fix：卫星数显示异常（跳变）；

2.曝光时间使用微秒
3.预约采集

samples/sample_c/module_sample/power_management/test_power_management.h

@@ -30,6 +30,9 @@
 /* Includes ------------------------------------------------------------------*/
 #include "dji_typedef.h"
 #include "dji_power_management.h"
+#include <wiringPi.h>
+
+#define HIGH_POWER_APPLY_PIN 11
 
 #ifdef __cplusplus
 extern "C" {

samples/sample_c/module_sample/widget/test_widget.c

@@ -54,6 +54,7 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
 
 static void *PsdkTest_IrisRecordSystemChanged(void *arg);
 static void extractSpectralBinAndBandnumber(bool isModifyBin);
+static void closeXimeaRecordSystem();
 
 /* Private values ------------------------------------------------------------*/
 static T_DjiTaskHandle s_widgetTestThread;
@@ -79,11 +80,12 @@ int systemON_Control = 0;
 
 char s_strUIMessage[100]=" ";
 static char * s_strStateOfSbg=" ";
-static char * s_strSbgSatelliteCounter=" ";
+char s_strSbgSatelliteCounter[100]=" ";
-static char * s_strSbgAccuracy=" ";
+char s_strSbgAccuracy[100]=" ";
 char XimeaFramerate[100]=" ";
 int framerate = 0;
 char XimeaExposeTime[100]=" ";
+int exposeTimeInt = 0;
 char XimeaExposeMaxValue[100]=" ";
 char s_spectralBin[100]=" ";
 int spectralBinInt = 0;
@@ -111,14 +113,13 @@ static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
         {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},
+        {4, DJI_WIDGET_TYPE_LIST,         PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
         {5, DJI_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
         {6, DJI_WIDGET_TYPE_INT_INPUT_BOX,         PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
         {7, DJI_WIDGET_TYPE_BUTTON,        PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
         {8, DJI_WIDGET_TYPE_INT_INPUT_BOX,         PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
         {9, DJI_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
         {10, DJI_WIDGET_TYPE_LIST,          PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},//PsdkTestWidget_SetWidgetValue
-        {11, DJI_WIDGET_TYPE_LIST,          PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
 };
 
 static const char *s_widgetTypeNameArray[] = {
@@ -285,18 +286,24 @@ static void *DjiTest_WidgetTask(void *arg)
     T_DjiReturnCode djiStat;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
 
-    extractSpectralBinAndBandnumber(false);
-
     USER_UTIL_UNUSED(arg);
 
-    while (1) {
+    while (1)
+    {
+        s_widgetValueList[6] = framerate;
+        s_widgetValueList[8] = exposeTimeInt;
+        if (systemON_Control == 4)
+        {
+            s_widgetValueList[5] = 0;
+        }
+
         djiStat = osalHandler->GetTimeMs(&sysTimeMs);
         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, "%s\n高光谱: %s;  惯导: %s;\n卫星: %s;          惯导状态: %s;\n帧率: %s;曝光: %s;max: %s;\nP: %s;         R: %s;       Y: %s;\n光谱bin: %s;\n时间: %s min; 空间: %s G;\n",
+        snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "%s\n高光谱: %s  惯导: %s\n卫星: %s          惯导状态: %s\n帧率: %s 曝光: %s μs %s \nP: %s         R: %s       Y: %s \n光谱bin: %s \n时间: %s min 空间: %s G\n",
                  s_strUIMessage, s_strStateOfXimea, s_strStateOfSbg, s_strSbgSatelliteCounter, s_strSbgSolutionMode, XimeaFramerate, XimeaExposeTime, XimeaExposeMaxValue, s_strPitch, s_strRoll, s_strYaw, s_spectralBin, s_remainingTime, s_remainingSpace);
 #else
         snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN,
@@ -367,6 +374,8 @@ static void *DjiTest_WidgetTask(void *arg)
         // 关闭文件指针
         pclose(fp);
 
