NEW: sync the code of DJI Payload-SDK version 2.2.1 released on January 20 2021.

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

sample/api_sample/camera_emu/test_payload_cam_emu.h

@@ -0,0 +1,57 @@
+/**
+ ********************************************************************
+ * @file    test_payload_cam_emu.h
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief   This is the header file for "test_payload_cam_emu.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_PAYLOAD_CAM_EMU_H
+#define TEST_PAYLOAD_CAM_EMU_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+#include <psdk_payload_camera.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_CameraInit(void);
+T_PsdkReturnCode PsdkTest_CameraGetDigitalZoomFactor(psdk_f32_t *factor);
+T_PsdkReturnCode PsdkTest_CameraGetOpticalZoomFactor(psdk_f32_t *factor);
+T_PsdkReturnCode PsdkTest_CameraGetMode(E_PsdkCameraMode *mode);
+T_PsdkReturnCode PsdkTest_CameraGetVideoStreamType(E_PsdkCameraVideoStreamType *type);
+bool PsdkTest_CameraIsInited(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_PAYLOAD_CAM_EMU_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_core.c

@@ -0,0 +1,265 @@
+/**
+ ********************************************************************
+ * @file    psdk_media_file_core.c
+ * @version V1.0.0
+ * @date    2019/01/01
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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 <string.h>
+#include <psdk_logger.h>
+
+#include "psdk_media_file_core.h"
+#include "psdk_media_file_jpg.h"
+#include "psdk_media_file_mp4.h"
+#include "psdk_platform.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Private values ------------------------------------------------------------*/
+//@formatter:off
+static const T_PsdkMediaFileOptItem s_mediaFileOpt[] =
+{
+    //JPEG File Operation Item
+    {
+        PSDK_CAMERA_FILE_TYPE_JPEG ,
+        PsdkMediaFile_IsSupported_JPG,
+        PsdkMediaFile_GetAttrFunc_JPG,
+        PsdkMediaFile_GetDataOrigin_JPG,
+        PsdkMediaFile_GetFileSizeOrigin_JPG,
+        PsdkMediaFile_CreateThumbNail_JPG,
+        PsdkMediaFile_GetFileSizeThumbNail_JPG,
+        PsdkMediaFile_GetDataThumbNail_JPG,
+        PsdkMediaFile_DestroyThumbNail_JPG,
+        PsdkMediaFile_CreateScreenNail_JPG,
+        PsdkMediaFile_GetFileSizeScreenNail_JPG,
+        PsdkMediaFile_GetDataScreenNail_JPG,
+        PsdkMediaFile_DestroyScreenNail_JPG,
+    },
+    //MP4 File Operation Item
+    {
+        PSDK_CAMERA_FILE_TYPE_MP4 ,
+        PsdkMediaFile_IsSupported_MP4,
+        PsdkMediaFile_GetAttrFunc_MP4,
+        PsdkMediaFile_GetDataOrigin_MP4,
+        PsdkMediaFile_GetFileSizeOrigin_MP4,
+        PsdkMediaFile_CreateThumbNail_MP4,
+        PsdkMediaFile_GetFileSizeThumbNail_MP4,
+        PsdkMediaFile_GetDataThumbNail_MP4,
+        PsdkMediaFile_DestroyThumbNail_MP4,
+        PsdkMediaFile_CreateScreenNail_MP4,
+        PsdkMediaFile_GetFileSizeScreenNail_MP4,
+        PsdkMediaFile_GetDataScreenNail_MP4,
+        PsdkMediaFile_DestroyScreenNail_MP4,
+    },
+};
+static const uint32_t s_mediaFileOptCount = sizeof (s_mediaFileOpt) / sizeof(T_PsdkMediaFileOptItem);
+//@formatter:on
+
+/* Exported functions definition ---------------------------------------------*/
+bool PsdkMediaFile_IsSupported(const char *filePath)
+{
+    int i;
+
+    for (i = 0; i < s_mediaFileOptCount; i++) {
+        if (s_mediaFileOpt[i].isSupportedFunc(filePath) == true) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+T_PsdkReturnCode PsdkMediaFile_CreateHandle(const char *filePath, T_PsdkMediaFileHandle *pMediaFileHandle)
+{
+    int optIndex;
+
+    for (optIndex = 0; optIndex < s_mediaFileOptCount; optIndex++) {
+        if (s_mediaFileOpt[optIndex].isSupportedFunc(filePath) == true) {
+            break;
+        }
+    }
+
+    if (optIndex == s_mediaFileOptCount) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    *pMediaFileHandle = PsdkOsal_Malloc(sizeof(T_PsdkMediaFile));
+    if (*pMediaFileHandle == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    (*pMediaFileHandle)->filePath = PsdkOsal_Malloc(strlen(filePath) + 1);
+    if ((*pMediaFileHandle)->filePath == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    (*pMediaFileHandle)->mediaFileOptItem = s_mediaFileOpt[optIndex];
+    (*pMediaFileHandle)->mediaFileThm.privThm = NULL;
+    (*pMediaFileHandle)->mediaFileScr.privScr = NULL;
+
+    strcpy((*pMediaFileHandle)->filePath, filePath);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkMediaFile_DestroyHandle(T_PsdkMediaFileHandle mediaFileHandle)
+{
+    PsdkOsal_Free(mediaFileHandle->filePath);
+
+    PsdkOsal_Free(mediaFileHandle);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetMediaFileType(T_PsdkMediaFileHandle mediaFileHandle,
+                                                E_PsdkCameraMediaFileType *mediaFileType)
+{
+    *mediaFileType = mediaFileHandle->mediaFileOptItem.mediaFileType;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetMediaFileAttr(T_PsdkMediaFileHandle mediaFileHandle,
+                                                T_PsdkCameraMediaFileAttr *mediaFileAttr)
+{
+    if (mediaFileHandle->mediaFileOptItem.getAttrFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle getAttrFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getAttrFunc(mediaFileHandle, mediaFileAttr);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetDataOrg(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                          uint8_t *data, uint16_t *realLen)
+{
+    if (mediaFileHandle->mediaFileOptItem.getDataOrgFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle getDataOrgFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getDataOrgFunc(mediaFileHandle, offset, len, data, realLen);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeOrg(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    if (mediaFileHandle->mediaFileOptItem.getFileSizeOrgFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle getFileSizeOrgFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getFileSizeOrgFunc(mediaFileHandle, fileSize);
+}
+
+T_PsdkReturnCode PsdkMediaFile_CreateThm(T_PsdkMediaFileHandle mediaFileHandle)
+{
+    if (mediaFileHandle->mediaFileOptItem.createThmFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle createThmFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.createThmFunc(mediaFileHandle);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeThm(T_PsdkMediaFileHandle mediaFileHandle, uint32_t *fileSize)
+{
+    if (mediaFileHandle->mediaFileOptItem.getFileSizeThmFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle getFileSizeThmFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getFileSizeThmFunc(mediaFileHandle, fileSize);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetDataThm(T_PsdkMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
+                                          uint8_t *data, uint16_t *realLen)
+{
+    if (mediaFileHandle->mediaFileOptItem.getDataThmFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle getDataThmFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getDataThmFunc(mediaFileHandle, offset, len, data, realLen);
+}
+
+T_PsdkReturnCode PsdkMediaFile_DestoryThm(T_PsdkMediaFileHandle mediaFileHandle)
+{
+    if (mediaFileHandle->mediaFileOptItem.destroyThmFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle destroyThmFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.destroyThmFunc(mediaFileHandle);
+}
+
+T_PsdkReturnCode PsdkMediaFile_CreateScr(T_PsdkMediaFileHandle mediaFileHandle)
+{
+    if (mediaFileHandle->mediaFileOptItem.creatScrFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle creatScrFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.creatScrFunc(mediaFileHandle);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeScr(T_PsdkMediaFileHandle mediaFileHandle, uint32_t *fileSize)
+{
+    if (mediaFileHandle->mediaFileOptItem.getFileSizeScrFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle getFileSizeScrFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getFileSizeScrFunc(mediaFileHandle, fileSize);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetDataScr(T_PsdkMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
+                                          uint8_t *data, uint16_t *realLen)
+{
+    if (mediaFileHandle->mediaFileOptItem.getDataScrFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle getDataScrFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getDataScrFunc(mediaFileHandle, offset, len, data, realLen);
+}
+
+T_PsdkReturnCode PsdkMediaFile_DestroyScr(T_PsdkMediaFileHandle mediaFileHandle)
+{
+    if (mediaFileHandle->mediaFileOptItem.destroyScrFunc == NULL) {
+        PsdkLogger_UserLogError("Media file handle destroyScrFunc null error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.destroyScrFunc(mediaFileHandle);
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_core.h

@@ -0,0 +1,117 @@
+/**
+ ********************************************************************
+ * @file    psdk_media_file_core.h
+ * @version V0.0.0
+ * @date    2019/01/01
+ * @brief   This is the header file for "psdk_media_file_core.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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 PSDK_MEDIA_FILE_CORE_H
+#define PSDK_MEDIA_FILE_CORE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <psdk_typedef.h>
+#include <psdk_payload_camera.h>
+
+/* Exported constants --------------------------------------------------------*/
+#define PSDK_MEDIA_FILE_PATH_LEN_MAX           512             /*max file path len */
+#define PSDK_MEDIA_DIR_PATH_LEN_MAX            256             /*max dir path len */
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    void *privThm;
+} T_PsdkMediaFileThm;
+
+typedef struct {
+    void *privScr;
+} T_PsdkMediaFileScr;
+
+struct _PsdkMediaFile;
+
+typedef struct {
+    E_PsdkCameraMediaFileType mediaFileType;
+    bool (*isSupportedFunc)(const char *filePath);
+
+    T_PsdkReturnCode (*getAttrFunc)(struct _PsdkMediaFile *mediaFileHandle, T_PsdkCameraMediaFileAttr *mediaFileAttr);
+
+    T_PsdkReturnCode (*getDataOrgFunc)(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                       uint8_t *data, uint16_t *realLen);
+    T_PsdkReturnCode (*getFileSizeOrgFunc)(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+
+    T_PsdkReturnCode (*createThmFunc)(struct _PsdkMediaFile *mediaFileHandle);
+    T_PsdkReturnCode (*getFileSizeThmFunc)(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+    T_PsdkReturnCode (*getDataThmFunc)(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                       uint8_t *data, uint16_t *realLen);
+    T_PsdkReturnCode (*destroyThmFunc)(struct _PsdkMediaFile *mediaFileHandle);
+
+    T_PsdkReturnCode (*creatScrFunc)(struct _PsdkMediaFile *mediaFileHandle);
+    T_PsdkReturnCode (*getFileSizeScrFunc)(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+    T_PsdkReturnCode (*getDataScrFunc)(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                       uint8_t *data, uint16_t *realLen);
+    T_PsdkReturnCode (*destroyScrFunc)(struct _PsdkMediaFile *mediaFileHandle);
+} T_PsdkMediaFileOptItem;
+
+typedef struct _PsdkMediaFile {
+    char *filePath;
+    T_PsdkMediaFileOptItem mediaFileOptItem;
+    T_PsdkMediaFileThm mediaFileThm;
+    T_PsdkMediaFileScr mediaFileScr;
+} T_PsdkMediaFile, *T_PsdkMediaFileHandle;
+
+/* Exported functions --------------------------------------------------------*/
+bool PsdkMediaFile_IsSupported(const char *filePath);
+T_PsdkReturnCode PsdkMediaFile_CreateHandle(const char *filePath, T_PsdkMediaFileHandle *pMediaFileHandle);
+T_PsdkReturnCode PsdkMediaFile_DestroyHandle(T_PsdkMediaFileHandle mediaFileHandle);
+
+T_PsdkReturnCode PsdkMediaFile_GetMediaFileType(T_PsdkMediaFileHandle mediaFileHandle,
+                                                E_PsdkCameraMediaFileType *mediaFileType);
+T_PsdkReturnCode PsdkMediaFile_GetMediaFileAttr(T_PsdkMediaFileHandle mediaFileHandle,
+                                                T_PsdkCameraMediaFileAttr *mediaFileAttr);
+
+T_PsdkReturnCode PsdkMediaFile_GetDataOrg(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                          uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeOrg(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+
+T_PsdkReturnCode PsdkMediaFile_CreateThm(T_PsdkMediaFileHandle mediaFileHandle);
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeThm(T_PsdkMediaFileHandle mediaFileHandle, uint32_t *fileSize);
+T_PsdkReturnCode PsdkMediaFile_GetDataThm(T_PsdkMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
+                                          uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkMediaFile_DestoryThm(T_PsdkMediaFileHandle mediaFileHandle);
+
+T_PsdkReturnCode PsdkMediaFile_CreateScr(T_PsdkMediaFileHandle mediaFileHandle);
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeScr(T_PsdkMediaFileHandle mediaFileHandle, uint32_t *fileSize);
+T_PsdkReturnCode PsdkMediaFile_GetDataScr(T_PsdkMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
+                                          uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkMediaFile_DestroyScr(T_PsdkMediaFileHandle mediaFileHandle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PSDK_MEDIA_FILE_CORE_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_jpg.c

@@ -0,0 +1,227 @@
+/**
+ ********************************************************************
+ * @file    psdk_media_file_JPG.c
+ * @version V1.0.0
+ * @date    2019/01/01
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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 "psdk_media_file_jpg.h"
+#include "psdk_media_file_core.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <psdk_logger.h>
+#include <utils/util_misc.h>
+#include "psdk_platform.h"
+#include "utils/util_time.h"
+#include "utils/util_file.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define JPG_FILE_SUFFIX                 ".jpg"
+#define JPG_TEMP_FILE_TEMPLATE_STR      "JPG_TEMP_XXXXXX.jpg"
+#define JPG_TEMP_FILE_PATH_MAX_LEN      50
+#define FFMPEG_CMD_BUF_SIZE             1024
+
+#define JPG_THM_SCALE_CFG_STR           "scale=100:-1"
+#define JPG_SCR_SCALE_CFG_STR           "scale=600:-1"
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    FILE *tempFile;
+    char tempfilePath[JPG_TEMP_FILE_PATH_MAX_LEN];
+} T_PsdkJPGTempFilePriv;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_PsdkReturnCode PsdkMediaFile_CreateTempFilePriv_JPG(const char *srcFilePath, const char *scaleCfgStr,
+                                                             T_PsdkJPGTempFilePriv **pTempFilePrivHandle);
+static T_PsdkReturnCode PsdkMediaFile_DestroyTempFilePriv_JPG(T_PsdkJPGTempFilePriv *tempFilePrivHandle);
+
+/* Exported functions definition ---------------------------------------------*/
+bool PsdkMediaFile_IsSupported_JPG(const char *filePath)
+{
+    if (filePath == NULL) {
+        PsdkLogger_UserLogError("input parameter is null error");
+        return false;
+    }
+
+    if (strcmp(&filePath[strlen(filePath) - 4], JPG_FILE_SUFFIX) == 0) {
+        return true;
+    }
+
+    return false;
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetAttrFunc_JPG(struct _PsdkMediaFile *mediaFileHandle,
+                                               T_PsdkCameraMediaFileAttr *mediaFileAttr)
+{
+    USER_UTIL_UNUSED(mediaFileHandle);
+
+    mediaFileAttr->attrVideoDuration = 0;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetDataOrigin_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                                 uint8_t *data, uint16_t *realLen)
+{
+    return UtilFile_GetFileDataByPath(mediaFileHandle->filePath, offset, len, data, realLen);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeOrigin_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    return UtilFile_GetFileSizeByPath(mediaFileHandle->filePath, fileSize);
+}
+
+T_PsdkReturnCode PsdkMediaFile_CreateThumbNail_JPG(struct _PsdkMediaFile *mediaFileHandle)
+{
+    return PsdkMediaFile_CreateTempFilePriv_JPG(mediaFileHandle->filePath, JPG_THM_SCALE_CFG_STR,
+                                                (T_PsdkJPGTempFilePriv **) &mediaFileHandle->mediaFileThm.privThm);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeThumbNail_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    T_PsdkJPGTempFilePriv *jpgFileThmPriv = (T_PsdkJPGTempFilePriv *) mediaFileHandle->mediaFileThm.privThm;
+
+    return UtilFile_GetFileSize(jpgFileThmPriv->tempFile, fileSize);
+}
+
+T_PsdkReturnCode
+PsdkMediaFile_GetDataThumbNail_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                   uint8_t *data, uint16_t *realLen)
+{
+    T_PsdkJPGTempFilePriv *jpgFileThmPriv = (T_PsdkJPGTempFilePriv *) mediaFileHandle->mediaFileThm.privThm;
+
+    return UtilFile_GetFileData(jpgFileThmPriv->tempFile, offset, len, data, realLen);
+}
+
+T_PsdkReturnCode PsdkMediaFile_DestroyThumbNail_JPG(struct _PsdkMediaFile *mediaFileHandle)
+{
+    return PsdkMediaFile_DestroyTempFilePriv_JPG(mediaFileHandle->mediaFileThm.privThm);
+}
+
+T_PsdkReturnCode PsdkMediaFile_CreateScreenNail_JPG(struct _PsdkMediaFile *mediaFileHandle)
+{
+    return PsdkMediaFile_CreateTempFilePriv_JPG(mediaFileHandle->filePath, JPG_SCR_SCALE_CFG_STR,
+                                                (T_PsdkJPGTempFilePriv **) &mediaFileHandle->mediaFileScr.privScr);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeScreenNail_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    T_PsdkJPGTempFilePriv *jpgFileScrPriv = (T_PsdkJPGTempFilePriv *) mediaFileHandle->mediaFileScr.privScr;
+
+    return UtilFile_GetFileSize(jpgFileScrPriv->tempFile, fileSize);
+}
+
+T_PsdkReturnCode
+PsdkMediaFile_GetDataScreenNail_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                    uint8_t *data, uint16_t *realLen)
+{
+    T_PsdkJPGTempFilePriv *jpgFileScrPriv = (T_PsdkJPGTempFilePriv *) mediaFileHandle->mediaFileScr.privScr;
+
+    return UtilFile_GetFileData(jpgFileScrPriv->tempFile, offset, len, data, realLen);
+}
+
+T_PsdkReturnCode PsdkMediaFile_DestroyScreenNail_JPG(struct _PsdkMediaFile *mediaFileHandle)
+{
+    return PsdkMediaFile_DestroyTempFilePriv_JPG(mediaFileHandle->mediaFileScr.privScr);
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_PsdkReturnCode PsdkMediaFile_CreateTempFilePriv_JPG(const char *srcFilePath, const char *scaleCfgStr,
+                                                             T_PsdkJPGTempFilePriv **pTempFilePrivHandle)
+{
+    char ffmpeg_cmd[FFMPEG_CMD_BUF_SIZE];
+    int cmdRet;
+    T_PsdkRunTimeStamps tiStart, tiEnd;
+    T_PsdkJPGTempFilePriv *jpgTempFilePriv;
+    T_PsdkReturnCode psdkStat;
+    int tempFd;
+
+    tiStart = PsdkUtilTime_GetRunTimeStamps();
+
+    *pTempFilePrivHandle = PsdkOsal_Malloc(sizeof(T_PsdkJPGTempFilePriv));
+    if (*pTempFilePrivHandle == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    jpgTempFilePriv = *pTempFilePrivHandle;
+
+    //get temp file name
+    strcpy(jpgTempFilePriv->tempfilePath, JPG_TEMP_FILE_TEMPLATE_STR);
+    tempFd = mkstemps(jpgTempFilePriv->tempfilePath, strlen(JPG_FILE_SUFFIX));
+    if (tempFd < 0) {
+        PsdkLogger_UserLogError("JPG Create Temp File Error, tempFd = %d\n", tempFd);
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_create_temp;
+    }
+    close(tempFd);
+    unlink(jpgTempFilePriv->tempfilePath);
+
+    //ffmpeg cmd send
+    snprintf(ffmpeg_cmd, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" -vf %s %s 1>/dev/null 2>&1",
+             srcFilePath, scaleCfgStr, jpgTempFilePriv->tempfilePath);
+
+    cmdRet = system(ffmpeg_cmd);
+
+    tiEnd = PsdkUtilTime_GetRunTimeStamps();
+
+    PsdkLogger_UserLogDebug("JPG Create TempFile, RealTime = %ld us\n", tiEnd.realUsec - tiStart.realUsec);
+
+    if (cmdRet != 0) {
+        PsdkLogger_UserLogError("JPG ffmpeg cmd call error, ret = %d\n", cmdRet);
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_system_cmd;
+    }
+
+    //open temp file
+    jpgTempFilePriv->tempFile = fopen(jpgTempFilePriv->tempfilePath, "rb+");
+    if (jpgTempFilePriv->tempFile == NULL) {
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_file_open;
+    }
+
+    //unlink temp file
+    unlink(jpgTempFilePriv->tempfilePath);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+err_file_open:
+    unlink(jpgTempFilePriv->tempfilePath);
+err_system_cmd:
+err_create_temp:
+    PsdkOsal_Free(*pTempFilePrivHandle);
+
+    return psdkStat;
+}
+
+static T_PsdkReturnCode PsdkMediaFile_DestroyTempFilePriv_JPG(T_PsdkJPGTempFilePriv *tempFilePrivHandle)
+{
+    fclose(tempFilePrivHandle->tempFile);
+    PsdkOsal_Free(tempFilePrivHandle);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_jpg.h

@@ -0,0 +1,77 @@
+/**
+ ********************************************************************
+ * @file    psdk_media_file_JPG.h
+ * @version V0.0.0
+ * @date    2019/01/01
+ * @brief   This is the header file for "psdk_media_file_JPG.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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 PSDK_MEDIA_FILE_JPG_H
+#define PSDK_MEDIA_FILE_JPG_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <psdk_payload_camera.h>
+#include <psdk_typedef.h>
+#include "psdk_media_file_core.h"
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+bool PsdkMediaFile_IsSupported_JPG(const char *filePath);
+
+T_PsdkReturnCode PsdkMediaFile_GetAttrFunc_JPG(struct _PsdkMediaFile *mediaFileHandle,
+                                               T_PsdkCameraMediaFileAttr *mediaFileAttr);
+
+T_PsdkReturnCode PsdkMediaFile_GetDataOrigin_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                                 uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeOrigin_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+
+T_PsdkReturnCode PsdkMediaFile_CreateThumbNail_JPG(struct _PsdkMediaFile *mediaFileHandle);
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeThumbNail_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+T_PsdkReturnCode
+PsdkMediaFile_GetDataThumbNail_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                   uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkMediaFile_DestroyThumbNail_JPG(struct _PsdkMediaFile *mediaFileHandle);
+
+T_PsdkReturnCode PsdkMediaFile_CreateScreenNail_JPG(struct _PsdkMediaFile *mediaFileHandle);
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeScreenNail_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+T_PsdkReturnCode
+PsdkMediaFile_GetDataScreenNail_JPG(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                    uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkMediaFile_DestroyScreenNail_JPG(struct _PsdkMediaFile *mediaFileHandle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PSDK_MEIDA_FILE_JPG_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_mp4.c

@@ -0,0 +1,261 @@
+/**
+ ********************************************************************
+ * @file    psdk_media_file_MP4.c
+ * @version V1.0.0
+ * @date    2019/01/01
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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 "psdk_media_file_mp4.h"
+#include "psdk_media_file_core.h"
+#include <string.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <psdk_logger.h>
+#include <stdlib.h>
+#include "psdk_platform.h"
+#include "utils/util_time.h"
+#include "utils/util_file.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+#define MP4_FILE_SUFFIX                 ".mp4"
+#define MP4_TEMP_FILE_TEMPLATE_STR      "MP4_TEMP_XXXXXX.jpg"
+#define MP4_TEMP_FILE_PATH_MAX_LEN      50
+#define FFMPEG_CMD_BUF_SIZE             (PSDK_MEDIA_FILE_PATH_LEN_MAX + 256)
+
+#define MP4_THM_SCALE_CFG_STR           "scale=100:-1"
+#define MP4_SCR_SCALE_CFG_STR           "scale=600:-1"
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    FILE *tempFile;
+    char tempfilePath[MP4_TEMP_FILE_PATH_MAX_LEN];
+} T_PsdkMP4TempPicPriv;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_PsdkReturnCode PsdkMediaFile_CreateTempPicPriv_MP4(const char *srcFilePath, const char *scaleCfgStr,
+                                                            T_PsdkMP4TempPicPriv **pTempPicPrivHandle);
+static T_PsdkReturnCode PsdkMediaFile_DestroyTempPicPriv_MP4(T_PsdkMP4TempPicPriv *tempPicPrivHandle);
+
+/* Private values ------------------------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+bool PsdkMediaFile_IsSupported_MP4(const char *filePath)
+{
+    if (filePath == NULL) {
+        PsdkLogger_UserLogError("input parameter is null error");
+        return false;
+    }
+
+    if (strcmp(&filePath[strlen(filePath) - 4], MP4_FILE_SUFFIX) == 0) {
+        return true;
+    }
+
+    return false;
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetAttrFunc_MP4(struct _PsdkMediaFile *mediaFileHandle,
+                                               T_PsdkCameraMediaFileAttr *mediaFileAttr)
+{
+    FILE *fp;
+    char ffmpegCmdStr[FFMPEG_CMD_BUF_SIZE];
+    float hour, minute, second;
+    char tempTailStr[128];
+    int ret;
+    T_PsdkReturnCode psdkStat;
+
+    snprintf(ffmpegCmdStr, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" 2>&1 | grep \"Duration\"", mediaFileHandle->filePath);
+    fp = popen(ffmpegCmdStr, "r");
+
+    if (fp == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    ret = fscanf(fp, "  Duration: %f:%f:%f,%127s", &hour, &minute, &second, tempTailStr);
+    if (ret <= 0) {
+        PsdkLogger_UserLogError("MP4 File Get Duration Error\n");
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    mediaFileAttr->attrVideoDuration = (uint32_t) (hour * 3600 + minute * 60 + second + 0.5);
+
+    /*! The user needs to obtain the frame rate and resolution of the video file by ffmpeg tools.
+     * Also the frame rate and resolution of video need convert to enum E_PsdkCameraVideoFrameRate or
+     * E_PsdkCameraVideoResolution.
+     */
+    mediaFileAttr->attrVideoFrameRate = PSDK_CAMERA_VIDEO_FRAME_RATE_30_FPS;
+    mediaFileAttr->attrVideoResolution = PSDK_CAMERA_VIDEO_RESOLUTION_1920x1080;
+
+    psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    pclose(fp);
+
+    return psdkStat;
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetDataOrigin_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                                 uint8_t *data, uint16_t *realLen)
+{
+    return UtilFile_GetFileDataByPath(mediaFileHandle->filePath, offset, len, data, realLen);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeOrigin_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    return UtilFile_GetFileSizeByPath(mediaFileHandle->filePath, fileSize);
+}
+
+T_PsdkReturnCode PsdkMediaFile_CreateThumbNail_MP4(struct _PsdkMediaFile *mediaFileHandle)
+{
+
+    return PsdkMediaFile_CreateTempPicPriv_MP4(mediaFileHandle->filePath, MP4_THM_SCALE_CFG_STR,
+                                               (T_PsdkMP4TempPicPriv **) &mediaFileHandle->mediaFileThm.privThm);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeThumbNail_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    T_PsdkMP4TempPicPriv *jpgFileThmPriv = (T_PsdkMP4TempPicPriv *) mediaFileHandle->mediaFileThm.privThm;
+
+    return UtilFile_GetFileSize(jpgFileThmPriv->tempFile, fileSize);
+}
+
+T_PsdkReturnCode
+PsdkMediaFile_GetDataThumbNail_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                   uint8_t *data, uint16_t *realLen)
+{
+    T_PsdkMP4TempPicPriv *jpgFileThmPriv = (T_PsdkMP4TempPicPriv *) mediaFileHandle->mediaFileThm.privThm;
+
+    return UtilFile_GetFileData(jpgFileThmPriv->tempFile, offset, len, data, realLen);
+}
+
+T_PsdkReturnCode PsdkMediaFile_DestroyThumbNail_MP4(struct _PsdkMediaFile *MediaFileHandle)
+{
+    return PsdkMediaFile_DestroyTempPicPriv_MP4(MediaFileHandle->mediaFileThm.privThm);
+}
+
+T_PsdkReturnCode PsdkMediaFile_CreateScreenNail_MP4(struct _PsdkMediaFile *mediaFileHandle)
+{
+    return PsdkMediaFile_CreateTempPicPriv_MP4(mediaFileHandle->filePath, MP4_SCR_SCALE_CFG_STR,
+                                               (T_PsdkMP4TempPicPriv **) &mediaFileHandle->mediaFileScr.privScr);
+}
+
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeScreenNail_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    T_PsdkMP4TempPicPriv *jpgFileScrPriv = (T_PsdkMP4TempPicPriv *) mediaFileHandle->mediaFileScr.privScr;
+
+    return UtilFile_GetFileSize(jpgFileScrPriv->tempFile, fileSize);
+}
+
+T_PsdkReturnCode
+PsdkMediaFile_GetDataScreenNail_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                    uint8_t *data, uint16_t *realLen)
+{
+    T_PsdkMP4TempPicPriv *jpgFileScrPriv = (T_PsdkMP4TempPicPriv *) mediaFileHandle->mediaFileScr.privScr;
+
+    return UtilFile_GetFileData(jpgFileScrPriv->tempFile, offset, len, data, realLen);
+}
+
+T_PsdkReturnCode PsdkMediaFile_DestroyScreenNail_MP4(struct _PsdkMediaFile *mediaFileHandle)
+{
+    return PsdkMediaFile_DestroyTempPicPriv_MP4(mediaFileHandle->mediaFileScr.privScr);
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_PsdkReturnCode PsdkMediaFile_CreateTempPicPriv_MP4(const char *srcFilePath, const char *scaleCfgStr,
+                                                            T_PsdkMP4TempPicPriv **pTempPicPrivHandle)
+{
+    char ffmpeg_cmd[FFMPEG_CMD_BUF_SIZE];
+    int cmdRet;
+    T_PsdkRunTimeStamps tiStart, tiEnd;
+    T_PsdkMP4TempPicPriv *mp4TempPicFile;
+    T_PsdkReturnCode psdkStat;
+    int tempFd;
+
+    tiStart = PsdkUtilTime_GetRunTimeStamps();
+
+    *pTempPicPrivHandle = PsdkOsal_Malloc(sizeof(T_PsdkMP4TempPicPriv));
+    if (*pTempPicPrivHandle == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    mp4TempPicFile = *pTempPicPrivHandle;
+
+    //get temp file name
+    strcpy(mp4TempPicFile->tempfilePath, MP4_TEMP_FILE_TEMPLATE_STR);
+    tempFd = mkstemps(mp4TempPicFile->tempfilePath, strlen(MP4_FILE_SUFFIX));
+    if (tempFd < 0) {
+        PsdkLogger_UserLogError("JPG Create Temp File Error, tempFd = %d\n", tempFd);
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_create_temp;
+    }
+    close(tempFd);
+    unlink(mp4TempPicFile->tempfilePath);
+
+    //ffmpeg cmd send
+    snprintf(ffmpeg_cmd, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" -vf %s -ss 00:00:00 -vframes 1 %s 1>/dev/null 2>&1",
+             srcFilePath, scaleCfgStr, mp4TempPicFile->tempfilePath);
+
+    cmdRet = system(ffmpeg_cmd);
+
+    tiEnd = PsdkUtilTime_GetRunTimeStamps();
+
+    PsdkLogger_UserLogDebug("JPG Create TempFile, RealTime = %ld us\n", tiEnd.realUsec - tiStart.realUsec);
+
+    if (cmdRet != 0) {
+        PsdkLogger_UserLogError("JPG ffmpeg cmd call error, ret = %d\n", cmdRet);
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_system_cmd;
+    }
+
+    //open temp file
+    mp4TempPicFile->tempFile = fopen(mp4TempPicFile->tempfilePath, "rb+");
+    if (mp4TempPicFile->tempFile == NULL) {
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_file_open;
+    }
+
+    //unlink temp file
+    unlink(mp4TempPicFile->tempfilePath);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+err_file_open:
+    unlink(mp4TempPicFile->tempfilePath);
+err_system_cmd:
+err_create_temp:
+    PsdkOsal_Free(*pTempPicPrivHandle);
+
+    return psdkStat;
+}
+
+static T_PsdkReturnCode PsdkMediaFile_DestroyTempPicPriv_MP4(T_PsdkMP4TempPicPriv *tempPicPrivHandle)
+{
+    fclose(tempPicPrivHandle->tempFile);
+    PsdkOsal_Free(tempPicPrivHandle);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_mp4.h

@@ -0,0 +1,77 @@
+/**
+ ********************************************************************
+ * @file    psdk_media_file_MP4.h
+ * @version V0.0.0
+ * @date    2019/01/01
+ * @brief   This is the header file for "psdk_media_file_MP4.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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 PSDK_MEDIA_FILE_MP4_H
+#define PSDK_MEDIA_FILE_MP4_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <psdk_payload_camera.h>
+#include <psdk_typedef.h>
+#include "psdk_media_file_core.h"
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+bool PsdkMediaFile_IsSupported_MP4(const char *filePath);
+
+T_PsdkReturnCode PsdkMediaFile_GetAttrFunc_MP4(struct _PsdkMediaFile *mediaFileHandle,
+                                               T_PsdkCameraMediaFileAttr *mediaFileAttr);
+
+T_PsdkReturnCode PsdkMediaFile_GetDataOrigin_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                                 uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeOrigin_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+
+T_PsdkReturnCode PsdkMediaFile_CreateThumbNail_MP4(struct _PsdkMediaFile *mediaFileHandle);
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeThumbNail_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+T_PsdkReturnCode
+PsdkMediaFile_GetDataThumbNail_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                   uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkMediaFile_DestroyThumbNail_MP4(struct _PsdkMediaFile *MediaFileHandle);
+
+T_PsdkReturnCode PsdkMediaFile_CreateScreenNail_MP4(struct _PsdkMediaFile *mediaFileHandle);
+T_PsdkReturnCode PsdkMediaFile_GetFileSizeScreenNail_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t *fileSize);
+T_PsdkReturnCode
+PsdkMediaFile_GetDataScreenNail_MP4(struct _PsdkMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                    uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkMediaFile_DestroyScreenNail_MP4(struct _PsdkMediaFile *mediaFileHandle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PSDK_MEDIA_FILE_MP4_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/camera_media_emu/test_payload_cam_media.h

@@ -0,0 +1,57 @@
+/**
+ ********************************************************************
+ * @file    test_payload_cam_media.h
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief   This is the header file for "test_payload_cam_media.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_PAYLOAD_CAM_MEDIA_H
+#define TEST_PAYLOAD_CAM_MEDIA_H
+
+/* Includes ------------------------------------------------------------------*/
+#if PSDK_ARCH_SYS_LINUX
+
+#include "psdk_typedef.h"
+#include "psdk_payload_camera.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_CameraMediaInit(void);
+T_PsdkReturnCode PsdkTest_CameraMediaGetFileInfo(const char *filePath, T_PsdkCameraMediaFileInfo *fileInfo);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+#endif // TEST_PAYLOAD_CAM_MEDIA_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/data_channel/test_data_channel.c

@@ -0,0 +1,63 @@
+/**
+ ********************************************************************
+ * @file    test_data_channel.c
+ * @version V2.0.0
+ * @date    2019/9/30
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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_data_channel.h"
+#include "psdk_data_channel.h"
+#include "psdk_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+
+
+/* Private variables ---------------------------------------------------------*/
+
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_DataChannelSetBandwidthProportionForHighspeedChannel(
+    T_PsdkDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportion)
+{
+    T_PsdkReturnCode psdkStat;
+
+    psdkStat = PsdkDataChannel_SetBandwidthProportionForHighspeedChannel(bandwidthProportion);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set bandwidth proportion for high-speed channel error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/data_channel/test_data_channel.h

@@ -0,0 +1,56 @@
+/**
+ ********************************************************************
+ * @file    test_data_channel.h
+ * @version V2.0.0
+ * @date    2019/9/30
+ * @brief   This is the header file for "test_data_channel.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_DATA_CHANNEL_H
+#define TEST_DATA_CHANNEL_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+#include "psdk_data_channel.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_DataChannelSetBandwidthProportionForHighspeedChannel(
+    T_PsdkDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportion);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_DATA_CHANNEL_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/data_subscription/test_data_subscription.c

@@ -0,0 +1,165 @@
+/**
+ ********************************************************************
+ * @file    test_data_subscription.c
+ * @version V2.0.0
+ * @date    2019/8/15
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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 "test_data_subscription.h"
+#include "psdk_logger.h"
+#include "psdk_platform.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define DATA_SUBSCRIPTION_TASK_FREQ         (1)
+#define DATA_SUBSCRIPTION_TASK_STACK_SIZE   (2048)
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+static void *UserDataSubscription_Task(void *arg);
+static T_PsdkReturnCode PsdkTest_DataSubscriptionReceiveQuaternionCallback(const uint8_t *data, uint16_t dataSize,
+                                                                           const T_PsdkDataSubscriptiontTimestamp *timestamp);
+
+/* Private variables ---------------------------------------------------------*/
+static T_PsdkTaskHandle s_userDataSubscriptionThread;
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_DataSubscriptionInit(void)
+{
+    T_PsdkReturnCode psdkStat;
+
+    psdkStat = PsdkDataSubscription_Init();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("init data subscription module error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    psdkStat = PsdkDataSubscription_RegTopicSync(PSDK_DATA_SUBSCRIPTION_TOPIC_QUATERNION, 10,
+                                                 PsdkTest_DataSubscriptionReceiveQuaternionCallback);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Subscribe topic QUATERNION error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    psdkStat = PsdkDataSubscription_RegTopicSync(PSDK_DATA_SUBSCRIPTION_TOPIC_VELOCITY, 1, NULL);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Subscribe topic VELOCITY error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    psdkStat = PsdkDataSubscription_RegTopicSync(PSDK_DATA_SUBSCRIPTION_TOPIC_GPS_POSITION, 1, NULL);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Subscribe topic GPS_POSITION error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkOsal_TaskCreate(&s_userDataSubscriptionThread, UserDataSubscription_Task, "user_subscription_task",
+                            DATA_SUBSCRIPTION_TASK_STACK_SIZE, NULL) !=
+        PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user data subscription task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *UserDataSubscription_Task(void *arg)
+{
+    T_PsdkReturnCode psdkStat;
+    T_PsdkDataSubscriptionQuaternion quaternion = {0};
+    T_PsdkDataSubscriptionVelocity velocity = {0};
+    T_PsdkDataSubscriptiontTimestamp timestamp = {0};
+    T_PsdkDataSubscriptionGpsPosition gpsPosition = {0};
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        PsdkOsal_TaskSleepMs(1000 / DATA_SUBSCRIPTION_TASK_FREQ);
+
+        psdkStat = PsdkDataSubscription_GetValueOfTopicWithTimestamp(PSDK_DATA_SUBSCRIPTION_TOPIC_QUATERNION,
+                                                                     (uint8_t *) &quaternion,
+                                                                     sizeof(T_PsdkDataSubscriptionQuaternion),
+                                                                     &timestamp);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get value of topic quaternion error.");
+        } else {
+            PsdkLogger_UserLogDebug("timestamp: millisecond %u microsecond %u.", timestamp.millisecond,
+                                    timestamp.microsecond);
+            PsdkLogger_UserLogDebug("quaternion: %f %f %f %f.", quaternion.q0, quaternion.q1, quaternion.q2,
+                                    quaternion.q3);
+        }
+
+        psdkStat = PsdkDataSubscription_GetValueOfTopicWithTimestamp(PSDK_DATA_SUBSCRIPTION_TOPIC_VELOCITY,
+                                                                     (uint8_t *) &velocity,
+                                                                     sizeof(T_PsdkDataSubscriptionVelocity),
+                                                                     &timestamp);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get value of topic velocity error.");
+        } else {
+            PsdkLogger_UserLogDebug("velocity: x %f y %f z %f, healthFlag %d.", velocity.data.x, velocity.data.y,
+                                    velocity.data.z, velocity.health);
+        }
+
+        psdkStat = PsdkDataSubscription_GetValueOfTopicWithTimestamp(PSDK_DATA_SUBSCRIPTION_TOPIC_GPS_POSITION,
+                                                                     (uint8_t *) &gpsPosition,
+                                                                     sizeof(T_PsdkDataSubscriptionGpsPosition),
+                                                                     &timestamp);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get value of topic gps position error.");
+        } else {
+            PsdkLogger_UserLogDebug("gps position: x %d y %d z %d.", gpsPosition.x, gpsPosition.y, gpsPosition.z);
+        }
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+static T_PsdkReturnCode PsdkTest_DataSubscriptionReceiveQuaternionCallback(const uint8_t *data, uint16_t dataSize,
+                                                                           const T_PsdkDataSubscriptiontTimestamp *timestamp)
+{
+    T_PsdkDataSubscriptionQuaternion *quaternion = (T_PsdkDataSubscriptionQuaternion *) data;
+
+    USER_UTIL_UNUSED(dataSize);
+
+    PsdkLogger_UserLogDebug("receive quaternion data.");
+
+    PsdkLogger_UserLogDebug("timestamp: millisecond %u microsecond %u.", timestamp->millisecond,
+                            timestamp->microsecond);
+    PsdkLogger_UserLogDebug("quaternion: %f %f %f %f.", quaternion->q0, quaternion->q1, quaternion->q2, quaternion->q3);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/data_subscription/test_data_subscription.h

@@ -0,0 +1,55 @@
+/**
+ ********************************************************************
+ * @file    test_data_subscription.h
+ * @version V2.0.0
+ * @date    2019/8/15
+ * @brief   This is the header file for "test_data_subscription.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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_DATA_SUBSCRIPTION_H
+#define TEST_DATA_SUBSCRIPTION_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+#include "psdk_data_subscription.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_DataSubscriptionInit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_DATA_SUBSCRIPTION_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/data_transmission/test_data_transmission.c

@@ -0,0 +1,199 @@
+/**
+ ********************************************************************
+ * @file    test_data_transmission.c
+ * @version V2.0.0
+ * @date    2019/8/3
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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_data_transmission.h"
+#include "psdk_data_transmission.h"
+#include "psdk_logger.h"
+#include "psdk_platform.h"
+#include "utils/util_misc.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define DATA_TRANSMISSION_TASK_FREQ         (1)
+#define DATA_TRANSMISSION_TASK_STACK_SIZE   (2048)
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+static void *UserDataTransmission_Task(void *arg);
+static T_PsdkReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len);
+static T_PsdkReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len);
+
+/* Private variables ---------------------------------------------------------*/
+static T_PsdkTaskHandle s_userDataTransmissionThread;
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_DataTransmissionInit(void)
+{
+    T_PsdkReturnCode psdkStat;
+    char ipAddr[PSDK_IP_ADDR_STR_SIZE_MAX] = {0};
+    uint16_t port = 0;
+
+    psdkStat = PsdkDataTransmission_Init();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("init data transmission module error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    psdkStat = PsdkDataTransmission_RegReceiveDataFromMobileCallback(ReceiveDataFromMobile);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register receive data from mobile error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    psdkStat = PsdkDataTransmission_RegReceiveDataFromOsdkCallback(ReceiveDataFromOnboardComputer);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register receive data from onboard coputer error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkOsal_TaskCreate(&s_userDataTransmissionThread, UserDataTransmission_Task, "user_transmission_task",
+                            DATA_TRANSMISSION_TASK_STACK_SIZE, NULL) !=
+        PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user data transmission task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    psdkStat = PsdkDataTransmission_GetDataStreamRemoteAddress(ipAddr, &port);
+    if (psdkStat == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogInfo("get data stream remote address: %s_%d", ipAddr, port);
+    } else {
+        PsdkLogger_UserLogError("get data stream remote address error.");
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *UserDataTransmission_Task(void *arg)
+{
+    T_PsdkReturnCode psdkStat;
+    const uint8_t dataToBeSent[] = "PSDK Data Transmission Test Data.\r\n";
+    T_PsdkDataChannelState state = {0};
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        PsdkOsal_TaskSleepMs(1000 / DATA_TRANSMISSION_TASK_FREQ);
+
+        psdkStat = PsdkDataTransmission_SendDataToMobile(dataToBeSent, sizeof(dataToBeSent));
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+            PsdkLogger_UserLogError("send data to mobile error.");
+
+        psdkStat = PsdkDataTransmission_SendDataToOsdk(dataToBeSent, sizeof(dataToBeSent));
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+            PsdkLogger_UserLogError("send data to onboard computer error.");
+
+#if PSDK_ARCH_SYS_LINUX
+        psdkStat = PsdkDataTransmission_SendDataStream(dataToBeSent, sizeof(dataToBeSent));
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+            PsdkLogger_UserLogError("send data to data stream error.");
+#endif
+
+        psdkStat = PsdkDataTransmission_GetSendToMobileState(&state);
+        if (psdkStat == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogDebug(
+                "send to mobile state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
+                state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
+                state.busyState);
+        } else {
+            PsdkLogger_UserLogError("get send to mobile channel state error.");
+        }
+
+        psdkStat = PsdkDataTransmission_GetSendToOsdkState(&state);
+        if (psdkStat == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogDebug(
+                "send to onboard computer state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
+                state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
+                state.busyState);
+        } else {
+            PsdkLogger_UserLogError("get send to onboard computer channel state error.");
+        }
+
+#if PSDK_ARCH_SYS_LINUX
+        psdkStat = PsdkDataTransmission_GetDataStreamState(&state);
+        if (psdkStat == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogDebug(
+                "data stream state: realtimeBandwidthLimit: %d, realtimeBandwidthBeforeFlowController: %d, busyState: %d.",
+                state.realtimeBandwidthLimit, state.realtimeBandwidthBeforeFlowController, state.busyState);
+        } else {
+            PsdkLogger_UserLogError("get data stream state error.");
+        }
+#endif
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+static T_PsdkReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len)
+{
+    char *printData = NULL;
+
+    printData = PsdkOsal_Malloc(len + 1);
+    if (printData == NULL) {
+        PsdkLogger_UserLogError("malloc memory for printData fail.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    strncpy(printData, (const char *) data, len);
+    printData[len] = '\0';
+    PsdkLogger_UserLogInfo("receive data from mobile: %s, len:%d.", printData, len);
+
+    PsdkOsal_Free(printData);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len)
+{
+    char *printData = NULL;
+
+    printData = PsdkOsal_Malloc(len + 1);
+    if (printData == NULL) {
+        PsdkLogger_UserLogError("malloc memory for printData fail.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    strncpy(printData, (const char *) data, len);
+    printData[len] = '\0';
+    PsdkLogger_UserLogInfo("receive data from onboard computer: %s, len:%d.", printData, len);
+
+    PsdkOsal_Free(printData);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/data_transmission/test_data_transmission.h

@@ -0,0 +1,54 @@
+/**
+ ********************************************************************
+ * @file    test_data_transmission.h
+ * @version V2.0.0
+ * @date    2019/8/3
+ * @brief   This is the header file for "test_data_transmission.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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_DATA_TRANSMISSION_H
+#define TEST_DATA_TRANSMISSION_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_DataTransmissionInit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_DATA_TRANSMISSION_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/gimbal_emu/test_payload_gimbal_emu.h

@@ -0,0 +1,59 @@
+/**
+ ********************************************************************
+ * @file    test_payload_gimbal_emu.h
+ * @version V2.0.0
+ * @date    2019/9/19
+ * @brief   This is the header file for "test_payload_gimbal_emu.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_PAYLOAD_GIMBAL_EMU_H
+#define TEST_PAYLOAD_GIMBAL_EMU_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+#include "psdk_gimbal.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_GimbalInit(void);
+T_PsdkReturnCode PsdkTest_GimbalDeInit(void);
+T_PsdkReturnCode
+PsdkTest_GimbalRotate(E_PsdkGimbalRotationMode rotationMode, T_PsdkGimbalRotationProperty rotationProperty,
+                      T_PsdkAttitude3d rotationValue); // unit if angle control: 0.1 degree, unit if speed control: 0.1 degree/s
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_PAYLOAD_GIMBAL_EMU_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/mop_channel/test_mop_channel.c

