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NEW: release DJI Payload-SDK version 3.3

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2022-11-18 20:59:40 +08:00
parent 513d3537e2
commit f33308c85b
79 changed files with 1185370 additions and 1979 deletions
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3
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.c
View File

@ -906,7 +906,8 @@ static T_DjiReturnCode DjiTest_CameraRotationGimbal(T_TestCameraGimbalRotationAr
return returnCode;
}
if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2) {
if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
returnCode = DjiTest_GimbalRotate(gimbalRotationArgument.rotationMode, gimbalRotationArgument.rotationProperty,
gimbalRotationArgument.rotationValue);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

39
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c
View File

@ -34,6 +34,7 @@
#include "test_payload_cam_emu_base.h"
#include "camera_emu/dji_media_file_manage/dji_media_file_core.h"
#include "dji_high_speed_data_channel.h"
#include "dji_aircraft_info.h"
/* Private constants ---------------------------------------------------------*/
#define FFMPEG_CMD_BUF_SIZE (256 + 256)
@ -134,6 +135,8 @@ static const char *s_frameSizeKeyChar = "size";
static T_DjiMediaFileHandle s_mediaFileThumbNailHandle;
static T_DjiMediaFileHandle s_mediaFileScreenNailHandle;
static const uint8_t s_frameAudInfo[VIDEO_FRAME_AUD_LEN] = {0x00, 0x00, 0x00, 0x01, 0x09, 0x10};
static char s_mediaFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
static bool s_isMediaFileDirPathConfigured = false;
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
@ -142,6 +145,12 @@ T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
T_DjiReturnCode returnCode;
const T_DjiDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportionOfHighspeedChannel =
{10, 60, 30};
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo = {0};
if (DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft information error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
s_psdkCameraMedia.GetMediaFileDir = GetMediaFileDir;
s_psdkCameraMedia.GetMediaFileOriginInfo = DjiTest_CameraMediaGetFileInfo;
@ -177,10 +186,12 @@ T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
UtilBuffer_Init(&s_mediaPlayCommandBufferHandler, s_mediaPlayCommandBuffer, sizeof(s_mediaPlayCommandBuffer));
returnCode = DjiPayloadCamera_RegMediaDownloadPlaybackHandler(&s_psdkCameraMedia);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk camera media function init error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK) {
returnCode = DjiPayloadCamera_RegMediaDownloadPlaybackHandler(&s_psdkCameraMedia);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk camera media function init error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
returnCode = DjiHighSpeedDataChannel_SetBandwidthProportion(bandwidthProportionOfHighspeedChannel);
@ -189,21 +200,27 @@ T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (DjiPlatform_GetSocketHandler() != NULL) {
if (DjiPlatform_GetHalNetworkHandler() != NULL || DjiPlatform_GetHalUsbBulkHandler() != NULL) {
returnCode = osalHandler->TaskCreate("user_camera_media_task", UserCameraMedia_SendVideoTask, 2048,
NULL, &s_userSendVideoThread);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("user send video task create error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
} else {
USER_LOG_WARN(
"Socket handler is null. Probably because socket handler is not be registered. Camera media sample may not be running.");
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode DjiTest_CameraEmuSetMediaFilePath(const char *path)
{
memset(s_mediaFileDirPath, 0, sizeof(s_mediaFileDirPath));
memcpy(s_mediaFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_mediaFileDirPath) - 1));
s_isMediaFileDirPathConfigured = true;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode DjiTest_CameraMediaGetFileInfo(const char *filePath, T_DjiCameraMediaFileInfo *fileInfo)
{
T_DjiReturnCode returnCode;
@ -1167,7 +1184,11 @@ static void *UserCameraMedia_SendVideoTask(void *arg)
USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
exit(1);
}
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%smedia_file/PSDK_0005.h264", curFileDirPath);
if (s_isMediaFileDirPathConfigured == true) {
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%sPSDK_0005.h264", s_mediaFileDirPath);
} else {
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%smedia_file/PSDK_0005.h264", curFileDirPath);
}
videoFilePath = osalHandler->Malloc(DJI_FILE_PATH_SIZE_MAX);
if (videoFilePath == NULL) {

1
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.h
View File

@ -41,6 +41,7 @@ extern "C" {
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void);
T_DjiReturnCode DjiTest_CameraEmuSetMediaFilePath(const char *path);
T_DjiReturnCode DjiTest_CameraMediaGetFileInfo(const char *filePath, T_DjiCameraMediaFileInfo *fileInfo);
#ifdef __cplusplus

108
samples/sample_c/module_sample/camera_manager/test_camera_manager.c
View File

@ -29,7 +29,7 @@
#include "dji_camera_manager.h"
#include "dji_platform.h"
#include "dji_logger.h"
#include "dji_liveview.h"
/* Private constants ---------------------------------------------------------*/
#define TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE 256
#define TEST_CAMERA_MANAGER_MEDIA_DOWNLOAD_FILE_NUM 5
@ -45,15 +45,17 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
{DJI_CAMERA_TYPE_UNKNOWN, "Unknown"},
{DJI_CAMERA_TYPE_Z30, "Zenmuse Z30"},
{DJI_CAMERA_TYPE_XT2, "Zenmuse XT2"},
{DJI_CAMERA_TYPE_PSDK, "Zenmuse Payload"},
{DJI_CAMERA_TYPE_PSDK, "Payload Camera"},
{DJI_CAMERA_TYPE_XTS, "Zenmuse XTS"},
{DJI_CAMERA_TYPE_H20, "Zenmuse H20"},
{DJI_CAMERA_TYPE_H20T, "Zenmuse H20T"},
{DJI_CAMERA_TYPE_P1, "Zenmuse P1"},
{DJI_CAMERA_TYPE_L1, "Zenmuse L1"},
{DJI_CAMERA_TYPE_M30, "Zenmuse M30"},
{DJI_CAMERA_TYPE_M30T, "Zenmuse M30T"},
{DJI_CAMERA_TYPE_H20N, "Zenmuse H20N"},
{DJI_CAMERA_TYPE_M30, "M30 Camera"},
{DJI_CAMERA_TYPE_M30T, "M30T Camera"},
{DJI_CAMERA_TYPE_M3E, "M3E Camera"},
{DJI_CAMERA_TYPE_M3T, "M3T Camera"},
};
static FILE *s_downloadMediaFile = NULL;
@ -661,6 +663,8 @@ T_DjiReturnCode DjiTest_CameraManagerStartShootIntervalPhoto(E_DjiMountPosition
return returnCode;
}
osalHandler->TaskSleepMs(1000);
/*!< set shoot-photo mode */
USER_LOG_INFO("Set mounted position %d camera's shoot photo mode as interval-photo mode", position);
returnCode = DjiCameraManager_SetShootPhotoMode(position, DJI_CAMERA_MANAGER_SHOOT_PHOTO_MODE_INTERVAL);
@ -825,37 +829,13 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
firmwareVersion.firmware_version[0], firmwareVersion.firmware_version[1],
firmwareVersion.firmware_version[2], firmwareVersion.firmware_version[3]);
E_DjiLiveViewCameraSource liveViewCameraSource;
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T) {
USER_LOG_INFO("--> Step 3: Change camera's live view source");
DjiTest_WidgetLogAppend("--> Step 3: Change camera's live view source");
USER_LOG_INFO("Init live view.");
returnCode = DjiLiveview_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init live view failed, error code: 0x%08X\r\n", returnCode);
goto exitLiveViewModule;
}
USER_LOG_INFO("Set mounted position %d camera's live view source to zoom.\r\n",
mountPosition);
liveViewCameraSource = (cameraType == DJI_CAMERA_TYPE_H20) ? DJI_LIVEVIEW_CAMERA_SOURCE_H20_ZOOM :
DJI_LIVEVIEW_CAMERA_SOURCE_H20T_ZOOM;
returnCode = DjiLiveview_StartH264Stream((uint8_t) mountPosition, liveViewCameraSource, NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's live view source failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
}
}
switch (cameraManagerSampleSelect) {
case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED: {
USER_LOG_INFO("--> Function a: Set camera shutter speed to 1/100 s");
DjiTest_WidgetLogAppend("--> Function a: Set camera shutter speed to 1/100 s");
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T) {
cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T ||
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T) {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
mountPosition);
returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@ -863,7 +843,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's exposure mode failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
} else {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to shutter priority mode.",
@ -873,7 +853,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's exposure mode failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
}
@ -884,7 +864,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's shutter speed failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -892,7 +872,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
USER_LOG_INFO("--> Function b: Set camera aperture to 400(F/4)");
DjiTest_WidgetLogAppend("--> Function b: Set camera aperture to 400(F/4)");
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T
|| cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T) {
|| cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T
|| cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T) {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
mountPosition);
returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@ -900,7 +881,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's exposure mode failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
} else {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to aperture priority mode.",
@ -910,7 +891,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's exposure mode failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
}
@ -920,7 +901,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's aperture failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -934,7 +915,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's exposure mode failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
USER_LOG_INFO("Set mounted position %d camera's ev value to +0.3ev.",
@ -943,7 +924,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's EV failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -957,7 +938,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's exposure mode failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
USER_LOG_INFO("Set mounted position %d camera's ISO value to 1600.",
@ -966,7 +947,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's iso failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -979,7 +960,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's focus point(0.8,0.8) failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -993,7 +974,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's tap zoom point(5, 0.3m,0.3m) failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
USER_LOG_INFO("Sleep 5s...");
@ -1005,7 +986,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's tap zoom point(4, 0.8m,0.7m) failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -1017,7 +998,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's optical zoom factor 10x failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
USER_LOG_INFO("Sleep 4s...");
osalHandler->TaskSleepMs(4000);
@ -1026,7 +1007,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set mounted position %d camera's optical zoom factor -5x failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
USER_LOG_INFO("Sleep 4s...");
osalHandler->TaskSleepMs(4000);
@ -1040,7 +1021,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Mounted position %d camera start continuous zoom failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
USER_LOG_INFO("Sleep 8s...");
@ -1051,7 +1032,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Mounted position %d camera stop continuous zoom failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -1062,7 +1043,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Mounted position %d camera shoot single photo failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -1073,7 +1054,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Mounted position %d camera shoot AEB photo failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -1085,7 +1066,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Mounted position %d camera shoot burst photo failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -1100,7 +1081,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Mounted position %d camera shoot internal photo failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
USER_LOG_INFO("Sleep 15s...");
@ -1110,7 +1091,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Mounted position %d camera stop shoot photo failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -1121,7 +1102,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Mounted position %d camera start record video failed, error code: 0x%08X\r\n",
mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
USER_LOG_INFO("Sleep 10s...");
@ -1131,7 +1112,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Mounted position %d camera stop record video failed, error code: 0x%08X\r\n",
mountPosition, returnCode);
goto exitLiveViewSource;
goto exitCameraModule;
}
break;
}
@ -1148,23 +1129,6 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
}
}
exitLiveViewSource:
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T) {
returnCode = DjiLiveview_StopH264Stream((uint8_t) mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Stop mounted position %d camera's live view failed,"
"error code: 0x%08X\r\n", mountPosition, returnCode);
}
}
exitLiveViewModule:
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T) {
returnCode = DjiLiveview_Deinit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Deinit live view failed, error code: 0x%08X\r\n", returnCode);
}
}
exitCameraModule:
returnCode = DjiCameraManager_DeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

36
samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c
View File

@ -32,7 +32,7 @@
/* Private constants ---------------------------------------------------------*/
#define FC_SUBSCRIPTION_TASK_FREQ (1)
#define FC_SUBSCRIPTION_TASK_STACK_SIZE (2048)
#define FC_SUBSCRIPTION_TASK_STACK_SIZE (1024)
/* Private types -------------------------------------------------------------*/
@ -45,6 +45,7 @@ static T_DjiReturnCode DjiTest_FcSubscriptionReceiveQuaternionCallback(const uin
static T_DjiTaskHandle s_userFcSubscriptionThread;
static bool s_userFcSubscriptionDataShow = false;
static uint8_t s_totalSatelliteNumberUsed = 0;
static uint32_t s_userFcSubscriptionDataCnt = 0;
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_FcSubscriptionStartService(void)
@ -59,7 +60,7 @@ T_DjiReturnCode DjiTest_FcSubscriptionStartService(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ,
DjiTest_FcSubscriptionReceiveQuaternionCallback);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Subscribe topic quaternion error.");
@ -115,6 +116,7 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
T_DjiFcSubscriptionSingleBatteryInfo singleBatteryInfo = {0};
USER_LOG_INFO("Fc subscription sample start");
s_userFcSubscriptionDataShow = true;
USER_LOG_INFO("--> Step 1: Init fc subscription module");
djiStat = DjiFcSubscription_Init();
@ -124,7 +126,7 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
}
USER_LOG_INFO("--> Step 2: Subscribe the topics of quaternion, velocity and gps position");
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
DjiTest_FcSubscriptionReceiveQuaternionCallback);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Subscribe topic quaternion error.");
@ -145,9 +147,9 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
USER_LOG_INFO("--> Step 3: Get latest value of the subscribed topics in the next 20s\r\n");
USER_LOG_INFO("--> Step 3: Get latest value of the subscribed topics in the next 20 seconds\r\n");
for (int i = 0; i < 10; ++i) {
for (int i = 0; i < 20; ++i) {
osalHandler->TaskSleepMs(1000 / FC_SUBSCRIPTION_TASK_FREQ);
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY,
(uint8_t *) &velocity,
@ -210,6 +212,7 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
s_userFcSubscriptionDataShow = false;
USER_LOG_INFO("Fc subscription sample end");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@ -308,20 +311,23 @@ static T_DjiReturnCode DjiTest_FcSubscriptionReceiveQuaternionCallback(const uin
USER_UTIL_UNUSED(dataSize);
pitch = (dji_f64_t) asinf(-2 * quaternion->q1 * quaternion->q3 + 2 * quaternion->q0 * quaternion->q2) * 57.3;
roll = (dji_f64_t) atan2f(2 * quaternion->q1 * quaternion->q2 + 2 * quaternion->q0 * quaternion->q3,
-2 * quaternion->q2 * quaternion->q2 - 2 * quaternion->q3 * quaternion->q3 + 1) *
57.3;
yaw = (dji_f64_t) atan2f(2 * quaternion->q2 * quaternion->q3 + 2 * quaternion->q0 * quaternion->q1,
roll = (dji_f64_t) atan2f(2 * quaternion->q2 * quaternion->q3 + 2 * quaternion->q0 * quaternion->q1,
-2 * quaternion->q1 * quaternion->q1 - 2 * quaternion->q2 * quaternion->q2 + 1) * 57.3;
yaw = (dji_f64_t) atan2f(2 * quaternion->q1 * quaternion->q2 + 2 * quaternion->q0 * quaternion->q3,
-2 * quaternion->q2 * quaternion->q2 - 2 * quaternion->q3 * quaternion->q3 + 1) *
57.3;
if (s_userFcSubscriptionDataShow == true) {
USER_LOG_INFO("receive quaternion data.");
if (s_userFcSubscriptionDataCnt++ % DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ == 0) {
USER_LOG_INFO("receive quaternion data.");
USER_LOG_INFO("timestamp: millisecond %u microsecond %u.", timestamp->millisecond,
timestamp->microsecond);
USER_LOG_INFO("quaternion: %f %f %f %f.", quaternion->q0, quaternion->q1, quaternion->q2,
quaternion->q3);
USER_LOG_INFO("timestamp: millisecond %u microsecond %u.", timestamp->millisecond,
timestamp->microsecond);
USER_LOG_INFO("quaternion: %f %f %f %f.\r\n", quaternion->q0, quaternion->q1, quaternion->q2, quaternion->q3);
USER_LOG_INFO("euler angles: pitch = %.2f roll = %.2f yaw = %.2f.", pitch, yaw, roll);
DjiTest_WidgetLogAppend("pitch = %.2f roll = %.2f yaw = %.2f.", pitch, yaw, roll);
USER_LOG_INFO("euler angles: pitch = %.2f roll = %.2f yaw = %.2f.\r\n", pitch, roll, yaw);
DjiTest_WidgetLogAppend("pitch = %.2f roll = %.2f yaw = %.2f.", pitch, roll, yaw);
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

