cJSON as a string */
CJSON_PUBLIC(const char*)cJSON_Version(void);
/* Supply malloc, realloc and free functions to cJSON */
CJSON_PUBLIC(void) cJSON_InitHooks(cJSON_Hooks *hooks);
/* Memory Management: the caller is always responsible to free the results from all variants of cJSON_Parse (with cJSON_Delete) and cJSON_Print (with stdlib free, cJSON_Hooks.free_fn, or cJSON_free as appropriate). The exception is cJSON_PrintPreallocated, where the caller has full responsibility of the buffer. */
/* Supply a block of JSON, and this returns a cJSON object you can interrogate. */
CJSON_PUBLIC(cJSON *)cJSON_Parse(const char *value);
CJSON_PUBLIC(cJSON *)cJSON_ParseByJsonData(const uint8_t *json_data, uint16_t data_len);
/* ParseWithOpts allows you to require (and check) that the JSON is null terminated, and to retrieve the pointer to the final byte parsed. */
/* If you supply a ptr in return_parse_end and parsing fails, then return_parse_end will contain a pointer to the error so will match cJSON_GetErrorPtr(). */
CJSON_PUBLIC(cJSON *)cJSON_ParseWithOpts(const char *value, const char **return_parse_end,
cJSON_bool require_null_terminated);
/* Render a cJSON entity to text for transfer/storage. */
CJSON_PUBLIC(char *)cJSON_Print(const cJSON *item);
/* Render a cJSON entity to text for transfer/storage without any formatting. */
CJSON_PUBLIC(char *)cJSON_PrintUnformatted(const cJSON *item);
/* Render a cJSON entity to text using a buffered strategy. prebuffer is a guess at the final size. guessing well reduces reallocation. fmt=0 gives unformatted, =1 gives formatted */
CJSON_PUBLIC(char *)cJSON_PrintBuffered(const cJSON *item, int prebuffer, cJSON_bool fmt);
/* Render a cJSON entity to text using a buffer already allocated in memory with given length. Returns 1 on success and 0 on failure. */
/* NOTE: cJSON is not always 100% accurate in estimating how much memory it will use, so to be safe allocate 5 bytes more than you actually need */
CJSON_PUBLIC(cJSON_bool) cJSON_PrintPreallocated(cJSON *item, char *buffer, const int length, const cJSON_bool format);
/* Delete a cJSON entity and all subentities. */
CJSON_PUBLIC(void) cJSON_Delete(cJSON *item);
/* Returns the number of items in an array (or object). */
CJSON_PUBLIC(int) cJSON_GetArraySize(const cJSON *array);
/* Retrieve item number "index" from array "array". Returns NULL if unsuccessful. */
CJSON_PUBLIC(cJSON *)cJSON_GetArrayItem(const cJSON *array, int index);
/* Get item "string" from object. Case insensitive. */
CJSON_PUBLIC(cJSON *)cJSON_GetObjectItem(const cJSON *const object, const char *const string);
CJSON_PUBLIC(cJSON *)cJSON_GetObjectItemCaseSensitive(const cJSON *const object, const char *const string);
CJSON_PUBLIC(cJSON_bool) cJSON_HasObjectItem(const cJSON *object, const char *string);
/* For analysing failed parses. This returns a pointer to the parse error. You'll probably need to look a few chars back to make sense of it. Defined when cJSON_Parse() returns 0. 0 when cJSON_Parse() succeeds. */
CJSON_PUBLIC(const char *)cJSON_GetErrorPtr(void);
/* Check if the item is a string and return its valuestring */
CJSON_PUBLIC(char *)cJSON_GetStringValue(cJSON *item);
/* These functions check the type of an item */
CJSON_PUBLIC(cJSON_bool) cJSON_IsInvalid(const cJSON *const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsFalse(const cJSON *const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsTrue(const cJSON *const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsBool(const cJSON *const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsNull(const cJSON *const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsNumber(const cJSON *const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsString(const cJSON *const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsArray(const cJSON *const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsObject(const cJSON *const item);
CJSON_PUBLIC(cJSON_bool) cJSON_IsRaw(const cJSON *const item);
/* These calls create a cJSON item of the appropriate type. */
CJSON_PUBLIC(cJSON *)cJSON_CreateNull(void);
CJSON_PUBLIC(cJSON *)cJSON_CreateTrue(void);
CJSON_PUBLIC(cJSON *)cJSON_CreateFalse(void);
CJSON_PUBLIC(cJSON *)cJSON_CreateBool(cJSON_bool boolean);
CJSON_PUBLIC(cJSON *)cJSON_CreateNumber(double num);
CJSON_PUBLIC(cJSON *)cJSON_CreateString(const char *string);
/* raw json */
CJSON_PUBLIC(cJSON *)cJSON_CreateRaw(const char *raw);
CJSON_PUBLIC(cJSON *)cJSON_CreateArray(void);
CJSON_PUBLIC(cJSON *)cJSON_CreateObject(void);
/* Create a string where valuestring references a string so
* it will not be freed by cJSON_Delete */
CJSON_PUBLIC(cJSON *)cJSON_CreateStringReference(const char *string);
/* Create an object/array that only references it's elements so
* they will not be freed by cJSON_Delete */
CJSON_PUBLIC(cJSON *)cJSON_CreateObjectReference(const cJSON *child);
CJSON_PUBLIC(cJSON *)cJSON_CreateArrayReference(const cJSON *child);
/* These utilities create an Array of count items.
* The parameter count cannot be greater than the number of elements in the number array, otherwise array access will be out of bounds.*/
CJSON_PUBLIC(cJSON *)cJSON_CreateIntArray(const int *numbers, int count);
CJSON_PUBLIC(cJSON *)cJSON_CreateFloatArray(const float *numbers, int count);
