遥控器界面

samples/sample_c/module_sample/widget/test_widget.c

@@ -32,6 +32,10 @@
 #include "dji_sdk_config.h"
 #include "file_binary_array_list_en.h"
 
+//sbg
+#include <stdlib.h>
+#include <string.h>
+
 /* Private constants ---------------------------------------------------------*/
 #define WIDGET_DIR_PATH_LEN_MAX         (256)
 #define WIDGET_TASK_STACK_SIZE          (2048)
@@ -45,21 +49,65 @@ static T_DjiReturnCode DjiTestWidget_SetWidgetValue(E_DjiWidgetType widgetType,
 static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t *value,
                                                     void *userData);
 
+static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
+                                                                  void *userData);
+
+static void *PsdkTest_IrisRecordSystemChanged(void *arg);
+
 /* Private values ------------------------------------------------------------*/
 static T_DjiTaskHandle s_widgetTestThread;
 static bool s_isWidgetFileDirPathConfigured = false;
 static char s_widgetFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
 
+
+static T_DjiTaskHandle s_widgetSbgThread;
+static T_DjiTaskHandle s_widgetXimeaThread;
+
+
+
+int SbgRecordCondition=0;
+
+static int s_sbgMagState=0;
+static int s_stateOfXimea=100;
+static int s_stateOfSbg=0;
+static int s_stateOfFile=0;
+
+//0：ximeaAirborneSystem系统未就绪，不可启动；1：ximeaAirborneSystem系统就绪，可以启动；
+//2：ximeaAirborneSystem系统正在启动；3：ximeaAirborneSystem系统启动成功；4：系统已经关闭，并且不能再次启动；
+int systemON_Control = 0;
+
+char s_strUIMessage[100]=" ";
+static char * s_strStateOfSbg="None";
+static char * s_strSbgSatelliteCounter="None";
+static char * s_strSbgAccuracy="None";
+char XimeaFramerate[100]=" ";
+char XimeaExposeTime[100]=" ";
+char XimeaExposeMaxValue[100]=" ";
+char spectralBin[100]="None";
+static char * s_strSbgSolutionMode="None";
+static char * s_strStateOfXimea="None";
+
+char * s_strPitch="None";
+char * s_strRoll="None";
+char * s_strYaw="None";
+
+static int s_sockfd;
+static struct sockaddr_in s_server;
+
+
 static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
         {0, DJI_WIDGET_TYPE_BUTTON,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
         {1, DJI_WIDGET_TYPE_LIST,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
         {2, DJI_WIDGET_TYPE_SWITCH,          DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
         {3, DJI_WIDGET_TYPE_SCALE,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
         {4, DJI_WIDGET_TYPE_BUTTON,         DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
-    {5, DJI_WIDGET_TYPE_SCALE,         DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+        {5, DJI_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
-    {6, DJI_WIDGET_TYPE_INT_INPUT_BOX, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+        {6, DJI_WIDGET_TYPE_INT_INPUT_BOX,         PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
-    {7, DJI_WIDGET_TYPE_SWITCH,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+        {7, DJI_WIDGET_TYPE_BUTTON,        PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
-    {8, DJI_WIDGET_TYPE_LIST,          DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+        {8, DJI_WIDGET_TYPE_INT_INPUT_BOX,         PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
+        {9, DJI_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
+        {10, DJI_WIDGET_TYPE_LIST,          PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},//PsdkTestWidget_SetWidgetValue
+        {11, DJI_WIDGET_TYPE_LIST,          PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
 };
 
 static const char *s_widgetTypeNameArray[] = {
@@ -89,6 +137,9 @@ T_DjiReturnCode DjiTest_WidgetStartService(void)
 
 #ifdef SYSTEM_ARCH_LINUX
     //Step 2 : Set UI Config (Linux environment)
+    //获取控件图像和UI配置文件所在文件夹
+    USER_LOG_INFO("验证是否定义了宏PSDK_ARCH_SYS_LINUX:是!--------------------------------------------------------------------------------------------------------------------------");
+
     char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX];
     char tempPath[WIDGET_DIR_PATH_LEN_MAX];
     djiStat = DjiUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath);
@@ -111,6 +162,7 @@ T_DjiReturnCode DjiTest_WidgetStartService(void)
     }
 