@@ -0,0 +1,824 @@
+/**
+ ********************************************************************
+ * @file    test_mop_channel.c
+ * @version V2.0.0
+ * @date    1/14/20
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 ------------------------------------------------------------------*/
+#if PSDK_ARCH_SYS_LINUX
+
+#include <utils/util_misc.h>
+#include <stdio.h>
+#include <utils/util_md5.h>
+#include "psdk_mop_channel.h"
+#include "psdk_logger.h"
+#include "psdk_platform.h"
+#include "test_mop_channel.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define PSDK_MOP_CHANNEL_TASK_STACK_SIZE                         2048
+#define TEST_MOP_CHANNEL_INIT_TIMEMS                             (3 * 1000)
+#define TEST_MOP_CHANNEL_RETRY_TIMEMS                            (3 * 1000)
+
+#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_CHANNEL_ID              49152
+#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_USING_RELIABLE_TRANS    0
+#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_TASK_FREQ          1
+#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER             (64 * 1024)
+#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_RECV_BUFFER             (100 * 1024)
+
+#define TEST_MOP_CHANNEL_FILE_SERVICE_CHANNEL_ID                 49153
+#define TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER                (3 * 1024 * 1024)
+#define TEST_MOP_CHANNEL_FILE_SERVICE_RECV_BUFFER                (100 * 1024)
+#define TEST_MOP_CHANNEL_FILE_SERVICE_CLIENT_MAX_SUPPORT_NUM     10
+#define TEST_MOP_CHANNEL_FILE_SERVICE_FILE_PATH                  "../../../../../api_sample/mop_channel/mop_channel_test_file/mop_send_test_file.mp4"
+
+/* Private types -------------------------------------------------------------*/
+typedef enum {
+    MOP_FILE_SERVICE_DOWNLOAD_IDEL = 0,
+    MOP_FILE_SERVICE_DOWNLOAD_REQUEST_START,
+    MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_SUCCESS,
+    MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_FAILED,
+    MOP_FILE_SERVICE_DOWNLOAD_DATA_SENDING,
+    MOP_FILE_SERVICE_DOWNLOAD_FINISHED_SUCCESS,
+    MOP_FILE_SERVICE_DOWNLOAD_FINISHED_FAILED,
+    MOP_FILE_SERVICE_DOWNLOAD_STOP,
+} E_MopFileServiceDownloadState;
+
+typedef enum {
+    MOP_FILE_SERVICE_UPLOAD_IDEL = 0,
+    MOP_FILE_SERVICE_UPLOAD_REQUEST_START,
+    MOP_FILE_SERVICE_UPLOAD_FILE_INFO_SUCCESS,
+    MOP_FILE_SERVICE_UPLOAD_FILE_INFO_FAILED,
+    MOP_FILE_SERVICE_UPLOAD_DATA_SENDING,
+    MOP_FILE_SERVICE_UPLOAD_FINISHED_SUCCESS,
+    MOP_FILE_SERVICE_UPLOAD_FINISHED_FAILED,
+    MOP_FILE_SERVICE_UPLOAD_STOP,
+} E_MopFileServiceUploadState;
+
+typedef struct {
+    uint8_t index;
+    T_PsdkTaskHandle clientRecvTask;
+    T_PsdkTaskHandle clientSendTask;
+    T_PsdkMopChannelHandle clientHandle;
+    E_MopFileServiceDownloadState downloadState;
+    uint16_t downloadSeqNum;
+    E_MopFileServiceUploadState uploadState;
+    uint16_t uploadSeqNum;
+} T_MopFileServiceClientContent;
+
+/* Private values -------------------------------------------------------------*/
+static T_PsdkMopChannelHandle s_testMopChannelNormalHandle;
+static T_PsdkMopChannelHandle s_testMopChannelNormalOutHandle;
+static T_PsdkTaskHandle s_testMopChannelNormalSendTask;
+static T_PsdkTaskHandle s_testMopChannelNormalRecvTask;
+static T_PsdkSemHandle s_testMopChannelReadySema;
+static bool s_testMopChannelConnected = false;
+
+static T_PsdkTaskHandle s_fileServiceMopChannelAcceptTask;
+static T_PsdkMopChannelHandle s_fileServiceMopChannelHandle;
+static T_MopFileServiceClientContent s_fileServiceContent[TEST_MOP_CHANNEL_FILE_SERVICE_CLIENT_MAX_SUPPORT_NUM];
+
+/* Private functions declaration ---------------------------------------------*/
+static void *PsdkTest_MopChannelSendNormalTask(void *arg);
+static void *PsdkTest_MopChannelRecvNormalTask(void *arg);
+static void *PsdkTest_MopChannelFileServiceAcceptTask(void *arg);
+static void *PsdkTest_MopChannelFileServiceRecvTask(void *arg);
+static void *PsdkTest_MopChannelFileServiceSendTask(void *arg);
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_MopChannelInit(void)
+{
+    T_PsdkReturnCode returnCode;
+
+    returnCode = PsdkOsal_SemaphoreCreate(&s_testMopChannelReadySema, 0);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop channel create msdk sema error, stat:0x%08llX.", returnCode);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    returnCode = PsdkMopChannel_Init();
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop channel init error, stat:0x%08llX.", returnCode);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    returnCode = PsdkOsal_TaskCreate(&s_testMopChannelNormalSendTask, PsdkTest_MopChannelSendNormalTask,
+                                     "mop_msdk_send_task",
+                                     PSDK_MOP_CHANNEL_TASK_STACK_SIZE, NULL);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop channel msdk send task create error, stat:0x%08llX.", returnCode);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    returnCode = PsdkOsal_TaskCreate(&s_testMopChannelNormalRecvTask, PsdkTest_MopChannelRecvNormalTask,
+                                     "mop_msdk_recv_task", PSDK_MOP_CHANNEL_TASK_STACK_SIZE, NULL);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop channel msdk recv task create error, stat:0x%08llX.", returnCode);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    returnCode = PsdkOsal_TaskCreate(&s_fileServiceMopChannelAcceptTask, PsdkTest_MopChannelFileServiceAcceptTask,
+                                     "mop_msdk_accept_task", PSDK_MOP_CHANNEL_TASK_STACK_SIZE, NULL);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop channel osdk recv task create error, stat:0x%08llX.", returnCode);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+static void *PsdkTest_MopChannelSendNormalTask(void *arg)
+{
+    uint8_t *sendBuf = NULL;
+    uint32_t realLen = 0;
+    T_PsdkReturnCode returnCode;
+    uint32_t sendDataCount = 0;
+
+    USER_UTIL_UNUSED(arg);
+
+    PsdkOsal_TaskSleepMs(TEST_MOP_CHANNEL_INIT_TIMEMS);
+
+    sendBuf = PsdkOsal_Malloc(TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
+    if (sendBuf == NULL) {
+        PsdkLogger_UserLogError("malloc send buffer error");
+        return NULL;
+    }
+
+REWAIT:
+    returnCode = PsdkOsal_SemaphoreWait(s_testMopChannelReadySema);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop channel wait sema error, stat:0x%08llX.", returnCode);
+        return NULL;
+    }
+
+    while (1) {
+        if (s_testMopChannelConnected == false) {
+            sendDataCount = 0;
+            goto REWAIT;
+        }
+
+        sendDataCount++;
+        memset(sendBuf, sendDataCount, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
+        returnCode = PsdkMopChannel_SendData(s_testMopChannelNormalOutHandle, sendBuf,
+                                             TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER, &realLen);
+        if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("mop channel send data to channel error,stat:0x%08llX", returnCode);
+        } else {
+            PsdkLogger_UserLogInfo("mop channel send data to channel length:%d count:%d", realLen, sendDataCount);
+        }
+
+        PsdkOsal_TaskSleepMs(1000 / TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_TASK_FREQ);
+    }
+}
+
+#pragma GCC diagnostic pop
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+static void *PsdkTest_MopChannelRecvNormalTask(void *arg)
+{
+    USER_UTIL_UNUSED(arg);
+    uint8_t *recvBuf = NULL;
+    uint32_t realLen;
+    T_PsdkReturnCode returnCode;
+    uint32_t recvDataCount = 0;
+
+    PsdkOsal_TaskSleepMs(TEST_MOP_CHANNEL_INIT_TIMEMS);
+
+#if TEST_MOP_CHANNEL_NORMAL_TRANSFOR_USING_RELIABLE_TRANS
+    returnCode = PsdkMopChannel_Create(&s_testMopChannelNormalHandle, PSDK_MOP_CHANNEL_TRANS_RELIABLE);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop channel create send handle error, stat:0x%08llX.", returnCode);
+        return NULL;
+    }
+#else
+    returnCode = PsdkMopChannel_Create(&s_testMopChannelNormalHandle, PSDK_MOP_CHANNEL_TRANS_UNRELIABLE);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop channel create send handle error, stat:0x%08llX.", returnCode);
+        return NULL;
+    }
+#endif
+
+REBIND:
+    returnCode = PsdkMopChannel_Bind(s_testMopChannelNormalHandle, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_CHANNEL_ID);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop bind channel error :0x%08llX", returnCode);
+        PsdkOsal_TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
+        goto REBIND;
+    }
+
+REACCEPT:
+    returnCode = PsdkMopChannel_Accept(s_testMopChannelNormalHandle, &s_testMopChannelNormalOutHandle);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogWarn("mop accept channel error :0x%08llX", returnCode);
+        PsdkOsal_TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
+        goto REACCEPT;
+    }
+
+    PsdkLogger_UserLogInfo("mop channel is connected");
+
+    recvBuf = PsdkOsal_Malloc(TEST_MOP_CHANNEL_NORMAL_TRANSFOR_RECV_BUFFER);
+    if (recvBuf == NULL) {
+        PsdkLogger_UserLogError("malloc recv buffer error");
+        return NULL;
+    }
+
+    s_testMopChannelConnected = true;
+
+    returnCode = PsdkOsal_SemaphorePost(s_testMopChannelReadySema);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("mop channel post sema error, stat:0x%08llX.", returnCode);
+        return NULL;
+    }
+
+    while (1) {
+        memset(recvBuf, 0, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_RECV_BUFFER);
+
+        returnCode = PsdkMopChannel_RecvData(s_testMopChannelNormalOutHandle, recvBuf,
+                                             TEST_MOP_CHANNEL_NORMAL_TRANSFOR_RECV_BUFFER, &realLen);
+        if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            if (returnCode == PSDK_ERROR_MOP_CHANNEL_MODULE_CODE_CONNECTION_CLOSE) {
+                PsdkLogger_UserLogInfo("mop channel is disconnected");
+                s_testMopChannelConnected = false;
+                PsdkOsal_TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
+                PsdkMopChannel_Close(s_testMopChannelNormalOutHandle);
+                PsdkMopChannel_Destroy(s_testMopChannelNormalOutHandle);
+                goto REACCEPT;
+            }
+        } else {
+            PsdkLogger_UserLogInfo("mop channel recv data from channel length:%d count:%d", realLen, recvDataCount++);
+        }
+    }
+}
+
+#pragma GCC diagnostic pop
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+static void *PsdkTest_MopChannelFileServiceAcceptTask(void *arg)
+{
+    T_PsdkReturnCode returnCode;
+    uint8_t currentClientNum = 0;
+
+    USER_UTIL_UNUSED(arg);
+
+    PsdkLogger_UserLogDebug("[File-Service] Start the file service.");
+
+    returnCode = PsdkMopChannel_Create(&s_fileServiceMopChannelHandle, PSDK_MOP_CHANNEL_TRANS_RELIABLE);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("[File-Service] mop channel create send handle error, stat:0x%08llX.", returnCode);
+        return NULL;
+    }
+
+REBIND:
+    returnCode = PsdkMopChannel_Bind(s_fileServiceMopChannelHandle, TEST_MOP_CHANNEL_FILE_SERVICE_CHANNEL_ID);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("[File-Service] mop bind channel error :0x%08llX", returnCode);
+        PsdkOsal_TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
+        goto REBIND;
+    }
+
+    while (1) {
+REACCEPT:
+        returnCode = PsdkMopChannel_Accept(s_fileServiceMopChannelHandle,
+                                           &s_fileServiceContent[currentClientNum].clientHandle);
+        if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogWarn("[File-Service] mop accept channel error :0x%08llX", returnCode);
+            PsdkOsal_TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
+            goto REACCEPT;
+        }
+
+        PsdkLogger_UserLogInfo("[File-Service] [Client:%d] mop channel is connected", currentClientNum);
+
+        s_fileServiceContent[currentClientNum].index = currentClientNum;
+        returnCode = PsdkOsal_TaskCreate(&s_fileServiceContent[currentClientNum].clientRecvTask,
+                                         PsdkTest_MopChannelFileServiceRecvTask,
+                                         "mop_file_service_recv_task",
+                                         PSDK_MOP_CHANNEL_TASK_STACK_SIZE,
+                                         &s_fileServiceContent[currentClientNum].index);
+        if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("mop channel recv task create error, stat:0x%08llX.", returnCode);
+            return NULL;
+        }
+
+        returnCode = PsdkOsal_TaskCreate(&s_fileServiceContent[currentClientNum].clientSendTask,
+                                         PsdkTest_MopChannelFileServiceSendTask,
+                                         "mop_file_service_send_task",
+                                         PSDK_MOP_CHANNEL_TASK_STACK_SIZE,
+                                         &s_fileServiceContent[currentClientNum].index);
+        if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("mop channel send task create error, stat:0x%08llX.", returnCode);
+            return NULL;
+        }
+
+        currentClientNum++;
+        if (currentClientNum > TEST_MOP_CHANNEL_FILE_SERVICE_CLIENT_MAX_SUPPORT_NUM) {
+            currentClientNum = 0;
+        }
+    }
+}
+
+#pragma GCC diagnostic pop
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+static void *PsdkTest_MopChannelFileServiceSendTask(void *arg)
+{
+    T_PsdkReturnCode returnCode;
+    uint8_t clientNum = *(uint8_t *) arg;
+    uint32_t sendRealLen = 0;
+    uint8_t *sendBuf;
+    MD5_CTX downloadFileMd5Ctx;
+    FILE *downloadFile = NULL;
+    uint8_t downloadFileMd5[PSDK_MD5_BUFFER_LEN] = {0};
+    uint64_t downloadFileTotalSize = 0;
+    uint64_t downloadWriteLen;
+    uint16_t downloadPackCount = 0;
+    T_PsdkMopChannel_FileInfo downloadFileInfo = {0};
+    T_PsdkMopChannel_FileTransfor transforAck = {0};
+    T_PsdkMopChannel_FileTransfor fileData = {0};
+    T_PsdkMopChannel_FileTransfor fileInfo = {0};
+    uint32_t downloadStartMs = 0;
+    uint32_t downloadEndMs = 0;
+    uint32_t downloadDurationMs;
+    psdk_f32_t downloadRate;
+
+    sendBuf = PsdkOsal_Malloc(TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER);
+    if (sendBuf == NULL) {
+        PsdkLogger_UserLogError("[File-Service] [Client:%d] malloc send buffer error", clientNum);
+        return NULL;
+    }
+
+    while (1) {
+        switch (s_fileServiceContent[clientNum].uploadState) {
+            case MOP_FILE_SERVICE_UPLOAD_REQUEST_START:
+                transforAck.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK;
+                transforAck.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_OK;
+                transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum;
+                transforAck.dataLen = 0;
+                PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t *) &transforAck,
+                                        UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data),
+                                        &sendRealLen);
+                PsdkLogger_UserLogDebug("[File-Service] [Client:%d] upload request ack", clientNum);
+                s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
+                break;
+            case MOP_FILE_SERVICE_UPLOAD_FILE_INFO_SUCCESS:
+                transforAck.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK;
+                transforAck.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_OK;
+                transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum;
+                transforAck.dataLen = 0;
+                PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t *) &transforAck,
+                                        UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data),
+                                        &sendRealLen);
+                PsdkLogger_UserLogDebug("[File-Service] [Client:%d] upload file info success", clientNum);
+                s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
+                break;
+            case MOP_FILE_SERVICE_UPLOAD_FILE_INFO_FAILED:
+                transforAck.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK;
+                transforAck.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_REJECTED;
+                transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum;
+                transforAck.dataLen = 0;
+                PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t *) &transforAck,
+                                        UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data),
+                                        &sendRealLen);
+                PsdkLogger_UserLogError("[File-Service] [Client:%d] upload file info failed", clientNum);
+                s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
+                break;
+            case MOP_FILE_SERVICE_UPLOAD_FINISHED_SUCCESS:
+                transforAck.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_RESULT;
+                transforAck.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_OK;
+                transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum++;
+                transforAck.dataLen = 0;
+                PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle,
+                                        (uint8_t *) &transforAck,
+                                        UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data),
+                                        &sendRealLen);
+                PsdkLogger_UserLogDebug("[File-Service] [Client:%d] upload finished success", clientNum);
+                s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
+
+                break;
+            case MOP_FILE_SERVICE_UPLOAD_FINISHED_FAILED:
+                transforAck.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_RESULT;
+                transforAck.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_FAILED;
+                transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum++;
+                transforAck.dataLen = 0;
+                PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle,
+                                        (uint8_t *) &transforAck,
+                                        UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data),
+                                        &sendRealLen);
+                PsdkLogger_UserLogError("[File-Service] [Client:%d] upload finished failed", clientNum);
+                s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
+                break;
+            case MOP_FILE_SERVICE_UPLOAD_STOP:
+                transforAck.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_ACK;
+                transforAck.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_UPLOAD;
+                transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum++;
+                transforAck.dataLen = 0;
+                PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle,
+                                        (uint8_t *) &transforAck,
+                                        UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data),
+                                        &sendRealLen);
+                s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
+                break;
+            default:
+                break;
+        }
+
+        switch (s_fileServiceContent[clientNum].downloadState) {
+            case MOP_FILE_SERVICE_DOWNLOAD_REQUEST_START:
+                transforAck.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK;
+                transforAck.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_OK;
+                transforAck.seqNum = s_fileServiceContent[clientNum].downloadSeqNum;
+                transforAck.dataLen = 0;
+                PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t *) &transforAck,
+                                        UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data),
+                                        &sendRealLen);
+                PsdkLogger_UserLogDebug("[File-Service] [Client:%d] download request ack", clientNum);
+                s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_IDEL;
+
+                break;
+            case MOP_FILE_SERVICE_DOWNLOAD_STOP:
+                transforAck.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_ACK;
+                transforAck.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_DOWNLOAD;
+                transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum++;
+                transforAck.dataLen = 0;
+                PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle,
+                                        (uint8_t *) &transforAck,
+                                        UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data),
+                                        &sendRealLen);
+                s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_IDEL;
+                break;
+            case MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_SUCCESS:
+                UtilMd5_Init(&downloadFileMd5Ctx);
+                PsdkOsal_GetTimeMs(&downloadStartMs);
+                if (downloadFile != NULL) {
+                    fclose(downloadFile);
+                }
+                downloadFile = fopen(TEST_MOP_CHANNEL_FILE_SERVICE_FILE_PATH, "rb");
+                if (downloadFile == NULL) {
+                    PsdkLogger_UserLogError("[File-Service] [Client:%d] download open file error",
+                                            clientNum);
+                    return NULL;
+                }
+
+                downloadFileTotalSize = 0;
+                while (1) {
+                    returnCode = fseek(downloadFile, downloadFileTotalSize, SEEK_SET);
+                    if (returnCode != 0) {
+                        PsdkLogger_UserLogError(
+                            "[File-Service] [Client:%d] mop channel fseek file data fail.", clientNum);
+                    }
+                    downloadWriteLen = fread(sendBuf, 1, TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER,
+                                             downloadFile);
+                    if (downloadWriteLen > 0) {
+                        downloadFileTotalSize += downloadWriteLen;
+                        UtilMd5_Update(&downloadFileMd5Ctx, sendBuf, downloadWriteLen);
+                        if (downloadWriteLen < TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER) {
+                            break;
+                        }
+                    }
+                }
+                UtilMd5_Final(&downloadFileMd5Ctx, downloadFileMd5);
+
+                fileInfo.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_INFO;
+                fileInfo.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_DOWNLOAD_REQUEST;
+                fileInfo.seqNum = s_fileServiceContent[clientNum].downloadSeqNum;
+                fileInfo.dataLen = sizeof(fileInfo) - UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data);
+
+                fileInfo.data.fileInfo.isExist = true;
+                downloadFileInfo.fileLength = downloadFileTotalSize;
+                fileInfo.data.fileInfo.fileLength = downloadFileTotalSize;
+                strcpy(fileInfo.data.fileInfo.fileName, "test.mp4");
+                memcpy(&fileInfo.data.fileInfo.md5Buf, &downloadFileMd5, sizeof(downloadFileMd5));
+                PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t *) &fileInfo,
+                                        sizeof(T_PsdkMopChannel_FileTransfor),
+                                        &sendRealLen);
+                PsdkLogger_UserLogDebug(
+                    "[File-Service] [Client:%d] download ack file info exist:%d length:%d name:%s",
+                    clientNum, fileInfo.data.fileInfo.isExist,
+                    fileInfo.data.fileInfo.fileLength, fileInfo.data.fileInfo.fileName);
+
+                s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_DATA_SENDING;
+                downloadFileTotalSize = 0;
+                downloadPackCount = 0;
+                break;
+            case MOP_FILE_SERVICE_DOWNLOAD_DATA_SENDING:
+                if (downloadFile == NULL) {
+                    PsdkLogger_UserLogError("[File-Service] [Client:%d] download file object is NULL.");
+                    break;
+                }
+
+                returnCode = fseek(downloadFile, downloadFileTotalSize, SEEK_SET);
+                if (returnCode != 0) {
+                    PsdkLogger_UserLogError("[File-Service] [Client:%d] download fseek file data fail.",
+                                            clientNum);
+                    break;
+                }
+                downloadWriteLen = fread(&sendBuf[UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data)],
+                                         1,
+                                         (TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER -
+                                          UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data)),
+                                         downloadFile);
+
+                if (downloadWriteLen > 0) {
+                    downloadFileTotalSize += downloadWriteLen;
+                    downloadPackCount++;
+
+                    fileData.cmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DATA;
+                    fileData.dataLen = downloadWriteLen;
+                    fileData.seqNum++;
+                    if (downloadWriteLen ==
+                        (TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER -
+                         UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data))) {
+                        fileData.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_NORMAL;
+                    } else {
+                        fileData.subcmd = PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_END;
+                    }
+
+                    memcpy(sendBuf, &fileData, UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data));
+                    returnCode = PsdkMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, sendBuf,
+                                                         (downloadWriteLen +
+                                                          UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data)),
+                                                         &sendRealLen);
+                    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        PsdkLogger_UserLogError(
+                            "[File-Service] [Client:%d] download send file data error,stat:0x%08llX",
+                            clientNum, returnCode);
+                        if (returnCode == PSDK_ERROR_MOP_CHANNEL_MODULE_CODE_CONNECTION_CLOSE) {
+                            break;
+                        }
+                    } else {
+                        PsdkLogger_UserLogInfo(
+                            "[File-Service] [Client:%d] download send file data length:%d count:%d total:%d percent: %.1f %%",
+                            clientNum, sendRealLen, downloadPackCount, downloadFileTotalSize,
+                            (psdk_f32_t) (downloadFileTotalSize) * 100 / (psdk_f32_t) downloadFileInfo.fileLength);
+                    }
+
+                    if (fileData.subcmd == PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_END) {
+                        PsdkOsal_GetTimeMs(&downloadEndMs);
+                        downloadDurationMs = downloadEndMs - downloadStartMs;
+                        if (downloadDurationMs != 0) {
+                            downloadRate = (psdk_f32_t) downloadFileInfo.fileLength * 1000 /
+                                           (psdk_f32_t) (downloadDurationMs);
+                            PsdkLogger_UserLogInfo(
+                                "[File-Service] [Client:%d] download finished totalTime:%d, rate:%.2f Byte/s",
+                                clientNum, downloadDurationMs, downloadRate);
+                        }
+                    }
+                    break;
+                    default:
+                        break;
+                }
+        }
+    }
+}
+
+#pragma GCC diagnostic pop
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+static void *PsdkTest_MopChannelFileServiceRecvTask(void *arg)
+{
+    T_PsdkReturnCode returnCode;
+    uint8_t clientNum = *(uint8_t *) arg;
+    uint32_t recvRealLen;
+    uint8_t *recvBuf;
+    MD5_CTX uploadFileMd5Ctx;
+    FILE *uploadFile = NULL;
+    uint8_t uploadFileMd5[PSDK_MD5_BUFFER_LEN] = {0};
+    uint32_t uploadFileTotalSize = 0;
+    int32_t uploadWriteLen;
+    T_PsdkMopChannel_FileInfo uploadFileInfo = {0};
+    uint32_t uploadStartMs = 0;
+    uint32_t uploadEndMs = 0;
+    psdk_f32_t uploadRate;
+
+    recvBuf = PsdkOsal_Malloc(TEST_MOP_CHANNEL_FILE_SERVICE_RECV_BUFFER);
+    if (recvBuf == NULL) {
+        PsdkLogger_UserLogError("[File-Service] [Client:%d] malloc recv buffer error", clientNum);
+        return NULL;
+    }
+
+    s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
+    s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_IDEL;
+
+    while (1) {
+        returnCode = PsdkMopChannel_RecvData(s_fileServiceContent[clientNum].clientHandle, recvBuf,
+                                             TEST_MOP_CHANNEL_FILE_SERVICE_RECV_BUFFER, &recvRealLen);
+        if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkOsal_TaskSleepMs(1000);
+            if (returnCode == PSDK_ERROR_MOP_CHANNEL_MODULE_CODE_CONNECTION_CLOSE) {
+                PsdkLogger_UserLogInfo("[File-Service] [Client:%d] mop channel is disconnected", clientNum);
+                PsdkOsal_TaskDestroy(s_fileServiceContent[clientNum].clientRecvTask);
+                PsdkMopChannel_Close(s_fileServiceContent[clientNum].clientHandle);
+                PsdkMopChannel_Destroy(s_fileServiceContent[clientNum].clientHandle);
+            }
+        } else {
+            if (&recvRealLen > 0) {
+                T_PsdkMopChannel_FileTransfor *fileTransfor = (T_PsdkMopChannel_FileTransfor *) recvBuf;
+
+                switch (fileTransfor->cmd) {
+                    case PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_REQUEST:
+                        if (fileTransfor->subcmd == PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_REQUEST_UPLOAD) {
+                            s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_REQUEST_START;
+                            s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
+
+                            PsdkLogger_UserLogDebug("[File-Service] [Client:%d] upload request is ok", clientNum);
+                            UtilMd5_Init(&uploadFileMd5Ctx);
+                            uploadFileTotalSize = 0;
+                            PsdkOsal_GetTimeMs(&uploadStartMs);
+                        } else if (fileTransfor->subcmd == PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_REQUEST_DOWNLOAD) {
+                            s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_REQUEST_START;
+                            s_fileServiceContent[clientNum].downloadSeqNum = fileTransfor->seqNum;
+
+                            PsdkLogger_UserLogDebug("[File-Service] [Client:%d] download request is ok", clientNum);
+                        }
+                        break;
+                    case PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DOWNLOAD_REQ:
+                        PsdkLogger_UserLogDebug("[File-Service] [Client:%d] download request file name:%s", clientNum,
+                                                fileTransfor->data.dwonloadReq.fileName);
+
+                        if (strcmp(fileTransfor->data.dwonloadReq.fileName, "test.mp4") == 0) {
+                            s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_SUCCESS;
+                            s_fileServiceContent[clientNum].downloadSeqNum = fileTransfor->seqNum;
+                        } else {
+                            s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_FAILED;
+                            s_fileServiceContent[clientNum].downloadSeqNum = fileTransfor->seqNum;
+                        }
+                        break;
+                    case PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_INFO:
+                        PsdkLogger_UserLogDebug(
+                            "[File-Service] [Client:%d] upload file info length:%d exist:%d name:%s seq:%d", clientNum,
+                            fileTransfor->data.fileInfo.fileLength,
+                            fileTransfor->data.fileInfo.isExist,
+                            fileTransfor->data.fileInfo.fileName, fileTransfor->seqNum);
+
+                        uploadFileInfo.fileLength = fileTransfor->data.fileInfo.fileLength;
+                        memcpy(uploadFileInfo.md5Buf, fileTransfor->data.fileInfo.md5Buf,
+                               sizeof(uploadFileInfo.md5Buf));
+                        if (uploadFile != NULL) {
+                            fclose(uploadFile);
+                        }
+                        uploadFile = fopen(fileTransfor->data.fileInfo.fileName, "wb");
+                        if (uploadFile == NULL) {
+                            PsdkLogger_UserLogError("[File-Service] [Client:%d] open file error", clientNum);
+                            return NULL;
+                        }
+
+                        s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_FILE_INFO_SUCCESS;
+                        s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
+
+                        break;
+                    case PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DATA:
+                        if (uploadFile == NULL) {
+                            PsdkLogger_UserLogError("[File-Service] [Client:%d] open file error", clientNum);
+                            return NULL;
+                        }
+
+                        if (fileTransfor->subcmd == PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_NORMAL) {
+                            s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_DATA_SENDING;
+                            s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
+
+                            uploadWriteLen = fwrite(&recvBuf[UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data)], 1,
+                                                    fileTransfor->dataLen, uploadFile);
+                            if (uploadWriteLen < 0) {
+                                PsdkLogger_UserLogError(
+                                    "[File-Service] [Client:%d] upload write normal data to file error, stat:%d.",
+                                    clientNum,
+                                    uploadWriteLen);
+                            } else {
+                                uploadFileTotalSize += uploadWriteLen;
+                                UtilMd5_Update(&uploadFileMd5Ctx,
+                                               &recvBuf[UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data)],
+                                               fileTransfor->dataLen);
+
+                                if (uploadFileInfo.fileLength != 0) {
+                                    PsdkLogger_UserLogInfo(
+                                        "[File-Service] [Client:%d] upload write data to file success, len:%d  percent:%.1f %%",
+                                        clientNum, uploadWriteLen,
+                                        (psdk_f32_t) (uploadFileTotalSize * 100) /
+                                        (psdk_f32_t) uploadFileInfo.fileLength);
+                                }
+                            }
+                        } else if (fileTransfor->subcmd == PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_END) {
+                            s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_DATA_SENDING;
+                            s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
+                            uploadWriteLen = fwrite(&recvBuf[UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data)], 1,
+                                                    fileTransfor->dataLen, uploadFile);
+                            if (uploadWriteLen < 0) {
+                                PsdkLogger_UserLogError(
+                                    "[File-Service] [Client:%d] upload write end data to file error, stat:%d.",
+                                    clientNum,
+                                    uploadWriteLen);
+                            } else {
+                                uploadFileTotalSize += uploadWriteLen;
+                                UtilMd5_Update(&uploadFileMd5Ctx,
+                                               &recvBuf[UTIL_OFFSETOF(T_PsdkMopChannel_FileTransfor, data)],
+                                               fileTransfor->dataLen);
+                                UtilMd5_Final(&uploadFileMd5Ctx, uploadFileMd5);
+                                PsdkOsal_GetTimeMs(&uploadEndMs);
+
+                                if (uploadEndMs - uploadStartMs > 0) {
+                                    uploadRate = (psdk_f32_t) uploadFileTotalSize * 1000 /
+                                                 (psdk_f32_t) (uploadEndMs - uploadStartMs);
+                                    PsdkLogger_UserLogInfo(
+                                        "[File-Service] [Client:%d] upload write data to file success, len:%d  percent:%.1f %%",
+                                        clientNum, uploadWriteLen,
+                                        (psdk_f32_t) (uploadFileTotalSize * 100) /
+                                        (psdk_f32_t) uploadFileInfo.fileLength);
+                                    PsdkLogger_UserLogInfo(
+                                        "[File-Service] [Client:%d] upload file finished, totalTime:%d ms rate:%.2f Byte/s",
+                                        clientNum, (uploadEndMs - uploadStartMs), uploadRate);
+                                }
+
+                                fclose(uploadFile);
+                                uploadFile = NULL;
+                                if (uploadFileInfo.fileLength == uploadFileTotalSize) {
+                                    if (memcmp(uploadFileInfo.md5Buf, uploadFileMd5, sizeof(uploadFileMd5)) == 0) {
+                                        PsdkLogger_UserLogDebug(
+                                            "[File-Service] [Client:%d] upload file md5 check success", clientNum);
+                                        s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_FINISHED_SUCCESS;
+                                        s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
+                                    } else {
+                                        PsdkLogger_UserLogError(
+                                            "[File-Service] [Client:%d] upload file md5 check failed", clientNum);
+                                        s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_FINISHED_FAILED;
+                                        s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
+                                    }
+                                } else {
+                                    PsdkLogger_UserLogError(
+                                        "[File-Service] [Client:%d] upload file check file length error", clientNum);
+                                    s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_FINISHED_FAILED;
+                                    s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
+                                }
+                            }
+                        }
+                        break;
+                    case PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_RESULT:
+                        if (fileTransfor->subcmd == PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_OK) {
+                            s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_FINISHED_SUCCESS;
+                            PsdkLogger_UserLogDebug("[File-Service] [Client:%d] download file result notify success",
+                                                    clientNum);
+                        } else {
+                            s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_FINISHED_FAILED;
+                            PsdkLogger_UserLogError("[File-Service] [Client:%d] download file result notify failed",
+                                                    clientNum);
+                        }
+                        break;
+                    case PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_REQUEST:
+                        if (fileTransfor->subcmd == PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_UPLOAD) {
+                            s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_STOP;
+                            PsdkLogger_UserLogDebug("[File-Service] [Client:%d] upload file stop", clientNum);
+                        } else if (fileTransfor->subcmd == PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_DOWNLOAD) {
+                            s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_STOP;
+                            PsdkLogger_UserLogDebug("[File-Service] [Client:%d] download file stop", clientNum);
+                        }
+                        break;
+                    default:
+                        PsdkLogger_UserLogWarn("[File-Service] [Client:%d] recv the unknown command：0x%02X",
+                                               clientNum, fileTransfor->cmd);
+                        break;
+                }
+            }
+        }
+    }
+}
+
+#pragma GCC diagnostic pop
+
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/mop_channel/test_mop_channel.h

@@ -0,0 +1,126 @@
+/**
+ ********************************************************************
+ * @file    test_mop_channel.h
+ * @version V2.0.0
+ * @date    1/14/20
+ * @brief   This is the header file for "test_mop_channel.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_MOP_CHANNEL_H
+#define TEST_MOP_CHANNEL_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#if PSDK_ARCH_SYS_LINUX
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+typedef enum {
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_REQUEST = 0x50,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK = 0x51,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_RESULT = 0x52,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_INFO = 0x60,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DOWNLOAD_REQ = 0x61,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DATA = 0x62,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_REQUEST = 0x63,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_ACK = 0x64,
+} E_PsdkMopChannel_FileTransforCmd;
+
+typedef enum {
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_REQUEST_UPLOAD = 0x00,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_REQUEST_DOWNLOAD = 0x01,
+} E_PsdkMopChannel_FileTransforRequestSubCmd;
+
+typedef enum {
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_OK = 0x00,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_REJECTED = 0x01,
+} E_PsdkMopChannel_FileTransforAckSubCmd;
+
+typedef enum {
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_OK = 0x00,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_FAILED = 0x01,
+} E_PsdkMopChannel_FileTransforResultSubCmd;
+
+typedef enum {
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_INFO_DEFAULT = 0xFF,
+} E_PsdkMopChannel_FileTransforFileInfoSubCmd;
+
+typedef enum {
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_DOWNLOAD_REQUEST = 0xFF,
+} E_PsdkMopChannel_FileTransforFileDownloadRequestSubCmd;
+
+typedef enum {
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_NORMAL = 0x00,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_END = 0x01,
+} E_PsdkMopChannel_FileTransforFileDataSubCmd;
+
+typedef enum {
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_UPLOAD = 0x00,
+    PSDK_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_DOWNLOAD = 0x01,
+} E_PsdkMopChannel_FileTransforStopSubCmd;
+
+#pragma pack(1)
+
+typedef struct {
+    bool isExist;
+    uint32_t fileLength;
+    char fileName[32];
+    uint8_t md5Buf[16];
+} T_PsdkMopChannel_FileInfo;
+
+typedef struct {
+    char fileName[32];
+} T_PsdkMopChannel_DwonloadReq;
+
+typedef struct {
+    uint8_t cmd;
+    uint8_t subcmd;
+    uint16_t seqNum;
+    uint32_t dataLen;
+    union dataType {
+        T_PsdkMopChannel_FileInfo fileInfo;
+        T_PsdkMopChannel_DwonloadReq dwonloadReq;
+        uint8_t fileData[0];
+    } data;
+} T_PsdkMopChannel_FileTransfor;
+
+#pragma pack()
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_MopChannelInit(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+#endif // TEST_MOP_CHANNEL_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/payload_collaboration/test_payload_collaboration.c

@@ -0,0 +1,175 @@
+/**
+ ********************************************************************
+ * @file    test_payload_collaboration.c
+ * @version V2.0.0
+ * @date    2019/9/3
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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_payload_collaboration.h"
+#include "psdk_payload_collaboration.h"
+#include "psdk_logger.h"
+#include "psdk_platform.h"
+#include "utils/util_misc.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define PSDK_TEST_PAYLOAD_COLLABORATION_TASK_FREQ                   (1)
+#define PSDK_TEST_PAYLOAD_COLLABORATION_TASK_STACK_SIZE             (2048)
+#define PSDK_TEST_PAYLOAD_COLLABORATION_PAYLOADS_IN_DRONE_MAX_COUNT (3)
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    E_PsdkPayloadCollaborationCameraType cameraType;
+    bool hasOpticalZoomSpec;
+    bool hasHybridZoomFocalLength;
+} T_PsdkTestPayloadPara;
+
+/* Private functions declaration ---------------------------------------------*/
+static void *PsdkTest_PayloadCollaborationTask(void *arg);
+
+/* Private variables ---------------------------------------------------------*/
+static T_PsdkTaskHandle s_payloadCollaborationThread;
+
+static const T_PsdkTestPayloadPara s_payloadPara[] = {
+    {PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_XT,   false, false},
+    {PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_X4S,  true,  true},
+    {PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_X5S,  true,  true},
+    {PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_X7,   true,  true},
+    {PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_Z30,  true,  true},
+    {PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_XT2,  true,  true},
+    {PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_XTS,  false, false},
+    {PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_H20,  true,  true},
+    {PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_H20T, true,  true},
+};
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_PayloadCollaborationInit(void)
+{
+    if (PsdkPayloadCollaboration_Init() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("payload collaboration module init error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkOsal_TaskCreate(&s_payloadCollaborationThread, PsdkTest_PayloadCollaborationTask,
+                            "user_payload_collaboration_task", PSDK_TEST_PAYLOAD_COLLABORATION_TASK_STACK_SIZE, NULL) !=
+        PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user payload collaboration task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *PsdkTest_PayloadCollaborationTask(void *arg)
+{
+    int i = 0;
+    unsigned int payloadParaIndex = 0;
+    T_PsdkReturnCode psdkStat;
+    E_PsdkPayloadCollaborationCameraType cameraType = PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_UNKNOWN;
+    T_PsdkCameraOpticalZoomSpec cameraOpticalZoomSpec = {0};
+    uint16_t cameraHybridZoomFocalLength = 0;
+    T_PsdkAircraftInfoBaseInfo aircraftBaseInfo = {0};
+    E_PsdkAircraftInfoPayloadMountPosition requestedPayloadMountPosition;
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        PsdkOsal_TaskSleepMs(1000 / PSDK_TEST_PAYLOAD_COLLABORATION_TASK_FREQ);
+
+        psdkStat = PsdkAircraftInfo_GetBaseInfo(&aircraftBaseInfo);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get aircraft information error: 0x%08llX.", psdkStat);
+            continue;
+        }
+
+        for (i = 0; i < PSDK_TEST_PAYLOAD_COLLABORATION_PAYLOADS_IN_DRONE_MAX_COUNT; ++i) {
+            requestedPayloadMountPosition =
+                (E_PsdkAircraftInfoPayloadMountPosition) (i + PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO1);
+            if (requestedPayloadMountPosition == aircraftBaseInfo.payloadMountPosition)
+                continue;
+
+            if (aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M200_V2 ||
+                aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210_V2 ||
+                aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210RTK_V2) {
+                if (requestedPayloadMountPosition == PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO3) {
+                    continue;
+                }
+            }
+
+            psdkStat = PsdkPayloadCollaboration_GetCameraTypeOfPayload(requestedPayloadMountPosition, &cameraType);
+            if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                continue;
+            }
+            PsdkLogger_UserLogDebug("camera type of payload mounted on NO.%d gimbal connector is %d.",
+                                    requestedPayloadMountPosition, cameraType);
+
+            for (payloadParaIndex = 0; payloadParaIndex < UTIL_ARRAY_SIZE(s_payloadPara); ++payloadParaIndex) {
+                if (s_payloadPara[payloadParaIndex].cameraType == cameraType)
+                    break;
+            }
+            if (payloadParaIndex == UTIL_ARRAY_SIZE(s_payloadPara)) {
+                PsdkLogger_UserLogError("Not find payload parameters.");
+                continue;
+            }
+
+            if (s_payloadPara[payloadParaIndex].hasOpticalZoomSpec) {
+                psdkStat = PsdkPayloadCollaboration_GetCameraOpticalZoomSpecOfPayload(requestedPayloadMountPosition,
+                                                                                      &cameraOpticalZoomSpec);
+                if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    PsdkLogger_UserLogError("Get optical zoom specification error.");
+                } else {
+                    PsdkLogger_UserLogDebug(
+                        "camera optical zoom specification of payload mounted on NO.%d gimbal connector, maxFocalLength: %d, minFocalLength: %d, focalLengthStep: %d.",
+                        requestedPayloadMountPosition, cameraOpticalZoomSpec.maxFocalLength,
+                        cameraOpticalZoomSpec.minFocalLength, cameraOpticalZoomSpec.focalLengthStep);
+                }
+            }
+
+            if (s_payloadPara[payloadParaIndex].hasHybridZoomFocalLength) {
+                psdkStat = PsdkPayloadCollaboration_GetCameraHybridZoomFocalLengthOfPayload(
+                    requestedPayloadMountPosition,
+                    &cameraHybridZoomFocalLength);
+                if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    PsdkLogger_UserLogError("Get hybrid zoom focal length error.");
+                } else {
+                    PsdkLogger_UserLogDebug(
+                        "camera hybrid zoom focal length of payload mounted on NO.%d gimbal connector, focalLength: %d.",
+                        requestedPayloadMountPosition, cameraHybridZoomFocalLength);
+                }
+            }
+        }
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/payload_collaboration/test_payload_collaboration.h

@@ -0,0 +1,54 @@
+/**
+ ********************************************************************
+ * @file    test_payload_collaboration.h
+ * @version V2.0.0
+ * @date    2019/9/3
+ * @brief   This is the header file for "test_payload_collaboration.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_PAYLOAD_COLLABORATION_H
+#define TEST_PAYLOAD_COLLABORATION_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_PayloadCollaborationInit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_PAYLOAD_COLLABORATION_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/positioning/test_positioning.c

@@ -0,0 +1,151 @@
+/**
+ ********************************************************************
+ * @file    test_positioning.c
+ * @version V2.0.0
+ * @date    2019/8/22
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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_positioning.h"
+#include "psdk_positioning.h"
+#include "psdk_logger.h"
+#include "utils/util_misc.h"
+#include "psdk_platform.h"
+#include "time_synchronization/test_time_sync.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define POSITIONING_TASK_FREQ               (1)
+#define POSITIONING_TASK_STACK_SIZE         (2048)
+#define TEST_EVENT_COUNT                    (2)
+#define TEST_TIME_INTERVAL_AMONG_EVENTS_US  (200000)
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+static void *PsdkTest_PositioningTask(void *arg);
+
+/* Private variables ---------------------------------------------------------*/
+static T_PsdkTaskHandle s_userPositioningThread;
+static int32_t s_eventIndex = 0;
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_PositioningInit(void)
+{
+    T_PsdkReturnCode psdkStat;
+
+    psdkStat = PsdkPositioning_Init();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("positioning module init error.");
+        return psdkStat;
+    }
+
+    PsdkPositioning_SetTaskIndex(0);
+
+    if (PsdkOsal_TaskCreate(&s_userPositioningThread, PsdkTest_PositioningTask, "user_positioning_task",
+                            POSITIONING_TASK_STACK_SIZE, NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user positioning task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *PsdkTest_PositioningTask(void *arg)
+{
+    int32_t i = 0;
+    T_PsdkReturnCode psdkStat;
+    uint64_t ppsNewestTriggerTimeUs = 0;
+    T_PsdkPositioningEventInfo eventInfo[TEST_EVENT_COUNT] = {0};
+    T_PsdkPositioningPositionInfo positionInfo[TEST_EVENT_COUNT] = {0};
+    T_PsdkTimeSyncAircraftTime aircraftTime = {0};
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        PsdkOsal_TaskSleepMs(1000 / POSITIONING_TASK_FREQ);
+
+        psdkStat = PsdkTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(&ppsNewestTriggerTimeUs);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get newest pps trigger time error: 0x%08llX.", psdkStat);
+            continue;
+        }
+
+        for (i = 0; i < TEST_EVENT_COUNT; ++i) {
+            eventInfo[i].eventSetIndex = s_eventIndex;
+            eventInfo[i].targetPointIndex = i;
+
+            psdkStat = PsdkTimeSync_TransferToAircraftTime(
+                ppsNewestTriggerTimeUs - 1000000 - i * TEST_TIME_INTERVAL_AMONG_EVENTS_US, &aircraftTime);
+            if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("transfer to aircraft time error: 0x%08llX.", psdkStat);
+                continue;
+            }
+
+            eventInfo[i].eventTime = aircraftTime;
+        }
+
+        psdkStat = PsdkPositioning_GetPositionInformationSync(TEST_EVENT_COUNT, eventInfo, positionInfo);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get position information error.");
+            continue;
+        }
+
+        PsdkLogger_UserLogDebug("request position of target points success.");
+        PsdkLogger_UserLogDebug("detail position information:");
+        for (i = 0; i < TEST_EVENT_COUNT; ++i) {
+            PsdkLogger_UserLogDebug("position solution property: %d.", positionInfo[i].positionSolutionProperty);
+            PsdkLogger_UserLogDebug("pitchAttitudeAngle: %d\trollAttitudeAngle: %d\tyawAttitudeAngle: %d",
+                                    positionInfo[i].uavAttitude.pitch, positionInfo[i].uavAttitude.roll,
+                                    positionInfo[i].uavAttitude.yaw);
+            PsdkLogger_UserLogDebug("northPositionOffset: %d\tearthPositionOffset: %d\tdownPositionOffset: %d",
+                                    positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.x,
+                                    positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.y,
+                                    positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.z);
+            PsdkLogger_UserLogDebug("longitude: %.8f\tlatitude: %.8f\theight: %.8f",
+                                    positionInfo[i].targetPointPosition.longitude,
+                                    positionInfo[i].targetPointPosition.latitude,
+                                    positionInfo[i].targetPointPosition.height);
+            PsdkLogger_UserLogDebug(
+                "longStandardDeviation: %.8f\tlatStandardDeviation: %.8f\thgtStandardDeviation: %.8f",
+                positionInfo[i].targetPointPositionStandardDeviation.longitude,
+                positionInfo[i].targetPointPositionStandardDeviation.latitude,
+                positionInfo[i].targetPointPositionStandardDeviation.height);
+        }
+
+        s_eventIndex++;
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/positioning/test_positioning.h

@@ -0,0 +1,54 @@
+/**
+ ********************************************************************
+ * @file    test_positioning.h
+ * @version V2.0.0
+ * @date    2019/8/22
+ * @brief   This is the header file for "test_positioning.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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_POSITIONING_H
+#define TEST_POSITIONING_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_PositioningInit(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_POSITIONING_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/power_management/test_power_management.c