CJSON_PUBLIC(cJSON *)cJSON_CreateDoubleArray(const double *numbers, int count);
CJSON_PUBLIC(cJSON *)cJSON_CreateStringArray(const char **strings, int count);
/* Append item to the specified array/object. */
CJSON_PUBLIC(void) cJSON_AddItemToArray(cJSON *array, cJSON *item);
CJSON_PUBLIC(void) cJSON_AddItemToObject(cJSON *object, const char *string, cJSON *item);
/* Use this when string is definitely const (i.e. a literal, or as good as), and will definitely survive the cJSON object.
* WARNING: When this function was used, make sure to always check that (item->type & cJSON_StringIsConst) is zero before
* writing to `item->string` */
CJSON_PUBLIC(void) cJSON_AddItemToObjectCS(cJSON *object, const char *string, cJSON *item);
/* Append reference to item to the specified array/object. Use this when you want to add an existing cJSON to a new cJSON, but don't want to corrupt your existing cJSON. */
CJSON_PUBLIC(void) cJSON_AddItemReferenceToArray(cJSON *array, cJSON *item);
CJSON_PUBLIC(void) cJSON_AddItemReferenceToObject(cJSON *object, const char *string, cJSON *item);
/* Remove/Detach items from Arrays/Objects. */
CJSON_PUBLIC(cJSON *)cJSON_DetachItemViaPointer(cJSON *parent, cJSON *const item);
CJSON_PUBLIC(cJSON *)cJSON_DetachItemFromArray(cJSON *array, int which);
CJSON_PUBLIC(void) cJSON_DeleteItemFromArray(cJSON *array, int which);
CJSON_PUBLIC(cJSON *)cJSON_DetachItemFromObject(cJSON *object, const char *string);
CJSON_PUBLIC(cJSON *)cJSON_DetachItemFromObjectCaseSensitive(cJSON *object, const char *string);
CJSON_PUBLIC(void) cJSON_DeleteItemFromObject(cJSON *object, const char *string);
CJSON_PUBLIC(void) cJSON_DeleteItemFromObjectCaseSensitive(cJSON *object, const char *string);
/* Update array items. */
CJSON_PUBLIC(void)
cJSON_InsertItemInArray(cJSON *array, int which, cJSON *newitem); /* Shifts pre-existing items to the right. */
CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemViaPointer(cJSON *const parent, cJSON *const item, cJSON *replacement);
CJSON_PUBLIC(void) cJSON_ReplaceItemInArray(cJSON *array, int which, cJSON *newitem);
CJSON_PUBLIC(void) cJSON_ReplaceItemInObject(cJSON *object, const char *string, cJSON *newitem);
CJSON_PUBLIC(void) cJSON_ReplaceItemInObjectCaseSensitive(cJSON *object, const char *string, cJSON *newitem);
/* Duplicate a cJSON item */
CJSON_PUBLIC(cJSON *)cJSON_Duplicate(const cJSON *item, cJSON_bool recurse);
/* Duplicate will create a new, identical cJSON item to the one you pass, in new memory that will
* need to be released. With recurse!=0, it will duplicate any children connected to the item.
* The item->next and ->prev pointers are always zero on return from Duplicate. */
/* Recursively compare two cJSON items for equality. If either a or b is NULL or invalid, they will be considered unequal.
* case_sensitive determines if object keys are treated case sensitive (1) or case insensitive (0) */
CJSON_PUBLIC(cJSON_bool) cJSON_Compare(const cJSON *const a, const cJSON *const b, const cJSON_bool case_sensitive);
/* Minify a strings, remove blank characters(such as ' ', '\t', '\r', '\n') from strings.
* The input pointer json cannot point to a read-only address area, such as a string constant,
* but should point to a readable and writable adress area. */
CJSON_PUBLIC(void) cJSON_Minify(char *json);
/* Helper functions for creating and adding items to an object at the same time.
* They return the added item or NULL on failure. */
CJSON_PUBLIC(cJSON*)cJSON_AddNullToObject(cJSON *const object, const char *const name);
CJSON_PUBLIC(cJSON*)cJSON_AddTrueToObject(cJSON *const object, const char *const name);
CJSON_PUBLIC(cJSON*)cJSON_AddFalseToObject(cJSON *const object, const char *const name);
CJSON_PUBLIC(cJSON*)cJSON_AddBoolToObject(cJSON *const object, const char *const name, const cJSON_bool boolean);
CJSON_PUBLIC(cJSON*)cJSON_AddNumberToObject(cJSON *const object, const char *const name, const double number);
CJSON_PUBLIC(cJSON*)cJSON_AddStringToObject(cJSON *const object, const char *const name, const char *const string);
CJSON_PUBLIC(cJSON*)cJSON_AddRawToObject(cJSON *const object, const char *const name, const char *const raw);
CJSON_PUBLIC(cJSON*)cJSON_AddObjectToObject(cJSON *const object, const char *const name);
CJSON_PUBLIC(cJSON*)cJSON_AddArrayToObject(cJSON *const object, const char *const name);
/* When assigning an integer value, it needs to be propagated to valuedouble too. */
#define cJSON_SetIntValue(object, number) ((object) ? (object)->valueint = (object)->valuedouble = (number) : (number))
/* helper for the cJSON_SetNumberValue macro */
CJSON_PUBLIC(double) cJSON_SetNumberHelper(cJSON *object, double number);
#define cJSON_SetNumberValue(object, number) ((object != NULL) ? cJSON_SetNumberHelper(object, (double)number) : (number))
/* Macro for iterating over an array or object */
#define cJSON_ArrayForEach(element, array) for(element = (array != NULL) ? (array)->child : NULL; element != NULL; element = element->next)
/* malloc/free objects using the malloc/free functions that have been set with cJSON_InitHooks */
CJSON_PUBLIC(void *)cJSON_malloc(size_t size);
CJSON_PUBLIC(void) cJSON_free(void *object);
#ifdef __cplusplus
}
#endif
#endif