     //set ui config for English language
+    //设置系统语言为英文时控件配置文件的路径
     djiStat = DjiWidget_RegUiConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_ENGLISH,
                                              DJI_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
                                              tempPath);
@@ -161,6 +213,27 @@ T_DjiReturnCode DjiTest_WidgetStartService(void)
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
 
+
+    //Step 5 : Run ximea task
+    if (osalHandler->TaskCreate("ximea", PsdkTest_IrisRecordSystemChanged, WIDGET_TASK_STACK_SIZE, NULL,
+                            &s_widgetXimeaThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Psdk widget test task(ximea) create error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    /* tc-----------------------------------------------*/
+    struct hostent *he;
+    he=gethostbyname("127.0.0.1");
+
+    s_sockfd=socket(AF_INET, SOCK_DGRAM,0);
+
+
+    bzero(&s_server,sizeof(s_server));
+    s_server.sin_family = AF_INET;
+    s_server.sin_port = htons(PORT);
+    s_server.sin_addr= *((struct in_addr *)he->h_addr);
+    /* tc-----------------------------------------------*/
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
@@ -186,6 +259,13 @@ __attribute__((weak)) void DjiTest_WidgetLogAppend(const char *fmt, ...)
 #endif
 
 /* Private functions definition-----------------------------------------------*/
+//在DJI pilot的浮窗上显示系统时间
+int messageTimeCounter = 0;
+int messageTimespan = 10;
+
+int XimeaAirborneSystemSurvival_Counter = 1;
+int ximeaAirborneSystemSurvivalTime = 0;
+int ximeaAirborneSystemSurvivalTime_Temp = 0;
 static void *DjiTest_WidgetTask(void *arg)
 {
     char message[DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN];
@@ -202,7 +282,8 @@ static void *DjiTest_WidgetTask(void *arg)
         }
 
 #ifndef USER_FIRMWARE_MAJOR_VERSION
-        snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "System time : %u ms", sysTimeMs);
+        snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "%s\n相机: %s;  惯导: %s;\n卫星: %s;          精度: %s;\n帧率: %s;曝光: %s;max: %s;\nP: %s;         R: %s;       Y: %s;\n光谱bin: %s;\n",
+                 s_strUIMessage, s_strStateOfXimea, s_strStateOfSbg, s_strSbgSatelliteCounter, s_strSbgAccuracy, XimeaFramerate, XimeaExposeTime, XimeaExposeMaxValue, s_strPitch, s_strRoll, s_strYaw, spectralBin);
 #else
         snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN,
                  "System time : %u ms\r\nVersion: v%02d.%02d.%02d.%02d\r\nBuild time: %s %s", sysTimeMs,
@@ -217,10 +298,279 @@ static void *DjiTest_WidgetTask(void *arg)
             USER_LOG_ERROR("Floating window show message error, stat = 0x%08llX", djiStat);
         }
 
+
+        messageTimeCounter++;
+
+        if (messageTimeCounter % messageTimespan == 0)
+        {
+            strcpy(s_strUIMessage," ");
+        }
+
+        //判断ximeaAirborneSystem系统是否存活
+//        if(ximeaAirborneSystemSurvivalTime > 10)
+//        {
+//            if (XimeaAirborneSystemSurvival_Counter % 10 ==0)
+//            {
+//                if (ximeaAirborneSystemSurvivalTime - ximeaAirborneSystemSurvivalTime_Temp == 0)
+//                {
+//                    strcpy(s_strUIMessage,"采集系统无响应，请重启！");
+//                    messageTimeCounter = 0;
+//                    messageTimespan = 10;
+//                }
+//
+//                XimeaAirborneSystemSurvival_Counter = 1;
+//                ximeaAirborneSystemSurvivalTime_Temp = ximeaAirborneSystemSurvivalTime;
+//            }
+//
+//            XimeaAirborneSystemSurvival_Counter++;
+//        }
+
+
         osalHandler->TaskSleepMs(1000);
     }
 }
 