75
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -702,24 +702,32 @@ void DjiTest_FlightControlSetGetParamSample()
/*! Turn on horizontal radar avoid enable */
USER_LOG_INFO("--> Step 3: Turn on horizontal radar obstacle avoidance");
DjiTest_WidgetLogAppend("--> Step 3: Turn on horizontal radar obstacle avoidance");
returnCode = DjiFlightController_SetHorizontalRadarObstacleAvoidanceEnableStatus(
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Turn on horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
};
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
returnCode = DjiFlightController_SetHorizontalRadarObstacleAvoidanceEnableStatus(
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Turn on horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
};
}
s_osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("--> Step 4: Get horizontal radar obstacle avoidance status\r\n");
DjiTest_WidgetLogAppend("--> Step 4: Get horizontal radar obstacle avoidance status\r\n");
returnCode = DjiFlightController_GetHorizontalRadarObstacleAvoidanceEnableStatus(
&horizontalRadarObstacleAvoidanceStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
returnCode = DjiFlightController_GetHorizontalRadarObstacleAvoidanceEnableStatus(
&horizontalRadarObstacleAvoidanceStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
}
USER_LOG_INFO("Current horizontal radar obstacle avoidance status is %d\r\n",
horizontalRadarObstacleAvoidanceStatus);
}
USER_LOG_INFO("Current horizontal radar obstacle avoidance status is %d\r\n",
horizontalRadarObstacleAvoidanceStatus);
s_osalHandler->TaskSleepMs(1000);
/*! Turn on upwards vision avoid enable */
@ -747,23 +755,32 @@ void DjiTest_FlightControlSetGetParamSample()
/*! Turn on upwards radar avoid enable */
USER_LOG_INFO("--> Step 7: Turn on upwards radar obstacle avoidance.");
DjiTest_WidgetLogAppend("--> Step 7: Turn on upwards radar obstacle avoidance.");
returnCode = DjiFlightController_SetUpwardsRadarObstacleAvoidanceEnableStatus(
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Turn on upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
returnCode = DjiFlightController_SetUpwardsRadarObstacleAvoidanceEnableStatus(
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Turn on upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
}
}
s_osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("--> Step 8: Get upwards radar obstacle avoidance status\r\n");
DjiTest_WidgetLogAppend("--> Step 8: Get upwards radar obstacle avoidance status\r\n");
returnCode = DjiFlightController_GetUpwardsRadarObstacleAvoidanceEnableStatus(&upwardsRadarObstacleAvoidanceStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
returnCode = DjiFlightController_GetUpwardsRadarObstacleAvoidanceEnableStatus(
&upwardsRadarObstacleAvoidanceStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
}
USER_LOG_INFO("Current upwards radar obstacle avoidance status is %d\r\n", upwardsRadarObstacleAvoidanceStatus);
s_osalHandler->TaskSleepMs(1000);
}
USER_LOG_INFO("Current upwards radar obstacle avoidance status is %d\r\n", upwardsRadarObstacleAvoidanceStatus);
s_osalHandler->TaskSleepMs(1000);
/*! Turn on downwards vision avoid enable */
USER_LOG_INFO("--> Step 9: Turn on downwards visual obstacle avoidance.");
@ -1237,11 +1254,11 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
return false;
}
if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING)) {
if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING)) {
return false;
} else {
while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING) {
DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
s_osalHandler->TaskSleepMs(1000);
}
}
@ -1468,9 +1485,9 @@ DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback(T_DjiFlightControllerJo
}
case DJI_FLIGHT_CONTROLLER_OSDK_GET_JOYSTICK_CTRL_AUTH_EVENT: {
if (eventData.curJoystickCtrlAuthority == DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_OSDK) {
USER_LOG_INFO("[Event]Osdk request to obtain joystick ctrl authority\r\n");
USER_LOG_INFO("[Event] Request to obtain joystick ctrl authority\r\n");
} else {
USER_LOG_INFO("[Event]Osdk request to release joystick ctrl authority\r\n");
USER_LOG_INFO("[Event] Request to release joystick ctrl authority\r\n");
}
break;
}
@ -1496,7 +1513,7 @@ DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback(T_DjiFlightControllerJo
USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc for low battery land\r\n");
break;
case DJI_FLIGHT_CONTROLLER_OSDK_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT:
USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to osdk lost\r\n");
USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to sdk lost\r\n");
break;
case DJI_FLIGHT_CONTROLLER_NERA_FLIGHT_BOUNDARY_RESET_JOYSTICK_CTRL_AUTH_EVENT :
USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to near boundary\r\n");

129
samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c
View File

@ -33,8 +33,37 @@
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
typedef enum {
DJI_TEST_GIMBAL_ROTATION,
DJI_TEST_GIMBAL_RESET,
} E_DjiTestGimbalAction;
typedef struct {
E_DjiTestGimbalAction action;
T_DjiGimbalManagerRotation rotation;
} T_DjiTestGimbalActionList;
/* Private values -------------------------------------------------------------*/
static const T_DjiTestGimbalActionList s_rotationActionList[] =
{
{.action = DJI_TEST_GIMBAL_RESET},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, 4, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, -4, 0.2},
{.action = DJI_TEST_GIMBAL_RESET},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -90, 0, 0, 0.5},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -60, 0, 0, 0.5},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -30, 0, 0, 0.5},
{.action = DJI_TEST_GIMBAL_RESET},
};
/* Private functions declaration ---------------------------------------------*/
@ -69,78 +98,42 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
goto out;
}
USER_LOG_INFO("--> Step 3: Rotate gimbal to target angle in relative angle mode\r\n");
DjiTest_WidgetLogAppend("--> Step 3: Rotate gimbal to target angle in relative angle mode\r\n");
for (int i = 0; i < 3; i++) {
USER_LOG_INFO("Target gimbal pry = (30, 0, 0) in the body coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (30, 0, 0) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal pry = (0, 30, 0) in the body coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (0, 30, 0) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal pry = (0, 0, 30) in the body coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, 30, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (0, 0, 30) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal reset.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(2000);
USER_LOG_INFO("--> Step 3: Reset gimbal angles.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
USER_LOG_INFO("--> Step 4: Rotate gimbal to target angle in absolute angle mode\r\n");
DjiTest_WidgetLogAppend("--> Step 4: Rotate gimbal to target angle in absolute angle mode\r\n");
USER_LOG_INFO("--> Step 4: Rotate gimbal to target angle by action list\r\n");
for (int i = 0; i < sizeof(s_rotationActionList) / sizeof(T_DjiTestGimbalActionList); ++i) {
if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_RESET) {
USER_LOG_INFO("Target gimbal reset.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(2000);
} else if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_ROTATION) {
for (int i = 0; i < 3; i++) {
USER_LOG_INFO("Target gimbal pry = (30, 0, 0) in the ground coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 30, 0, 0, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (30, 0, 0) failed, error code: 0x%08X", returnCode);
if (gimbalMode == DJI_GIMBAL_MODE_FREE &&
s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
continue;
}
USER_LOG_INFO("Target gimbal pry = (%.1f, %.1f, %.1f)",
s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
s_rotationActionList[i].rotation.yaw);
rotation = s_rotationActionList[i].rotation;
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (%.1f, %.1f, %.1f) failed, error code: 0x%08X",
s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
s_rotationActionList[i].rotation.yaw,
returnCode);
}
osalHandler->TaskSleepMs(1000);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal pry = (0, 30, 0) in the ground coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 0, 30, 0, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (0, 30, 0) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal pry = (0, 0, 30) in the ground coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 0, 0, 30, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (0, 0, 30) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal reset.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(2000);
}
USER_LOG_INFO("--> Step 5: Deinit gimbal manager module");

84
samples/sample_c/module_sample/liveview/test_liveview.c
View File

@ -29,6 +29,7 @@
#include "dji_liveview.h"
#include "dji_logger.h"
#include "dji_platform.h"
#include "dji_aircraft_info.h"
#include "time.h"
/* Private constants ---------------------------------------------------------*/
@ -54,10 +55,17 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
time_t currentTime = time(NULL);
struct tm *localTime = NULL;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo = {0};
USER_LOG_INFO("Liveview sample start");
DjiTest_WidgetLogAppend("Liveview sample start");
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;
}
USER_LOG_INFO("--> Step 1: Init liveview module");
DjiTest_WidgetLogAppend("--> Step 1: Init liveview module");
returnCode = DjiLiveview_Init();
@ -66,23 +74,29 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
goto out;
}
localTime = localtime(&currentTime);
sprintf(s_fpvCameraStreamFilePath, "fpv_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
USER_LOG_INFO("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
DjiTest_WidgetLogAppend("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
returnCode = DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
DjiTest_FpvCameraStreamCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Request h264 of fpv failed, error code: 0x%08X", returnCode);
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E) {
//TODO: how to use on M3E
} else if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
//TODO: how to use on M3T
} else {
localTime = localtime(&currentTime);
sprintf(s_fpvCameraStreamFilePath, "fpv_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
returnCode = DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
DjiTest_FpvCameraStreamCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Request h264 of fpv failed, error code: 0x%08X", returnCode);
goto out;
}
}
localTime = localtime(&currentTime);
sprintf(s_payloadCameraStreamFilePath, "payload%d_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
sprintf(s_payloadCameraStreamFilePath, "payload%d_vis_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
mountPosition, localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
@ -100,13 +114,20 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
USER_LOG_INFO("--> Step 3: Stop h264 stream of the fpv and selected payload\r\n");
DjiTest_WidgetLogAppend("--> Step 3: Stop h264 stream of the fpv and selected payload");
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Request to stop h264 of fpv failed, error code: 0x%08X", returnCode);
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E) {
//TODO: how to use on M3E
} else if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
//TODO: how to use on M3T
} else {
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Request to stop h264 of fpv failed, error code: 0x%08X", returnCode);
goto out;
}
}
returnCode = DjiLiveview_StopH264Stream((E_DjiLiveViewCameraPosition) mountPosition);
returnCode = DjiLiveview_StopH264Stream((E_DjiLiveViewCameraPosition) mountPosition,
DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Request to stop h264 of payload %d failed, error code: 0x%08X", mountPosition, returnCode);
goto out;
@ -115,6 +136,37 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
USER_LOG_INFO("Fpv stream is saved to file: %s", s_fpvCameraStreamFilePath);
USER_LOG_INFO("Payload%d stream is saved to file: %s\r\n", mountPosition, s_payloadCameraStreamFilePath);
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
USER_LOG_INFO("--> Start h264 stream of the fpv and selected payload\r\n");
localTime = localtime(&currentTime);
sprintf(s_payloadCameraStreamFilePath, "payload%d_ir_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
mountPosition, localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
returnCode = DjiLiveview_StartH264Stream((E_DjiLiveViewCameraPosition) mountPosition,
DJI_LIVEVIEW_CAMERA_SOURCE_M3T_IR,
DjiTest_PayloadCameraStreamCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Request h264 of payload %d failed, error code: 0x%08X", mountPosition, returnCode);
}
for (int i = 0; i < TEST_LIVEVIEW_STREAM_STROING_TIME_IN_SECONDS; ++i) {
USER_LOG_INFO("Storing camera h264 stream, second: %d.", i + 1);
osalHandler->TaskSleepMs(1000);
}
returnCode = DjiLiveview_StopH264Stream((E_DjiLiveViewCameraPosition) mountPosition,
DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Request to stop h264 of payload %d failed, error code: 0x%08X", mountPosition, returnCode);
goto out;
}
}
USER_LOG_INFO("Fpv stream is saved to file: %s", s_fpvCameraStreamFilePath);
USER_LOG_INFO("Payload%d stream is saved to file: %s\r\n", mountPosition, s_payloadCameraStreamFilePath);
USER_LOG_INFO("--> Step 4: Deinit liveview module");
DjiTest_WidgetLogAppend("--> Step 4: Deinit liveview module");
returnCode = DjiLiveview_Deinit();

