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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>
This commit is contained in:
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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174
samples/sample_c/module_sample/payload_collaboration/test_payload_collaboration.c Normal file
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/**
********************************************************************
* @file test_payload_collaboration.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 <dji_payload_camera.h>
#include "test_payload_collaboration.h"
#include "dji_aircraft_info.h"
#include "dji_typedef.h"
#include "dji_logger.h"
#include "dji_platform.h"
#include "utils/util_misc.h"
/* Private constants ---------------------------------------------------------*/
#define DJI_TEST_PAYLOAD_COLLABORATION_TASK_FREQ (1)
#define DJI_TEST_PAYLOAD_COLLABORATION_TASK_STACK_SIZE (2048)
#define DJI_TEST_PAYLOAD_COLLABORATION_PAYLOADS_IN_DRONE_MAX_COUNT (3)
/* Private types -------------------------------------------------------------*/
typedef struct {
E_DjiCameraType cameraType;
bool hasOpticalZoomSpec;
bool hasHybridZoomFocalLength;
} T_DjiTestPayloadPara;
/* Private functions declaration ---------------------------------------------*/
static void *DjiTest_PayloadCollaborationTask(void *arg);
/* Private variables ---------------------------------------------------------*/
static T_DjiTaskHandle s_payloadCollaborationThread;
static const T_DjiTestPayloadPara s_payloadPara[] = {
{DJI_CAMERA_TYPE_Z30, true, true},
{DJI_CAMERA_TYPE_XT2, true, true},
{DJI_CAMERA_TYPE_XTS, false, false},
{DJI_CAMERA_TYPE_H20, true, true},
{DJI_CAMERA_TYPE_H20T, true, true},
};
static bool s_userPayloadCollaborationDataShow = false;
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_PayloadCollaborationStartService(void)
{
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
if (osalHandler->TaskCreate("user_payload_collaboration_task", DjiTest_PayloadCollaborationTask,
DJI_TEST_PAYLOAD_COLLABORATION_TASK_STACK_SIZE,
NULL, &s_payloadCollaborationThread) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("user payload collaboration task create error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode DjiTest_PayloadCollaborationDataShowTrigger(void)
{
s_userPayloadCollaborationDataShow = !s_userPayloadCollaborationDataShow;
return DJI_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 *DjiTest_PayloadCollaborationTask(void *arg)
{
int i = 0;
unsigned int payloadParaIndex = 0;
T_DjiReturnCode djiStat;
E_DjiCameraType cameraType = DJI_CAMERA_TYPE_UNKNOWN;
uint16_t cameraHybridZoomFocalLength = 0;
T_DjiAircraftInfoBaseInfo aircraftBaseInfo = {0};
E_DjiMountPosition requestedPayloadMountPosition;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiCameraOpticalZoomSpec cameraOpticalZoomSpec = {0};
USER_UTIL_UNUSED(arg);
while (1) {
osalHandler->TaskSleepMs(1000 / DJI_TEST_PAYLOAD_COLLABORATION_TASK_FREQ);
djiStat = DjiAircraftInfo_GetBaseInfo(&aircraftBaseInfo);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft information error: 0x%08llX.", djiStat);
continue;
}
for (i = 0; i < DJI_TEST_PAYLOAD_COLLABORATION_PAYLOADS_IN_DRONE_MAX_COUNT; ++i) {
requestedPayloadMountPosition =
(E_DjiMountPosition) (i + DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1);
if (requestedPayloadMountPosition == aircraftBaseInfo.mountPosition)
continue;
djiStat = DjiPayloadCamera_GetCameraTypeOfPayload(requestedPayloadMountPosition, &cameraType);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
continue;
}
if (s_userPayloadCollaborationDataShow == true) {
USER_LOG_INFO("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)) {
USER_LOG_ERROR("Not find payload parameters.");
continue;
}
if (s_payloadPara[payloadParaIndex].hasOpticalZoomSpec) {
djiStat = DjiPayloadCamera_GetCameraOpticalZoomSpecOfPayload(requestedPayloadMountPosition,
&cameraOpticalZoomSpec);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get optical zoom specification error.");
}
if (s_userPayloadCollaborationDataShow == true) {
USER_LOG_INFO(
"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) {
djiStat = DjiPayloadCamera_GetCameraHybridZoomFocalLengthOfPayload(requestedPayloadMountPosition,
&cameraHybridZoomFocalLength);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get hybrid zoom focal length error.");
}
if (s_userPayloadCollaborationDataShow == true) {
USER_LOG_INFO(
"camera hybrid zoom focal length of payload mounted on NO.%d gimbal connector, focalLength: %d.\r\n",
requestedPayloadMountPosition, cameraHybridZoomFocalLength);
}
}
}
}
}
#ifndef __CC_ARM
#pragma GCC diagnostic pop
#endif
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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samples/sample_c/module_sample/payload_collaboration/test_payload_collaboration.h Normal file
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/**
********************************************************************
* @file test_payload_collaboration.h
* @brief This is the header file for "test_payload_collaboration.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_PAYLOAD_COLLABORATION_H
#define TEST_PAYLOAD_COLLABORATION_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_PayloadCollaborationStartService(void);
T_DjiReturnCode DjiTest_PayloadCollaborationDataShowTrigger(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_PAYLOAD_COLLABORATION_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/