23153193a6
1. 删掉文本输入框，hz改为赫兹； 2. 曝光时间超过最大值后，设置为最大值：psdk取消曝光时间检测，让ximeaAirborneSystem设置曝光时间的最大值； 5. bin修改后，自动杀掉程序； 3. 去掉采集流程控制：高光谱采集提示请先设置曝光时间； 4. 去掉帧率完成和曝光完成，只保留连接成功；
1033 lines
36 KiB
C
1033 lines
36 KiB
C
/**
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********************************************************************
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* @file test_widget.c
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* @brief
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*
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* @copyright (c) 2021 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "test_widget.h"
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#include <dji_widget.h>
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#include <dji_logger.h>
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#include "../utils/util_misc.h"
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#include <dji_platform.h>
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#include <stdio.h>
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#include "dji_sdk_config.h"
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#include "file_binary_array_list_en.h"
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//sbg
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#include <stdlib.h>
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#include <string.h>
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/* Private constants ---------------------------------------------------------*/
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#define WIDGET_DIR_PATH_LEN_MAX (256)
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#define WIDGET_TASK_STACK_SIZE (2048)
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/* Private types -------------------------------------------------------------*/
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/* Private functions declaration ---------------------------------------------*/
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static void *DjiTest_WidgetTask(void *arg);
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static T_DjiReturnCode DjiTestWidget_SetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
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void *userData);
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static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t *value,
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void *userData);
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static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
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void *userData);
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static void *PsdkTest_IrisRecordSystemChanged(void *arg);
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static void extractSpectralBinAndBandnumber(bool isModifyBin);
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static void closeXimeaRecordSystem();
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/* Private values ------------------------------------------------------------*/
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static T_DjiTaskHandle s_widgetTestThread;
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static bool s_isWidgetFileDirPathConfigured = false;
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static char s_widgetFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
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static T_DjiTaskHandle s_widgetSbgThread;
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static T_DjiTaskHandle s_widgetXimeaThread;
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int SbgRecordCondition=0;
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static int s_sbgMagState=0;
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static int s_stateOfXimea=100;
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static int s_stateOfSbg=0;
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static int s_stateOfFile=0;
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//0：ximeaAirborneSystem系统未就绪，不可启动；1：ximeaAirborneSystem系统就绪，可以启动；
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//2：ximeaAirborneSystem系统正在启动；3：ximeaAirborneSystem系统启动成功；4：系统已经关闭；
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int systemON_Control = 0;
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char s_strUIMessage[100]=" ";
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static char * s_strStateOfSbg=" ";
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static char * s_strSbgSatelliteCounter=" ";
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static char * s_strSbgAccuracy=" ";
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char XimeaFramerate[100]=" ";
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int framerate = 0;
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char XimeaExposeTime[100]=" ";
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int exposeTimeInt = 0;
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char XimeaExposeMaxValue[100]=" ";
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char s_spectralBin[100]=" ";
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int spectralBinInt = 0;
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static char * s_strSbgSolutionMode=" ";
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static char * s_strStateOfXimea=" ";
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char * s_strPitch=" ";
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char * s_strRoll=" ";
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char * s_strYaw=" ";
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char * s_remainingTime=" ";
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char * remainingTimeTmp[10];
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char * s_remainingSpace=" ";
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char * remainingSpaceTmp[10];
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char jsonPathCn[WIDGET_DIR_PATH_LEN_MAX];
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char jsonPathEn[WIDGET_DIR_PATH_LEN_MAX];
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static int s_sockfd;
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static struct sockaddr_in s_server;
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static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
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{0, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
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{1, DJI_WIDGET_TYPE_LIST, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
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{2, DJI_WIDGET_TYPE_SWITCH, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
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{3, DJI_WIDGET_TYPE_SCALE, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
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{4, DJI_WIDGET_TYPE_BUTTON, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
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{5, DJI_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
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{6, DJI_WIDGET_TYPE_INT_INPUT_BOX, PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
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{7, DJI_WIDGET_TYPE_BUTTON, PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
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{8, DJI_WIDGET_TYPE_INT_INPUT_BOX, PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
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{9, DJI_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
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{10, DJI_WIDGET_TYPE_LIST, PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},//PsdkTestWidget_SetWidgetValue
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{11, DJI_WIDGET_TYPE_LIST, PsdkTestWidget_SetWidgetValue_StartRecord, DjiTestWidget_GetWidgetValue, NULL},
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};
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static const char *s_widgetTypeNameArray[] = {
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"Unknown",
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"Button",
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"Switch",
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"Scale",
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"List",
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"Int input box"
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};
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static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem);
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static int32_t s_widgetValueList[sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem)] = {0};