2
samples/sample_c/module_sample/positioning/test_positioning.c
View File

@ -34,7 +34,7 @@
/* Private constants ---------------------------------------------------------*/
#define POSITIONING_TASK_FREQ (1)
#define POSITIONING_TASK_STACK_SIZE (2048)
#define POSITIONING_TASK_STACK_SIZE (1024)
#define DJI_TEST_POSITIONING_EVENT_COUNT (2)
#define DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US (200000)

8
samples/sample_c/module_sample/time_sync/test_time_sync.c
View File

@ -33,7 +33,7 @@
/* Private constants ---------------------------------------------------------*/
#define DJI_TEST_TIME_SYNC_TASK_FREQ (1)
#define DJI_TEST_TIME_SYNC_TASK_STACK_SIZE (2048)
#define DJI_TEST_TIME_SYNC_TASK_STACK_SIZE (1024)
/* Private types -------------------------------------------------------------*/
@ -160,9 +160,9 @@ static void *DjiTest_TimeSyncTask(void *arg)
continue;
}
USER_LOG_DEBUG("current aircraft time is %d.%d.%d %d:%d %d %d.", aircraftTime.year, aircraftTime.month,
aircraftTime.day, aircraftTime.hour, aircraftTime.minute, aircraftTime.second,
aircraftTime.microsecond);
USER_LOG_DEBUG("current aircraft time is %04d-%02d-%02d %02d:%02d:%02d %d.",
aircraftTime.year, aircraftTime.month, aircraftTime.day,
aircraftTime.hour, aircraftTime.minute, aircraftTime.second, aircraftTime.microsecond);
}
}

5
samples/sample_c/module_sample/waypoint_v2/test_waypoint_v2.c
View File

@ -452,12 +452,13 @@ static T_DjiReturnCode DjiTest_WaypointV2UploadMission(uint16_t missionNum)
missionInitSettings.actionList = actionList;
returnCode = DjiWaypointV2_UploadMission(&missionInitSettings);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init waypoint V2 mission setting failed, ErrorCode:0x%lX", returnCode);
return returnCode;
goto out;
}
out:
osalHandler->Free(actionList.actions);
return returnCode;
}

35
samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c
View File

@ -36,6 +36,7 @@
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static T_DjiWaypointV3MissionState s_lastWaypointV3MissionState = {0};
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionState missionState);
@ -73,7 +74,7 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
}
/*! Attention: suggest use the exported kmz file by DJI pilot. If use this test file, you need set the longitude as
* 113.94755, latitude as 22.51853 on DJI Assistant 2 simulator */
* 113.94255, latitude as 22.57765 on DJI Assistant 2 simulator */
snprintf(tempPath, DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX, "%s/waypoint_file/waypoint_v3_test_file.kmz",
curFileDirPath);
@ -124,38 +125,26 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
goto out;
}
for (int i = 0; i < 30; ++i) {
osalHandler->TaskSleepMs(1000);
}
USER_LOG_INFO("Execute pause action");
returnCode = DjiWaypointV3_Action(DJI_WAYPOINT_V3_ACTION_PAUSE);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Execute start action failed.");
goto out;
}
for (int i = 0; i < 5; ++i) {
osalHandler->TaskSleepMs(1000);
}
USER_LOG_INFO("Execute resume action");
returnCode = DjiWaypointV3_Action(DJI_WAYPOINT_V3_ACTION_RESUME);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Execute start action failed.");
goto out;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
out:
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiTest_WaypointV3StateCallback(T_DjiWaypointV3MissionState missionState)
{
if (s_lastWaypointV3MissionState.state == missionState.state
&& s_lastWaypointV3MissionState.currentWaypointIndex == missionState.currentWaypointIndex
&& s_lastWaypointV3MissionState.wayLineId == missionState.wayLineId) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
USER_LOG_INFO("Waypoint v3 mission state: %d, current waypoint index: %d, wayLine id: %d", missionState.state,
missionState.currentWaypointIndex, missionState.wayLineId);
memcpy(&s_lastWaypointV3MissionState, &missionState, sizeof(T_DjiWaypointV3MissionState));
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

BIN
samples/sample_c/module_sample/waypoint_v3/waypoint_file/waypoint_v3_test_file.kmz
View File

Binary file not shown.

433
samples/sample_c/module_sample/waypoint_v3/waypoint_file_c/waypoint_v3_test_file_kmz.h
View File