+        extractSpectralBinAndBandnumber(false);
+
 
         //判断ximeaAirborneSystem系统是否存活
 //        if(ximeaAirborneSystemSurvivalTime > 10)
@@ -467,21 +476,11 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
                 case 0:
                     s_strStateOfSbg="未打开";
 
-                    if (systemON_Control == 0 || systemON_Control == 4)
+                    strcpy(s_strUIMessage,"系统已就绪！");
-                    {
+                    messageTimeCounter = 0;
-                        strcpy(s_strUIMessage,"系统已就绪！");
+                    messageTimespan = 1000;
-                        messageTimeCounter = 0;
-                        messageTimespan = 1000;
 
-                        systemON_Control = 1;//ximeaAirborneSystem系统一启动就会发送此信息 → 代表采集系统就绪；
+                    systemON_Control = 1;//ximeaAirborneSystem系统一启动就会发送此信息 → 代表采集系统就绪；
-                    }
-
-                    if (systemON_Control == 3)
-                    {
-                        strcpy(s_strUIMessage,"数据量过大，采集系统已经停止，请重新上电！");
-                        messageTimeCounter = 0;
-                        messageTimespan = 1000;
-                    }
 
                     break;
                 case 1:
@@ -492,7 +491,6 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
                     break;
                 case 3:
                     s_strStateOfSbg="采集中";
-                    systemON_Control = 3;
                     break;
 
                 default:
@@ -502,9 +500,10 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
         else if (strcmp(result[0],"Accuracy") == 0)
         {
 //            printf("惯导定位精度为: %s\n\n", result[1]);
+//            printf("卫星数为: %s\n\n", result[2]);
 
-            s_strSbgAccuracy=result[1];
+            strcpy(s_strSbgAccuracy,result[1]);
-            s_strSbgSatelliteCounter=result[2];
+            strcpy(s_strSbgSatelliteCounter,result[2]);
 
             ximeaAirborneSystemSurvivalTime++;
 
@@ -531,19 +530,19 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
             switch (s_sbgMagState)
             {
                 case 0:
-                    s_strSbgSolutionMode="UNINITI";//UNINITIALIZED
+                    s_strSbgSolutionMode="dis_UNINIT";//UNINITIALIZED
                         break;
                 case 1:
-                    s_strSbgSolutionMode="GYRO";//VERTICAL_GYRO
+                    s_strSbgSolutionMode="dis_GYRO";//VERTICAL_GYRO
                     break;
                 case 2:
-                    s_strSbgSolutionMode="AHRS";
+                    s_strSbgSolutionMode="dis_AHRS";
                     break;
                 case 3:
-                    s_strSbgSolutionMode="VELOCITY";//NAV_VELOCITY
+                    s_strSbgSolutionMode="dis_VELOCITY";//NAV_VELOCITY
                     break;
                 case 4:
-                    s_strSbgSolutionMode="FULL";//NAV_POSITION
+                    s_strSbgSolutionMode="en_FULL";//NAV_POSITION
                     break;
 
                 default:
@@ -586,21 +585,25 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
                     messageTimespan = 200;
                     break;
                 case 100:
-                    s_strStateOfXimea="未打开";
+                    s_strStateOfXimea="未连接";
                     break;
                 case 101:
-                    s_strStateOfXimea="打开成功";
+                    s_strStateOfXimea="连接成功";
 
-                    strcpy(s_strUIMessage,"系统启动成功！");
+                    if(s_stateOfXimea == 100)
-                    messageTimeCounter = 0;
+                    {
-                    messageTimespan = 20;
+                        strcpy(s_strUIMessage,"系统启动成功！");
+                        messageTimeCounter = 0;
+                        messageTimespan = 20;
+                    }
+                    systemON_Control = 3;
 
                     break;
                 case 102:
-                    s_strStateOfXimea="帧率完成";
+                    s_strStateOfXimea="连接成功";
                     break;
                 case 103:
-                    s_strStateOfXimea="曝光完成";
+                    s_strStateOfXimea="连接成功";
                     break;
                 case 104:
                     s_strStateOfXimea="采集中";
@@ -614,9 +617,9 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
         {
             strcpy(XimeaExposeMaxValue, result[1]);
 