359
samples/sample_c/module_sample/utils/dji_config_manager.c Normal file
View File

@ -0,0 +1,359 @@
/**
********************************************************************
* @file dji_config_manager.c
* @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 <utils/util_misc.h>
#include <dji_logger.h>
#include <utils/util_file.h>
#include <dji_aircraft_info.h>
#include "dji_config_manager.h"
#include "utils/cJSON.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static T_DjiUserInfo s_configManagerUserInfo = {0};
static T_DjiUserLinkConfig s_configManagerLinkInfo = {0};
static bool s_configManagerIsEnable = false;
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiUserConfigManager_GetAppInfoInner(const char *path, T_DjiUserInfo *userInfo);
static T_DjiReturnCode DjiUserConfigManager_GetLinkConfigInner(const char *path, T_DjiUserLinkConfig *linkConfig);
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiUserConfigManager_LoadConfiguration(const char *path)
{
T_DjiReturnCode returnCode;
if (path == NULL) {
perror("Config file path is null.\n");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
printf("Load configuration start, config file path is: %s\r\n", path);
returnCode = DjiUserConfigManager_GetAppInfoInner(path, &s_configManagerUserInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
perror("Get app info failed.\n");
}
returnCode = DjiUserConfigManager_GetLinkConfigInner(path, &s_configManagerLinkInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
perror("Get link info failed.\n");
}
printf("\r\nLoad configuration successfully.\r\n");
s_configManagerIsEnable = true;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
void DjiUserConfigManager_GetAppInfo(T_DjiUserInfo *userInfo)
{
memcpy(userInfo, &s_configManagerUserInfo, sizeof(T_DjiUserInfo));
}
void DjiUserConfigManager_GetLinkConfig(T_DjiUserLinkConfig *linkConfig)
{
memcpy(linkConfig, &s_configManagerLinkInfo, sizeof(T_DjiUserLinkConfig));
}
bool DjiUserConfigManager_IsEnable(void)
{
return s_configManagerIsEnable;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiUserConfigManager_GetAppInfoInner(const char *path, T_DjiUserInfo *userInfo)
{
#ifdef SYSTEM_ARCH_LINUX
T_DjiReturnCode returnCode;
uint32_t fileSize = 0;
uint32_t readRealSize = 0;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
uint8_t *jsonData = NULL;
cJSON *jsonRoot = NULL;
cJSON *jsonItem = NULL;
cJSON *jsonValue = NULL;
returnCode = UtilFile_GetFileSizeByPath(path, &fileSize);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get file size by path failed, stat = 0x%08llX", returnCode);
return returnCode;
}
USER_LOG_DEBUG("Get config json file size is %d", fileSize);
jsonData = osalHandler->Malloc(fileSize + 1);
if (jsonData == NULL) {
USER_LOG_ERROR("Malloc failed.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
memset(jsonData, 0, fileSize);
UtilFile_GetFileDataByPath(path, 0, fileSize, jsonData, &readRealSize);
jsonData[readRealSize] = '\0';
jsonRoot = cJSON_Parse((char *) jsonData);
if (jsonRoot == NULL) {
returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
goto jsonDataFree;
}
jsonItem = cJSON_GetObjectItem(jsonRoot, "dji_sdk_app_info");
if (jsonItem != NULL) {
jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_name");
if (jsonValue != NULL) {
strcpy(userInfo->appName, jsonValue->valuestring);
}
jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_id");
if (jsonValue != NULL) {
strcpy(userInfo->appId, jsonValue->valuestring);
}
jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_key");
if (jsonValue != NULL) {
strcpy(userInfo->appKey, jsonValue->valuestring);
}
jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_license");
if (jsonValue != NULL) {
strcpy(userInfo->appLicense, jsonValue->valuestring);
}
jsonValue = cJSON_GetObjectItem(jsonItem, "user_develop_account");
if (jsonValue != NULL) {
strcpy(userInfo->developerAccount, jsonValue->valuestring);
}
jsonValue = cJSON_GetObjectItem(jsonItem, "user_baud_rate");
if (jsonValue != NULL) {
strcpy(userInfo->baudRate, jsonValue->valuestring);
}
}
if (strlen(userInfo->appName) >= sizeof(userInfo->appName) ||
strlen(userInfo->appId) > sizeof(userInfo->appId) ||
strlen(userInfo->appKey) > sizeof(userInfo->appKey) ||
strlen(userInfo->appLicense) > sizeof(userInfo->appLicense) ||
strlen(userInfo->developerAccount) >= sizeof(userInfo->developerAccount) ||
strlen(userInfo->baudRate) > sizeof(userInfo->baudRate)) {
USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
goto jsonDataFree;
}
if (!strcmp(userInfo->appName, "your_app_name") ||
!strcmp(userInfo->appId, "your_app_id") ||
!strcmp(userInfo->appKey, "your_app_key") ||
!strcmp(userInfo->appLicense, "your_app_license") ||
!strcmp(userInfo->developerAccount, "your_developer_account") ||
!strcmp(userInfo->baudRate, "your_baud_rate")) {
USER_LOG_ERROR(
"Please fill in correct user information to 'samples/sample_c++/platform/linux/manifold2/application/dji_sdk_config.json' file.");
returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
goto jsonDataFree;
}
jsonDataFree:
osalHandler->Free(jsonData);
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiUserConfigManager_GetLinkConfigInner(const char *path, T_DjiUserLinkConfig *linkConfig)
{
#ifdef SYSTEM_ARCH_LINUX
T_DjiReturnCode returnCode;
uint32_t fileSize = 0;
uint32_t readRealSize = 0;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
uint8_t *jsonData = NULL;
cJSON *jsonRoot = NULL;
cJSON *jsonItem = NULL;
cJSON *jsonValue = NULL;
cJSON *jsonConfig = NULL;
int32_t configValue;
returnCode = UtilFile_GetFileSizeByPath(path, &fileSize);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get file size by path failed, stat = 0x%08llX", returnCode);
return returnCode;
}
USER_LOG_DEBUG("Get config json file size is %d", fileSize);
jsonData = osalHandler->Malloc(fileSize + 1);
if (jsonData == NULL) {
USER_LOG_ERROR("Malloc failed.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
memset(jsonData, 0, fileSize);
UtilFile_GetFileDataByPath(path, 0, fileSize, jsonData, &readRealSize);
jsonData[readRealSize] = '\0';
jsonRoot = cJSON_Parse((char *) jsonData);
if (jsonRoot == NULL) {
goto jsonDataFree;
}
jsonItem = cJSON_GetObjectItem(jsonRoot, "dji_sdk_link_config");
if (jsonItem != NULL) {
jsonValue = cJSON_GetObjectItem(jsonItem, "link_select");
if (jsonValue != NULL) {
printf("\r\nSelect link type: %s\r\n", jsonValue->valuestring);
if (strcmp(jsonValue->valuestring, "use_only_uart") == 0) {
linkConfig->type = DJI_USER_LINK_CONFIG_USE_ONLY_UART;
} else if (strcmp(jsonValue->valuestring, "use_uart_and_network_device") == 0) {
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;
}
}
jsonValue = cJSON_GetObjectItem(jsonItem, "uart_config");
if (jsonValue != NULL) {
jsonConfig = cJSON_GetObjectItem(jsonValue, "uart1_device_name");
printf("\r\nConfig uart1 device name: %s\r\n", jsonConfig->valuestring);
strcpy(linkConfig->uartConfig.uart1DeviceName, jsonConfig->valuestring);
jsonConfig = cJSON_GetObjectItem(jsonValue, "uart2_device_name");
printf("Config uart2 device name: %s\r\n", jsonConfig->valuestring);
strcpy(linkConfig->uartConfig.uart2DeviceName, jsonConfig->valuestring);
jsonConfig = cJSON_GetObjectItem(jsonValue, "uart2_device_enable");
printf("Config uart2 device enable: %s\r\n", jsonConfig->valuestring);
if (strcmp(jsonConfig->valuestring, "true") == 0) {
linkConfig->uartConfig.uart2DeviceEnable = true;
} else {
linkConfig->uartConfig.uart2DeviceEnable = false;
}
}
jsonValue = cJSON_GetObjectItem(jsonItem, "network_config");
if (jsonValue != NULL) {
jsonConfig = cJSON_GetObjectItem(jsonValue, "network_device_name");
printf("\r\nConfig network device name: %s\r\n", jsonConfig->valuestring);
strcpy(linkConfig->networkConfig.networkDeviceName, jsonConfig->valuestring);
jsonConfig = cJSON_GetObjectItem(jsonValue, "network_usb_adapter_vid");
printf("Config network usb adapter vid: %s\r\n", jsonConfig->valuestring);
sscanf(jsonConfig->valuestring, "%X", &configValue);
linkConfig->networkConfig.networkUsbAdapterVid = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "network_usb_adapter_pid");
printf("Config network usb adapter vid: %s\r\n", jsonConfig->valuestring);
sscanf(jsonConfig->valuestring, "%X", &configValue);
linkConfig->networkConfig.networkUsbAdapterPid = configValue;
}
jsonValue = cJSON_GetObjectItem(jsonItem, "usb_bulk_config");
if (jsonValue != NULL) {
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_device_vid");
printf("\r\nConfig usb device vid: %s\r\n", jsonConfig->valuestring);
sscanf(jsonConfig->valuestring, "%X", &configValue);
linkConfig->usbBulkConfig.usbDeviceVid = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_device_pid");
printf("Config usb device pid: %s\r\n", jsonConfig->valuestring);
sscanf(jsonConfig->valuestring, "%X", &configValue);
linkConfig->usbBulkConfig.usbDevicePid = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_device_name");
printf("Config usb bulk1 device name: %s\r\n", jsonConfig->valuestring);
strcpy(linkConfig->usbBulkConfig.usbBulk1DeviceName, jsonConfig->valuestring);
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_interface_num");
printf("Config usb bulk1 interface num: %s\r\n", jsonConfig->valuestring);
sscanf(jsonConfig->valuestring, "%X", &configValue);
linkConfig->usbBulkConfig.usbBulk1InterfaceNum = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_endpoint_in");
printf("Config usb bulk1 endpoint in: %s\r\n", jsonConfig->valuestring);
sscanf(jsonConfig->valuestring, "%X", &configValue);
linkConfig->usbBulkConfig.usbBulk1EndpointIn = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_endpoint_out");
printf("Config usb bulk1 endpoint out: %s\r\n", jsonConfig->valuestring);
sscanf(jsonConfig->valuestring, "%X", &configValue);
linkConfig->usbBulkConfig.usbBulk1EndpointOut = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_device_name");
printf("Config usb bulk2 device name: %s\r\n", jsonConfig->valuestring);
strcpy(linkConfig->usbBulkConfig.usbBulk2DeviceName, jsonConfig->valuestring);
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_interface_num");
printf("Config usb bulk2 interface num: %s\r\n", jsonConfig->valuestring);
sscanf(jsonConfig->valuestring, "%X", &configValue);
linkConfig->usbBulkConfig.usbBulk2InterfaceNum = configValue;
jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_endpoint_in");
printf("Config usb bulk2 endpoint in: %s\r\n", jsonConfig->valuestring);
linkConfig->usbBulkConfig.usbBulk2EndpointIn = configValue;
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;
}
}
jsonDataFree:
osalHandler->Free(jsonData);
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