@@ -0,0 +1,129 @@
+/**
+ ********************************************************************
+ * @file    test_power_management.c
+ * @version V2.0.0
+ * @date    2019/8/29
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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_power_management.h"
+#include "psdk_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+static T_PsdkReturnCode PsdkTest_PowerOffNotificationCallback(bool *powerOffPreparationFlag);
+
+/* Private variables ---------------------------------------------------------*/
+static T_PsdkTestApplyHighPowerHandler s_applyHighPowerHandler;
+
+/* Exported functions definition ---------------------------------------------*/
+/**
+ * @brief Register handler function for applying high power. This function have to be called before calling
+ * PsdkTest_PowerManagementInit(), except for in Linux, because PsdkTest_PowerManagementInit() do not apply high power
+ * in Linux OS.
+ * @param applyHighPowerHandler: pointer to handler function for applying high power.
+ * @return Execution result.
+ */
+T_PsdkReturnCode PsdkTest_RegApplyHighPowerHandler(T_PsdkTestApplyHighPowerHandler *applyHighPowerHandler)
+{
+    if (applyHighPowerHandler->pinInit == NULL) {
+        PsdkLogger_UserLogError("reg apply high power handler pinInit error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (applyHighPowerHandler->pinWrite == NULL) {
+        PsdkLogger_UserLogError("reg apply high power handler pinWrite error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    memcpy(&s_applyHighPowerHandler, applyHighPowerHandler, sizeof(T_PsdkTestApplyHighPowerHandler));
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Initialise power management module, including apply high power (only RTOS) and register power off notification
+ * callback function.
+ * @note PSDK development board 1.0 can not accept high power, so do not call this function in PSDK development board
+ * 1.0 project.
+ * @return Execution result.
+ */
+T_PsdkReturnCode PsdkTest_PowerManagementInit(void)
+{
+    T_PsdkReturnCode psdkStat;
+
+    // apply high power
+#if !PSDK_ARCH_SYS_LINUX
+    if (s_applyHighPowerHandler.pinInit == NULL) {
+        PsdkLogger_UserLogError("apply high power pin init interface is NULL error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (s_applyHighPowerHandler.pinWrite == NULL) {
+        PsdkLogger_UserLogError("apply high power pin write interface is NULL error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    psdkStat = s_applyHighPowerHandler.pinInit();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("apply high power pin init error");
+        return psdkStat;
+    }
+
+    psdkStat = PsdkPowerManagement_RegWriteHighPowerApplyPinCallback(s_applyHighPowerHandler.pinWrite);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register WriteHighPowerApplyPinCallback error.");
+        return psdkStat;
+    }
+
+    psdkStat = PsdkPowerManagement_ApplyHighPowerSync();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("apply high power error");
+        return psdkStat;
+    }
+#endif
+
+    // register power off notification callback function
+    psdkStat = PsdkPowerManagement_RegPowerOffNotificationCallback(PsdkTest_PowerOffNotificationCallback);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register power off notification callback function error");
+        return psdkStat;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_PsdkReturnCode PsdkTest_PowerOffNotificationCallback(bool *powerOffPreparationFlag)
+{
+    PsdkLogger_UserLogDebug("aircraft will power off soon.");
+
+    *powerOffPreparationFlag = true;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/power_management/test_power_management.h

@@ -0,0 +1,59 @@
+/**
+ ********************************************************************
+ * @file    test_power_management.h
+ * @version V2.0.0
+ * @date    2019/8/29
+ * @brief   This is the header file for "test_power_management.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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_POWER_MANAGEMENT_H
+#define TEST_POWER_MANAGEMENT_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+#include "psdk_power_management.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    T_PsdkReturnCode (*pinInit)(void);
+    T_PsdkReturnCode (*pinWrite)(E_PsdkPowerManagementPinState pinState);
+} T_PsdkTestApplyHighPowerHandler;
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_PowerManagementInit(void);
+T_PsdkReturnCode PsdkTest_RegApplyHighPowerHandler(T_PsdkTestApplyHighPowerHandler *applyHighPowerHandler);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_POWER_MANAGEMENT_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/time_synchronization/test_time_sync.c

@@ -0,0 +1,166 @@
+/**
+ ********************************************************************
+ * @file    test_time_sync.c
+ * @version V1.0.0
+ * @date    11/26/19
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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_time_sync.h"
+#include "psdk_time_sync.h"
+#include "psdk_logger.h"
+#include "utils/util_misc.h"
+#include "psdk_platform.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define PSDK_TEST_TIME_SYNC_TASK_FREQ       (1)
+#define PSDK_TEST_TIME_SYNC_TASK_STACK_SIZE (2048)
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+static void *PsdkTest_TimeSyncTask(void *arg);
+
+/* Private variables ---------------------------------------------------------*/
+static T_PsdkTestTimeSyncHandler s_timeSyncHandler;
+static T_PsdkTaskHandle s_timeSyncThread;
+
+/* Exported functions definition ---------------------------------------------*/
+/**
+ * @brief Register handler function for initialising PPS pin configure and reporting the latest local time when PPS is
+ * triggered. This function have to be called before calling PsdkTest_TimeSyncInit().
+ * @param timeSyncHandler: pointer to handler function for time synchronization.
+ * @return Execution result.
+ */
+T_PsdkReturnCode PsdkTest_TimeSyncRegHandler(T_PsdkTestTimeSyncHandler *timeSyncHandler)
+{
+    if (timeSyncHandler->PpsSignalResponseInit == NULL) {
+        PsdkLogger_UserLogError("reg time sync handler PpsSignalResponseInit error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (timeSyncHandler->GetNewestPpsTriggerLocalTimeUs == NULL) {
+        PsdkLogger_UserLogError("reg time sync handler GetNewestPpsTriggerLocalTimeUs error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    memcpy(&s_timeSyncHandler, timeSyncHandler, sizeof(T_PsdkTestTimeSyncHandler));
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkTest_TimeSyncInit(void)
+{
+    T_PsdkReturnCode psdkStat;
+
+    psdkStat = PsdkTimeSync_Init();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("time synchronization module init error.");
+        return psdkStat;
+    }
+
+    if (s_timeSyncHandler.PpsSignalResponseInit == NULL) {
+        PsdkLogger_UserLogError("time sync handler PpsSignalResponseInit interface is NULL error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs == NULL) {
+        PsdkLogger_UserLogError("time sync handler GetNewestPpsTriggerLocalTimeUs interface is NULL error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    // users must register getNewestPpsTriggerTime callback function
+    psdkStat = PsdkTimeSync_RegGetNewestPpsTriggerTimeCallback(s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register GetNewestPpsTriggerLocalTimeUsCallback error.");
+        return psdkStat;
+    }
+
+    if (PsdkOsal_TaskCreate(&s_timeSyncThread, PsdkTest_TimeSyncTask, "user_time_sync_task",
+                            PSDK_TEST_TIME_SYNC_TASK_STACK_SIZE, NULL) !=
+        PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user time sync task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    psdkStat = s_timeSyncHandler.PpsSignalResponseInit();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("pps signal response init error");
+        return psdkStat;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(uint64_t *localTimeUs)
+{
+    if (s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs == NULL) {
+        PsdkLogger_UserLogError("GetNewestPpsTriggerLocalTimeUs null error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs(localTimeUs);
+}
+
+/* Private functions definition-----------------------------------------------*/
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *PsdkTest_TimeSyncTask(void *arg)
+{
+    T_PsdkReturnCode psdkStat;
+    uint32_t currentTimeMs = 0;
+    T_PsdkTimeSyncAircraftTime aircraftTime = {0};
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        PsdkOsal_TaskSleepMs(1000 / PSDK_TEST_TIME_SYNC_TASK_FREQ);
+
+        psdkStat = PsdkOsal_GetTimeMs(&currentTimeMs);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get current time error: 0x%08llX.", psdkStat);
+            continue;
+        }
+
+        psdkStat = PsdkTimeSync_TransferToAircraftTime(currentTimeMs * 1000, &aircraftTime);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("transfer to aircraft time error: 0x%08llX.", psdkStat);
+            continue;
+        }
+
+        PsdkLogger_UserLogDebug("current aircraft time is %d.%d.%d %d:%d %d %d.", aircraftTime.year, aircraftTime.month,
+                                aircraftTime.day, aircraftTime.hour, aircraftTime.minute, aircraftTime.second,
+                                aircraftTime.microsecond);
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/time_synchronization/test_time_sync.h

@@ -0,0 +1,59 @@
+/**
+ ********************************************************************
+ * @file    test_time_sync.h
+ * @version V0.0.0
+ * @date    11/26/19
+ * @brief   This is the header file for "test_time_sync.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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_TIME_SYNC_H
+#define TEST_TIME_SYNC_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    T_PsdkReturnCode (*PpsSignalResponseInit)(void);
+    T_PsdkReturnCode (*GetNewestPpsTriggerLocalTimeUs)(uint64_t *localTimeUs);
+} T_PsdkTestTimeSyncHandler;
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_TimeSyncRegHandler(T_PsdkTestTimeSyncHandler *timeSyncHandler);
+T_PsdkReturnCode PsdkTest_TimeSyncInit(void);
+T_PsdkReturnCode PsdkTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(uint64_t *localTimeUs);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_TIME_SYNC_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/upgrade/test_upgrade.c

@@ -0,0 +1,371 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade.c
+ * @version V2.0.0
+ * @date    3/4/20
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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_upgrade_common.h"
+#include <psdk_logger.h>
+#include <psdk_platform.h>
+#include <utils/util_misc.h>
+#include "test_upgrade_common_file_transfer.h"
+#include "test_upgrade_platform_opt.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define UPGRADE_TASK_STACK_SIZE                 (2048)
+#define PSDK_TEST_UPGRADE_TASK_FREQ             50
+#define PSDK_TEST_ENTER_UPGRADE_WAIT_TIME       10  //wait 10s for enter upgrade process
+#define PSDK_TEST_UPGRADE_REBOOT_TIMEOUT        30   //reboot timeout 30s
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_PsdkUpgradeState s_upgradeState = {0};
+static T_PsdkMutexHandle s_upgradeStateMutex = {0};
+static T_PsdkTaskHandle s_upgradeProcessThread;
+static T_PsdkTaskHandle s_enterUpgradeModeProcessThread;
+static bool s_isNeedEnterUpgradeModeProcess = false;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_PsdkReturnCode PsdkTest_EnterUpgradeMode(uint16_t *waitTime);
+static T_PsdkReturnCode PsdkTest_CheckFirmware(void);
+static T_PsdkReturnCode PsdkTest_StartUpgrade(void);
+static T_PsdkReturnCode PsdkTest_FinishUpgrade(void);
+static void *PsdkTest_UpgradeProcessTask(void *arg);
+static void *PsdkTest_EnterUpgradeModeProcessTask(void *arg);
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_UpgradeInit(const T_PsdkTestUpgradePlatformOpt *upgradePlatformOpt)
+{
+    T_PsdkReturnCode returnCode;
+    bool isUpgradeReboot = false;
+    T_PsdkUpgradeEndInfo upgradeEndInfo = {0};
+    T_PsdkUpgradeConfig upgradeConfig = {
+        .currentFirmwareVersion = {PSDK_TEST_FIRMWARE_VERSION_MAJOR, PSDK_TEST_FIRMWARE_VERSION_MINOR,
+                                   PSDK_TEST_FIRMWARE_VERSION_MODIFY, PSDK_TEST_FIRMWARE_VERSION_DEBUG},
+#if PSDK_TEST_UPGRADE_USE_FTP_TRANSFER
+        .firmwareTransferInfo = {
+            .transferType = PSDK_PAYLOAD_FIRMWARE_TRANSFER_TYPE_FTP,
+            .ftpTransferInfo.port = 21, // use default ftp port
+        }
+#else
+    .firmwareTransferInfo = {
+        .transferType = PSDK_PAYLOAD_FIRMWARE_TRANSFER_TYPE_DCFTP,
+        .dcftpFileTransferOpt = {
+            .start = PsdkTestCommonFileTransfer_Start,
+            .transfer = PsdkTestCommonFileTransfer_Transfer,
+            .finish = PsdkTestCommonFileTransfer_Finish,
+        }
+    }
+#endif
+    };
+
+    T_PsdkUpgradeHandler s_upgradeHandler = {
+        .EnterUpgradeMode = PsdkTest_EnterUpgradeMode,
+        .CheckFirmware = PsdkTest_CheckFirmware,
+        .StartUpgrade = PsdkTest_StartUpgrade,
+        .FinishUpgrade = PsdkTest_FinishUpgrade
+    };
+
+    returnCode = PsdkTest_RegUpgradePlatformOpt(upgradePlatformOpt);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Reg upgrade platform opt error, return code = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = PsdkOsal_MutexCreate(&s_upgradeStateMutex);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Create mutex error");
+        return returnCode;
+    }
+
+    returnCode = PsdkTest_GetUpgradeRebootState(&isUpgradeReboot, &upgradeEndInfo);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Get upgrade reboot state error");
+        isUpgradeReboot = false;
+    }
+
+    returnCode = PsdkTest_CleanUpgradeRebootState();
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Clean upgrade reboot state error");
+    }
+
+    PsdkOsal_MutexLock(s_upgradeStateMutex);
+    if (isUpgradeReboot == true) {
+        s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
+        s_upgradeState.upgradeEndInfo = upgradeEndInfo;
+    } else {
+        s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_IDLE;
+    }
+    PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+
+    returnCode = PsdkUpgrade_Init(&upgradeConfig);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("PsdkUpgrade_Init error, return code = %d", returnCode);
+        return returnCode;
+    }
+
+    returnCode = PsdkUpgrade_RegHandler(&s_upgradeHandler);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("PsdkUpgrade_RegHandler error, return code = %d", returnCode);
+        return returnCode;
+    }
+
+    returnCode = PsdkUpgrade_EnableLocalUpgrade();
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("PsdkUpgrade_EnableLocalUpgrade error, return code = %d", returnCode);
+        return returnCode;
+    }
+
+    if (PsdkOsal_TaskCreate(&s_upgradeProcessThread, PsdkTest_UpgradeProcessTask, "upgrade_task",
+                            UPGRADE_TASK_STACK_SIZE, NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Psdk upgrade test task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkOsal_TaskCreate(&s_enterUpgradeModeProcessThread, PsdkTest_EnterUpgradeModeProcessTask,
+                            "enter_upgrade_mode_task", UPGRADE_TASK_STACK_SIZE, NULL) !=
+        PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Psdk upgrade test task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_PsdkReturnCode PsdkTest_EnterUpgradeMode(uint16_t *waitTime)
+{
+    // need 10s for upgrade preprocess work.
+    *waitTime = PSDK_TEST_ENTER_UPGRADE_WAIT_TIME;
+    // enable is need enter upgrade mode process, the process is in  PsdkTest_EnterUpgradeModeProcessTask
+    s_isNeedEnterUpgradeModeProcess = true;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode PsdkTest_CheckFirmware(void)
+{
+    // you can do decrypt and check firmware in this stage
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode PsdkTest_StartUpgrade(void)
+{
+    PsdkOsal_MutexLock(s_upgradeStateMutex);
+    s_upgradeState.upgradeOngoingInfo.upgradeProgress = 0;
+    s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_ONGOING;
+    PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode PsdkTest_FinishUpgrade(void)
+{
+    PsdkOsal_MutexLock(s_upgradeStateMutex);
+    s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_IDLE;
+    PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *PsdkTest_EnterUpgradeModeProcessTask(void *arg)
+{
+    T_PsdkReturnCode returnCode;
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        if (s_isNeedEnterUpgradeModeProcess) {
+            // prepare enter upgrade mode
+            // you can do some thing before enter upgrade mode.
+            // clear upgrade program file store area
+            returnCode = PsdkTest_CleanUpgradeProgramFileStoreArea();
+            if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("Clean upgrade file dir error, please check dir permission");
+            }
+
+            s_isNeedEnterUpgradeModeProcess = false;
+        }
+        PsdkOsal_TaskSleepMs(1000 / PSDK_TEST_UPGRADE_TASK_FREQ);
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *PsdkTest_UpgradeProcessTask(void *arg)
+{
+    T_PsdkUpgradeState tempUpgradeState;
+    T_PsdkUpgradeEndInfo upgradeEndInfo;
+    T_PsdkReturnCode returnCode;
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        PsdkOsal_MutexLock(s_upgradeStateMutex);
+        tempUpgradeState = s_upgradeState;
+        PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+
+        if (tempUpgradeState.upgradeStage == PSDK_UPGRADE_STAGE_ONGOING) {
+#if PSDK_TEST_REPLACE_PROGRAM_BEFORE_REBOOT
+            // Step 1 : Replace old program
+            returnCode = PsdkTest_ReplaceOldProgram();
+            if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("Replace firmware error, return code = 0x%08llX", returnCode);
+                PsdkOsal_MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
+                s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+                continue;
+            }
+
+            PsdkOsal_TaskSleepMs(1000);
+            PsdkOsal_MutexLock(s_upgradeStateMutex);
+            s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_ONGOING;
+            s_upgradeState.upgradeOngoingInfo.upgradeProgress = 20;
+            PsdkUpgrade_PushUpgradeState(&s_upgradeState);
+            PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+
+            // Step 2 : Clean upgrade program file store area
+            returnCode = PsdkTest_CleanUpgradeProgramFileStoreArea();
+            if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("Clean upgrade file dir error, please check dir permission");
+                PsdkOsal_MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
+                s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+                continue;
+            }
+
+            PsdkOsal_TaskSleepMs(1000);
+            PsdkOsal_MutexLock(s_upgradeStateMutex);
+            s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_ONGOING;
+            s_upgradeState.upgradeOngoingInfo.upgradeProgress = 30;
+            PsdkUpgrade_PushUpgradeState(&s_upgradeState);
+            PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+#endif
+            //attention emulation upgrade progress, user don't need this process
+            do {
+                PsdkOsal_TaskSleepMs(1000);
+                PsdkOsal_MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_ONGOING;
+                s_upgradeState.upgradeOngoingInfo.upgradeProgress += 10;
+                tempUpgradeState = s_upgradeState;
+                PsdkUpgrade_PushUpgradeState(&s_upgradeState);
+                PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+            } while (tempUpgradeState.upgradeOngoingInfo.upgradeProgress < 100);
+
+            // Step 3 : Reboot device
+            PsdkOsal_MutexLock(s_upgradeStateMutex);
+            s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_DEVICE_REBOOT;
+            s_upgradeState.upgradeRebootInfo.rebootTimeout = PSDK_TEST_UPGRADE_REBOOT_TIMEOUT;
+            PsdkUpgrade_PushUpgradeState(&s_upgradeState);
+            PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+            PsdkOsal_TaskSleepMs(1000); // sleep 1000ms to ensure push send terminal.
+
+            upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_SUCCESS;
+            returnCode = PsdkTest_SetUpgradeRebootState(&upgradeEndInfo);
+            if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("Set Upgrade reboot state error");
+                PsdkOsal_MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
+                s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+                continue;
+            }
+
+#if PSDK_TEST_UPGRADE_NO_REBOOT_EMU
+            bool isUpgradeReboot;
+            returnCode = PsdkTest_GetUpgradeRebootState(&isUpgradeReboot, &upgradeEndInfo);
+            if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("Get upgrade reboot state error");
+                PsdkOsal_MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
+                s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+                continue;
+            }
+
+            returnCode = PsdkTest_CleanUpgradeRebootState();
+            if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("Clean upgrade reboot state error");
+                PsdkOsal_MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
+                s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+                continue;
+            }
+
+            PsdkOsal_MutexLock(s_upgradeStateMutex);
+            if (isUpgradeReboot == true) {
+                s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
+                s_upgradeState.upgradeEndInfo = upgradeEndInfo;
+            } else {
+                s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_IDLE;
+            }
+            PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+            continue;
+#else
+            returnCode = PsdkTest_RebootSystem();
+            if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("Reboot system error");
+                PsdkOsal_MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
+                s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+                continue;
+            }
+            while (1) {
+                PsdkOsal_TaskSleepMs(500);
+            }
+#endif
+        } else if (s_upgradeState.upgradeStage == PSDK_UPGRADE_STAGE_END) {
+            PsdkOsal_MutexLock(s_upgradeStateMutex);
+            PsdkUpgrade_PushUpgradeState(&s_upgradeState);
+            PsdkOsal_MutexUnlock(s_upgradeStateMutex);
+        }
+
+        PsdkOsal_TaskSleepMs(500);
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/upgrade/test_upgrade.h

@@ -0,0 +1,52 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade.h
+ * @version V2.0.0
+ * @date    3/4/20
+ * @brief   This is the header file for "test_upgrade.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_UPGRADE_H
+#define TEST_UPGRADE_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <psdk_upgrade.h>
+#include "test_upgrade_platform_opt.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_UpgradeInit(const T_PsdkTestUpgradePlatformOpt *upgradePlatformOpt);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/upgrade/test_upgrade_common.h

@@ -0,0 +1,74 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade_common.h
+ * @version V2.0.0
+ * @date    3/12/20
+ * @brief   This is the header file for "test_upgrade_linux_common.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_UPGRADE_COMMON_H
+#define TEST_UPGRADE_COMMON_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+// firmware version
+#define PSDK_TEST_FIRMWARE_VERSION_MAJOR        2
+#define PSDK_TEST_FIRMWARE_VERSION_MINOR        1
+#define PSDK_TEST_FIRMWARE_VERSION_MODIFY       0
+#define PSDK_TEST_FIRMWARE_VERSION_DEBUG        3
+
+// define if only emulate upgrade, no system reboot
+#define PSDK_TEST_UPGRADE_NO_REBOOT_EMU         0
+
+#if PSDK_ARCH_SYS_LINUX
+
+// define if replace program before reboot
+#define PSDK_TEST_REPLACE_PROGRAM_BEFORE_REBOOT 1
+// define if use ftp transfer, only support linux
+#define PSDK_TEST_UPGRADE_USE_FTP_TRANSFER      1
+
+#else
+
+// for mcu, program is on flash , need replace program in loader, not before reboot
+#define PSDK_TEST_REPLACE_PROGRAM_BEFORE_REBOOT 0
+// define if use ftp transfer
+#define PSDK_TEST_UPGRADE_USE_FTP_TRANSFER      0
+
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_UPGRADE_LINUX_COMMON_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/upgrade/test_upgrade_common_file_transfer.c

@@ -0,0 +1,151 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade_common_file_transfer.c
+ * @version V2.0.0
+ * @date    3/12/20
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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_upgrade_common_file_transfer.h"
+#include "psdk_logger.h"
+#include <utils/util_md5.h>
+#include "test_upgrade_platform_opt.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define PSDK_TEST_FILE_MD5_BUFFER_SIZE              256
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_PsdkUpgradeFileInfo s_upgradeFileInfo = {0};
+static uint32_t s_alreadyTransferFileSize = 0;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_PsdkReturnCode PsdkTestFile_GetUpgradeFileMd5(uint8_t md5[PSDK_MD5_BUFFER_LEN]);
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTestCommonFileTransfer_Start(const T_PsdkUpgradeFileInfo *fileInfo)
+{
+    T_PsdkReturnCode returnCode;
+
+    s_upgradeFileInfo.fileSize = 0;
+    memset(s_upgradeFileInfo.fileName, 0, sizeof(s_upgradeFileInfo.fileName));
+    s_alreadyTransferFileSize = 0;
+
+    returnCode = PsdkTest_CreateUpgradeProgramFile(fileInfo);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Create upgrade program file error");
+        return returnCode;
+    }
+
+    s_upgradeFileInfo = *fileInfo;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkTestCommonFileTransfer_Transfer(const uint8_t *data, uint16_t dataLen)
+{
+    T_PsdkReturnCode returnCode;
+
+    if (s_alreadyTransferFileSize >= s_upgradeFileInfo.fileSize) {
+        PsdkLogger_UserLogError("Already transfer file size is more than file real size");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = PsdkTest_WriteUpgradeProgramFile(s_alreadyTransferFileSize, data, dataLen);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Write upgrade program file error, return code = 0x%08llX", returnCode);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    s_alreadyTransferFileSize += dataLen;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkTestCommonFileTransfer_Finish(const uint8_t md5[PSDK_MD5_BUFFER_LEN])
+{
+    uint8_t localFileMd5[PSDK_MD5_BUFFER_LEN] = {0};
+    T_PsdkReturnCode returnCode;
+
+    if (s_alreadyTransferFileSize != s_upgradeFileInfo.fileSize) {
+        PsdkLogger_UserLogError("Transfer finish error, transfer file size is not equal");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = PsdkTestFile_GetUpgradeFileMd5(localFileMd5);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Get file md5 error, return code = 0x%08llX", returnCode);
+        goto out;
+    }
+
+    if (memcmp(md5, localFileMd5, PSDK_MD5_BUFFER_LEN) == 0) {
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+out:
+    PsdkTest_CloseUpgradeProgramFile();
+    s_upgradeFileInfo.fileSize = 0;
+    memset(s_upgradeFileInfo.fileName, 0, sizeof(s_upgradeFileInfo.fileName));
+    s_alreadyTransferFileSize = 0;
+    return returnCode;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_PsdkReturnCode PsdkTestFile_GetUpgradeFileMd5(uint8_t md5[PSDK_MD5_BUFFER_LEN])
+{
+    uint8_t fileBuffer[PSDK_TEST_FILE_MD5_BUFFER_SIZE] = {0};
+    T_PsdkReturnCode returnCode;
+    uint32_t offset;
+    MD5_CTX fileMd5Ctx;
+    uint16_t realLen = 0;
+
+    offset = 0;
+    UtilMd5_Init(&fileMd5Ctx);
+    while (s_upgradeFileInfo.fileSize - offset > PSDK_TEST_FILE_MD5_BUFFER_SIZE) {
+        returnCode = PsdkTest_ReadUpgradeProgramFile(offset, PSDK_TEST_FILE_MD5_BUFFER_SIZE,
+                                                     fileBuffer, &realLen);
+        if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS || realLen != PSDK_TEST_FILE_MD5_BUFFER_SIZE) {
+            PsdkLogger_UserLogError("Get file data error, return code = 0x%08llX", returnCode);
+            return returnCode;
+        }
+
+        UtilMd5_Update(&fileMd5Ctx, fileBuffer, PSDK_TEST_FILE_MD5_BUFFER_SIZE);
+
+        offset += PSDK_TEST_FILE_MD5_BUFFER_SIZE;
+    }
+
+    returnCode = PsdkTest_ReadUpgradeProgramFile(offset, s_upgradeFileInfo.fileSize - offset, fileBuffer, &realLen);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS || realLen != s_upgradeFileInfo.fileSize - offset) {
+        PsdkLogger_UserLogError("Get file data error, return code = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    UtilMd5_Update(&fileMd5Ctx, fileBuffer, s_upgradeFileInfo.fileSize - offset);
+    UtilMd5_Final(&fileMd5Ctx, md5);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/upgrade/test_upgrade_common_file_transfer.h

@@ -0,0 +1,53 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade_common_file_transfer.h
+ * @version V2.0.0
+ * @date    3/12/20
+ * @brief   This is the header file for "test_upgrade_common_file_transfer.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_UPGRADE_COMMON_FILE_TRANSFER_H
+#define TEST_UPGRADE_COMMON_FILE_TRANSFER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <psdk_upgrade.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTestCommonFileTransfer_Start(const T_PsdkUpgradeFileInfo *fileInfo);
+T_PsdkReturnCode PsdkTestCommonFileTransfer_Transfer(const uint8_t *data, uint16_t dataLen);
+T_PsdkReturnCode PsdkTestCommonFileTransfer_Finish(const uint8_t md5[PSDK_MD5_BUFFER_LEN]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_UPGRADE_COMMON_FILE_TRANSFER_LINUX_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/upgrade/test_upgrade_platform_opt.c

@@ -0,0 +1,141 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade_platform_opt.c
+ * @version V1.0.0
+ * @date    2019/01/01
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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_upgrade_platform_opt.h"
+#include <psdk_logger.h>
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_PsdkTestUpgradePlatformOpt s_upgradePlatformOpt = {0};
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_RegUpgradePlatformOpt(const T_PsdkTestUpgradePlatformOpt *upgradePlatformOpt)
+{
+    if (upgradePlatformOpt->rebootSystem == NULL) {
+        PsdkLogger_UserLogError("rebootSystem callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->cleanUpgradeProgramFileStoreArea == NULL) {
+        PsdkLogger_UserLogError("cleanUpgradeProgramFileStoreArea callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->createUpgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("createUpgradeProgramFile callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->readUpgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("readUpgradeProgramFile callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->writeUpgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("writeUpgradeProgramFile callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->closeUpgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("closeUpgradeProgramFile callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->replaceOldProgram == NULL) {
+        PsdkLogger_UserLogError("replaceOldProgram callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->setUpgradeRebootState == NULL) {
+        PsdkLogger_UserLogError("setUpgradeRebootState callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->getUpgradeRebootState == NULL) {
+        PsdkLogger_UserLogError("getUpgradeRebootState callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->cleanUpgradeRebootState == NULL) {
+        PsdkLogger_UserLogError("cleanUpgradeRebootState callback can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    s_upgradePlatformOpt = *upgradePlatformOpt;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkTest_RebootSystem(void)
+{
+    return s_upgradePlatformOpt.rebootSystem();
+}
+
+T_PsdkReturnCode PsdkTest_CleanUpgradeProgramFileStoreArea(void)
+{
+    return s_upgradePlatformOpt.cleanUpgradeProgramFileStoreArea();
+}
+
+T_PsdkReturnCode PsdkTest_CreateUpgradeProgramFile(const T_PsdkUpgradeFileInfo *fileInfo)
+{
+    return s_upgradePlatformOpt.createUpgradeProgramFile(fileInfo);
+}
+
+T_PsdkReturnCode PsdkTest_WriteUpgradeProgramFile(uint32_t offset, const uint8_t *data, uint16_t dataLen)
+{
+    return s_upgradePlatformOpt.writeUpgradeProgramFile(offset, data, dataLen);
+}
+
+T_PsdkReturnCode PsdkTest_ReadUpgradeProgramFile(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                                 uint16_t *realLen)
+{
+    return s_upgradePlatformOpt.readUpgradeProgramFile(offset, readDataLen, data, realLen);
+}
+
+T_PsdkReturnCode PsdkTest_CloseUpgradeProgramFile(void)
+{
+    return s_upgradePlatformOpt.closeUpgradeProgramFile();
+}
+
+T_PsdkReturnCode PsdkTest_ReplaceOldProgram(void)
+{
+    return s_upgradePlatformOpt.replaceOldProgram();
+}
+
+T_PsdkReturnCode PsdkTest_SetUpgradeRebootState(const T_PsdkUpgradeEndInfo *upgradeEndInfo)
+{
+    return s_upgradePlatformOpt.setUpgradeRebootState(upgradeEndInfo);
+}
+
+T_PsdkReturnCode PsdkTest_GetUpgradeRebootState(bool *isUpgradeReboot, T_PsdkUpgradeEndInfo *upgradeEndInfo)
+{
+    return s_upgradePlatformOpt.getUpgradeRebootState(isUpgradeReboot, upgradeEndInfo);
+}
+
+T_PsdkReturnCode PsdkTest_CleanUpgradeRebootState(void)
+{
+    return s_upgradePlatformOpt.cleanUpgradeRebootState();
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/upgrade/test_upgrade_platform_opt.h

@@ -0,0 +1,86 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade_platform_opt.h
+ * @version V0.0.0
+ * @date    2019/01/01
+ * @brief   This is the header file for "test_upgrade_platform_opt.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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_UPGRADE_PLATFORM_OPT_H
+#define TEST_UPGRADE_PLATFORM_OPT_H
+
+#include <psdk_typedef.h>
+#include <psdk_upgrade.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    T_PsdkReturnCode (*rebootSystem)(void);
+
+    T_PsdkReturnCode (*cleanUpgradeProgramFileStoreArea)(void);
+    T_PsdkReturnCode (*createUpgradeProgramFile)(const T_PsdkUpgradeFileInfo *fileInfo);
+    T_PsdkReturnCode (*writeUpgradeProgramFile)(uint32_t offset, const uint8_t *data, uint16_t dataLen);
+    T_PsdkReturnCode (*readUpgradeProgramFile)(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                               uint16_t *realLen);
+    T_PsdkReturnCode (*closeUpgradeProgramFile)(void);
+
+    T_PsdkReturnCode (*replaceOldProgram)(void);
+
+    T_PsdkReturnCode (*setUpgradeRebootState)(const T_PsdkUpgradeEndInfo *upgradeEndInfo);
+    T_PsdkReturnCode (*getUpgradeRebootState)(bool *isUpgradeReboot, T_PsdkUpgradeEndInfo *upgradeEndInfo);
+    T_PsdkReturnCode (*cleanUpgradeRebootState)(void);
+} T_PsdkTestUpgradePlatformOpt;
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_RegUpgradePlatformOpt(const T_PsdkTestUpgradePlatformOpt *upgradePlatformOpt);
+
+T_PsdkReturnCode PsdkTest_RebootSystem(void);
+
+T_PsdkReturnCode PsdkTest_CleanUpgradeProgramFileStoreArea(void);
+T_PsdkReturnCode PsdkTest_CreateUpgradeProgramFile(const T_PsdkUpgradeFileInfo *fileInfo);
+T_PsdkReturnCode PsdkTest_WriteUpgradeProgramFile(uint32_t offset, const uint8_t *data, uint16_t dataLen);
+T_PsdkReturnCode PsdkTest_ReadUpgradeProgramFile(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                                 uint16_t *realLen);
+T_PsdkReturnCode PsdkTest_CloseUpgradeProgramFile(void);
+
+T_PsdkReturnCode PsdkTest_ReplaceOldProgram(void);
+
+T_PsdkReturnCode PsdkTest_SetUpgradeRebootState(const T_PsdkUpgradeEndInfo *upgradeEndInfo);
+T_PsdkReturnCode PsdkTest_GetUpgradeRebootState(bool *isUpgradeReboot, T_PsdkUpgradeEndInfo *upgradeEndInfo);
+T_PsdkReturnCode PsdkTest_CleanUpgradeRebootState(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_UPGRADE_PLATFORM_OPT_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/utils/util_buffer.c

@@ -0,0 +1,129 @@
+/**
+ ******************************************************************************
+ * @file    util_buffer.c
+ * @version V1.0.0
+ * @date    2017/11/10
+ * @brief   The file defines buffer related functions, including initialize, put data to buffer,
+ *           get data from buffer and get unused count of bytes of buffer.
+ *
+ * @copyright (c) 2017-2018 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 "util_buffer.h"
+#include <string.h>
+#include "util_misc.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Exported variables --------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+ * @brief Cut buffer size to power of 2, in order to increase the convenience of get and put operating of buffer.
+ * @param bufSize Original buffer size.
+ * @return Buffer size after handling.
+ */
+static uint16_t UtilBuffer_CutBufSizeToPowOfTwo(uint16_t bufSize)
+{
+    uint16_t i = 0;
+
+    while ((1 << (++i)) <= bufSize);
+    return (uint16_t) (1 << (--i));
+}
+
+/* Exported functions --------------------------------------------------------*/
+
+/**
+ * @brief Buffer initialization.
+ * @param pthis Pointer to buffer structure.
+ * @param pBuf Pointer to data buffer.
+ * @param bufSize Size of data buffer.
+ * @return None.
+ */
+void UtilBuffer_Init(T_UtilBuffer *pthis, uint8_t *pBuf, uint16_t bufSize)
+{
+    pthis->readIndex = 0;
+    pthis->writeIndex = 0;
+    pthis->bufferPtr = pBuf;
+    pthis->bufferSize = UtilBuffer_CutBufSizeToPowOfTwo(bufSize);
+}
+
+/**
+ * @brief Put a block of data into buffer.
+ * @param pthis Pointer to buffer structure.
+ * @param pData Pointer to data to be stored.
+ * @param dataLen Length of data to be stored.
+ * @return Length of data to be stored.
+ */
+uint16_t UtilBuffer_Put(T_UtilBuffer *pthis, const uint8_t *pData, uint16_t dataLen)
+{
+    uint16_t writeUpLen;
+
+    dataLen = USER_UTIL_MIN(dataLen, (uint16_t) (pthis->bufferSize - pthis->writeIndex + pthis->readIndex));
+
+    //fill up data
+    writeUpLen = USER_UTIL_MIN(dataLen, (uint16_t) (pthis->bufferSize - (pthis->writeIndex & (pthis->bufferSize - 1))));
+    memcpy(pthis->bufferPtr + (pthis->writeIndex & (pthis->bufferSize - 1)), pData, writeUpLen);
+
+    //fill begin data
+    memcpy(pthis->bufferPtr, pData + writeUpLen, dataLen - writeUpLen);
+
+    pthis->writeIndex += dataLen;
+
+    return dataLen;
+}
+
+/**
+ * @brief Get a block of data from buffer.
+* @param pthis Pointer to buffer structure.
+* @param pData Pointer to data to be read.
+* @param dataLen Length of data to be read.
+* @return Length of data to be read.
+ */
+uint16_t UtilBuffer_Get(T_UtilBuffer *pthis, uint8_t *pData, uint16_t dataLen)
+{
+    uint16_t readUpLen;
+
+    dataLen = USER_UTIL_MIN(dataLen, (uint16_t) (pthis->writeIndex - pthis->readIndex));
+
+    //get up data
+    readUpLen = USER_UTIL_MIN(dataLen, (uint16_t) (pthis->bufferSize - (pthis->readIndex & (pthis->bufferSize - 1))));
+    memcpy(pData, pthis->bufferPtr + (pthis->readIndex & (pthis->bufferSize - 1)), readUpLen);
+
+    //get begin data
+    memcpy(pData + readUpLen, pthis->bufferPtr, dataLen - readUpLen);
+
+    pthis->readIndex += dataLen;
+
+    return dataLen;
+}
+
+/**
+ * @brief Get unused size of buffer.
+ * @param pthis Pointer to buffer structure.
+ * @return Unused size of buffer.
+ */
+uint16_t UtilBuffer_GetUnusedSize(T_UtilBuffer *pthis)
+{
+    return (uint16_t) (pthis->bufferSize - pthis->writeIndex + pthis->readIndex);
+}

sample/api_sample/utils/util_buffer.h

@@ -0,0 +1,61 @@
+/**
+ ******************************************************************************
+ * @file    util_buffer.h
+ * @version V1.0.0
+ * @date    2017/11/10
+ * @brief   This is the header file for "util_buffer.c".
+ *
+ * @copyright (c) 2017-2018 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_UTIL_BUFFER_H_
+#define _DJI_UTIL_BUFFER_H_
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/* Exported constants --------------------------------------------------------*/
+/* Exported macros -----------------------------------------------------------*/
+/* Exported types ------------------------------------------------------------*/
+
+//Note: not need lock for just one producer / one consumer
+//need mutex to protect for multi-producer / multi-consumer
+typedef struct {
+    uint8_t *bufferPtr;
+    uint16_t bufferSize;
+    uint16_t readIndex;
+    uint16_t writeIndex;
+} T_UtilBuffer;
+
+/* Exported variables --------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+void UtilBuffer_Init(T_UtilBuffer *pthis, uint8_t *pBuf, uint16_t bufSize);
+uint16_t UtilBuffer_Put(T_UtilBuffer *pthis, const uint8_t *pData, uint16_t dataLen);
+uint16_t UtilBuffer_Get(T_UtilBuffer *pthis, uint8_t *pData, uint16_t dataLen);
+uint16_t UtilBuffer_GetUnusedSize(T_UtilBuffer *pthis);
+
+/* Private constants ---------------------------------------------------------*/
+/* Private macros ------------------------------------------------------------*/
+/* Private types -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+#endif

sample/api_sample/utils/util_file.c

@@ -0,0 +1,210 @@
+/**
+ ********************************************************************
+ * @file    util_file.c
+ * @version V2.0.0
+ * @date    2019/08/30
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 "util_file.h"
+#include <time.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+/* Private constants ---------------------------------------------------------*/
+
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+
+
+/* Private values ------------------------------------------------------------*/
+
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode UtilFile_GetCreateTime(const char *filePath, T_UtilFileCreateTime *createTime)
+{
+    struct stat st;
+    struct tm *fileTm;
+
+    if (filePath == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (stat(filePath, &st) != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    fileTm = localtime(&(st.st_ctime));
+    if (fileTm == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    createTime->year = fileTm->tm_year + 1900 - 1980;
+    createTime->month = fileTm->tm_mon;
+    createTime->day = fileTm->tm_mday;
+    createTime->hour = fileTm->tm_hour;
+    createTime->minute = fileTm->tm_min;
+    createTime->second = fileTm->tm_sec;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode UtilFile_GetFileSizeByPath(const char *filePath, uint32_t *fileSize)
+{
+    struct stat st;
+
+    if (filePath == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (stat(filePath, &st) != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    *fileSize = st.st_size;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint16_t len,
+                                            uint8_t *data, uint16_t *realLen)
+{
+    FILE *pF;
+    T_PsdkReturnCode psdkStat;
+    uint32_t readRtn;
+
+    if (filePath == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    pF = fopen(filePath, "rb+");
+    if (pF == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (fseek(pF, offset, SEEK_SET) != 0) {
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    readRtn = fread(data, 1, len, pF);
+    if (readRtn == 0 || readRtn > len) {
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    *realLen = readRtn;
+
+    psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    fclose(pF);
+
+    return psdkStat;
+}
+
+T_PsdkReturnCode UtilFile_Delete(const char *filePath)
+{
+    int ret;
+
+    if (filePath == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = unlink(filePath);
+
+    if (ret != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    } else {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+}
+
+T_PsdkReturnCode UtilFile_GetFileSize(FILE *file, uint32_t *fileSize)
+{
+    int result;
+
+    if (file == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    long int curSeek = ftell(file);
+
+    result = fseek(file, 0L, SEEK_END);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+    *fileSize = ftell(file);
+
+    if (curSeek < 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    result = fseek(file, curSeek, SEEK_SET);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode UtilFile_GetFileData(FILE *file, uint32_t offset, uint16_t len, uint8_t *data, uint16_t *realLen)
+{
+    T_PsdkReturnCode psdkStat;
+    uint32_t readRtn;
+
+    if (file == NULL) {
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+        goto out;
+    }
+
+    if (fseek(file, offset, SEEK_SET) != 0) {
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    readRtn = fread(data, 1, len, file);
+    if (readRtn == 0 || readRtn > len) {
+        psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    *realLen = readRtn;
+
+    psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    return psdkStat;
+}
+
+bool UtilFile_IsFileExist(const char *filePath)
+{
+    return !access(filePath, F_OK);
+}
+/* Private functions definition-----------------------------------------------*/
+
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/utils/util_file.h

@@ -0,0 +1,69 @@
+/**
+ ********************************************************************
+ * @file    util_file.h
+ * @version V2.0.0
+ * @date    2019/08/30
+ * @brief   This is the header file for "util_file.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_FILE_H
+#define UTIL_FILE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <psdk_typedef.h>
+#include <stdio.h>
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    uint32_t second:5;
+    uint32_t minute:6;
+    uint32_t hour  :5;
+    uint32_t day   :5;
+    uint32_t month :4;
+    uint32_t year  :7;
+} T_UtilFileCreateTime;
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode UtilFile_GetCreateTime(const char *filePath, T_UtilFileCreateTime *createTime);
+T_PsdkReturnCode UtilFile_GetFileSizeByPath(const char *filePath, uint32_t *fileSize);
+T_PsdkReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint16_t len,
+                                            uint8_t *data, uint16_t *realLen);
+T_PsdkReturnCode PsdkFile_Delete(const char *filePath);
+
+T_PsdkReturnCode UtilFile_GetFileSize(FILE *file, uint32_t *fileSize);
+T_PsdkReturnCode UtilFile_GetFileData(FILE *file, uint32_t offset, uint16_t len, uint8_t *data, uint16_t *realLen);
+bool UtilFile_IsFileExist(const char *filePath);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // UTIL_FILE_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/utils/util_math.c

@@ -0,0 +1,45 @@
+/**
+ ********************************************************************
+ * @file    util_math.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 "util_math.h"
+#include "math.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values ---------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+int32_t UtilMath_Mod(int32_t a, int32_t b)
+{
+    return a - floor((double) a / (double) b) * b;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/utils/util_math.h

@@ -0,0 +1,49 @@
+/**
+ ********************************************************************
+ * @file    util_math.h
+ * @brief   This is the header file for "util_math.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 UTIL_MATH_H
+#define UTIL_MATH_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+int32_t UtilMath_Mod(int32_t a, int32_t b);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //UTIL_MATH_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/utils/util_md5.c

@@ -0,0 +1,240 @@
+/**
+ ********************************************************************
+ * @file    util_md5.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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.
+ *
+ * crypto-algorithms
+ * =================
+ *
+ * About
+ * ---
+ * These are basic implementations of standard cryptography algorithms, written by Brad Conte (brad@bradconte.com) from
+ * scratch and without any cross-licensing. They exist to provide publically accessible, restriction-free implementations
+ * of popular cryptographic algorithms, like AES and SHA-1. These are primarily intended for educational and pragmatic
+ * purposes (such as comparing a specification to actual implementation code, or for building an internal application
+ * that computes test vectors for a product). The algorithms have been tested against standard test vectors.
+ * This code is released into the public domain free of any restrictions. The author requests acknowledgement if the code
+ * is used, but does not require it. This code is provided free of any liability and without any quality claims by the
+ * author.
+ * Note that these are *not* cryptographically secure implementations. They have no resistence to side-channel attacks
+ * and should not be used in contexts that need cryptographically secure implementations.
+ * These algorithms are not optimized for speed or space. They are primarily designed to be easy to read, although some
+ * basic optimization techniques have been employed.
+ * Building
+ * ---
+ * The source code for each algorithm will come in a pair of a source code file and a header file. There should be no
+ * inter-header file dependencies, no additional libraries, no platform-specific header files, or any other complicating
+ * matters. Compiling them should be as easy as adding the relevent source code to the project.
+ *
+ * @statement DJI has modified some symbols' name.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "util_md5.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define ROTLEFT(a, b) ((a << b) | (a >> (32-b)))
+
+#define F(x, y, z) ((x & y) | (~x & z))
+#define G(x, y, z) ((x & z) | (y & ~z))
+#define H(x, y, z) (x ^ y ^ z)
+#define I(x, y, z) (y ^ (x | ~z))
+
+#define FF(a, b, c, d, m, s, t) { a += F(b,c,d) + m + t; \
+                            a = b + ROTLEFT(a,s); }
+#define GG(a, b, c, d, m, s, t) { a += G(b,c,d) + m + t; \
+                            a = b + ROTLEFT(a,s); }
+#define HH(a, b, c, d, m, s, t) { a += H(b,c,d) + m + t; \
+                            a = b + ROTLEFT(a,s); }
+#define II(a, b, c, d, m, s, t) { a += I(b,c,d) + m + t; \
+                            a = b + ROTLEFT(a,s); }
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+
+
+/* Exported functions definition ---------------------------------------------*/
+void UtilMd5_Transform(MD5_CTX *ctx, const BYTE *data)
+{
+    WORD a, b, c, d, m[16], i, j;
+
+    // MD5 specifies big endian byte order, but this implementation assumes a little
+    // endian byte order CPU. Reverse all the bytes upon input, and re-reverse them
+    // on output (in md5_final()).
+    for (i = 0, j = 0; i < 16; ++i, j += 4) {
+        m[i] = (data[j]) + (data[j + 1] << 8) + (data[j + 2] << 16) + (data[j + 3] << 24);
+    }
+
+    a = ctx->state[0];
+    b = ctx->state[1];
+    c = ctx->state[2];
+    d = ctx->state[3];
+
+    FF(a, b, c, d, m[0], 7, 0xd76aa478);
+    FF(d, a, b, c, m[1], 12, 0xe8c7b756);
+    FF(c, d, a, b, m[2], 17, 0x242070db);
+    FF(b, c, d, a, m[3], 22, 0xc1bdceee);
+    FF(a, b, c, d, m[4], 7, 0xf57c0faf);
+    FF(d, a, b, c, m[5], 12, 0x4787c62a);
+    FF(c, d, a, b, m[6], 17, 0xa8304613);
+    FF(b, c, d, a, m[7], 22, 0xfd469501);
+    FF(a, b, c, d, m[8], 7, 0x698098d8);
+    FF(d, a, b, c, m[9], 12, 0x8b44f7af);
+    FF(c, d, a, b, m[10], 17, 0xffff5bb1);
+    FF(b, c, d, a, m[11], 22, 0x895cd7be);
+    FF(a, b, c, d, m[12], 7, 0x6b901122);
+    FF(d, a, b, c, m[13], 12, 0xfd987193);
+    FF(c, d, a, b, m[14], 17, 0xa679438e);
+    FF(b, c, d, a, m[15], 22, 0x49b40821);
+
+    GG(a, b, c, d, m[1], 5, 0xf61e2562);
+    GG(d, a, b, c, m[6], 9, 0xc040b340);
+    GG(c, d, a, b, m[11], 14, 0x265e5a51);
+    GG(b, c, d, a, m[0], 20, 0xe9b6c7aa);
+    GG(a, b, c, d, m[5], 5, 0xd62f105d);
+    GG(d, a, b, c, m[10], 9, 0x02441453);
+    GG(c, d, a, b, m[15], 14, 0xd8a1e681);
+    GG(b, c, d, a, m[4], 20, 0xe7d3fbc8);
+    GG(a, b, c, d, m[9], 5, 0x21e1cde6);
+    GG(d, a, b, c, m[14], 9, 0xc33707d6);
+    GG(c, d, a, b, m[3], 14, 0xf4d50d87);
+    GG(b, c, d, a, m[8], 20, 0x455a14ed);
+    GG(a, b, c, d, m[13], 5, 0xa9e3e905);
+    GG(d, a, b, c, m[2], 9, 0xfcefa3f8);
+    GG(c, d, a, b, m[7], 14, 0x676f02d9);
+    GG(b, c, d, a, m[12], 20, 0x8d2a4c8a);
+
+    HH(a, b, c, d, m[5], 4, 0xfffa3942);
+    HH(d, a, b, c, m[8], 11, 0x8771f681);
+    HH(c, d, a, b, m[11], 16, 0x6d9d6122);
+    HH(b, c, d, a, m[14], 23, 0xfde5380c);
+    HH(a, b, c, d, m[1], 4, 0xa4beea44);
+    HH(d, a, b, c, m[4], 11, 0x4bdecfa9);
+    HH(c, d, a, b, m[7], 16, 0xf6bb4b60);
+    HH(b, c, d, a, m[10], 23, 0xbebfbc70);
+    HH(a, b, c, d, m[13], 4, 0x289b7ec6);
+    HH(d, a, b, c, m[0], 11, 0xeaa127fa);
+    HH(c, d, a, b, m[3], 16, 0xd4ef3085);
+    HH(b, c, d, a, m[6], 23, 0x04881d05);
+    HH(a, b, c, d, m[9], 4, 0xd9d4d039);
+    HH(d, a, b, c, m[12], 11, 0xe6db99e5);
+    HH(c, d, a, b, m[15], 16, 0x1fa27cf8);
+    HH(b, c, d, a, m[2], 23, 0xc4ac5665);
+
+    II(a, b, c, d, m[0], 6, 0xf4292244);
+    II(d, a, b, c, m[7], 10, 0x432aff97);
+    II(c, d, a, b, m[14], 15, 0xab9423a7);
+    II(b, c, d, a, m[5], 21, 0xfc93a039);
+    II(a, b, c, d, m[12], 6, 0x655b59c3);
+    II(d, a, b, c, m[3], 10, 0x8f0ccc92);
+    II(c, d, a, b, m[10], 15, 0xffeff47d);
+    II(b, c, d, a, m[1], 21, 0x85845dd1);
+    II(a, b, c, d, m[8], 6, 0x6fa87e4f);
+    II(d, a, b, c, m[15], 10, 0xfe2ce6e0);
+    II(c, d, a, b, m[6], 15, 0xa3014314);
+    II(b, c, d, a, m[13], 21, 0x4e0811a1);
+    II(a, b, c, d, m[4], 6, 0xf7537e82);
+    II(d, a, b, c, m[11], 10, 0xbd3af235);
+    II(c, d, a, b, m[2], 15, 0x2ad7d2bb);
+    II(b, c, d, a, m[9], 21, 0xeb86d391);
+
+    ctx->state[0] += a;
+    ctx->state[1] += b;
+    ctx->state[2] += c;
+    ctx->state[3] += d;
+}
+
+void UtilMd5_Init(MD5_CTX *ctx)
+{
+    ctx->datalen = 0;
+    ctx->bitlen = 0;
+    ctx->state[0] = 0x67452301;
+    ctx->state[1] = 0xEFCDAB89;
+    ctx->state[2] = 0x98BADCFE;
+    ctx->state[3] = 0x10325476;
+}
+
+void UtilMd5_Update(MD5_CTX *ctx, const BYTE *data, size_t len)
+{
+    size_t i;
+
+    for (i = 0; i < len; ++i) {
+        ctx->data[ctx->datalen] = data[i];
+        ctx->datalen++;
+        if (ctx->datalen == 64) {
+            UtilMd5_Transform(ctx, ctx->data);
+            ctx->bitlen += 512;
+            ctx->datalen = 0;
+        }
+    }
+}
+
+void UtilMd5_Final(MD5_CTX *ctx, BYTE *hash)
+{
+    size_t i;
+
+    i = ctx->datalen;
+
+    // Pad whatever data is left in the buffer.
+    if (ctx->datalen < 56) {
+        ctx->data[i++] = 0x80;
+        while (i < 56) {
+            ctx->data[i++] = 0x00;
+        }
+    } else if (ctx->datalen >= 56) {
+        ctx->data[i++] = 0x80;
+        while (i < 64) {
+            ctx->data[i++] = 0x00;
+        }
+        UtilMd5_Transform(ctx, ctx->data);
+        memset(ctx->data, 0, 56);
+    }
+
+    // Append to the padding the total message's length in bits and transform.
+    ctx->bitlen += ctx->datalen * 8;
+    ctx->data[56] = ctx->bitlen;
+    ctx->data[57] = ctx->bitlen >> 8;
+    ctx->data[58] = ctx->bitlen >> 16;
+    ctx->data[59] = ctx->bitlen >> 24;
+    ctx->data[60] = ctx->bitlen >> 32;
+    ctx->data[61] = ctx->bitlen >> 40;
+    ctx->data[62] = ctx->bitlen >> 48;
+    ctx->data[63] = ctx->bitlen >> 56;
+    UtilMd5_Transform(ctx, ctx->data);
+
+    // Since this implementation uses little endian byte ordering and MD uses big endian,
+    // reverse all the bytes when copying the final state to the output hash.
+    for (i = 0; i < 4; ++i) {
+        hash[i] = (ctx->state[0] >> (i * 8)) & 0x000000ff;
+        hash[i + 4] = (ctx->state[1] >> (i * 8)) & 0x000000ff;
+        hash[i + 8] = (ctx->state[2] >> (i * 8)) & 0x000000ff;
+        hash[i + 12] = (ctx->state[3] >> (i * 8)) & 0x000000ff;
+    }
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/utils/util_md5.h