-            int exposeTimeTmp = atoi(result[2]);
+            exposeTimeInt = atoi(result[2]);
-            sprintf(XimeaExposeTime,"%d",exposeTimeTmp);
+            sprintf(XimeaExposeTime,"%d",exposeTimeInt);
-            s_widgetValueList[8] = exposeTimeTmp;
+            s_widgetValueList[8] = exposeTimeInt;
 
             strcpy(s_strUIMessage,"曝光时间设置成功！");
             messageTimeCounter = 0;
@@ -667,7 +670,6 @@ static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType,
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
-int frameRateGlobel = 0;
 static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
                                                                   void *userData)
 {
@@ -675,17 +677,47 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
 
     USER_LOG_INFO("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d",
                            s_widgetTypeNameArray[widgetType], index, value);
+    int32_t valueTmp = s_widgetValueList[index];
     s_widgetValueList[index] = value;
 
     switch (index)
     {
+        case 4:
+            if (value==0)//等待指令
+            {
+            }
+            if (value==1)
+            {
+                system("reboot");
+            }
+            else if (value==2)
+            {
+                system("shutdown now");
+            }
+            else if (value==3)
+            {
+                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,1");
+            }
+            else if (value==4)
+            {
+                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
+            }
+            else if (value==5)
+            {
+                strcpy(s_strUIMessage,"系统正在更新，稍后会自动重启！");
+                messageTimeCounter = 0;
+                messageTimespan = 10000;
+
+                system("/home/pi/tc_ShellScripts/update0.sh &> /media/nvme/300TC/update/log");
+            }
+            break;
         case 5://系统启动关闭
             if (value==0)//系统关闭
             {
                 printf("systemON_Control的值为：%d\n", systemON_Control);
                 if (0 <= systemON_Control && systemON_Control <= 4)
                 {
-                    strcpy(s_strUIMessage,"系统已经关闭！");
+                    strcpy(s_strUIMessage,"系统正在关闭！");
                     messageTimeCounter = 0;
                     messageTimespan = 1000;
 
@@ -700,25 +732,7 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
 //                    printf("命令行指令为：%s\n",commandtmp);
 //                    system(commandtmp);
 
-                    FILE *fp;
+                    closeXimeaRecordSystem();
-                    fp = popen("kill $(ps aux | grep ximeaAirborneSystem | grep -v grep | awk \'{print $2}\')", "r");
-                    if (fp == NULL)
-                    {
-                        perror("popen");
-                    }
-
-                    s_strStateOfXimea=" ";
-                    s_strStateOfSbg=" ";
-                    s_strSbgSatelliteCounter=" ";
-                    s_strSbgSolutionMode=" ";
-                    sprintf(XimeaFramerate,"%s"," ");
-                    sprintf(XimeaExposeTime,"%s"," ");
-                    sprintf(XimeaExposeMaxValue,"%s"," ");
-                    sprintf(s_spectralBin,"%s"," ");
-                    s_remainingTime=" ";
-
-                    s_widgetValueList[6] = 0;
-                    s_widgetValueList[8] = 0;
                 }
             }
             else if (value==1)//系统启动
@@ -763,6 +777,13 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
                 messageTimeCounter = 0;
                 messageTimespan = 10;
 
+//                printf("index-------:%d\n", index);
+//                printf("valueTmp-------:%d\n", valueTmp);
+
+                //下面的代码没有作用：无法恢复界面的值为默认值（valueTmp）
+//                DjiTestWidget_SetWidgetValue(widgetType, index, valueTmp, userData);
+//                s_widgetValueList[index] = valueTmp;
+
                 break;
             }
             else if (s_stateOfXimea > 103)
@@ -794,12 +815,10 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
             }
 
             //
-            frameRateGlobel = value;
-
             char command[50] = "5,";
-            char framerate[20];
+            char framerate_str[20];
-            sprintf(framerate,"%d",value);
+            sprintf(framerate_str,"%d",value);
-            strcat(command,framerate);
+            strcat(command,framerate_str);
             sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
             break;
         }
@@ -855,24 +874,13 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
             }
 