95
samples/sample_c/module_sample/utils/dji_config_manager.h Normal file
View File

@ -0,0 +1,95 @@
/**
********************************************************************
* @file dji_config_manager.h
* @brief This is the header file for "dji_config_manager.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 DJI_CONFIG_MANAGER_H
#define DJI_CONFIG_MANAGER_H
/* Includes ------------------------------------------------------------------*/
#include "dji_platform.h"
#include "dji_core.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define USER_DEVICE_NAME_STR_MAX_SIZE (64)
/* Exported types ------------------------------------------------------------*/
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 {
E_DjiUserLinkConfigType type;
struct {
char uart1DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
bool uart2DeviceEnable;
char uart2DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
} uartConfig;
struct {
char networkDeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
// M300/M350 RTK payload port no need
uint16_t networkUsbAdapterVid;
uint16_t networkUsbAdapterPid;
} networkConfig;
struct {
uint16_t usbDeviceVid;
uint16_t usbDevicePid;
char usbBulk1DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
uint8_t usbBulk1InterfaceNum;
uint8_t usbBulk1EndpointIn;
uint8_t usbBulk1EndpointOut;
char usbBulk2DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
uint8_t usbBulk2InterfaceNum;
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;
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiUserConfigManager_LoadConfiguration(const char *path);
void DjiUserConfigManager_GetAppInfo(T_DjiUserInfo *userInfo);
void DjiUserConfigManager_GetLinkConfig(T_DjiUserLinkConfig *linkConfig);
bool DjiUserConfigManager_IsEnable(void);
#ifdef __cplusplus
}
#endif
#endif // DJI_CONFIG_MANAGER_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

