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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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309
samples/sample_c/platform/linux/common/osal/osal.c Normal file
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/**
********************************************************************
* @file osal.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 "osal.h"
#include "dji_typedef.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
/* Private functions definition-----------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *), uint32_t stackSize, void *arg,
T_DjiTaskHandle *task)
{
int result;
char nameDealed[16] = {0};
*task = malloc(sizeof(pthread_t));
if (*task == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
result = pthread_create(*task, NULL, taskFunc, arg);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (name != NULL)
strncpy(nameDealed, name, sizeof(nameDealed) - 1);
result = pthread_setname_np(*(pthread_t *) *task, nameDealed);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task)
{
pthread_cancel(*(pthread_t *) task);
free(task);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs)
{
usleep(1000 * timeMs);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Declare the mutex container, initialize the mutex, and
* create mutex ID.
* @param mutex: pointer to the created mutex ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
{
int result;
*mutex = malloc(sizeof(pthread_mutex_t));
if (*mutex == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
result = pthread_mutex_init(*mutex, NULL);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Delete the created mutex.
* @param mutex: pointer to the created mutex ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
{
int result;
result = pthread_mutex_destroy(mutex);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
free(mutex);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Acquire and lock the mutex when peripheral access is required
* @param mutex: pointer to the created mutex ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
{
int result = pthread_mutex_lock(mutex);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Unlock and release the mutex, when done with the peripheral access.
* @param mutex: pointer to the created mutex ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
{
int result = pthread_mutex_unlock(mutex);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Declare the semaphore container, initialize the semaphore, and
* create semaphore ID.
* @param semaphore: pointer to the created semaphore ID.
* @param initValue: initial value of semaphore.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaphore)
{
int result;
*semaphore = malloc(sizeof(sem_t));
if (*semaphore == NULL) {
return
DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
result = sem_init(*semaphore, 0, (unsigned int) initValue);
if (result != 0) {
return
DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Delete the created semaphore.
* @param semaphore: pointer to the created semaphore ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore)
{
int result;
result = sem_destroy((sem_t *) semaphore);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
free(semaphore);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Wait the semaphore until token becomes available.
* @param semaphore: pointer to the created semaphore ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore)
{
int result;
result = sem_wait(semaphore);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Wait the semaphore until token becomes available.
* @param semaphore: pointer to the created semaphore ID.
* @param waitTime: timeout value of waiting semaphore, unit: millisecond.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphoreTimedWait(T_DjiSemaHandle semaphore, uint32_t waitTime)
{
int result;
struct timespec semaphoreWaitTime;
struct timeval systemTime;
gettimeofday(&systemTime, NULL);
systemTime.tv_usec += waitTime * 1000;
if (systemTime.tv_usec >= 1000000) {
systemTime.tv_sec += systemTime.tv_usec / 1000000;
systemTime.tv_usec %= 1000000;
}
semaphoreWaitTime.tv_sec = systemTime.tv_sec;
semaphoreWaitTime.tv_nsec = systemTime.tv_usec * 1000;
result = sem_timedwait(semaphore, &semaphoreWaitTime);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Release the semaphore token.
* @param semaphore: pointer to the created semaphore ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore)
{
int result;
result = sem_post(semaphore);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Get the system time for ms.
