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NEW: release DJI Payload-SDK version 3.0

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
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DJI-Martin
2021-11-12 16:27:03 +08:00
parent 2cce11a80b
commit e478e9a7a5
541 changed files with 2192778 additions and 2 deletions
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255
samples/sample_c/module_sample/hms/test_hms.c Normal file
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/**
********************************************************************
* @file test_hms.c
* @brief
*
* @copyright (c) 2021 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 <widget_interaction_test/test_widget_interaction.h>
#include "test_hms.h"
#include "dji_hms.h"
#include "dji_hms_info_table.h"
#include "dji_logger.h"
#include "dji_platform.h"
#include "dji_fc_subscription.h"
/* Private constants ---------------------------------------------------------*/
#define MAX_HMS_PRINT_COUNT 150
#define MAX_BUFFER_LEN 256
#define MIN_HMS_ERROR_LEVEL 0
#define MID_HMS_ERROR_LEVEL 3
#define MAX_HMS_ERROR_LEVEL 6
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static const char *oldReplaceAlarmIdStr = "%alarmid";
static const char *oldReplaceIndexStr = "%index";
static const char *oldReplaceComponentIndexStr = "%component_index";
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiTest_HmsInit(void);
static T_DjiReturnCode DjiTest_HmsDeInit(void);
static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void);
static bool DjiTest_ReplaceStr(char *buffer, uint32_t bufferMaxLen, const char *target, const char *dest);
static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable);
static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable);
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_HmsRunSample(void)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler;
USER_LOG_INFO("Hms Sample Start");
DjiTest_WidgetLogAppend("Hms Sample Start");
USER_LOG_INFO("--> Step 1: Init hms sample");
DjiTest_WidgetLogAppend("--> Step 1: Init hms sample");
returnCode = DjiTest_HmsInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Hms sample init error, error code:0x%08llX", returnCode);
goto out;
}
osalHandler = DjiPlatform_GetOsalHandler();
USER_LOG_INFO("--> Step 2: Register callback function of push HMS information");
DjiTest_WidgetLogAppend("--> Step 2: Register callback function of push HMS information");
returnCode = DjiHms_RegHmsInfoCallback(DjiTest_HmsInfoCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register callback function of push HMS information failed, error code:0x%08llX", returnCode);
goto out;
}
osalHandler->TaskSleepMs(30000);
out:
USER_LOG_INFO("--> Step 3: Deinit hms sample");
DjiTest_WidgetLogAppend("--> Step 3: Deinit hms sample");
returnCode = DjiTest_HmsDeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Hms sample deinit error, error code:0x%08llX", returnCode);
}
USER_LOG_INFO("Hms Sample End");
DjiTest_WidgetLogAppend("Hms Sample End");
return returnCode;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiTest_HmsInit(void)
{
T_DjiReturnCode returnCode;
returnCode = DjiFcSubscription_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Hms sample init data subscription module failed, error code:0x%08llX", returnCode);
return returnCode;
}
/*! subscribe fc data */
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("HMS sample subscribe topic flight status error, error code:0x%08llX", returnCode);
return returnCode;
}
return DjiHms_Init();
}
static T_DjiReturnCode DjiTest_HmsDeInit(void)
{
T_DjiReturnCode returnCode;
returnCode = DjiFcSubscription_DeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Deinit data subscription module failed, error code:0x%08llX",
returnCode);
return returnCode;
}
return DjiHms_DeInit();
}
static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void)
{
T_DjiReturnCode djiStat;
T_DjiFcSubscriptionFlightStatus flightStatus;
T_DjiDataTimestamp flightStatusTimestamp = {0};
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
(uint8_t *) &flightStatus,
sizeof(T_DjiFcSubscriptionFlightStatus),
&flightStatusTimestamp);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get value of topic flight status failed, error code:0x%08llX", djiStat);
flightStatus = 0;