@ -6,240 +6,209 @@
/* Contents of file waypoint_v3_test_file.kmz */
#define waypoint_v3_test_file_kmz_fileName "waypoint_v3_test_file.kmz"
#define waypoint_v3_test_file_kmz_fileSize 3690
#define waypoint_v3_test_file_kmz_fileSize 3186
static const uint8_t waypoint_v3_test_file_kmz_fileBinaryArray[3690] = {
0x50, 0x4B, 0x03, 0x04, 0x14, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x4E, 0xA8,
0x54, 0x6C, 0xA8, 0x06, 0x00, 0x00, 0xD9, 0x59, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x77, 0x70,
static const uint8_t waypoint_v3_test_file_kmz_fileBinaryArray[3186] = {
0x50, 0x4B, 0x03, 0x04, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x22, 0x6D, 0x34, 0x55, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x77, 0x70,
0x6D, 0x7A, 0x2F, 0x74, 0x65, 0x6D, 0x70, 0x6C, 0x61, 0x74, 0x65, 0x2E, 0x6B, 0x6D, 0x6C, 0xED,
0x9C, 0x6D, 0x6F, 0xDB, 0x36, 0x10, 0xC7, 0xDF, 0xF7, 0x53, 0x04, 0x79, 0xDD, 0xC5, 0xBC, 0x23,
0x8F, 0x0F, 0x85, 0xEB, 0xA2, 0xE8, 0x33, 0xB0, 0xA1, 0xC1, 0x9C, 0x2D, 0xAF, 0x55, 0x5B, 0x49,
0xB4, 0xCA, 0x92, 0x61, 0xCB, 0x75, 0xB3, 0x4F, 0xBF, 0x93, 0x2D, 0xD9, 0x92, 0xAD, 0xB4, 0x03,
0x38, 0x0C, 0x20, 0xC0, 0xA2, 0x40, 0x6B, 0x1D, 0x8F, 0xA2, 0xC8, 0x1F, 0x8F, 0xC7, 0xBF, 0x1E,
0xC6, 0xAF, 0xBE, 0x2F, 0xF2, 0x8B, 0x6F, 0xE9, 0x6A, 0x9D, 0x95, 0xC5, 0xCB, 0x4B, 0xB8, 0x12,
0x97, 0x17, 0x69, 0x31, 0x2B, 0xE7, 0x59, 0x71, 0xFF, 0xF2, 0xF2, 0x8F, 0x9B, 0xF7, 0xBF, 0xD8,
0xCB, 0x57, 0x93, 0x67, 0xE3, 0xAF, 0x5C, 0x8A, 0x4B, 0x16, 0xEB, 0x97, 0x97, 0x0F, 0x55, 0xB5,
0x7C, 0x31, 0x1A, 0x6D, 0xB7, 0xDB, 0xAB, 0x72, 0x99, 0x16, 0xF7, 0xD9, 0xFA, 0xAA, 0x48, 0xAB,
0x11, 0x97, 0x18, 0xE1, 0x15, 0x5E, 0xEE, 0x8B, 0xBD, 0xD8, 0x2E, 0x17, 0x79, 0xAF, 0xEC, 0xFC,
0xAF, 0xEC, 0x6A, 0x56, 0x2E, 0x46, 0x6C, 0xF8, 0x7B, 0xC4, 0xE7, 0xE1, 0x33, 0x4D, 0x9E, 0x5D,
0x5C, 0x8C, 0xDF, 0x96, 0xB3, 0xCD, 0x22, 0x2D, 0xAA, 0xFA, 0x07, 0xFF, 0xAC, 0xFD, 0x5E, 0xCC,
0x56, 0x69, 0x52, 0xA5, 0x37, 0xD9, 0x22, 0x9D, 0x80, 0x56, 0x46, 0xA2, 0xB1, 0x92, 0xA4, 0xC3,
0xF1, 0xE8, 0xD4, 0xDC, 0x71, 0xDA, 0x2C, 0xE7, 0x27, 0x4E, 0xCE, 0x19, 0x00, 0xD3, 0x38, 0x75,
0xCC, 0x1D, 0xA7, 0x45, 0xB6, 0xAE, 0xAF, 0xFC, 0x4D, 0x59, 0xDC, 0x65, 0xF7, 0x7B, 0x43, 0x6B,
0xBA, 0xCB, 0x1F, 0x6F, 0xCA, 0xDB, 0xE4, 0x31, 0xCF, 0x8A, 0xF4, 0xB7, 0x72, 0x9E, 0x4E, 0xD6,
0xC9, 0x5D, 0x9A, 0x3F, 0x36, 0xD5, 0x9D, 0x59, 0xFB, 0xBE, 0x59, 0x91, 0xAD, 0x1F, 0x5E, 0xCF,
0x2A, 0xAE, 0x7B, 0x72, 0x5F, 0x7E, 0x2C, 0x17, 0x69, 0xEB, 0xD7, 0xB5, 0xF4, 0x7C, 0xD2, 0xEF,
0x59, 0xF5, 0xB9, 0xF8, 0xFD, 0xCD, 0xAF, 0xE5, 0xBA, 0x62, 0x1F, 0x6E, 0x52, 0x95, 0x15, 0x9B,
0xD6, 0xAF, 0x67, 0xED, 0xF9, 0x55, 0xC9, 0xD7, 0xF4, 0xF3, 0xDD, 0xDD, 0x34, 0x9D, 0x6D, 0x56,
0x59, 0xF5, 0xF8, 0x31, 0xCD, 0xEE, 0x1F, 0xAA, 0x09, 0x8A, 0xC6, 0x71, 0xD8, 0xDC, 0xAB, 0xE1,
0x3E, 0x2F, 0xBF, 0x24, 0xF9, 0xCD, 0x2A, 0x29, 0xD6, 0x59, 0xDD, 0xAE, 0x24, 0x9F, 0x2E, 0xD3,
0x74, 0x3E, 0xA1, 0xA6, 0x8A, 0xA7, 0xEC, 0xBD, 0x4A, 0xE6, 0xAB, 0xB2, 0x48, 0x3F, 0x15, 0x77,
0x65, 0x7B, 0xB8, 0x67, 0x78, 0x57, 0x6C, 0x16, 0x7F, 0x26, 0xF9, 0x26, 0x9D, 0xE8, 0x76, 0x40,
0x4E, 0x8E, 0x0F, 0x79, 0x4D, 0x37, 0x5F, 0x8E, 0x05, 0x44, 0xD7, 0xAF, 0x67, 0x69, 0xDB, 0x31,
0x1A, 0x6E, 0xC8, 0xBE, 0xC2, 0x25, 0x8F, 0x55, 0x99, 0xCC, 0x87, 0x5A, 0xD8, 0x98, 0x8E, 0x15,
0x52, 0x4B, 0xDA, 0x99, 0x65, 0xD8, 0x73, 0xB0, 0x9D, 0x43, 0xB6, 0x61, 0xF7, 0xEB, 0x72, 0xDF,
0xAF, 0x9F, 0x8A, 0x79, 0xFA, 0xFD, 0xD4, 0xBF, 0x6F, 0xEC, 0x5F, 0xEA, 0xD9, 0x35, 0x35, 0xC7,
0x07, 0xA8, 0x1E, 0xBF, 0x2F, 0xF3, 0x79, 0xBA, 0x3A, 0x41, 0x27, 0x5D, 0x2C, 0xF3, 0x7A, 0x56,
0x3C, 0x2E, 0xD3, 0xC9, 0x36, 0x79, 0x5C, 0x96, 0x59, 0x51, 0xB5, 0xDC, 0x74, 0x6D, 0x3D, 0xAF,
0xCD, 0x3A, 0xFD, 0xF0, 0x04, 0x11, 0x6D, 0xDB, 0x7F, 0x50, 0x64, 0xB0, 0x01, 0x9F, 0x8E, 0xAE,
0x9D, 0x43, 0xBD, 0xA2, 0xDB, 0xFD, 0x5C, 0x7B, 0x53, 0x96, 0x2B, 0x0E, 0x4E, 0x5C, 0x60, 0xFA,
0xB8, 0xBE, 0x4E, 0x56, 0xC9, 0xE2, 0xB4, 0x53, 0x67, 0x87, 0x12, 0xBB, 0x79, 0x79, 0xFB, 0x61,
0x6A, 0x55, 0x1B, 0x38, 0xFA, 0xA6, 0x13, 0xC7, 0x87, 0xDD, 0xD4, 0xD8, 0x59, 0x56, 0x29, 0x37,
0x21, 0xFB, 0x96, 0xDE, 0x94, 0xD3, 0x2A, 0x59, 0x55, 0xD7, 0x9D, 0x7E, 0xE9, 0x94, 0x3A, 0xF1,
0xDF, 0x4F, 0x93, 0x66, 0x82, 0x81, 0x10, 0xBD, 0xD9, 0xD3, 0x9F, 0x77, 0x07, 0x00, 0x9A, 0xC1,
0xE5, 0x68, 0xBB, 0xEB, 0xE7, 0x0F, 0xD7, 0xD3, 0x76, 0x68, 0x4F, 0x2C, 0xFD, 0x81, 0xFF, 0x69,
0x67, 0xEC, 0xAB, 0x4F, 0x36, 0x55, 0xF9, 0x3E, 0xAF, 0x4F, 0xDC, 0x9F, 0xD0, 0xA7, 0xC7, 0xFB,
0x63, 0xF2, 0x64, 0x1C, 0x38, 0xB7, 0xF4, 0x1C, 0x67, 0x49, 0x9E, 0xED, 0x6B, 0x7D, 0x57, 0x24,
0x5F, 0xF2, 0xE3, 0x4C, 0x38, 0x33, 0xF4, 0xA3, 0x4F, 0xB6, 0xE0, 0xFE, 0xB9, 0xCE, 0xAA, 0xD9,
0xC3, 0xAE, 0x57, 0x17, 0x49, 0xB1, 0x49, 0xF2, 0xB6, 0xF3, 0x4E, 0x8C, 0x03, 0x71, 0xEB, 0xB6,
0xE1, 0xF6, 0x63, 0x9A, 0xD4, 0xAB, 0xD6, 0x20, 0x13, 0xDB, 0x7E, 0x99, 0x5D, 0x55, 0x77, 0x65,
0x9E, 0x97, 0xDB, 0x26, 0x84, 0x1F, 0xFB, 0xF5, 0xAC, 0xDC, 0x8F, 0xAB, 0x7A, 0x5D, 0xDC, 0x77,
0xAE, 0x74, 0xD0, 0xF8, 0x44, 0x05, 0x0C, 0xD5, 0x8E, 0xAB, 0x09, 0x2F, 0x85, 0xBB, 0x3F, 0xCF,
0xCF, 0xFE, 0x73, 0x52, 0xEB, 0xC1, 0xE3, 0x5F, 0x34, 0xE9, 0x64, 0x08, 0x7E, 0x50, 0xA4, 0x4F,
0xD6, 0xCF, 0xFB, 0x74, 0xA8, 0xEF, 0x6F, 0x36, 0xAB, 0x62, 0xD7, 0x59, 0x55, 0xB9, 0x6B, 0xE1,
0xEB, 0x62, 0x3E, 0xAD, 0xCA, 0xE5, 0x6D, 0x56, 0x3D, 0xBC, 0xCD, 0xD6, 0xB3, 0xFD, 0x52, 0xC6,
0xAB, 0xCF, 0x9B, 0xCD, 0xEA, 0x5B, 0x52, 0x6D, 0x56, 0xE9, 0xE0, 0xD9, 0x0E, 0xB5, 0xB4, 0x67,
0xBA, 0xCE, 0x93, 0x59, 0xBA, 0x48, 0x56, 0x5F, 0x3B, 0x57, 0x7C, 0xD2, 0x03, 0x7C, 0xE4, 0x38,
0xAB, 0xD7, 0xDD, 0xE3, 0x17, 0x17, 0x00, 0xF2, 0xCA, 0x29, 0x90, 0x46, 0x81, 0xD5, 0x1A, 0xF5,
0x73, 0xC4, 0x2B, 0x42, 0x54, 0xCA, 0x29, 0x6B, 0x8D, 0x00, 0xEC, 0xD6, 0x32, 0x1A, 0xAC, 0x66,
0x3C, 0x1A, 0xEC, 0xF1, 0xAC, 0x17, 0xA9, 0xB3, 0x6E, 0x68, 0x3E, 0x2C, 0xE7, 0x79, 0x9E, 0x2D,
0xD7, 0x65, 0x36, 0x3F, 0x0B, 0x08, 0xA7, 0x96, 0xC1, 0x30, 0xD4, 0x29, 0xFF, 0x30, 0x58, 0xEC,
0x10, 0x62, 0xDB, 0xFA, 0x4F, 0x43, 0xEF, 0x70, 0xED, 0x07, 0xF3, 0x7E, 0x02, 0x9F, 0x79, 0xF5,
0xE6, 0xF5, 0xC0, 0xB9, 0x3A, 0x3C, 0x0C, 0x9C, 0xF1, 0xE9, 0x19, 0x78, 0x5C, 0x11, 0x78, 0x90,
0x9F, 0xF0, 0x3F, 0x9A, 0x0E, 0x4C, 0x9E, 0x11, 0xF0, 0xDF, 0x30, 0x81, 0x46, 0x0B, 0xC9, 0x19,
0xA2, 0x86, 0x86, 0x09, 0xD4, 0x52, 0x29, 0x44, 0x00, 0xE5, 0xC9, 0x04, 0x44, 0x26, 0x02, 0x65,
0x42, 0x82, 0x94, 0xD6, 0x2A, 0xED, 0x1A, 0x26, 0x24, 0x87, 0x0C, 0x92, 0xC6, 0x28, 0x65, 0x3D,
0x99, 0xC0, 0xC8, 0x44, 0xA0, 0x4C, 0x30, 0x05, 0xC2, 0x39, 0x74, 0xBA, 0x45, 0x82, 0x17, 0x12,
0x25, 0x94, 0x06, 0xE9, 0x89, 0x84, 0x8C, 0x48, 0x04, 0x8A, 0x84, 0xB6, 0x12, 0x09, 0x08, 0x45,
0x1B, 0x26, 0xA4, 0x26, 0xA1, 0x0C, 0xF1, 0x3F, 0x9E, 0x4C, 0xA8, 0xC8, 0x44, 0xA0, 0x4C, 0x18,
0x63, 0x90, 0x88, 0xB4, 0x38, 0xA4, 0x13, 0x0A, 0x1C, 0x2A, 0x23, 0x94, 0x6F, 0x8A, 0x49, 0x91,
0x89, 0x40, 0x99, 0xB0, 0x92, 0xFF, 0xD6, 0x4B, 0x87, 0xDA, 0x33, 0x21, 0xAC, 0x34, 0x20, 0x34,
0x0A, 0xF4, 0x4D, 0x27, 0x74, 0x64, 0x22, 0x50, 0x26, 0x8C, 0x71, 0x8E, 0x04, 0x49, 0xB1, 0xCF,
0x27, 0xC0, 0x91, 0xE2, 0xEC, 0x42, 0xF0, 0xA2, 0xE2, 0x1B, 0x27, 0x4C, 0x64, 0x22, 0x50, 0x26,
0xB4, 0x93, 0xCE, 0x5A, 0x4D, 0x68, 0x1B, 0x26, 0x94, 0x20, 0xB2, 0x28, 0xB4, 0x31, 0x9E, 0x4C,
0xD8, 0xC8, 0x44, 0xA8, 0x4C, 0x48, 0xDE, 0x67, 0x80, 0x33, 0x16, 0xF7, 0x4C, 0x58, 0x63, 0x49,
0x08, 0x29, 0xBC, 0xB7, 0x1D, 0x2E, 0x22, 0x11, 0x28, 0x12, 0xBC, 0xC3, 0xB0, 0x1C, 0x16, 0x24,
0x35, 0x4B, 0x87, 0x75, 0xC6, 0x09, 0x34, 0x02, 0x49, 0xFB, 0x2A, 0x56, 0x51, 0xC6, 0x0C, 0x15,
0x0A, 0xDE, 0x7B, 0x3A, 0x4B, 0xC8, 0xC9, 0xE6, 0x61, 0xED, 0x10, 0xC4, 0x4B, 0x09, 0x08, 0xDF,
0x40, 0x01, 0x51, 0xC7, 0x0C, 0x15, 0x0A, 0x8E, 0x11, 0x52, 0x2A, 0xA7, 0x9D, 0x6A, 0xA0, 0x70,
0x56, 0x0B, 0xAD, 0x35, 0x87, 0x0A, 0x5F, 0x28, 0xA2, 0x90, 0x19, 0x2A, 0x14, 0xC2, 0xDA, 0xFA,
0x6E, 0x87, 0x46, 0x38, 0xEC, 0x46, 0xA5, 0xA9, 0xB9, 0x00, 0xDF, 0x2C, 0x13, 0xA2, 0x94, 0x19,
0x2A, 0x14, 0x00, 0x9C, 0x63, 0x6A, 0xAB, 0x1A, 0x75, 0x1B, 0xB4, 0x96, 0x4C, 0x05, 0x48, 0xEF,
0x7B, 0x60, 0x51, 0xC9, 0x0C, 0x16, 0x09, 0x4B, 0x52, 0x5B, 0x61, 0x4C, 0xCB, 0x84, 0x33, 0x1C,
0x34, 0x38, 0xC3, 0x40, 0x6F, 0x28, 0xA2, 0x94, 0x19, 0x2A, 0x14, 0x12, 0xB5, 0x71, 0xA8, 0xAD,
0x74, 0x0D, 0x14, 0x46, 0x0A, 0x67, 0x0D, 0x90, 0xF1, 0xDE, 0x7B, 0x44, 0x2D, 0x33, 0x54, 0x28,
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0x61, 0x79, 0x6C, 0x69, 0x6E, 0x65, 0x73, 0x2E, 0x77, 0x70, 0x6D, 0x6C, 0x50, 0x4B, 0x05, 0x06,
0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x02, 0x00, 0x7F, 0x00, 0x00, 0x00, 0xDD, 0x0B, 0x00, 0x00,
0x00, 0x00
};
#endif /* __waypoint_v3_test_file_kmz_h_included */

30
samples/sample_c/module_sample/widget/test_widget.c
View File

@ -29,6 +29,7 @@
#include "../utils/util_misc.h"
#include <dji_platform.h>
#include <stdio.h>
#include "dji_sdk_config.h"
#include "file_binary_array_list_en.h"
/* Private constants ---------------------------------------------------------*/
@ -51,18 +52,17 @@ static char s_widgetFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
{0, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{1, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{2, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{3, DJI_WIDGET_TYPE_SWITCH, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{4, DJI_WIDGET_TYPE_SCALE, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{5, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{6, DJI_WIDGET_TYPE_SCALE, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{7, DJI_WIDGET_TYPE_INT_INPUT_BOX, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{8, DJI_WIDGET_TYPE_SWITCH, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{9, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{1, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{2, DJI_WIDGET_TYPE_SWITCH, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{3, DJI_WIDGET_TYPE_SCALE, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{4, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{5, DJI_WIDGET_TYPE_SCALE, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{6, DJI_WIDGET_TYPE_INT_INPUT_BOX, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{7, DJI_WIDGET_TYPE_SWITCH, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{8, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
};
static char *s_widgetTypeNameArray[] = {
static const char *s_widgetTypeNameArray[] = {
"Unknown",
"Button",
"Switch",
@ -200,7 +200,17 @@ static void *DjiTest_WidgetTask(void *arg)
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get system time ms error, stat = 0x%08llX", djiStat);
}
#ifndef USER_FIRMWARE_MAJOR_VERSION
snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "System time : %u ms", sysTimeMs);
#else
snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN,
"System time : %u ms\r\nVersion: v%02d.%02d.%02d.%02d\r\nBuild time: %s %s", sysTimeMs,
USER_FIRMWARE_MAJOR_VERSION, USER_FIRMWARE_MINOR_VERSION,
USER_FIRMWARE_MODIFY_VERSION, USER_FIRMWARE_DEBUG_VERSION,
__DATE__, __TIME__);
#endif
djiStat = DjiWidgetFloatingWindow_ShowMessage(message);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