4
samples/sample_c/module_sample/utils/util_file.c
View File

@ -89,8 +89,8 @@ T_DjiReturnCode UtilFile_GetFileSizeByPath(const char *filePath, uint32_t *fileS
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint16_t len,
uint8_t *data, uint16_t *realLen)
T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint32_t len,
uint8_t *data, uint32_t *realLen)
{
FILE *pF;
T_DjiReturnCode psdkStat;

4
samples/sample_c/module_sample/utils/util_file.h
View File

@ -52,8 +52,8 @@ typedef struct {
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode UtilFile_GetCreateTime(const char *filePath, T_UtilFileCreateTime *createTime);
T_DjiReturnCode UtilFile_GetFileSizeByPath(const char *filePath, uint32_t *fileSize);
T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint16_t len,
uint8_t *data, uint16_t *realLen);
T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint32_t len,
uint8_t *data, uint32_t *realLen);
T_DjiReturnCode DjiFile_Delete(const char *filePath);
T_DjiReturnCode UtilFile_GetFileSize(FILE *file, uint32_t *fileSize);

218
samples/sample_c/module_sample/utils/util_link_list.c Normal file
View File

@ -0,0 +1,218 @@
/**
********************************************************************
* @file util_link_list.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.
*
*********************************************************************
*/
#define UTIL_LINK_LIST_C
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "util_link_list.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Private values ------------------------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
void DjiUserUtil_ListNodeDeleteDataOnly( T_UtilListNode *node )
{
if ( NULL == node) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
if ( NULL != node->data ) {
UTIL_OSAL_MEMRY_FREE( node->data );
node->data = NULL;
}
return;
}
void DjiUserUtil_ListNodeDeleteNodeSelf( T_UtilListNode *node )
{
if ( NULL == node) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
UTIL_OSAL_MEMRY_FREE( node );
return;
}
void DjiUserUtil_InitListNode( T_UtilListNode *node, void *data )
{
if ( NULL == node ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
node->prev = NULL;
node->next = NULL;
node->data = data;
return;
}
T_UtilListNode *DjiUserUtil_NewListNode( void *data )
{
T_UtilListNode *node = NULL;
node = (T_UtilListNode *)UTIL_OSAL_MEMRY_ALLOC( sizeof(T_UtilListNode) );
if ( NULL == node ) {
UTIL_REPORT_ERROR( "null pointer" );
return NULL;
}
DjiUserUtil_InitListNode( node, data );
return node;
}
void DjiUserUtil_LinkListDestory( T_UtilLinkList *linkList )
{
T_UtilListNode *node = NULL;
T_UtilListNode *next = NULL;
if ( NULL == linkList ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
for ( node = linkList->first; NULL != node ; node = next ) {
next = node->next;
DjiUserUtil_ListNodeDeleteDataOnly( node );
DjiUserUtil_ListNodeDeleteNodeSelf( node );
}
}
void DjiUserUtil_LinkListAddNodeFirst( T_UtilLinkList *linkList, T_UtilListNode *node )
{
if ( ( NULL == linkList ) || ( NULL == node ) ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
if ( UTIL_LINKLIST_IS_EMPTY( *linkList ) ) {
node->prev = NULL;
node->next = NULL;
linkList->first = node;
linkList->last = node;
} else {
node->prev = NULL;
node->next = linkList->first;
linkList->first = node;
node->next->prev = node;
}
linkList->count ++;
return;
}
void DjiUserUtil_LinkListAddNodeLast( T_UtilLinkList *linkList, T_UtilListNode *node )
{
if ( ( NULL == linkList ) || ( NULL == node ) ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
if ( UTIL_LINKLIST_IS_EMPTY( *linkList ) ) {
node->prev = NULL;
node->next = NULL;
linkList->first = node;
linkList->last = node;
} else {
node->next = NULL;
node->prev = linkList->last;
linkList->last = node;
node->prev->next = node;
}
linkList->count ++;
return;
}
void DjiUserUtil_InitLinkList( T_UtilLinkList *linkList )
{
if ( NULL == linkList ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
linkList->first = NULL;
linkList->last = NULL;
linkList->count = 0;
return;
}
T_UtilLinkList *DjiUserUtil_NewLinkList( void )
{
T_UtilLinkList *linkList = NULL;
linkList = (T_UtilLinkList *)UTIL_OSAL_MEMRY_ALLOC( sizeof( T_UtilLinkList ) );
if ( NULL == linkList ) {
UTIL_REPORT_ERROR( "null pointer" );
return NULL;
}
DjiUserUtil_InitLinkList( linkList );
return linkList;
}
void DjiUserUtil_LinkListRemoveNodeOnly( T_UtilLinkList *linkList, T_UtilListNode *node )
{
if ( ( NULL == linkList ) || ( NULL == node ) ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
if ( node == linkList->first ) {
linkList->first = linkList->first->next;
}
if ( node == linkList->last ) {
linkList->last = linkList->last->prev;
}
if ( NULL != node->next ) {
node->next->prev = node->prev;
}
if ( NULL != node->prev ) {
node->prev->next = node->next;
}
if ( 0 != linkList->count ) {
linkList->count --;
}
DjiUserUtil_ListNodeDeleteNodeSelf( node );
return;
}
/* Private functions definition-----------------------------------------------*/
#ifdef __cplusplus
}
#endif
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