@@ -0,0 +1,90 @@
+/**
+ ********************************************************************
+ * @file    util_md5.h
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief   This is the header file for "util_md5.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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.
+ *
+ * crypto-algorithms
+ * =================
+ *
+ * About
+ * ---
+ * These are basic implementations of standard cryptography algorithms, written by Brad Conte (brad@bradconte.com) from
+ * scratch and without any cross-licensing. They exist to provide publically accessible, restriction-free implementations
+ * of popular cryptographic algorithms, like AES and SHA-1. These are primarily intended for educational and pragmatic
+ * purposes (such as comparing a specification to actual implementation code, or for building an internal application
+ * that computes test vectors for a product). The algorithms have been tested against standard test vectors.
+ * This code is released into the public domain free of any restrictions. The author requests acknowledgement if the code
+ * is used, but does not require it. This code is provided free of any liability and without any quality claims by the
+ * author.
+ * Note that these are *not* cryptographically secure implementations. They have no resistence to side-channel attacks
+ * and should not be used in contexts that need cryptographically secure implementations.
+ * These algorithms are not optimized for speed or space. They are primarily designed to be easy to read, although some
+ * basic optimization techniques have been employed.
+ * Building
+ * ---
+ * The source code for each algorithm will come in a pair of a source code file and a header file. There should be no
+ * inter-header file dependencies, no additional libraries, no platform-specific header files, or any other complicating
+ * matters. Compiling them should be as easy as adding the relevent source code to the project.
+ *
+ * @statement DJI has modified some symbols' name.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef UTIL_MD5_H
+#define UTIL_MD5_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define MD5_BLOCK_SIZE 16               // MD5 outputs a 16 byte digest
+
+/* Exported types ------------------------------------------------------------*/
+typedef unsigned char BYTE;             // 8-bit byte
+typedef unsigned int WORD;              // 32-bit word, change to "long" for 16-bit machines
+
+typedef struct {
+    BYTE data[64];
+    WORD datalen;
+    unsigned long long bitlen;
+    WORD state[4];
+} MD5_CTX;
+
+/* Exported functions --------------------------------------------------------*/
+void UtilMd5_Init(MD5_CTX *ctx);
+void UtilMd5_Update(MD5_CTX *ctx, const BYTE *data, size_t len);
+void UtilMd5_Final(MD5_CTX *ctx, BYTE *hash);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // UTIL_MD5_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/utils/util_misc.c

@@ -0,0 +1,86 @@
+/**
+ ********************************************************************
+ * @file    util.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 <stdio.h>
+#include "util_misc.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private values ------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkUserUtil_GetCurrentFileDirPath(const char *filePath, uint32_t pathBufferSize, char *dirPath)
+{
+    uint32_t i = strlen(filePath) - 1;
+    uint32_t dirPathLen;
+
+    while (filePath[i] != '/') {
+        i--;
+    }
+
+    dirPathLen = i + 1;
+
+    if (dirPathLen + 1 > pathBufferSize) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    memcpy(dirPath, filePath, dirPathLen);
+    dirPath[dirPathLen] = 0;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#if PSDK_ARCH_SYS_LINUX
+
+T_PsdkReturnCode PsdkUserUtil_RunSystemCmd(const char *systemCmdStr)
+{
+    FILE *fp;
+
+    fp = popen(systemCmdStr, "r");
+    if (fp == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    pclose(fp);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#endif
+
+/* Private functions definition-----------------------------------------------*/
+
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/utils/util_misc.h

@@ -0,0 +1,62 @@
+/**
+ ********************************************************************
+ * @file    util_misc.h
+ * @version V2.0.0
+ * @date    2019/8/12
+ * @brief   This is the header file for "util_misc.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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 UTIL_MISC_H
+#define UTIL_MISC_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <psdk_typedef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define USER_UTIL_UNUSED(x)                                 ((x) = (x))
+#define USER_UTIL_MIN(a, b)                                 (((a) < (b)) ? (a) : (b))
+#define USER_UTIL_MAX(a, b)                                 (((a) > (b)) ? (a) : (b))
+#define USER_UTIL_IS_WORK_TURN(step, workfreq, taskfreq)    (!((step) % (uint32_t) ((taskfreq) / (workfreq))))
+#define UTIL_OFFSETOF(type, member)                         ((size_t) & ((type *)0 )-> member)
+#define UTIL_ARRAY_SIZE(array)                              ((unsigned int) (sizeof(array) / sizeof((array)[0])))
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkUserUtil_GetCurrentFileDirPath(const char *filePath, uint32_t pathBufferSize, char *dirPath);
+#if PSDK_ARCH_SYS_LINUX
+T_PsdkReturnCode PsdkUserUtil_RunSystemCmd(const char *systemCmdStr);
+
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+#endif // UTIL_MISC_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/utils/util_time.c

@@ -0,0 +1,69 @@
+/**
+ ********************************************************************
+ * @file    psdk_util_time.c
+ * @version V1.0.0
+ * @date    2019/01/01
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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 "util_time.h"
+#include <sys/resource.h>
+#include <time.h>
+
+/* Private constants ---------------------------------------------------------*/
+
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+
+
+/* Private values ------------------------------------------------------------*/
+
+
+/* Exported functions definition ---------------------------------------------*/
+#if PSDK_ARCH_SYS_LINUX
+T_PsdkRunTimeStamps PsdkUtilTime_GetRunTimeStamps(void)
+{
+    T_PsdkRunTimeStamps timeStamps;
+    struct rusage rusage;
+    struct timespec ts;
+
+    clock_gettime(CLOCK_MONOTONIC, &ts);
+    timeStamps.realUsec = (uint64_t) ts.tv_sec * 1000000 + ts.tv_nsec / 1000;
+
+    getrusage(RUSAGE_SELF, &rusage);
+    timeStamps.userUsec =
+        (rusage.ru_utime.tv_sec * 1000000LL) + rusage.ru_utime.tv_usec;
+    timeStamps.sysUsec =
+        (rusage.ru_stime.tv_sec * 1000000LL) + rusage.ru_stime.tv_usec;
+
+    return timeStamps;
+}
+#endif
+
+/* Private functions definition-----------------------------------------------*/
+
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/utils/util_time.h

@@ -0,0 +1,60 @@
+/**
+ ********************************************************************
+ * @file    psdk_util_time.h
+ * @version V0.0.0
+ * @date    2019/01/01
+ * @brief   This is the header file for "psdk_util_time.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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 PSDK_UTIL_TIME_H
+#define PSDK_UTIL_TIME_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    uint64_t realUsec;
+    uint64_t userUsec;
+    uint64_t sysUsec;
+} T_PsdkRunTimeStamps;
+
+/* Exported functions --------------------------------------------------------*/
+#if PSDK_ARCH_SYS_LINUX
+T_PsdkRunTimeStamps PsdkUtilTime_GetRunTimeStamps(void);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PSDK_DP_UTILS_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/widget/file_binary_array_list_en.c

@@ -0,0 +1,60 @@
+/**
+ ********************************************************************
+ * @file    file_binary_array_list_en.c
+ * @version V1.0.0
+ * @date    2019/01/01
+ * @brief
+ *
+ * @copyright (c) 2017-2018 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 "file_binary_array_list_en.h"
+
+#include "widget_file_c/en_big_screen/icon_button1_png.h"
+#include "widget_file_c/en_big_screen/icon_button2_png.h"
+#include "widget_file_c/en_big_screen/icon_list_item1_png.h"
+#include "widget_file_c/en_big_screen/icon_list_item2_png.h"
+#include "widget_file_c/en_big_screen/icon_scale_png.h"
+#include "widget_file_c/en_big_screen/icon_switch_select_png.h"
+#include "widget_file_c/en_big_screen/icon_switch_unselect_png.h"
+#include "widget_file_c/en_big_screen/widget_config_json.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Export types -------------------------------------------------------------*/
+// English language file binary array list
+static T_PsdkWidgetFileBinaryArray s_EnWidgetFileBinaryArrayList[] = {
+    {widget_config_json_fileName, widget_config_json_fileSize, widget_config_json_fileBinaryArray},
+
+    {icon_button1_png_fileName, icon_button1_png_fileSize, icon_button1_png_fileBinaryArray},
+    {icon_button2_png_fileName, icon_button2_png_fileSize, icon_button2_png_fileBinaryArray},
+    {icon_list_item1_png_fileName, icon_list_item1_png_fileSize, icon_list_item1_png_fileBinaryArray},
+    {icon_list_item2_png_fileName, icon_list_item2_png_fileSize, icon_list_item2_png_fileBinaryArray},
+    {icon_scale_png_fileName, icon_scale_png_fileSize, icon_scale_png_fileBinaryArray},
+    {icon_switch_select_png_fileName, icon_switch_select_png_fileSize, icon_switch_select_png_fileBinaryArray},
+    {icon_switch_unselect_png_fileName, icon_switch_unselect_png_fileSize, icon_switch_unselect_png_fileBinaryArray}
+};
+
+/* Export values -------------------------------------------------------------*/
+uint32_t g_EnBinaryArrayCount = sizeof(s_EnWidgetFileBinaryArrayList) / sizeof(T_PsdkWidgetFileBinaryArray);
+T_PsdkWidgetFileBinaryArray * g_EnFileBinaryArrayList = s_EnWidgetFileBinaryArrayList;
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/widget/file_binary_array_list_en.h

@@ -0,0 +1,59 @@
+/**
+ ********************************************************************
+ * @file    file_binary_array_list_en.h
+ * @version V0.0.0
+ * @date    2019/01/01
+ * @brief   This is the header file for "file_binary_array_list_en.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2017-2018 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 FILE_BINARY_ARRAY_LIST_EN_H
+#define FILE_BINARY_ARRAY_LIST_EN_H
+
+#include <stdint.h>
+#include <psdk_widget.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+
+extern uint32_t g_EnBinaryArrayCount;
+extern T_PsdkWidgetFileBinaryArray * g_EnFileBinaryArrayList;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // FILE_BINARY_ARRAY_LIST_EN_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/widget/test_widget.c

@@ -0,0 +1,249 @@
+/**
+ ********************************************************************
+ * @file    test_widget.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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_widget.h"
+#include <psdk_widget.h>
+#include <psdk_logger.h>
+#include <utils/util_misc.h>
+#include <psdk_platform.h>
+#include <stdio.h>
+
+#if !PSDK_ARCH_SYS_LINUX
+
+#include "file_binary_array_list_en.h"
+
+#endif
+
+/* Private constants ---------------------------------------------------------*/
+#define WIDGET_DIR_PATH_LEN_MAX         (256)
+#define WIDGET_TASK_STACK_SIZE          (2048)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+static void *PsdkTest_WidgetTask(void *arg);
+static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t value,
+                                                      void *userData);
+static T_PsdkReturnCode PsdkTestWidget_GetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t *value,
+                                                      void *userData);
+
+/* Private values ------------------------------------------------------------*/
+static T_PsdkTaskHandle s_widgetTestThread;
+#if PSDK_ARCH_SYS_LINUX
+static bool s_isWidgetFileDirPathConfigured = false;
+static char s_widgetFileDirPath[PSDK_FILE_PATH_SIZE_MAX] = {0};
+#endif
+
+static const T_PsdkWidgetHandlerListItem s_widgetHandlerList[] = {
+    {0, PSDK_WIDGET_TYPE_BUTTON,        PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+    {1, PSDK_WIDGET_TYPE_BUTTON,        PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+    {2, PSDK_WIDGET_TYPE_LIST,          PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+    {3, PSDK_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+    {4, PSDK_WIDGET_TYPE_SCALE,         PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+    {5, PSDK_WIDGET_TYPE_BUTTON,        PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+    {6, PSDK_WIDGET_TYPE_SCALE,         PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+    {7, PSDK_WIDGET_TYPE_INT_INPUT_BOX, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+    {8, PSDK_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+    {9, PSDK_WIDGET_TYPE_LIST,          PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
+};
+
+static char *s_widgetTypeNameArray[] = {
+    "Unknown",
+    "Button",
+    "Switch",
+    "Scale",
+    "List",
+    "Int input box"
+};
+
+static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_PsdkWidgetHandlerListItem);
+static int32_t s_widgetValueList[sizeof(s_widgetHandlerList) / sizeof(T_PsdkWidgetHandlerListItem)] = {0};
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_WidgetInit(void)
+{
+    T_PsdkReturnCode psdkStat;
+
+    //Step 1 : Init PSDK Widget
+    psdkStat = PsdkWidget_Init();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Psdk test widget init error, stat = 0x%08llX", psdkStat);
+        return psdkStat;
+    }
+
+#if PSDK_ARCH_SYS_LINUX
+    //Step 2 : Set UI Config (Linux environment)
+
+    char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX];
+    char tempPath[WIDGET_DIR_PATH_LEN_MAX];
+    psdkStat = PsdkUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Get file current path error, stat = 0x%08llX", psdkStat);
+        return psdkStat;
+    }
+
+    if (s_isWidgetFileDirPathConfigured == true) {
+        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", s_widgetFileDirPath);
+    } else {
+        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", curFileDirPath);
+    }
+
+    //set default ui config path
+    psdkStat = PsdkWidget_RegDefaultUiConfigByDirPath(tempPath);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Add default widget ui config error, stat = 0x%08llX", psdkStat);
+        return psdkStat;
+    }
+
+    //set ui config for English language
+    psdkStat = PsdkWidget_RegUiConfigByDirPath(PSDK_AIRCRAFT_INFO_MOBILE_APP_LANGUAGE_ENGLISH,
+                                               PSDK_AIRCRAFT_INFO_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
+                                               tempPath);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Add widget ui config error, stat = 0x%08llX", psdkStat);
+        return psdkStat;
+    }
+
+    //set ui config for Chinese language
+    if (s_isWidgetFileDirPathConfigured == true) {
+        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", s_widgetFileDirPath);
+    } else {
+        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", curFileDirPath);
+    }
+
+    psdkStat = PsdkWidget_RegUiConfigByDirPath(PSDK_AIRCRAFT_INFO_MOBILE_APP_LANGUAGE_CHINESE,
+                                               PSDK_AIRCRAFT_INFO_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
+                                               tempPath);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Add widget ui config error, stat = 0x%08llX", psdkStat);
+        return psdkStat;
+    }
+#else
+    //Step 2 : Set UI Config (RTOS environment)
+
+    T_PsdkWidgetBinaryArrayConfig enWidgetBinaryArrayConfig = {
+        .binaryArrayCount = g_EnBinaryArrayCount,
+        .fileBinaryArrayList = g_EnFileBinaryArrayList
+    };
+
+    //set default ui config
+    psdkStat = PsdkWidget_RegDefaultUiConfigByBinaryArray(&enWidgetBinaryArrayConfig);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Add default widget ui config error, stat = 0x%08llX", psdkStat);
+        return psdkStat;
+    }
+
+#endif
+
+    //Step 3 : Set widget handler list
+    psdkStat = PsdkWidget_RegHandlerList(s_widgetHandlerList, s_widgetHandlerListCount);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Set widget handler list error, stat = 0x%08llX", psdkStat);
+        return psdkStat;
+    }
+
+    //Step 4 : Run widget api sample task
+    if (PsdkOsal_TaskCreate(&s_widgetTestThread, PsdkTest_WidgetTask, "user_widget_task", WIDGET_TASK_STACK_SIZE,
+                            NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Psdk widget test task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#if PSDK_ARCH_SYS_LINUX
+T_PsdkReturnCode PsdkTest_WidgetSetConfigFilePath(const char *path)
+{
+    memset(s_widgetFileDirPath, 0, sizeof(s_widgetFileDirPath));
+    memcpy(s_widgetFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_widgetFileDirPath) - 1));
+    s_isWidgetFileDirPathConfigured = true;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+#endif
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#pragma GCC diagnostic ignored "-Wformat"
+#endif
+
+/* Private functions definition-----------------------------------------------*/
+static void *PsdkTest_WidgetTask(void *arg)
+{
+    char message[PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN];
+    uint32_t sysTimeMs = 0;
+    T_PsdkReturnCode psdkStat;
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        psdkStat = PsdkOsal_GetTimeMs(&sysTimeMs);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("Get system time ms error, stat = 0x%08llX", psdkStat);
+        }
+        snprintf(message, PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "System time : %u ms", sysTimeMs);
+
+        psdkStat = PsdkWidgetFloatingWindow_ShowMessage(message);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("Floating window show message error, stat = 0x%08llX", psdkStat);
+        }
+
+        PsdkOsal_TaskSleepMs(1000);
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t value,
+                                                      void *userData)
+{
+    USER_UTIL_UNUSED(userData);
+
+    PsdkLogger_UserLogInfo("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d",
+                           s_widgetTypeNameArray[widgetType], index, value);
+    s_widgetValueList[index] = value;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode PsdkTestWidget_GetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t *value,
+                                                      void *userData)
+{
+    USER_UTIL_UNUSED(userData);
+    USER_UTIL_UNUSED(widgetType);
+
+    *value = s_widgetValueList[index];
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/widget/test_widget.h

@@ -0,0 +1,54 @@
+/**
+ ********************************************************************
+ * @file    test_widget.h
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief   This is the header file for "test_widget.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_WIDGET_H
+#define TEST_WIDGET_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <psdk_typedef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_WidgetInit(void);
+#if PSDK_ARCH_SYS_LINUX
+T_PsdkReturnCode PsdkTest_WidgetSetConfigFilePath(const char *path);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_WIDGET_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/api_sample/widget/widget_file/cn_big_screen/widget_config.json

@@ -0,0 +1,119 @@
+{
+    "version":  {
+        "major" :  1,
+        "minor" :  0
+    },
+    "main_interface": {
+        "floating_window": {
+            "is_enable": true
+        },
+        "widget_list": [
+            {
+                "widget_index": 0,
+                "widget_type": "button",
+                "widget_name": "按钮_1",
+                "icon_file_set":  {
+                    "icon_file_name_selected" :  "icon_button1.png",
+                    "icon_file_name_unselected" :  "icon_button1.png"
+                }
+            },
+            {
+                "widget_index": 1,
+                "widget_type": "button",
+                "widget_name": "按钮_2",
+                "icon_file_set":  {
+                    "icon_file_name_selected" :  "icon_button2.png",
+                    "icon_file_name_unselected" :  "icon_button2.png"
+                }
+            },
+            {
+                "widget_index": 2,
+                "widget_type": "list",
+                "widget_name": "列表_3",
+                "list_item": [
+                    {
+                        "item_name": "选项_1",
+                        "icon_file_set": {
+                            "icon_file_name_selected": "icon_list_item1.png",
+                            "icon_file_name_unselected": "icon_list_item1.png"
+                        }
+                    },
+                    {
+                        "item_name": "选项_2",
+                        "icon_file_set":  {
+                            "icon_file_name_selected" :  "icon_list_item2.png",
+                            "icon_file_name_unselected" :  "icon_list_item2.png"
+                        }
+                    }
+                ]
+            },
+            {
+                "widget_index": 3,
+                "widget_type": "switch",
+                "widget_name": "开关_4",
+                "icon_file_set": {
+                    "icon_file_name_selected": "icon_switch_select.png",
+                    "icon_file_name_unselected": "icon_switch_unselect.png"
+                }
+            },
+            {
+                "widget_index": 4,
+                "widget_type": "scale",
+                "widget_name": "范围条_5",
+                "icon_file_set": {
+                    "icon_file_name_selected": "icon_scale.png",
+                    "icon_file_name_unselected": "icon_scale.png"
+                }
+            }
+        ]
+    },
+    "config_interface": {
+        "text_input_box": {
+            "widget_name": "文本输入框",
+            "placeholder_text": "请输入消息",
+            "is_enable": true
+        },
+        "widget_list": [
+            {
+                "widget_index": 5,
+                "widget_type": "button",
+                "widget_name": "按钮_6"
+            },
+            {
+                "widget_index": 6,
+                "widget_type": "scale",
+                "widget_name": "范围条_7"
+            },
+            {
+                "widget_index": 7,
+                "widget_type": "int_input_box",
+                "widget_name": "整形值输入框_8",
+                "int_input_box_hint": "unit:s"
+            },
+            {
+                "widget_index": 8,
+                "widget_type": "switch",
+                "widget_name": "开关_9"
+            },
+            {
+                "widget_index": 9,
+                "widget_type": "list",
+                "widget_name": "列表_10",
+                "list_item": [
+                    {
+                        "item_name": "选项 1"
+                    },
+                    {
+                        "item_name": "选项 2"
+                    },
+                    {
+                        "item_name": "选项 3"
+                    },
+                    {
+                        "item_name": "选项 4"
+                    }
+                ]
+            }
+        ]
+    }
+}

sample/api_sample/widget/widget_file/en_big_screen/widget_config.json

@@ -0,0 +1,119 @@
+{
+    "version":  {
+        "major" :  1,
+        "minor" :  0
+    },
+    "main_interface": {
+        "floating_window": {
+            "is_enable": true
+        },
+        "widget_list": [
+            {
+                "widget_index": 0,
+                "widget_type": "button",
+                "widget_name": "Button_1",
+                "icon_file_set":  {
+                    "icon_file_name_selected" :  "icon_button1.png",
+                    "icon_file_name_unselected" :  "icon_button1.png"
+                }
+            },
+            {
+                "widget_index": 1,
+                "widget_type": "button",
+                "widget_name": "Button_2",
+                "icon_file_set":  {
+                    "icon_file_name_selected" :  "icon_button2.png",
+                    "icon_file_name_unselected" :  "icon_button2.png"
+                }
+            },
+            {
+              "widget_index": 2,
+              "widget_type": "list",
+              "widget_name": "List_3",
+              "list_item": [
+                {
+                  "item_name": "Item_1",
+                  "icon_file_set": {
+                    "icon_file_name_selected": "icon_list_item1.png",
+                    "icon_file_name_unselected": "icon_list_item1.png"
+                  }
+                },
+                {
+                  "item_name": "Item_2",
+                        "icon_file_set":  {
+                            "icon_file_name_selected" :  "icon_list_item2.png",
+                            "icon_file_name_unselected" :  "icon_list_item2.png"
+                        }
+                    }
+                ]
+            },
+          {
+            "widget_index": 3,
+            "widget_type": "switch",
+            "widget_name": "Switch_4",
+            "icon_file_set": {
+              "icon_file_name_selected": "icon_switch_select.png",
+              "icon_file_name_unselected": "icon_switch_unselect.png"
+            }
+          },
+          {
+            "widget_index": 4,
+            "widget_type": "scale",
+            "widget_name": "Scale_5",
+            "icon_file_set": {
+              "icon_file_name_selected": "icon_scale.png",
+              "icon_file_name_unselected": "icon_scale.png"
+            }
+          }
+        ]
+    },
+    "config_interface": {
+        "text_input_box": {
+            "widget_name": "TextInputBox",
+            "placeholder_text": "Please input message",
+            "is_enable": true
+        },
+        "widget_list": [
+            {
+                "widget_index": 5,
+                "widget_type": "button",
+              "widget_name": "Button_6"
+            },
+            {
+                "widget_index": 6,
+                "widget_type": "scale",
+              "widget_name": "Scale_7"
+            },
+          {
+            "widget_index": 7,
+            "widget_type": "int_input_box",
+            "widget_name": "IntegerInputBox_8",
+            "int_input_box_hint": "unit:s"
+          },
+            {
+                "widget_index": 8,
+                "widget_type": "switch",
+              "widget_name": "Switch_9"
+            },
+          {
+            "widget_index": 9,
+            "widget_type": "list",
+            "widget_name": "List_10",
+            "list_item": [
+              {
+                "item_name": "Item 1"
+              },
+              {
+                "item_name": "Item 2"
+              },
+              {
+                "item_name": "Item 3"
+              },
+                    {
+                        "item_name": "Item 4"
+                    }
+                ]
+            }
+        ]
+    }
+}

sample/api_sample/widget/widget_file_c/en_big_screen/icon_button1_png.h

@@ -0,0 +1,148 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __icon_button1_png_h_included
+#define __icon_button1_png_h_included
+
+#include <stdint.h>
+
+/* Contents of file icon_button1.png */
+#define icon_button1_png_fileName        "icon_button1.png"
+#define icon_button1_png_fileSize        2137
+
+static const uint8_t icon_button1_png_fileBinaryArray[2137] = {
+    0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00, 0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52,
+    0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x60, 0x08, 0x06, 0x00, 0x00, 0x00, 0xE2, 0x98, 0x77,
+    0x38, 0x00, 0x00, 0x00, 0x01, 0x73, 0x52, 0x47, 0x42, 0x00, 0xAE, 0xCE, 0x1C, 0xE9, 0x00, 0x00,
+    0x08, 0x13, 0x49, 0x44, 0x41, 0x54, 0x78, 0x01, 0xED, 0x9D, 0x3D, 0x6F, 0x14, 0x47, 0x18, 0xC7,
+    0xCF, 0x6F, 0x98, 0x84, 0x18, 0x04, 0xB2, 0xD2, 0x44, 0x89, 0x84, 0x15, 0x0B, 0x24, 0x8B, 0x86,
+    0x32, 0x1F, 0xC0, 0x20, 0x45, 0xF9, 0x18, 0x40, 0x4D, 0x81, 0x42, 0x50, 0xAA, 0x28, 0x05, 0xD4,
+    0xA9, 0x02, 0x5F, 0x80, 0x92, 0xC2, 0x29, 0xB0, 0xD2, 0xA6, 0x8A, 0x28, 0x23, 0x41, 0x83, 0x95,
+    0x14, 0x96, 0x90, 0x10, 0x28, 0x26, 0xE4, 0x05, 0x7C, 0x38, 0xF3, 0x1B, 0xF6, 0xBF, 0x1A, 0xCF,
+    0xED, 0xEE, 0xDD, 0xEE, 0x3D, 0xF6, 0xEE, 0xF9, 0x66, 0xA4, 0xF1, 0xBC, 0x3E, 0xCF, 0xCE, 0xFE,
+    0xFE, 0x33, 0xFB, 0x18, 0x9D, 0xB9, 0x9D, 0xE9, 0x55, 0xA7, 0x99, 0x68, 0x38, 0x6E, 0x47, 0xC3,
+    0xBD, 0x61, 0xE3, 0xF1, 0xFC, 0x49, 0x6D, 0xEF, 0x0D, 0x59, 0x78, 0x3C, 0x1E, 0xB7, 0x73, 0xF3,
+    0x32, 0x60, 0xEA, 0x57, 0x89, 0x81, 0xEA, 0x94, 0xAA, 0x87, 0xFD, 0xD4, 0xA7, 0x31, 0x85, 0x70,
+    0xA9, 0xAB, 0xAD, 0x12, 0x26, 0xAA, 0xAB, 0xCC, 0x39, 0xCD, 0xE7, 0xB5, 0xF7, 0x15, 0x81, 0x0D,
+    0x4B, 0x01, 0x8F, 0x4B, 0x2C, 0xD4, 0x17, 0xB9, 0x99, 0xAA, 0x26, 0x50, 0x05, 0x56, 0xF5, 0xB8,
+    0x8C, 0x81, 0x68, 0x7E, 0xE1, 0x4E, 0x16, 0xD4, 0xB0, 0x9C, 0x75, 0x1E, 0x94, 0xE9, 0xA7, 0xAE,
+    0x71, 0x9C, 0x53, 0x9F, 0xC6, 0x24, 0x90, 0x02, 0xFE, 0xCE, 0x41, 0xA0, 0x4E, 0xA9, 0xAC, 0xB1,
+    0xB0, 0x84, 0x15, 0xED, 0x5E, 0xD1, 0x09, 0x10, 0x58, 0x01, 0x9F, 0x73, 0xF3, 0xA8, 0xC7, 0x65,
+    0x28, 0x04, 0xBE, 0x48, 0xD3, 0x22, 0x84, 0x87, 0xF7, 0xFE, 0x96, 0x73, 0xE0, 0xF4, 0x01, 0xBD,
+    0x5F, 0x52, 0x32, 0xA6, 0x94, 0xDB, 0x4B, 0x00, 0x41, 0x57, 0x29, 0xE0, 0x40, 0x27, 0x2F, 0x64,
+    0x25, 0xF3, 0xD5, 0x27, 0x81, 0x64, 0xE3, 0x86, 0x7C, 0x3A, 0xEA, 0x22, 0xE4, 0xF0, 0xDC, 0xDD,
+    0x52, 0x17, 0x78, 0xC1, 0x47, 0x80, 0x5D, 0x97, 0x29, 0xDF, 0xBA, 0x0C, 0x0F, 0xEA, 0xA4, 0x50,
+    0x04, 0xDA, 0x7B, 0x12, 0x80, 0x06, 0x89, 0xC9, 0x21, 0x7C, 0xC0, 0xC7, 0x19, 0x1B, 0x09, 0x11,
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+    0x00, 0x49, 0x45, 0x4E, 0x44, 0xAE, 0x42, 0x60, 0x82
+};
+
+#endif    /* __icon_button1_png_h_included */

sample/api_sample/widget/widget_file_c/en_big_screen/icon_button2_png.h

@@ -0,0 +1,147 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __icon_button2_png_h_included
+#define __icon_button2_png_h_included
+
+#include <stdint.h>
+
+/* Contents of file icon_button2.png */
+#define icon_button2_png_fileName        "icon_button2.png"
+#define icon_button2_png_fileSize        2114
+
+static const uint8_t icon_button2_png_fileBinaryArray[2114] = {
+    0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00, 0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52,
+    0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x60, 0x08, 0x06, 0x00, 0x00, 0x00, 0xE2, 0x98, 0x77,
+    0x38, 0x00, 0x00, 0x00, 0x01, 0x73, 0x52, 0x47, 0x42, 0x00, 0xAE, 0xCE, 0x1C, 0xE9, 0x00, 0x00,
+    0x07, 0xFC, 0x49, 0x44, 0x41, 0x54, 0x78, 0x01, 0xED, 0x9D, 0x3D, 0x6F, 0x14, 0x47, 0x18, 0xC7,
+    0xCF, 0x36, 0xC6, 0x24, 0xC4, 0x20, 0x90, 0x95, 0x26, 0x4A, 0x24, 0xAC, 0x58, 0x20, 0x21, 0x1A,
+    0xCA, 0x7C, 0x00, 0x40, 0x8A, 0xF2, 0x31, 0x80, 0x9A, 0x02, 0x85, 0xA0, 0x54, 0x51, 0x0A, 0xA8,
+    0x53, 0x05, 0xBE, 0x00, 0x25, 0x85, 0x53, 0x80, 0xD2, 0xA6, 0x8A, 0x28, 0x23, 0x41, 0x83, 0x95,
+    0x14, 0x96, 0x90, 0x10, 0x28, 0x26, 0xE4, 0x05, 0xDB, 0x38, 0xCF, 0x6F, 0xBC, 0xFF, 0xD5, 0xDC,
+    0xDC, 0xDA, 0x77, 0xB7, 0xF7, 0x58, 0xBB, 0xE7, 0x9D, 0x91, 0xC6, 0xCF, 0xBC, 0x3E, 0x3B, 0xFB,
+    0xFB, 0xCF, 0xEC, 0x03, 0x9C, 0xB9, 0x9D, 0xE9, 0xED, 0x9F, 0x66, 0x92, 0xEE, 0xB4, 0x9E, 0x74,
+    0xF7, 0x86, 0xF5, 0xA7, 0xE3, 0xA7, 0xB5, 0xBE, 0x33, 0x64, 0xE1, 0x69, 0x7F, 0x5A, 0x2F, 0xA7,
+    0xEF, 0x05, 0x4C, 0xED, 0xB2, 0x4C, 0x50, 0x19, 0xAB, 0x72, 0xDC, 0x4E, 0xB9, 0x8B, 0x29, 0x86,
+    0x4B, 0x59, 0x75, 0x59, 0x98, 0xA8, 0x2C, 0x5B, 0x72, 0x3A, 0x52, 0x96, 0x76, 0x0B, 0x02, 0x1B,
+    0x5B, 0x01, 0x4F, 0x2D, 0x33, 0xD4, 0x96, 0xB8, 0xE9, 0x54, 0x15, 0xA8, 0x02, 0xAB, 0x72, 0x6A,
+    0x53, 0x20, 0x1A, 0x5F, 0xB9, 0x93, 0x05, 0x35, 0xB6, 0xB3, 0xE6, 0x41, 0x99, 0x76, 0xCA, 0xEA,
+    0xC7, 0x39, 0xE5, 0x2E, 0x26, 0x81, 0x14, 0xF0, 0xF7, 0x06, 0x81, 0x32, 0x56, 0x59, 0x7D, 0xB1,
+    0x85, 0x15, 0xF5, 0x5E, 0xD5, 0x09, 0x10, 0x58, 0x01, 0x9F, 0xB3, 0x71, 0x94, 0x53, 0x1B, 0x0B,
+    0x81, 0x2F, 0x52, 0x57, 0x84, 0x08, 0xF0, 0x76, 0x6F, 0xB9, 0x04, 0x4E, 0x1B, 0xD0, 0xB7, 0xF7,
+    0xB0, 0xF4, 0x29, 0x95, 0xF3, 0x25, 0x80, 0xA0, 0xCB, 0x0A, 0x38, 0xD0, 0xC9, 0xF3, 0x85, 0x65,
+    0xBC, 0xDA, 0x24, 0x90, 0xE6, 0x58, 0x57, 0x48, 0x87, 0x5D, 0x84, 0x12, 0x9E, 0xDD, 0x2D, 0x65,
+    0x81, 0x17, 0x7C, 0x04, 0xD8, 0xB2, 0x8C, 0xDD, 0xB4, 0x0C, 0x0F, 0xCA, 0xA4, 0x58, 0x04, 0xEA,
+    0x3B, 0x12, 0x80, 0x0A, 0x89, 0xC1, 0x31, 0x7C, 0xC0, 0xA7, 0x99, 0x39, 0x12, 0x22, 0x16, 0xC1,
+    0x9A, 0x3B, 0x77, 0x02, 0x52, 0xF8, 0x80, 0x27, 0x03, 0x9E, 0x0C, 0x1F, 0x6C, 0x9C, 0x10, 0xA1,
+    0x14, 0x11, 0x90, 0xDA, 0xC1, 0xB2, 0x12, 0x00, 0xF0, 0x47, 0x8B, 0xBC, 0x10, 0x95, 0x69, 0xD3,
+    0x89, 0xD0, 0x63, 0x49, 0x73, 0xAD, 0xAB, 0x33, 0x29, 0xDE, 0xFD, 0xEC, 0x70, 0xED, 0xF8, 0x77,
+    0x56, 0x56, 0x86, 0x25, 0x6C, 0x94, 0x34, 0x27, 0x6E, 0x2B, 0x77, 0x3D, 0x62, 0x00, 0xF7, 0xB8,
+    0xE5, 0x93, 0x96, 0x3F, 0xB6, 0xFC, 0xA9, 0xE5, 0x15, 0xCB, 0x17, 0xAE, 0x5F, 0xBF, 0xFE, 0xD5,
+    0xF3, 0xE7, 0xCF, 0x57, 0x37, 0x36, 0x36, 0xD6, 0x76, 0x76, 0x76, 0xB6, 0x2D, 0xE7, 0xD4, 0x4F,
+    0x60, 0x1B, 0x36, 0x30, 0x82, 0x15, 0xCC, 0x0A, 0x76, 0x30, 0x84, 0x25, 0x4C, 0x61, 0x0B, 0x63,
+    0x58, 0x97, 0xE2, 0xA0, 0x06, 0x15, 0x76, 0xF5, 0x31, 0xCB, 0x8B, 0x96, 0x97, 0x2C, 0x7F, 0x62,
+    0xF9, 0x73, 0xCB, 0x17, 0x1E, 0x3E, 0x7C, 0xF8, 0xF5, 0xD6, 0xD6, 0xD6, 0xDB, 0xFE, 0xEB, 0xE5,
+    0xDA, 0x5E, 0x04, 0x60, 0x05, 0x33, 0xD8, 0x15, 0x0C, 0x61, 0x09, 0x53, 0xD8, 0xC2, 0x18, 0xD6,
+    0x41, 0x80, 0xF8, 0x11, 0x42, 0x83, 0x02, 0x2E, 0x03, 0x78, 0xEC, 0x1C, 0x33, 0x35, 0x97, 0x6F,
+    0xDC, 0xB8, 0xF1, 0xC3, 0xDC, 0xDC, 0xDC, 0x87, 0x56, 0xCF, 0x69, 0x04, 0x02, 0xB3, 0xB3, 0xB3,
+    0xF3, 0x2B, 0x2B, 0x2B, 0x5F, 0xBC, 0x78, 0xF1, 0xE2, 0xE7, 0x27, 0x4F, 0x9E, 0x6C, 0xD8, 0x14,
+    0x05, 0x68, 0xAC, 0x62, 0x40, 0x88, 0x03, 0xDA, 0xFD, 0x58, 0x8E, 0x05, 0xE0, 0x39, 0x22, 0x1F,
+    0x58, 0x06, 0xF8, 0x71, 0x3B, 0x52, 0xDF, 0x9F, 0x39, 0x73, 0xE6, 0x4B, 0x2B, 0xE7, 0x34, 0x26,
+    0x81, 0xB5, 0xB5, 0xB5, 0x9F, 0x96, 0x97, 0x97, 0xBF, 0xB5, 0x69, 0x6F, 0x2D, 0xFF, 0x6D, 0xF9,
+    0x1F, 0xCB, 0xC4, 0x07, 0x02, 0x33, 0xC1, 0x7A, 0x87, 0x5D, 0x4F, 0x42, 0x00, 0x89, 0xA1, 0x3F,
+    0x66, 0x86, 0x98, 0xB0, 0xB4, 0xB4, 0x74, 0x3E, 0x8C, 0xC8, 0x3F, 0xC6, 0x26, 0x50, 0xB0, 0xD3,
+    0x33, 0x5F, 0x5C, 0xC3, 0xA3, 0xA7, 0xE0, 0x1D, 0x9E, 0x43, 0x38, 0x96, 0x00, 0xB1, 0x08, 0xE1,
+    0x44, 0x2C, 0x2E, 0x2E, 0x7E, 0x36, 0xF6, 0x95, 0xF3, 0x84, 0x40, 0xA0, 0x60, 0xC7, 0x53, 0x05,
+    0x96, 0xF1, 0xE3, 0x5E, 0xBC, 0x4B, 0x01, 0x84, 0x4C, 0x1D, 0x8A, 0x07, 0x9A, 0xA4, 0xFE, 0x6C,
+    0xC7, 0x23, 0x90, 0x72, 0x14, 0xDF, 0xD2, 0x8B, 0x1E, 0x41, 0x34, 0xA8, 0x93, 0x36, 0x65, 0x04,
+    0xC8, 0x69, 0x32, 0x02, 0xDA, 0xC4, 0x62, 0x2A, 0xCE, 0xC1, 0x2B, 0x8D, 0x34, 0x90, 0x62, 0x4B,
+    0x39, 0xEE, 0x0B, 0x03, 0xF2, 0x8F, 0x5A, 0x04, 0x62, 0x96, 0x31, 0x63, 0x9C, 0xCD, 0x00, 0x99,
+    0x34, 0xD0, 0x51, 0xB4, 0xA9, 0x3F, 0x0C, 0xCA, 0x3F, 0x6A, 0x11, 0xD0, 0x46, 0xAE, 0x62, 0x3C,
+    0x10, 0x03, 0xB8, 0x82, 0x06, 0xD6, 0xBA, 0x5A, 0x9E, 0xB4, 0x2F, 0x81, 0x01, 0xB6, 0x7B, 0xED,
+    0x70, 0x06, 0x2A, 0xEF, 0xEB, 0x31, 0x77, 0x0E, 0x25, 0x20, 0x8E, 0x03, 0xF0, 0x99, 0xB9, 0x97,
+    0x00, 0x43, 0xBD, 0xE6, 0x01, 0x3E, 0x04, 0xB2, 0x00, 0x3E, 0x1C, 0x6B, 0x7B, 0xC9, 0x02, 0xD4,
+    0x46, 0xE7, 0x33, 0x31, 0x0B, 0xE0, 0xC3, 0xB1, 0xB6, 0x97, 0x2C, 0x40, 0x6D, 0x74, 0x3E, 0x13,
+    0xB3, 0x00, 0x3E, 0x1C, 0x6B, 0x7B, 0xC9, 0x02, 0xD4, 0x46, 0xE7, 0x33, 0x31, 0x0B, 0xE0, 0xC3,
+    0xB1, 0xB6, 0x97, 0xC6, 0x04, 0x78, 0xF4, 0xE8, 0x51, 0xED, 0x45, 0x57, 0x4D, 0xF4, 0xF6, 0x57,
+    0x75, 0x8D, 0x83, 0x68, 0x6B, 0x4C, 0x80, 0xFB, 0xF7, 0xEF, 0xF7, 0x9E, 0x3D, 0x7B, 0xE6, 0x76,
+    0x4F, 0xDE, 0xFE, 0xDC, 0x16, 0x36, 0xC4, 0x51, 0x63, 0x02, 0x6C, 0x6E, 0x6E, 0xF6, 0xEE, 0xDC,
+    0xB9, 0xD3, 0x7B, 0xFD, 0xFA, 0xF5, 0x90, 0x25, 0x8E, 0xD6, 0xED, 0xED, 0x6F, 0xB4, 0xAB, 0x4E,
+    0x3E, 0xAA, 0x31, 0x01, 0x58, 0xFA, 0xAB, 0x57, 0xAF, 0x82, 0x08, 0xF6, 0x5B, 0x04, 0x93, 0xDF,
+    0xC9, 0x01, 0xF8, 0x73, 0x59, 0xD4, 0x10, 0x27, 0x8D, 0x0A, 0xC0, 0xDA, 0x9E, 0x3E, 0x7D, 0xDA,
+    0xBB, 0x77, 0xEF, 0xDE, 0x90, 0x65, 0x8E, 0xDE, 0xED, 0xED, 0x6F, 0xF4, 0x2B, 0xD7, 0x1B, 0xD9,
+    0xB8, 0x00, 0x2C, 0x9B, 0x00, 0xEA, 0x19, 0x44, 0xBD, 0xFD, 0xD5, 0x43, 0x3B, 0xDA, 0xAC, 0x56,
+    0x08, 0xC0, 0x52, 0xBD, 0x83, 0xA8, 0xB7, 0xBF, 0xD1, 0x70, 0x8E, 0x3F, 0xAA, 0x35, 0x02, 0x78,
+    0x07, 0x51, 0x6F, 0x7F, 0xE3, 0xA3, 0x1D, 0x6D, 0x46, 0x6B, 0x04, 0x60, 0xB9, 0x5D, 0x0C, 0xCA,
+    0xAD, 0x12, 0x00, 0x11, 0xBC, 0x83, 0xA8, 0xB7, 0x3F, 0xD6, 0xE8, 0x99, 0x5A, 0x27, 0x00, 0x37,
+    0x47, 0x10, 0x7D, 0xFC, 0xF8, 0xB1, 0xDB, 0x7D, 0x7A, 0xFB, 0x73, 0x5B, 0x98, 0x39, 0x6A, 0xA5,
+    0x00, 0xDC, 0x20, 0x7F, 0x34, 0xF5, 0xFC, 0x9B, 0xB2, 0xB7, 0x3F, 0x2F, 0x11, 0x5A, 0x2B, 0x80,
+    0x77, 0x10, 0xF5, 0xF6, 0x77, 0xE8, 0x05, 0xE0, 0x06, 0xBB, 0x10, 0x94, 0x5B, 0x7B, 0x02, 0xB4,
+    0xC3, 0xBC, 0x83, 0xA8, 0xB7, 0x3F, 0xAD, 0xB3, 0xAE, 0x6D, 0xBD, 0x00, 0xDC, 0x98, 0x77, 0x10,
+    0xF5, 0xF6, 0x57, 0x17, 0x3E, 0xF3, 0xA6, 0x42, 0x00, 0x16, 0xEA, 0x1D, 0x44, 0xBD, 0xFD, 0xB1,
+    0xC6, 0x3A, 0x69, 0x6A, 0x04, 0xF0, 0x0E, 0xA2, 0xDE, 0xFE, 0xEA, 0xC0, 0x67, 0xCE, 0xD4, 0x08,
+    0xC0, 0x62, 0x0F, 0x63, 0x50, 0x9E, 0x2A, 0x01, 0x10, 0xC1, 0x3B, 0x88, 0x7A, 0xFB, 0x63, 0x8D,
+    0xE3, 0xA4, 0xA9, 0x13, 0x80, 0x9B, 0x9B, 0x99, 0xA9, 0xFC, 0x3D, 0xD7, 0x71, 0xEE, 0xBB, 0x6F,
+    0xAC, 0xB7, 0xBF, 0x3E, 0xE7, 0x43, 0x2A, 0x53, 0x27, 0xC0, 0xB9, 0x73, 0xE7, 0x7A, 0x57, 0xAF,
+    0x5E, 0x1D, 0x72, 0x5B, 0xA3, 0x77, 0x7B, 0xFB, 0x1B, 0xFD, 0xCA, 0xBB, 0x23, 0xA7, 0x4A, 0x80,
+    0xD3, 0xA7, 0x4F, 0xF7, 0x6E, 0xDD, 0xBA, 0xD5, 0x3B, 0x72, 0x84, 0xFF, 0xF3, 0x36, 0x79, 0xF2,
+    0xF6, 0x57, 0x67, 0x45, 0x53, 0x23, 0xC0, 0xFC, 0xFC, 0x7C, 0x80, 0x7F, 0xEA, 0xD4, 0xA9, 0x3A,
+    0xF7, 0x39, 0x30, 0xC7, 0xDB, 0xDF, 0xC0, 0x05, 0x46, 0x6C, 0x98, 0x1A, 0x01, 0xAE, 0x5D, 0xBB,
+    0xD6, 0x3B, 0x7B, 0xF6, 0xEC, 0x88, 0xB7, 0x35, 0x7C, 0x98, 0xB7, 0xBF, 0xE1, 0x57, 0xAC, 0x1E,
+    0x31, 0x15, 0x02, 0x5C, 0xB9, 0x72, 0xA5, 0x77, 0xE9, 0xD2, 0xA5, 0xEA, 0x3B, 0xA8, 0xD1, 0xEA,
+    0xED, 0xAF, 0xC6, 0x12, 0xCA, 0x29, 0xAD, 0x17, 0xC0, 0x3B, 0x48, 0x7A, 0xFB, 0x2B, 0x49, 0xD6,
+    0x2C, 0xB4, 0x5A, 0x00, 0xEF, 0x20, 0xE9, 0xED, 0xAF, 0x26, 0xF3, 0xBE, 0x69, 0xAD, 0x15, 0xC0,
+    0x3B, 0x48, 0x7A, 0xFB, 0xEB, 0xA3, 0x38, 0x41, 0xA5, 0xB5, 0x02, 0x78, 0x07, 0x49, 0x6F, 0x7F,
+    0x13, 0x30, 0xEF, 0x9B, 0xDA, 0x4A, 0x01, 0x2E, 0x5F, 0xBE, 0xEC, 0x1A, 0x74, 0xBD, 0xFD, 0xF5,
+    0x11, 0x9C, 0xB0, 0xD2, 0x3A, 0x01, 0x08, 0x92, 0xEC, 0x56, 0xAF, 0xE4, 0xED, 0xCF, 0x6B, 0x5D,
+    0xF2, 0xD3, 0x2A, 0x01, 0xBC, 0x83, 0xA4, 0xB7, 0x3F, 0x41, 0xF3, 0xB4, 0xAD, 0x11, 0xC0, 0x3B,
+    0x48, 0x7A, 0xFB, 0xF3, 0x84, 0x1E, 0xFB, 0x6A, 0x8D, 0x00, 0xDE, 0x41, 0xD2, 0xDB, 0x5F, 0x0C,
+    0xCD, 0xB3, 0xDC, 0x0A, 0x01, 0xBC, 0x83, 0xA4, 0xB7, 0x3F, 0x4F, 0xE0, 0xA9, 0xAF, 0xC6, 0x05,
+    0xF0, 0x0E, 0x92, 0xDE, 0xFE, 0x52, 0x60, 0xDE, 0xF5, 0x46, 0x05, 0xF0, 0x0E, 0x92, 0xDE, 0xFE,
+    0xBC, 0x61, 0x57, 0xF9, 0x6B, 0x4C, 0x00, 0xEF, 0x20, 0xE9, 0xED, 0xAF, 0x0A, 0xD6, 0x41, 0xB4,
+    0x35, 0x26, 0x80, 0x77, 0x90, 0xF4, 0xF6, 0x77, 0x10, 0xB0, 0xAB, 0x7C, 0xF2, 0xE1, 0x2A, 0x5F,
+    0x2A, 0x47, 0xD6, 0xB7, 0xE5, 0xF2, 0x85, 0xAD, 0x1F, 0x59, 0x3E, 0x61, 0xF9, 0xA4, 0x7D, 0x3D,
+    0xAF, 0xDF, 0xAF, 0x29, 0x9B, 0xC3, 0xAE, 0x25, 0xFB, 0xBC, 0x99, 0x7F, 0x47, 0xFF, 0xD3, 0x32,
+    0xDF, 0xA0, 0xFB, 0x97, 0x65, 0xBE, 0xC0, 0xF5, 0x3F, 0xCB, 0x7C, 0x79, 0xEB, 0x76, 0x63, 0x27,
+    0xC0, 0x2E, 0x9E, 0x93, 0x11, 0xC8, 0x02, 0x34, 0xBC, 0x0D, 0xB2, 0x00, 0x59, 0x80, 0x86, 0x09,
+    0x34, 0x7C, 0xF9, 0x7C, 0x02, 0xB2, 0x00, 0x0D, 0x13, 0x68, 0xF8, 0xF2, 0xF9, 0x04, 0x64, 0x01,
+    0x1A, 0x26, 0xD0, 0xF0, 0xE5, 0xF7, 0x3A, 0x01, 0x7A, 0xDB, 0x4F, 0x78, 0xCD, 0x46, 0xC3, 0x6B,
+    0x9C, 0xF6, 0xCB, 0xEF, 0xCB, 0xB2, 0x4A, 0x80, 0x0C, 0xFD, 0xE0, 0x24, 0x1F, 0x60, 0x2B, 0x01,
+    0xD4, 0x11, 0x5B, 0xCA, 0xBC, 0x70, 0x26, 0xA7, 0xC9, 0x08, 0xF4, 0xBD, 0xB4, 0xC7, 0x5C, 0xC5,
+    0x8C, 0xC3, 0xDF, 0x84, 0xFB, 0x1A, 0x8A, 0x01, 0x82, 0xAF, 0xBE, 0xC9, 0x96, 0xD0, 0xED, 0xD9,
+    0x31, 0x4B, 0xF1, 0x2C, 0xAD, 0x4E, 0x00, 0x88, 0x68, 0xD4, 0x60, 0x54, 0x23, 0xF3, 0x76, 0xB8,
+    0x9C, 0x26, 0x23, 0x00, 0x43, 0xF1, 0x4C, 0x4F, 0xC3, 0xC0, 0xBF, 0x05, 0xC5, 0x22, 0x30, 0x51,
+    0x93, 0x27, 0x5B, 0x42, 0x77, 0x67, 0x6B, 0x13, 0x8B, 0xA3, 0xF8, 0x96, 0x44, 0x74, 0x02, 0xD4,
+    0xA1, 0x13, 0xC0, 0x84, 0xF0, 0x52, 0xCA, 0x37, 0x6F, 0xDE, 0xFC, 0x51, 0x8E, 0xCE, 0x85, 0xB1,
+    0x08, 0x14, 0xEC, 0xF4, 0xCE, 0xB0, 0x54, 0x04, 0x58, 0x97, 0x27, 0x40, 0x02, 0xC4, 0x8A, 0x21,
+    0xC0, 0xBB, 0x97, 0x2F, 0x5F, 0xFE, 0x36, 0xD6, 0x55, 0xF3, 0xE0, 0x92, 0x40, 0xC1, 0x8E, 0x17,
+    0xB7, 0xC1, 0x12, 0x01, 0x52, 0x11, 0x4A, 0x01, 0x98, 0xA4, 0xDD, 0x8F, 0x08, 0x61, 0xF7, 0x9B,
+    0x7D, 0x77, 0xF7, 0xEE, 0xDD, 0x1F, 0xB7, 0xB7, 0xB7, 0xF9, 0x10, 0x21, 0xA7, 0x31, 0x08, 0xC0,
+    0x0C, 0x76, 0x36, 0x05, 0x01, 0x74, 0x0A, 0x60, 0x4B, 0x0E, 0xBB, 0xDF, 0x6C, 0xF8, 0x24, 0x0C,
+    0x4B, 0x8A, 0x5F, 0xB5, 0xC1, 0xA3, 0x89, 0xFA, 0xAC, 0xBD, 0x0B, 0xF1, 0xED, 0xC5, 0x8B, 0x17,
+    0xD7, 0x79, 0x37, 0x22, 0xEF, 0x48, 0x64, 0x60, 0x4E, 0xFB, 0x13, 0x00, 0xFE, 0xEA, 0xEA, 0xEA,
+    0x77, 0x37, 0x6F, 0xDE, 0xFC, 0xD5, 0x46, 0xF2, 0xE9, 0x97, 0x3E, 0x01, 0x0B, 0x9F, 0x82, 0x59,
+    0xBD, 0x14, 0x82, 0x8F, 0x22, 0x63, 0xF0, 0x56, 0x2D, 0x4F, 0x05, 0xED, 0x21, 0x3D, 0x78, 0xF0,
+    0x60, 0x8D, 0x17, 0x53, 0x9E, 0x3F, 0x7F, 0xFE, 0x84, 0xFD, 0x07, 0xB9, 0xA3, 0x0B, 0x0B, 0x0B,
+    0x7C, 0x5C, 0x59, 0xF6, 0x17, 0xC3, 0xBA, 0x6E, 0xDE, 0xDB, 0x33, 0xFF, 0xF7, 0xF5, 0xF5, 0xF5,
+    0x5F, 0x6E, 0xDF, 0xBE, 0xFD, 0x4D, 0x01, 0xFF, 0x5F, 0x83, 0x02, 0x7C, 0x4E, 0x01, 0x59, 0x8F,
+    0x21, 0x3D, 0xF2, 0xFB, 0xE0, 0x87, 0x1D, 0x6F, 0x83, 0x10, 0x25, 0xBC, 0xC6, 0xD0, 0x2C, 0xEF,
+    0x41, 0x24, 0xE7, 0x17, 0x3A, 0x1B, 0x84, 0x24, 0x09, 0x22, 0xBB, 0x59, 0x60, 0xD9, 0xE1, 0x82,
+    0x8D, 0x8D, 0xE1, 0xEB, 0x31, 0xD4, 0x17, 0x07, 0x00, 0x5D, 0x3E, 0x8F, 0x8A, 0xB2, 0x1C, 0x5A,
+    0x35, 0x24, 0xFA, 0x69, 0x53, 0x5C, 0xC0, 0x69, 0xFC, 0x6E, 0x44, 0x3D, 0xAE, 0x18, 0xDC, 0x95,
+    0x53, 0x21, 0x66, 0x62, 0x23, 0x66, 0x30, 0x12, 0x27, 0x80, 0xC7, 0xB9, 0x0F, 0xBC, 0xF5, 0x31,
+    0x77, 0xE0, 0x9D, 0xF2, 0x72, 0x68, 0x7D, 0x65, 0xC2, 0x79, 0x2C, 0x80, 0x7E, 0x8B, 0x02, 0xF0,
+    0x82, 0x1F, 0x83, 0x8F, 0xCB, 0xA5, 0x93, 0x43, 0x54, 0x10, 0x7C, 0x6E, 0x29, 0x40, 0x34, 0x2B,
+    0x46, 0x3A, 0x09, 0x88, 0x40, 0x19, 0x01, 0xD4, 0x16, 0x0B, 0x60, 0xCD, 0xBB, 0x49, 0xFF, 0xE3,
+    0x39, 0x76, 0x4A, 0x0F, 0x0E, 0x49, 0xF1, 0x05, 0x00, 0x8F, 0x43, 0xAC, 0xC0, 0xCB, 0x5A, 0x53,
+    0x48, 0x87, 0x1D, 0xBE, 0xEE, 0x33, 0xE6, 0x45, 0x19, 0x5E, 0xB2, 0x02, 0x9D, 0x5A, 0x8D, 0x11,
+    0xD3, 0xE0, 0x23, 0x06, 0xA6, 0x32, 0x36, 0xCD, 0xDA, 0xED, 0x02, 0x2E, 0x1B, 0xCF, 0xD1, 0xE2,
+    0xBA, 0x64, 0x03, 0xC4, 0x02, 0xBE, 0x04, 0x90, 0xD5, 0xA9, 0xA0, 0x9E, 0x66, 0x18, 0xD1, 0x36,
+    0xF0, 0xCC, 0x4E, 0x81, 0xA6, 0x42, 0xC4, 0x75, 0xCD, 0xD7, 0x1C, 0xEA, 0x5D, 0x4C, 0x82, 0xCB,
+    0xBD, 0xAB, 0x5C, 0x65, 0xD5, 0x1F, 0xDB, 0x01, 0x01, 0xE8, 0x24, 0x09, 0xAA, 0x6C, 0xDA, 0x56,
+    0xD5, 0x1E, 0x26, 0x76, 0xF0, 0x47, 0xD8, 0xC9, 0xC5, 0x7D, 0x0B, 0x3C, 0xD5, 0xB4, 0x3D, 0x6D,
+    0x0B, 0x53, 0x62, 0x90, 0xA1, 0x21, 0xF9, 0x91, 0xF6, 0xA7, 0xF5, 0x64, 0x78, 0x29, 0x5C, 0xDA,
+    0x7E, 0xD8, 0xEA, 0x31, 0xDC, 0xAA, 0x7B, 0x4B, 0xFB, 0xD3, 0x7A, 0x39, 0xE7, 0x7F, 0xF1, 0x70,
+    0x18, 0xCE, 0xAA, 0xDB, 0xB2, 0x97, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4E, 0x44, 0xAE, 0x42,
+    0x60, 0x82
+};
+
+#endif    /* __icon_button2_png_h_included */

