/** ******************************************************************** * @file psdk_data_transmission.h * @brief This is the header file for "psdk_data_transmission.c", defining the structure and * (exported) function prototypes. * * @copyright (c) 2021 DJI. All rights reserved. * * All information contained herein is, and remains, the property of DJI. * The intellectual and technical concepts contained herein are proprietary * to DJI and may be covered by U.S. and foreign patents, patents in process, * and protected by trade secret or copyright law. Dissemination of this * information, including but not limited to data and other proprietary * material(s) incorporated within the information, in any form, is strictly * prohibited without the express written consent of DJI. * * If you receive this source code without DJI’s authorization, you may not * further disseminate the information, and you must immediately remove the * source code and notify DJI of its removal. DJI reserves the right to pursue * legal actions against you for any loss(es) or damage(s) caused by your * failure to do so. * ********************************************************************* */ /* Define to prevent recursive inclusion -------------------------------------*/ #ifndef PSDK_DATA_TRANSMISSION_H #define PSDK_DATA_TRANSMISSION_H /* Includes ------------------------------------------------------------------*/ #include "legacy_psdk2.x/psdk_typedef.h" #include "dji_low_speed_data_channel.h" #ifdef __cplusplus extern "C" { #endif /* Exported constants --------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/ /** * @brief Prototype of callback function used to receive data that come from mobile end. * @warning User can not execute blocking style operations or functions in callback function, because that will block PSDK * root thread, causing problems such as slow system response, payload disconnection or infinite loop. * @param data: pointer to data. * @param len: length of data. * @return Execution result. */ typedef DjiLowSpeedDataChannelRecvDataCallback ReceiveDataFromMobileCallback; /** * @brief Prototype of callback function used to receive data that come from onboard computer. * @warning User can not execute blocking style operations or functions in callback function, because that will block PSDK * root thread, causing problems such as slow system response, payload disconnection or infinite loop. * @param data: pointer to data. * @param len: length of data. * @return Execution result. */ typedef DjiLowSpeedDataChannelRecvDataCallback ReceiveDataFromOsdkCallback; /* Exported functions --------------------------------------------------------*/ /** * @brief Initialise data transmission module in block mode. Should call this function before sending data to mobile * end/onboard computer or receiving data. * @note Max execution time of this function is slightly larger than 500ms. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_Init(void); /** * @brief Deinitialize data transmission module. User can call this function to release all resources that data * transmission module have occupied from the system and restore the state of internal variables when functions of data * transmission module will no longer be used or exit program. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_DeInit(void); /** * @brief Register callback function used to receive data from mobile end. After registering this callback function, * callback function will be called automatically when system receive data from mobile end. * @param callback: pointer to callback function. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_RegReceiveDataFromMobileCallback(ReceiveDataFromMobileCallback callback); /** * @brief Register callback function used to receive data from onboard computer. After registering this callback * function, callback function will be called automatically when system receive data from onboard computer. * @param callback: pointer to callback function. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_RegReceiveDataFromOsdkCallback(ReceiveDataFromOsdkCallback callback); /** * @brief Send data to mobile end via command channel. * @warning If actual bandwidth is below limitation, data can be sent to the endpoint directly. If exceeds the limitation, * firstly data will be stored to buffer of the flow controller and be sent to endpoint after a period (an integer multiple of * 1s, the exact time depends on bandwidth limitation and buffer size). If the buffer is full, data be will discarded. The * capacity of flow controller buffer is 512 bytes. * @note Must ensure actual bandwidth is less than bandwidth limitation of corresponding channel or stream, please * refer to developer documentation or state of channel/stream for details related to bandwidth limitation. User can * get state of "sendToMobile" command channel via PsdkDataTransmission_GetSendToMobileState() function. If actual * bandwidth exceeds the limitation or busy state is set, the user should stop transmitting data or decrease amount of data * to be sent. * @note Max size of data package sent to mobile end on a physical link of command channel is 128. If the length of data to * be sent is greater than 128, data to be sent will be divided into multiple packages to send, and the user will also * receive multiple data packages on the mobile end. * @param data: pointer to data to be sent. * @param len: length of data to be sent, unit: byte. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_SendDataToMobile(const uint8_t *data, uint8_t len); /** * @brief Send data to the onboard computer via command channel. * @warning If actual bandwidth is below limitation, data can be sent to the endpoint directly. If exceeds the limitation, * firstly data will be stored to buffer of the flow controller and be sent to endpoint after a period (an integer multiple of * 1s, the exact time depends on bandwidth limitation and buffer size). If the buffer is full, data will be discarded. The * capacity of flow controller buffer is 512 bytes. * @note Must ensure actual bandwidth is less than bandwidth limitation of corresponding channel or stream, please * refer to developer documentation or state of channel/stream for details related to bandwidth limitation. User can * get state of "sendToOsdk" command channel via PsdkDataTransmission_GetSendToOsdkState() function. If actual bandwidth * exceeds the limitation or busy state is set, the user should stop transmitting data or decrease amount of data to be * sent. * @note Max size of data package sent to an onboard computer on the physical link of command channel is 255. If the length of data * to be sent is greater than 255, data to be sent will be divided into multiple packages to send, and the user will also * receive multiple data packages on the onboard computer. * @param data: pointer to data to be sent. * @param len: length of data to be sent, unit: byte. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_SendDataToOsdk(const uint8_t *data, uint8_t len); /** * @brief Get data transmission state of "sendToMobile" command channel. User can use the state as base for controlling * data transmission between payload and mobile end. * @param state: pointer to "sendToMobile" command channel state. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_GetSendToMobileState(T_PsdkDataChannelState *state); /** * @brief Get data transmission state of "sendToOsdk" command channel. User can use the state as base for controlling data * transmission between payload and onboard computer. * @param state: pointer to "sendToOsdk" command channel state. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_GetSendToOsdkState(T_PsdkDataChannelState *state); /** * @brief Get the network remote address for sending data stream. * @note The interface is used to get the network remote address for sending data stream. You can get this info for another * heterogeneous system to do somethings. This interface should be used after calling PsdkCore_Init function. * @param ipAddr: the remote ip address for sending data stream. * @param port: the remote port for sending data stream. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_GetDataStreamRemoteAddress(char *ipAddr, uint16_t *port); /** * @brief Send data to mobile end via data stream of the data channel. * @note This function can be used only in Linux operating system. * @note Must ensure actual bandwidth is less than bandwidth limitation of corresponding channel or stream, please * refer to developer documentation and state of channel/stream for details related to bandwidth limitation. User can * get state of "dataStream" channel via PsdkDataTransmission_GetDataStreamState() function. If actual bandwidth * exceeds the limitation or busy state is set, the user should stop transmitting data or decrease amount of data to be * sent. Otherwise, data may be discarded. * @param data: pointer to data to be sent. * @param len: length of data to be sent via data stream, and it must be less than or equal to 65000, unit: byte. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_SendDataStream(const uint8_t *data, uint16_t len); /** * @brief Get data transmission state of "dataStream" channel. User can use the state as base for controlling data * transmission of data stream. This function exists and can be used only in Linux operation system. * @param state: pointer to "dataStream" channel state. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_GetDataStreamState(T_PsdkDataChannelState *state); /** * @brief Get the network remote address for sending data stream. * @note The interface is used to get the network remote address for sending data stream. You can get this info for another * heterogeneous system to do somethings. This interface should be used after calling PsdkCore_Init function. * @param ipAddr: the remote ip address for sending data stream. * @param port: the remote port for sending data stream. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_GetDataStreamRemoteAddress(char *ipAddr, uint16_t *port); /** * @brief Send data to mobile end via data stream of the data channel. * @note This function can be used only in Linux operating system. * @note Must ensure actual bandwidth is less than bandwidth limitation of corresponding channel or stream, please * refer to developer documentation and state of channel/stream for details related to bandwidth limitation. User can * get state of "dataStream" channel via PsdkDataTransmission_GetDataStreamState() function. If actual bandwidth * exceeds the limitation or busy state is set, the user should stop transmitting data or decrease amount of data to be * sent. Otherwise, data may be discarded. * @param data: pointer to data to be sent. * @param len: length of data to be sent via data stream, and it must be less than or equal to 65000, unit: byte. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_SendDataStream(const uint8_t *data, uint16_t len); /** * @brief Get data transmission state of "dataStream" channel. User can use the state as base for controlling data * transmission of data stream. This function exists and can be used only in Linux operation system. * @param state: pointer to "dataStream" channel state. * @return Execution result. */ T_PsdkReturnCode PsdkDataTransmission_GetDataStreamState(T_PsdkDataChannelState *state); #ifdef __cplusplus } #endif #endif // PSDK_DATA_TRANSMISSION_H /************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/