From 9e63686a521181041e6b0cc4adb4eb84992b9fbc Mon Sep 17 00:00:00 2001
From: tangchao0503 <735056338@qq.com>
Date: Wed, 24 Jan 2024 10:27:51 +0800
Subject: [PATCH] =?UTF-8?q?rlx=EF=BC=9A=E7=82=B9=E5=87=BB=E9=81=A5?=
 =?UTF-8?q?=E6=8E=A7=E5=99=A8=E6=97=B6=E9=80=9A=E8=BF=87udp=E5=8F=91?=
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---
 .../camera_emu/test_payload_cam_emu_base.c    | 19 +++++++++++++++++++
 .../camera_emu/test_payload_cam_emu_base.h    |  7 +++++++
 2 files changed, 26 insertions(+)

diff --git a/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.c b/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.c
index 2c9eb2b..39e395b 100644
--- a/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.c
+++ b/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.c
@@ -119,6 +119,13 @@ static uint32_t s_tapZoomNewestTargetHybridFocalLength = 0; // unit: 0.1mm
 static T_DjiMutexHandle s_tapZoomMutex = NULL;
 static E_DjiCameraVideoStreamType s_cameraVideoStreamType;
 
+static int sockfd;
+static struct sockaddr_in server;
+static struct sockaddr_in client;
+static socklen_t addrlen;
+
+char s_positionMessage[100]=" ";
+
 /* Private functions declaration ---------------------------------------------*/
 //用于s_commonHandler中的回调函数:相机类基础功能
 static T_DjiReturnCode GetSystemState(T_DjiCameraSystemState *systemState);
@@ -587,6 +594,9 @@ static T_DjiReturnCode SetFocusTarget(T_DjiCameraPointInScreen target)
     USER_LOG_INFO("set focus target x:%.2f y:%.2f", target.focusX, target.focusY);
     memcpy(&s_cameraFocusTarget, &target, sizeof(T_DjiCameraPointInScreen));
 
+    sprintf(s_positionMessage, "%.2f,%.2f", target.focusX, target.focusY);
+    sendto(sockfd, s_positionMessage, strlen(s_positionMessage), 0, (struct sockaddr *)&server, sizeof(server));
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
@@ -1399,6 +1409,15 @@ T_DjiReturnCode DjiTest_CameraEmuBaseStartService(void)
 
     s_isCamInited = true;
 
+    // 创建UDP套接字
+    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(POSITION_PORT_RLX);
+    server.sin_addr.s_addr = htonl(INADDR_ANY);
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
diff --git a/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.h b/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.h
index 5601b8d..578b554 100644
--- a/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.h
+++ b/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.h
@@ -31,6 +31,13 @@
 #include "dji_typedef.h"
 #include "dji_payload_camera.h"
 
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h>
+
+#define POSITION_PORT_RLX 20005
+
 #ifdef __cplusplus
 extern "C" {
 #endif