sample/api_sample/widget/widget_file_c/en_big_screen/icon_list_item1_png.h

@@ -0,0 +1,174 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __icon_list_item1_png_h_included
+#define __icon_list_item1_png_h_included
+
+#include <stdint.h>
+
+/* Contents of file icon_list_item1.png */
+#define icon_list_item1_png_fileName        "icon_list_item1.png"
+#define icon_list_item1_png_fileSize        2556
+
+static const uint8_t icon_list_item1_png_fileBinaryArray[2556] = {
+    0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00, 0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52,
+    0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x60, 0x08, 0x06, 0x00, 0x00, 0x00, 0xE2, 0x98, 0x77,
+    0x38, 0x00, 0x00, 0x00, 0x01, 0x73, 0x52, 0x47, 0x42, 0x00, 0xAE, 0xCE, 0x1C, 0xE9, 0x00, 0x00,
+    0x09, 0xB6, 0x49, 0x44, 0x41, 0x54, 0x78, 0x01, 0xED, 0x9D, 0x4B, 0x68, 0x14, 0x49, 0x18, 0xC7,
+    0x2B, 0xC9, 0x26, 0x46, 0xB3, 0x9A, 0xB8, 0x6A, 0x7C, 0xC1, 0x62, 0x2E, 0x6A, 0x50, 0x04, 0x89,
+    0x28, 0x22, 0x88, 0x08, 0x2E, 0x01, 0x41, 0x51, 0x41, 0x0F, 0x1E, 0x3C, 0x88, 0x37, 0x1F, 0xE0,
+    0x12, 0xF1, 0xA2, 0x07, 0xBD, 0x99, 0xC3, 0xFA, 0x3A, 0x09, 0x1E, 0x3C, 0x78, 0x50, 0x50, 0x51,
+    0x10, 0xDC, 0x0D, 0x78, 0x8A, 0x07, 0xD1, 0xF8, 0xC6, 0x9B, 0xE0, 0x1E, 0x7C, 0x67, 0x91, 0x2C,
+    0x79, 0x98, 0x87, 0x66, 0xEB, 0x5F, 0x99, 0x7F, 0x6F, 0x75, 0x4D, 0x4D, 0x66, 0x7A, 0x3A, 0xFD,
+    0x98, 0x99, 0xFA, 0xA0, 0xE6, 0xAB, 0xC7, 0x57, 0x55, 0x5D, 0xBF, 0xAF, 0xAB, 0xBA, 0x67, 0xBA,
+    0x66, 0xA6, 0x4A, 0xE4, 0x96, 0x2A, 0xA3, 0xC8, 0x4C, 0x1B, 0xC5, 0x22, 0x5F, 0xB9, 0x69, 0x5F,
+    0xEA, 0xE9, 0xF1, 0x3C, 0x03, 0x30, 0xCB, 0xCD, 0xB4, 0xAA, 0x6E, 0x83, 0xC6, 0x3C, 0x6A, 0x18,
+    0x32, 0x0E, 0xCD, 0xB8, 0x9E, 0x8F, 0x78, 0x25, 0x8B, 0x0E, 0x17, 0x71, 0xA6, 0xA9, 0xC1, 0x86,
+    0x71, 0x6A, 0xC5, 0xEB, 0x27, 0xF5, 0x3A, 0xF1, 0x42, 0xB0, 0xA6, 0xAE, 0x96, 0xC5, 0x04, 0x4F,
+    0x8D, 0x1A, 0x7A, 0x7C, 0xA2, 0x85, 0xCA, 0x7D, 0x05, 0x54, 0x82, 0x65, 0x9C, 0xFA, 0x47, 0x0E,
+    0x2C, 0xCA, 0x5E, 0x77, 0x00, 0xEC, 0x74, 0xF8, 0x04, 0x0F, 0x6D, 0x8B, 0xEB, 0xB6, 0x39, 0xFA,
+    0xA8, 0x88, 0x6C, 0x13, 0x3C, 0x80, 0x23, 0x20, 0x1F, 0x1A, 0x9C, 0x18, 0x87, 0x66, 0x5A, 0x46,
+    0x85, 0xA0, 0x03, 0x90, 0xA9, 0x03, 0x05, 0xF0, 0x1A, 0x19, 0x08, 0x1F, 0x71, 0xA6, 0xA1, 0x61,
+    0x4B, 0xA7, 0xC8, 0xA8, 0x12, 0xD6, 0x67, 0xBA, 0xDC, 0x35, 0xC1, 0x63, 0x9C, 0x3A, 0xE0, 0xEF,
+    0x32, 0x0D, 0xF0, 0xD0, 0x8C, 0x23, 0x0D, 0xA1, 0x63, 0xC8, 0x6A, 0x9C, 0x0E, 0x98, 0x28, 0xFE,
+    0x1F, 0x2C, 0x81, 0x43, 0xC3, 0x86, 0x41, 0xCF, 0xAF, 0x64, 0x27, 0x4C, 0x06, 0x9F, 0xE0, 0xC7,
+    0x24, 0x37, 0x06, 0xE4, 0x51, 0xE8, 0x04, 0x95, 0x06, 0x58, 0x80, 0x64, 0xE0, 0x99, 0x4F, 0xF0,
+    0xB5, 0xB2, 0xCC, 0x0C, 0xA8, 0x43, 0x47, 0xD0, 0x09, 0x32, 0xCB, 0x9B, 0x41, 0x88, 0x57, 0x82,
+    0xD0, 0x09, 0x04, 0xAA, 0x83, 0x1F, 0x95, 0x00, 0x18, 0xC0, 0x14, 0x71, 0x5D, 0x38, 0x23, 0xBC,
+    0x25, 0x08, 0x85, 0xA6, 0x13, 0x00, 0xBE, 0x4E, 0x86, 0x69, 0x86, 0x46, 0x3E, 0x9D, 0xC0, 0x25,
+    0x0A, 0x75, 0x2B, 0x51, 0xB8, 0xF4, 0x00, 0x28, 0x1C, 0x80, 0x33, 0x1E, 0xB0, 0x47, 0x64, 0x18,
+    0x96, 0x01, 0x27, 0x2A, 0xD9, 0xC0, 0x96, 0xF6, 0xC8, 0xA3, 0x03, 0x95, 0x01, 0x40, 0x02, 0x6C,
+    0xBD, 0x0C, 0x3F, 0xCB, 0xF0, 0x8B, 0x0C, 0x0B, 0x65, 0x68, 0x91, 0xA1, 0x75, 0xFF, 0xFE, 0xFD,
+    0xED, 0xEF, 0xDE, 0xBD, 0xFB, 0x73, 0x78, 0x78, 0xB8, 0x77, 0xDC, 0xC9, 0xA4, 0x04, 0xC0, 0x08,
+    0xAC, 0xC0, 0x0C, 0xEC, 0x32, 0x0C, 0xC1, 0x12, 0x4C, 0xC1, 0x16, 0x8C, 0xC1, 0x1A, 0xCC, 0x95,
+    0x73, 0x10, 0x81, 0xA7, 0x70, 0xB6, 0xCF, 0x90, 0xA1, 0x51, 0x86, 0x66, 0x19, 0x7E, 0x95, 0x61,
+    0x19, 0x1A, 0x1A, 0x1D, 0x1D, 0xED, 0x9B, 0xB4, 0x57, 0x57, 0x98, 0x45, 0x00, 0xCC, 0x32, 0x4E,
+    0x58, 0x96, 0x61, 0x09, 0xA6, 0x60, 0x0B, 0xC6, 0x60, 0x0D, 0xE6, 0xD5, 0xF0, 0x00, 0x3D, 0x81,
+    0x65, 0x85, 0xCB, 0x0E, 0xBC, 0x34, 0x5D, 0x86, 0x06, 0xE9, 0xCD, 0xCE, 0x45, 0x8B, 0x16, 0xFD,
+    0x26, 0xE3, 0x4E, 0x02, 0x12, 0x78, 0xFF, 0xFE, 0xFD, 0x5F, 0x8B, 0x17, 0x2F, 0xEE, 0x90, 0xD5,
+    0x06, 0x64, 0x18, 0x92, 0xE1, 0x9B, 0x0C, 0x58, 0x9E, 0xB0, 0x4C, 0x61, 0xB9, 0x1A, 0x07, 0x7C,
+    0x08, 0x1C, 0xC1, 0xC0, 0x19, 0xA1, 0x9C, 0x31, 0x77, 0xEE, 0xDC, 0x36, 0x65, 0xE1, 0x5E, 0x02,
+    0x13, 0xC8, 0xB0, 0xC3, 0xD9, 0x0E, 0x96, 0xEA, 0x8C, 0x97, 0x9A, 0x9C, 0xA1, 0xD5, 0xD9, 0x0F,
+    0xCD, 0x4C, 0xC2, 0xC7, 0x6C, 0x50, 0x33, 0xA2, 0xAE, 0xAE, 0x6E, 0x0E, 0x0C, 0x9C, 0x04, 0x27,
+    0x90, 0x61, 0x07, 0xF8, 0xE4, 0x69, 0x3A, 0xC1, 0x73, 0x00, 0x5B, 0xB7, 0x39, 0x82, 0x65, 0x4E,
+    0x17, 0x47, 0x00, 0xF0, 0xB3, 0xC0, 0xB3, 0x29, 0x2E, 0x41, 0x48, 0xEB, 0xF0, 0x39, 0x13, 0x50,
+    0xD1, 0x49, 0x38, 0x02, 0x60, 0x48, 0x07, 0x80, 0x2B, 0x39, 0xAB, 0x56, 0x99, 0x81, 0x04, 0x0A,
+    0x20, 0x34, 0x80, 0xD6, 0x1D, 0xA4, 0x0A, 0xDD, 0x4B, 0x60, 0x02, 0x64, 0x4C, 0xAE, 0x68, 0xC0,
+    0x63, 0x4D, 0xC0, 0x5E, 0x46, 0xA6, 0x79, 0xC2, 0x67, 0x79, 0xE0, 0x5E, 0x5D, 0x05, 0x8F, 0x00,
+    0x18, 0xD2, 0x09, 0xC8, 0xF4, 0xB1, 0xB6, 0x01, 0xA6, 0x81, 0xD7, 0x82, 0x8B, 0x4C, 0x19, 0x81,
+    0x2C, 0xB6, 0x36, 0x07, 0xA0, 0x37, 0x18, 0x32, 0x4C, 0x59, 0xEF, 0x15, 0xDA, 0x10, 0x39, 0x66,
+    0xC1, 0x07, 0x8F, 0x5C, 0x0E, 0xA8, 0x50, 0x56, 0xF1, 0x0F, 0xDB, 0x39, 0x20, 0x7E, 0xE6, 0xBE,
+    0x1E, 0x9D, 0x03, 0x7C, 0x38, 0xE2, 0x4F, 0x38, 0x07, 0xC4, 0xCF, 0xDC, 0xD7, 0xA3, 0x73, 0x80,
+    0x0F, 0x47, 0xFC, 0x09, 0xE7, 0x80, 0xF8, 0x99, 0xFB, 0x7A, 0x74, 0x0E, 0xF0, 0xE1, 0x88, 0x3F,
+    0xE1, 0x1C, 0x10, 0x3F, 0x73, 0x5F, 0x8F, 0xCE, 0x01, 0x3E, 0x1C, 0xF1, 0x27, 0xF0, 0x51, 0x69,
+    0x6A, 0x64, 0x68, 0x68, 0x48, 0xDC, 0xBA, 0x75, 0x4B, 0x3C, 0x7C, 0xF8, 0x50, 0x7C, 0xFC, 0xF8,
+    0x51, 0x1D, 0xD7, 0x82, 0x05, 0x0B, 0xC4, 0xBA, 0x75, 0xEB, 0xC4, 0x8E, 0x1D, 0x3B, 0xC4, 0xF4,
+    0xE9, 0x78, 0x48, 0x57, 0x5E, 0x82, 0xB7, 0xC7, 0xFC, 0xB8, 0x14, 0x0F, 0x0E, 0xB0, 0x03, 0x02,
+    0xCF, 0x2C, 0xF1, 0xF0, 0x78, 0x96, 0x0C, 0x8D, 0xF2, 0x61, 0xE7, 0x5F, 0x52, 0x47, 0x2E, 0x2F,
+    0x5E, 0xBC, 0x10, 0xE7, 0xCF, 0x9F, 0x17, 0x5F, 0xBE, 0x7C, 0xB1, 0xF6, 0x35, 0x6F, 0xDE, 0x3C,
+    0x71, 0xF8, 0xF0, 0x61, 0xB1, 0x6A, 0xD5, 0x2A, 0x6B, 0x79, 0x5A, 0x33, 0xAB, 0xAA, 0xAA, 0xF0,
+    0x38, 0xB7, 0x4F, 0x86, 0x7F, 0x65, 0xE8, 0x97, 0x61, 0x50, 0x06, 0xEC, 0x98, 0xC0, 0x63, 0xC9,
+    0xEF, 0xA9, 0x58, 0x82, 0x00, 0xFF, 0xC4, 0x89, 0x13, 0x39, 0xE1, 0xCB, 0x03, 0x55, 0x65, 0xB0,
+    0x79, 0xF9, 0xF2, 0x25, 0x92, 0x65, 0x23, 0x89, 0x3B, 0x00, 0xCB, 0x0E, 0xCE, 0xFC, 0x42, 0xE5,
+    0xDC, 0xB9, 0x73, 0x02, 0x75, 0xCA, 0x45, 0x12, 0x77, 0x00, 0xD6, 0xFC, 0x5C, 0xCB, 0x8E, 0x0D,
+    0x32, 0x6C, 0x51, 0xA7, 0x5C, 0x24, 0x71, 0x07, 0xE0, 0x82, 0x1B, 0x54, 0x8A, 0xA9, 0x13, 0xB4,
+    0x8F, 0xB8, 0xEC, 0x13, 0xBF, 0x0B, 0xE2, 0xDD, 0x4E, 0x90, 0x01, 0x17, 0x53, 0x27, 0x57, 0xFB,
+    0xDB, 0xB7, 0x6F, 0xCF, 0x55, 0xE4, 0xCB, 0xBF, 0x7D, 0xFB, 0xB6, 0x2F, 0x3D, 0x55, 0x89, 0xC4,
+    0x67, 0xC0, 0xB7, 0x6F, 0xD8, 0xAB, 0x14, 0x4C, 0x8A, 0xA9, 0x13, 0xAC, 0x87, 0xF8, 0xAC, 0x13,
+    0x77, 0x40, 0x7C, 0x43, 0x4D, 0x67, 0x4F, 0xCE, 0x01, 0x09, 0xFB, 0x25, 0xF1, 0x6B, 0x40, 0x31,
+    0xE3, 0x97, 0x6F, 0x6E, 0x8A, 0xA9, 0x66, 0xAD, 0x13, 0xD5, 0xDA, 0x6E, 0xED, 0xCC, 0x92, 0xE9,
+    0x66, 0x80, 0x05, 0x4A, 0x9C, 0x59, 0xCE, 0x01, 0x71, 0xD2, 0xB6, 0xF4, 0x55, 0x92, 0x0E, 0x98,
+    0xCA, 0x25, 0xC8, 0xC2, 0x24, 0xD6, 0xAC, 0x92, 0xBC, 0x06, 0x4C, 0x05, 0xA1, 0x42, 0xEF, 0xFF,
+    0xD9, 0x57, 0x54, 0xD7, 0x8A, 0x92, 0x9C, 0x01, 0x84, 0x52, 0x0E, 0xBA, 0x24, 0x1D, 0x50, 0x4E,
+    0x4B, 0x50, 0x49, 0x3A, 0xA0, 0x1C, 0xCE, 0x7C, 0x8E, 0xA1, 0x24, 0xAF, 0x01, 0x53, 0x31, 0x03,
+    0xA2, 0x5A, 0xD3, 0x09, 0xB6, 0x50, 0xED, 0x66, 0x40, 0xA1, 0xA4, 0x22, 0xB2, 0x8B, 0x6C, 0x06,
+    0xEC, 0xD9, 0xB3, 0x47, 0xE8, 0x1F, 0x9A, 0xE1, 0x41, 0xCA, 0x92, 0x25, 0x4B, 0x22, 0x1A, 0xC6,
+    0x44, 0xB3, 0x6F, 0xDF, 0xBE, 0x15, 0x47, 0x8E, 0x1C, 0xF1, 0xFA, 0xA8, 0xAF, 0xAF, 0x17, 0xD7,
+    0xAE, 0x5D, 0xF3, 0xD2, 0x69, 0x8C, 0x44, 0x36, 0x03, 0xE6, 0xCC, 0xF1, 0x7F, 0xB7, 0xAF, 0xB7,
+    0xB7, 0xD7, 0x3A, 0x7E, 0x40, 0x0A, 0x2A, 0xB9, 0xEA, 0x98, 0x7D, 0x98, 0xC7, 0x10, 0xB4, 0x9F,
+    0x38, 0xEC, 0x23, 0x9B, 0x01, 0x4D, 0x4D, 0x4D, 0x42, 0x7E, 0xC7, 0xD8, 0x1B, 0x43, 0xAE, 0xA7,
+    0x5E, 0xD8, 0xF5, 0x80, 0x33, 0x37, 0x88, 0x2C, 0x5C, 0x88, 0x2F, 0x9E, 0x67, 0x8B, 0xD9, 0x07,
+    0x8E, 0xC1, 0x94, 0xA0, 0xF7, 0xFF, 0xAC, 0x1F, 0xD5, 0x35, 0x23, 0xB2, 0x19, 0xB0, 0x74, 0xE9,
+    0x52, 0x1E, 0xBB, 0xD2, 0x8F, 0x1F, 0x3F, 0xF6, 0xA5, 0x99, 0xC0, 0x96, 0x93, 0xA0, 0xB2, 0x76,
+    0xED, 0x5A, 0x6B, 0x95, 0x47, 0x8F, 0x1E, 0xF9, 0xF2, 0xCD, 0x63, 0xF0, 0x15, 0xA6, 0x24, 0x11,
+    0x99, 0x03, 0x4C, 0x48, 0xCF, 0x9E, 0x3D, 0x13, 0x03, 0x03, 0xF8, 0xC2, 0xB8, 0x5F, 0xB0, 0xDF,
+    0x07, 0x5B, 0x4E, 0x0A, 0x95, 0xF9, 0xF3, 0xE7, 0x0B, 0xDB, 0x59, 0x8C, 0xB6, 0x9F, 0x3F, 0x7F,
+    0xEE, 0x6B, 0xC6, 0x3C, 0x06, 0x5F, 0x61, 0x4A, 0x12, 0x91, 0x39, 0x60, 0xF9, 0xF2, 0xE5, 0x62,
+    0xE6, 0xCC, 0x99, 0xDE, 0x30, 0xC7, 0xC6, 0xC6, 0xAC, 0x0F, 0xD3, 0xB1, 0xD9, 0x0A, 0xFB, 0x7D,
+    0x0A, 0x15, 0x5C, 0x64, 0xA7, 0x4D, 0xC3, 0xF6, 0x25, 0xBF, 0xDC, 0xBC, 0x79, 0x53, 0xA0, 0x0F,
+    0x0A, 0xFA, 0xC6, 0x31, 0xA4, 0x5D, 0x22, 0xDD, 0x98, 0x75, 0xFD, 0xFA, 0x75, 0x71, 0xF5, 0xEA,
+    0x55, 0x8F, 0x41, 0x6D, 0x6D, 0xAD, 0xB8, 0x70, 0xE1, 0x82, 0xB0, 0xAD, 0xE1, 0xF9, 0x36, 0x66,
+    0x35, 0x37, 0x37, 0xAB, 0x3B, 0x9C, 0x95, 0x2B, 0x57, 0x7A, 0xED, 0x31, 0xF2, 0xE1, 0xC3, 0x07,
+    0x71, 0xE8, 0xD0, 0x21, 0x21, 0x7F, 0x20, 0x83, 0x59, 0x62, 0xEF, 0xDE, 0xBD, 0x62, 0xF7, 0xEE,
+    0xDD, 0x5E, 0x3A, 0xA9, 0x88, 0x7C, 0xCF, 0x92, 0xDC, 0xC6, 0xAC, 0x6D, 0xDB, 0xB6, 0x89, 0xC6,
+    0x46, 0xFC, 0x40, 0xC8, 0x84, 0x00, 0x50, 0x67, 0x67, 0xA7, 0x75, 0x5F, 0x0F, 0x76, 0xBC, 0xC1,
+    0x39, 0xB8, 0x7D, 0xC5, 0xED, 0x2A, 0xEE, 0x74, 0x10, 0x10, 0x47, 0x1E, 0xF6, 0x0E, 0xD9, 0xE0,
+    0x63, 0x8F, 0x10, 0xDA, 0xD4, 0xE1, 0xCF, 0x9A, 0x35, 0x4B, 0xA0, 0xEF, 0x52, 0x90, 0x48, 0x67,
+    0x00, 0x00, 0x74, 0x75, 0x75, 0x89, 0x8B, 0x17, 0x2F, 0xFA, 0x58, 0x00, 0xF6, 0xC9, 0x93, 0x27,
+    0x05, 0x66, 0x44, 0x18, 0x01, 0xF4, 0x53, 0xA7, 0x4E, 0x09, 0xCC, 0x1E, 0x5D, 0x0E, 0x1E, 0x3C,
+    0x28, 0xB6, 0x6C, 0xD9, 0xA2, 0x67, 0x25, 0x16, 0x4F, 0x74, 0x06, 0x60, 0xD4, 0x00, 0xB1, 0x69,
+    0xD3, 0x26, 0x1F, 0x00, 0x00, 0xEB, 0xE8, 0xE8, 0x10, 0xF2, 0xE7, 0x5C, 0x7C, 0xF9, 0x41, 0x12,
+    0xA8, 0x8B, 0x36, 0x4C, 0xF8, 0xE8, 0x2B, 0x2D, 0xF0, 0x0B, 0x19, 0x4F, 0xE4, 0x33, 0x00, 0x07,
+    0x31, 0x32, 0x32, 0x22, 0x8E, 0x1F, 0x3F, 0x2E, 0xDE, 0xBC, 0x79, 0xE3, 0x3B, 0x26, 0x5C, 0x80,
+    0x77, 0xED, 0xDA, 0x25, 0xB6, 0x6E, 0xDD, 0x2A, 0x66, 0xCC, 0xC0, 0x9E, 0xE0, 0xFC, 0x32, 0x38,
+    0x38, 0x28, 0xEE, 0xDE, 0xBD, 0x2B, 0x6E, 0xDC, 0xB8, 0x91, 0xB5, 0x94, 0xB5, 0xB4, 0xB4, 0x88,
+    0x33, 0x67, 0xCE, 0x08, 0xF9, 0x2B, 0x25, 0x59, 0x0D, 0xD9, 0xEE, 0x9C, 0xB2, 0x8C, 0x26, 0xC9,
+    0x28, 0xF6, 0x7D, 0x40, 0xBE, 0x19, 0x10, 0x8B, 0x03, 0x30, 0x2E, 0x80, 0x3B, 0x7D, 0xFA, 0xB4,
+    0x78, 0xFD, 0xFA, 0x75, 0xD6, 0x30, 0x1B, 0x1A, 0x1A, 0xC4, 0xE6, 0xCD, 0x9B, 0x45, 0x5B, 0x5B,
+    0x9B, 0x5A, 0xE7, 0xCD, 0xA5, 0x09, 0x4B, 0xCD, 0xAB, 0x57, 0xAF, 0x44, 0x4F, 0x4F, 0x8F, 0xB8,
+    0x7F, 0xFF, 0xBE, 0xF5, 0x76, 0xB6, 0xB5, 0xB5, 0x55, 0x6D, 0xF0, 0x45, 0x5B, 0x36, 0xA9, 0x78,
+    0x07, 0x00, 0x0A, 0x66, 0xC2, 0xD9, 0xB3, 0x67, 0xC5, 0x83, 0x07, 0x0F, 0x6C, 0x8C, 0x54, 0x5E,
+    0x75, 0x75, 0xB5, 0xBA, 0x70, 0xCF, 0x9E, 0x3D, 0x5B, 0xA5, 0xBF, 0x7E, 0xFD, 0x2A, 0xFA, 0xFA,
+    0xFA, 0xC4, 0x8F, 0x1F, 0xDE, 0x0F, 0x0D, 0x66, 0xD5, 0x5D, 0xBF, 0x7E, 0xBD, 0x38, 0x7A, 0xF4,
+    0xA8, 0xF5, 0xCC, 0xA7, 0x71, 0x5A, 0x1D, 0x10, 0xD9, 0x47, 0x11, 0x1C, 0xB8, 0xAE, 0xB1, 0x34,
+    0x1C, 0x3B, 0x76, 0x4C, 0x74, 0x77, 0x77, 0x8B, 0x4B, 0x97, 0x2E, 0x29, 0xB0, 0x7A, 0x39, 0xE2,
+    0x00, 0x0D, 0xE8, 0x08, 0xF9, 0x04, 0x77, 0x3B, 0x07, 0x0E, 0x1C, 0x10, 0x1B, 0x37, 0x6E, 0xCC,
+    0x67, 0x9A, 0xDA, 0xF2, 0xD8, 0x96, 0x20, 0x93, 0x40, 0x7F, 0x7F, 0xBF, 0xB8, 0x73, 0xE7, 0x8E,
+    0xB8, 0x77, 0xEF, 0x9E, 0xD5, 0x11, 0xA6, 0xBD, 0x9E, 0x06, 0xF8, 0xF6, 0xF6, 0x76, 0x75, 0xAB,
+    0xA9, 0xBF, 0xD9, 0xD3, 0x6D, 0xD2, 0x12, 0x4F, 0xCD, 0x35, 0x20, 0x17, 0x10, 0xBC, 0x7B, 0xC5,
+    0x92, 0xF4, 0xE4, 0xC9, 0x13, 0x75, 0x7D, 0xF8, 0xFC, 0xF9, 0xB3, 0xD5, 0x14, 0x1F, 0x57, 0xAC,
+    0x58, 0xB1, 0x42, 0xAC, 0x5E, 0xBD, 0x5A, 0x6C, 0xD8, 0xB0, 0x21, 0xF4, 0x2D, 0xAC, 0xB5, 0x93,
+    0x08, 0x32, 0x53, 0xEF, 0x00, 0x73, 0xCC, 0xF8, 0x48, 0xE1, 0xCA, 0x95, 0x2B, 0xBE, 0xEC, 0x7D,
+    0xFB, 0xF6, 0x89, 0x9D, 0x3B, 0x77, 0xFA, 0xF2, 0x4A, 0x25, 0x91, 0xCF, 0x01, 0x91, 0x7D, 0x16,
+    0x54, 0x2C, 0x20, 0xDB, 0x2D, 0xA4, 0x2D, 0xAF, 0xD8, 0xF6, 0xD3, 0x56, 0x2F, 0xD6, 0x8B, 0x70,
+    0x12, 0x83, 0x0F, 0x7B, 0xF7, 0xC3, 0x63, 0x2E, 0xF6, 0x7D, 0x00, 0xEB, 0xE7, 0xD2, 0xA9, 0x9B,
+    0x01, 0xB9, 0x0E, 0xB4, 0x5C, 0xF3, 0x9D, 0x03, 0x12, 0xF6, 0xAC, 0x73, 0x40, 0xC2, 0x0E, 0x28,
+    0xFB, 0x6B, 0x40, 0x54, 0x6B, 0xF7, 0x54, 0xF9, 0xCD, 0xCD, 0x80, 0xA9, 0x22, 0x59, 0x64, 0x3B,
+    0x89, 0xBD, 0x13, 0x2E, 0xF2, 0x78, 0x4B, 0xAE, 0x5A, 0xC9, 0xBD, 0x0F, 0x28, 0x39, 0xC2, 0x21,
+    0x0F, 0xD8, 0x2D, 0x41, 0x21, 0x01, 0x86, 0xAD, 0xEE, 0x1C, 0x10, 0x96, 0x60, 0xC8, 0xFA, 0xCE,
+    0x01, 0x21, 0x01, 0x86, 0xAD, 0xEE, 0x1C, 0x10, 0x96, 0x60, 0xC8, 0xFA, 0xB9, 0x1C, 0xC0, 0xBF,
+    0x5C, 0xF2, 0xFE, 0x6A, 0x29, 0x64, 0x3F, 0x95, 0x5C, 0x7D, 0x52, 0x96, 0x36, 0x07, 0x38, 0xE8,
+    0xD1, 0x9D, 0x2E, 0x59, 0x6C, 0xE9, 0x00, 0x16, 0xE8, 0x1A, 0x0F, 0x61, 0x73, 0x3F, 0x88, 0x8D,
+    0xEE, 0x20, 0xCB, 0xAD, 0x65, 0x72, 0xD4, 0xD9, 0x62, 0x8C, 0x2A, 0x0D, 0x07, 0xD8, 0x0A, 0x90,
+    0x87, 0xE0, 0x1C, 0x20, 0x21, 0x84, 0x14, 0x30, 0x24, 0xCF, 0x2C, 0xD6, 0x9C, 0x01, 0xE8, 0x83,
+    0x46, 0xF4, 0x18, 0xFF, 0x1B, 0x31, 0x64, 0xFF, 0x15, 0x5F, 0x9D, 0x1C, 0xC9, 0x95, 0x9C, 0x15,
+    0x18, 0xDD, 0x01, 0xC8, 0x60, 0x21, 0x8C, 0xF9, 0xDF, 0x88, 0xCA, 0xD0, 0xBD, 0x14, 0x4D, 0x00,
+    0x5B, 0xB6, 0xC1, 0x52, 0x9F, 0x09, 0x5E, 0x63, 0x74, 0x80, 0x0D, 0xBC, 0xFA, 0x63, 0x4A, 0xB9,
+    0x97, 0xE7, 0x1F, 0xCF, 0xDA, 0x45, 0x02, 0x11, 0xC8, 0xB0, 0xE3, 0xBF, 0xE6, 0x59, 0x1D, 0x61,
+    0x3A, 0x00, 0x8E, 0xE0, 0xD9, 0x8F, 0x8A, 0x23, 0xF2, 0x7B, 0x57, 0x3D, 0x81, 0x7A, 0x75, 0xC6,
+    0x1E, 0x81, 0x0C, 0x3B, 0xFE, 0x75, 0xA1, 0x39, 0x0B, 0xC0, 0xDA, 0xF7, 0x17, 0x26, 0x3A, 0x7C,
+    0x75, 0xF6, 0xCB, 0xF2, 0x61, 0xB9, 0x8B, 0xF9, 0x0F, 0xB9, 0x75, 0x04, 0x3F, 0x3A, 0xEA, 0x24,
+    0x00, 0x01, 0x30, 0x03, 0x3B, 0x59, 0x85, 0x3F, 0xD2, 0x6A, 0xCE, 0x00, 0xD5, 0x9A, 0xFE, 0x47,
+    0x6D, 0xF8, 0x68, 0x3A, 0x2B, 0x3C, 0x7D, 0xFA, 0x74, 0x40, 0xEE, 0x44, 0xEE, 0x5A, 0xB3, 0x66,
+    0x4D, 0xB3, 0xFC, 0x66, 0x4A, 0x53, 0x4D, 0x4D, 0x4D, 0x61, 0xBB, 0x68, 0x03, 0x1C, 0x6C, 0x39,
+    0x99, 0x62, 0xD9, 0xF9, 0xF4, 0xE9, 0x53, 0xF7, 0xEF, 0x52, 0x2E, 0x5F, 0xBE, 0xFC, 0xB7, 0x1C,
+    0x1B, 0x1C, 0xC0, 0x59, 0xA0, 0x3B, 0x41, 0x5D, 0x13, 0x74, 0xE0, 0x58, 0x8E, 0x10, 0xF0, 0x94,
+    0x0C, 0x01, 0x5B, 0x8C, 0x11, 0xF0, 0x7D, 0x20, 0x5D, 0x63, 0x53, 0x3F, 0xCA, 0xCD, 0x7F, 0x87,
+    0x93, 0x59, 0x15, 0x27, 0x5C, 0x35, 0xB8, 0x6C, 0x73, 0xE5, 0x00, 0x70, 0x82, 0xA7, 0x46, 0x1E,
+    0xCA, 0x11, 0x60, 0xAF, 0x1C, 0xA0, 0x3F, 0x92, 0x44, 0x63, 0x6C, 0x10, 0xEB, 0x15, 0xBF, 0xEF,
+    0x83, 0x3C, 0xDE, 0x11, 0xA1, 0x11, 0xC2, 0x87, 0x03, 0xE0, 0x40, 0x5E, 0x47, 0x10, 0xAF, 0x24,
+    0x01, 0x17, 0x88, 0x02, 0x29, 0x35, 0x18, 0x91, 0x13, 0xD8, 0x99, 0x01, 0x65, 0xB4, 0x65, 0x5D,
+    0x05, 0xD3, 0x4B, 0x64, 0x0C, 0xA4, 0xF2, 0x04, 0x65, 0xA8, 0xC4, 0x86, 0xE1, 0x00, 0xFE, 0xD8,
+    0x37, 0xE1, 0xEB, 0xE0, 0xF5, 0xB8, 0xD7, 0x48, 0x19, 0x46, 0x74, 0x66, 0x64, 0x04, 0x4D, 0x27,
+    0x90, 0x17, 0xCF, 0x78, 0x3D, 0x5F, 0x77, 0xC2, 0xB8, 0x3E, 0x03, 0xC0, 0x89, 0x8D, 0x91, 0x19,
+    0xD3, 0x6C, 0x10, 0x67, 0xBB, 0x7E, 0xE6, 0xEB, 0xC0, 0xF5, 0x38, 0xEB, 0x97, 0xB3, 0x06, 0x1B,
+    0x0A, 0x39, 0x41, 0x83, 0x15, 0x4F, 0x5A, 0xC6, 0x99, 0x26, 0x7C, 0xD6, 0x53, 0x4B, 0x08, 0x13,
+    0x00, 0x48, 0x88, 0xD0, 0x80, 0x4D, 0x6D, 0x8B, 0xEB, 0xB6, 0x6C, 0xA3, 0x12, 0x35, 0x1D, 0x01,
+    0x4D, 0x47, 0x10, 0x34, 0xB4, 0x1E, 0x37, 0x6D, 0x3D, 0xE0, 0x00, 0x67, 0x02, 0x65, 0x9A, 0xF0,
+    0x91, 0x66, 0xA0, 0x3D, 0x6D, 0x90, 0xAE, 0x64, 0x21, 0x7C, 0x30, 0x60, 0x9C, 0x1A, 0x0E, 0x80,
+    0xE8, 0xF0, 0xBD, 0xB4, 0x0D, 0x20, 0xF3, 0xA8, 0x61, 0xCC, 0x38, 0x34, 0xE3, 0x7A, 0x3E, 0xE2,
+    0x95, 0x2C, 0x84, 0x0B, 0x06, 0x04, 0xCF, 0x38, 0xB9, 0xD0, 0x86, 0x5A, 0xE5, 0xEB, 0x30, 0x69,
+    0x48, 0x6D, 0x96, 0x99, 0x69, 0xDA, 0x51, 0xE7, 0x2B, 0xA7, 0x5D, 0xB9, 0x68, 0x1F, 0x48, 0xCB,
+    0xA0, 0xCC, 0x72, 0x33, 0xAD, 0xAA, 0xFC, 0x07, 0x9A, 0xB8, 0xA2, 0x7E, 0x27, 0xE3, 0x05, 0x8D,
+    0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4E, 0x44, 0xAE, 0x42, 0x60, 0x82
+};
+
+#endif    /* __icon_list_item1_png_h_included */