             //曝光时间有效性判断
-            if(frameRateGlobel == 0)
+            float maxExposureTime = 1 / (float)framerate * 1000;//单位是ms
-            {
-                strcpy(s_strUIMessage,"请先设置帧率！");
-                messageTimeCounter = 0;
-                messageTimespan = 10;
-
-                break;
-            }
-
-            float maxExposureTime = 1 / (float)frameRateGlobel * 1000;//单位是ms
 
             if(value > maxExposureTime)
             {
-                strcpy(s_strUIMessage,"曝光时间超过上限，无效！");
+                strcpy(s_strUIMessage,"曝光时间已设置为最大！");
                 messageTimeCounter = 0;
                 messageTimespan = 10;
-
-                break;
             }
             else if(value == 0)
             {
@@ -895,6 +903,11 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
         case 9:
             if (value==0)//停止采集
             {
+                if (s_stateOfXimea != 104)
+                {
+                    s_strStateOfXimea="连接成功";
+                }
+
                 char* command = "4";
                 sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
             }
@@ -908,57 +921,13 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
 
                     break;
                 }
-                else if (s_stateOfXimea == 101)
-                {
-                    strcpy(s_strUIMessage,"请先设置帧率！");
-                    messageTimeCounter = 0;
-                    messageTimespan = 10;
-
-                    break;
-                }
-                else if (s_stateOfXimea == 102)
-                {
-                    strcpy(s_strUIMessage,"请先设置曝光时间！");
-                    messageTimeCounter = 0;
-                    messageTimespan = 10;
-
-                    break;
-                }
 
+                s_strStateOfXimea="预约采集";
                 char* command = "3";
                 sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
             }
             break;
         case 10:
-            if (value==0)//等待指令
-            {
-            }
-            if (value==1)
-            {
-                system("reboot");
-            }
-            else if (value==2)
-            {
-                system("shutdown now");
-            }
-            else if (value==3)
-            {
-                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,1");
-            }
-            else if (value==4)
-            {
-                system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
-            }
-            else if (value==5)
-            {
-                strcpy(s_strUIMessage,"系统正在更新，稍后会自动重启！");
-                messageTimeCounter = 0;
-                messageTimespan = 10000;
-
-                system("/home/pi/tc_ShellScripts/update0.sh &> /media/nvme/300TC/update/log");
-            }
-            break;
-        case 11:
             if (value==0)//等待指令
             {
             }
@@ -970,10 +939,11 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
             {
                 system("sudo sed -i 's/spectralBin =.*/spectralBin = 2;/g' /media/nvme/300TC/config/ximea.cfg");
             }
+            closeXimeaRecordSystem();
 
             extractSpectralBinAndBandnumber(true);
 
-            strcpy(s_strUIMessage,"请重新上电！");
+            strcpy(s_strUIMessage,"请等待采集系统重启！");
             messageTimeCounter = 0;
             messageTimespan = 10000;
 
@@ -985,6 +955,34 @@ static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+static void closeXimeaRecordSystem()
+{
+    FILE *fp;
+    fp = popen("kill $(ps aux | grep ximeaAirborneSystem | grep -v grep | awk \'{print $2}\')", "r");
+    if (fp == NULL)
+    {
+        perror("popen");
+    }
+
+    s_strStateOfXimea=" ";
+    s_strStateOfSbg=" ";
+    sprintf(s_strSbgSatelliteCounter,"%s"," ");
+    s_strSbgSolutionMode=" ";
+    sprintf(XimeaFramerate,"%s"," ");
+    sprintf(XimeaExposeTime,"%s"," ");
+    sprintf(XimeaExposeMaxValue,"%s"," ");
+    sprintf(s_spectralBin,"%s"," ");
+    s_remainingTime=" ";
+
+    s_widgetValueList[5] = 0;
+//    s_widgetValueList[6] = 0;
+//    s_widgetValueList[8] = 0;
+    framerate = 0;
+    exposeTimeInt = 0;
+
+    system("sudo gpio write 10 0");
+}
+
 static void extractSpectralBinAndBandnumber(bool isModifyBin)
 {
     unsigned long long spectralBin, height;
@@ -1029,17 +1027,7 @@ static void extractSpectralBinAndBandnumber(bool isModifyBin)
         pclose(fp);
     }
 