+static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
+{
+    // FILE * fp;
+    // char buffer[80];
+    // fp = popen("/home/iris-xport/cpp_qtcreator/ximeaImageRecorder-Release/ximeaImageRecorder", "r");ss
+    // fgets(buffer, sizeof(buffer), fp);
+    // printf("%s", buffer);
+    // pclose(fp);
+
+
+    int sockfd;
+    struct sockaddr_in server;
+    struct sockaddr_in client;
+    socklen_t addrlen;
+    int num;
+    char buf[MAXDATASIZE];
+
+    if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
+    {
+        perror("Creatingsocket failed.");
+    }
+
+    bzero(&server,sizeof(server));
+    server.sin_family=AF_INET;
+    server.sin_port=htons(PORT+1);
+    server.sin_addr.s_addr= htonl(INADDR_ANY);
+    if(bind(sockfd, (struct sockaddr *)&server, sizeof(server)) == -1)
+    {
+        perror("Bind()error.");
+    }
+
+    addrlen=sizeof(client);
+    while (1)
+    {
+        //printf("PsdkTest_IrisRecordSystemChanged: record system status change! 8888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888\n");
+
+        num =recvfrom(sockfd,buf,MAXDATASIZE,0,(struct sockaddr*)&client,&addrlen);
+
+        if (num < 0)
+        {
+            perror("recvfrom() error\n");
+
+            continue;
+        }
+
+        buf[num] = '\0';
+
+        printf("You got a message (%s) from client.\n",buf);
+        //printf("You got a message (%s%) from client.\nIt's ip is%s, port is %d.\n",buf,inet_ntoa(client.sin_addr),htons(client.sin_port));
+
+
+        char * result[3];
+        result[0] = strtok( buf, "," );
+        result[1] = strtok( NULL, "," );
+        result[2] = strtok( NULL, "," );
+
+//        printf("result[0]: %s\n", result[0]);
+//        printf("result[1]: %s\n\n", result[1]);
+//        printf("result[2]: %s\n\n", result[2]);
+
+
+        if (strcmp(result[0],"sbg") == 0)
+        {
+            s_stateOfSbg = atoi(result[1]);
+            printf("sbg的状态为: %d\n\n", atoi(result[1]));
+
+            switch (s_stateOfSbg)
+            {
+                case 0:
+                    s_strStateOfSbg="未打开";
+
+                    if (systemON_Control == 0)
+                    {
+                        strcpy(s_strUIMessage,"系统已就绪！");
+                        messageTimeCounter = 0;
+                        messageTimespan = 1000;
+
+                        systemON_Control = 1;//ximeaAirborneSystem系统一启动就会发送此信息 → 代表采集系统就绪；
+                    }
+
+                    if (systemON_Control == 3)
+                    {
+                        strcpy(s_strUIMessage,"数据量过大，采集系统已经停止，请重新上电！");
+                        messageTimeCounter = 0;
+                        messageTimespan = 1000;
+                    }
+
+                    break;
+                case 1:
+                    s_strStateOfSbg="波特率设置失败";
+                    break;
+                case 2:
+                    s_strStateOfSbg="打开成功";
+                    break;
+                case 3:
+                    s_strStateOfSbg="采集中";
+                    systemON_Control = 3;
+                    break;
+
+                default:
+                    break;
+            }
+        }
+        else if (strcmp(result[0],"Accuracy") == 0)
+        {
+//            printf("惯导定位精度为: %s\n\n", result[1]);
+
+            s_strSbgAccuracy=result[1];
+            s_strSbgSatelliteCounter=result[2];
+
+            ximeaAirborneSystemSurvivalTime++;
+
+
+            // s_sbgMagState = atoi(result[1]);
+
+            // switch (s_sbgMagState)
+            // {
+            // case 0:
+            //     s_strSbgAccuracy="false";
+            //     break;
+            // case 1:
+            //     s_strSbgAccuracy="true";
+            //     break;
+
+            // default:
+            //     break;
+            // }
+        }
+        else if (strcmp(result[0],"SolutionMode") == 0)
+        {
+//            s_sbgMagState = atoi(result[1]);
+//
+//            switch (s_sbgMagState)
+//            {
+//            case 0:
+//                s_strSbgSolutionMode="UNINITIALIZED";
+//                    break;
+//            case 1:
+//                s_strSbgSolutionMode="VERTICAL_GYRO";
+//                break;
+//            case 2:
+//                s_strSbgSolutionMode="AHRS";
+//                break;
+//            case 3:
+//                s_strSbgSolutionMode="NAV_VELOCITY";
+//                break;
+//            case 4:
+//                s_strSbgSolutionMode="NAV_POSITION";
+//                break;
+//
+//            default:
+//                break;
+//            }
+        }
+        else if (strcmp(result[0],"ximea") == 0)
+        {
+            s_stateOfXimea = atoi(result[1]);
+            printf("ximea的状态为: %d\n\n", atoi(result[1]));
+
+            switch (s_stateOfXimea)//0-61：ximea官方错误代码；99：发生的ximea官方错误代码，没有处理；100：未打开；101：打开；102：设置帧率；103：自动曝光；104：正在采集；
+            {
+                case 10:
+                    s_strStateOfXimea="10";
+
+                    strcpy(s_strUIMessage,"相机timeout，请重启！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 200;
+                    break;
+                case 11:
+                    s_strStateOfXimea="11";
+
+                    strcpy(s_strUIMessage,"相机：Invalid arguments supplied！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 200;
+                    break;
