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NEW: release DJI Payload-SDK version 3.5

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-05-18 21:30:44 +08:00
parent cae3123cda
commit caa15133cd
81 changed files with 558 additions and 176 deletions
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51
samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c
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@ -29,6 +29,7 @@
#include "dji_logger.h"
#include "dji_waypoint_v3.h"
#include "waypoint_file_c/waypoint_v3_test_file_kmz.h"
#include "dji_fc_subscription.h"
/* Private constants ---------------------------------------------------------*/
#define DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX (256)
@ -47,6 +48,9 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiFcSubscriptionFlightStatus flightStatus = 0;
T_DjiDataTimestamp flightStatusTimestamp = {0};
#ifdef SYSTEM_ARCH_LINUX
FILE *kmzFile = NULL;
uint32_t kmzFileSize = 0;
@ -94,25 +98,25 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
returnCode = UtilFile_GetFileSize(kmzFile, &kmzFileSize);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get kmz file size failed.");
goto out;
goto close_file;
}
kmzFileBuf = osalHandler->Malloc(kmzFileSize);
if (kmzFileBuf == NULL) {
USER_LOG_ERROR("Malloc kmz file buf error.");
goto out;
goto close_file;
}
readLen = fread(kmzFileBuf, 1, kmzFileSize, kmzFile);
if (readLen != kmzFileSize) {
USER_LOG_ERROR("Read kmz file data failed.");
goto out;
goto close_file;
}
returnCode = DjiWaypointV3_UploadKmzFile(kmzFileBuf, kmzFileSize);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Upload kmz file failed.");
goto out;
goto close_file;
}
osalHandler->Free(kmzFileBuf);
@ -129,14 +133,43 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
returnCode = DjiWaypointV3_Action(DJI_WAYPOINT_V3_ACTION_START);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Execute start action failed.");
goto close_file;
}
osalHandler->TaskSleepMs(2000);
close_file:
#ifdef SYSTEM_ARCH_LINUX
returnCode = fclose(kmzFile);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Close KMZ file failed.");
}
kmzFile = NULL;
#endif
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Subscribe topic flight status failed, error code:0x%08llX", returnCode);
goto out;
}
#ifdef SYSTEM_ARCH_LINUX
fclose(kmzFile);
#endif
do {
osalHandler->TaskSleepMs(2000);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
(uint8_t *) &flightStatus,
sizeof(T_DjiFcSubscriptionFlightStatus),
&flightStatusTimestamp);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get value of topic flight status failed, error code:0x%08llX", returnCode);
}
USER_LOG_INFO("flight status: %d", flightStatus);
} while(flightStatus == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR);
USER_LOG_INFO("The aircraft is on the ground now.");
out:
#ifdef SYSTEM_ARCH_LINUX
@ -145,7 +178,7 @@ out:
}
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
return DjiWaypointV3_DeInit();
}
/* Private functions definition-----------------------------------------------*/