112
samples/sample_c/module_sample/widget/test_widget_speaker.c
View File

@ -33,6 +33,7 @@
#include <stdio.h>
#include "utils/util_misc.h"
#include "utils/util_md5.h"
#include <dji_aircraft_info.h>
#ifdef OPUS_INSTALLED
@ -54,11 +55,13 @@
#define WIDGET_SPEAKER_TTS_FILE_MAX_SIZE (3000)
/* The frame size is hardcoded for this sample code but it doesn't have to be */
#define WIDGET_SPEAKER_AUDIO_OPUS_MAX_PACKET_SIZE (3 * 1276)
#define WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE (6 * 960)
#define WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE (16000)
#define WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS (1)
#define WIDGET_SPEAKER_AUDIO_OPUS_DECODE_FRAME_SIZE (160)
#define WIDGET_SPEAKER_AUDIO_OPUS_MAX_PACKET_SIZE (3 * 1276)
#define WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE (6 * 960)
#define WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE (16000)
#define WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS (1)
#define WIDGET_SPEAKER_AUDIO_OPUS_DECODE_FRAME_SIZE_8KBPS (40)
#define WIDGET_SPEAKER_AUDIO_OPUS_DECODE_BITRATE_8KBPS (8000)
/* The speaker initialization parameters */
#define WIDGET_SPEAKER_DEFAULT_VOLUME (30)
@ -75,6 +78,7 @@ static T_DjiTaskHandle s_widgetSpeakerTestThread;
static FILE *s_audioFile = NULL;
static FILE *s_ttsFile = NULL;
static bool s_isDecodeFinished = true;
static uint16_t s_decodeBitrate = 0;
/* Private functions declaration ---------------------------------------------*/
static void SetSpeakerState(E_DjiWidgetSpeakerState speakerState);
@ -230,15 +234,14 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void)
return EXIT_FAILURE;
}
USER_LOG_INFO("Decode Start...");
while (1) {
int i;
unsigned char pcm_bytes[WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS * 2];
int frame_size;
/* Read a 16 bits/sample audio frame. */
nbBytes = fread(cbits, 1, WIDGET_SPEAKER_AUDIO_OPUS_DECODE_FRAME_SIZE, fin);
nbBytes = fread(cbits, 1, s_decodeBitrate / WIDGET_SPEAKER_AUDIO_OPUS_DECODE_BITRATE_8KBPS *
WIDGET_SPEAKER_AUDIO_OPUS_DECODE_FRAME_SIZE_8KBPS, fin);
if (feof(fin))
break;
@ -293,45 +296,59 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
uint8_t data[WIDGET_SPEAKER_TTS_FILE_MAX_SIZE] = {0};
int32_t readLen;
char cmdStr[WIDGET_SPEAKER_TTS_FILE_MAX_SIZE + 128];
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
T_DjiReturnCode returnCode;
txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");
if (txtFile == NULL) {
fprintf(stderr, "failed to open input file: %s\n", strerror(errno));
return EXIT_FAILURE;
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;
}
readLen = fread(data, 1, WIDGET_SPEAKER_TTS_FILE_MAX_SIZE, txtFile);
if (readLen <= 0) {
USER_LOG_ERROR("Read tts file failed, error code: %d", readLen);
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
return DjiTest_PlayAudioData();
} else {
txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");
if (txtFile == NULL) {
fprintf(stderr, "failed to open input file: %s\n", strerror(errno));
return EXIT_FAILURE;
}
readLen = fread(data, 1, WIDGET_SPEAKER_TTS_FILE_MAX_SIZE, txtFile);
if (readLen <= 0) {
USER_LOG_ERROR("Read tts file failed, error code: %d", readLen);
fclose(txtFile);
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
}
fclose(txtFile);
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
}
fclose(txtFile);
USER_LOG_INFO("Read tts file success, len: %d", readLen);
USER_LOG_INFO("Content: %s", data);
USER_LOG_INFO("Read tts file success, len: %d", readLen);
USER_LOG_INFO("Content: %s", data);
memset(cmdStr, 0, sizeof(cmdStr));
memset(cmdStr, 0, sizeof(cmdStr));
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IN_TTS_CONVERSION);
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IN_TTS_CONVERSION);
#if EKHO_INSTALLED
/*! Attention: you can use other tts opensource function to convert txt to speech, example used ekho v7.5 */
snprintf(cmdStr, sizeof(cmdStr), " ekho %s -s 20 -p 20 -a 100 -o %s", data, WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
/*! Attention: you can use other tts opensource function to convert txt to speech, example used ekho v7.5 */
snprintf(cmdStr, sizeof(cmdStr), " ekho %s -s 20 -p 20 -a 100 -o %s", data,
WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
#else
USER_LOG_WARN(
USER_LOG_WARN(
"Ekho is not installed, please visit https://www.eguidedog.net/ekho.php to install it or use other TTS tools to convert audio");
#endif
DjiUserUtil_RunSystemCmd(cmdStr);
DjiUserUtil_RunSystemCmd(cmdStr);
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_PLAYING);
USER_LOG_INFO("Start TTS Playing...");
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "ffplay -nodisp -autoexit -ar 16000 -ac 1 -f s16le -i %s 2>/dev/null",
WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_PLAYING);
USER_LOG_INFO("Start TTS Playing...");
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "ffplay -nodisp -autoexit -ar 16000 -ac 1 -f s16le -i %s 2>/dev/null",
WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
return DjiUserUtil_RunSystemCmd(cmdStr);
return DjiUserUtil_RunSystemCmd(cmdStr);
}
}
static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, uint16_t size)
@ -533,18 +550,25 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
realVolume = 1.5f * (float) volume;
s_speakerState.volume = volume;
#ifdef PLATFORM_ARCH_x86_64
USER_LOG_INFO("Set widget speaker volume: %d", volume);
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "pactl set-sink-volume %s %d%%", WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME,
(int32_t) realVolume);
returnCode = DjiUserUtil_RunSystemCmd(cmdStr);
if (returnCode < 0) {
USER_LOG_ERROR("Set widget speaker volume error: %d", ret);
#ifdef PLATFORM_ARCH_x86_64
snprintf(cmdStr, sizeof(cmdStr), "pactl list | grep %s -q", WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME);
ret = system(cmdStr);
if (ret == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "pactl set-sink-volume %s %d%%", WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME,
(int32_t) realVolume);
returnCode = DjiUserUtil_RunSystemCmd(cmdStr);
if (returnCode < 0) {
USER_LOG_ERROR("Set widget speaker volume error: %d", ret);
}
} else {
USER_LOG_WARN("No audio device found, please add audio device and init speaker volume here!!!");
}
#else
USER_LOG_WARN("Add set speaker volume function here!");
USER_LOG_WARN("No audio device found, please add audio device and init speaker volume here!!!");
#endif
returnCode = osalHandler->MutexUnlock(s_speakerMutex);
@ -606,6 +630,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
{
uint16_t writeLen;
T_DjiReturnCode returnCode;
T_DjiWidgetTransDataContent transDataContent = {0};
if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
s_isDecodeFinished = false;
@ -617,6 +642,11 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
}
memcpy(&transDataContent, buf, size);
s_decodeBitrate = transDataContent.transDataStartContent.fileDecodeBitrate;
USER_LOG_INFO("Create voice file: %s, decoder bitrate: %d.", transDataContent.transDataStartContent.fileName,
transDataContent.transDataStartContent.fileDecodeBitrate);
} else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT) {
USER_LOG_INFO("Transmit voice file, offset: %d, size: %d", offset, size);
if (s_audioFile != NULL) {

53
samples/sample_c/module_sample/widget/widget_file/cn_big_screen/widget_config.json
View File

@ -15,7 +15,7 @@
{
"widget_index": 0,
"widget_type": "button",
"widget_name": "按钮_1",
"widget_name": "按钮",
"icon_file_set": {
"icon_file_name_selected": "icon_button1.png",
"icon_file_name_unselected": "icon_button1.png"
@ -27,19 +27,6 @@
},
{
"widget_index": 1,
"widget_type": "button",
"widget_name": "按钮_2",
"icon_file_set": {
"icon_file_name_selected": "icon_button2.png",
"icon_file_name_unselected": "icon_button2.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 1
}
},
{
"widget_index": 2,
"widget_type": "list",
"widget_name": "列表",
"list_item": [
@ -60,11 +47,11 @@
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 2
"mapping_config_display_order": 1
}
},
{
"widget_index": 3,
"widget_index": 2,
"widget_type": "switch",
"widget_name": "开关",
"icon_file_set": {
@ -73,11 +60,11 @@
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 3
"mapping_config_display_order": 2
}
},
{
"widget_index": 4,
"widget_index": 3,
"widget_type": "scale",
"widget_name": "范围条",
"icon_file_set": {
@ -86,7 +73,7 @@
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 4,
"mapping_config_display_order": 3,
"button_value_step_length": 5
}
}
@ -100,43 +87,43 @@
},
"widget_list": [
{
"widget_index": 5,
"widget_index": 4,
"widget_type": "button",
"widget_name": "按钮 5",
"widget_name": "按钮 4",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 5
"mapping_config_display_order": 4
}
},
{
"widget_index": 6,
"widget_index": 5,
"widget_type": "scale",
"widget_name": "范围条 6",
"widget_name": "范围条 5",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 6,
"mapping_config_display_order": 5,
"button_value_step_length": 5
}
},
{
"widget_index": 7,
"widget_index": 6,
"widget_type": "int_input_box",
"widget_name": "整形值输入框 7",
"widget_name": "整形值输入框 6",
"int_input_box_hint": "unit:s"
},
{
"widget_index": 8,
"widget_index": 7,
"widget_type": "switch",
"widget_name": "开关 8",
"widget_name": "开关 7",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 8
"mapping_config_display_order": 7
}
},
{
"widget_index": 9,
"widget_index": 8,
"widget_type": "list",
"widget_name": "列表 9",
"widget_name": "列表 8",
"list_item": [
{
"item_name": "选项 1"
@ -153,7 +140,7 @@
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 9
"mapping_config_display_order": 8
}
}
]

53
samples/sample_c/module_sample/widget/widget_file/en_big_screen/widget_config.json
View File

@ -15,7 +15,7 @@
{
"widget_index": 0,
"widget_type": "button",
"widget_name": "Button_1",
"widget_name": "Button",
"icon_file_set": {
"icon_file_name_selected": "icon_button1.png",
"icon_file_name_unselected": "icon_button1.png"
@ -27,19 +27,6 @@
},
{
"widget_index": 1,
"widget_type": "button",
"widget_name": "Button_2",
"icon_file_set": {
"icon_file_name_selected": "icon_button2.png",
"icon_file_name_unselected": "icon_button2.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 1
}
},
{
"widget_index": 2,
"widget_type": "list",
"widget_name": "List",
"list_item": [
@ -60,11 +47,11 @@
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 2
"mapping_config_display_order": 1
}
},
{
"widget_index": 3,
"widget_index": 2,
"widget_type": "switch",
"widget_name": "Switch",
"icon_file_set": {
@ -73,11 +60,11 @@
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 3
"mapping_config_display_order": 2
}
},
{
"widget_index": 4,
"widget_index": 3,
"widget_type": "scale",
"widget_name": "Scale",
"icon_file_set": {
@ -86,7 +73,7 @@
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 4,
"mapping_config_display_order": 3,
"button_value_step_length": 5
}
}
@ -100,43 +87,43 @@
},
"widget_list": [
{
"widget_index": 5,
"widget_index": 4,
"widget_type": "button",
"widget_name": "Button 5",
"widget_name": "Button 4",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 5
"mapping_config_display_order": 4
}
},
{
"widget_index": 6,
"widget_index": 5,
"widget_type": "scale",
"widget_name": "Scale 6",
"widget_name": "Scale 5",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 6,
"mapping_config_display_order": 5,
"button_value_step_length": 5
}
},
{
"widget_index": 7,
"widget_index": 6,
"widget_type": "int_input_box",
"widget_name": "Integer Input Box 7",
"widget_name": "Integer Input Box 6",
"int_input_box_hint": "unit:s"
},
{
"widget_index": 8,
"widget_index": 7,
"widget_type": "switch",
"widget_name": "Switch 8",
"widget_name": "Switch 7",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 8
"mapping_config_display_order": 7
}
},
{
"widget_index": 9,
"widget_index": 8,
"widget_type": "list",
"widget_name": "List 9",
"widget_name": "List 8",
"list_item": [
{
"item_name": "Item 1"
@ -153,7 +140,7 @@
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 9
"mapping_config_display_order": 8
}
}
]

435
samples/sample_c/module_sample/widget/widget_file_c/en_big_screen/widget_config_json.h
View File

@ -6,9 +6,9 @@
/* Contents of file widget_config.json */
#define widget_config_json_fileName "widget_config.json"
#define widget_config_json_fileSize 4109
#define widget_config_json_fileSize 3801
static const uint8_t widget_config_json_fileBinaryArray[4109] = {
static const uint8_t widget_config_json_fileBinaryArray[3801] = {
0x7B, 0x0A, 0x20, 0x20, 0x22, 0x76, 0x65, 0x72, 0x73, 0x69, 0x6F, 0x6E, 0x22, 0x3A, 0x20, 0x7B,
0x0A, 0x20, 0x20, 0x20, 0x20, 0x22, 0x6D, 0x61, 0x6A, 0x6F, 0x72, 0x22, 0x3A, 0x20, 0x31, 0x2C,
0x0A, 0x20, 0x20, 0x20, 0x20, 0x22, 0x6D, 0x69, 0x6E, 0x6F, 0x72, 0x22, 0x3A, 0x20, 0x30, 0x0A,
@ -17,118 +17,28 @@ static const uint8_t widget_config_json_fileBinaryArray[4109] = {
0x66, 0x6C, 0x6F, 0x61, 0x74, 0x69, 0x6E, 0x67, 0x5F, 0x77, 0x69, 0x6E, 0x64, 0x6F, 0x77, 0x22,
0x3A, 0x20, 0x7B, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x22, 0x69, 0x73, 0x5F, 0x65, 0x6E,
0x61, 0x62, 0x6C, 0x65, 0x22, 0x3A, 0x20, 0x74, 0x72, 0x75, 0x65, 0x0A, 0x20, 0x20, 0x20, 0x20,
0x7D, 0x2C, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x22, 0x77, 0x69, 0x64, 0x67, 0x65, 0x74, 0x5F, 0x6C,
0x69, 0x73, 0x74, 0x22, 0x3A, 0x20, 0x5B, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x7B, 0x0A,
0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x22, 0x77, 0x69, 0x64, 0x67, 0x65, 0x74, 0x5F,
0x69, 0x6E, 0x64, 0x65, 0x78, 0x22, 0x3A, 0x20, 0x30, 0x2C, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x20,
0x20, 0x20, 0x20, 0x22, 0x77, 0x69, 0x64, 0x67, 0x65, 0x74, 0x5F, 0x74, 0x79, 0x70, 0x65, 0x22,
0x3A, 0x20, 0x22, 0x62, 0x75, 0x74, 0x74, 0x6F, 0x6E, 0x22, 0x2C, 0x0A, 0x20, 0x20, 0x20, 0x20,
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};
#endif /* __widget_config_json_h_included */