94
samples/sample_c/module_sample/utils/util_link_list.h Normal file
View File

@ -0,0 +1,94 @@
/**
********************************************************************
* @file link_list.h
* @brief This is the header file for "link_list.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 UTIL_LINK_LIST_H
#define UTIL_LINK_LIST_H
/* Includes ------------------------------------------------------------------*/
#include "dji_platform.h"
#ifdef UTIL_LINK_LIST_C
#define UTIL_LINK_LIST_EXT
#else
#define UTIL_LINK_LIST_EXT extern
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define UTIL_REPORT_ERROR( exp... )
#define UTIL_OSAL_MEMRY_ALLOC(size) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); osalHandler->Malloc( size ); } )
#define UTIL_OSAL_MEMRY_FREE(ptr) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); osalHandler->Free( ptr ); } )
#define UTIL_OSAL_SEM_FREE_MAY_RETURN(sem) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreDestroy( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_SEM_INIT_MAY_RETURN(sem) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreCreate( 0, sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_SEM_POST_MAY_RETURN(sem) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphorePost( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_SEM_WAIT_MAY_RETURN(sem) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreWait( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_SEM_WAIT_FOR(sem,ms) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreTimedWait( sem, ms ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_MUTEX_FREE_MAY_RETURN(mutex) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexDestroy( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_MUTEX_INIT_MAY_RETURN(mutex) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexCreate( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_MUTEX_LOCK_MAY_RETURN(mutex) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexLock( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_MUTEX_UNLOCK_MAY_RETURN(mutex) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexUnlock( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_LINKLIST_IS_EMPTY(l) ( ((l).first == NULL) ? true : false )
/* Exported types ------------------------------------------------------------*/
typedef struct tagT_UtilListNode {
struct tagT_UtilListNode *next;
struct tagT_UtilListNode *prev;
void *data;
} T_UtilListNode;
typedef struct tagT_UtilLinkList {
T_UtilListNode *first;
T_UtilListNode *last;
uint32_t count;
} T_UtilLinkList;
/* Exported functions --------------------------------------------------------*/
UTIL_LINK_LIST_EXT void DjiUserUtil_ListNodeDeleteDataOnly( T_UtilListNode *node );
UTIL_LINK_LIST_EXT void DjiUserUtil_ListNodeDeleteNodeSelf( T_UtilListNode *node );
UTIL_LINK_LIST_EXT void DjiUserUtil_InitListNode( T_UtilListNode *node, void *data );
UTIL_LINK_LIST_EXT T_UtilListNode *DjiUserUtil_NewListNode( void *data );
UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListDestory( T_UtilLinkList *linkList );
UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListAddNodeFirst( T_UtilLinkList *linkList, T_UtilListNode *node );
UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListAddNodeLast( T_UtilLinkList *linkList, T_UtilListNode *node );
UTIL_LINK_LIST_EXT void DjiUserUtil_InitLinkList( T_UtilLinkList *linkList );
UTIL_LINK_LIST_EXT T_UtilLinkList *DjiUserUtil_NewLinkList( void );
UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListRemoveNodeOnly( T_UtilLinkList *linkList, T_UtilListNode *node );
#ifdef __cplusplus
}
#endif
#endif // UTIL_LINK_LIST_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

86
samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c
View File

@ -37,21 +37,26 @@
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
#ifdef SYSTEM_ARCH_LINUX
static T_DjiWaypointV3MissionState s_lastWaypointV3MissionState = {0};
#endif
/* Private functions declaration ---------------------------------------------*/
#ifdef SYSTEM_ARCH_LINUX
static T_DjiReturnCode DjiTest_WaypointV3MissionStateCallback(T_DjiWaypointV3MissionState missionState);
static T_DjiReturnCode DjiTest_WaypointV3ActionStateCallback(T_DjiWaypointV3ActionState actionState);
#endif
static T_DjiReturnCode DjiTest_WaypointV3WaitEndFlightStatus(T_DjiFcSubscriptionFlightStatus status);
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiFcSubscriptionFlightStatus flightStatus = 0;
T_DjiDataTimestamp flightStatusTimestamp = {0};
#ifdef SYSTEM_ARCH_LINUX
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
FILE *kmzFile = NULL;
uint32_t kmzFileSize = 0;
uint8_t *kmzFileBuf;
@ -87,7 +92,7 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
/*! Attention: suggest use the exported kmz file by DJI pilot. If use this test file, you need set the longitude as
* 113.94255, latitude as 22.57765 on DJI Assistant 2 simulator */
snprintf(tempPath, DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX, "%s/waypoint_file/waypoint_v3_test_file.kmz",
curFileDirPath);
curFileDirPath);
kmzFile = fopen(tempPath, "r");
if (kmzFile == NULL) {
@ -136,8 +141,6 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
goto close_file;
}
osalHandler->TaskSleepMs(2000);
close_file:
#ifdef SYSTEM_ARCH_LINUX
returnCode = fclose(kmzFile);
@ -155,21 +158,49 @@ close_file:
goto out;
}
do {
osalHandler->TaskSleepMs(2000);
USER_LOG_INFO("The aircraft is on the ground and motors are stoped...");
returnCode = DjiTest_WaypointV3WaitEndFlightStatus(DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_STOPED);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Wait end flight status error.");
goto out;
}
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
(uint8_t *) &flightStatus,
sizeof(T_DjiFcSubscriptionFlightStatus),
&flightStatusTimestamp);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get value of topic flight status failed, error code:0x%08llX", returnCode);
}
USER_LOG_INFO("The aircraft is on the ground and motors are rotating...");
returnCode = DjiTest_WaypointV3WaitEndFlightStatus(DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_ON_GROUND);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Wait end flight status error.");
goto out;
}
USER_LOG_INFO("flight status: %d", flightStatus);
} while(flightStatus == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR);
USER_LOG_INFO("The aircraft is in the air...");
returnCode = DjiTest_WaypointV3WaitEndFlightStatus(DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Wait end flight status error.");
goto out;
}
USER_LOG_INFO("The aircraft is on the ground now.");
USER_LOG_INFO("The aircraft is on the ground and motors are rotating...");
returnCode = DjiTest_WaypointV3WaitEndFlightStatus(DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_ON_GROUND);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Wait end flight status error.");
goto out;
}
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
(uint8_t *) &flightStatus,
sizeof(T_DjiFcSubscriptionFlightStatus),
&flightStatusTimestamp);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get value of topic flight status failed, error code:0x%08llX", returnCode);
goto out;
}
if (flightStatus != DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_STOPED) {
USER_LOG_ERROR("Aircraft's flight status error, motors are not stoped.");
goto out;
}
USER_LOG_INFO("The aircraft is on the ground now, and motor are stoped.");
out:
#ifdef SYSTEM_ARCH_LINUX
@ -182,6 +213,7 @@ out:
}
/* Private functions definition-----------------------------------------------*/
#ifdef SYSTEM_ARCH_LINUX
static T_DjiReturnCode DjiTest_WaypointV3MissionStateCallback(T_DjiWaypointV3MissionState missionState)
{
if (s_lastWaypointV3MissionState.state == missionState.state
@ -208,5 +240,27 @@ static T_DjiReturnCode DjiTest_WaypointV3ActionStateCallback(T_DjiWaypointV3Acti
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
#endif
static T_DjiReturnCode DjiTest_WaypointV3WaitEndFlightStatus(T_DjiFcSubscriptionFlightStatus status) {
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiDataTimestamp flightStatusTimestamp = {0};
T_DjiFcSubscriptionFlightStatus flightStatus = 0;
do {
osalHandler->TaskSleepMs(20);
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
(uint8_t *)&flightStatus,
sizeof(T_DjiFcSubscriptionFlightStatus),
&flightStatusTimestamp);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get value of topic flight status failed, error code:0x%08llX", returnCode);
}
} while(flightStatus == status);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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