sample/api_sample/widget/widget_file_c/en_big_screen/icon_list_item2_png.h

@@ -0,0 +1,176 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __icon_list_item2_png_h_included
+#define __icon_list_item2_png_h_included
+
+#include <stdint.h>
+
+/* Contents of file icon_list_item2.png */
+#define icon_list_item2_png_fileName        "icon_list_item2.png"
+#define icon_list_item2_png_fileSize        2578
+
+static const uint8_t icon_list_item2_png_fileBinaryArray[2578] = {
+    0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00, 0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52,
+    0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x60, 0x08, 0x06, 0x00, 0x00, 0x00, 0xE2, 0x98, 0x77,
+    0x38, 0x00, 0x00, 0x00, 0x01, 0x73, 0x52, 0x47, 0x42, 0x00, 0xAE, 0xCE, 0x1C, 0xE9, 0x00, 0x00,
+    0x09, 0xCC, 0x49, 0x44, 0x41, 0x54, 0x78, 0x01, 0xED, 0x9D, 0x59, 0x68, 0x14, 0x49, 0x18, 0xC7,
+    0xBF, 0x1C, 0x26, 0x1B, 0xB3, 0x6E, 0xE2, 0xAA, 0xF1, 0x24, 0x1A, 0x11, 0xE2, 0x7A, 0xA0, 0x10,
+    0x51, 0x44, 0x41, 0xF1, 0x61, 0x09, 0x28, 0x22, 0x2A, 0xE2, 0x83, 0xA2, 0x22, 0xA2, 0x3E, 0x2F,
+    0xAB, 0xA0, 0x20, 0x88, 0x20, 0xE8, 0x2A, 0xFB, 0xEA, 0x8B, 0x88, 0xE0, 0x93, 0x17, 0xE2, 0x85,
+    0xEB, 0x3E, 0xA8, 0xB8, 0xA0, 0x08, 0x8B, 0xE2, 0x01, 0xE2, 0x83, 0xB8, 0x88, 0x77, 0x44, 0x13,
+    0x93, 0x68, 0xEE, 0xAD, 0x7F, 0x65, 0xFE, 0x6D, 0x75, 0x4D, 0x4F, 0xE6, 0x48, 0x66, 0x7A, 0x8E,
+    0xFA, 0xA0, 0xF2, 0xD5, 0x5D, 0x5D, 0xBF, 0x7F, 0x75, 0xCD, 0x4C, 0x4F, 0x4F, 0xA7, 0x48, 0x62,
+    0x5B, 0x91, 0x55, 0x64, 0xA7, 0xAD, 0x62, 0x89, 0x57, 0x6E, 0xD7, 0xCF, 0xF5, 0x74, 0x5F, 0x9C,
+    0x09, 0xD8, 0xE5, 0x76, 0x5A, 0x37, 0x0F, 0x82, 0xC6, 0x3C, 0x7A, 0x54, 0x64, 0x1C, 0x9E, 0x71,
+    0x33, 0x1F, 0xF1, 0x42, 0x36, 0x13, 0x2E, 0xE2, 0x4C, 0xD3, 0x83, 0x0D, 0xE3, 0xF4, 0x9A, 0x57,
+    0xA9, 0xFE, 0xDB, 0xFF, 0x87, 0x60, 0x6D, 0x5F, 0xAC, 0x8A, 0x09, 0x9E, 0x1E, 0x2D, 0xCC, 0x78,
+    0x7F, 0x0F, 0x85, 0xFB, 0x17, 0x50, 0x09, 0x96, 0x71, 0xFA, 0xDE, 0x18, 0x58, 0x74, 0x7D, 0x53,
+    0x00, 0xD4, 0x33, 0xE1, 0x13, 0x3C, 0x7C, 0x50, 0xDC, 0xAC, 0x1B, 0x63, 0x8C, 0x82, 0xC8, 0xB6,
+    0xC1, 0x03, 0x38, 0x02, 0xF2, 0xE1, 0xC1, 0x89, 0x71, 0x78, 0xA6, 0x55, 0x54, 0x84, 0x02, 0x20,
+    0xD3, 0x04, 0x0A, 0xE0, 0x25, 0x2A, 0x10, 0x3E, 0xE2, 0x4C, 0xC3, 0xA3, 0x2E, 0x45, 0x51, 0x51,
+    0x6D, 0x6C, 0xCF, 0x74, 0xBE, 0x7B, 0x82, 0xC7, 0x3C, 0x4D, 0xC0, 0x3D, 0x2A, 0x0D, 0xF0, 0xF0,
+    0x8C, 0x23, 0x0D, 0xA3, 0x30, 0x64, 0xD5, 0x47, 0x01, 0xFA, 0x8B, 0xBF, 0x83, 0x25, 0x70, 0x78,
+    0xD4, 0x61, 0x30, 0xF3, 0x0B, 0x59, 0x84, 0x81, 0xE0, 0x13, 0x7C, 0xB7, 0xE2, 0xC6, 0x80, 0x3C,
+    0x1A, 0x45, 0xD0, 0x69, 0x80, 0x05, 0x48, 0x06, 0xAE, 0x7C, 0x82, 0x1F, 0xA6, 0xCA, 0xEC, 0x80,
+    0x36, 0x14, 0x82, 0x22, 0xA8, 0x2C, 0xEF, 0x0C, 0x42, 0xBC, 0x10, 0x8C, 0x22, 0x10, 0xA8, 0x09,
+    0xBE, 0x4B, 0x01, 0x60, 0x00, 0x53, 0xC4, 0x4D, 0xE3, 0x19, 0xE1, 0x6D, 0x41, 0x28, 0xB4, 0x45,
+    0x00, 0xF8, 0x32, 0x15, 0xCA, 0x2D, 0x8F, 0x7C, 0x8A, 0xC0, 0x2D, 0x0A, 0x6D, 0x0B, 0xD1, 0xB8,
+    0xF5, 0x00, 0x28, 0x04, 0xC0, 0x8A, 0x07, 0xEC, 0x4E, 0x15, 0x3A, 0x54, 0xC0, 0x42, 0x25, 0x1B,
+    0xD4, 0x65, 0x7D, 0xE4, 0x51, 0x40, 0x5D, 0x01, 0x20, 0x01, 0xF6, 0x07, 0x15, 0x7E, 0x54, 0xE1,
+    0x67, 0x15, 0xC6, 0xAB, 0x50, 0xA7, 0xC2, 0x2F, 0x5B, 0xB7, 0x6E, 0x6D, 0x7C, 0xF5, 0xEA, 0xD5,
+    0x5F, 0x1D, 0x1D, 0x1D, 0x4D, 0x7D, 0xCE, 0x06, 0x24, 0x00, 0x46, 0x60, 0x05, 0x66, 0x60, 0x17,
+    0x61, 0x08, 0x96, 0x60, 0x0A, 0xB6, 0x60, 0x0C, 0xD6, 0x60, 0xAE, 0xC5, 0x41, 0x04, 0x4A, 0x61,
+    0xB5, 0x0F, 0x57, 0xA1, 0x4A, 0x85, 0x1A, 0x15, 0x6A, 0x55, 0xA8, 0x47, 0x47, 0x5D, 0x5D, 0x5D,
+    0xCD, 0x03, 0x8E, 0xEA, 0x0A, 0xA3, 0x08, 0x80, 0x59, 0x44, 0x84, 0xFA, 0x08, 0x4B, 0x30, 0x05,
+    0x5B, 0x30, 0x06, 0x6B, 0x30, 0x2F, 0x86, 0x02, 0x54, 0x02, 0xDB, 0x0A, 0xB7, 0x1D, 0xA8, 0x54,
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+    0x7C, 0x04, 0x80, 0xE7, 0xEB, 0x48, 0xA1, 0x89, 0x00, 0x2E, 0x30, 0x0D, 0x52, 0x79, 0x30, 0x22,
+    0x27, 0xB0, 0xB3, 0x03, 0xCA, 0x58, 0x97, 0x6D, 0x35, 0x4C, 0x2F, 0x11, 0xA9, 0xA0, 0x9C, 0x67,
+    0x28, 0x43, 0x23, 0x76, 0x0C, 0x01, 0x6C, 0xF8, 0x26, 0x78, 0x33, 0xEE, 0x75, 0x92, 0x87, 0x11,
+    0x93, 0x19, 0x19, 0xC1, 0x53, 0x04, 0xF2, 0xE2, 0x8A, 0x37, 0xF3, 0x4D, 0x11, 0xFA, 0xCC, 0x33,
+    0x00, 0x9C, 0xD8, 0x19, 0x99, 0x31, 0xCD, 0x0E, 0xB1, 0xDA, 0xCD, 0x95, 0x6F, 0x02, 0x37, 0xE3,
+    0x6C, 0x9F, 0xCF, 0x1E, 0x6C, 0x68, 0xE4, 0x04, 0x0F, 0x56, 0x5C, 0xB4, 0x8C, 0x33, 0x4D, 0xF8,
+    0x6C, 0xA7, 0xB7, 0x10, 0x26, 0x00, 0x90, 0x10, 0xE1, 0x01, 0x9B, 0x3E, 0x28, 0x6E, 0xD6, 0x65,
+    0x1F, 0x85, 0xE8, 0x29, 0x04, 0x3C, 0x85, 0x20, 0x68, 0x78, 0x33, 0x6E, 0xD7, 0xF5, 0x80, 0x03,
+    0x9C, 0x0D, 0x94, 0x69, 0xC2, 0x47, 0x9A, 0x81, 0xF5, 0x59, 0x07, 0xE9, 0x42, 0x36, 0xC2, 0x07,
+    0x03, 0xC6, 0xE9, 0x21, 0x00, 0xCC, 0x84, 0xEF, 0xA5, 0x83, 0x00, 0x32, 0x8F, 0x1E, 0x95, 0x19,
+    0x87, 0x67, 0xDC, 0xCC, 0x47, 0xBC, 0x90, 0x8D, 0x70, 0xC1, 0x80, 0xE0, 0x19, 0x27, 0x17, 0xD6,
+    0xA1, 0xD7, 0xF9, 0x26, 0x4C, 0x56, 0xA4, 0xB7, 0xCB, 0xEC, 0x34, 0xEB, 0xD1, 0xC7, 0x2B, 0x67,
+    0xBD, 0x7C, 0xF1, 0x3E, 0x90, 0x01, 0x93, 0xB2, 0xCB, 0xED, 0xB4, 0x6E, 0xF2, 0x3F, 0x8E, 0x2C,
+    0xA9, 0xB8, 0x4D, 0x0C, 0xA3, 0xEB, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4E, 0x44, 0xAE, 0x42,
+    0x60, 0x82
+};
+
+#endif    /* __icon_list_item2_png_h_included */

sample/api_sample/widget/widget_file_c/en_big_screen/icon_scale_png.h

@@ -0,0 +1,167 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __icon_scale_png_h_included
+#define __icon_scale_png_h_included
+
+#include <stdint.h>
+
+/* Contents of file icon_scale.png */
+#define icon_scale_png_fileName        "icon_scale.png"
+#define icon_scale_png_fileSize        2440
+
+static const uint8_t icon_scale_png_fileBinaryArray[2440] = {
+    0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00, 0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52,
+    0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x60, 0x08, 0x06, 0x00, 0x00, 0x00, 0xE2, 0x98, 0x77,
+    0x38, 0x00, 0x00, 0x00, 0x01, 0x73, 0x52, 0x47, 0x42, 0x00, 0xAE, 0xCE, 0x1C, 0xE9, 0x00, 0x00,
+    0x09, 0x42, 0x49, 0x44, 0x41, 0x54, 0x78, 0x01, 0xED, 0x9D, 0x3D, 0x6C, 0x14, 0x47, 0x18, 0x86,
+    0xC7, 0x7F, 0xB1, 0x63, 0x62, 0x40, 0x60, 0x59, 0xA0, 0x28, 0x41, 0x58, 0x71, 0x65, 0xD1, 0x20,
+    0x04, 0x28, 0xA2, 0x43, 0x4A, 0x13, 0x22, 0x6A, 0x6A, 0x0A, 0x6A, 0x90, 0x50, 0x08, 0xA4, 0x8A,
+    0x82, 0x80, 0x06, 0x8A, 0x54, 0x29, 0xA8, 0xA1, 0x04, 0xC9, 0x69, 0xA2, 0xD0, 0x11, 0x09, 0x08,
+    0x94, 0x69, 0xB1, 0x1C, 0x09, 0x03, 0x12, 0x20, 0x62, 0x02, 0x21, 0xF8, 0x2F, 0xF3, 0xAC, 0xEF,
+    0x5D, 0xCD, 0xCD, 0xFD, 0xAC, 0xEF, 0x67, 0x77, 0xD6, 0xBE, 0xF9, 0xA4, 0xF1, 0xCC, 0xCE, 0xEC,
+    0x7C, 0xB3, 0xF3, 0xBC, 0x33, 0xB3, 0x7B, 0xB7, 0xEB, 0xDB, 0x3E, 0xD3, 0xDC, 0xFA, 0xBC, 0x62,
+    0x7F, 0xDB, 0x2B, 0x36, 0x59, 0xE5, 0xFE, 0xFE, 0x1B, 0x75, 0x7B, 0x35, 0xE3, 0xC0, 0xFD, 0x72,
+    0x7F, 0x3B, 0xAD, 0xDE, 0x08, 0x98, 0xF2, 0x15, 0x53, 0x41, 0x69, 0x62, 0xA5, 0xDD, 0x7C, 0xD2,
+    0xBD, 0x68, 0x2E, 0x5C, 0xD2, 0xDA, 0x56, 0x0C, 0x13, 0xA5, 0x15, 0xA7, 0x9C, 0x06, 0xD3, 0xD4,
+    0x5A, 0x42, 0x60, 0xDD, 0x58, 0xC0, 0xFD, 0x98, 0x1A, 0xCA, 0xF3, 0xDC, 0xF4, 0xD4, 0x26, 0x50,
+    0x05, 0x56, 0x69, 0x3F, 0xF6, 0x81, 0x68, 0xFF, 0xBA, 0x23, 0x59, 0x50, 0xDD, 0xB8, 0xDF, 0x7A,
+    0x50, 0x20, 0x9F, 0xB4, 0xCA, 0x71, 0x4E, 0xBA, 0x17, 0x4D, 0x20, 0x05, 0x7C, 0xC5, 0x42, 0x20,
+    0x4D, 0xAC, 0xA0, 0x32, 0x37, 0x86, 0x15, 0xDB, 0xA6, 0xDE, 0x0C, 0x10, 0x58, 0x01, 0x1F, 0xB0,
+    0xFB, 0x91, 0xF6, 0x63, 0x57, 0x08, 0x7C, 0x61, 0xBD, 0x22, 0x44, 0x02, 0x6F, 0xAD, 0xCB, 0x29,
+    0x70, 0xF2, 0x80, 0xBE, 0xDC, 0x20, 0xA6, 0x4C, 0x96, 0xD6, 0x97, 0x00, 0x82, 0xAE, 0x58, 0xC0,
+    0x81, 0x4E, 0x18, 0xAA, 0xC4, 0xEC, 0xAF, 0x3C, 0x09, 0xA4, 0x3A, 0xB6, 0x28, 0xB1, 0xCD, 0x2E,
+    0x42, 0x0A, 0xCF, 0xF6, 0x96, 0xB4, 0xC0, 0x0B, 0x3E, 0x02, 0x2C, 0xD9, 0x40, 0xBC, 0x68, 0x03,
+    0x3C, 0x48, 0x63, 0xAE, 0x08, 0x6C, 0xAF, 0x4A, 0x00, 0x36, 0x30, 0x76, 0x76, 0xE1, 0x03, 0xDE,
+    0x0F, 0xD4, 0x91, 0x10, 0xAE, 0x08, 0x36, 0xBB, 0xE7, 0x66, 0x80, 0x0F, 0x1F, 0xF0, 0x04, 0xC0,
+    0x13, 0xE0, 0x43, 0xEC, 0x1A, 0x22, 0xA4, 0x22, 0x02, 0x52, 0x23, 0x58, 0xB1, 0x04, 0x00, 0xFC,
+    0x47, 0x95, 0x30, 0xEC, 0xA4, 0xC9, 0xD3, 0x8C, 0xD0, 0xB2, 0xA4, 0xBA, 0xB6, 0xA8, 0x67, 0xCC,
+    0x1D, 0xFD, 0x8C, 0x70, 0x8D, 0xF8, 0x0F, 0x36, 0xAD, 0x00, 0x4B, 0xD8, 0xC8, 0x54, 0xC7, 0xCD,
+    0x4B, 0x47, 0x3D, 0x62, 0x00, 0x77, 0x8B, 0x0D, 0xDB, 0x6C, 0x98, 0xB0, 0xE1, 0x33, 0x1B, 0xA6,
+    0x6C, 0xD8, 0x77, 0xEA, 0xD4, 0xA9, 0x6F, 0x1E, 0x3F, 0x7E, 0x3C, 0xB3, 0xB0, 0xB0, 0x30, 0xBB,
+    0xBA, 0xBA, 0xBA, 0x6C, 0x43, 0xB4, 0x6A, 0x02, 0xCB, 0xB0, 0x81, 0x11, 0xAC, 0x60, 0x56, 0x61,
+    0x07, 0x43, 0x58, 0xC2, 0x14, 0xB6, 0x30, 0x86, 0x75, 0x2A, 0x0E, 0x6A, 0xB0, 0xC1, 0xA8, 0x1E,
+    0xB1, 0x61, 0xCC, 0x86, 0x71, 0x1B, 0x3E, 0xB5, 0xE1, 0x0B, 0x1B, 0xF6, 0xDD, 0xBA, 0x75, 0xEB,
+    0xDB, 0xA5, 0xA5, 0xA5, 0xB7, 0xD5, 0xED, 0xC5, 0xAD, 0x46, 0x04, 0x60, 0x05, 0x33, 0xD8, 0x55,
+    0x18, 0xC2, 0x12, 0xA6, 0xB0, 0x85, 0x31, 0xAC, 0x13, 0x01, 0xDC, 0x25, 0x84, 0x0C, 0x9D, 0x70,
+    0xD9, 0x81, 0x65, 0x67, 0xC4, 0xAA, 0x39, 0x79, 0xFA, 0xF4, 0xE9, 0x9F, 0x06, 0x06, 0x06, 0x46,
+    0xED, 0x76, 0xB4, 0x75, 0x10, 0xE8, 0xEF, 0xEF, 0x1F, 0x9A, 0x9A, 0x9A, 0xFA, 0xF2, 0xF9, 0xF3,
+    0xE7, 0xBF, 0x3D, 0x7A, 0xF4, 0x68, 0xC1, 0x56, 0xD1, 0x09, 0x9A, 0x58, 0xE7, 0x80, 0xE4, 0x3C,
+    0xA0, 0xD1, 0x4F, 0xCC, 0xB4, 0x00, 0x3C, 0x53, 0xE4, 0x63, 0x1B, 0x00, 0xBE, 0xC5, 0x4E, 0xA9,
+    0x1F, 0xF7, 0xEE, 0xDD, 0xFB, 0xB5, 0x4D, 0x47, 0x6B, 0x91, 0xC0, 0xEC, 0xEC, 0xEC, 0x2F, 0x93,
+    0x93, 0x93, 0xDF, 0xDB, 0x6A, 0x6F, 0x6D, 0x78, 0x67, 0xC3, 0xBF, 0x36, 0x70, 0x7E, 0xE0, 0xC4,
+    0xCC, 0xC9, 0x7A, 0x95, 0x51, 0x8F, 0x21, 0x80, 0xC4, 0xD0, 0x65, 0x66, 0x72, 0x4E, 0x18, 0x1F,
+    0x1F, 0x9F, 0x4E, 0xF6, 0x88, 0x7F, 0x5A, 0x26, 0x50, 0x61, 0xA7, 0x35, 0x5F, 0x5C, 0x93, 0xA5,
+    0xA7, 0xC2, 0x3B, 0x59, 0x87, 0x70, 0x2C, 0x01, 0x5C, 0x11, 0x92, 0x19, 0x31, 0x36, 0x36, 0xF6,
+    0x79, 0xCB, 0x2D, 0xC7, 0x0A, 0x09, 0x81, 0x0A, 0x3B, 0x56, 0x15, 0x58, 0xBA, 0xCB, 0xBD, 0x78,
+    0xA7, 0x02, 0x08, 0x99, 0x0A, 0x74, 0x3E, 0x50, 0x25, 0x95, 0xC7, 0xB8, 0x35, 0x02, 0x3E, 0x47,
+    0xF1, 0x4D, 0xBD, 0x68, 0x09, 0x22, 0x43, 0x85, 0xE4, 0x29, 0x20, 0x40, 0xB4, 0xCE, 0x08, 0x68,
+    0x10, 0x8B, 0xA9, 0x38, 0x27, 0x5E, 0xC9, 0x24, 0x03, 0x73, 0x63, 0xD2, 0x6E, 0x59, 0xB2, 0x43,
+    0xFC, 0xD3, 0x16, 0x01, 0x97, 0xA5, 0xCB, 0x18, 0x67, 0x7D, 0x40, 0xC6, 0x6A, 0x0A, 0x2A, 0x79,
+    0x2A, 0x4F, 0x76, 0x8A, 0x7F, 0xDA, 0x22, 0xA0, 0x81, 0x5C, 0x8F, 0x71, 0xCD, 0x39, 0x80, 0x16,
+    0xB4, 0x63, 0x5B, 0xAD, 0xC5, 0x4A, 0x4D, 0x09, 0xD4, 0xB0, 0x6D, 0x34, 0xC2, 0xD9, 0x51, 0xA1,
+    0xA9, 0xC7, 0x58, 0x98, 0x49, 0x40, 0x1C, 0x6B, 0xE0, 0x53, 0xB3, 0x91, 0x00, 0x99, 0x5E, 0xE3,
+    0x0E, 0xDD, 0x21, 0x10, 0x05, 0xE8, 0x0E, 0xC7, 0xB6, 0xBD, 0xF0, 0x01, 0x61, 0x43, 0xDA, 0xF1,
+    0xE3, 0xC7, 0xAB, 0x8E, 0xFB, 0xF6, 0xED, 0xDB, 0x55, 0xDB, 0x1B, 0x65, 0x23, 0xCE, 0x80, 0xC0,
+    0x4A, 0x45, 0x01, 0xA2, 0x00, 0x81, 0x09, 0x04, 0x6E, 0x3E, 0xCE, 0x80, 0x28, 0x40, 0x60, 0x02,
+    0x81, 0x9B, 0x0F, 0x36, 0x03, 0x1E, 0x3E, 0x7C, 0x68, 0xEE, 0xDE, 0xBD, 0x1B, 0xB8, 0xFB, 0x26,
+    0x39, 0x06, 0x8E, 0x25, 0x94, 0x05, 0xB9, 0x0C, 0xA5, 0xC3, 0x97, 0x2F, 0x5F, 0x36, 0x2B, 0x2B,
+    0xDC, 0x9D, 0x33, 0xE6, 0xC8, 0x91, 0x23, 0x41, 0xFA, 0xCF, 0x00, 0xB8, 0x7A, 0xF5, 0xAA, 0xB1,
+    0xB7, 0x10, 0xCD, 0xB9, 0x73, 0xE7, 0xCC, 0x81, 0x03, 0x07, 0x0A, 0x3F, 0x0E, 0x3E, 0x1E, 0xF3,
+    0x75, 0x29, 0x41, 0xF7, 0x81, 0xB9, 0x15, 0xF9, 0x89, 0x0D, 0x5B, 0x6D, 0xD8, 0x66, 0x6F, 0x3C,
+    0xFF, 0x6A, 0xE3, 0xAE, 0x99, 0xE0, 0x2F, 0x2E, 0xAE, 0x3D, 0x2E, 0x63, 0xEF, 0x35, 0x9B, 0x33,
+    0x67, 0xCE, 0x14, 0x2E, 0x82, 0xE0, 0x2F, 0x2F, 0xF3, 0x34, 0x89, 0xED, 0xFC, 0xD0, 0x50, 0x2E,
+    0x22, 0xF4, 0xF5, 0xF5, 0x7D, 0x65, 0xDD, 0xFF, 0x6D, 0x03, 0xF7, 0x86, 0xFF, 0xB1, 0x81, 0x5B,
+    0x93, 0xFF, 0xD9, 0x00, 0x80, 0xE5, 0xC2, 0x97, 0xA0, 0xF7, 0xEF, 0xDF, 0xA7, 0x23, 0xDF, 0x1E,
+    0x80, 0x01, 0x00, 0xA3, 0xB0, 0xC8, 0xE5, 0xC8, 0x87, 0xCF, 0x71, 0x30, 0x1B, 0x39, 0xB6, 0xA2,
+    0xAD, 0x70, 0x01, 0x58, 0x6E, 0x18, 0xF1, 0x8C, 0x7C, 0x59, 0x91, 0x22, 0xD4, 0x83, 0x1F, 0x6A,
+    0x16, 0xD2, 0xFF, 0xC2, 0x05, 0xA0, 0xD1, 0x66, 0x22, 0xDC, 0xBB, 0x77, 0x8F, 0x5D, 0x72, 0x31,
+    0x7C, 0x33, 0xDB, 0xB4, 0xEC, 0xD0, 0x48, 0x48, 0xF8, 0xB4, 0x1F, 0x44, 0x00, 0x1A, 0xAE, 0x27,
+    0xC2, 0xF6, 0xED, 0xDB, 0xCD, 0x9E, 0x3D, 0x7B, 0x28, 0xCE, 0xC5, 0xF0, 0x4D, 0x1B, 0xB2, 0xD0,
+    0xF0, 0x39, 0x8E, 0x60, 0x02, 0xD0, 0xB8, 0x2B, 0xC2, 0xCE, 0x9D, 0x3B, 0xCD, 0xC5, 0x8B, 0x17,
+    0xCD, 0xEE, 0xDD, 0xBB, 0x29, 0xCA, 0xC5, 0xF0, 0x4D, 0x1B, 0xB4, 0x55, 0x06, 0xF8, 0x74, 0xB2,
+    0xF0, 0xAB, 0xA0, 0x7A, 0x64, 0x59, 0x1A, 0x18, 0x9D, 0x59, 0xF0, 0x5F, 0xBE, 0x7C, 0x69, 0xEE,
+    0xDF, 0xBF, 0x6F, 0xB8, 0x92, 0x7A, 0xF6, 0xEC, 0x99, 0x79, 0xF5, 0xEA, 0x55, 0xE2, 0x6E, 0xC7,
+    0x8E, 0x1D, 0x66, 0xD7, 0xAE, 0x5D, 0xC9, 0x65, 0xE4, 0xA1, 0x43, 0x87, 0x12, 0xC0, 0xF5, 0xDA,
+    0x51, 0xDE, 0xD3, 0xA7, 0x4F, 0xCD, 0xDC, 0xDC, 0x9C, 0x39, 0x7C, 0xF8, 0xB0, 0xB2, 0x72, 0x8B,
+    0xB3, 0xAE, 0x82, 0x4A, 0x21, 0x40, 0x56, 0xEF, 0x01, 0x7D, 0xE3, 0xC6, 0x0D, 0x73, 0xE7, 0xCE,
+    0x9D, 0xAA, 0xF5, 0xBB, 0x5E, 0x3D, 0x46, 0xF6, 0xD1, 0xA3, 0x47, 0xCD, 0x89, 0x13, 0x27, 0x0C,
+    0xC2, 0x84, 0xB6, 0x0D, 0x2F, 0xC0, 0x83, 0x07, 0x0F, 0xCC, 0xB5, 0x6B, 0xD7, 0xCC, 0xBB, 0x77,
+    0x5C, 0x3E, 0xAF, 0xDF, 0x46, 0x47, 0x47, 0x8D, 0x7D, 0xA6, 0xD5, 0x1C, 0x3C, 0x78, 0x70, 0xFD,
+    0x95, 0x72, 0xD8, 0x33, 0x4B, 0x80, 0xA0, 0xE7, 0x80, 0xAC, 0xFE, 0xCE, 0xCC, 0xCC, 0x98, 0x4B,
+    0x97, 0x2E, 0xB5, 0x0C, 0x1F, 0xBF, 0x08, 0x46, 0x5D, 0x7C, 0x94, 0xD9, 0x4A, 0x2B, 0x00, 0x23,
+    0xFF, 0xFA, 0xF5, 0xEB, 0x55, 0x1F, 0xDA, 0x5A, 0x05, 0xC9, 0x87, 0x2B, 0x7C, 0xE0, 0xAB, 0xAC,
+    0x56, 0x4A, 0x01, 0x58, 0xF3, 0x59, 0x76, 0xF4, 0x5D, 0x51, 0x27, 0xF0, 0xF0, 0x81, 0x2F, 0x9D,
+    0xB0, 0x3B, 0xF1, 0x95, 0x47, 0xDD, 0x52, 0x0A, 0xC0, 0x09, 0xB7, 0xD5, 0x35, 0xBF, 0x19, 0x1C,
+    0x7C, 0xE1, 0xB3, 0x8C, 0x56, 0x3A, 0x01, 0xB8, 0xD4, 0xE4, 0x6A, 0xA7, 0xDB, 0x86, 0x4F, 0x7C,
+    0x97, 0xCD, 0x4A, 0x27, 0x00, 0xD7, 0xF9, 0xEE, 0x57, 0x05, 0xDD, 0x02, 0x86, 0x4F, 0x7C, 0x97,
+    0xCD, 0x4A, 0x27, 0x40, 0x9E, 0x37, 0x47, 0xF2, 0xF4, 0xDD, 0xAE, 0xB0, 0xB9, 0xDD, 0x90, 0xF1,
+    0x9F, 0xDB, 0xF1, 0x0F, 0xB0, 0xD1, 0x73, 0x3C, 0x7C, 0xC2, 0xCD, 0xCB, 0x9A, 0xF9, 0x6E, 0xF7,
+    0x78, 0x3B, 0x3D, 0xD6, 0xD2, 0xCD, 0x80, 0x3C, 0xAF, 0x56, 0xF2, 0xF4, 0xDD, 0xAE, 0x10, 0xA5,
+    0x13, 0xA0, 0xDD, 0x8E, 0x6C, 0xD4, 0x7A, 0xA5, 0x13, 0x20, 0xCF, 0xEF, 0x6F, 0xF2, 0xF4, 0xDD,
+    0xEE, 0x00, 0xC8, 0xED, 0x1C, 0xD0, 0x68, 0x8D, 0xCF, 0x3A, 0x50, 0xBE, 0xD5, 0x7C, 0xF2, 0xE4,
+    0x49, 0xD6, 0x6E, 0x6D, 0x95, 0xE3, 0xBB, 0x91, 0xB5, 0x7B, 0xBC, 0x8D, 0xFC, 0xAD, 0x37, 0xBF,
+    0x74, 0x33, 0x20, 0xCF, 0x27, 0x13, 0xF2, 0xF4, 0xBD, 0x5E, 0xE0, 0xFE, 0x7E, 0xA5, 0x13, 0x80,
+    0xEF, 0xF3, 0xF9, 0x4A, 0xB9, 0xDB, 0x86, 0x4F, 0x7C, 0x97, 0xCD, 0x4A, 0x27, 0x00, 0x77, 0xAB,
+    0xF8, 0x3E, 0xBF, 0xDB, 0x86, 0x4F, 0x7C, 0x97, 0xCD, 0x4A, 0x27, 0x00, 0x80, 0xB8, 0x99, 0xC2,
+    0xF7, 0xF9, 0xDD, 0x32, 0x7C, 0xE1, 0xB3, 0x8C, 0x56, 0x4A, 0x01, 0xB8, 0x5A, 0xE1, 0x66, 0x0A,
+    0x4F, 0xAC, 0x75, 0x6A, 0xF8, 0xC0, 0x57, 0x19, 0xAF, 0x80, 0xE8, 0x5B, 0xE7, 0x3D, 0xEC, 0x94,
+    0x50, 0x83, 0xFA, 0xDC, 0xC9, 0x3A, 0x79, 0xF2, 0x64, 0x47, 0x22, 0x00, 0x1F, 0x1F, 0xA1, 0xEF,
+    0x8A, 0x35, 0xE8, 0x62, 0x92, 0x9D, 0xDB, 0x65, 0x68, 0xB3, 0x46, 0xD7, 0x5B, 0x76, 0xEC, 0xD8,
+    0x31, 0x33, 0x31, 0x31, 0xB1, 0xA1, 0x6F, 0x49, 0x66, 0xF5, 0x35, 0xDE, 0x94, 0xCF, 0x22, 0xD4,
+    0x61, 0x79, 0xD6, 0x3D, 0xE1, 0x52, 0x08, 0x10, 0x1F, 0x4B, 0x29, 0xF0, 0xE9, 0x68, 0x7F, 0x40,
+    0xE9, 0x59, 0x4D, 0x9E, 0x58, 0xCB, 0xFB, 0xC1, 0x2C, 0xDA, 0xE6, 0x99, 0xA0, 0x0B, 0x17, 0x2E,
+    0x98, 0xD7, 0xAF, 0x5F, 0x17, 0xF2, 0x54, 0x76, 0xD6, 0x0C, 0x08, 0x7A, 0x12, 0x16, 0x7C, 0x6E,
+    0x96, 0x70, 0xB7, 0x0A, 0x30, 0x00, 0xCA, 0xCB, 0x04, 0x9F, 0xB6, 0x68, 0xB3, 0xE8, 0xA7, 0xB2,
+    0xEB, 0xF5, 0x2B, 0x98, 0x00, 0x2E, 0x7C, 0x1D, 0x18, 0xA3, 0x92, 0x27, 0xD6, 0xF2, 0x32, 0x7C,
+    0xD3, 0x86, 0xAC, 0x0C, 0x22, 0x04, 0x11, 0xA0, 0x1E, 0x7C, 0x3D, 0xAB, 0x99, 0xE7, 0xE3, 0x82,
+    0xF8, 0x0E, 0xF9, 0x68, 0xBC, 0x84, 0x77, 0xE3, 0xC2, 0x05, 0x68, 0x06, 0x9F, 0x87, 0x75, 0xF3,
+    0x36, 0xF7, 0x81, 0x60, 0xB5, 0x15, 0x72, 0x26, 0x14, 0x2E, 0xC0, 0xC8, 0xC8, 0x48, 0xD5, 0x87,
+    0x2B, 0x8D, 0xFC, 0x22, 0xE0, 0x0B, 0x78, 0x3D, 0x11, 0xF8, 0xD0, 0xC6, 0xB1, 0x15, 0x6D, 0x41,
+    0x2E, 0x43, 0xF5, 0x7F, 0x62, 0x3C, 0x34, 0xD5, 0xEE, 0xFF, 0x87, 0xF9, 0xF7, 0x70, 0xDB, 0xF9,
+    0x3E, 0x5F, 0xB3, 0x11, 0xF8, 0x79, 0xFD, 0x93, 0x5E, 0xD6, 0x55, 0x50, 0x90, 0x4F, 0xC2, 0x7C,
+    0x2F, 0x4F, 0x87, 0xF9, 0x9F, 0xAC, 0x22, 0x47, 0xBE, 0x3F, 0xBA, 0xD5, 0x36, 0x23, 0x3F, 0xD4,
+    0xBD, 0x82, 0x20, 0x02, 0x00, 0x22, 0x54, 0x87, 0x1B, 0x89, 0xE0, 0xE7, 0x17, 0xB5, 0x5D, 0xF8,
+    0x39, 0xA0, 0xA8, 0x8E, 0x6D, 0x94, 0x76, 0xA2, 0x00, 0x81, 0x95, 0x8A, 0x02, 0x44, 0x01, 0x02,
+    0x13, 0x08, 0xDC, 0x7C, 0x9C, 0x01, 0x81, 0x05, 0x08, 0x76, 0x15, 0xD4, 0x69, 0xBF, 0xDB, 0xB9,
+    0xEE, 0xEF, 0xB4, 0xCD, 0x3C, 0xEA, 0xC7, 0x19, 0x90, 0x07, 0xD5, 0x16, 0x7C, 0x46, 0x01, 0x5A,
+    0x80, 0x95, 0xC7, 0xAE, 0x8D, 0x04, 0xD0, 0xDB, 0x7E, 0x92, 0xD7, 0x6C, 0xE4, 0xD1, 0x70, 0x0F,
+    0xF9, 0x6C, 0xCA, 0xB2, 0x9E, 0x00, 0x11, 0x7A, 0x7E, 0xA3, 0xA3, 0x86, 0xAD, 0x04, 0x50, 0x81,
+    0x1B, 0x93, 0x5E, 0xFB, 0x49, 0xAB, 0xFC, 0x0E, 0xA8, 0x17, 0x3C, 0x57, 0xBD, 0xB4, 0xC7, 0x76,
+    0xD8, 0x65, 0x9C, 0x3C, 0x17, 0x54, 0x95, 0x51, 0xD9, 0x41, 0xF0, 0x55, 0xD6, 0x0B, 0xA0, 0xF2,
+    0xEA, 0xA3, 0xCB, 0x52, 0x3C, 0xD3, 0x58, 0x33, 0x80, 0xC6, 0xC9, 0xD4, 0xCE, 0xA8, 0x46, 0x58,
+    0xFB, 0x3D, 0x2F, 0x9B, 0x88, 0xD6, 0x36, 0x01, 0x18, 0x8A, 0xA7, 0x3F, 0x1B, 0x6A, 0x9E, 0x8C,
+    0x73, 0x45, 0xA0, 0xA2, 0x2A, 0xB7, 0xDD, 0x7A, 0x8F, 0x57, 0xD4, 0x20, 0x16, 0x47, 0xF1, 0x4D,
+    0xB1, 0x68, 0x06, 0xA8, 0x40, 0x33, 0x80, 0x0A, 0xBC, 0xE7, 0x6A, 0xF1, 0xCD, 0x9B, 0x37, 0x7F,
+    0xA5, 0x7B, 0xC7, 0x44, 0x4B, 0x04, 0x2A, 0xEC, 0xF4, 0xCE, 0x30, 0x5F, 0x04, 0x58, 0xA7, 0x33,
+    0x40, 0x02, 0xB8, 0x8A, 0x21, 0xC0, 0x87, 0x17, 0x2F, 0x5E, 0xFC, 0xD9, 0x52, 0xAB, 0x71, 0xE7,
+    0x94, 0x40, 0x85, 0x1D, 0x2F, 0x6E, 0x83, 0x25, 0x02, 0xF8, 0x22, 0xA4, 0x02, 0x50, 0x49, 0xA3,
+    0x1F, 0x11, 0x92, 0xD1, 0x6F, 0xE3, 0x0F, 0x57, 0xAE, 0x5C, 0xF9, 0xD9, 0xDE, 0xB4, 0x6E, 0xED,
+    0xB7, 0x62, 0xF0, 0xD6, 0xE3, 0x06, 0x33, 0xD8, 0x59, 0x0C, 0xEE, 0x9B, 0xF3, 0x60, 0x4B, 0x48,
+    0x46, 0x3F, 0x88, 0xDC, 0x7F, 0x45, 0xE1, 0xFE, 0xB0, 0x02, 0x4B, 0x13, 0xE9, 0x7E, 0xFB, 0x2E,
+    0xC4, 0xB7, 0xFB, 0xF7, 0xEF, 0x9F, 0xE7, 0xDD, 0x88, 0xF6, 0xDE, 0x29, 0xBF, 0x2D, 0x1A, 0x2D,
+    0x83, 0x00, 0xF0, 0xED, 0xCF, 0xE4, 0xFC, 0x70, 0xF6, 0xEC, 0xD9, 0x3F, 0xEC, 0xAE, 0xFC, 0x46,
+    0x28, 0x81, 0xA5, 0x28, 0xF9, 0xAD, 0x50, 0x1B, 0xA7, 0x42, 0x20, 0x80, 0xA0, 0x13, 0x63, 0x3A,
+    0x2F, 0x68, 0xDB, 0xDC, 0xBC, 0x79, 0x73, 0x96, 0x17, 0x53, 0x4E, 0x4F, 0x4F, 0x6F, 0x1D, 0x1C,
+    0x1C, 0xFC, 0x68, 0x78, 0x78, 0x98, 0x1F, 0x75, 0x4D, 0xCB, 0x93, 0x5A, 0xF1, 0xCF, 0x8A, 0x5D,
+    0xF3, 0xE7, 0xE6, 0xE7, 0xE7, 0x7F, 0x3F, 0x7F, 0xFE, 0xFC, 0x77, 0x15, 0xF8, 0xFC, 0x10, 0x29,
+    0xF0, 0x99, 0x05, 0x04, 0x2D, 0x43, 0x5A, 0xF2, 0xAB, 0xE0, 0x03, 0x14, 0xF8, 0x88, 0xC2, 0xB7,
+    0xA4, 0x8C, 0x76, 0xDE, 0x83, 0x48, 0x88, 0x2F, 0x74, 0xB6, 0x10, 0x3C, 0x13, 0x44, 0x46, 0xB3,
+    0xC0, 0x32, 0xC2, 0x05, 0x9B, 0xD8, 0x85, 0x5F, 0xF7, 0x64, 0x0C, 0xE8, 0x74, 0x3D, 0xAA, 0xA4,
+    0xE5, 0xD0, 0x6E, 0x26, 0x46, 0x39, 0x79, 0x3A, 0x2F, 0xE0, 0x94, 0x7A, 0x08, 0x85, 0x60, 0x5A,
+    0xAE, 0x6C, 0xB2, 0x67, 0x66, 0x85, 0x98, 0x89, 0x8D, 0x98, 0xC1, 0x48, 0x9C, 0xB4, 0xE4, 0x28,
+    0xF6, 0x4F, 0xC0, 0xD4, 0xAD, 0x79, 0xA7, 0xBC, 0x1C, 0x02, 0x53, 0x86, 0x73, 0x57, 0x00, 0xC0,
+    0xFB, 0xF0, 0xDD, 0xE5, 0xC8, 0x4D, 0xCB, 0xC7, 0x66, 0x8A, 0x05, 0x9F, 0x3E, 0x25, 0x10, 0x6D,
+    0x2C, 0x46, 0x9A, 0x09, 0x88, 0x40, 0x1A, 0xF8, 0xCA, 0x73, 0x05, 0xB0, 0xD9, 0x6B, 0xA6, 0x1B,
+    0x32, 0xAE, 0x53, 0x4A, 0x70, 0x88, 0xB9, 0x0D, 0x00, 0x1D, 0x87, 0x82, 0xAF, 0x25, 0xCB, 0x05,
+    0xEE, 0xA6, 0xA9, 0xBF, 0x59, 0xCD, 0xE5, 0x45, 0x1A, 0x5E, 0x8A, 0x05, 0xDA, 0x8F, 0xB5, 0x8F,
+    0x98, 0x26, 0x3E, 0x5C, 0x60, 0x4A, 0x13, 0xFB, 0x41, 0x4B, 0x8D, 0x96, 0x1B, 0xC5, 0x6E, 0x9D,
+    0xCD, 0x0A, 0xBB, 0x59, 0xBF, 0x12, 0x88, 0x15, 0xF8, 0x12, 0x40, 0xB1, 0x66, 0x05, 0xDB, 0x7E,
+    0xC0, 0x27, 0x79, 0x35, 0x6B, 0xB6, 0x0F, 0xD4, 0x17, 0xC2, 0xDD, 0x56, 0x7D, 0xD5, 0x61, 0xBB,
+    0x17, 0x4D, 0x70, 0xE9, 0xBB, 0xD2, 0xF5, 0x62, 0x95, 0xBB, 0x71, 0x8D, 0x00, 0x14, 0x62, 0x82,
+    0xAA, 0xD8, 0xCF, 0xAB, 0x97, 0x9F, 0x54, 0xEC, 0xC1, 0x3F, 0xC9, 0x48, 0xAE, 0xF4, 0x5B, 0xE0,
+    0xD9, 0xF4, 0xF3, 0xFD, 0xBC, 0xA4, 0x8A, 0x0B, 0x32, 0xC9, 0xF0, 0xFE, 0xF8, 0xE5, 0xFE, 0xB6,
+    0xB7, 0x7B, 0x2A, 0x9C, 0x9F, 0xBF, 0xD9, 0xB6, 0x5D, 0xB8, 0xF5, 0xFA, 0xE6, 0x97, 0xFB, 0xDB,
+    0x69, 0x9D, 0xFF, 0x01, 0xE6, 0xF9, 0x19, 0xD7, 0x4A, 0xC7, 0x0D, 0x5C, 0x00, 0x00, 0x00, 0x00,
+    0x49, 0x45, 0x4E, 0x44, 0xAE, 0x42, 0x60, 0x82
+};
+
+#endif    /* __icon_scale_png_h_included */