* @return an uint32 that the time of system, uint:ms
*/
T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
{
struct timeval time;
gettimeofday(&time, NULL);
*ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
{
struct timeval time;
gettimeofday(&time, NULL);
*us = (time.tv_sec * 1000000 + time.tv_usec);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
void *Osal_Malloc(uint32_t size)
{
if (size == 0) {
return NULL;
}
return malloc(size);
}
void Osal_Free(void *ptr)
{
free(ptr);
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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samples/sample_c/platform/linux/common/osal/osal.h Normal file
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/**
********************************************************************
* @file osal.h
* @brief This is the header file for "osal.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 OSAL_H
#define OSAL_H
/* Includes ------------------------------------------------------------------*/
#include <stdio.h>
#include <stdlib.h>
#include <pthread.h>
#include <semaphore.h>
#include <sys/time.h>
#include <unistd.h>
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *),
uint32_t stackSize, void *arg, T_DjiTaskHandle *task);
T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task);
T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs);
T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex);
T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex);
T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex);
T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex);
T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaphore);
T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore);
T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore);
T_DjiReturnCode Osal_SemaphoreTimedWait(T_DjiSemaHandle semaphore, uint32_t waitTime);
T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
void *Osal_Malloc(uint32_t size);
void Osal_Free(void *ptr);
#ifdef __cplusplus
}
#endif
#endif // OSAL_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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/**
********************************************************************
* @file osal_fs.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 "osal_fs.h"
#include "stdio.h"
#include "stdlib.h"
#include "unistd.h"
#include <sys/stat.h>
#include <dirent.h>
#include "time.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode Osal_FileOpen(const char *fileName, const char *fileMode, T_DjiFileHandle *fileObj)
{
if (fileName == NULL || fileMode == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
*fileObj = malloc(sizeof(FILE));
if (*fileObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
*fileObj = fopen(fileName, fileMode);
if (*fileObj == NULL) {
goto out;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
out:
free(*fileObj);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
T_DjiReturnCode Osal_FileClose(T_DjiFileHandle fileObj)
{
int32_t ret;
if (fileObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fclose(fileObj);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_FileWrite(T_DjiFileHandle fileObj, const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
if (fileObj == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fwrite(buf, 1, len, fileObj);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_FileRead(T_DjiFileHandle fileObj, uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
if (fileObj == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fread(buf, 1, len, fileObj);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_FileSeek(T_DjiFileHandle fileObj, uint32_t offset)
{
int32_t ret;
if (fileObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fseek(fileObj, offset, SEEK_SET);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_FileSync(T_DjiFileHandle fileObj)
{
int32_t ret;
if (fileObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fflush(fileObj);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_DirOpen(const char *filePath, T_DjiDirHandle *dirObj)
{
if (filePath == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
*dirObj = opendir(filePath);
if (*dirObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_DirClose(T_DjiDirHandle dirObj)
{
int32_t ret;
if (dirObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = closedir((DIR *) dirObj);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_DirRead(T_DjiDirHandle dirObj, T_DjiFileInfo *fileInfo)
{
struct dirent *dirent;
if (dirObj == NULL || fileInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
dirent = readdir((DIR *) dirObj);
if (!dirent) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (dirent->d_type == DT_DIR) {
fileInfo->isDir = true;
} else {
fileInfo->isDir = false;
}
strcpy(fileInfo->path, dirent->d_name);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Mkdir(const char *filePath)
{
int32_t ret;
if (filePath == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = mkdir(filePath, S_IRWXU);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Unlink(const char *filePath)
{
int32_t ret;
if (filePath == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
if (filePath[strlen(filePath) - 1] == '/') {
ret = rmdir(filePath);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
} else {
ret = unlink(filePath);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Rename(const char *oldFilePath, const char *newFilePath)
{
int32_t ret;
if (oldFilePath == NULL || newFilePath == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = rename(oldFilePath, newFilePath);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Stat(const char *filePath, T_DjiFileInfo *fileInfo)
{
struct stat st;
int32_t ret;
struct tm *fileTm;
if (filePath == NULL || fileInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = stat(filePath, &st);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
fileTm = localtime(&(st.st_ctime));
if (fileTm == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
fileInfo->size = st.st_size;
fileInfo->createTime.year = fileTm->tm_year + 1900 - 1980;
fileInfo->createTime.month = fileTm->tm_mon;
fileInfo->createTime.day = fileTm->tm_mday;
fileInfo->createTime.hour = fileTm->tm_hour;
fileInfo->createTime.minute = fileTm->tm_min;
fileInfo->createTime.second = fileTm->tm_sec;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @file osal_fs.h