@ -171,6 +171,7 @@ 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);

39
samples/sample_c/module_sample/widget/test_widget_speaker.c
View File

@ -62,7 +62,7 @@
#define WIDGET_SPEAKER_AUDIO_OPUS_DECODE_BITRATE_8KBPS (8000)
/* The speaker initialization parameters */
#define WIDGET_SPEAKER_DEFAULT_VOLUME (30)
#define WIDGET_SPEAKER_DEFAULT_VOLUME (60)
#define EKHO_INSTALLED (1)
/* Private types -------------------------------------------------------------*/
@ -71,10 +71,13 @@
static T_DjiWidgetSpeakerHandler s_speakerHandler = {0};
static T_DjiMutexHandle s_speakerMutex = {0};
static T_DjiWidgetSpeakerState s_speakerState = {0};
#ifdef SYSTEM_ARCH_LINUX
static T_DjiTaskHandle s_widgetSpeakerTestThread;
static FILE *s_ttsFile = NULL;
#endif
static FILE *s_audioFile = NULL;
static FILE *s_ttsFile = NULL;
static bool s_isDecodeFinished = true;
static uint16_t s_decodeBitrate = 0;
@ -321,8 +324,16 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
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_M3TA == 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
) {
return DjiTest_PlayAudioData();
} else {
txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");
@ -384,6 +395,7 @@ static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, u
file = fopen(path, "rb");
if (file == NULL) {
USER_LOG_ERROR("Open tts file error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
while (1) {
@ -509,7 +521,9 @@ static T_DjiReturnCode SetPlayMode(E_DjiWidgetSpeakerPlayMode playMode)
static T_DjiReturnCode StartPlay(void)
{
#ifdef SYSTEM_ARCH_LINUX
uint32_t pid;
#endif
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
#ifdef SYSTEM_ARCH_LINUX
@ -530,7 +544,9 @@ static T_DjiReturnCode StopPlay(void)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
#ifdef SYSTEM_ARCH_LINUX
uint32_t pid;
#endif
returnCode = osalHandler->MutexLock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -561,9 +577,11 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
char cmdStr[128];
int32_t ret = 0;
#ifdef PLATFORM_ARCH_x86_64
float realVolume;
int32_t ret = 0;
char cmdStr[128];
#endif
returnCode = osalHandler->MutexLock(s_speakerMutex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -571,7 +589,6 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
return returnCode;
}
realVolume = 1.5f * (float) volume;
s_speakerState.volume = volume;
USER_LOG_INFO("Set widget speaker volume: %d", volume);
@ -581,11 +598,12 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
ret = system(cmdStr);
if (ret == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
memset(cmdStr, 0, sizeof(cmdStr));
realVolume = 1.5f * (float) volume;
snprintf(cmdStr, sizeof(cmdStr), "pactl set-sink-volume %s %d%%", WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME,
(int32_t) realVolume);
returnCode = DjiUserUtil_RunSystemCmd(cmdStr);
if (returnCode < 0) {
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set widget speaker volume error: %d", ret);
}
} else {
@ -607,8 +625,10 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
uint32_t offset, uint8_t *buf, uint16_t size)
{
#ifdef SYSTEM_ARCH_LINUX
uint16_t writeLen;
T_DjiReturnCode returnCode;
#endif
if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
USER_LOG_INFO("Create tts file.");
@ -659,8 +679,11 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
uint32_t offset, uint8_t *buf, uint16_t size)
{
#ifdef SYSTEM_ARCH_LINUX
uint16_t writeLen;
T_DjiReturnCode returnCode;
#endif
T_DjiWidgetTransDataContent transDataContent = {0};
if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {

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

39
samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.c
View File

@ -73,7 +73,7 @@ typedef enum {
E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_VELOCITY_CTRL_LANDING = 6,
E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_ARREST_FLYING = 7,
E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_SET_GET_PARAM = 8,
E_DJI_SAMPLE_INDEX_HMS = 9,
E_DJI_SAMPLE_INDEX_HMS_MANAGER = 9,
E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_FREE_MODE = 10,
E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_YAW_FOLLOW_MODE = 11,
E_DJI_SAMPLE_INDEX_LIVEVIEW = 12,
@ -87,12 +87,11 @@ typedef enum {
E_DJI_SAMPLE_INDEX_CAMMGR_TAP_ZOOM = 20,
E_DJI_SAMPLE_INDEX_CAMMGR_OPTICAL_ZOOM = 21,
E_DJI_SAMPLE_INDEX_CAMMGR_SINGLE_PHOTO = 22,
E_DJI_SAMPLE_INDEX_CAMMGR_AEB_PHOTO = 23,
E_DJI_SAMPLE_INDEX_CAMMGR_BURST_PHOTO = 24,
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_CAMMGR_BURST_PHOTO = 23,
E_DJI_SAMPLE_INDEX_CAMMGR_INTERVAL_PHOTO = 24,
E_DJI_SAMPLE_INDEX_CAMMGR_RECORDER_VIDEO = 25,
E_DJI_SAMPLE_INDEX_CAMMGR_MEDIA_DOWNLOAD = 26,
E_DJI_SAMPLE_INDEX_CAMMGR_THERMOMETRY = 27,
E_DJI_SAMPLE_INDEX_UNKNOWN = 0xFF,
} E_DjiExtensionPortSampleIndex;
@ -102,7 +101,7 @@ typedef enum {
E_DJI_HMS_ERROR_CODE_INDEX3,
E_DJI_HMS_ERROR_CODE_INDEX4,
E_DJI_HMS_ERROR_CODE_INDEX5,
}E_DjiExtensionPortHmsErrorCodeIndex;
} E_DjiExtensionPortHmsErrorCodeIndex;
typedef enum {
E_DJI_HMS_ERROR_LEVEL_INDEX1 = 0,
@ -110,7 +109,7 @@ typedef enum {
E_DJI_HMS_ERROR_LEVEL_INDEX3,
E_DJI_HMS_ERROR_LEVEL_INDEX4,
E_DJI_HMS_ERROR_LEVEL_INDEX5,
}E_DjiExtensionPortHmsErrorLevelIndex;
} E_DjiExtensionPortHmsErrorLevelIndex;
typedef struct {
bool valid;
@ -212,10 +211,11 @@ T_DjiReturnCode DjiTest_WidgetInteractionStartService(void)
return djiStat;
}
#ifdef SYSTEM_ARCH_LINUX_DISABLEED
#ifdef SYSTEM_ARCH_LINUX_DISABLE
//Step 2 : Set UI Config (Linux environment)
char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX];
char tempPath[WIDGET_DIR_PATH_LEN_MAX];
djiStat = DjiUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", djiStat);
@ -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);
@ -418,7 +420,7 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
default:
break;
}
DjiHms_InjectHmsErrorCode(errorCode, errorLevel);
DjiHmsCustomization_InjectHmsErrorCode(errorCode, errorLevel);
osalHandler->TaskSleepMs(500);
s_isInjectErrcode = false;
s_isEliminateErrcode = false;
@ -444,7 +446,7 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
default:
break;
}
DjiHms_EliminateHmsErrorCode(errorCode);
DjiHmsCustomization_EliminateHmsErrorCode(errorCode);
osalHandler->TaskSleepMs(500);
s_isInjectErrcode = false;
s_isEliminateErrcode = false;
@ -462,7 +464,10 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
USER_LOG_INFO("--------------------------------------------------------------------------------------------->");
DjiTest_WidgetLogAppend("-> Sample Start");
if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
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_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) {
@ -530,8 +535,8 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
case E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_YAW_FOLLOW_MODE:
DjiTest_GimbalManagerRunSample(s_mountPosition, DJI_GIMBAL_MODE_YAW_FOLLOW);
break;
case E_DJI_SAMPLE_INDEX_HMS:
DjiTest_HmsRunSample();
case E_DJI_SAMPLE_INDEX_HMS_MANAGER:
DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_ENGLISH);
break;
case E_DJI_SAMPLE_INDEX_LIVEVIEW:
#ifdef SYSTEM_ARCH_LINUX
@ -582,10 +587,6 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_AEB_PHOTO:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_AEB_PHOTO);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_BURST_PHOTO:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_BURST_PHOTO);

13
samples/sample_c/module_sample/widget_interaction_test/widget_file/cn_big_screen/widget_config.json
View File

@ -205,22 +205,19 @@
"item_name": "23_test_cammgr-single_photo"
},
{
"item_name": "24_test_cammgr-AEB_photo"
"item_name": "24_test_cammgr-burst_photo"
},
{
"item_name": "25_test_cammgr-burst_photo"
"item_name": "25_test_cammgr-interval_photo"
},
{
"item_name": "26_test_cammgr-interval_photo"
"item_name": "26_test_cammgr-recorder_video"
},
{
"item_name": "27_test_cammgr-recorder_video"
"item_name": "27_test_cammgr-media_download"
},
{
"item_name": "28_test_cammgr-media_download"
},
{
"item_name": "29_test_cammgr-thermometry"
"item_name": "28_test_cammgr-thermometry"
}
]
},

13
samples/sample_c/module_sample/widget_interaction_test/widget_file/en_big_screen/widget_config.json
View File

@ -205,22 +205,19 @@
"item_name": "23_test_cammgr-single_photo"
},
{
"item_name": "24_test_cammgr-AEB_photo"
"item_name": "24_test_cammgr-burst_photo"
},
{
"item_name": "25_test_cammgr-burst_photo"
"item_name": "25_test_cammgr-interval_photo"
},
{
"item_name": "26_test_cammgr-interval_photo"
"item_name": "26_test_cammgr-recorder_video"
},
{
"item_name": "27_test_cammgr-recorder_video"
"item_name": "27_test_cammgr-media_download"
},
{
"item_name": "28_test_cammgr-media_download"
},
{
"item_name": "29_test_cammgr-thermometry"
"item_name": "28_test_cammgr-thermometry"
}
]
},

201
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 7255
#define widget_config_json_fileSize sizeof(widget_config_json_fileBinaryArray)
static const uint8_t widget_config_json_fileBinaryArray[7255] = {
static const uint8_t widget_config_json_fileBinaryArray[] = {
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@ -353,116 +353,111 @@ static const uint8_t widget_config_json_fileBinaryArray[7255] = {
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};
#endif /* __widget_config_json_h_included */

9
samples/sample_c/module_sample/xport/test_payload_xport.c
View File

@ -99,6 +99,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
//设置俯仰轴关节角（PITCH_JOINT_ANGLE）限位
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1200;
USER_LOG_INFO("Set joint angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set pitch joint angle limit angle for XPort error: 0x%08llX.", djiStat);
@ -108,6 +109,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
//设置俯仰轴欧拉角（PITCH_EULER_ANGLE）限位
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1200;
USER_LOG_INFO("Set euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set pitch euler angle limit angle for XPort error: 0x%08llX.", djiStat);
@ -117,6 +119,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
//设置扩展俯仰轴欧拉角（PITCH_EULER_ANGLE_EXTENSION）限位
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1000;
USER_LOG_INFO("Set extended euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set pitch extension euler angle limit angle for XPort error: 0x%08llX.", djiStat);
@ -140,11 +143,13 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
limitAngle.upperLimit = 1500;
limitAngle.lowerLimit = -1500;
} else {
USER_LOG_WARN("payload mount position is unknown.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
USER_LOG_WARN("unknown mounposition.");
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1500;
}
//设置航向轴关节角（YAW_JOINT_ANGLE）限位2、
USER_LOG_INFO("Set joint angle limit of yaw axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set yaw joint angle limit angle for XPort error: 0x%08llX.", djiStat);