+                case 57:
+                    s_strStateOfXimea="57";
+
+                    strcpy(s_strUIMessage,"相机被占用！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 200;
+                    break;
+                case 99:
+                    s_strStateOfXimea="99";
+
+                    strcpy(s_strUIMessage,"相机异常，错误码见日志！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 200;
+                    break;
+                case 100:
+                    s_strStateOfXimea="未打开";
+                    break;
+                case 101:
+                    s_strStateOfXimea="打开成功";
+
+                    strcpy(s_strUIMessage,"系统启动成功！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 20;
+
+                    break;
+                case 102:
+                    s_strStateOfXimea="帧率已设置";
+                    break;
+                case 103:
+                    s_strStateOfXimea="曝光完成";
+                    break;
+                case 104:
+                    s_strStateOfXimea="正在采集";
+                    break;
+
+                default:
+                    break;
+            }
+        }
+        else if (strcmp(result[0],"XimeaAutoExpose") == 0)
+        {
+            strcpy(XimeaExposeMaxValue, result[1]);
+            strcpy(XimeaExposeTime, result[2]);
+
+            strcpy(s_strUIMessage,"曝光时间设置成功！");
+            messageTimeCounter = 0;
+            messageTimespan = 10;
+        }
+        else if (strcmp(result[0],"XimeaFrameRate") == 0)
+        {
+            int tmp = atoi(result[1]);
+            sprintf(XimeaFramerate,"%d",tmp);
+//            strcpy(XimeaFramerate,result[1]);
+
+            strcpy(s_strUIMessage,"帧率设置成功！");
+            messageTimeCounter = 0;
+            messageTimespan = 10;
+        }
+        else if (strcmp(result[0],"bin") == 0)
+        {
+            int spectralBin_tm = atoi(result[2]);
+            sprintf(spectralBin,"%d",spectralBin_tm);
+        }
+    }
+}
+
 #ifndef __CC_ARM
 #pragma GCC diagnostic pop
 #endif
@@ -248,4 +598,298 @@ static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType,
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+int frameRateGlobel = 0;
+static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
+                                                                  void *userData)
+{
+    USER_UTIL_UNUSED(userData);
+
+    USER_LOG_INFO("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d",
+                           s_widgetTypeNameArray[widgetType], index, value);
+    s_widgetValueList[index] = value;
+
+    switch (index)
+    {
+        case 5://系统启动关闭
+            if (value==0)//系统关闭
+            {
+                if (systemON_Control == 3)
+                {
+                    strcpy(s_strUIMessage,"系统已经关闭！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 1000;
+
+                    char* command = "2";
+                    sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
+
+                    systemON_Control = 4;
+                }
+            }
+            else if (value==1)//系统启动
+            {
+                if (systemON_Control == 0)
+                {
+                    strcpy(s_strUIMessage,"请等待系统初始化！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 1000;
+                }
+                else if (systemON_Control == 1)
+                {
+                    strcpy(s_strUIMessage,"系统启动中，请等待！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 1000;
+
+                    char* command = "1";
+                    sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
+
+                    systemON_Control = 2;
+                }
+                else if (systemON_Control == 2)
+                {
+                    strcpy(s_strUIMessage,"系统启动中，请等待！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 1000;
+                }
+                else if (systemON_Control == 3)
+                {
+                    strcpy(s_strUIMessage,"系统已经启动！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 1000;
+                }
+                else if (systemON_Control == 4)
+                {
+                    strcpy(s_strUIMessage,"相机占用，请重新上电！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 1000;
+                }
+            }
+            break;
+        case 6://设置帧率
+        {
+            if (s_stateOfXimea < 101)
+            {
+                strcpy(s_strUIMessage,"请先启动系统！");
+                messageTimeCounter = 0;
+                messageTimespan = 10;
+
+                break;
+            }
+            else if (s_stateOfXimea > 103)
+            {
+                strcpy(s_strUIMessage,"相机采集中，此操作无效！");
+                messageTimeCounter = 0;
+                messageTimespan = 10;
+
+                break;
+            }
+
+
+            // 控制帧率范围
+            if(value > 150)
+            {
+                strcpy(s_strUIMessage,"帧率不可超过150！");
+                messageTimeCounter = 0;
+                messageTimespan = 10;
+
+                break;
+            }
+            else if(value == 0)
+            {
+                strcpy(s_strUIMessage,"帧率无效！");
+                messageTimeCounter = 0;
+                messageTimespan = 10;
+
+                break;
+            }
+
+            //
+            frameRateGlobel = value;
+