-    char command[256];
+    s_widgetValueList[10] = spectralBin;
-    memset(command, 0, sizeof(command));
-
-    sprintf(command,"sudo sed -i 's/.*bin.*/        \"widget_name\": \"bin%d_%d\",/g' %s", spectralBin, height, jsonPathCn);
-//    printf("command: %s", command);
-    system(command);
-
-    memset(command, 0, sizeof(command));
-    sprintf(command,"sudo sed -i 's/.*bin.*/        \"widget_name\": \"bin%d_%d\",/g' %s", spectralBin, height, jsonPathEn);
-//    printf("command: %s", command);
-    system(command);
 
     if (!isModifyBin)
     {

samples/sample_c/module_sample/widget/widget_file/cn_big_screen/widget_config.json

@@ -8,128 +8,18 @@
       "is_enable": true
     },
     "speaker": {
-      "is_enable_tts": true,
+      "is_enable_tts": false,
       "is_enable_voice": false
     },
     "widget_list": [
-      {
-        "widget_index": 0,
-        "widget_type": "button",
-        "widget_name": "按钮",
-        "icon_file_set": {
-          "icon_file_name_selected": "icon_button1.png",
-          "icon_file_name_unselected": "icon_button1.png"
-        },
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 0
-        }
-      },
-      {
-        "widget_index": 1,
-        "widget_type": "list",
-        "widget_name": "列表",
-        "list_item": [
-          {
-            "item_name": "选项_1",
-            "icon_file_set": {
-              "icon_file_name_selected": "icon_list_item1.png",
-              "icon_file_name_unselected": "icon_list_item1.png"
-            }
-          },
-          {
-            "item_name": "选项_2",
-            "icon_file_set": {
-              "icon_file_name_selected": "icon_list_item2.png",
-              "icon_file_name_unselected": "icon_list_item2.png"
-            }
-          }
-        ],
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 1
-        }
-      },
-      {
-        "widget_index": 2,
-        "widget_type": "switch",
-        "widget_name": "开关",
-        "icon_file_set": {
-          "icon_file_name_selected": "icon_switch_select.png",
-          "icon_file_name_unselected": "icon_switch_unselect.png"
-        },
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 2
-        }
-      },
-      {
-        "widget_index": 3,
-        "widget_type": "scale",
-        "widget_name": "范围条",
-        "icon_file_set": {
-          "icon_file_name_selected": "icon_scale.png",
-          "icon_file_name_unselected": "icon_scale.png"
-        },
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 3,
-          "button_value_step_length": 5
-        }
-      },
-      {
-        "widget_index": 4,
-        "widget_type": "button",
-        "widget_name": "按钮",
-        "icon_file_set": {
-          "icon_file_name_selected": "icon_button1.png",
-          "icon_file_name_unselected": "icon_button1.png"
-        },
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 0
-        }
-      }
     ]
   },
   "config_interface": {
-    "text_input_box": {
-      "widget_name": "文本输入框",
-      "placeholder_text": "请输入消息",
-      "is_enable": true
-    },
     "widget_list": [
       {
-        "widget_index": 5,
+        "widget_index": 4,
-        "widget_type": "switch",
-        "widget_name": "系统启动"
-      },
-      {
-        "widget_index": 6,
-        "widget_type": "int_input_box",
-        "widget_name": "帧率",
-        "int_input_box_hint": "单位：hz"
-      },
-      {
-        "widget_index": 7,
-        "widget_type": "button",
-        "widget_name": "自动曝光"
-      },
-      {
-        "widget_index": 8,
-        "widget_type": "int_input_box",
-        "widget_name": "曝光时间",
-        "int_input_box_hint": "单位：毫秒"
-      },
-      {
-        "widget_index": 9,
-        "widget_type": "switch",
-        "widget_name": "高光谱采集"
-      },
-      {
-        "widget_index": 10,
         "widget_type": "list",
-        "widget_name": "系统指令",
+        "widget_name": "高级指令",
         "list_item": [
           {
             "item_name": "其他"
@@ -152,7 +42,34 @@
         ]
       },
       {
-        "widget_index": 11,
+        "widget_index": 5,
+        "widget_type": "switch",
+        "widget_name": "系统启动"
+      },
+      {
+        "widget_index": 6,
+        "widget_type": "int_input_box",
+        "widget_name": "帧率",
+        "int_input_box_hint": "单位：赫兹"
+      },
+      {
+        "widget_index": 7,
+        "widget_type": "button",
+        "widget_name": "自动曝光"
+      },
+      {
+        "widget_index": 8,
+        "widget_type": "int_input_box",
+        "widget_name": "曝光时间",
+        "int_input_box_hint": "单位：微秒"
+      },
+      {
+        "widget_index": 9,
+        "widget_type": "switch",
+        "widget_name": "高光谱采集"
+      },
+      {
+        "widget_index": 10,
         "widget_type": "list",
         "widget_name": "bin",
         "list_item": [