206
samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.c
View File

@ -44,12 +44,13 @@
#include "dji_core.h"
#include <payload_collaboration/test_payload_collaboration.h>
#include <waypoint_v3/test_waypoint_v3.h>
#include "dji_sdk_config.h"
/* Private constants ---------------------------------------------------------*/
#define WIDGET_DIR_PATH_LEN_MAX (256)
#define WIDGET_TASK_STACK_SIZE (2048)
#define WIDGET_LOG_STRING_MAX_SIZE (50)
#define WIDGET_LOG_STRING_MAX_SIZE (40)
#define WIDGET_LOG_LINE_MAX_NUM (5)
/* Private types -------------------------------------------------------------*/
@ -64,20 +65,28 @@ typedef enum {
E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_ARREST_FLYING = 7,
E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_SET_GET_PARAM = 8,
E_DJI_SAMPLE_INDEX_HMS = 9,
E_DJI_SAMPLE_INDEX_CAMERA_MANAGER = 10,
E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_FREE_MODE = 11,
E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_YAW_FOLLOW_MODE = 12,
E_DJI_SAMPLE_INDEX_LIVEVIEW = 13,
E_DJI_SAMPLE_INDEX_PERCEPTION = 14,
E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_FREE_MODE = 10,
E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_YAW_FOLLOW_MODE = 11,
E_DJI_SAMPLE_INDEX_LIVEVIEW = 12,
E_DJI_SAMPLE_INDEX_PERCEPTION = 13,
E_DJI_SAMPLE_INDEX_SWITCH_ALIAS = 14,
E_DJI_SAMPLE_INDEX_CAMMGR_SHUTTER_SPEED = 15,
E_DJI_SAMPLE_INDEX_CAMMGR_APERTURE = 16,
E_DJI_SAMPLE_INDEX_CAMMGR_EV = 17,
E_DJI_SAMPLE_INDEX_CAMMGR_ISO = 18,
E_DJI_SAMPLE_INDEX_CAMMGR_FOCUS_POINT = 19,
E_DJI_SAMPLE_INDEX_CAMMGR_TAP_ZOOM = 20,
E_DJI_SAMPLE_INDEX_CAMMGR_OPTICAL_ZOOM = 21,
E_DJI_SAMPLE_INDEX_CAMMGR_SINGLE_PHOTO = 22,
E_DJI_SAMPLE_INDEX_CAMMGR_AEB_PHOTO = 23,
E_DJI_SAMPLE_INDEX_CAMMGR_BURST_PHOTO = 24,
E_DJI_SAMPLE_INDEX_CAMMGR_INTERVAL_PHOTO = 25,
E_DJI_SAMPLE_INDEX_CAMMGR_RECORDER_VIDEO = 26,
E_DJI_SAMPLE_INDEX_CAMMGR_MEDIA_DOWNLOAD = 27,
E_DJI_SAMPLE_INDEX_UNKNOWN = 0xFF,
} E_DjiExtensionPortSampleIndex;
typedef enum {
E_DJI_SAMPLE_INDEX_SWITCH_ALIAS = 0,
E_DJI_SAMPLE_INDEX_FC_SUB_LOG_ON_OFF = 1,
E_DJI_SAMPLE_INDEX_COLLABORATION_LOG_ON_OFF = 2,
} E_DjiPayloadPortSampleIndex;
typedef struct {
bool valid;
char content[WIDGET_LOG_STRING_MAX_SIZE];
@ -96,39 +105,28 @@ static T_DjiReturnCode DjiTestWidget_TriggerChangeAlias(void);
static T_DjiTaskHandle s_widgetTestThread;
static T_DjiTaskHandle s_widgetInteractionTestThread;
static E_DjiExtensionPortSampleIndex s_extensionPortSampleIndex = E_DJI_SAMPLE_INDEX_FC_SUBSCRIPTION;
static E_DjiPayloadPortSampleIndex s_payloadPortSampleIndex = E_DJI_SAMPLE_INDEX_SWITCH_ALIAS;
static bool s_isallowRunFlightControlSample = false;
static bool s_isSampleStart = false;
static E_DjiMountPosition s_mountPosition = DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1;
static E_DjiPerceptionDirection s_perceptionDirection = DJI_PERCEPTION_RECTIFY_DOWN;
static E_DjiTestCameraManagerSampleSelect s_cameraManagerSampleSelect =
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED;
static T_DjiTestWidgetLog s_djiTestWidgetLog[WIDGET_LOG_LINE_MAX_NUM] = {0};
static T_DjiAircraftInfoBaseInfo s_aircraftInfoBaseInfo = {0};
static bool s_isAliasChanged = false;
static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
{0, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{1, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{2, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{3, DJI_WIDGET_TYPE_SWITCH, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{4, DJI_WIDGET_TYPE_SCALE, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{5, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{6, DJI_WIDGET_TYPE_SCALE, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{7, DJI_WIDGET_TYPE_INT_INPUT_BOX, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{8, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{9, DJI_WIDGET_TYPE_SWITCH, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{10, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{11, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{12, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{13, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{14, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{15, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{16, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{17, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{1, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{2, DJI_WIDGET_TYPE_SWITCH, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{3, DJI_WIDGET_TYPE_SCALE, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{4, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{5, DJI_WIDGET_TYPE_SCALE, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{6, DJI_WIDGET_TYPE_INT_INPUT_BOX, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{7, DJI_WIDGET_TYPE_SWITCH, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{8, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{9, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
{10, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
};
static char *s_widgetTypeNameArray[] = {
static const char *s_widgetTypeNameArray[] = {
"Unknown",
"Button",
"Switch",
@ -139,6 +137,8 @@ static char *s_widgetTypeNameArray[] = {
static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem);
static int32_t s_widgetValueList[sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem)] = {0};
static bool s_isWidgetFileDirPathConfigured = false;
static char s_widgetFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
/* Exported functions definition ---------------------------------------------*/
void DjiTest_WidgetLogAppend(const char *fmt, ...)
@ -179,7 +179,7 @@ T_DjiReturnCode DjiTest_WidgetInteractionStartService(void)
return djiStat;
}
#ifdef SYSTEM_ARCH_LINUX
#ifdef SYSTEM_ARCH_LINUX_DISABLEED
//Step 2 : Set UI Config (Linux environment)
char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX];
char tempPath[WIDGET_DIR_PATH_LEN_MAX];
@ -189,7 +189,11 @@ T_DjiReturnCode DjiTest_WidgetInteractionStartService(void)
return djiStat;
}
snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", curFileDirPath);
if (s_isWidgetFileDirPathConfigured == true) {
snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", s_widgetFileDirPath);
} else {
snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", curFileDirPath);
}
//set default ui config path
djiStat = DjiWidget_RegDefaultUiConfigByDirPath(tempPath);
@ -208,7 +212,11 @@ T_DjiReturnCode DjiTest_WidgetInteractionStartService(void)
}
//set ui config for Chinese language
snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", curFileDirPath);
if (s_isWidgetFileDirPathConfigured == true) {
snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", s_widgetFileDirPath);
} else {
snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", curFileDirPath);
}
djiStat = DjiWidget_RegUiConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_CHINESE,
DJI_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
@ -254,6 +262,15 @@ T_DjiReturnCode DjiTest_WidgetInteractionStartService(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode DjiTest_WidgetInteractionSetConfigFilePath(const char *path)
{
memset(s_widgetFileDirPath, 0, sizeof(s_widgetFileDirPath));
memcpy(s_widgetFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_widgetFileDirPath) - 1));
s_isWidgetFileDirPathConfigured = true;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
#ifndef __CC_ARM
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
@ -276,6 +293,7 @@ static void *DjiTest_WidgetTask(void *arg)
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get system time ms error, stat = 0x%08llX", djiStat);
}
#ifndef USER_FIRMWARE_MAJOR_VERSION
snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN,
"System time : %u ms \r\n%s \r\n%s \r\n%s \r\n%s \r\n%s \r\n",
sysTimeMs,
@ -284,6 +302,13 @@ static void *DjiTest_WidgetTask(void *arg)
s_djiTestWidgetLog[2].content,
s_djiTestWidgetLog[3].content,
s_djiTestWidgetLog[4].content);
#else
snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN,
"System time : %u ms\r\nVersion: v%02d.%02d.%02d.%02d\r\nBuild time: %s %s", sysTimeMs,
USER_FIRMWARE_MAJOR_VERSION, USER_FIRMWARE_MINOR_VERSION,
USER_FIRMWARE_MODIFY_VERSION, USER_FIRMWARE_DEBUG_VERSION,
__DATE__, __TIME__);
#endif
djiStat = DjiWidgetFloatingWindow_ShowMessage(message);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -392,9 +417,6 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
case E_DJI_SAMPLE_INDEX_FC_SUBSCRIPTION:
DjiTest_FcSubscriptionRunSample();
break;
case E_DJI_SAMPLE_INDEX_CAMERA_MANAGER:
DjiTest_CameraManagerRunSample(s_mountPosition, s_cameraManagerSampleSelect);
break;
case E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_FREE_MODE:
DjiTest_GimbalManagerRunSample(s_mountPosition, DJI_GIMBAL_MODE_FREE);
break;
@ -413,28 +435,72 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
break;
case E_DJI_SAMPLE_INDEX_PERCEPTION:
#ifdef SYSTEM_ARCH_LINUX
DjiTest_PerceptionRunSample(s_perceptionDirection);
DjiTest_PerceptionRunSample(DJI_PERCEPTION_RECTIFY_FRONT);
#else
USER_LOG_WARN("This feature does not support RTOS platform.");
#endif
break;
case E_DJI_SAMPLE_INDEX_SWITCH_ALIAS:
DjiTestWidget_TriggerChangeAlias();
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_SHUTTER_SPEED:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_APERTURE:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_EV:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_EV);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_ISO:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ISO);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_FOCUS_POINT:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_FOCUS_POINT);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_TAP_ZOOM:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_TAP_ZOOM_POINT);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_OPTICAL_ZOOM:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ZOOM_PARAM);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_SINGLE_PHOTO:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_AEB_PHOTO:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_AEB_PHOTO);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_BURST_PHOTO:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_BURST_PHOTO);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_INTERVAL_PHOTO:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_RECORDER_VIDEO:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO);
break;
case E_DJI_SAMPLE_INDEX_CAMMGR_MEDIA_DOWNLOAD:
DjiTest_CameraManagerRunSample(s_mountPosition,
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE);
break;
default:
break;
}
} else {
switch (s_payloadPortSampleIndex) {
case E_DJI_SAMPLE_INDEX_SWITCH_ALIAS:
DjiTestWidget_TriggerChangeAlias();
break;
case E_DJI_SAMPLE_INDEX_FC_SUB_LOG_ON_OFF:
DjiTest_FcSubscriptionDataShowTrigger();
break;
case E_DJI_SAMPLE_INDEX_COLLABORATION_LOG_ON_OFF:
DjiTest_PayloadCollaborationDataShowTrigger();
break;
default:
break;
}
USER_LOG_WARN("Can't support on payload port.");
break;
}
USER_LOG_INFO("--------------------------------------------------------------------------------------------->");
@ -457,37 +523,19 @@ static T_DjiReturnCode DjiTestWidget_SetWidgetValue(E_DjiWidgetType widgetType,
s_widgetTypeNameArray[widgetType], index, value);
s_widgetValueList[index] = value;
if (widgetType == DJI_WIDGET_TYPE_SWITCH && index == 9) {
if (widgetType == DJI_WIDGET_TYPE_SWITCH && index == 7) {
s_isallowRunFlightControlSample = value;
}
if (widgetType == DJI_WIDGET_TYPE_LIST && index == 10) {
if (widgetType == DJI_WIDGET_TYPE_LIST && index == 8) {
s_mountPosition = value + 1;
}
if (widgetType == DJI_WIDGET_TYPE_LIST && index == 11) {
s_perceptionDirection = value;
}
if (widgetType == DJI_WIDGET_TYPE_LIST && index == 12) {
s_cameraManagerSampleSelect = value;
}
if (widgetType == DJI_WIDGET_TYPE_LIST && index == 13) {
if (widgetType == DJI_WIDGET_TYPE_LIST && index == 9) {
s_extensionPortSampleIndex = value;
}
if (widgetType == DJI_WIDGET_TYPE_BUTTON && index == 14) {
if (value == 1) {
s_isSampleStart = true;
}
}
if (widgetType == DJI_WIDGET_TYPE_LIST && index == 16) {
s_payloadPortSampleIndex = value;
}
if (widgetType == DJI_WIDGET_TYPE_BUTTON && index == 17) {
if (widgetType == DJI_WIDGET_TYPE_BUTTON && index == 10) {
if (value == 1) {
s_isSampleStart = true;
}
@ -509,14 +557,20 @@ static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType,
static T_DjiReturnCode DjiTestWidget_TriggerChangeAlias(void)
{
USER_LOG_INFO("Payload alias sample start");
if (s_isAliasChanged == false) {
DjiCore_SetAlias("測試test!@#$%^&*()");
USER_LOG_INFO("Set payload alias to '測試test!@#$%^&*()' ");
s_isAliasChanged = true;
} else {
DjiCore_SetAlias("PSDK_APPALIAS");
USER_LOG_INFO("Set payload alias to 'PSDK_APPALIAS' ");
s_isAliasChanged = false;
}
USER_LOG_INFO("Payload alias sample end");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

1
samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.h
View File

@ -40,6 +40,7 @@ extern "C" {
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_WidgetInteractionStartService(void);
T_DjiReturnCode DjiTest_WidgetInteractionSetConfigFilePath(const char *path);
void DjiTest_WidgetLogAppend(const char *fmt, ...);
#ifdef __cplusplus

273
samples/sample_c/module_sample/widget_interaction_test/widget_file/cn_big_screen/widget_config.json
View File

