/** ******************************************************************** * @file test_widget.c * @brief * * @copyright (c) 2021 DJI. All rights reserved. * * All information contained herein is, and remains, the property of DJI. * The intellectual and technical concepts contained herein are proprietary * to DJI and may be covered by U.S. and foreign patents, patents in process, * and protected by trade secret or copyright law. Dissemination of this * information, including but not limited to data and other proprietary * material(s) incorporated within the information, in any form, is strictly * prohibited without the express written consent of DJI. * * If you receive this source code without DJI’s authorization, you may not * further disseminate the information, and you must immediately remove the * source code and notify DJI of its removal. DJI reserves the right to pursue * legal actions against you for any loss(es) or damage(s) caused by your * failure to do so. * ********************************************************************* */ /* Includes ------------------------------------------------------------------*/ #include "test_widget.h" #include #include #include "../utils/util_misc.h" #include #include #include "dji_sdk_config.h" #include "file_binary_array_list_en.h" //sbg #include #include /* Private constants ---------------------------------------------------------*/ #define WIDGET_DIR_PATH_LEN_MAX (256) #define WIDGET_TASK_STACK_SIZE (2048) /* Private types -------------------------------------------------------------*/ /* Private functions declaration ---------------------------------------------*/ static void *DjiTest_WidgetTask(void *arg); static T_DjiReturnCode DjiTestWidget_SetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value, void *userData); static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t *value, void *userData); static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType widgetType, uint32_t index, int32_t value, void *userData); static void *PsdkTest_IrisRecordSystemChanged(void *arg); /* Private values ------------------------------------------------------------*/ static T_DjiTaskHandle s_widgetTestThread; static bool s_isWidgetFileDirPathConfigured = false; static char s_widgetFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0}; static T_DjiTaskHandle s_widgetSbgThread; static T_DjiTaskHandle s_widgetXimeaThread; int SbgRecordCondition=0; static int s_sbgMagState=0; static int s_stateOfXimea=100; static int s_stateOfSbg=0; static int s_stateOfFile=0; //0：ximeaAirborneSystem系统未就绪，不可启动；1：ximeaAirborneSystem系统就绪，可以启动； //2：ximeaAirborneSystem系统正在启动；3：ximeaAirborneSystem系统启动成功；4：系统已经关闭，并且不能再次启动； int systemON_Control = 0; char s_strUIMessage[100]=" "; static char * s_strStateOfSbg="None"; static char * s_strSbgSatelliteCounter="None"; static char * s_strSbgAccuracy="None"; char XimeaFramerate[100]=" "; char XimeaExposeTime[100]=" "; char XimeaExposeMaxValue[100]=" "; char spectralBin[100]="None"; static char * s_strSbgSolutionMode="None"; static char * s_strStateOfXimea="None"; char * s_strPitch="None"; char * s_strRoll="None"; char * s_strYaw="None"; static int s_sockfd; static struct sockaddr_in s_server; static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = { {0, 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_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[] = { "Unknown", "Button", "Switch", "Scale", "List", "Int input box" }; static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem); static int32_t s_widgetValueList[sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem)] = {0}; /* Exported functions definition ---------------------------------------------*/ T_DjiReturnCode DjiTest_WidgetStartService(void) { T_DjiReturnCode djiStat; T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); //Step 1 : Init DJI Widget djiStat = DjiWidget_Init(); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("Dji test widget init error, stat = 0x%08llX", djiStat); return djiStat; } #ifdef SYSTEM_ARCH_LINUX //Step 2 : Set UI Config (Linux environment) //获取控件图像和UI配置文件所在文件夹 USER_LOG_INFO("验证是否定义了宏PSDK_ARCH_SYS_LINUX:是!