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/* Exported functions definition ---------------------------------------------*/
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T_DjiReturnCode DjiTest_WidgetStartService(void)
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{
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T_DjiReturnCode djiStat;
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T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
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//Step 1 : Init DJI Widget
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djiStat = DjiWidget_Init();
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Dji test widget init error, stat = 0x%08llX", djiStat);
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return djiStat;
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}
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#ifdef SYSTEM_ARCH_LINUX
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//Step 2 : Set UI Config (Linux environment)
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//获取控件图像和UI配置文件所在文件夹
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USER_LOG_INFO("验证是否定义了宏PSDK_ARCH_SYS_LINUX:是!--------------------------------------------------------------------------------------------------------------------------");
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char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX];
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char tempPath[WIDGET_DIR_PATH_LEN_MAX];
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djiStat = DjiUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", djiStat);
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return djiStat;
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}
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if (s_isWidgetFileDirPathConfigured == true) {
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snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", s_widgetFileDirPath);
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} else {
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snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", curFileDirPath);
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snprintf(jsonPathEn, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen/widget_config.json", curFileDirPath);
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}
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//set default ui config path
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djiStat = DjiWidget_RegDefaultUiConfigByDirPath(tempPath);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Add default widget ui config error, stat = 0x%08llX", djiStat);
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return djiStat;
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}
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//set ui config for English language
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//设置系统语言为英文时控件配置文件的路径
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djiStat = DjiWidget_RegUiConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_ENGLISH,
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DJI_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
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tempPath);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Add widget ui config error, stat = 0x%08llX", djiStat);
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return djiStat;
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}
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//set ui config for Chinese language
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if (s_isWidgetFileDirPathConfigured == true) {
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snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", s_widgetFileDirPath);
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} else {
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snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", curFileDirPath);
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snprintf(jsonPathCn, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen/widget_config.json", curFileDirPath);
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}
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djiStat = DjiWidget_RegUiConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_CHINESE,
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DJI_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
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tempPath);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Add widget ui config error, stat = 0x%08llX", djiStat);
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return djiStat;
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}
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#else
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//Step 2 : Set UI Config (RTOS environment)
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T_DjiWidgetBinaryArrayConfig enWidgetBinaryArrayConfig = {
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.binaryArrayCount = g_EnBinaryArrayCount,
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.fileBinaryArrayList = g_EnFileBinaryArrayList
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};
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//set default ui config
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djiStat = DjiWidget_RegDefaultUiConfigByBinaryArray(&enWidgetBinaryArrayConfig);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Add default widget ui config error, stat = 0x%08llX", djiStat);
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return djiStat;
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}
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#endif
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//Step 3 : Set widget handler list
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djiStat = DjiWidget_RegHandlerList(s_widgetHandlerList, s_widgetHandlerListCount);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Set widget handler list error, stat = 0x%08llX", djiStat);
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return djiStat;
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}
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//Step 4 : Run widget api sample task
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if (osalHandler->TaskCreate("user_widget_task", DjiTest_WidgetTask, WIDGET_TASK_STACK_SIZE, NULL,
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&s_widgetTestThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Dji widget test task create error.");
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return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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//Step 5 : Run ximea task
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if (osalHandler->TaskCreate("ximea", PsdkTest_IrisRecordSystemChanged, WIDGET_TASK_STACK_SIZE, NULL,
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&s_widgetXimeaThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Psdk widget test task(ximea) create error.");
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return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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/* tc-----------------------------------------------*/
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struct hostent *he;
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he=gethostbyname("127.0.0.1");
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s_sockfd=socket(AF_INET, SOCK_DGRAM,0);
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bzero(&s_server,sizeof(s_server));
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s_server.sin_family = AF_INET;
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s_server.sin_port = htons(PORT);
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s_server.sin_addr= *((struct in_addr *)he->h_addr);
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/* tc-----------------------------------------------*/
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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T_DjiReturnCode DjiTest_WidgetSetConfigFilePath(const char *path)
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{
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memset(s_widgetFileDirPath, 0, sizeof(s_widgetFileDirPath));
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memcpy(s_widgetFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_widgetFileDirPath) - 1));
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s_isWidgetFileDirPathConfigured = true;
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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__attribute__((weak)) void DjiTest_WidgetLogAppend(const char *fmt, ...)