} else {
USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", flightStatusTimestamp.millisecond,
flightStatusTimestamp.microsecond);
USER_LOG_DEBUG("Flight status: %d.", flightStatus);
}
return flightStatus;
}
static bool DjiTest_ReplaceStr(char *buffer, uint32_t bufferMaxLen, const char *target, const char *dest)
{
char printBuffHeader[MAX_BUFFER_LEN] = {0};
uint32_t printBuffHeaderCpyCnt = 0;
char printBuffTail[MAX_BUFFER_LEN] = {0};
uint32_t printBuffTailCpyCnt = 0;
char *targetOffset = NULL;
targetOffset = strstr(buffer, target);
if (!targetOffset) {
return false;
}
printBuffHeaderCpyCnt = targetOffset - buffer;
if (printBuffHeaderCpyCnt > sizeof(printBuffHeader)) {
printBuffHeaderCpyCnt = sizeof(printBuffHeader);
}
memcpy(printBuffHeader, buffer, printBuffHeaderCpyCnt);
printBuffTailCpyCnt = strlen(targetOffset + strlen(target));
if (printBuffTailCpyCnt > sizeof(printBuffTail)) {
printBuffTailCpyCnt = sizeof(printBuffTail);
}
memcpy(printBuffTail, targetOffset + strlen(target), printBuffTailCpyCnt);
snprintf(buffer, bufferMaxLen, "%s%s%s", printBuffHeader, dest, printBuffTail);
return true;
}
static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable)
{
char alarmIdStr[20] = {0};
char sensorIdStr[20] = {0};
char componentIdStr[20] = {0};
char printBuff[256] = {0};
const char *originalAlarmInfo = NULL;
uint8_t hmsCodeMatchFlag = 0;
if (!hmsInfoTable.hmsInfo) {
USER_LOG_ERROR("Hms info table is null");
return false;
}
for (int i = 0; i < hmsInfoTable.hmsInfoNum; i++) {
hmsCodeMatchFlag = 0;
for (int j = 0; j < sizeof(hmsErrCodeInfoTbl) / sizeof(T_DjiHmsErrCodeInfo); j++) {
if (hmsInfoTable.hmsInfo[i].errorCode == hmsErrCodeInfoTbl[j].alarmId) {
hmsCodeMatchFlag = 1;
snprintf(alarmIdStr, sizeof(alarmIdStr), "%u", hmsInfoTable.hmsInfo[i].errorCode);
//note:sensor_idx:[0,5].In order to be consistent with the display of pilot, add one.
snprintf(sensorIdStr, sizeof(sensorIdStr), "%d", hmsInfoTable.hmsInfo[i].componentIndex + 1);
snprintf(componentIdStr, sizeof(componentIdStr), "0x%02X", hmsInfoTable.hmsInfo[i].componentIndex + 1);
if (DjiTest_GetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
originalAlarmInfo = hmsErrCodeInfoTbl[j].flyAlarmInfo;
} else {
originalAlarmInfo = hmsErrCodeInfoTbl[j].groundAlarmInfo;
}
originalAlarmInfo = hmsErrCodeInfoTbl[j].groundAlarmInfo;
if (strlen(originalAlarmInfo)) {
snprintf(printBuff, sizeof(printBuff), "%s", originalAlarmInfo);
DjiTest_ReplaceStr(printBuff, sizeof(printBuff), oldReplaceAlarmIdStr, alarmIdStr);
DjiTest_ReplaceStr(printBuff, sizeof(printBuff), oldReplaceIndexStr, sensorIdStr);
DjiTest_ReplaceStr(printBuff, sizeof(printBuff), oldReplaceComponentIndexStr, componentIdStr);
if (hmsInfoTable.hmsInfo[i].errorLevel > MIN_HMS_ERROR_LEVEL &&
hmsInfoTable.hmsInfo[i].errorLevel < MID_HMS_ERROR_LEVEL) {
USER_LOG_WARN("[ErrorCode:0x%2x] %s", hmsInfoTable.hmsInfo[i].errorCode, printBuff);
} else if (hmsInfoTable.hmsInfo[i].errorLevel >= MID_HMS_ERROR_LEVEL &&
hmsInfoTable.hmsInfo[i].errorLevel < MAX_HMS_ERROR_LEVEL) {
USER_LOG_ERROR("[ErrorCode:0x%2x] %s", hmsInfoTable.hmsInfo[i].errorCode, printBuff);
}
}
}
}
if (!hmsCodeMatchFlag) {
USER_LOG_WARN("[ErrorCode:0x%2x] There are no matching documents in the current hmsErrCodeInfoTbl for now.",
hmsInfoTable.hmsInfo[i].errorCode);
}
}
return true;
}
static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable)
{
if (!DjiTest_MarchErrCodeInfoTable(hmsInfoTable)) {
USER_LOG_ERROR("March HMS Information failed.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (hmsInfoTable.hmsInfoNum == 0) {
USER_LOG_INFO("All systems of drone are running well now.");
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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samples/sample_c/module_sample/hms/test_hms.h Normal file
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/**
********************************************************************
* @file test_hms.h
* @brief This is the header file for "test_hms.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 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_HMS_H
#define TEST_HMS_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_HmsRunSample(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_HMS_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/