NEW: release DJI Payload-SDK version 3.5

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

samples/sample_c++/platform/linux/common/osal/osal.c

@@ -98,6 +98,10 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
 {
     int result;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     *mutex = malloc(sizeof(pthread_mutex_t));
     if (*mutex == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
@@ -118,7 +122,11 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
  */
 T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
 {
-    int result;
+    int result = 0;
+
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
 
     result = pthread_mutex_destroy(mutex);
     if (result != 0) {
@@ -136,8 +144,13 @@ T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
  */
 T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
 {
-    int result = pthread_mutex_lock(mutex);
+    int result = 0;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    result = pthread_mutex_lock(mutex);
     if (result != 0) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
@@ -152,8 +165,13 @@ T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
  */
 T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
 {
-    int result = pthread_mutex_unlock(mutex);
+    int result = 0;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    result = pthread_mutex_unlock(mutex);
     if (result != 0) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
@@ -308,6 +326,14 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum)
+{
+    srand(time(NULL));
+    *randomNum = random() % 65535;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 void *Osal_Malloc(uint32_t size)
 {
     return malloc(size);

samples/sample_c++/platform/linux/common/osal/osal.h

@@ -65,6 +65,7 @@ T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
 
 T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
 T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum);
 
 void *Osal_Malloc(uint32_t size);
 void Osal_Free(void *ptr);

samples/sample_c++/platform/linux/common/osal/osal_socket.c

@@ -72,7 +72,8 @@ T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandl
             goto out;
         }
 
-        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0) {
+        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0)
+        {
             goto out;
         }
     } else if (mode == DJI_SOCKET_MODE_TCP) {
@@ -86,7 +87,6 @@ T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandl
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 
 out:
-
     close(socketHandleStruct->socketFd);
     free(socketHandleStruct);
 

samples/sample_c++/platform/linux/manifold2/CMakeLists.txt

@@ -2,15 +2,24 @@ cmake_minimum_required(VERSION 3.5)
 project(dji_sdk_demo_linux_cxx CXX)
 
 set(CMAKE_C_FLAGS "-pthread -std=gnu99")
+set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
 set(CMAKE_EXE_LINKER_FLAGS "-pthread")
 set(CMAKE_C_COMPILER "gcc")
 set(CMAKE_CXX_COMPILER "g++")
 add_definitions(-D_GNU_SOURCE)
 
-set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
-set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+if (MEMORY_LEAK_CHECK_ON MATCHES TRUE)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=leak")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fsanitize=leak")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lasan")
+endif ()
+
+if (BUILD_TEST_CASES_ON MATCHES TRUE)
+    set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+endif ()
 
 include_directories(../../../module_sample)
 include_directories(../../../../sample_c/module_sample)

samples/sample_c++/platform/linux/manifold2/application/application.cpp

@@ -77,14 +77,14 @@ Application::~Application()
 void Application::DjiUser_SetupEnvironment()
 {
     T_DjiReturnCode returnCode;
-    T_DjiOsalHandler osalHandler;
-    T_DjiHalUartHandler uartHandler;
-    T_DjiHalUsbBulkHandler usbBulkHandler;
+    T_DjiOsalHandler osalHandler = {0};
+    T_DjiHalUartHandler uartHandler = {0};
+    T_DjiHalUsbBulkHandler usbBulkHandler = {0};
     T_DjiLoggerConsole printConsole;
     T_DjiLoggerConsole localRecordConsole;
-    T_DjiFileSystemHandler fileSystemHandler;
-    T_DjiSocketHandler socketHandler;
-    T_DjiHalNetworkHandler networkHandler;
+    T_DjiFileSystemHandler fileSystemHandler = {0};
+    T_DjiSocketHandler socketHandler {0};
+    T_DjiHalNetworkHandler networkHandler = {0};
 
     networkHandler.NetworkInit = HalNetWork_Init;
     networkHandler.NetworkDeInit = HalNetWork_DeInit;
@@ -117,6 +117,7 @@ void Application::DjiUser_SetupEnvironment()
     osalHandler.Free = Osal_Free;
     osalHandler.GetTimeMs = Osal_GetTimeMs;
     osalHandler.GetTimeUs = Osal_GetTimeUs;
+    osalHandler.GetRandomNum = Osal_GetRandomNum;
 
     printConsole.func = DjiUser_PrintConsole;
     printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;

samples/sample_c++/platform/linux/manifold2/application/main.cpp

@@ -30,7 +30,6 @@
 #include <hms/test_hms.h>
 #include <waypoint_v2/test_waypoint_v2.h>
 #include <waypoint_v3/test_waypoint_v3.h>
-#include <gimbal_manager/test_gimbal_manager.h>
 #include "application.hpp"
 #include "fc_subscription/test_fc_subscription.h"
 #include <gimbal_emu/test_payload_gimbal_emu.h>

samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.c

@@ -62,17 +62,19 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
 #ifdef LIBUSB_INSTALLED
         ret = libusb_init(NULL);
         if (ret < 0) {
+            USER_LOG_ERROR("init usb bulk failed, errno = %d", ret);
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
-        if (handle == NULL) {
+        if(handle == NULL) {
+            USER_LOG_ERROR("open usb device failed");
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
         if (ret != LIBUSB_SUCCESS) {
-            printf("libusb claim interface error");
+            USER_LOG_ERROR("libusb claim interface failed, errno = %d", ret);
             libusb_close(handle);
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
@@ -115,6 +117,7 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
 {
     struct libusb_device_handle *handle = NULL;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    int32_t ret;
 
     if (usbBulkHandle == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@@ -124,8 +127,11 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
 #ifdef LIBUSB_INSTALLED
-        libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
-        osalHandler->TaskSleepMs(100);
+        ret = libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
+        if(ret != 0) {
+            USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
         libusb_exit(NULL);
 #endif
     } else {

samples/sample_c++/platform/linux/nvidia_jetson/CMakeLists.txt

@@ -1,15 +1,15 @@
 cmake_minimum_required(VERSION 3.5)
-project(dji_sdk_demo_on_jeston_cxx CXX)
+project(dji_sdk_demo_on_jetson_cxx CXX)
 
 set(CMAKE_C_FLAGS "-pthread -std=gnu99")
+set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
 set(CMAKE_EXE_LINKER_FLAGS "-pthread")
 set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
 set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
 add_definitions(-D_GNU_SOURCE)
 
 if (BUILD_TEST_CASES_ON MATCHES TRUE)
-    set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
 endif ()
@@ -17,7 +17,7 @@ endif ()
 include_directories(../../../module_sample)
 include_directories(../../../../sample_c/module_sample)
 include_directories(../common)
-include_directories(../nvidia_jeston/application)
+include_directories(../nvidia_jetson/application)
 
 file(GLOB_RECURSE MODULE_SAMPLE_SRC
         ../../../module_sample/liveview/*.c*
@@ -57,9 +57,11 @@ if (OpenCV_FOUND)
     execute_process(COMMAND opencv_version OUTPUT_VARIABLE OPENCV_VERSION)
     if (${OPENCV_VERSION} STRLESS "4.0.0")
         add_definitions(-DOPEN_CV_VERSION_3)
-    else()
+
+    else ()
         add_definitions(-DOPEN_CV_VERSION_4)
-    endif()
+
+    endif ()
 else ()
     message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
 endif ()
@@ -69,8 +71,6 @@ if (FFMPEG_FOUND)
     message(STATUS "Found FFMPEG installed in the system")
     message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
     message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
-    add_definitions(-DFFMPEG_INSTALLED)
-    include_directories(${FFMPEG_INCLUDE_DIR})
 
     EXECUTE_PROCESS(COMMAND ffmpeg -version
             OUTPUT_VARIABLE ffmpeg_version_psdk_libput
@@ -87,6 +87,8 @@ if (FFMPEG_FOUND)
     endif ()
 
     target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES})
+    include_directories(${FFMPEG_INCLUDE_DIR})
+    add_definitions(-DFFMPEG_INSTALLED)
 else ()
     message(STATUS "Cannot Find FFMPEG")
 endif (FFMPEG_FOUND)

samples/sample_c++/platform/linux/nvidia_jetson/application/application.cpp

@@ -77,14 +77,14 @@ Application::~Application()
 void Application::DjiUser_SetupEnvironment()
 {
     T_DjiReturnCode returnCode;
-    T_DjiOsalHandler osalHandler;
-    T_DjiHalUartHandler uartHandler;
-    T_DjiHalUsbBulkHandler usbBulkHandler;
+    T_DjiOsalHandler osalHandler = {0};
+    T_DjiHalUartHandler uartHandler = {0};
+    T_DjiHalUsbBulkHandler usbBulkHandler = {0};
     T_DjiLoggerConsole printConsole;
     T_DjiLoggerConsole localRecordConsole;
-    T_DjiFileSystemHandler fileSystemHandler;
-    T_DjiSocketHandler socketHandler;
-    T_DjiHalNetworkHandler networkHandler;
+    T_DjiFileSystemHandler fileSystemHandler = {0};
+    T_DjiSocketHandler socketHandler = {0};
+    T_DjiHalNetworkHandler networkHandler = {0};
 
     networkHandler.NetworkInit = HalNetWork_Init;
     networkHandler.NetworkDeInit = HalNetWork_DeInit;
@@ -117,6 +117,7 @@ void Application::DjiUser_SetupEnvironment()
     osalHandler.Free = Osal_Free;
     osalHandler.GetTimeMs = Osal_GetTimeMs;
     osalHandler.GetTimeUs = Osal_GetTimeUs;
+    osalHandler.GetRandomNum = Osal_GetRandomNum,
 
     printConsole.func = DjiUser_PrintConsole;
     printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;