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{
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}
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#ifndef __CC_ARM
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wmissing-noreturn"
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#pragma GCC diagnostic ignored "-Wreturn-type"
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#pragma GCC diagnostic ignored "-Wformat"
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#endif
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/* Private functions definition-----------------------------------------------*/
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//在DJI pilot的浮窗上显示系统时间
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int messageTimeCounter = 0;
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int messageTimespan = 10;
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int XimeaAirborneSystemSurvival_Counter = 1;
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int ximeaAirborneSystemSurvivalTime = 0;
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int ximeaAirborneSystemSurvivalTime_Temp = 0;
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static void *DjiTest_WidgetTask(void *arg)
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{
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char message[DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN];
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uint32_t sysTimeMs = 0;
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T_DjiReturnCode djiStat;
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T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
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USER_UTIL_UNUSED(arg);
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while (1)
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{
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s_widgetValueList[6] = framerate;
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s_widgetValueList[8] = exposeTimeInt;
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if (systemON_Control == 4)
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{
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s_widgetValueList[5] = 0;
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}
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djiStat = osalHandler->GetTimeMs(&sysTimeMs);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Get system time ms error, stat = 0x%08llX", djiStat);
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}
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#ifndef USER_FIRMWARE_MAJOR_VERSION
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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",
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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);
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#else
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snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN,
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"System time : %u ms\r\nVersion: v%02d.%02d.%02d.%02d\r\nBuild time: %s %s", sysTimeMs,
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USER_FIRMWARE_MAJOR_VERSION, USER_FIRMWARE_MINOR_VERSION,
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USER_FIRMWARE_MODIFY_VERSION, USER_FIRMWARE_DEBUG_VERSION,
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__DATE__, __TIME__);
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#endif
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djiStat = DjiWidgetFloatingWindow_ShowMessage(message);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Floating window show message error, stat = 0x%08llX", djiStat);
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}
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messageTimeCounter++;
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if (messageTimeCounter % messageTimespan == 0)
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{
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strcpy(s_strUIMessage," ");
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}
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char buffer[128];
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FILE *fp;
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// 获取剩余硬盘空间和剩余采集时间
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fp = popen("df --output=avail --block-size=1 /media/nvme | tail -n 1", "r");
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if (fp == NULL) {
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perror("popen");
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}
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// 读取输出并处理
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if (fgets(buffer, sizeof(buffer), fp) != NULL)
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{
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// printf("当前字符串-----: %s \n", buffer);
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// 将输出转换为数值
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unsigned long long availableBytes = strtoull(buffer, NULL, 10);
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// 转换为MB
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double availableMB = availableBytes / (1024.0 * 1024.0);
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sprintf(remainingSpaceTmp, "%.0f", availableMB/1024);
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s_remainingSpace = remainingSpaceTmp;
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if (spectralBinInt!=0 && framerate!=0)
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{
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double frameSize;
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if (spectralBinInt==1)
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{
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frameSize = 0.783;
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}
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else
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{
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frameSize = 0.783/2;
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}
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double minTemp = availableMB / (frameSize * framerate * 60);
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sprintf(remainingTimeTmp, "%.0f", minTemp);
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s_remainingTime = remainingTimeTmp;
