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NEW: release DJI Payload-SDK version 3.13.0

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Signed-off-by: martin <dev@dji.com>
This commit is contained in:
martin
2025-08-28 17:41:24 +08:00
parent d25a173770
commit c32e00bd9f
70 changed files with 20574 additions and 440 deletions
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118
samples/sample_c/module_sample/camera_manager/test_camera_manager.c
View File

@ -70,6 +70,7 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
{DJI_CAMERA_TYPE_M30T, "M30T Camera"},
{DJI_CAMERA_TYPE_M3E, "M3E Camera"},
{DJI_CAMERA_TYPE_M3T, "M3T Camera"},
{DJI_CAMERA_TYPE_M3TA, "M3TA Camera"},
{DJI_CAMERA_TYPE_M3D, "M3D Camera"},
{DJI_CAMERA_TYPE_M3TD, "M3TD Camera"},
{DJI_CAMERA_TYPE_H30, "H30 Camera"},
@ -80,6 +81,7 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
{DJI_CAMERA_TYPE_M4D, "M4D Camera"},
};
#ifndef SYSTEM_ARCH_RTOS
static FILE *s_downloadMediaFile = NULL;
static T_DjiCameraManagerFileList s_meidaFileList;
static uint32_t downloadStartMs = 0;
@ -88,18 +90,23 @@ static char downloadFileName[TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE] = {0}
static uint32_t s_nextDownloadFileIndex = 0;
static T_DjiMopChannelHandle s_mopChannelHandle;
static char s_pointCloudFilePath[TEST_CAMEAR_POINT_CLOUD_FILE_PATH_STR_MAX_SIZE];
#endif
/* Private functions declaration ---------------------------------------------*/
static uint8_t DjiTest_CameraManagerGetCameraTypeIndex(E_DjiCameraType cameraType);
#ifdef SYSTEM_ARCH_LINUX
static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_DjiMountPosition position);
static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadFileListBySlices(E_DjiMountPosition position);
static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownloadFilePacketInfo packetInfo,
const uint8_t *data, uint16_t len);
#endif
static T_DjiReturnCode DjiTest_CameraManagerGetAreaThermometryData(E_DjiMountPosition position);
static T_DjiReturnCode DjiTest_CameraManagerGetPointThermometryData(E_DjiMountPosition position);
static T_DjiReturnCode DjiTest_CameraManagerGetLidarRangingInfo(E_DjiMountPosition position);
#ifndef SYSTEM_ARCH_RTOS
T_DjiReturnCode DjiTest_CameraManagerSubscribePointCloud(E_DjiMountPosition position);
#endif
/* Exported functions definition ---------------------------------------------*/
/*! @brief Sample to set EV for camera, using async api
@ -854,6 +861,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
|| DJI_CAMERA_TYPE_H20N == cameraType
|| DJI_CAMERA_TYPE_M30 == cameraType || DJI_CAMERA_TYPE_M30T == cameraType
|| DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
|| DJI_CAMERA_TYPE_M3TA == cameraType
|| DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4TD == cameraType
|| DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
@ -900,6 +908,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
|| DJI_CAMERA_TYPE_H20N == cameraType
|| DJI_CAMERA_TYPE_M30 == cameraType || DJI_CAMERA_TYPE_M30T == cameraType
|| DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
|| DJI_CAMERA_TYPE_M3TA == cameraType
|| DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4TD == cameraType
|| DJI_CAMERA_TYPE_M4E == cameraType || DJI_CAMERA_TYPE_H30 == cameraType
@ -1094,9 +1103,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO: {
USER_LOG_INFO("--> Function k: Shoot Interval photo with 3s intervals in 15s");
DjiTest_WidgetLogAppend("--> Function k: Shoot Interval photo with 3s intervals in 15s");
T_DjiCameraPhotoTimeIntervalSettings intervalData;
intervalData.captureCount = 255;
intervalData.timeIntervalSeconds = 3;
T_DjiCameraPhotoTimeIntervalSettings intervalData = {.captureCount = 255, .timeIntervalSeconds = 3, .timeIntervalMilliseconds = 0};