+            char command[50] = "5,";
+            char framerate[20];
+            sprintf(framerate,"%d",value);
+            strcat(command,framerate);
+            sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
+            break;
+        }
+        case 7://自动曝光
+            if (value==0)
+            {
+                ;
+            }
+            else if (value==1)
+            {
+                if (s_stateOfXimea < 101)
+                {
+                    strcpy(s_strUIMessage,"请先启动系统！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 10;
+
+                    break;
+                }
+                else if (s_stateOfXimea > 103)
+                {
+                    strcpy(s_strUIMessage,"相机采集中，此操作无效！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 10;
+
+                    break;
+                }
+
+                strcpy(s_strUIMessage,"正在自动曝光，请稍等！");
+                messageTimeCounter = 0;
+                messageTimespan = 1000;
+
+                char* command = "6";
+                sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
+            }
+            break;
+        case 8://手动设置曝光时间
+        {
+            if (s_stateOfXimea < 101)
+            {
+                strcpy(s_strUIMessage,"请先启动系统！");
+                messageTimeCounter = 0;
+                messageTimespan = 10;
+
+                break;
+            }
+            else if (s_stateOfXimea > 103)
+            {
+                strcpy(s_strUIMessage,"相机采集中，此操作无效！");
+                messageTimeCounter = 0;
+                messageTimespan = 10;
+
+                break;
+            }
+
+            //曝光时间有效性判断
+            if(frameRateGlobel == 0)
+            {
+                strcpy(s_strUIMessage,"请先设置帧率！");
+                messageTimeCounter = 0;
+                messageTimespan = 10;
+
+                break;
+            }
+
+            float maxExposureTime = 1 / (float)frameRateGlobel * 1000;//单位是ms
+
+            if(value > maxExposureTime)
+            {
+                strcpy(s_strUIMessage,"曝光时间超过上限，无效！");
+                messageTimeCounter = 0;
+                messageTimespan = 10;
+
+                break;
+            }
+            else if(value == 0)
+            {
+                strcpy(s_strUIMessage,"曝光时间无效！");
+                messageTimeCounter = 0;
+                messageTimespan = 10;
+
+                break;
+            }
+
+            //
+            char command[50] = "7,";
+            char exposureTime[20];
+            sprintf(exposureTime,"%d",(value));
+            strcat(command,exposureTime);
+            sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
+
+            break;
+        }
+        case 9:
+            if (value==0)//停止采集
+            {
+                char* command = "4";
+                sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
+            }
+            else if (value==1)//开始采集
+            {
+                if (s_stateOfXimea < 101)
+                {
+                    strcpy(s_strUIMessage,"请先启动系统！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 10;
+
+                    break;
+                }
+                else if (s_stateOfXimea == 101)
+                {
+                    strcpy(s_strUIMessage,"请先设置帧率！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 10;
+
+                    break;
+                }
+                else if (s_stateOfXimea == 102)
+                {
+                    strcpy(s_strUIMessage,"请先设置曝光时间！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 10;
+
+                    break;
+                }
+
+                char* command = "3";
+                sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
+            }
+            break;
+        case 10:
+            if (value==0)//等待指令
+            {
+            }
+            if (value==1)
+            {
+                system("reboot");
+            }
+            else if (value==2)
+            {
+                system("shutdown now");
+            }
+            else if (value==3)
+            {
+                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,1");
+            }
+            else if (value==4)
+            {
+                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
+            }
+            else if (value==5)
+            {
+                strcpy(s_strUIMessage,"系统正在更新，稍后会自动重启！");
+                messageTimeCounter = 0;
+                messageTimespan = 10000;
+
+                system("/home/pi/tc_ShellScripts/update0.sh &> /media/nvme/300TC/update/log");
+            }
+            break;
+        case 11:
+            if (value==0)//等待指令
+            {
+            }
+            if (value==1)
+            {
+                system("sudo sed -i 's/spectralBin =.*/spectralBin = 1;/g' /media/nvme/300TC/config/ximea.cfg");
+            }
+            else if (value==2)
+            {
+                system("sudo sed -i 's/spectralBin =.*/spectralBin = 2;/g' /media/nvme/300TC/config/ximea.cfg");
+            }
+
+            strcpy(s_strUIMessage,"请重新上电！");
+            messageTimeCounter = 0;
+            messageTimespan = 10000;
+
+            break;
+        default:
+            break;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/module_sample/widget/test_widget.h

@@ -34,6 +34,21 @@
 extern "C" {
 #endif
 
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h>
+
+
+#define PORT 45454
+#define MAXDATASIZE 100
+
+
 /* Exported constants --------------------------------------------------------*/
 
 /* Exported types ------------------------------------------------------------*/

samples/sample_c/module_sample/widget/widget_file/cn_big_screen/widget_config.json

@@ -9,7 +9,7 @@
     },
     "speaker": {
       "is_enable_tts": true,
-      "is_enable_voice": true
+      "is_enable_voice": false
     },
     "widget_list": [
       {
@@ -76,6 +76,19 @@
           "mapping_config_display_order": 3,
           "button_value_step_length": 5
         }
+      },
+      {
+        "widget_index": 4,
+        "widget_type": "button",
+        "widget_name": "按钮",
+        "icon_file_set": {
+          "icon_file_name_selected": "icon_button1.png",
+          "icon_file_name_unselected": "icon_button1.png"
+        },
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 0
+        }
       }
     ]
   },
@@ -86,62 +99,73 @@
       "is_enable": true
     },
     "widget_list": [
-      {
-        "widget_index": 4,
-        "widget_type": "button",
-        "widget_name": "按钮 4",
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 4
-        }
-      },
       {
         "widget_index": 5,
-        "widget_type": "scale",
+        "widget_type": "switch",
-        "widget_name": "范围条 5",
+        "widget_name": "系统启动"
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 5,
-          "button_value_step_length": 5
-        }
       },
       {
         "widget_index": 6,
         "widget_type": "int_input_box",
-        "widget_name": "整形值输入框 6",
+        "widget_name": "帧率",
-        "int_input_box_hint": "unit:s"
+        "int_input_box_hint": "unit:hz"
       },
       {
         "widget_index": 7,
-        "widget_type": "switch",
+        "widget_type": "button",
-        "widget_name": "开关 7",
+        "widget_name": "自动曝光"
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 7
-        }
       },
       {
         "widget_index": 8,
+        "widget_type": "int_input_box",
+        "widget_name": "曝光时间",
+        "int_input_box_hint": "unit:ms"
+      },
+      {
+        "widget_index": 9,
+        "widget_type": "switch",
+        "widget_name": "开始采集"
+      },
+      {
+        "widget_index": 10,
         "widget_type": "list",
-        "widget_name": "列表 8",
+        "widget_name": "系统指令",
         "list_item": [
           {
-            "item_name": "选项 1"
+            "item_name": "等待指令"
           },
           {
-            "item_name": "选项 2"
+            "item_name": "重启电脑"
           },
           {
-            "item_name": "选项 3"
+            "item_name": "关机"
           },
           {
-            "item_name": "选项 4"
+            "item_name": "测试采集"
+          },
+          {
+            "item_name": "停止采集"
+          },
+          {
+            "item_name": "更新"
           }
-        ],
+        ]
-        "customize_rc_buttons_config": {
+      },
-          "is_enable": true,
+      {
-          "mapping_config_display_order": 8
+        "widget_index": 11,
+        "widget_type": "list",
+        "widget_name": "bin",
+        "list_item": [
+          {
+            "item_name": "等待指令"
+          },
+          {
+            "item_name": "光谱1"
+          },
+          {
+            "item_name": "光谱2"
           }
+        ]
       }
     ]
   }

samples/sample_c/module_sample/widget/widget_file/en_big_screen/widget_config.json

@@ -9,7 +9,7 @@
     },
     "speaker": {
       "is_enable_tts": true,
-      "is_enable_voice": true
+      "is_enable_voice": false
     },
     "widget_list": [
       {
@@ -76,6 +76,19 @@
           "mapping_config_display_order": 3,
           "button_value_step_length": 5
         }
+      },
+      {
+        "widget_index": 4,
+        "widget_type": "button",
+        "widget_name": "Button",
+        "icon_file_set": {
+          "icon_file_name_selected": "icon_button1.png",
+          "icon_file_name_unselected": "icon_button1.png"
+        },
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 0
+        }
       }
     ]
   },
@@ -86,62 +99,73 @@
       "is_enable": true
     },
     "widget_list": [
-      {
-        "widget_index": 4,
-        "widget_type": "button",
-        "widget_name": "Button 4",
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 4
-        }
-      },
       {
         "widget_index": 5,
-        "widget_type": "scale",
+        "widget_type": "switch",
-        "widget_name": "Scale 5",
+        "widget_name": "系统启动"
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 5,
-          "button_value_step_length": 5
-        }
       },
       {
         "widget_index": 6,
         "widget_type": "int_input_box",
-        "widget_name": "Integer Input Box 6",
+        "widget_name": "帧率",
-        "int_input_box_hint": "unit:s"
+        "int_input_box_hint": "unit:hz"
       },
       {
         "widget_index": 7,
-        "widget_type": "switch",
+        "widget_type": "button",
-        "widget_name": "Switch 7",
+        "widget_name": "自动曝光"
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 7
-        }
       },
       {
         "widget_index": 8,
+        "widget_type": "int_input_box",
+        "widget_name": "曝光时间",
+        "int_input_box_hint": "unit:ms"
+      },
+      {
+        "widget_index": 9,
+        "widget_type": "switch",
+        "widget_name": "开始采集"
+      },
+      {
+        "widget_index": 10,
         "widget_type": "list",
-        "widget_name": "List 8",
+        "widget_name": "系统指令",
         "list_item": [
           {
-            "item_name": "Item 1"
+            "item_name": "等待指令"
           },
           {
-            "item_name": "Item 2"
+            "item_name": "重启电脑"
           },
           {
-            "item_name": "Item 3"
+            "item_name": "关机"
           },
           {
-            "item_name": "Item 4"
+            "item_name": "测试采集"
+          },
+          {
+            "item_name": "停止采集"
+          },
+          {
+            "item_name": "更新"
           }
-        ],
+        ]
-        "customize_rc_buttons_config": {
+      },
-          "is_enable": true,
+      {
-          "mapping_config_display_order": 8
+        "widget_index": 11,
+        "widget_type": "list",
+        "widget_name": "bin",
+        "list_item": [
+          {
+            "item_name": "等待指令"
+          },
+          {
+            "item_name": "光谱1"
+          },
+          {
+            "item_name": "光谱2"
           }
+        ]
       }
     ]
   }