* @brief This is the header file for "osal_fs.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 OSAL_FS_H
#define OSAL_FS_H
/* Includes ------------------------------------------------------------------*/
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode Osal_FileOpen(const char *fileName, const char *fileMode, T_DjiFileHandle *fileObj);
T_DjiReturnCode Osal_FileClose(T_DjiFileHandle fileObj);
T_DjiReturnCode Osal_FileWrite(T_DjiFileHandle fileObj, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_FileRead(T_DjiFileHandle fileObj, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_FileSeek(T_DjiFileHandle fileObj, uint32_t offset);
T_DjiReturnCode Osal_FileSync(T_DjiFileHandle fileObj);
T_DjiReturnCode Osal_DirOpen(const char *filePath, T_DjiDirHandle *dirObj);
T_DjiReturnCode Osal_DirClose(T_DjiDirHandle dirObj);
T_DjiReturnCode Osal_DirRead(T_DjiDirHandle dirObj, T_DjiFileInfo *fileInfo);
T_DjiReturnCode Osal_Mkdir(const char *filePath);
T_DjiReturnCode Osal_Unlink(const char *filePath);
T_DjiReturnCode Osal_Rename(const char *oldFilePath, const char *newFilePath);
T_DjiReturnCode Osal_Stat(const char *filePath, T_DjiFileInfo *fileInfo);
#ifdef __cplusplus
}
#endif
#endif // OSAL_FS_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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/**
********************************************************************
* @file osal_socket.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 "osal_socket.h"
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <unistd.h>
#include "stdlib.h"
/* Private constants ---------------------------------------------------------*/
typedef struct {
int socketFd;
} T_SocketHandleStruct;
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle)
{
T_SocketHandleStruct *socketHandleStruct;
if (socketHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
socketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
if (socketHandleStruct == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
if (mode == DJI_SOCKET_MODE_UDP) {
socketHandleStruct->socketFd = socket(PF_INET, SOCK_DGRAM, 0);
} else if (mode == DJI_SOCKET_MODE_TCP) {
socketHandleStruct->socketFd = socket(PF_INET, SOCK_STREAM, 0);
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
*socketHandle = socketHandleStruct;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandleStruct->socketFd <= 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = close(socketHandleStruct->socketFd);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
struct sockaddr_in addr;
int32_t ret;
if (socketHandle == NULL || ipAddr == NULL || port == 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
bzero(&addr, sizeof(addr));
addr.sin_family = AF_INET;
addr.sin_port = htons(port);
addr.sin_addr.s_addr = inet_addr(ipAddr);
ret = bind(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
struct sockaddr_in addr;
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandle <= 0 || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
bzero(&addr, sizeof(addr));
addr.sin_family = AF_INET;
addr.sin_port = htons(port);
addr.sin_addr.s_addr = inet_addr(ipAddr);
ret = sendto(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
uint8_t *buf, uint32_t len, uint32_t *realLen)
{
struct sockaddr_in addr;
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
uint32_t addrLen = 0;
int32_t ret;
if (socketHandle == NULL || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = recvfrom(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, &addrLen);
if (ret >= 0) {
*realLen = ret;
strcpy(ipAddr, inet_ntoa(addr.sin_addr));
*port = ntohs(addr.sin_port);
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle)
{
int32_t ret;
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
if (socketHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = listen(socketHandleStruct->socketFd, 5);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
T_DjiSocketHandle *outSocketHandle)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
T_SocketHandleStruct *outSocketHandleStruct;
struct sockaddr_in addr;
uint32_t addrLen = 0;
if (socketHandle == NULL || ipAddr == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
outSocketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
if (outSocketHandleStruct == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
outSocketHandleStruct->socketFd = accept(socketHandleStruct->socketFd, (struct sockaddr *) &addr, &addrLen);
if (outSocketHandleStruct->socketFd < 0) {
free(outSocketHandleStruct);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*port = ntohs(addr.sin_port);
*outSocketHandle = outSocketHandleStruct;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
{
struct sockaddr_in addr;
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandle == NULL || ipAddr == NULL || port == 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
bzero(&addr, sizeof(addr));
addr.sin_family = AF_INET;
addr.sin_port = htons(port);
addr.sin_addr.s_addr = inet_addr(ipAddr);
ret = connect(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = send(socketHandleStruct->socketFd, buf, len, 0);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
uint8_t *buf, uint32_t len, uint32_t *realLen)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = recv(socketHandleStruct->socketFd, buf, len, 0);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

72
samples/sample_c/platform/linux/common/osal/osal_socket.h Normal file
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@ -0,0 +1,72 @@
/**
********************************************************************
* @file osal_socket.h
* @brief This is the header file for "osal_socket.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 OSAL_SOCKET_H
#define OSAL_SOCKET_H
/* Includes ------------------------------------------------------------------*/
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle);
T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle);
T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle);
T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
T_DjiSocketHandle *outSocketHandle);
T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
uint8_t *buf, uint32_t len, uint32_t *realLen);
#ifdef __cplusplus
}
#endif
#endif // OSAL_SOCKET_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/