samples/sample_c/module_sample/widget/widget_file/en_big_screen/widget_config.json

@@ -8,128 +8,18 @@
       "is_enable": true
     },
     "speaker": {
-      "is_enable_tts": true,
+      "is_enable_tts": false,
       "is_enable_voice": false
     },
     "widget_list": [
-      {
-        "widget_index": 0,
-        "widget_type": "button",
-        "widget_name": "Button",
-        "icon_file_set": {
-          "icon_file_name_selected": "icon_button1.png",
-          "icon_file_name_unselected": "icon_button1.png"
-        },
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 0
-        }
-      },
-      {
-        "widget_index": 1,
-        "widget_type": "list",
-        "widget_name": "List",
-        "list_item": [
-          {
-            "item_name": "Item_1",
-            "icon_file_set": {
-              "icon_file_name_selected": "icon_list_item1.png",
-              "icon_file_name_unselected": "icon_list_item1.png"
-            }
-          },
-          {
-            "item_name": "Item_2",
-            "icon_file_set": {
-              "icon_file_name_selected": "icon_list_item2.png",
-              "icon_file_name_unselected": "icon_list_item2.png"
-            }
-          }
-        ],
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 1
-        }
-      },
-      {
-        "widget_index": 2,
-        "widget_type": "switch",
-        "widget_name": "Switch",
-        "icon_file_set": {
-          "icon_file_name_selected": "icon_switch_select.png",
-          "icon_file_name_unselected": "icon_switch_unselect.png"
-        },
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 2
-        }
-      },
-      {
-        "widget_index": 3,
-        "widget_type": "scale",
-        "widget_name": "Scale",
-        "icon_file_set": {
-          "icon_file_name_selected": "icon_scale.png",
-          "icon_file_name_unselected": "icon_scale.png"
-        },
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 3,
-          "button_value_step_length": 5
-        }
-      },
-      {
-        "widget_index": 4,
-        "widget_type": "button",
-        "widget_name": "Button",
-        "icon_file_set": {
-          "icon_file_name_selected": "icon_button1.png",
-          "icon_file_name_unselected": "icon_button1.png"
-        },
-        "customize_rc_buttons_config": {
-          "is_enable": true,
-          "mapping_config_display_order": 0
-        }
-      }
     ]
   },
   "config_interface": {
-    "text_input_box": {
-      "widget_name": "TextInputBox",
-      "placeholder_text": "Please input message",
-      "is_enable": true
-    },
     "widget_list": [
       {
-        "widget_index": 5,
+        "widget_index": 4,
-        "widget_type": "switch",
-        "widget_name": "系统启动"
-      },
-      {
-        "widget_index": 6,
-        "widget_type": "int_input_box",
-        "widget_name": "帧率",
-        "int_input_box_hint": "单位：hz"
-      },
-      {
-        "widget_index": 7,
-        "widget_type": "button",
-        "widget_name": "自动曝光"
-      },
-      {
-        "widget_index": 8,
-        "widget_type": "int_input_box",
-        "widget_name": "曝光时间",
-        "int_input_box_hint": "单位：毫秒"
-      },
-      {
-        "widget_index": 9,
-        "widget_type": "switch",
-        "widget_name": "高光谱采集"
-      },
-      {
-        "widget_index": 10,
         "widget_type": "list",
-        "widget_name": "系统指令",
+        "widget_name": "高级指令",
         "list_item": [
           {
             "item_name": "其他"
@@ -152,7 +42,34 @@
         ]
       },
       {
-        "widget_index": 11,
+        "widget_index": 5,
+        "widget_type": "switch",
+        "widget_name": "系统启动"
+      },
+      {
+        "widget_index": 6,
+        "widget_type": "int_input_box",
+        "widget_name": "帧率",
+        "int_input_box_hint": "单位：赫兹"
+      },
+      {
+        "widget_index": 7,
+        "widget_type": "button",
+        "widget_name": "自动曝光"
+      },
+      {
+        "widget_index": 8,
+        "widget_type": "int_input_box",
+        "widget_name": "曝光时间",
+        "int_input_box_hint": "单位：微秒"
+      },
+      {
+        "widget_index": 9,
+        "widget_type": "switch",
+        "widget_name": "高光谱采集"
+      },
+      {
+        "widget_index": 10,
         "widget_type": "list",
         "widget_name": "bin",
         "list_item": [