@ -15,7 +15,7 @@
{
"widget_index": 0,
"widget_type": "button",
"widget_name": "按钮_1",
"widget_name": "按钮",
"icon_file_set": {
"icon_file_name_selected": "icon_button1.png",
"icon_file_name_unselected": "icon_button1.png"
@ -27,19 +27,6 @@
},
{
"widget_index": 1,
"widget_type": "button",
"widget_name": "按钮_2",
"icon_file_set": {
"icon_file_name_selected": "icon_button2.png",
"icon_file_name_unselected": "icon_button2.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 1
}
},
{
"widget_index": 2,
"widget_type": "list",
"widget_name": "列表",
"list_item": [
@ -60,11 +47,11 @@
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 2
"mapping_config_display_order": 1
}
},
{
"widget_index": 3,
"widget_index": 2,
"widget_type": "switch",
"widget_name": "开关",
"icon_file_set": {
@ -73,11 +60,11 @@
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 3
"mapping_config_display_order": 2
}
},
{
"widget_index": 4,
"widget_index": 3,
"widget_type": "scale",
"widget_name": "范围条",
"icon_file_set": {
@ -86,7 +73,7 @@
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 4
"mapping_config_display_order": 3
}
}
]
@ -99,9 +86,18 @@
},
"widget_list": [
{
"widget_index": 5,
"widget_index": 4,
"widget_type": "button",
"widget_name": "按钮 5",
"widget_name": "按钮 4",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 4
}
},
{
"widget_index": 5,
"widget_type": "scale",
"widget_name": "范围条 5",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 5
@ -109,39 +105,17 @@
},
{
"widget_index": 6,
"widget_type": "scale",
"widget_name": "范围条 6",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 6
}
},
{
"widget_index": 7,
"widget_type": "int_input_box",
"widget_name": "整形值输入框 7",
"widget_name": "整形值输入框 6",
"int_input_box_hint": "unit:s"
},
{
"widget_index": 8,
"widget_type": "button",
"widget_name": "=========>> [Extension Port Test] <<=========",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 7
}
},
{
"widget_index": 9,
"widget_index": 7,
"widget_type": "switch",
"widget_name": "Unlock flight control restrictions (Special attention)",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 8
}
"widget_name": "Unlock flight control restrictions (Special attention)"
},
{
"widget_index": 10,
"widget_index": 8,
"widget_type": "list",
"widget_name": "Please Select Payload Index",
"list_item": [
@ -154,190 +128,103 @@
{
"item_name": "payload_index3"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 9
}
]
},
{
"widget_index": 11,
"widget_type": "list",
"widget_name": "Please Select Perception Camera Index",
"list_item": [
{
"item_name": "Down"
},
{
"item_name": "Front"
},
{
"item_name": "Rear"
},
{
"item_name": "Up"
},
{
"item_name": "Left"
},
{
"item_name": "Right"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 10
}
},
{
"widget_index": 12,
"widget_type": "list",
"widget_name": "Please Select Camera Function",
"list_item": [
{
"item_name": "set camera shutter speed"
},
{
"item_name": "set camera aperture"
},
{
"item_name": "set camera exposure compensation"
},
{
"item_name": "set camera ISO"
},
{
"item_name": "set camera focus point"
},
{
"item_name": "camera tap zoom"
},
{
"item_name": "camera optical zoom"
},
{
"item_name": "shoot single photo"
},
{
"item_name": "shoot AEB photo"
},
{
"item_name": "shoot burst photo"
},
{
"item_name": "shoot interval photo"
},
{
"item_name": "record video"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 11
}
},
{
"widget_index": 13,
"widget_index": 9,
"widget_type": "list",
"widget_name": "Please Select Sample",
"list_item": [
{
"item_name": "fc_subscription"
"item_name": "01_test_fc_subscription"
},
{
"item_name": "waypoint_v2"
"item_name": "02_test_waypoint_v2"
},
{
"item_name": "waypoint_v3"
"item_name": "03_test_waypoint_v3"
},
{
"item_name": "flight_ctrl_takeoff_landing"
"item_name": "04_test_flight_ctrl_takeoff_landing"
},
{
"item_name": "flight_ctrl_position_ctrl"
"item_name": "05_test_flight_ctrl_position_ctrl"
},
{
"item_name": "flight_ctrl_force_landing"
"item_name": "06_test_flight_ctrl_force_landing"
},
{
"item_name": "flight_ctrl_velocity_ctrl"
"item_name": "07_test_flight_ctrl_velocity_ctrl"
},
{
"item_name": "flight_ctrl_arrest_flying"
"item_name": "08_test_flight_ctrl_arrest_flying"
},
{
"item_name": "flight_ctrl_set_get_param"
"item_name": "09_test_flight_ctrl_set_get_param"
},
{
"item_name": "hms_info"
"item_name": "10_test_hms_info"
},
{
"item_name": "camera_manager"
"item_name": "11_gimbal_manager_free_mode"
},
{
"item_name": "gimbal_manager_free_mode"
"item_name": "12_gimbal_manager_yaw_follow_mode"
},
{
"item_name": "gimbal_manager_yaw_follow_mode"
"item_name": "13_test_liveview"
},
{
"item_name": "liveview"
"item_name": "14_test_perception"
},
{
"item_name": "perception"
"item_name": "15_test_set_payload_alias"
},
{
"item_name": "16_test_cammgr-set/get_shutter_speed"
},
{
"item_name": "17_test_cammgr-set/get_aperture"
},
{
"item_name": "18_test_cammgr-set/get_ev"
},
{
"item_name": "19_test_cammgr-set/get_iso"
},
{
"item_name": "20_test_cammgr-focus_point"
},
{
"item_name": "21_test_cammgr-tap_zoom"
},
{
"item_name": "22_test_cammgr-optical_zoom"
},
{
"item_name": "23_test_cammgr-single_photo"
},
{
"item_name": "24_test_cammgr-AEB_photo"
},
{
"item_name": "25_test_cammgr-burst_photo"
},
{
"item_name": "26_test_cammgr-interval_photo"
},
{
"item_name": "27_test_cammgr-recorder_video"
},
{
"item_name": "28_test_cammgr-media_download"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 12
}
]
},
{
"widget_index": 14,
"widget_index": 10,
"widget_type": "button",
"widget_name": "Run",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 13
}
},
{
"widget_index": 15,
"widget_type": "button",
"widget_name": "=========>> [Payload Port Test] <<=========",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 14
}
},
{
"widget_index": 16,
"widget_type": "list",
"widget_name": "Please Select Sample",
"list_item": [
{
"item_name": "change_alias"
},
{
"item_name": "fc_subscription_log_on/off"
},
{
"item_name": "collaboration_log_on/off"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 15
}
},
{
"widget_index": 17,
"widget_type": "button",
"widget_name": "Run",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 16
}
"widget_name": "Run"
}
]
}

275
samples/sample_c/module_sample/widget_interaction_test/widget_file/en_big_screen/widget_config.json
View File

@ -15,7 +15,7 @@
{
"widget_index": 0,
"widget_type": "button",
"widget_name": "Button_1",
"widget_name": "Button",
"icon_file_set": {
"icon_file_name_selected": "icon_button1.png",
"icon_file_name_unselected": "icon_button1.png"
@ -27,19 +27,6 @@
},
{
"widget_index": 1,
"widget_type": "button",
"widget_name": "Button_2",
"icon_file_set": {
"icon_file_name_selected": "icon_button2.png",
"icon_file_name_unselected": "icon_button2.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 1
}
},
{
"widget_index": 2,
"widget_type": "list",
"widget_name": "List",
"list_item": [
@ -60,11 +47,11 @@
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 2
"mapping_config_display_order": 1
}
},
{
"widget_index": 3,
"widget_index": 2,
"widget_type": "switch",
"widget_name": "Switch",
"icon_file_set": {
@ -73,11 +60,11 @@
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 3
"mapping_config_display_order": 2
}
},
{
"widget_index": 4,
"widget_index": 3,
"widget_type": "scale",
"widget_name": "Scale",
"icon_file_set": {
@ -86,8 +73,7 @@
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 4,
"button_value_step_length": 5
"mapping_config_display_order": 3
}
}
]
@ -100,9 +86,18 @@
},
"widget_list": [
{
"widget_index": 5,
"widget_index": 4,
"widget_type": "button",
"widget_name": "Button 5",
"widget_name": "Button 4",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 4
}
},
{
"widget_index": 5,
"widget_type": "scale",
"widget_name": "Scale 5",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 5
@ -110,40 +105,17 @@
},
{
"widget_index": 6,
"widget_type": "scale",
"widget_name": "Scale 6",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 6,
"button_value_step_length": 5
}
},
{
"widget_index": 7,
"widget_type": "int_input_box",
"widget_name": "Integer Input Box 7",
"widget_name": "Integer Input Box 6",
"int_input_box_hint": "unit:s"
},
{
"widget_index": 8,
"widget_type": "button",
"widget_name": "=========>> [Extension Port Test] <<=========",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 7
}
},
{
"widget_index": 9,
"widget_index": 7,
"widget_type": "switch",
"widget_name": "Unlock flight control restrictions (Special attention)",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 8
}
"widget_name": "Unlock flight control restrictions (Special attention)"
},
{
"widget_index": 10,
"widget_index": 8,
"widget_type": "list",
"widget_name": "Please Select Payload Index",
"list_item": [
@ -156,190 +128,103 @@
{
"item_name": "payload_index3"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 9
}
]
},
{
"widget_index": 11,
"widget_type": "list",
"widget_name": "Please Select Perception Camera Index",
"list_item": [
{
"item_name": "Down"
},
{
"item_name": "Front"
},
{
"item_name": "Rear"
},
{
"item_name": "Up"
},
{
"item_name": "Left"
},
{
"item_name": "Right"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 10
}
},
{
"widget_index": 12,
"widget_type": "list",
"widget_name": "Please Select Camera Function",
"list_item": [
{
"item_name": "set camera shutter speed"
},
{
"item_name": "set camera aperture"
},
{
"item_name": "set camera exposure compensation"
},
{
"item_name": "set camera ISO"
},
{
"item_name": "set camera focus point"
},
{
"item_name": "camera tap zoom"
},
{
"item_name": "camera optical zoom"
},
{
"item_name": "shoot single photo"
},
{
"item_name": "shoot AEB photo"
},
{
"item_name": "shoot burst photo"
},
{
"item_name": "shoot interval photo"
},
{
"item_name": "record video"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 11
}
},
{
"widget_index": 13,
"widget_index": 9,
"widget_type": "list",
"widget_name": "Please Select Sample",
"list_item": [
{
"item_name": "fc_subscription"
"item_name": "01_test_fc_subscription"
},
{
"item_name": "waypoint_v2"
"item_name": "02_test_waypoint_v2"
},
{
"item_name": "waypoint_v3"
"item_name": "03_test_waypoint_v3"
},
{
"item_name": "flight_ctrl_takeoff_landing"
"item_name": "04_test_flight_ctrl_takeoff_landing"
},
{
"item_name": "flight_ctrl_position_ctrl"
"item_name": "05_test_flight_ctrl_position_ctrl"
},
{
"item_name": "flight_ctrl_force_landing"
"item_name": "06_test_flight_ctrl_force_landing"
},
{
"item_name": "flight_ctrl_velocity_ctrl"
"item_name": "07_test_flight_ctrl_velocity_ctrl"
},
{
"item_name": "flight_ctrl_arrest_flying"
"item_name": "08_test_flight_ctrl_arrest_flying"
},
{
"item_name": "flight_ctrl_set_get_param"
"item_name": "09_test_flight_ctrl_set_get_param"
},
{
"item_name": "hms_info"
"item_name": "10_test_hms_info"
},
{
"item_name": "camera_manager"
"item_name": "11_gimbal_manager_free_mode"
},
{
"item_name": "gimbal_manager_free_mode"
"item_name": "12_gimbal_manager_yaw_follow_mode"
},
{
"item_name": "gimbal_manager_yaw_follow_mode"
"item_name": "13_test_liveview"
},
{
"item_name": "liveview"
"item_name": "14_test_perception"
},
{
"item_name": "perception"
"item_name": "15_test_set_payload_alias"
},
{
"item_name": "16_test_cammgr-set/get_shutter_speed"
},
{
"item_name": "17_test_cammgr-set/get_aperture"
},
{
"item_name": "18_test_cammgr-set/get_ev"
},
{
"item_name": "19_test_cammgr-set/get_iso"
},
{
"item_name": "20_test_cammgr-focus_point"
},
{
"item_name": "21_test_cammgr-tap_zoom"
},
{
"item_name": "22_test_cammgr-optical_zoom"
},
{
"item_name": "23_test_cammgr-single_photo"
},
{
"item_name": "24_test_cammgr-AEB_photo"
},
{
"item_name": "25_test_cammgr-burst_photo"
},
{
"item_name": "26_test_cammgr-interval_photo"
},
{
"item_name": "27_test_cammgr-recorder_video"
},
{
"item_name": "28_test_cammgr-media_download"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 12
}
]
},
{
"widget_index": 14,
"widget_index": 10,
"widget_type": "button",
"widget_name": "Run",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 13
}
},
{
"widget_index": 15,
"widget_type": "button",
"widget_name": "=========>> [Payload Port Test] <<=========",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 14
}
},
{
"widget_index": 16,
"widget_type": "list",
"widget_name": "Please Select Sample",
"list_item": [
{
"item_name": "change_alias"
},
{
"item_name": "fc_subscription_log_on/off"
},
{
"item_name": "collaboration_log_on/off"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 15
}
},
{
"widget_index": 17,
"widget_type": "button",
"widget_name": "Run",
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 16
}
"widget_name": "Run"
}
]
}

844
samples/sample_c/module_sample/widget_interaction_test/widget_file_c/en_big_screen/widget_config_json.h Executable file → Normal file
View File

@ -6,9 +6,9 @@
/* Contents of file widget_config.json */
#define widget_config_json_fileName "widget_config.json"
#define widget_config_json_fileSize 8744
#define widget_config_json_fileSize 6000
static const uint8_t widget_config_json_fileBinaryArray[8744] = {
static const uint8_t widget_config_json_fileBinaryArray[6000] = {
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@ -17,118 +17,28 @@ static const uint8_t widget_config_json_fileBinaryArray[8744] = {
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0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x22, 0x77, 0x69, 0x64, 0x67, 0x65, 0x74, 0x5F, 0x74, 0x79,
0x70, 0x65, 0x22, 0x3A, 0x20, 0x22, 0x62, 0x75, 0x74, 0x74, 0x6F, 0x6E, 0x22, 0x2C, 0x0A, 0x20,
0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x22, 0x77, 0x69, 0x64, 0x67, 0x65, 0x74, 0x5F, 0x6E,
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0x20, 0x20, 0x7D, 0x0A, 0x20, 0x20, 0x20, 0x20, 0x5D, 0x0A, 0x20, 0x20, 0x7D, 0x0A, 0x7D, 0x0A
};
#endif /* __widget_config_json_h_included */