sample/api_sample/widget/widget_file_c/en_big_screen/icon_switch_select_png.h

@@ -0,0 +1,173 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __icon_switch_select_png_h_included
+#define __icon_switch_select_png_h_included
+
+#include <stdint.h>
+
+/* Contents of file icon_switch_select.png */
+#define icon_switch_select_png_fileName        "icon_switch_select.png"
+#define icon_switch_select_png_fileSize        2529
+
+static const uint8_t icon_switch_select_png_fileBinaryArray[2529] = {
+    0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00, 0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52,
+    0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x60, 0x08, 0x06, 0x00, 0x00, 0x00, 0xE2, 0x98, 0x77,
+    0x38, 0x00, 0x00, 0x00, 0x01, 0x73, 0x52, 0x47, 0x42, 0x00, 0xAE, 0xCE, 0x1C, 0xE9, 0x00, 0x00,
+    0x09, 0x9B, 0x49, 0x44, 0x41, 0x54, 0x78, 0x01, 0xED, 0x9D, 0x5B, 0x6C, 0x54, 0x45, 0x18, 0xC7,
+    0xA7, 0xDB, 0x1B, 0xB7, 0x52, 0xA3, 0x05, 0x8A, 0x04, 0x42, 0xAB, 0x25, 0x26, 0x05, 0xD3, 0x34,
+    0x88, 0x11, 0x21, 0x26, 0xC6, 0x88, 0xD7, 0x68, 0xA2, 0xBC, 0x11, 0x12, 0x9F, 0x48, 0x78, 0x23,
+    0x82, 0xC6, 0xC6, 0x04, 0x83, 0xC6, 0x04, 0x13, 0x13, 0x0D, 0xD1, 0x04, 0x9F, 0x7C, 0x20, 0x86,
+    0x04, 0x1F, 0x78, 0xA8, 0x68, 0x50, 0xF1, 0x86, 0x18, 0x45, 0x50, 0x04, 0x34, 0xA4, 0x81, 0x72,
+    0x91, 0x42, 0xA1, 0x2A, 0xB4, 0x5C, 0x4A, 0xBB, 0x17, 0xBF, 0xFF, 0xE9, 0xFE, 0x4F, 0xA6, 0xB3,
+    0x67, 0xBB, 0xEC, 0xE9, 0xB9, 0x74, 0xBB, 0xF3, 0x25, 0xDF, 0xCE, 0x7D, 0xCE, 0x99, 0xDF, 0x37,
+    0xF3, 0xCD, 0xEE, 0x9E, 0x73, 0x76, 0x2B, 0xD4, 0xD8, 0x52, 0x61, 0x14, 0x9B, 0x69, 0xA3, 0x58,
+    0x15, 0x2A, 0x37, 0xEB, 0x97, 0x6A, 0x3A, 0x53, 0xE0, 0xC4, 0xCD, 0x72, 0x33, 0xED, 0x36, 0xCF,
+    0x07, 0x8C, 0xF9, 0x0C, 0xD1, 0x80, 0x71, 0x84, 0x8C, 0xEB, 0xF9, 0x88, 0x97, 0xA3, 0xE8, 0x70,
+    0x11, 0x67, 0x9A, 0x21, 0x98, 0x30, 0xCE, 0xD0, 0xE5, 0x54, 0xE5, 0xC6, 0x46, 0x22, 0x04, 0xAB,
+    0x87, 0x04, 0x6E, 0x86, 0x68, 0xC1, 0x3C, 0xA3, 0x9B, 0xB2, 0x4A, 0x02, 0x2A, 0xC1, 0x32, 0x6E,
+    0x86, 0x26, 0x10, 0xD6, 0xF7, 0x9C, 0xC9, 0x84, 0xAA, 0x87, 0x09, 0xE9, 0x81, 0x8A, 0x7C, 0xC4,
+    0x59, 0x8E, 0xCE, 0x11, 0x2F, 0x47, 0x21, 0x48, 0x02, 0x4F, 0x0B, 0x04, 0xC4, 0x11, 0x52, 0x59,
+    0xA6, 0x87, 0x60, 0x85, 0xB4, 0xF2, 0x5A, 0x01, 0x04, 0x4B, 0xE0, 0x95, 0x52, 0x0F, 0x71, 0x33,
+    0xD4, 0x0D, 0x81, 0xBE, 0x20, 0xE5, 0x62, 0x08, 0x07, 0xDE, 0xC8, 0x90, 0x5D, 0xE0, 0xC8, 0x03,
+    0xF4, 0x54, 0x9E, 0x10, 0x65, 0x14, 0xB7, 0x3D, 0x0D, 0x40, 0xE8, 0x0C, 0x09, 0x1C, 0xD0, 0xA1,
+    0xD5, 0xD9, 0x10, 0xF5, 0x99, 0x47, 0x03, 0xB1, 0x8D, 0x14, 0x39, 0x32, 0xD9, 0x8D, 0xE0, 0xC2,
+    0x93, 0xD1, 0x22, 0x4E, 0xF0, 0x84, 0x0F, 0x03, 0x24, 0x45, 0x11, 0x0E, 0x8B, 0x82, 0x07, 0xE2,
+    0x10, 0xDD, 0x08, 0x48, 0x67, 0x68, 0x00, 0x24, 0x20, 0xA8, 0xAC, 0xC3, 0x07, 0x78, 0x53, 0xD1,
+    0x86, 0x86, 0xD0, 0x8D, 0x20, 0xD9, 0x65, 0xB7, 0x02, 0x4C, 0xF8, 0x00, 0x0F, 0x05, 0x78, 0x28,
+    0xF8, 0x20, 0xD4, 0x05, 0x46, 0x70, 0x8D, 0x08, 0x90, 0x9C, 0xC1, 0x0C, 0x69, 0x00, 0x80, 0xAF,
+    0xC9, 0x6A, 0xAD, 0x16, 0x47, 0x1E, 0x57, 0x04, 0xDD, 0x12, 0xDB, 0x4A, 0x51, 0xD9, 0x88, 0x3E,
+    0xFB, 0x31, 0xC3, 0x39, 0xE3, 0x87, 0x24, 0x4E, 0x05, 0x4B, 0xB0, 0xA1, 0xB0, 0x8D, 0x9E, 0xE7,
+    0xCE, 0x7A, 0x18, 0x03, 0x70, 0xA7, 0x8B, 0xD6, 0x8B, 0xCE, 0x16, 0x9D, 0x2F, 0xDA, 0x22, 0xBA,
+    0x64, 0xDD, 0xBA, 0x75, 0xCF, 0x9E, 0x3A, 0x75, 0xAA, 0xB3, 0xBF, 0xBF, 0xBF, 0x3B, 0x93, 0xC9,
+    0xA4, 0x44, 0xAD, 0x8C, 0x26, 0x90, 0x02, 0x1B, 0x30, 0x02, 0x2B, 0x30, 0xCB, 0xB2, 0x03, 0x43,
+    0xB0, 0x04, 0x53, 0xB0, 0x05, 0x63, 0xB0, 0x76, 0x8D, 0x03, 0x6B, 0x20, 0x81, 0x59, 0x3D, 0x45,
+    0xB4, 0x4E, 0xB4, 0x41, 0x74, 0x9E, 0xE8, 0xBD, 0xA2, 0x4B, 0x76, 0xEF, 0xDE, 0xFD, 0x6A, 0x32,
+    0x99, 0xBC, 0x3E, 0xFA, 0x78, 0x36, 0x95, 0x8F, 0x00, 0x58, 0x81, 0x19, 0xD8, 0x65, 0x19, 0x82,
+    0x25, 0x98, 0x82, 0x2D, 0x18, 0x83, 0xB5, 0x63, 0x00, 0xDD, 0x85, 0x20, 0x83, 0x1B, 0x2E, 0x2A,
+    0xC0, 0xED, 0x4C, 0x11, 0x6B, 0x36, 0x6F, 0xD8, 0xB0, 0x61, 0x5B, 0x65, 0x65, 0xE5, 0x34, 0x49,
+    0x5B, 0xB9, 0x0D, 0x02, 0x89, 0x44, 0xA2, 0xBA, 0xA5, 0xA5, 0x65, 0x79, 0x6F, 0x6F, 0xEF, 0x57,
+    0x87, 0x0E, 0x1D, 0xEA, 0x97, 0x26, 0xDC, 0xA0, 0x11, 0x72, 0x0F, 0x70, 0xF6, 0x01, 0xCE, 0x7E,
+    0x84, 0x58, 0x16, 0x00, 0x8F, 0x25, 0x32, 0x55, 0x14, 0xC0, 0xA7, 0xCB, 0x92, 0x7A, 0xAB, 0xA9,
+    0xA9, 0xE9, 0x69, 0x89, 0x5B, 0x29, 0x92, 0x40, 0x77, 0x77, 0xF7, 0x67, 0xCD, 0xCD, 0xCD, 0xAF,
+    0x4B, 0xB3, 0xEB, 0xA2, 0x37, 0x44, 0x6F, 0x8A, 0x62, 0x7F, 0xC0, 0xC6, 0x8C, 0xCD, 0x3A, 0x83,
+    0x59, 0x0F, 0x81, 0x01, 0x68, 0x0C, 0xBE, 0xCD, 0x74, 0xF6, 0x84, 0x86, 0x86, 0x86, 0x56, 0xA7,
+    0x86, 0x7D, 0x29, 0x9A, 0x40, 0x96, 0x1D, 0x7D, 0x3E, 0xB9, 0x3A, 0xAE, 0x27, 0xCB, 0xDB, 0xF1,
+    0x43, 0xE8, 0x98, 0x06, 0xD0, 0x8D, 0xE0, 0xAC, 0x88, 0xBA, 0xBA, 0xBA, 0x05, 0x45, 0x1F, 0xD9,
+    0x36, 0x70, 0x08, 0x64, 0xD9, 0xC1, 0xAB, 0x80, 0xA5, 0xEE, 0xEE, 0xC9, 0xDB, 0x35, 0x00, 0x91,
+    0xB1, 0x80, 0xFB, 0x01, 0x1B, 0xB1, 0xDC, 0x86, 0xC5, 0x11, 0x30, 0x39, 0x92, 0xAF, 0xDB, 0x0B,
+    0x5D, 0x10, 0x32, 0x58, 0x88, 0x3C, 0x2A, 0x0C, 0x60, 0x65, 0x7C, 0x04, 0x38, 0x89, 0xC9, 0x94,
+    0x9C, 0x9D, 0x5E, 0x91, 0x89, 0x0C, 0x88, 0x1E, 0x22, 0xAE, 0x97, 0x39, 0x15, 0xEC, 0x8B, 0x2F,
+    0x02, 0x3A, 0x4B, 0x9D, 0x31, 0x3A, 0xAB, 0x00, 0x64, 0x48, 0x4E, 0x41, 0x36, 0x8F, 0xE5, 0x4E,
+    0x25, 0xFB, 0xE2, 0x8B, 0x00, 0x27, 0xB2, 0x17, 0xE3, 0x9C, 0x3D, 0x00, 0x47, 0x60, 0x45, 0x5F,
+    0x47, 0xB3, 0x8D, 0xC6, 0x24, 0x90, 0xC3, 0x36, 0xDF, 0x0C, 0x47, 0x45, 0xEA, 0x98, 0x3D, 0xDA,
+    0xC2, 0x82, 0x04, 0xC8, 0x31, 0x07, 0x3E, 0x5A, 0xE6, 0x33, 0x40, 0xC1, 0x5E, 0x6D, 0x85, 0x60,
+    0x08, 0x58, 0x03, 0x04, 0xC3, 0xD1, 0x77, 0x2F, 0xD6, 0x00, 0xBE, 0xD1, 0x05, 0xD3, 0xD0, 0x1A,
+    0x20, 0x18, 0x8E, 0xBE, 0x7B, 0xB1, 0x06, 0xF0, 0x8D, 0x2E, 0x98, 0x86, 0xD6, 0x00, 0xC1, 0x70,
+    0xF4, 0xDD, 0x8B, 0x35, 0x80, 0x6F, 0x74, 0xC1, 0x34, 0xB4, 0x06, 0x08, 0x86, 0xA3, 0xEF, 0x5E,
+    0x4A, 0xCA, 0x00, 0x27, 0xFB, 0x33, 0x6A, 0xDF, 0x79, 0x5C, 0x50, 0x52, 0xEA, 0xBD, 0x3F, 0x92,
+    0xEA, 0x99, 0x3D, 0xB7, 0x54, 0xDB, 0xAE, 0x41, 0xF5, 0x53, 0xEF, 0x48, 0x9E, 0x6F, 0x0A, 0x31,
+    0x36, 0xC4, 0xF7, 0xD4, 0x13, 0x52, 0x06, 0xE5, 0x1E, 0x83, 0x1F, 0x2E, 0xA4, 0xD5, 0xE1, 0xCB,
+    0x69, 0x75, 0xE4, 0x9F, 0xB4, 0x3A, 0xFA, 0x6F, 0x5A, 0x0D, 0x0C, 0x65, 0xD4, 0xC2, 0xBA, 0x84,
+    0x7A, 0x74, 0x5E, 0xAD, 0xFA, 0xBD, 0x2F, 0xAD, 0x8E, 0x49, 0x1E, 0x64, 0xD7, 0xC9, 0x94, 0x7A,
+    0x68, 0x4E, 0x49, 0xCD, 0x25, 0x97, 0xF9, 0x84, 0x32, 0x40, 0xBF, 0x5C, 0xA8, 0xDB, 0xF7, 0x77,
+    0x4A, 0x7D, 0x7E, 0x36, 0xA5, 0xBE, 0x13, 0xF8, 0x83, 0x49, 0xF7, 0xF6, 0x19, 0xF7, 0x84, 0xBD,
+    0x22, 0xA8, 0xFF, 0xE6, 0xB2, 0x6A, 0x35, 0x7D, 0x42, 0x8D, 0xC6, 0xEB, 0x4C, 0x73, 0xF3, 0x26,
+    0xC4, 0x29, 0x1F, 0xFF, 0x2F, 0xA3, 0x3E, 0x3C, 0x36, 0xAC, 0xF6, 0x9E, 0x4B, 0xAB, 0xE1, 0xF4,
+    0xED, 0x41, 0xD7, 0x87, 0x72, 0x53, 0x0C, 0xB5, 0x47, 0x8C, 0xB0, 0xBA, 0xB9, 0xF4, 0x2E, 0x5F,
+    0xC4, 0x6A, 0x80, 0x83, 0x97, 0xD2, 0xEA, 0x83, 0x63, 0x49, 0xF5, 0x6D, 0x0F, 0xEE, 0x69, 0x1A,
+    0x9F, 0x7C, 0x2A, 0x6E, 0xC8, 0x1A, 0xE0, 0x36, 0x19, 0x5E, 0x91, 0xFB, 0x02, 0x3A, 0x7E, 0x1E,
+    0x52, 0x7B, 0xCE, 0x8C, 0x1F, 0x3C, 0x0F, 0xF9, 0x8B, 0x18, 0xB3, 0x6F, 0x50, 0x6E, 0xBE, 0xC1,
+    0x5D, 0x37, 0x25, 0x24, 0x91, 0xAF, 0x80, 0xEF, 0xC5, 0xB7, 0x6F, 0xFC, 0x69, 0x48, 0x5D, 0xBA,
+    0x51, 0xBC, 0xAB, 0x19, 0x8B, 0xAB, 0xDC, 0x24, 0xA5, 0xF6, 0x5F, 0x48, 0xA9, 0xE7, 0x9B, 0xC6,
+    0x76, 0x43, 0x0B, 0x77, 0xE0, 0xCE, 0x10, 0xFF, 0x72, 0x7A, 0x0D, 0xEE, 0xD8, 0x09, 0x4E, 0x22,
+    0x7D, 0xEB, 0xB0, 0xED, 0x68, 0x52, 0xAD, 0xFD, 0xFA, 0x56, 0xE0, 0xF0, 0x89, 0x03, 0xEF, 0x9A,
+    0x4A, 0x4D, 0x22, 0x33, 0xC0, 0x47, 0x7F, 0x26, 0xD5, 0xBB, 0x47, 0x70, 0x3F, 0x52, 0x78, 0xB2,
+    0xFF, 0x62, 0x70, 0x2E, 0x2D, 0xBC, 0xB3, 0x1C, 0xDD, 0x73, 0x24, 0x06, 0xD8, 0xD1, 0x95, 0x52,
+    0x6F, 0x1F, 0x0E, 0x17, 0x3E, 0x86, 0xD5, 0x2B, 0x6E, 0xAD, 0xEB, 0x6A, 0xB0, 0xAE, 0x6D, 0x34,
+    0xAE, 0xE0, 0x53, 0xA1, 0xEF, 0x01, 0x00, 0xF2, 0xC6, 0xC1, 0xF0, 0xE1, 0x13, 0xCD, 0xAF, 0xF2,
+    0xC1, 0xAD, 0xA5, 0x3E, 0xFF, 0x3E, 0x10, 0xB4, 0x0F, 0xE7, 0x71, 0xFD, 0x86, 0xA1, 0xAF, 0x80,
+    0xCD, 0x02, 0x3F, 0xE9, 0xE3, 0xBD, 0xBD, 0xDF, 0x01, 0x75, 0x5D, 0x2D, 0xAD, 0x7D, 0x20, 0x54,
+    0x03, 0x74, 0xCA, 0xDB, 0xCC, 0x03, 0x11, 0xFB, 0xE5, 0xAE, 0x2B, 0xA5, 0xE5, 0x82, 0x42, 0x35,
+    0xC0, 0xC7, 0x27, 0xA2, 0xDF, 0x14, 0xED, 0x0A, 0xC8, 0xFA, 0x8E, 0xCB, 0xF2, 0xA1, 0x08, 0x5F,
+    0xA4, 0x45, 0x2D, 0x17, 0x65, 0x23, 0x1E, 0x88, 0x6E, 0xCB, 0x19, 0xF7, 0xF0, 0x42, 0x5B, 0x01,
+    0x5F, 0x9E, 0x4B, 0xA9, 0xB4, 0x7C, 0x38, 0x8A, 0x43, 0x7A, 0xAE, 0xC7, 0x73, 0x5C, 0x3F, 0x63,
+    0x0D, 0xCD, 0x00, 0x71, 0x7E, 0x47, 0x3F, 0x30, 0x6C, 0x0D, 0xA0, 0xE0, 0x0A, 0xE2, 0x92, 0x52,
+    0x72, 0x41, 0xA1, 0x7D, 0x0E, 0xB8, 0x7C, 0x33, 0x3E, 0x03, 0x5C, 0x1B, 0x63, 0x05, 0x94, 0xCD,
+    0x77, 0x41, 0x97, 0x07, 0xE3, 0x34, 0x40, 0x5C, 0x6B, 0xAF, 0xF8, 0xE3, 0x86, 0xB6, 0x07, 0x14,
+    0x7F, 0x2A, 0xE5, 0xD9, 0x22, 0x34, 0x03, 0xCC, 0x9A, 0xE2, 0x79, 0x33, 0x70, 0x24, 0x94, 0x67,
+    0xE0, 0xA9, 0xAC, 0x12, 0x91, 0xD0, 0xF6, 0x80, 0x59, 0x53, 0x2B, 0xD4, 0xE9, 0x81, 0x78, 0x28,
+    0xCC, 0xA8, 0xCE, 0x6F, 0xFC, 0xB2, 0xF9, 0x2E, 0x68, 0xCE, 0xB4, 0xFC, 0x10, 0xC2, 0x36, 0xCB,
+    0xCC, 0x12, 0x5A, 0x01, 0xA1, 0xB9, 0xA0, 0x07, 0x67, 0x87, 0xD6, 0x75, 0x41, 0xFB, 0x8D, 0xB5,
+    0x02, 0x0A, 0x36, 0x8E, 0xB8, 0x42, 0x68, 0x94, 0x56, 0xCD, 0xAF, 0x54, 0x15, 0x15, 0xF1, 0xAC,
+    0x82, 0xBB, 0xA7, 0xC7, 0x73, 0x5C, 0x3F, 0xB6, 0x0B, 0xCD, 0x00, 0xB3, 0xE5, 0xD2, 0x69, 0xDB,
+    0x5D, 0xD1, 0x83, 0x68, 0x14, 0xD7, 0x57, 0x67, 0x5D, 0xD0, 0xC8, 0x5C, 0x58, 0xB3, 0x28, 0xB4,
+    0x3D, 0x3E, 0xEF, 0x64, 0x6B, 0xA9, 0x0F, 0x6D, 0x4E, 0xE5, 0x3D, 0xE6, 0x78, 0x0A, 0x42, 0x3D,
+    0xDB, 0x17, 0xE4, 0x46, 0xA9, 0xF6, 0x59, 0xA1, 0x1E, 0x22, 0x67, 0xEC, 0x2D, 0x77, 0x44, 0xBF,
+    0xEA, 0x72, 0x4E, 0xA2, 0x88, 0x8C, 0xD0, 0xE9, 0x6C, 0x79, 0xA0, 0x46, 0x25, 0x22, 0xDC, 0x0B,
+    0x4A, 0x6D, 0x05, 0x84, 0xEE, 0x23, 0x16, 0xDF, 0x59, 0xA1, 0x36, 0xB6, 0x55, 0xA9, 0x77, 0x7E,
+    0x8B, 0xE6, 0x4B, 0xFA, 0xA5, 0x05, 0x56, 0x5C, 0xD9, 0x7C, 0x17, 0xA4, 0xAF, 0xC2, 0xF5, 0xAD,
+    0x55, 0x6A, 0xFD, 0xE2, 0xF0, 0x77, 0x46, 0x7C, 0xF6, 0x68, 0xA9, 0xB7, 0x2E, 0x48, 0x67, 0xEF,
+    0xC6, 0x5F, 0x91, 0x55, 0xF0, 0xD2, 0x7D, 0xE1, 0x2E, 0xB8, 0x95, 0x73, 0xF3, 0xDF, 0x0D, 0xE1,
+    0x9E, 0xC8, 0x04, 0x8B, 0x84, 0xBE, 0x07, 0xE8, 0xE3, 0xDD, 0xBC, 0xB4, 0x5A, 0xBD, 0xBF, 0xA2,
+    0x46, 0xD5, 0xD7, 0x84, 0x33, 0x4B, 0x57, 0xCE, 0x8D, 0x74, 0x38, 0xFA, 0xD0, 0x7C, 0xC7, 0xC3,
+    0x9D, 0x92, 0x1E, 0xA7, 0xF5, 0xDC, 0xC2, 0x4A, 0xB5, 0x4C, 0x3E, 0x25, 0xBF, 0x7C, 0x60, 0x38,
+    0xD0, 0x3B, 0x26, 0xF0, 0xA1, 0xEF, 0xE1, 0xC6, 0xC2, 0x2B, 0xA0, 0x6C, 0xBE, 0x0B, 0xF2, 0x60,
+    0xEF, 0x66, 0xCD, 0x15, 0x5F, 0xFD, 0xC9, 0x63, 0x35, 0x6A, 0xFB, 0x23, 0xB5, 0xAA, 0xAD, 0x21,
+    0x98, 0x59, 0x0B, 0xA3, 0x96, 0xDA, 0x9D, 0xD1, 0x00, 0x12, 0xCC, 0xE8, 0x5D, 0xB4, 0xC5, 0x45,
+    0x56, 0xCD, 0x4F, 0xA8, 0xDD, 0x4F, 0xD4, 0x8A, 0x31, 0x6A, 0xD5, 0x0A, 0xF1, 0xDF, 0xE3, 0xF9,
+    0xEA, 0xE2, 0xC5, 0x7B, 0x0A, 0xCF, 0xFE, 0xE2, 0xCE, 0x2E, 0x9A, 0xDA, 0x91, 0xBB, 0x20, 0xAF,
+    0x61, 0x2D, 0x6F, 0x4C, 0xA8, 0xE5, 0x8D, 0x35, 0x72, 0x1D, 0x59, 0xA9, 0xBD, 0xF2, 0x88, 0xD2,
+    0x17, 0xF2, 0xB4, 0x0B, 0xEE, 0xF7, 0xBF, 0xDD, 0x3B, 0xEA, 0xA6, 0x56, 0x55, 0xA8, 0xA7, 0x16,
+    0x58, 0x03, 0x78, 0xB1, 0x2D, 0x2A, 0xAF, 0x51, 0x7E, 0x28, 0x73, 0xED, 0xA2, 0x4A, 0x47, 0xAF,
+    0xCA, 0x43, 0x1C, 0xDF, 0x9C, 0x4F, 0xA9, 0xC3, 0xF2, 0x30, 0xDE, 0x51, 0x79, 0x48, 0xEF, 0x2F,
+    0x79, 0x8C, 0x69, 0x30, 0xE5, 0x7D, 0x99, 0xF3, 0x49, 0x81, 0x5F, 0x8A, 0xCF, 0x87, 0x01, 0xCE,
+    0x84, 0x58, 0x01, 0x5E, 0x56, 0xAA, 0x97, 0x1F, 0x7B, 0xC4, 0xC3, 0x16, 0x7C, 0xE0, 0x02, 0xEC,
+    0x4F, 0xC8, 0x6D, 0x87, 0x67, 0xAF, 0x8D, 0x18, 0xE1, 0x7E, 0xD9, 0x3B, 0x2E, 0xC9, 0x85, 0xFF,
+    0xF3, 0x72, 0xF7, 0xC5, 0xEA, 0x12, 0x75, 0x3F, 0x18, 0x37, 0xDE, 0x0F, 0x62, 0xED, 0x42, 0xF1,
+    0x49, 0x09, 0xBF, 0x96, 0x8B, 0x1F, 0x6C, 0x9D, 0x21, 0x3A, 0x53, 0xB4, 0x5E, 0x9E, 0x3C, 0xD9,
+    0x2B, 0xA1, 0x15, 0x9F, 0x04, 0x64, 0x5F, 0x7B, 0x5C, 0x9A, 0x5E, 0x15, 0xC5, 0x2F, 0xE8, 0x5E,
+    0x13, 0xC5, 0x0F, 0xB8, 0xDE, 0x12, 0xC5, 0x57, 0x03, 0xA9, 0x58, 0x37, 0x61, 0x39, 0x81, 0xB2,
+    0x17, 0x6B, 0x80, 0x98, 0xA7, 0x80, 0x35, 0x80, 0x35, 0x40, 0xCC, 0x04, 0x62, 0x3E, 0xBC, 0x5D,
+    0x01, 0xD6, 0x00, 0x31, 0x13, 0x88, 0xF9, 0xF0, 0x76, 0x05, 0x58, 0x03, 0xC4, 0x4C, 0x20, 0xE6,
+    0xC3, 0xE7, 0x5B, 0x01, 0xF8, 0xB8, 0x49, 0x8D, 0xF9, 0x14, 0x4B, 0xFE, 0xF0, 0xE4, 0x38, 0xF2,
+    0x11, 0xDE, 0x18, 0x8E, 0x97, 0x01, 0x3C, 0x2B, 0x1A, 0xED, 0x6C, 0xD2, 0x1F, 0x81, 0x1C, 0xB6,
+    0x34, 0x00, 0x0B, 0xF4, 0x10, 0xF1, 0xE8, 0x9F, 0xB2, 0xF3, 0x37, 0xB0, 0x89, 0xDC, 0x0A, 0x0C,
+    0xC1, 0x52, 0x67, 0x8B, 0xF3, 0x75, 0xD2, 0x30, 0x80, 0x57, 0x01, 0xF2, 0xD8, 0x10, 0x95, 0xAD,
+    0xF8, 0x27, 0xA0, 0xB3, 0xCC, 0x61, 0xCD, 0x15, 0x80, 0xEE, 0x51, 0xC8, 0xCA, 0x80, 0x0F, 0x8D,
+    0xFE, 0x41, 0x5F, 0x39, 0xE8, 0x24, 0x13, 0x30, 0x24, 0x4F, 0x4E, 0x6A, 0x1A, 0x22, 0xE7, 0x8A,
+    0x98, 0x6E, 0x04, 0x34, 0x64, 0xE3, 0x49, 0xC6, 0x24, 0xB2, 0xE1, 0x70, 0x12, 0x93, 0x23, 0xF9,
+    0xBA, 0x27, 0xC0, 0x15, 0xC0, 0x02, 0x84, 0x6C, 0xE4, 0xFC, 0x29, 0xE5, 0xC0, 0xC0, 0xC0, 0x59,
+    0xB7, 0xB6, 0x8D, 0x14, 0x45, 0x20, 0xCB, 0x0E, 0x5F, 0x3B, 0x83, 0xA5, 0x69, 0x04, 0xB0, 0x76,
+    0x57, 0x00, 0x0D, 0x40, 0xF8, 0xA8, 0x8C, 0x46, 0x43, 0x7D, 0x7D, 0x7D, 0xC7, 0x51, 0xD1, 0x4A,
+    0xF1, 0x04, 0xB2, 0xEC, 0xF0, 0xC7, 0x6D, 0x34, 0x80, 0x69, 0x04, 0xD7, 0x00, 0xE8, 0x9D, 0xB3,
+    0x1F, 0x46, 0x70, 0x66, 0xBF, 0x84, 0x43, 0x5B, 0xB7, 0x6E, 0xDD, 0x9E, 0x4A, 0xA5, 0x70, 0x11,
+    0xC1, 0x4A, 0x11, 0x04, 0xC0, 0x0C, 0xEC, 0xA4, 0x09, 0x0C, 0xC0, 0x55, 0x00, 0xB6, 0x50, 0x67,
+    0xF6, 0x4B, 0xE8, 0x5C, 0x09, 0x43, 0x08, 0xC1, 0xD5, 0x31, 0x2A, 0x5C, 0x13, 0xE2, 0x09, 0xF9,
+    0x2F, 0xC4, 0xEB, 0xED, 0xED, 0xED, 0x3D, 0xF8, 0x6F, 0x44, 0xFC, 0x47, 0xA2, 0xE4, 0x59, 0x29,
+    0x40, 0x00, 0xF0, 0x3B, 0x3B, 0x3B, 0xB7, 0x6C, 0xDA, 0xB4, 0xE9, 0xA0, 0x54, 0xC5, 0xD5, 0x2F,
+    0x5E, 0x01, 0x73, 0xAE, 0x82, 0x49, 0xDA, 0x35, 0x04, 0x2E, 0x45, 0x12, 0x3A, 0x42, 0x08, 0xF7,
+    0x05, 0xA6, 0xD5, 0xCE, 0x9D, 0x3B, 0xBB, 0xF1, 0xC7, 0x94, 0xAD, 0xAD, 0xAD, 0x33, 0xAB, 0xAA,
+    0xAA, 0x6A, 0x6A, 0x6B, 0x6B, 0x71, 0xB9, 0xD2, 0x2D, 0x77, 0x5A, 0xD9, 0x97, 0xB4, 0xF8, 0xFC,
+    0x33, 0x3D, 0x3D, 0x3D, 0x3F, 0x76, 0x74, 0x74, 0xBC, 0x96, 0x85, 0x2F, 0x3F, 0x59, 0xE2, 0xC0,
+    0xC7, 0x2A, 0x80, 0xC2, 0x05, 0x41, 0xE9, 0xF2, 0x47, 0xC1, 0x07, 0x50, 0xC0, 0x87, 0x51, 0x70,
+    0xB1, 0x1E, 0xB3, 0x1D, 0xFF, 0x83, 0x08, 0xB5, 0x7F, 0xE8, 0x2C, 0x10, 0x0C, 0x21, 0x44, 0xCC,
+    0x66, 0x82, 0xC5, 0x0C, 0x27, 0x6C, 0x84, 0x98, 0xF9, 0x4C, 0xD3, 0x0D, 0x8D, 0xDA, 0x07, 0x00,
+    0xDA, 0xF5, 0x47, 0xD9, 0x38, 0x3B, 0x94, 0xA4, 0x23, 0x28, 0x47, 0x1E, 0xF7, 0x05, 0x74, 0x8A,
+    0x76, 0x30, 0x14, 0x0C, 0x46, 0x77, 0x25, 0xD1, 0xB2, 0x59, 0x15, 0x64, 0x46, 0x36, 0x64, 0x06,
+    0x46, 0xE4, 0x04, 0xE0, 0xBA, 0x8E, 0x02, 0x2F, 0x65, 0x68, 0x9B, 0xF3, 0x9F, 0xF2, 0xEC, 0x50,
+    0xCA, 0x5C, 0x41, 0xE7, 0xBA, 0x01, 0x00, 0xDE, 0x84, 0xAF, 0xBB, 0x23, 0x3D, 0xEE, 0x76, 0x32,
+    0x89, 0x22, 0x84, 0x8F, 0x21, 0x39, 0x10, 0x25, 0x24, 0x23, 0xAE, 0x04, 0x18, 0x01, 0x71, 0x18,
+    0x80, 0x79, 0xBA, 0x01, 0x24, 0x7B, 0x44, 0x78, 0x5F, 0x90, 0xDE, 0x29, 0x4A, 0xD0, 0x21, 0x44,
+    0x3F, 0x00, 0xA0, 0xA3, 0x43, 0xC2, 0xA7, 0xCB, 0xD2, 0x81, 0xEB, 0x71, 0xB4, 0x9F, 0xAC, 0xA2,
+    0xF3, 0x42, 0x1C, 0xBC, 0x18, 0x12, 0xB4, 0x19, 0xB2, 0x0E, 0x99, 0x3A, 0x7D, 0xE8, 0xC0, 0x18,
+    0x47, 0x68, 0x2A, 0x5D, 0x0D, 0xDD, 0x0D, 0x43, 0xBD, 0xCD, 0x64, 0x85, 0x3D, 0xD6, 0xB8, 0x1C,
+    0x88, 0x59, 0xF8, 0x34, 0x00, 0x43, 0xAE, 0x0A, 0xA4, 0x4D, 0x45, 0x9F, 0xC8, 0xCB, 0xF1, 0xD9,
+    0x26, 0x50, 0xD3, 0x10, 0x7A, 0x9A, 0xED, 0xD9, 0x06, 0xE9, 0x72, 0x14, 0xC2, 0xC5, 0xD8, 0x19,
+    0xF7, 0x0A, 0x59, 0xAE, 0x87, 0x39, 0x06, 0x40, 0x21, 0x84, 0x50, 0x19, 0x9A, 0x79, 0x5E, 0xF9,
+    0x4E, 0xC3, 0x32, 0x7C, 0x71, 0x66, 0x72, 0x76, 0xDC, 0x04, 0x8F, 0xA4, 0x99, 0x6F, 0xE6, 0x39,
+    0x4D, 0x74, 0x90, 0x4E, 0x86, 0xF1, 0x62, 0x96, 0x9B, 0x69, 0xA3, 0xBA, 0x6B, 0x38, 0x33, 0x7F,
+    0xB2, 0xA5, 0x75, 0xB8, 0x5E, 0x63, 0x33, 0xCB, 0xCD, 0xB4, 0xDB, 0xE6, 0x7F, 0x62, 0xCE, 0x22,
+    0x70, 0x90, 0xCB, 0xAB, 0x5B, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4E, 0x44, 0xAE, 0x42, 0x60,
+    0x82
+};
+
+#endif    /* __icon_switch_select_png_h_included */

sample/api_sample/widget/widget_file_c/en_big_screen/icon_switch_unselect_png.h

@@ -0,0 +1,172 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __icon_switch_unselect_png_h_included
+#define __icon_switch_unselect_png_h_included
+
+#include <stdint.h>
+
+/* Contents of file icon_switch_unselect.png */
+#define icon_switch_unselect_png_fileName        "icon_switch_unselect.png"
+#define icon_switch_unselect_png_fileSize        2514
+
+static const uint8_t icon_switch_unselect_png_fileBinaryArray[2514] = {
+    0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00, 0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52,
+    0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x60, 0x08, 0x06, 0x00, 0x00, 0x00, 0xE2, 0x98, 0x77,
+    0x38, 0x00, 0x00, 0x00, 0x01, 0x73, 0x52, 0x47, 0x42, 0x00, 0xAE, 0xCE, 0x1C, 0xE9, 0x00, 0x00,
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+    0x60, 0x82
+};
+
+#endif    /* __icon_switch_unselect_png_h_included */

sample/api_sample/widget/widget_file_c/en_big_screen/widget_config_json.h

@@ -0,0 +1,256 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __widget_config_json_h_included
+#define __widget_config_json_h_included
+
+#include <stdint.h>
+
+/* Contents of file widget_config.json */
+#define widget_config_json_fileName        "widget_config.json"
+#define widget_config_json_fileSize        3858
+
+static const uint8_t widget_config_json_fileBinaryArray[3858] = {
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+    0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
+    0x5D, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x7D, 0x0A,
+    0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x5D, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x7D, 0x0A,
+    0x7D, 0x0A
+};
+
+#endif    /* __widget_config_json_h_included */

sample/api_sample/xport/test_xport.c

@@ -0,0 +1,349 @@
+/**
+ ********************************************************************
+ * @file    test_xport.c
+ * @version V2.0.0
+ * @date    2019/10/16
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 <psdk_gimbal.h>
+#include "test_xport.h"
+#include "psdk_logger.h"
+#include "psdk_platform.h"
+#include "utils/util_misc.h"
+#include "psdk_aircraft_info.h"
+#include "camera_emu/test_payload_cam_emu.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define XPORT_TASK_FREQ             (10)
+#define XPORT_TASK_STACK_SIZE       (2048)
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+static void *UserXPort_Task(void *arg);
+static T_PsdkReturnCode ReceiveXPortSystemState(T_PsdkGimbalSystemState systemState);
+static T_PsdkReturnCode ReceiveXPortAttitudeInformation(T_PsdkGimbalAttitudeInformation attitudeInformation);
+
+/* Private variables ---------------------------------------------------------*/
+static T_PsdkTaskHandle s_userXPortThread;
+static T_PsdkMutexHandle s_userXPortMutex;
+static T_PsdkGimbalSystemState s_userXPortSystemState = {0};
+static bool s_isUserXPortInited = false;
+static bool s_isUserXPortSystemStateVaild = false;
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkTest_XPortInit(void)
+{
+    T_PsdkReturnCode psdkStat;
+    T_PsdkXPortLimitAngle limitAngle = {0};
+    T_PsdkAircraftInfoBaseInfo aircraftInfoBaseInfo = {0};
+
+    psdkStat = PsdkXPort_Init();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("XPort init error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    s_isUserXPortInited = true;
+
+    psdkStat = PsdkOsal_MutexCreate(&s_userXPortMutex);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user XPort mutex create error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    psdkStat = PsdkXPort_RegReceiveSystemStateCallback(ReceiveXPortSystemState);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register receive XPort system state callback function error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    psdkStat = PsdkXPort_RegReceiveAttitudeInformationCallback(ReceiveXPortAttitudeInformation);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register receive XPort attitude information callback function error: 0x%08llX.",
+                                psdkStat);
+        return psdkStat;
+    }
+
+    limitAngle.upperLimit = 300;
+    limitAngle.lowerLimit = -1000;
+    psdkStat = PsdkXPort_SetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set pitch joint angle limit angle for XPort error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    limitAngle.upperLimit = 300;
+    limitAngle.lowerLimit = -800;
+    psdkStat = PsdkXPort_SetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set pitch euler angle limit angle for XPort error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    limitAngle.upperLimit = 300;
+    limitAngle.lowerLimit = -1000;
+    psdkStat = PsdkXPort_SetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION, limitAngle);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set pitch extension euler angle limit angle for XPort error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    psdkStat = PsdkAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("get aircraft base information error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    if (aircraftInfoBaseInfo.payloadMountPosition == PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO1) {
+        limitAngle.upperLimit = 300;
+        limitAngle.lowerLimit = -1500;
+    } else if (aircraftInfoBaseInfo.payloadMountPosition == PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO2) {
+        limitAngle.upperLimit = 1500;
+        limitAngle.lowerLimit = -300;
+    } else if (aircraftInfoBaseInfo.payloadMountPosition == PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO3) {
+        limitAngle.upperLimit = 1500;
+        limitAngle.lowerLimit = -1500;
+    } else {
+        PsdkLogger_UserLogWarn("payload mount position is unknown.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    psdkStat = PsdkXPort_SetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE, limitAngle);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set yaw joint angle limit angle for XPort error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    psdkStat = PsdkXPort_SetGimbalModeSync(PSDK_GIMBAL_MODE_FREE);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set XPort gimbal mode error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    psdkStat = PsdkXPort_ResetSync(PSDK_GIMBAL_RESET_MODE_PITCH_AND_YAW);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("reset XPort gimbal error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    if (PsdkOsal_TaskCreate(&s_userXPortThread, UserXPort_Task, "user_xport_task", XPORT_TASK_STACK_SIZE, NULL) !=
+        PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user XPort task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkTest_XPortDeInit(void)
+{
+    T_PsdkReturnCode psdkStat;
+
+    psdkStat = PsdkOsal_TaskDestroy(s_userXPortThread);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Destroy test xport thread error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    psdkStat = PsdkOsal_MutexDestroy(s_userXPortMutex);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Destroy test xport mutex error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    psdkStat = PsdkXPort_DeInit();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("XPort de-init error: 0x%08llX.", psdkStat);
+        return psdkStat;
+    }
+
+    s_isUserXPortInited = false;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkTest_XPortGetSystemState(T_PsdkGimbalSystemState *systemState)
+{
+    T_PsdkReturnCode returnCode;
+
+    if (s_isUserXPortInited != true || s_isUserXPortSystemStateVaild != true) {
+        PsdkLogger_UserLogWarn("user XPort has not inited.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT_IN_CURRENT_STATE;
+    }
+
+    returnCode = PsdkOsal_MutexLock(s_userXPortMutex);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user XPort mutex lock error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    memcpy(systemState, &s_userXPortSystemState, sizeof(T_PsdkGimbalSystemState));
+
+    returnCode = PsdkOsal_MutexUnlock(s_userXPortMutex);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user XPort mutex unlock error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *UserXPort_Task(void *arg)
+{
+    T_PsdkReturnCode psdkStat;
+    T_PsdkXPortLimitAngle limitAngle = {0};
+    float opticalZoomFactor = 1.0f;
+    float digitalZoomFactor = 1.0f;
+    int step = 0;
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        PsdkOsal_TaskSleepMs(1000 / XPORT_TASK_FREQ);
+        step++;
+
+        if (USER_UTIL_IS_WORK_TURN(step, 1, XPORT_TASK_FREQ)) {
+            psdkStat = PsdkXPort_GetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_ROLL_JOINT_ANGLE, &limitAngle);
+            if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("get roll joint angle limit angle from XPort error: 0x%08llX.", psdkStat);
+                continue;
+            }
+
+            PsdkLogger_UserLogDebug("roll joint angle limit angle of XPort: upper limit %d, lower limit %d.",
+                                    limitAngle.upperLimit, limitAngle.lowerLimit);
+
+            psdkStat = PsdkXPort_GetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, &limitAngle);
+            if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("get pitch joint angle limit angle from XPort error: 0x%08llX.", psdkStat);
+                continue;
+            }
+
+            PsdkLogger_UserLogDebug("pitch joint angle limit angle of XPort: upper limit %d, lower limit %d.",
+                                    limitAngle.upperLimit, limitAngle.lowerLimit);
+
+            psdkStat = PsdkXPort_GetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, &limitAngle);
+            if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("get pitch euler angle limit angle from XPort error: 0x%08llX.", psdkStat);
+                continue;
+            }
+
+            PsdkLogger_UserLogDebug("pitch euler angle limit angle of XPort: upper limit %d, lower limit %d.",
+                                    limitAngle.upperLimit, limitAngle.lowerLimit);
+
+            psdkStat = PsdkXPort_GetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION,
+                                                   &limitAngle);
+            if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("get pitch extension euler angle limit angle from XPort error: 0x%08llX.",
+                                        psdkStat);
+                continue;
+            }
+
+            PsdkLogger_UserLogDebug("pitch extension euler angle limit angle of XPort: upper limit %d, lower limit %d.",
+                                    limitAngle.upperLimit, limitAngle.lowerLimit);
+
+            psdkStat = PsdkXPort_GetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE, &limitAngle);
+            if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                PsdkLogger_UserLogError("get yaw joint angle limit angle from XPort error: 0x%08llX.", psdkStat);
+                continue;
+            }
+
+            PsdkLogger_UserLogDebug("yaw joint angle limit angle of XPort: upper limit %d, lower limit %d.",
+                                    limitAngle.upperLimit, limitAngle.lowerLimit);
+        }
+
+        if (USER_UTIL_IS_WORK_TURN(step, 10, XPORT_TASK_FREQ)) {
+            if (PsdkTest_CameraIsInited()) {
+                psdkStat = PsdkTest_CameraGetOpticalZoomFactor(&opticalZoomFactor);
+                if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    PsdkLogger_UserLogError("get camera optical zoom factor error: %d.", psdkStat);
+                    continue;
+                }
+
+                psdkStat = PsdkTest_CameraGetDigitalZoomFactor(&digitalZoomFactor);
+                if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    PsdkLogger_UserLogError("get camera digital zoom factor error: %d.", psdkStat);
+                    continue;
+                }
+
+                psdkStat = PsdkXPort_SetSpeedConversionFactor(1 / (opticalZoomFactor * digitalZoomFactor));
+                if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    PsdkLogger_UserLogError("set speed conversion factor error: %d.", psdkStat);
+                    continue;
+                }
+            }
+        }
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+static T_PsdkReturnCode ReceiveXPortSystemState(T_PsdkGimbalSystemState systemState)
+{
+    T_PsdkReturnCode returnCode;
+
+    returnCode = PsdkOsal_MutexLock(s_userXPortMutex);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user XPort mutex lock error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    s_isUserXPortSystemStateVaild = true;
+    memcpy(&s_userXPortSystemState, &systemState, sizeof(T_PsdkGimbalSystemState));
+
+    returnCode = PsdkOsal_MutexUnlock(s_userXPortMutex);
+    if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user XPort mutex unlock error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    PsdkLogger_UserLogDebug("receive XPort system state: mounted upward flag %d, gimbal mode %d.",
+                            systemState.mountedUpward, systemState.gimbalMode);
+
+    PsdkLogger_UserLogDebug("XPort fine tune: %d %d %d.", systemState.fineTuneAngle.pitch,
+                            systemState.fineTuneAngle.roll, systemState.fineTuneAngle.yaw);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode ReceiveXPortAttitudeInformation(T_PsdkGimbalAttitudeInformation attitudeInformation)
+{
+    PsdkLogger_UserLogDebug("receive XPort attitude information:");
+    PsdkLogger_UserLogDebug("XPort attitude: pitch %d, roll %d, yaw %d.", attitudeInformation.attitude.pitch,
+                            attitudeInformation.attitude.roll, attitudeInformation.attitude.yaw);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/api_sample/xport/test_xport.h

@@ -0,0 +1,56 @@
+/**
+ ********************************************************************
+ * @file    test_xport.h
+ * @version V2.0.0
+ * @date    2019/10/16
+ * @brief   This is the header file for "test_xport.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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_XPORT_H
+#define TEST_XPORT_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+#include "psdk_xport.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_XPortInit(void);
+T_PsdkReturnCode PsdkTest_XPortDeInit(void);
+T_PsdkReturnCode PsdkTest_XPortGetSystemState(T_PsdkGimbalSystemState *systemState);
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_XPORT_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/platform/linux/common/monitor/sys_monitor.c