samples/sample_c/module_sample/xport/test_payload_xport.c

@@ -85,7 +85,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
         return djiStat;
     }
 
-    //通过注册回调函数获取X-Port 的姿态信息.注册后，回调函数将会被自动调用，调用频率为
+    //通过注册回调函数获取X-Port 的姿态信息.注册后，回调函数将会被自动调用，调用频率为10hz
     djiStat = DjiXPort_RegReceiveAttitudeInformationCallback(ReceiveXPortAttitudeInformation);
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("register receive XPort attitude information callback function error: 0x%08llX.",

samples/sample_c/platform/linux/manifold2/CMakeLists.txt

@@ -95,6 +95,9 @@ target_link_libraries(${PROJECT_NAME}
         z
         m
         pthread
+        rt
+        crypt
+        wiringPi
         )
 
 add_custom_command(TARGET ${PROJECT_NAME}

samples/sample_c/platform/linux/manifold2/application/main.c

@@ -137,7 +137,7 @@ int main(int argc, char **argv)
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 
-    returnCode = DjiCore_SetAlias("300TC_3.32.37.21");
+    returnCode = DjiCore_SetAlias("300TC_3.33.39.21");
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("set alias error");
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@@ -721,12 +721,32 @@ delay:
 
 static T_DjiReturnCode DjiTest_HighPowerApplyPinInit()
 {
+    wiringPiSetup(); // 初始化WiringPi库
+
+    pinMode(HIGH_POWER_APPLY_PIN, OUTPUT); // 配置引脚为输出模式
+    pullUpDnControl(HIGH_POWER_APPLY_PIN, PUD_DOWN); // 启用下拉电阻，使引脚默认为低电平
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
 static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState)
 {
     //attention: please pull up the HWPR pin state by hardware.
+
+    int wiringPiState;
+
+    switch (pinState) {
+        case DJI_POWER_MANAGEMENT_PIN_STATE_RESET:
+            wiringPiState = LOW; // WiringPi库中，LOW表示低电平
+            break;
+        case DJI_POWER_MANAGEMENT_PIN_STATE_SET:
+            wiringPiState = HIGH; // WiringPi库中，HIGH表示高电平
+            break;
+        default:
+            USER_LOG_ERROR("pin state unknown: %d.", pinState);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    digitalWrite(HIGH_POWER_APPLY_PIN, wiringPiState); // 使用WiringPi库设置引脚状态
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }