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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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53
samples/sample_c/platform/linux/manifold2/application/main.c
View File

@ -81,6 +81,7 @@ static pthread_t s_monitorThread = 0;
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void);
static T_DjiReturnCode DjiUser_CleanSystemEnvironment(void);
static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo);
static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
@ -180,7 +181,8 @@ int main(int argc, char **argv)
#endif
if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT &&
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK) {
(aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK)) {
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction sample init error");
@ -190,6 +192,13 @@ int main(int argc, char **argv)
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker test init error");
}
#ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
returnCode = DjiTest_MopChannelStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mop channel sample init error");
}
#endif
} else {
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
returnCode = DjiTest_CameraEmuBaseStartService();
@ -339,6 +348,7 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
.Free = Osal_Free,
.GetTimeMs = Osal_GetTimeMs,
.GetTimeUs = Osal_GetTimeUs,
.GetRandomNum = Osal_GetRandomNum,
};
T_DjiLoggerConsole printConsole = {
@ -466,6 +476,39 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiUser_CleanSystemEnvironment(void)
{
T_DjiReturnCode returnCode;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft base info error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
returnCode = DjiTest_PowerManagementStopService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
perror("power management deinit error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
returnCode = DjiTest_DataTransmissionStopService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
perror("widget sample deinit error");
}
#endif
returnCode = DjiCore_DeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
perror("Core deinit failed.");
}
return returnCode;
}
static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
{
if (userInfo == NULL) {
@ -689,7 +732,15 @@ static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinSta
static void DjiUser_NormalExitHandler(int signalNum)
{
T_DjiReturnCode returnCode;
USER_UTIL_UNUSED(signalNum);
returnCode = DjiUser_CleanSystemEnvironment();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
perror("Clean up system environment failed.");
}
exit(0);
}

11
samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.c
View File

@ -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) {
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;
}
@ -114,6 +116,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
{
struct libusb_device_handle *handle = NULL;
int32_t ret;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
if (usbBulkHandle == NULL) {
@ -124,7 +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);
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;
}
osalHandler->TaskSleepMs(100);
libusb_exit(NULL);
#endif