returnCode = DjiTest_CameraManagerStartShootIntervalPhoto(mountPosition, intervalData);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -1203,6 +1210,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
|| DJI_CAMERA_TYPE_P1 == cameraType
|| DJI_CAMERA_TYPE_L1 == cameraType || DJI_CAMERA_TYPE_L2 == cameraType
|| DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
|| DJI_CAMERA_TYPE_M3TA == cameraType
|| DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
|| DJI_CAMERA_TYPE_M4TD == cameraType || DJI_CAMERA_TYPE_M4D == cameraType
@ -1551,6 +1559,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
cameraType == DJI_CAMERA_TYPE_H20N || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_H30 ||
cameraType == DJI_CAMERA_TYPE_M3TA ||
cameraType == DJI_CAMERA_TYPE_H30T) {
returnCode = DjiCameraManager_SetStreamSource(mountPosition, DJI_CAMERA_MANAGER_SOURCE_ZOOM_CAM);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -1612,7 +1621,9 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
cameraType == DJI_CAMERA_TYPE_H20T || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_H30 ||
cameraType == DJI_CAMERA_TYPE_H30T) {
cameraType == DJI_CAMERA_TYPE_M3TA ||
cameraType == DJI_CAMERA_TYPE_H30T)
{
USER_LOG_INFO("Set camera stream source to zoom camera.");
returnCode = DjiCameraManager_SetStreamSource(mountPosition, DJI_CAMERA_MANAGER_SOURCE_ZOOM_CAM);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -1834,60 +1845,51 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
}
case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_MODE: {
E_DjiCameraManagerMeteringMode meteringMode;
T_DjiCameraManagerRangeList rangeList = {0};
USER_LOG_INFO("Set metering mode as %d", DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE);
returnCode = DjiCameraManager_SetMeteringMode(mountPosition, DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE);
returnCode = DjiCameraManager_GetMeteringModeRange(mountPosition, &rangeList);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set camera metering mode %d failed", DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE);
USER_LOG_ERROR("Failed to get metering mode range of camera on position %d, return code 0x%08X",
mountPosition, returnCode);
goto exitCameraModule;
}
osalHandler->TaskSleepMs(200);
USER_LOG_INFO("Avaliable metering mode num is %d", rangeList.size);
returnCode = DjiCameraManager_GetMeteringMode(mountPosition, &meteringMode);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get camera metering mode failed.");
goto exitCameraModule;
for (uint8_t i = 0; i < rangeList.size; i++) {
USER_LOG_INFO("[%d] Set metering mode as %d (%s)",
i,
rangeList.meteringMode[i],
rangeList.meteringMode[i] == DJI_CAMERA_MANAGER_METERING_MODE_CENTRAL ? "centeral" :
rangeList.meteringMode[i] == DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE ? "average" :
rangeList.meteringMode[i] == DJI_CAMERA_MANAGER_METERING_MODE_SPOT ? "spot" :
"error mode"
);
returnCode = DjiCameraManager_SetMeteringMode(mountPosition, rangeList.meteringMode[i]);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set camera metering mode %d failed", DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE);
goto exitCameraModule;
}
osalHandler->TaskSleepMs(200);
returnCode = DjiCameraManager_GetMeteringMode(mountPosition, &meteringMode);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get camera metering mode failed.");
goto exitCameraModule;
}
USER_LOG_INFO("[%d] Current mode is %d (%s)",
i,
rangeList.meteringMode[i],
rangeList.meteringMode[i] == DJI_CAMERA_MANAGER_METERING_MODE_CENTRAL ? "centeral" :
rangeList.meteringMode[i] == DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE ? "average" :
rangeList.meteringMode[i] == DJI_CAMERA_MANAGER_METERING_MODE_SPOT ? "spot" :