@@ -0,0 +1,484 @@
+/**
+ ********************************************************************
+ * @file    sys_monitor.c
+ * @version V2.0.0
+ * @date    2019/11/10
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <assert.h>
+#include "sys_monitor.h"
+#include "psdk_logger.h"
+#include "utils/util_misc.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define MONITOR_VMRSS_LINE      15
+#define MONITOR_PROCESS_ITEM    14
+#define MONITOR_CMD_BUF_SIZE    512
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+static const char *Monitor_GetItems(const char *buffer, int ie);
+
+/* Private variables ---------------------------------------------------------*/
+
+
+/* Exported functions definition ---------------------------------------------*/
+int Monitor_GetPhyMem(pid_t p)
+{
+    int i;
+    char file[64] = {0};
+    FILE *fd;
+    char lineBuf[256] = {0};
+    char name[32];
+    int vmrss = 0; //memory peak
+    char *ret = NULL;
+
+    sprintf(file, "/proc/%d/status", (int) p);
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    for (i = 0; i < MONITOR_VMRSS_LINE - 1; i++) {
+        ret = fgets(lineBuf, sizeof(lineBuf), fd);
+        USER_UTIL_UNUSED(ret);
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(lineBuf, "%31s %d", name, &vmrss);
+
+out:
+    fclose(fd);
+
+    return vmrss;
+}
+
+int Monitor_GetTotalMem(void)
+{
+    char *file = "/proc/meminfo";
+    FILE *fd;
+    char lineBuf[256] = {0};
+    char name[32];
+    int memtotal = 0;
+    char *ret = NULL;
+
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(lineBuf, "%31s %d", name, &memtotal);
+
+out:
+    fclose(fd);
+
+    return memtotal;
+}
+
+float Monitor_GetPmem(pid_t p)
+{
+    int phy = Monitor_GetPhyMem(p);
+    int total = Monitor_GetTotalMem();
+    float occupy = (float) ((phy * 1.0) / (total * 1.0));
+
+    return occupy;
+}
+
+unsigned int Monitor_GetCpuOccupyOfProcess(pid_t pid)
+{
+    char file[64] = {0};
+    T_MonitorProcessCpuOccupy t = {0};
+    FILE *fd;
+    char lineBuf[1024] = {0};
+    char *q = NULL;
+    char *ret = NULL;
+
+    sprintf(file, "/proc/%d/stat", (int) pid);
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(lineBuf, "%u", (unsigned int *) &t.pid);
+    q = (char *) Monitor_GetItems(lineBuf, MONITOR_PROCESS_ITEM);
+    if (q == NULL) {
+        PsdkLogger_UserLogError("get item fail.");
+        goto out;
+    }
+
+    sscanf(q, "%u %u %u %u", &t.utime, &t.stime, &t.cutime, &t.cstime);
+
+out:
+    fclose(fd);
+
+    return (t.utime + t.stime + t.cutime + t.cstime);
+}
+
+unsigned int Monitor_GetCpuOccupyOfThread(pid_t pid, pid_t tid)
+{
+    char file[64] = {0};
+    T_MonitorProcessCpuOccupy t = {0};
+    FILE *fd;
+    char lineBuf[1024] = {0};
+    char *q = NULL;
+    char *ret = NULL;
+
+    sprintf(file, "/proc/%d/task/%d/stat", (int) pid, (int) tid);
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(lineBuf, "%u", (unsigned int *) &t.pid);
+    q = (char *) Monitor_GetItems(lineBuf, MONITOR_PROCESS_ITEM);
+    if (q == NULL) {
+        PsdkLogger_UserLogError("get item fail.");
+        goto out;
+    }
+
+    sscanf(q, "%u %u %u %u", &t.utime, &t.stime, &t.cutime, &t.cstime);
+
+out:
+    fclose(fd);
+
+    return (t.utime + t.stime + t.cutime + t.cstime);
+}
+
+unsigned int Monitor_GetCpuTotalOccupy(void)
+{
+    FILE *fd;
+    char buff[1024] = {0};
+    T_MonitorTotalCpuOccupy t = {0};
+    char name[16];
+    char *ret = NULL;
+
+    fd = fopen("/proc/stat", "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    ret = fgets(buff, sizeof(buff), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(buff, "%15s %u %u %u %u", name, &t.user, &t.nice, &t.system, &t.idle);
+
+out:
+    fclose(fd);
+
+    return (t.user + t.nice + t.system + t.idle);
+}
+
+float Monitor_GetPcpuOfThread(pid_t pid, pid_t tid)
+{
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    char lineBuf[256] = {0};
+    pid_t tidInCommandLine = 0;
+    float pcpuInCommandLine = 0.0f;
+    int ret;
+    char *q = NULL;
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "ps -mp %d -o tid,pcpu", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return 0;
+    }
+
+    while (fgets(lineBuf, sizeof(lineBuf), fp) != NULL) {
+        q = (char *) Monitor_GetItems(lineBuf, 1);
+        if (q == NULL) {
+            PsdkLogger_UserLogError("get item fail.");
+            goto out;
+        }
+
+        sscanf(q, "%u", (unsigned int *) &tidInCommandLine);
+
+        if (tidInCommandLine == tid) {
+            q = (char *) Monitor_GetItems(lineBuf, 2);
+            if (q == NULL) {
+                PsdkLogger_UserLogError("get item fail.");
+                goto out;
+            }
+
+            ret = sscanf(q, "%f", &pcpuInCommandLine);
+            if (ret <= 0) {
+                PsdkLogger_UserLogError("get pcpu error.");
+                pcpuInCommandLine = 0;
+            }
+
+            goto out;
+        }
+    }
+
+    PsdkLogger_UserLogDebug("not found thread.");
+
+out:
+    pclose(fp);
+
+    return pcpuInCommandLine;
+}
+
+unsigned int Monitor_GetThreadCountOfProcess(pid_t pid)
+{
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    unsigned int count;
+    int ret;
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "ps -T -p %d | wc -l", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return 0;
+    }
+
+    ret = fscanf(fp, "%u", &count);
+    if (ret <= 0) {
+        PsdkLogger_UserLogError("get count error.");
+        count = 0;
+        goto out;
+    }
+    count--;
+
+out:
+    pclose(fp);
+
+    return count;
+}
+
+void Monitor_GetTidListOfProcess(pid_t pid, pid_t *tidList, unsigned int size)
+{
+    int i = 0;
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    char lineBuf[256] = {0};
+    int ret = 0;
+
+    if (Monitor_GetThreadCountOfProcess(pid) > size) {
+        PsdkLogger_UserLogError("size is too small.");
+        return;
+    }
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "ps -mp %d -o tid", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return;
+    }
+
+    while (fgets(lineBuf, sizeof(lineBuf), fp) != NULL && i <= size) {
+        ret = sscanf(lineBuf, "%u", (unsigned int *) &tidList[i]);
+        if (ret > 0)
+            i++;
+    }
+
+    pclose(fp);
+}
+
+void Monitor_GetNameOfThread(pid_t pid, pid_t tid, char *name, unsigned int size)
+{
+    char file[64] = {0};
+    FILE *fd;
+    char lineBuf[32] = {0};
+    char *ret = NULL;
+
+    memset(name, 0, size);
+
+    sprintf(file, "/proc/%d/task/%d/comm", (int) pid, (int) tid);
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogDebug("open file fail.");
+        return;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    if (lineBuf[strlen(lineBuf) - 1] == '\n')
+        lineBuf[strlen(lineBuf) - 1] = '\0';
+    strncpy(name, lineBuf, USER_UTIL_MIN(size - 1, sizeof(lineBuf)));
+
+out:
+    fclose(fd);
+}
+
+/**
+ * @brief
+ * @param pid
+ * @return Unit: B.
+ */
+unsigned int Monitor_GetHeapUsed(pid_t pid)
+{
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    char lineBuf[256] = {0};
+    int ret = 0;
+    unsigned int heapUsed = 0;
+    char *q = NULL;
+    char *rett = NULL;
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "cat /proc/%d/smaps | grep -A 18 heap | grep Private_Dirty", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return 0;
+    }
+
+    rett = fgets(lineBuf, sizeof(lineBuf), fp);
+    if (rett == NULL) {
+        goto out;
+    }
+
+    q = (char *) Monitor_GetItems(lineBuf, 2);
+    if (q == NULL) {
+        PsdkLogger_UserLogError("get item fail.");
+        goto out;
+    }
+
+    ret = sscanf(q, "%u", &heapUsed);
+    if (ret <= 0) {
+        PsdkLogger_UserLogError("can not find heapUsed.");
+        heapUsed = 0;
+        goto out;
+    }
+    heapUsed *= 1024;
+
+out:
+    pclose(fp);
+
+    return heapUsed;
+}
+
+/**
+ * @brief
+ * @param pid
+ * @return Unit: B.
+ */
+unsigned int Monitor_GetStackUsed(pid_t pid)
+{
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    char lineBuf[256] = {0};
+    int ret = 0;
+    unsigned int stackUsed = 0;
+    char *q = NULL;
+    char *rett = NULL;
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "cat /proc/%d/smaps | grep -A 18 stack | grep Private_Dirty", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return 0;
+    }
+
+    rett = fgets(lineBuf, sizeof(lineBuf), fp);
+    if (rett == NULL)
+        goto out;
+
+    q = (char *) Monitor_GetItems(lineBuf, 2);
+    if (q == NULL) {
+        PsdkLogger_UserLogError("get item fail.");
+        goto out;
+    }
+
+    ret = sscanf(q, "%u", &stackUsed);
+    if (ret <= 0) {
+        PsdkLogger_UserLogError("can not find stackUsed.");
+        stackUsed = 0;
+        goto out;
+    }
+    stackUsed *= 1024;
+
+out:
+    pclose(fp);
+
+    return stackUsed;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static const char *Monitor_GetItems(const char *buffer, int ie)
+{
+    int i = 0;
+    int j = 0;
+    char *p = (char *) buffer;
+    int len = (int) strlen(buffer);
+    int count = 0;
+
+    if (1 == ie || ie < 1) {
+        return p;
+    }
+
+    while (1) {
+        for (i = j; i < len; i++) {
+            if (*(buffer + i) != ' ') {
+                count++;
+
+                if (count == ie)
+                    return buffer + i;
+
+                break;
+            }
+        }
+
+        for (j = i; j < len; ++j) {
+            if (*(buffer + j) == ' ')
+                break;
+        }
+
+        if (i == len || j == len)
+            break;
+    }
+
+    return NULL;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/platform/linux/common/monitor/sys_monitor.h

@@ -0,0 +1,78 @@
+/**
+ ********************************************************************
+ * @file    sys_monitor.h
+ * @version V2.0.0
+ * @date    2019/11/10
+ * @brief   This is the header file for "sys_monitor.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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 SYS_MONITOR_H
+#define SYS_MONITOR_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    unsigned int user;
+    unsigned int nice;
+    unsigned int system;
+    unsigned int idle;
+} T_MonitorTotalCpuOccupy;
+
+typedef struct {
+    pid_t pid;
+    unsigned int utime;
+    unsigned int stime;
+    unsigned int cutime;
+    unsigned int cstime;
+} T_MonitorProcessCpuOccupy;
+
+/* Exported functions --------------------------------------------------------*/
+int Monitor_GetPhyMem(pid_t p);
+int Monitor_GetTotalMem();
+unsigned int Monitor_GetCpuTotalOccupy();
+unsigned int Monitor_GetCpuOccupyOfProcess(pid_t pid);
+unsigned int Monitor_GetCpuOccupyOfThread(pid_t pid, pid_t tid);
+float Monitor_GetPcpuOfThread(pid_t pid, pid_t tid);
+float Monitor_GetPmem(pid_t p);
+unsigned int Monitor_GetThreadCountOfProcess(pid_t pid);
+void Monitor_GetTidListOfProcess(pid_t pid, pid_t *tidList, unsigned int size);
+void Monitor_GetNameOfThread(pid_t pid, pid_t tid, char *name, unsigned int size);
+unsigned int Monitor_GetHeapUsed(pid_t pid);
+unsigned int Monitor_GetStackUsed(pid_t pid);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //SYS_MONITOR_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/platform/linux/common/osal/osal.c

@@ -0,0 +1,294 @@
+/**
+ ********************************************************************
+ * @file    psdk_osal.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 "osal.h"
+#include "utils/util_misc.h"
+#include "psdk_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+
+/* Private functions definition-----------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+
+T_PsdkReturnCode
+Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg)
+{
+    int result;
+    char nameDealed[16] = {0};
+
+    USER_UTIL_UNUSED(stackSize);
+
+    *task = malloc(sizeof(pthread_t));
+    if (*task == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    result = pthread_create(*task, NULL, taskFunc, arg);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (name != NULL)
+        strncpy(nameDealed, name, sizeof(nameDealed) - 1);
+    result = pthread_setname_np(*(pthread_t * ) * task, nameDealed);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task)
+{
+    pthread_cancel(*(pthread_t *) task);
+    free(task);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs)
+{
+    usleep(1000 * timeMs);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Declare the mutex container, initialize the mutex, and
+ * create mutex ID.
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex)
+{
+    int result;
+
+    *mutex = malloc(sizeof(pthread_mutex_t));
+    if (*mutex == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    result = pthread_mutex_init(*mutex, NULL);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Delete the created mutex.
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex)
+{
+    int result;
+
+    result = pthread_mutex_destroy(mutex);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    free(mutex);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Acquire and lock the mutex when peripheral access is required
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex)
+{
+    int result = pthread_mutex_lock(mutex);
+
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Unlock and release the mutex, when done with the peripheral access.
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex)
+{
+    int result = pthread_mutex_unlock(mutex);
+
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Declare the semaphore container, initialize the semaphore, and
+ * create semaphore ID.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @param initValue: initial value of semaphore.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue)
+{
+    int result;
+
+    *semaphore = malloc(sizeof(sem_t));
+    if (*semaphore == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    result = sem_init(*semaphore, 0, (unsigned int) initValue);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Delete the created semaphore.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore)
+{
+    int result;
+
+    result = sem_destroy((sem_t *) semaphore);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    free(semaphore);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Wait the semaphore until token becomes available.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore)
+{
+    int result;
+
+    result = sem_wait(semaphore);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Wait the semaphore until token becomes available.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @param waitTime: timeout value of waiting semaphore, unit: millisecond.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTime)
+{
+    int result;
+    struct timespec semaphoreWaitTime;
+    struct timeval systemTime;
+
+    gettimeofday(&systemTime, NULL);
+
+    systemTime.tv_usec += waitTime * 1000;
+    if (systemTime.tv_usec >= 1000000) {
+        systemTime.tv_sec += systemTime.tv_usec / 1000000;
+        systemTime.tv_usec %= 1000000;
+    }
+
+    semaphoreWaitTime.tv_sec = systemTime.tv_sec;
+    semaphoreWaitTime.tv_nsec = systemTime.tv_usec * 1000;
+
+    result = sem_timedwait(semaphore, &semaphoreWaitTime);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Release the semaphore token.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore)
+{
+    int result;
+
+    result = sem_post(semaphore);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Get the system time for ms.
+ * @return an uint32 that the time of system, uint:ms
+ */
+T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms)
+{
+    struct timeval time;
+
+    gettimeofday(&time, NULL);
+    *ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+void *Osal_Malloc(uint32_t size)
+{
+    return malloc(size);
+}
+
+void Osal_Free(void *ptr)
+{
+    free(ptr);
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/platform/linux/common/osal/osal.h

@@ -0,0 +1,77 @@
+/**
+ ********************************************************************
+ * @file    osal.h
+ * @version V2.0.0
+ * @date    2019/8/28
+ * @brief   This is the header file for "osal.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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 OSAL_H
+#define OSAL_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdio.h>
+#include <stdlib.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <sys/time.h>
+#include <unistd.h>
+#include "psdk_typedef.h"
+
+#include "psdk_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode
+Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg);
+T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task);
+T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs);
+
+T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex);
+T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex);
+T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex);
+T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex);
+
+T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue);
+T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore);
+T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore);
+T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTime);
+T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore);
+
+T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms);
+void *Osal_Malloc(uint32_t size);
+void Osal_Free(void *ptr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // OSAL_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.c

@@ -0,0 +1,219 @@
+/**
+ ********************************************************************
+ * @file    upgrade_platform_opt_linux.c
+ * @version V2.0.0
+ * @date    3/25/20
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 "upgrade_platform_opt_linux.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <psdk_logger.h>
+#include <psdk_upgrade.h>
+
+/* Private constants ---------------------------------------------------------*/
+#define PSDK_TEST_CMD_CALL_MAX_LEN              (PSDK_FILE_PATH_SIZE_MAX + 256)
+#define PSDK_REBOOT_STATE_FILE_NAME             "reboot_state"
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static FILE *s_upgradeProgramFile = NULL;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_PsdkReturnCode PsdkTest_RunSystemCmd(char *systemCmdStr);
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkUpgradePlatformLinux_RebootSystem(void)
+{
+    // attention: you need su permission to reboot system
+    return PsdkTest_RunSystemCmd("reboot -h now");
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea(void)
+{
+    char cmdBuffer[PSDK_TEST_CMD_CALL_MAX_LEN];
+
+    snprintf(cmdBuffer, PSDK_TEST_CMD_CALL_MAX_LEN, "rm -rf %s*", PSDK_TEST_UPGRADE_FILE_DIR);
+
+    return PsdkTest_RunSystemCmd(cmdBuffer);
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_ReplaceOldProgram(void)
+{
+    char cmdBuffer[PSDK_TEST_CMD_CALL_MAX_LEN];
+
+    snprintf(cmdBuffer, PSDK_TEST_CMD_CALL_MAX_LEN, "cp -f %s*_V*.*.*.bin %s", PSDK_TEST_UPGRADE_FILE_DIR,
+             PSDK_TEST_UPGRADE_OLD_FIRMWARE_PATH);
+
+    return PsdkTest_RunSystemCmd(cmdBuffer);
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_SetUpgradeRebootState(const T_PsdkUpgradeEndInfo *upgradeEndInfo)
+{
+    FILE *rebootStateFile;
+    size_t res;
+    T_PsdkReturnCode returnCode;
+
+    rebootStateFile = fopen(PSDK_REBOOT_STATE_FILE_NAME, "w+");
+    if (rebootStateFile == NULL) {
+        PsdkLogger_UserLogError("Create reboot state file error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    res = fwrite((uint8_t *) upgradeEndInfo, 1, sizeof(T_PsdkUpgradeEndInfo), rebootStateFile);
+    if (res != sizeof(T_PsdkUpgradeEndInfo)) {
+        PsdkLogger_UserLogError("Write data len is not equal");
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+    returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    fclose(rebootStateFile);
+    return returnCode;
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_GetUpgradeRebootState(bool *isUpgradeReboot,
+                                                                T_PsdkUpgradeEndInfo *upgradeEndInfo)
+{
+    FILE *rebootStateFile;
+    size_t res;
+
+    rebootStateFile = fopen(PSDK_REBOOT_STATE_FILE_NAME, "r");
+    if (rebootStateFile == NULL) {
+        *isUpgradeReboot = false;
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
+    res = fread(upgradeEndInfo, 1, sizeof(T_PsdkUpgradeEndInfo), rebootStateFile);
+    if (res != sizeof(T_PsdkUpgradeEndInfo)) {
+        PsdkLogger_UserLogError("Read data len is not equal");
+        *isUpgradeReboot = false;
+        goto out;
+    }
+    *isUpgradeReboot = true;
+
+out:
+    fclose(rebootStateFile);
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CleanUpgradeRebootState(void)
+{
+    return PsdkTest_RunSystemCmd("rm -f "PSDK_REBOOT_STATE_FILE_NAME);
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CreateUpgradeProgramFile(const T_PsdkUpgradeFileInfo *fileInfo)
+{
+    char filePath[PSDK_FILE_PATH_SIZE_MAX];
+
+    s_upgradeProgramFile = NULL;
+    snprintf(filePath, PSDK_FILE_PATH_SIZE_MAX, "%s%s", PSDK_TEST_UPGRADE_FILE_DIR, fileInfo->fileName);
+    s_upgradeProgramFile = fopen(filePath, "w+");
+    if (s_upgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("Upgrade program file can't create");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode
+PsdkUpgradePlatformLinux_WriteUpgradeProgramFile(uint32_t offset, const uint8_t *data, uint16_t dataLen)
+{
+    size_t writeLen;
+
+    if (s_upgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("upgrade program file can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (fseek(s_upgradeProgramFile, offset, SEEK_SET) != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    writeLen = fwrite(data, 1, dataLen, s_upgradeProgramFile);
+    if (writeLen != dataLen) {
+        PsdkLogger_UserLogError("Write upgrade program file error, writeLen = %d, dataLen = %d", writeLen);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_ReadUpgradeProgramFile(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                                                 uint16_t *realLen)
+{
+    uint32_t readRtn;
+
+    if (s_upgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("upgrade program file can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (fseek(s_upgradeProgramFile, offset, SEEK_SET) != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    readRtn = fread(data, 1, readDataLen, s_upgradeProgramFile);
+    if (readRtn == 0 || readRtn > readDataLen) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    *realLen = readRtn;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CloseUpgradeProgramFile(void)
+{
+    if (s_upgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("upgrade program file can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    fclose(s_upgradeProgramFile);
+    s_upgradeProgramFile = NULL;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_PsdkReturnCode PsdkTest_RunSystemCmd(char *systemCmdStr)
+{
+    int status;
+
+    status = system(systemCmdStr);
+    if (status == -1 || WIFEXITED(status) == false) {
+        PsdkLogger_UserLogError("Call %s error, status = %d", systemCmdStr, status);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (WEXITSTATUS(status) == 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        PsdkLogger_UserLogError("Exit status is = %d", WEXITSTATUS(status));
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+}
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.h

@@ -0,0 +1,71 @@
+/**
+ ********************************************************************
+ * @file    upgrade_platform_opt_linux.h
+ * @version V2.0.0
+ * @date    3/25/20
+ * @brief   This is the header file for "upgrade_platform_opt_linux.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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 UPGRADE_PLATFORM_OPT_LINUX_H
+#define UPGRADE_PLATFORM_OPT_LINUX_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <psdk_typedef.h>
+#include <psdk_upgrade.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define PSDK_TEST_UPGRADE_OLD_FIRMWARE_PATH     "/usr/local/bin/psdk_demo"
+#define PSDK_TEST_UPGRADE_FILE_DIR              "/upgrade/"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkUpgradePlatformLinux_RebootSystem(void);
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea(void);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CreateUpgradeProgramFile(const T_PsdkUpgradeFileInfo *fileInfo);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_WriteUpgradeProgramFile(uint32_t offset, const uint8_t *data,
+                                                                  uint16_t dataLen);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_ReadUpgradeProgramFile(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                                                 uint16_t *realLen);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CloseUpgradeProgramFile(void);
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_ReplaceOldProgram(void);
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_SetUpgradeRebootState(const T_PsdkUpgradeEndInfo *upgradeEndInfo);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_GetUpgradeRebootState(bool *isUpgradeReboot,
+                                                                T_PsdkUpgradeEndInfo *upgradeEndInfo);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CleanUpgradeRebootState(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // UPGRADE_PLATFORM_OPT_LINUX_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/platform/linux/manifold2/README.txt

@@ -0,0 +1,38 @@
+Payload SDK Linux Sample.
+
+Test Environment:
+Hardware:               Manifold2-C/G
+Serial:                 USB-to-Serial Controller CP210x
+C Compiler:             GCC version 5.4.0 20160609
+CMake Version:          Cmake version 3.5.1
+IDE:                    CLion 2020.3.1
+
+Communication Serial Configuration:
+Baud Rate:              460800
+
+Network Port Configuration:
+IP Address:             Auto Config (Need root permission)
+Network Port:           Auto Config
+NetMask:                Auto Config
+Gateway:                Auto Config
+
+====== The steps to run the Payload SDK linux sample  ======
+Step 1 : modify related device information, such as device name of network or uart, uart baud rate.
+
+Step 2 : fill in your app info to file with path 'sample/platform/linux/manifold2/application/app_info.h'.
+This info can be obtained by logging in to the developer website https://developer.dji.com/payload-sdk.
+
+Step 3 : build source file, use following cmd:
+cd source_code_dir/project
+mkdir build
+cd build
+cmake ..
+make
+
+Step 4 : Manifold should connect to Skyport 2.0/XPort via usb-to-serial controller and network cable, make sure the
+serial pins are connected properly.
+
+Step 5 : use the root permission to execute this program, use following cmd:
+sudo ./psdk_demo
+
+Step 6: open DJI Pilot APP/MSDK APP to use the payload demo functions.

sample/platform/linux/manifold2/application/app_info.h

@@ -0,0 +1,57 @@
+/**
+ ********************************************************************
+ * @file    app_info.h
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief   This is the header file for "app_info.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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 APP_INFO_H
+#define APP_INFO_H
+
+/* Includes ------------------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+// ATTENTION: User must goto developer.dji.com to create your own payload sdk application, get payload sdk application
+// information then fill in the application information here.
+#define USER_APP_NAME               "your_app_name"
+#define USER_APP_ID                 "your_app_id"
+#define USER_APP_KEY                "your_app_key"
+#define USER_DEVELOPER_ACCOUNT      "your_developer_account"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //APP_INFO_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/platform/linux/manifold2/application/main.c

@@ -0,0 +1,506 @@
+/**
+ ********************************************************************
+ * @file    main.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 <fcntl.h>
+#include <stdio.h>
+#include <time.h>
+#include "errno.h"
+#include <signal.h>
+
+#include "psdk_logger.h"
+#include "psdk_core.h"
+#include "psdk_platform.h"
+
+#include "osal/osal.h"
+#include "utils/util_misc.h"
+#include "hal/hal_uart.h"
+#include "hal/hal_network.h"
+#include "psdk_config.h"
+#include "app_info.h"
+#include "psdk_aircraft_info.h"
+#include "camera_emu/test_payload_cam_emu.h"
+#include "data_transmission/test_data_transmission.h"
+#include "data_subscription/test_data_subscription.h"
+#include "payload_collaboration/test_payload_collaboration.h"
+#include "camera_media_emu/test_payload_cam_media.h"
+#include "widget/test_widget.h"
+#include "gimbal_emu/test_payload_gimbal_emu.h"
+#include "psdk_data_channel.h"
+#include "data_channel/test_data_channel.h"
+#include "power_management/test_power_management.h"
+#include "xport/test_xport.h"
+#include "monitor/sys_monitor.h"
+#include "psdk_product_info.h"
+#include "mop_channel/test_mop_channel.h"
+#include "upgrade/test_upgrade.h"
+#include "upgrade_platform_opt/upgrade_platform_opt_linux.h"
+#include <psdk_payload_camera.h>
+
+/* Private constants ---------------------------------------------------------*/
+#define PSDK_LOG_PATH                    "Logs/psdk_local"
+#define PSDK_LOG_INDEX_FILE_NAME         "Logs/latest"
+#define PSDK_LOG_FOLDER_NAME             "Logs"
+#define PSDK_LOG_PATH_MAX_SIZE           (128)
+#define PSDK_LOG_FOLDER_NAME_MAX_SIZE    (32)
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    pid_t tid;
+    char name[16];
+    float pcpu;
+} T_ThreadAttribute;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_PsdkReturnCode PsdkUser_FillInUserInfo(T_PsdkUserInfo *userInfo);
+static T_PsdkReturnCode PsdkUser_Console(const uint8_t *data, uint16_t dataLen);
+static T_PsdkReturnCode PsdkUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
+static T_PsdkReturnCode PsdkUser_FileSystemInit(const char *path);
+static void *PsdkUser_MonitorTask(void *argument);
+
+/* Exported functions definition ---------------------------------------------*/
+static FILE *s_psdkLogFile;
+static FILE *s_psdkLogFileCnt;
+static pthread_t s_monitorThread = 0;
+
+/* Private functions definition-----------------------------------------------*/
+static T_PsdkReturnCode PsdkUser_FillInUserInfo(T_PsdkUserInfo *userInfo)
+{
+    memset(userInfo->appName, 0, sizeof(userInfo->appName));
+    memset(userInfo->appId, 0, sizeof(userInfo->appId));
+    memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
+    memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
+
+    if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
+        strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
+        strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
+        strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount)) {
+        PsdkLogger_UserLogError("Length of user information string is beyond limit. Please check.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (!strcmp(USER_APP_NAME, "your_app_name") ||
+        !strcmp(USER_APP_ID, "your_app_id") ||
+        !strcmp(USER_APP_KEY, "your_app_key") ||
+        !strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account")) {
+        PsdkLogger_UserLogError("Please fill in correct user information to psdk_app_info.h file.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
+    memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
+    memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
+    strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode PsdkUser_Console(const uint8_t *data, uint16_t dataLen)
+{
+    USER_UTIL_UNUSED(dataLen);
+
+    /*
+     * Warning: printf() is a blocking interface. If print speed is too low, PSDK will be blocked and many abnormal
+     * situations  occur, such as initialization failure and payload disconnection. Users can raise corresponding
+     * console level to INFO or even higher to solve this problem.
+     */
+    printf("%s", data);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode PsdkUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
+{
+    int32_t realLen;
+
+    if (s_psdkLogFile == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    realLen = fwrite(data, 1, dataLen, s_psdkLogFile);
+    fflush(s_psdkLogFile);
+    if (realLen == dataLen) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+}
+
+static T_PsdkReturnCode PsdkUser_FileSystemInit(const char *path)
+{
+    T_PsdkReturnCode psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    char filePath[PSDK_LOG_PATH_MAX_SIZE];
+    char folderName[PSDK_LOG_FOLDER_NAME_MAX_SIZE];
+    time_t currentTime = time(NULL);
+    struct tm *localTime = localtime(&currentTime);
+    uint16_t logFileIndex = 0;
+    uint16_t currentLogFileIndex = 0;
+    uint8_t ret = 0;
+
+    if (localTime == NULL) {
+        printf("Get local time error.\r\n");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (access(PSDK_LOG_FOLDER_NAME, F_OK) != 0) {
+        printf("Log file is not existed, need create new.\r\n");
+        sprintf(folderName, "mkdir %s", PSDK_LOG_FOLDER_NAME);
+        ret = system(folderName);
+        if (ret != 0) {
+            printf("Create new log folder error, ret:%d.\r\n", ret);
+            return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    }
+
+    s_psdkLogFileCnt = fopen(PSDK_LOG_INDEX_FILE_NAME, "rb+");
+    if (s_psdkLogFileCnt == NULL) {
+        s_psdkLogFileCnt = fopen(PSDK_LOG_INDEX_FILE_NAME, "wb+");
+        if (s_psdkLogFileCnt == NULL) {
+            return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    } else {
+        ret = fseek(s_psdkLogFileCnt, 0, SEEK_SET);
+        if (ret != 0) {
+            printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
+            return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        ret = fread((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_psdkLogFileCnt);
+        if (ret != sizeof(uint16_t)) {
+            printf("Read log file index error.\r\n");
+        }
+    }
+
+    printf("Get current log index: %d\r\n", logFileIndex);
+    currentLogFileIndex = logFileIndex;
+    logFileIndex++;
+
+    ret = fseek(s_psdkLogFileCnt, 0, SEEK_SET);
+    if (ret != 0) {
+        printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    ret = fwrite((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_psdkLogFileCnt);
+    if (ret != sizeof(uint16_t)) {
+        printf("Write log file index error.\r\n");
+        fclose(s_psdkLogFileCnt);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    fclose(s_psdkLogFileCnt);
+
+    sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
+            localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
+            localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
+
+    s_psdkLogFile = fopen(filePath, "wb+");
+    if (s_psdkLogFile == NULL) {
+        PsdkLogger_UserLogWarn("Open filepath time error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return psdkStat;
+}
+
+static void PsdkUser_NormalExitHandler(int signalNum)
+{
+    USER_UTIL_UNUSED(signalNum);
+    exit(0);
+}
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+static void *PsdkUser_MonitorTask(void *argument)
+{
+    unsigned int i = 0;
+    unsigned int threadCount = 0;
+    pid_t *tidList = NULL;
+    T_ThreadAttribute *threadAttribute = NULL;
+
+    USER_UTIL_UNUSED(argument);
+
+    while (1) {
+        threadCount = Monitor_GetThreadCountOfProcess(getpid());
+        tidList = PsdkOsal_Malloc(threadCount * sizeof(pid_t));
+        if (tidList == NULL) {
+            PsdkLogger_UserLogError("malloc fail.");
+            goto delay;
+        }
+        Monitor_GetTidListOfProcess(getpid(), tidList, threadCount);
+
+        threadAttribute = PsdkOsal_Malloc(threadCount * sizeof(T_ThreadAttribute));
+        if (threadAttribute == NULL) {
+            PsdkLogger_UserLogError("malloc fail.");
+            goto freeTidList;
+        }
+        for (i = 0; i < threadCount; ++i) {
+            threadAttribute[i].tid = tidList[i];
+        }
+
+        PsdkLogger_UserLogDebug("thread pcpu:");
+        PsdkLogger_UserLogDebug("tid\tname\tpcpu");
+        for (i = 0; i < threadCount; ++i) {
+            threadAttribute[i].pcpu = Monitor_GetPcpuOfThread(getpid(), tidList[i]);
+            Monitor_GetNameOfThread(getpid(), tidList[i], threadAttribute[i].name, sizeof(threadAttribute[i].name));
+            PsdkLogger_UserLogDebug("%d\t%15s\t%f %%.", threadAttribute[i].tid, threadAttribute[i].name,
+                                    threadAttribute[i].pcpu);
+        }
+
+        PsdkLogger_UserLogDebug("heap used: %d B.", Monitor_GetHeapUsed(getpid()));
+        PsdkLogger_UserLogDebug("stack used: %d B.", Monitor_GetStackUsed(getpid()));
+
+        PsdkOsal_Free(threadAttribute);
+freeTidList:
+        PsdkOsal_Free(tidList);
+
+delay:
+        sleep(10);
+    }
+}
+
+#pragma GCC diagnostic pop
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+int main(void)
+{
+    T_PsdkUserInfo userInfo;
+    const T_PsdkDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportionOfHighspeedChannel =
+        {10, 60, 30};
+    T_PsdkLoggerConsole printConsole = {
+        .consoleLevel = PSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO,
+        .func = PsdkUser_Console,
+    };
+
+    T_PsdkLoggerConsole localRecordConsole = {
+        .consoleLevel = PSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO,
+        .func = PsdkUser_LocalWrite,
+    };
+
+    T_PsdkHalUartHandler halUartHandler = {
+        .UartInit = Hal_UartInit,
+        .UartReadData = Hal_UartReadData,
+        .UartWriteData = Hal_UartSendData,
+    };
+
+    T_PsdkHalNetWorkHandler halNetWorkHandler = {
+        .NetWorkConfig = HalNetWork_Config,
+    };
+
+    T_PsdkOsalHandler osalHandler = {
+        .Malloc = Osal_Malloc,
+        .Free = Osal_Free,
+        .TaskCreate = Osal_TaskCreate,
+        .TaskDestroy = Osal_TaskDestroy,
+        .TaskSleepMs = Osal_TaskSleepMs,
+        .MutexCreate = Osal_MutexCreate,
+        .MutexDestroy = Osal_MutexDestroy,
+        .MutexLock = Osal_MutexLock,
+        .MutexUnlock = Osal_MutexUnlock,
+        .SemaphoreCreate = Osal_SemaphoreCreate,
+        .SemaphoreDestroy = Osal_SemaphoreDestroy,
+        .SemaphoreWait = Osal_SemaphoreWait,
+        .SemaphorePost = Osal_SemaphorePost,
+        .SemaphoreTimedWait = Osal_SemaphoreTimedWait,
+        .GetTimeMs = Osal_GetTimeMs,
+    };
+
+    T_PsdkAircraftInfoBaseInfo aircraftBaseInfo = {0};
+
+    if (PsdkPlatform_RegHalUartHandler(&halUartHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk register hal uart handler error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkPlatform_RegHalNetworkHandler(&halNetWorkHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk register hal network handler error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkPlatform_RegOsalHandler(&osalHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk register osal handler error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkLogger_AddConsole(&printConsole) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk add console print error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkUser_FileSystemInit(PSDK_LOG_PATH) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk file system init error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkLogger_AddConsole(&localRecordConsole) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk add console record error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkUser_FillInUserInfo(&userInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk fill in user info error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkCore_Init(&userInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk instance init error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkProductInfo_SetAlias("PSDK_APPALIAS") != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set product alias error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (PsdkAircraftInfo_GetBaseInfo(&aircraftBaseInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("get aircraft information error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+#ifdef PSDK_USING_POWER_MANAGEMENT
+    if (PsdkTest_PowerManagementInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("power management init error");
+    }
+#endif
+
+#ifdef PSDK_USING_CAMERA_EMU
+    if (PsdkTest_CameraInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk camera init error");
+    }
+#endif
+
+#ifdef PSDK_USING_CAMERA_MEDIA_EMU
+#if PSDK_ARCH_SYS_LINUX
+    if (PsdkTest_CameraMediaInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk camera media init error");
+    }
+#endif
+#endif
+
+#ifdef PSDK_USING_DATA_TRANSMISSION
+    if (PsdkTest_DataTransmissionInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk data transmission init error");
+    }
+#endif
+
+#ifdef PSDK_USING_DATA_CHANNEL
+    if (PsdkTest_DataChannelSetBandwidthProportionForHighspeedChannel(
+        bandwidthProportionOfHighspeedChannel) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set bandwidth distribution for high-speed channel error");
+    }
+#endif
+
+#ifdef PSDK_USING_DATA_SUBSCRIPTION
+    if (PsdkTest_DataSubscriptionInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk data subscription init error");
+    }
+#endif
+
+#ifdef PSDK_USING_PAYLOAD_COLLABORATION
+    if (((aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M200_V2 ||
+          aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210_V2 ||
+          aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210RTK_V2) &&
+         aircraftBaseInfo.payloadMountPosition == PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO2) ||
+        aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M300_RTK) {
+        if (PsdkTest_PayloadCollaborationInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("psdk payload collaboration init error");
+        }
+    }
+#endif
+
+#ifdef PSDK_USING_WIDGET
+    if (PsdkTest_WidgetInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk widget init error");
+    }
+#endif
+
+#ifdef PSDK_USING_GIMBAL_EMU
+    if (aircraftBaseInfo.psdkAdapterType == PSDK_AIRCRAFT_INFO_PSDK_ADAPTER_TYPE_SKYPORT_V2) {
+        if (PsdkTest_GimbalInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("psdk gimbal init error");
+        }
+    }
+#endif
+
+#ifdef PSDK_USING_XPORT
+    if (aircraftBaseInfo.psdkAdapterType == PSDK_AIRCRAFT_INFO_PSDK_ADAPTER_TYPE_XPORT) {
+        if (PsdkTest_XPortInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("psdk XPort init error");
+        }
+    }
+#endif
+
+#ifdef PSDK_USING_UPGRADE
+    T_PsdkTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
+        .rebootSystem = PsdkUpgradePlatformLinux_RebootSystem,
+        .cleanUpgradeProgramFileStoreArea = PsdkUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
+        .createUpgradeProgramFile = PsdkUpgradePlatformLinux_CreateUpgradeProgramFile,
+        .writeUpgradeProgramFile = PsdkUpgradePlatformLinux_WriteUpgradeProgramFile,
+        .readUpgradeProgramFile = PsdkUpgradePlatformLinux_ReadUpgradeProgramFile,
+        .closeUpgradeProgramFile = PsdkUpgradePlatformLinux_CloseUpgradeProgramFile,
+        .replaceOldProgram = PsdkUpgradePlatformLinux_ReplaceOldProgram,
+        .setUpgradeRebootState = PsdkUpgradePlatformLinux_SetUpgradeRebootState,
+        .getUpgradeRebootState = PsdkUpgradePlatformLinux_GetUpgradeRebootState,
+        .cleanUpgradeRebootState = PsdkUpgradePlatformLinux_CleanUpgradeRebootState,
+    };
+    if (PsdkTest_UpgradeInit(&linuxUpgradePlatformOpt) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk upgrade init error");
+    }
+#endif
+
+#ifdef PSDK_USING_MOP_CHANNEL
+    if (PsdkTest_MopChannelInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk mop channel init error");
+    }
+#endif
+
+    if (pthread_create(&s_monitorThread, NULL, PsdkUser_MonitorTask, NULL) != 0) {
+        PsdkLogger_UserLogError("create monitor task fail.");
+    }
+
+    if (pthread_setname_np(s_monitorThread, "monitor task") != 0) {
+        PsdkLogger_UserLogError("set name for monitor task fail.");
+    }
+
+    if (PsdkCore_ApplicationStart() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk application start error");
+    }
+
+    signal(SIGTERM, PsdkUser_NormalExitHandler);
+
+    while (1) {
+        sleep(1);
+    }
+}
+
+#pragma GCC diagnostic pop
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/platform/linux/manifold2/application/psdk_config.h

@@ -0,0 +1,75 @@
+/**
+ ********************************************************************
+ * @file    psdk_config.h
+ * @version V2.0.0
+ * @date    2019/9/11
+ * @brief   This is the header file for "psdk_config.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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 PSDK_CONFIG_H
+#define PSDK_CONFIG_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define PSDK_USING_POWER_MANAGEMENT
+
+#define PSDK_USING_CAMERA_EMU
+
+#define PSDK_USING_CAMERA_MEDIA_EMU
+
+#define PSDK_USING_DATA_TRANSMISSION
+
+#define PSDK_USING_DATA_CHANNEL
+
+#define PSDK_USING_DATA_SUBSCRIPTION
+
+#define PSDK_USING_PAYLOAD_COLLABORATION
+
+#define PSDK_USING_WIDGET
+
+#define PSDK_USING_GIMBAL_EMU
+
+#define PSDK_USING_XPORT
+
+#define PSDK_USING_UPGRADE
+
+/*!< Attention: This function needs to be used together with OSDK/MSDK mop sample.
+ * */
+//#define PSDK_USING_MOP_CHANNEL
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PSDK_CONFIG_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/platform/linux/manifold2/hal/hal_network.c

@@ -0,0 +1,90 @@
+/**
+ ********************************************************************
+ * @file    hal_network.c
+ * @version V2.0.0
+ * @date    3/27/20
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 "string.h"
+#include "stdlib.h"
+#include "stdio.h"
+#include "hal_network.h"
+#include "psdk_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define LINUX_NETWORK_DEV           "enp0s31f6"
+#define LINUX_CMD_STR_MAX_SIZE      (128)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode HalNetWork_Config(const char *ipAddr, const char *netMask)
+{
+    int32_t ret;
+    char cmdStr[LINUX_CMD_STR_MAX_SIZE];
+
+    if (ipAddr == NULL || netMask == NULL) {
+        PsdkLogger_UserLogError("hal network config param error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    //Attention: need root permission to config ip addr and netmask.
+    memset(cmdStr, 0, sizeof(cmdStr));
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig | grep %s", LINUX_NETWORK_DEV);
+    ret = system(cmdStr);
+    if (ret != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Can't find the network device. "
+                                "Probably the name of network device is not match or device is not properly initialized. "
+                                "Please check the name or status of network device. ");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
+    ret = system(cmdStr);
+    if (ret != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Can't open the network. "
+                                "Probably the program not execute with root permission. "
+                                "Please use the root permission to execute the program. ");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
+    ret = system(cmdStr);
+    if (ret != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Can't config the ip address of network. "
+                                "Probably the program not execute with root permission. "
+                                "Please use the root permission to execute the program. ");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/platform/linux/manifold2/hal/hal_network.h

@@ -0,0 +1,52 @@
+/**
+ ********************************************************************
+ * @file    hal_network.h
+ * @version V2.0.0
+ * @date    3/27/20
+ * @brief   This is the header file for "hal_network.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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 HAL_NETWORK_H
+#define HAL_NETWORK_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode HalNetWork_Config(const char *ipAddr, const char *netMask);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_NETWORK_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/platform/linux/manifold2/hal/hal_uart.c

@@ -0,0 +1,139 @@
+/**
+ ********************************************************************
+ * @file    psdk_hal.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 "hal_uart.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define LINUX_UART_DEV    "/dev/ttyUSB0"
+
+/* Private types -------------------------------------------------------------*/
+static int s_psdkUartFd = -1;
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode Hal_UartInit(void)
+{
+    struct termios options;
+    struct flock lock;
+    T_PsdkReturnCode returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+    s_psdkUartFd = open(LINUX_UART_DEV, O_RDWR | O_NOCTTY | O_NDELAY);
+    if (s_psdkUartFd == -1) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    // Forbid multiple psdk programs to access the serial port
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+
+    if (fcntl(s_psdkUartFd, F_GETLK, &lock) < 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    if (lock.l_type != F_UNLCK) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+    if (fcntl(s_psdkUartFd, F_SETLKW, &lock) < 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (tcgetattr(s_psdkUartFd, &options) != 0) {
+        close(s_psdkUartFd);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    cfsetispeed(&options, B460800);
+    cfsetospeed(&options, B460800);
+
+    options.c_cflag |= CLOCAL;
+    options.c_cflag |= CREAD;
+    options.c_cflag &= ~CRTSCTS;
+    options.c_cflag &= ~CSIZE;
+    options.c_cflag |= CS8;
+    options.c_cflag &= ~PARENB;
+    options.c_iflag &= ~INPCK;
+    options.c_cflag &= ~CSTOPB;
+    options.c_oflag &= ~OPOST;
+    options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+    options.c_iflag &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON);
+    options.c_cc[VTIME] = 0;
+    options.c_cc[VMIN] = 0;
+
+    tcflush(s_psdkUartFd, TCIFLUSH);
+
+    if (tcsetattr(s_psdkUartFd, TCSANOW, &options) != 0) {
+        close(s_psdkUartFd);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return returnCode;
+}
+
+T_PsdkReturnCode Hal_UartSendData(const uint8_t *pBuf, uint16_t bufLen)
+{
+    int32_t realLen;
+
+    if (s_psdkUartFd == -1) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    realLen = write(s_psdkUartFd, pBuf, bufLen);
+    if (realLen == bufLen) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+}
+
+T_PsdkReturnCode Hal_UartReadData(uint8_t *pBuf, uint16_t bufLen, uint16_t *realBufLen)
+{
+    int result;
+    T_PsdkReturnCode returnCode;
+
+    result = read(s_psdkUartFd, pBuf, bufLen);
+    if (result >= 0) {
+        *realBufLen = result;
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        *realBufLen = 0;
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return returnCode;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/platform/linux/manifold2/hal/hal_uart.h

@@ -0,0 +1,62 @@
+/**
+ ********************************************************************
+ * @file    hal.h
+ * @version V2.0.0
+ * @date    2019/8/28
+ * @brief   This is the header file for "hal.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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 HAL_H
+#define HAL_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stdint.h"
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+#include <string.h>
+
+#include "psdk_platform.h"
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode Hal_UartInit(void);
+T_PsdkReturnCode Hal_UartSendData(const uint8_t *pBuf, uint16_t bufLen);
+T_PsdkReturnCode Hal_UartReadData(uint8_t *pBuf, uint16_t bufLen, uint16_t *realBufLen);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

sample/platform/linux/manifold2/project/CMakeLists.txt

@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 2.8)
+project(psdk_demo C)
+
+### Set toolchain flags
+set(CMAKE_C_FLAGS "-D_REENTRANT -std=gnu99")
+set(CMAKE_EXE_LINKER_FLAGS "-pthread -lpthread")
+
+set(CMAKE_C_COMPILER "gcc")
+set(CMAKE_CXX_COMPILER "g++")
+
+set(PSDK_ARCH_SYS linux)
+
+include_directories(..)
+include_directories(../../common)
+include_directories(../../../../api_sample)
+include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/api_headers)
+
+## Srcs
+file(GLOB_RECURSE APP_SRC ../../manifold2/application/*.c
+        ../../manifold2/hal/*.c)
+file(GLOB_RECURSE COMMON_SRC ../../common/*.c)
+file(GLOB_RECURSE SAMPLE_SRC ../../../../api_sample/*.c)
+
+## "uname -m" to auto distinguish Manifold2-G or Manifold2-C
+execute_process(COMMAND uname -m
+        OUTPUT_VARIABLE DEVICE_SYSTEM_ID)
+
+if (NOT PSDK_ARCH_SYS)
+    message(FATAL_ERROR
+            "to use psdk inc src cmake ,
+            you must set <PSDK_ARCH_SYS> value to indicate your system arch!
+            This value can be linux, baremetal or rtos_xxxx (xxxx is the specific name of rtos."
+            )
+endif ()
+
+string(TOUPPER ${PSDK_ARCH_SYS} PSDK_ARCH_SYS_DEF)
+add_definitions(-DPSDK_ARCH_SYS_${PSDK_ARCH_SYS_DEF}=1)
+add_definitions(-D_GNU_SOURCE)
+
+## Include directories and library
+if (DEVICE_SYSTEM_ID MATCHES x86_64)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/x86_64-linux-gnu-gcc)
+    link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/x86_64-linux-gnu-gcc/libpayloadsdk.a)
+elseif (DEVICE_SYSTEM_ID MATCHES aarch64)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/aarch64-linux-gnu-gcc)
+    link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/aarch64-linux-gnu-gcc/libpayloadsdk.a)
+endif ()
+
+## Outputs
+add_executable(${CMAKE_PROJECT_NAME}
+        ${APP_SRC}
+        ${COMMON_SRC}
+        ${SAMPLE_SRC}
+        )
+
+target_link_libraries(${CMAKE_PROJECT_NAME} m)
+
+

sample/platform/rtos_freertos/common/osal/osal.c

@@ -0,0 +1,207 @@
+/**
+ ********************************************************************
+ * @file    osal.c
+ * @version V2.0.0
+ * @date    2019/08/30
+ * @brief
+ *
+ * @copyright (c) 2018-2019 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 "limits.h"
+#include "osal/osal.h"
+#include "utils/util_misc.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define SEM_MUTEX_WAIT_FOREVER      0xFFFFFFFF
+#define TASK_PRIORITY_NORMAL        0
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+
+/* Private functions definition-----------------------------------------------*/
+T_PsdkReturnCode
+Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg)
+{
+    uint32_t stackDepth;
+    char nameDealed[16] = {0};
+
+    //attention :  freertos use stack depth param, stack size = (stack depth) * sizeof(StackType_t)
+    if (stackSize % sizeof(StackType_t) == 0) {
+        stackDepth = stackSize / sizeof(StackType_t);
+    } else {
+        stackDepth = stackSize / sizeof(StackType_t) + 1;
+    }
+
+    if (name != NULL)
+        strncpy(nameDealed, name, sizeof(nameDealed) - 1);
+    if (xTaskCreate((TaskFunction_t) taskFunc, nameDealed, stackDepth, arg, TASK_PRIORITY_NORMAL, task) != pdPASS) {
+        *task = NULL;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task)
+{
+    vTaskDelete(task);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs)
+{
+    TickType_t ticks;
+
+    ticks = timeMs / portTICK_PERIOD_MS;
+
+    /* Minimum delay = 1 tick */
+    vTaskDelay(ticks ? ticks : 1);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex)
+{
+    *mutex = xSemaphoreCreateMutex();
+    if (*mutex == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex)
+{
+    vQueueDelete((SemaphoreHandle_t) mutex);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex)
+{
+    TickType_t ticks;
+
+    if (mutex == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ticks = portMAX_DELAY;
+
+    if (xSemaphoreTake(mutex, ticks) != pdTRUE) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex)
+{
+    if (xSemaphoreGive(mutex) != pdTRUE) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue)
+{
+    uint32_t maxCount = UINT_MAX;
+
+    *semaphore = xSemaphoreCreateCounting(maxCount, initValue);
+
+    if (*semaphore == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore)
+{
+    vSemaphoreDelete(semaphore);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore)
+{
+    Osal_SemaphoreTimedWait(semaphore, SEM_MUTEX_WAIT_FOREVER);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTimeMs)
+{
+    TickType_t ticks;
+
+    if (semaphore == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ticks = 0;
+    if (waitTimeMs == SEM_MUTEX_WAIT_FOREVER) {
+        ticks = portMAX_DELAY;
+    } else if (waitTimeMs != 0) {
+        ticks = waitTimeMs / portTICK_PERIOD_MS;
+        if (ticks == 0) {
+            ticks = 1;
+        }
+    }
+    if (xSemaphoreTake(semaphore, ticks) != pdTRUE) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore)
+{
+    if (xSemaphoreGive(semaphore) != pdTRUE) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms)
+{
+    *ms = xTaskGetTickCount();
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+void *Osal_Malloc(uint32_t size)
+{
+    return pvPortMalloc(size);
+}
+
+void Osal_Free(void *ptr)
+{
+    vPortFree(ptr);
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

sample/platform/rtos_freertos/common/osal/osal.h

@@ -0,0 +1,70 @@
+/**
+ ********************************************************************
+ * @file    osal.h
+ * @version V2.0.0
+ * @date    2019/8/28
+ * @brief   This is the header file for "osal.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 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 OSAL_H
+#define OSAL_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+#include "psdk_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode
+Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg);
+T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task);
+T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs);
+
+T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex);
+T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex);
+T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex);
+T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex);
+
+T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue);
+T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore);
+T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore);
+T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTime);
+T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore);
+
+T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms);
+void *Osal_Malloc(uint32_t size);
+void Osal_Free(void *ptr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // OSAL_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/