1
samples/sample_c/platform/linux/manifold2/CMakeLists.txt
View File

@ -39,6 +39,7 @@ file(GLOB_RECURSE MODULE_SAMPLE_SRC ../../../module_sample/*.c)
include_directories(../../../module_sample)
include_directories(../common)
include_directories(../manifold2/application)
include_directories(../../../../../psdk_lib/include)
link_directories(../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})

16
samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h
View File

@ -34,18 +34,26 @@ extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define DJI_USE_ONLY_UART (0)
#define DJI_USE_UART_AND_USB_BULK_DEVICE (1)
#define DJI_USE_UART_AND_NETWORK_DEVICE (2)
/*!< Attention: Select your hardware connection mode here.
* */
#define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE
/*!< Attention: Select the sample you want to run here.
* */
#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
#define CONFIG_MODULE_SAMPLE_GIMBAL_ON
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
#define CONFIG_MODULE_SAMPLE_XPORT_ON
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
@ -54,8 +62,6 @@ extern "C" {
#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
#define CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
/*!< Attention: This function needs to be used together with mobile sdk mop sample.
* */
//#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON

57
samples/sample_c/platform/linux/manifold2/application/main.c
View File

@ -189,7 +189,7 @@ int main(int argc, char **argv)
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_ON
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -337,6 +337,7 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
T_DjiHalNetworkHandler networkHandler = {
.NetworkInit = HalNetWork_Init,
.NetworkDeInit = HalNetWork_DeInit,
.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo,
};
T_DjiHalUsbBulkHandler usbBulkHandler = {
@ -388,30 +389,6 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal socket handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal filesystem handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("file system init error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
@ -429,6 +406,36 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
//Attention: if you want to use camera stream view function, please uncomment it.
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal socket handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
/*!< Attention: Only use uart hardware connection.
*/
#endif
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal filesystem handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

8
samples/sample_c/platform/linux/manifold2/hal/hal_network.c
View File

@ -77,6 +77,14 @@ T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo)
{
deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

12
samples/sample_c/platform/linux/manifold2/hal/hal_network.h
View File

@ -40,14 +40,21 @@ extern "C" {
* NIC name micro define as #define 'LINUX_NETWORK_DEV "your NIC name"'.
*/
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_NETWORK_DEV "enp0s31f6"
#define LINUX_NETWORK_DEV "enx000ec6688213"
#else
#define LINUX_NETWORK_DEV "eth0"
#define LINUX_NETWORK_DEV "l4tbr0"
#endif
/**
* @attention
*/
#ifdef PLATFORM_ARCH_x86_64
#define USB_NET_ADAPTER_VID (0x0B95)
#define USB_NET_ADAPTER_PID (0x1790)
#else
#define USB_NET_ADAPTER_VID (0x0955)
#define USB_NET_ADAPTER_PID (0x7020)
#endif
#define LINUX_CMD_STR_MAX_SIZE (128)
@ -56,6 +63,7 @@ extern "C" {
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj);
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj);
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo);
#ifdef __cplusplus
}

4
samples/sample_c/platform/linux/manifold2/hal/hal_uart.c
View File

@ -33,7 +33,7 @@
/* Private types -------------------------------------------------------------*/
typedef struct {
int uartFd;
int32_t uartFd;
} T_UartHandleStruct;
/* Private values -------------------------------------------------------------*/
@ -43,7 +43,7 @@ typedef struct {
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
{
T_UartHandleStruct *uartHandleStruct;
T_UartHandleStruct *uartHandleStruct = NULL;
struct termios options;
struct flock lock;
T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

4
samples/sample_c/platform/linux/manifold2/hal/hal_uart.h
View File

@ -52,13 +52,9 @@ extern "C" {
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
#ifdef __cplusplus

43
samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.c
View File

@ -30,11 +30,6 @@
#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
#define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER (-1)
#define LINUX_USB_BULK_EP_OUT "/dev/usb-ffs/bulk/ep1"
#define LINUX_USB_BULK_EP_IN "/dev/usb-ffs/bulk/ep2"
#define LINUX_USB_PID (0x7020)
#define LINUX_USB_VID (0x0955)
/* Private types -------------------------------------------------------------*/
typedef struct {
#ifdef LIBUSB_INSTALLED
@ -44,6 +39,7 @@ typedef struct {
#endif
int32_t ep1;
int32_t ep2;
uint32_t interfaceNum;
T_DjiHalUsbBulkInfo usbBulkInfo;
} T_HalUsbBulkObj;
@ -87,15 +83,28 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
} else {
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK_EP_OUT, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK_EP_IN, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
}
@ -197,6 +206,16 @@ T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
deviceInfo->vid = LINUX_USB_VID;
deviceInfo->pid = LINUX_USB_PID;
// This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
// This bulk channel is used to obtain DJI perception image and download camera media file.
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

30
samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.h
View File

@ -38,31 +38,49 @@
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include "dji_platform.h"
#ifdef LIBUSB_INSTALLED
#include <libusb-1.0/libusb.h>
#endif
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep1"
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep2"
#define LINUX_USB_BULK1_INTERFACE_NUM (2)
#define LINUX_USB_BULK1_END_POINT_IN (0x83)
#define LINUX_USB_BULK1_END_POINT_OUT (2)
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep1"
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep2"
#define LINUX_USB_BULK2_INTERFACE_NUM (3)
#define LINUX_USB_BULK2_END_POINT_IN (0x84)
#define LINUX_USB_BULK2_END_POINT_OUT (3)
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_USB_VID (0x0B95)
#define LINUX_USB_PID (0x1790)
#else
#define LINUX_USB_VID (0x0955)
#define LINUX_USB_PID (0x7020)
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);
T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle);
T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
uint32_t *realLen);
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo);
#ifdef __cplusplus

2
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/FreeRTOSConfig.h
View File

@ -64,7 +64,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)75000)
#define configTOTAL_HEAP_SIZE ((size_t)64000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1

65
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c
View File

@ -111,7 +111,7 @@ void DjiUser_StartTask(void const *argument)
};
UART_Init(DJI_CONSOLE_UART_NUM, DJI_CONSOLE_UART_BAUD);
Led_Init(LED1);
Led_Init(LED3);
//Attention: if you want to run payload sdk on extension port, please define the macro DJI_EXTENSION_PORT_SUPPORT.
#if DJI_EXTENSION_PORT_SUPPORT
@ -214,8 +214,9 @@ void DjiUser_StartTask(void const *argument)
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2) {
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
}
@ -256,33 +257,36 @@ void DjiUser_StartTask(void const *argument)
#endif
#ifdef CONFIG_MODULE_SAMPLE_POSITIONING_ON
if (DjiTest_PositioningStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk positioning init error");
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
&& aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT) {
if (DjiTest_PositioningStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk positioning init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
T_DjiTestUpgradePlatformOpt stm32UpgradePlatformOpt = {
.rebootSystem = DjiUpgradePlatformStm32_RebootSystem,
.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformStm32_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = DjiUpgradePlatformStm32_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = DjiUpgradePlatformStm32_WriteUpgradeProgramFile,
.readUpgradeProgramFile = DjiUpgradePlatformStm32_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = DjiUpgradePlatformStm32_CloseUpgradeProgramFile,
.replaceOldProgram = DjiUpgradePlatformStm32_ReplaceOldProgram,
.setUpgradeRebootState = DjiUpgradePlatformStm32_SetUpgradeRebootState,
.getUpgradeRebootState = DjiUpgradePlatformStm32_GetUpgradeRebootState,
.cleanUpgradeRebootState = DjiUpgradePlatformStm32_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = false
};
if (DjiTest_UpgradeStartService(&stm32UpgradePlatformOpt, testUpgradeConfig) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk upgrade init error");
}
.rebootSystem = DjiUpgradePlatformStm32_RebootSystem,
.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformStm32_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = DjiUpgradePlatformStm32_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = DjiUpgradePlatformStm32_WriteUpgradeProgramFile,
.readUpgradeProgramFile = DjiUpgradePlatformStm32_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = DjiUpgradePlatformStm32_CloseUpgradeProgramFile,
.replaceOldProgram = DjiUpgradePlatformStm32_ReplaceOldProgram,
.setUpgradeRebootState = DjiUpgradePlatformStm32_SetUpgradeRebootState,
.getUpgradeRebootState = DjiUpgradePlatformStm32_GetUpgradeRebootState,
.cleanUpgradeRebootState = DjiUpgradePlatformStm32_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = false
};
if (DjiTest_UpgradeStartService(&stm32UpgradePlatformOpt, testUpgradeConfig) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk upgrade init error");
}
#endif
returnCode = DjiCore_ApplicationStart();
@ -291,8 +295,8 @@ if (DjiTest_UpgradeStartService(&stm32UpgradePlatformOpt, testUpgradeConfig) !=
}
while (1) {
Osal_TaskSleepMs(1000);
Led_Trigger(LED1);
Osal_TaskSleepMs(500);
Led_Trigger(LED3);
}
out:
@ -350,7 +354,8 @@ void DjiUser_MonitorTask(void const *argument)
// report system performance information.
// Attention: report system performance part is not intended for normal application runtime use but as a debug aid.
if (USER_UTIL_IS_WORK_TURN(runIndicateTaskStep++, RUN_INDICATE_TASK_FREQ_0D1HZ, RUN_INDICATE_TASK_FREQ_1HZ)) {
if (USER_UTIL_IS_WORK_TURN(runIndicateTaskStep++, RUN_INDICATE_TASK_FREQ_0D1HZ,
RUN_INDICATE_TASK_FREQ_1HZ)) {
#if (configUSE_TRACE_FACILITY == 1)
currentTaskStatusArraySize = uxTaskGetNumberOfTasks();
currentTaskStatusArray = osalHandler->Malloc(currentTaskStatusArraySize * sizeof(TaskStatus_t));
@ -379,9 +384,9 @@ void DjiUser_MonitorTask(void const *argument)
lastTaskStatusArray = currentTaskStatusArray;
lastTaskStatusArraySize = currentTaskStatusArraySize;
#endif
USER_LOG_DEBUG("used heap size: %d.\r\n", configTOTAL_HEAP_SIZE - xPortGetFreeHeapSize());
}
USER_LOG_DEBUG("used heap size: %d/%d.\r\n", configTOTAL_HEAP_SIZE - xPortGetFreeHeapSize(),
configTOTAL_HEAP_SIZE);
}
}

29
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h
View File

@ -34,29 +34,24 @@ extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
//#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
//#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
//#ifdef USE_BOOTLOADER
//Attention: If you don’t need to upgrade, you can uncomment it and change flash size from 0x70000 to 0xD0000 to build all functions.
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_ON
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
#define CONFIG_MODULE_SAMPLE_XPORT_ON
//#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
//#endif
//#ifndef CONFIG_MODULE_SAMPLE_UPGRADE_ON
//#define CONFIG_MODULE_SAMPLE_GIMBAL_ON
//#define CONFIG_MODULE_SAMPLE_CAMERA_ON
//#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
//#define CONFIG_MODULE_SAMPLE_XPORT_ON
//#define CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
/*!< Attention: Please uncomment it in gps environment.
* */
//#define CONFIG_MODULE_SAMPLE_TIME_SYNC_ON
//#define CONFIG_MODULE_SAMPLE_POSITIONING_ON

1
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/drivers/BSP/stm32f4xx_it.c
View File

@ -192,7 +192,6 @@ void OTG_FS_IRQHandler(void)
/* USER CODE END OTG_FS_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

4
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/middlewares/ST/STM32_USB_Host_Library/Class/CDC/Src/usbh_cdc.c
View File

@ -146,7 +146,9 @@ USBH_ClassTypeDef CDC_Class =
QueueHandle_t ACMDataRecvQueue;
QueueHandle_t ACMDataSendQueue;
#if DJI_EXTENSION_PORT_SUPPORT
static uint8_t cdcBuff[1024];
#endif
void USBH_CDC_DataQueueInit(void)
{
@ -370,7 +372,9 @@ static USBH_StatusTypeDef USBH_CDC_Process(USBH_HandleTypeDef *phost)
CDC_HandleTypeDef *CDC_Handle = (CDC_HandleTypeDef *) phost->pActiveClass->pData;
if (CDC_Handle->data_rx_state == CDC_IDLE) {
#if DJI_EXTENSION_PORT_SUPPORT
USBH_CDC_Receive(phost, cdcBuff, sizeof(cdcBuff));
#endif
}
if (CDC_Handle->data_tx_state == CDC_IDLE) {

2
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/mdk/mdk_app.uvprojx
View File

@ -358,7 +358,7 @@
<uC99>1</uC99>
<useXO>0</useXO>
<VariousControls>
<MiscControls> -DHSE_VALUE=8000000 --diag_suppress=188,177,550,940,66,546 --gnu -DUSE_BOOTLOADER=1 -DUSE_USB_HOST_UART=1</MiscControls>
<MiscControls> -DHSE_VALUE=8000000 --diag_suppress=188,177,550,940,66,546 --gnu --split_sections -DUSE_BOOTLOADER=1 -DUSE_USB_HOST_UART=1</MiscControls>
<Define>USE_HAL_DRIVER, STM32F407xx, SYSTEM_ARCH_RTOS=1</Define>
<Undefine></Undefine>
<IncludePath>..\..\..\..\..\..\..\psdk_lib\include; ..\..\..\..\..\module_sample; ..\..\..\common\osal; ..\..\application; ..\..; ..\..\hal; ..\..\drivers\BSP; ..\..\drivers\CMSIS\Include; ..\..\drivers\Device\ST\STM32F4xx; ..\..\drivers\STM32F4xx_HAL_Driver\Inc; ..\..\drivers\USB_HOST\App; ..\..\drivers\USB_HOST\Target; ..\..\middlewares\ST\STM32_USB_Host_Library\Class\CDC\Inc; ..\..\middlewares\ST\STM32_USB_Host_Library\Core\Inc; ..\..\middlewares\Third_Party\FreeRTOS\Source\include; ..\..\middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F; ..\..\middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS</IncludePath>