--------------------------------------------------------------------------------------------------------------------------"); char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX]; char tempPath[WIDGET_DIR_PATH_LEN_MAX]; djiStat = DjiUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", djiStat); return djiStat; } 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); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("Add default widget ui config error, stat = 0x%08llX", djiStat); return djiStat; } //set ui config for English language //设置系统语言为英文时控件配置文件的路径 djiStat = DjiWidget_RegUiConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_ENGLISH, DJI_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN, tempPath); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("Add widget ui config error, stat = 0x%08llX", djiStat); return djiStat; } //set ui config for Chinese language 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, tempPath); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("Add widget ui config error, stat = 0x%08llX", djiStat); return djiStat; } #else //Step 2 : Set UI Config (RTOS environment) T_DjiWidgetBinaryArrayConfig enWidgetBinaryArrayConfig = { .binaryArrayCount = g_EnBinaryArrayCount, .fileBinaryArrayList = g_EnFileBinaryArrayList }; //set default ui config djiStat = DjiWidget_RegDefaultUiConfigByBinaryArray(&enWidgetBinaryArrayConfig); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("Add default widget ui config error, stat = 0x%08llX", djiStat); return djiStat; } #endif //Step 3 : Set widget handler list djiStat = DjiWidget_RegHandlerList(s_widgetHandlerList, s_widgetHandlerListCount); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("Set widget handler list error, stat = 0x%08llX", djiStat); return djiStat; } //Step 4 : Run widget api sample task if (osalHandler->TaskCreate("user_widget_task", DjiTest_WidgetTask, WIDGET_TASK_STACK_SIZE, NULL, &s_widgetTestThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("Dji widget test task create error."); return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; } //Step 5 : Run ximea task if (osalHandler->TaskCreate("ximea", PsdkTest_IrisRecordSystemChanged, WIDGET_TASK_STACK_SIZE, NULL, &s_widgetXimeaThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("Psdk widget test task(ximea) create error."); return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; } /* tc-----------------------------------------------*/ struct hostent *he; he=gethostbyname("127.0.0.1"); s_sockfd=socket(AF_INET, SOCK_DGRAM,0); bzero(&s_server,sizeof(s_server)); s_server.sin_family = AF_INET; s_server.sin_port = htons(PORT); s_server.sin_addr= *((struct in_addr *)he->h_addr); /* tc-----------------------------------------------*/ return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } T_DjiReturnCode DjiTest_WidgetSetConfigFilePath(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; } __attribute__((weak)) void DjiTest_WidgetLogAppend(const char *fmt, ...) { } #ifndef __CC_ARM #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wmissing-noreturn" #pragma GCC diagnostic ignored "-Wreturn-type" #pragma GCC diagnostic ignored "-Wformat" #endif /* Private functions definition-----------------------------------------------*/ //在DJI pilot的浮窗上显示系统时间 int messageTimeCounter = 0; int messageTimespan = 10; int XimeaAirborneSystemSurvival_Counter = 1; int ximeaAirborneSystemSurvivalTime = 0; int ximeaAirborneSystemSurvivalTime_Temp = 0; static void *DjiTest_WidgetTask(void *arg) { char message[DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN]; uint32_t sysTimeMs = 0; T_DjiReturnCode djiStat; T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); USER_UTIL_UNUSED(arg); while (1) { 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相机: %s; 惯导: %s;\n卫星: %s; 精度: %s;\n帧率: %s;曝光: %s;max: %s;\nP: %s; R: %s; Y: %s;\n光谱bin: %s;\n", s_strUIMessage, s_strStateOfXimea, s_strStateOfSbg, s_strSbgSatelliteCounter, s_strSbgAccuracy, XimeaFramerate, XimeaExposeTime, XimeaExposeMaxValue, s_strPitch, s_strRoll, s_strYaw, spectralBin); #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) { USER_LOG_ERROR("Floating window show message error, stat = 0x%08llX", djiStat); } messageTimeCounter++; if (messageTimeCounter % messageTimespan == 0) { strcpy(s_strUIMessage," "); } //判断ximeaAirborneSystem系统是否存活 // if(ximeaAirborneSystemSurvivalTime > 10) // { // if (XimeaAirborneSystemSurvival_Counter % 10 ==0) // { // if (ximeaAirborneSystemSurvivalTime - ximeaAirborneSystemSurvivalTime_Temp == 0) // { // strcpy(s_strUIMessage,"采集系统无响应，请重启！"); // messageTimeCounter = 0; // messageTimespan = 10; // } // // XimeaAirborneSystemSurvival_Counter = 1; // ximeaAirborneSystemSurvivalTime_Temp = ximeaAirborneSystemSurvivalTime; // } // // XimeaAirborneSystemSurvival_Counter++; // } osalHandler->TaskSleepMs(1000); } } static void *PsdkTest_IrisRecordSystemChanged(void *arg)// { // FILE * fp; // char buffer[80]; // fp = popen("/home/iris-xport/cpp_qtcreator/ximeaImageRecorder-Release/ximeaImageRecorder", "r");ss // fgets(buffer, sizeof(buffer), fp); // printf("%s", buffer); // pclose(fp); int sockfd; struct sockaddr_in server; struct sockaddr_in client; socklen_t addrlen; int num; char buf[MAXDATASIZE]; if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1) { perror("Creatingsocket failed."); } bzero(&server,sizeof(server)); server.sin_family=AF_INET; server.sin_port=htons(PORT+1); server.sin_addr.s_addr= htonl(INADDR_ANY); if(bind(sockfd, (struct sockaddr *)&server, sizeof(server)) == -1) { perror("Bind()error."); } addrlen=sizeof(client); while (1) { //printf("PsdkTest_IrisRecordSystemChanged: record system status change! 8888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888\n"); num =recvfrom(sockfd,buf,MAXDATASIZE,0,(struct sockaddr*)&client,&addrlen); if (num < 0) { perror("recvfrom() error\n"); continue; } buf[num] = '\0'; printf("You got a message (%s) from client.\n",buf); //printf("You got a message (%s%) from client.\nIt's ip is%s, port is %d.\n",buf,inet_ntoa(client.sin_addr),htons(client.sin_port)); char * result[3]; result[0] = strtok( buf, "," ); result[1] = strtok( NULL, "," ); result[2] = strtok( NULL, "," ); // printf("result[0]: %s\n", result[0]); // printf("result[1]: %s\n\n", result[1]); // printf("result[2]: %s\n\n", result[2]); if (strcmp(result[0],"sbg") == 0) { s_stateOfSbg = atoi(result[1]); printf("sbg的状态为: %d\n\n", atoi(result[1])); switch (s_stateOfSbg) { case 0: s_strStateOfSbg="未打开"; if (systemON_Control == 0) { strcpy(s_strUIMessage,"系统已就绪！"); 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； } 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: s_strStateOfSbg="波特率设置失败"; break; case 2: s_strStateOfSbg="打开成功"; break; case 3: s_strStateOfSbg="采集中"; systemON_Control = 3; break; default: break; } } else if (strcmp(result[0],"Accuracy") == 0) { // printf("惯导定位精度为: %s\n\n", result[1]); s_strSbgAccuracy=result[1]; s_strSbgSatelliteCounter=result[2]; ximeaAirborneSystemSurvivalTime++; // s_sbgMagState = atoi(result[1]); // switch (s_sbgMagState) // { // case 0: // s_strSbgAccuracy="false"; // break; // case 1: // s_strSbgAccuracy="true"; // break; // default: // break; // } } else if (strcmp(result[0],"SolutionMode") == 0) { // s_sbgMagState = atoi(result[1]); // // switch (s_sbgMagState) // { // case 0: // s_strSbgSolutionMode="UNINITIALIZED"; // break; // case 1: // s_strSbgSolutionMode="VERTICAL_GYRO"; // break; // case 2: // s_strSbgSolutionMode="AHRS"; // break; // case 3: // s_strSbgSolutionMode="NAV_VELOCITY"; // break; // case 4: // s_strSbgSolutionMode="NAV_POSITION"; // break; // // default: // break; // } } else if (strcmp(result[0],"ximea") == 0) { s_stateOfXimea = atoi(result[1]); printf("ximea的状态为: %d\n\n", atoi(result[1])); switch (s_stateOfXimea)//0-61：ximea官方错误代码；99：发生的ximea官方错误代码，没有处理；100：未打开；101：打开；102：设置帧率；103：自动曝光；104：正在采集； { case 10: s_strStateOfXimea="10"; strcpy(s_strUIMessage,"相机timeout，请重启！"); messageTimeCounter = 0; messageTimespan = 200; break; case 11: s_strStateOfXimea="11"; strcpy(s_strUIMessage,"相机：Invalid arguments supplied！"); messageTimeCounter = 0; messageTimespan = 200; break; case 57: s_strStateOfXimea="57"; strcpy(s_strUIMessage,"相机被占用！"); messageTimeCounter = 0; messageTimespan = 200; break; case 99: s_strStateOfXimea="99"; strcpy(s_strUIMessage,"相机异常，错误码见日志！"); messageTimeCounter = 0; messageTimespan = 200; break; case 100: s_strStateOfXimea="未打开"; break; case 101: s_strStateOfXimea="打开成功"; strcpy(s_strUIMessage,"系统启动成功！"); messageTimeCounter = 0; messageTimespan = 20; break; case 102: s_strStateOfXimea="帧率已设置"; break; case 103: s_strStateOfXimea="曝光完成"; break; case 104: s_strStateOfXimea="正在采集"; break; default: break; } } else if (strcmp(result[0],"XimeaAutoExpose") == 0) { strcpy(XimeaExposeMaxValue, result[1]); strcpy(XimeaExposeTime, result[2]); strcpy(s_strUIMessage,"曝光时间设置成功！"); messageTimeCounter = 0; messageTimespan = 10; } else if (strcmp(result[0],"XimeaFrameRate") == 0) { int tmp = atoi(result[1]); sprintf(XimeaFramerate,"%d",tmp); // strcpy(XimeaFramerate,result[1]); strcpy(s_strUIMessage,"帧率设置成功！"); messageTimeCounter = 0; messageTimespan = 10; } else if (strcmp(result[0],"bin") == 0) { int spectralBin_tm = atoi(result[2]); sprintf(spectralBin,"%d",spectralBin_tm); } } } #ifndef __CC_ARM #pragma GCC diagnostic pop #endif static T_DjiReturnCode DjiTestWidget_SetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value, void *userData) { USER_UTIL_UNUSED(userData); USER_LOG_INFO("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d", s_widgetTypeNameArray[widgetType], index, value); s_widgetValueList[index] = value; return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t *value, void *userData) { USER_UTIL_UNUSED(userData); USER_UTIL_UNUSED(widgetType); *value = s_widgetValueList[index]; 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) { USER_UTIL_UNUSED(userData); USER_LOG_INFO("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d", s_widgetTypeNameArray[widgetType], index, value); s_widgetValueList[index] = value; switch (index) { case 5://系统启动关闭 if (value==0)//系统关闭 { if (systemON_Control == 3) { strcpy(s_strUIMessage,"系统已经关闭！"); messageTimeCounter = 0; messageTimespan = 1000; char* command = "2"; sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); systemON_Control = 4; } } else if (value==1)//系统启动 { if (systemON_Control == 0) { strcpy(s_strUIMessage,"请等待系统初始化！"); messageTimeCounter = 0; messageTimespan = 1000; } else if (systemON_Control == 1) { strcpy(s_strUIMessage,"系统启动中，请等待！"); messageTimeCounter = 0; messageTimespan = 1000; char* command = "1"; sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); systemON_Control = 2; } else if (systemON_Control == 2) { strcpy(s_strUIMessage,"系统启动中，请等待！"); messageTimeCounter = 0; messageTimespan = 1000; } else if (systemON_Control == 3) { strcpy(s_strUIMessage,"系统已经启动！"); messageTimeCounter = 0; messageTimespan = 1000; } else if (systemON_Control == 4) { strcpy(s_strUIMessage,"相机占用，请重新上电！"); messageTimeCounter = 0; messageTimespan = 1000; } } break; case 6://设置帧率 { if (s_stateOfXimea < 101) { strcpy(s_strUIMessage,"请先启动系统！"); messageTimeCounter = 0; messageTimespan = 10; break; } else if (s_stateOfXimea > 103) { strcpy(s_strUIMessage,"相机采集中，此操作无效！"); messageTimeCounter = 0; messageTimespan = 10; break; } // 控制帧率范围 if(value > 150) { strcpy(s_strUIMessage,"帧率不可超过150！"); messageTimeCounter = 0; messageTimespan = 10; break; } else if(value == 0) { strcpy(s_strUIMessage,"帧率无效！"); messageTimeCounter = 0; messageTimespan = 10; break; } // frameRateGlobel = value; char command[50] = "5,"; char framerate[20]; sprintf(framerate,"%d",value); strcat(command,framerate); sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); break; } case 7://自动曝光 if (value==0) { ; } else if (value==1) { if (s_stateOfXimea < 101) { strcpy(s_strUIMessage,"请先启动系统！"); messageTimeCounter = 0; messageTimespan = 10; break; } else if (s_stateOfXimea > 103) { strcpy(s_strUIMessage,"相机采集中，此操作无效！"); messageTimeCounter = 0; messageTimespan = 10; break; } strcpy(s_strUIMessage,"正在自动曝光，请稍等！"); messageTimeCounter = 0; messageTimespan = 1000; char* command = "6"; sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); } break; case 8://手动设置曝光时间 { if (s_stateOfXimea < 101) { strcpy(s_strUIMessage,"请先启动系统！"); messageTimeCounter = 0; messageTimespan = 10; break; } else if (s_stateOfXimea > 103) { strcpy(s_strUIMessage,"相机采集中，此操作无效！"); messageTimeCounter = 0; messageTimespan = 10; break; } //曝光时间有效性判断 if(frameRateGlobel == 0) { 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！"); messageTimeCounter = 0; messageTimespan = 10; break; } else if(value == 0) { strcpy(s_strUIMessage,"曝光时间无效！"); messageTimeCounter = 0; messageTimespan = 10; break; } // char command[50] = "7,"; char exposureTime[20]; sprintf(exposureTime,"%d",(value)); strcat(command,exposureTime); sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); break; } case 9: if (value==0)//停止采集 { char* command = "4"; sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); } else if (value==1)//开始采集 { if (s_stateOfXimea < 101) { strcpy(s_strUIMessage,"请先启动系统！"); messageTimeCounter = 0; messageTimespan = 10; 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; } 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 { } if (value==1) { system("sudo sed -i 's/spectralBin =.*/spectralBin = 1;/g' /media/nvme/300TC/config/ximea.cfg"); } else if (value==2) { system("sudo sed -i 's/spectralBin =.*/spectralBin = 2;/g' /media/nvme/300TC/config/ximea.cfg"); } strcpy(s_strUIMessage,"请重新上电！"); messageTimeCounter = 0; messageTimespan = 10000; break; default: break; } return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/