"error mode"
);
osalHandler->TaskSleepMs(2000);
}
USER_LOG_INFO("Current metering mode is %d", meteringMode);
USER_LOG_INFO("Sleep 2s...");
osalHandler->TaskSleepMs(2000);
USER_LOG_INFO("Set metering mode as %d", DJI_CAMERA_MANAGER_METERING_MODE_SPOT);
returnCode = DjiCameraManager_SetMeteringMode(mountPosition, DJI_CAMERA_MANAGER_METERING_MODE_SPOT);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set camera metering mode %d failed", DJI_CAMERA_MANAGER_METERING_MODE_SPOT);
goto exitCameraModule;
}
osalHandler->TaskSleepMs(200);
returnCode = DjiCameraManager_GetMeteringMode(mountPosition, &meteringMode);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get camera metering mode failed.");
goto exitCameraModule;
}
USER_LOG_INFO("Current metering mode is %d", meteringMode);
USER_LOG_INFO("Sleep 2s...");
osalHandler->TaskSleepMs(2000);
USER_LOG_INFO("Set metering mode as %d", DJI_CAMERA_MANAGER_METERING_MODE_CENTRAL);
returnCode = DjiCameraManager_SetMeteringMode(mountPosition, DJI_CAMERA_MANAGER_METERING_MODE_CENTRAL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set camera metering mode %d failed", DJI_CAMERA_MANAGER_METERING_MODE_CENTRAL);
goto exitCameraModule;
}
osalHandler->TaskSleepMs(200);
returnCode = DjiCameraManager_GetMeteringMode(mountPosition, &meteringMode);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get camera metering mode failed.");
goto exitCameraModule;
}
USER_LOG_INFO("Current metering mode is %d", meteringMode);
break;
}
@ -1903,7 +1905,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
}
returnCode = DjiCameraManager_GetMeteringPointRegionRange(mountPosition, &horizonRegionNum, &viticalRegionNum);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
USER_LOG_ERROR("Get metering point region range failed!");
goto exitCameraModule;
}
@ -1916,7 +1919,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
USER_LOG_INFO("Try to set metering point as (%d, %d)", (uint8_t)x, (uint8_t)y);
returnCode = DjiCameraManager_SetMeteringPoint(mountPosition, x, y);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
USER_LOG_ERROR("Set metering point failed");
goto exitCameraModule;
}
@ -1924,7 +1928,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
osalHandler->TaskSleepMs(500);
returnCode = DjiCameraManager_GetMeteringPoint(mountPosition, &getX, &getY);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
USER_LOG_ERROR("Get metering point failed");
goto exitCameraModule;
}
@ -2123,6 +2128,7 @@ static uint8_t DjiTest_CameraManagerGetCameraTypeIndex(E_DjiCameraType cameraTyp
return 0;
}
#ifdef SYSTEM_ARCH_LINUX
static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_DjiMountPosition position)
{
T_DjiReturnCode returnCode;
@ -2142,6 +2148,7 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
returnCode = DjiCameraManager_ObtainDownloaderRights(position);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Obtain downloader rights failed, error code: 0x%08X.", returnCode);
return returnCode;
}
returnCode = DjiCameraManager_DownloadFileList(position, &s_meidaFileList);
@ -2202,7 +2209,7 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
returnCode = DjiCameraManager_DownloadFileByIndex(position, s_meidaFileList.fileListInfo[i].fileIndex);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Download media file by index failed, error code: 0x%08X.", returnCode);
s_nextDownloadFileIndex--;
if(s_nextDownloadFileIndex > 0)s_nextDownloadFileIndex--;
goto redownload;
}
if (s_meidaFileList.fileListInfo[i].type == DJI_CAMERA_FILE_TYPE_LDRT) {
@ -2450,6 +2457,7 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
#endif
static T_DjiReturnCode DjiTest_CameraManagerGetPointThermometryData(E_DjiMountPosition position)
{

3
samples/sample_c/module_sample/cloud_api/test_cloud_api_by_web_socket.c
View File

@ -82,10 +82,9 @@ static void *DjiTest_CloudApiByWebSocketSendTask(void *arg)
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_CloudApiByWebSocketStartService(void)
{
T_DjiReturnCode returnCode;
T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
USER_LOG_INFO("cloud_api over mop send task create error, stat:0x%08llX.", returnCode);
returnCode = osalHandler->TaskCreate("CloudApiByWebSocket", DjiTest_CloudApiByWebSocketSendTask,
2048, NULL, &s_testCloudApiByWebSocketSendTask);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

8
samples/sample_c/module_sample/data_transmission/test_data_transmission.c
View File

@ -83,12 +83,13 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
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.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) {
@ -99,6 +100,7 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
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) {

2
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 -------------------------------------------------------------*/

1
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -1366,6 +1366,7 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
s_osalHandler->TaskSleepMs(1000);
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

10
samples/sample_c/module_sample/hms/test_hms.c
View File

@ -59,7 +59,9 @@ static bool isHmsManagerInit = false;
static T_DjiHmsFileBinaryArray s_EnHmsTextConfigFileBinaryArrayList[] = {
{hms_text_config_json_fileName, hms_text_config_json_fileSize, hms_text_config_json_fileBinaryArray},
};
#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};
@ -70,7 +72,9 @@ 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 ---------------------------------------------*/
@ -210,11 +214,13 @@ T_DjiReturnCode DjiTest_HmsCustomizationSetConfigFilePath(const char *path)
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) {
@ -265,7 +271,9 @@ static T_DjiReturnCode DjiTest_HmsManagerInit(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) {
@ -392,6 +400,7 @@ static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable)
return true;
}
#ifdef SYSTEM_ARCH_LINUX
static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable)
{
cJSON *hmsJsonRoot = NULL;
@ -444,6 +453,7 @@ static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable)
cJSON_Delete(hmsJsonRoot);
}
#endif
static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable)
{

36
samples/sample_c/module_sample/liveview/test_liveview.c
View File

@ -98,6 +98,21 @@ 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_default_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
mountPosition, localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
@ -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
@ -130,7 +150,8 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
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.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);
@ -146,6 +167,7 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
}
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

6
samples/sample_c/module_sample/positioning/test_positioning.c
View File

@ -58,8 +58,10 @@ static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t ind
/* 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)
@ -198,9 +200,9 @@ 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)
{
#ifdef SYSTEM_ARCH_LINUX
FILE *fp = NULL;
size_t size;
@ -218,9 +220,9 @@ static int32_t DjiTest_SaveRtcmData(char *filePath, const uint8_t *data, uint32_
fflush(fp);
fclose(fp);
#endif
return 0;
}
#endif
static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen)

3
samples/sample_c/module_sample/tethered_battery/test_tethered_battery.c
View File

@ -68,7 +68,6 @@ T_DjiReturnCode DjiTest_TetheredBatteryStartService(void)
static void *DjiTest_TetheredBatteryTask(void *arg)
{
uint32_t sysTimeMs = 0;
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiTetherLineStatus tetherLineStatus = {0};
@ -103,6 +102,8 @@ static void *DjiTest_TetheredBatteryTask(void *arg)
osalHandler->TaskSleepMs(100);
}
return NULL;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

5
samples/sample_c/module_sample/utils/dji_config_manager.c
View File

@ -90,6 +90,7 @@ bool DjiUserConfigManager_IsEnable(void)
/* 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;
@ -99,7 +100,6 @@ static T_DjiReturnCode DjiUserConfigManager_GetAppInfoInner(const char *path, T_
cJSON *jsonItem = NULL;
cJSON *jsonValue = NULL;
#ifdef SYSTEM_ARCH_LINUX
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);
@ -191,6 +191,7 @@ jsonDataFree:
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;
@ -202,8 +203,6 @@ static T_DjiReturnCode DjiUserConfigManager_GetLinkConfigInner(const char *path,
cJSON *jsonConfig = NULL;
int32_t configValue;
#ifdef SYSTEM_ARCH_LINUX
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);

8
samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c
View File

@ -37,22 +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;
@ -209,6 +213,7 @@ out:
}
/* Private functions definition-----------------------------------------------*/
#ifdef SYSTEM_ARCH_LINUX
static T_DjiReturnCode DjiTest_WaypointV3MissionStateCallback(T_DjiWaypointV3MissionState missionState)
{
if (s_lastWaypointV3MissionState.state == missionState.state
@ -235,6 +240,7 @@ 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;

23
samples/sample_c/module_sample/widget/test_widget_speaker.c
View File

@ -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;
@ -323,6 +326,7 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
if (DJI_AIRCRAFT_TYPE_M3E == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3D == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3TA == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4D == aircraftInfoBaseInfo.aircraftType
@ -517,7 +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
@ -538,7 +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) {
@ -569,9 +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) {
@ -579,7 +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);
@ -589,6 +598,7 @@ 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);
@ -615,8 +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.");
@ -667,8 +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) {