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// 打印结果
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// printf("Available space: %.2f MB;\n", availableMB);
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// printf("remainint time of record:%.2f;\n", temp);
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}
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}
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// 关闭文件指针
|
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pclose(fp);
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|
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extractSpectralBinAndBandnumber(false);
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//判断ximeaAirborneSystem系统是否存活
|
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// if(ximeaAirborneSystemSurvivalTime > 10)
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// {
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// if (XimeaAirborneSystemSurvival_Counter % 10 ==0)
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// {
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// if (ximeaAirborneSystemSurvivalTime - ximeaAirborneSystemSurvivalTime_Temp == 0)
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// {
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// strcpy(s_strUIMessage,"采集系统无响应，请重启！");
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// messageTimeCounter = 0;
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// messageTimespan = 10;
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// }
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//
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// XimeaAirborneSystemSurvival_Counter = 1;
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// ximeaAirborneSystemSurvivalTime_Temp = ximeaAirborneSystemSurvivalTime;
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// }
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//
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// XimeaAirborneSystemSurvival_Counter++;
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// }
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osalHandler->TaskSleepMs(1000);
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}
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}
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|
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static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
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{
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// FILE * fp;
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// char buffer[80];
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// fp = popen("/home/iris-xport/cpp_qtcreator/ximeaImageRecorder-Release/ximeaImageRecorder", "r");ss
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// fgets(buffer, sizeof(buffer), fp);
|
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// printf("%s", buffer);
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// pclose(fp);
|
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|
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|
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int sockfd;
|
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struct sockaddr_in server;
|
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struct sockaddr_in client;
|
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socklen_t addrlen;
|
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int num;
|
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char buf[MAXDATASIZE];
|
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|
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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[5];
|
||
result[0] = strtok( buf, "," );
|
||
result[1] = strtok( NULL, "," );
|
||
result[2] = strtok( NULL, "," );
|
||
result[3] = strtok( NULL, "," );
|
||
result[4] = 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]);
|
||
printf("result[3]: %s\n\n", result[3]);
|
||
printf("result[4]: %s\n\n", result[4]);
|
||
|
||
|
||
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 || systemON_Control == 3 || systemON_Control == 4)
|
||
{
|
||
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；
|
||
}
|
||
|
||
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="dis_UNINIT";//UNINITIALIZED
|
||
break;
|
||
case 1:
|
||
s_strSbgSolutionMode="dis_GYRO";//VERTICAL_GYRO
|
||
break;
|
||
case 2:
|
||
s_strSbgSolutionMode="dis_AHRS";
|
||
break;
|
||
case 3:
|
||
s_strSbgSolutionMode="dis_VELOCITY";//NAV_VELOCITY
|
||
break;
|
||
case 4:
|
||
s_strSbgSolutionMode="en_FULL";//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：采集中；
|
||
{
|
||
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="未连接";
|
||
break;
|
||
case 101:
|
||
s_strStateOfXimea="连接成功";
|
||
|
||
strcpy(s_strUIMessage,"系统启动成功！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 20;
|
||
|
||
break;
|
||
case 102:
|
||
s_strStateOfXimea="连接成功";
|
||
break;
|
||
case 103:
|
||
s_strStateOfXimea="连接成功";
|
||
break;
|
||
case 104:
|
||
s_strStateOfXimea="采集中";
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
else if (strcmp(result[0],"XimeaAutoExpose") == 0)
|
||
{
|
||
strcpy(XimeaExposeMaxValue, result[1]);
|
||
|
||
exposeTimeInt = atoi(result[2]);
|
||
sprintf(XimeaExposeTime,"%d",exposeTimeInt);
|
||
s_widgetValueList[8] = exposeTimeInt;
|
||
|
||
strcpy(s_strUIMessage,"曝光时间设置成功！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
}
|
||
else if (strcmp(result[0],"XimeaFrameRate") == 0)
|
||
{
|
||
framerate = atoi(result[1]);
|
||
s_widgetValueList[6] = framerate;
|
||
sprintf(XimeaFramerate,"%d",framerate);
|
||
// strcpy(XimeaFramerate,result[1]);
|
||
|
||
strcpy(s_strUIMessage,"帧率设置成功！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
}
|
||
else if (strcmp(result[0],"bin") == 0)
|
||
{
|
||
spectralBinInt = atoi(result[2]);
|
||
}
|
||
}
|
||
}
|
||
|
||
#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;
|
||
}
|
||
|
||
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);
|
||
int32_t valueTmp = s_widgetValueList[index];
|
||
s_widgetValueList[index] = value;
|
||
|
||
switch (index)
|
||
{
|
||
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,"系统正在关闭！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 1000;
|
||
|
||
char* command = "2";
|
||
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
|
||
|
||
systemON_Control = 4;
|
||
|
||
// sleep(1);//此线程不能睡眠，否则会报很多错误
|
||
// char *commandtmp = (char *)malloc(sizeof(char)*100);
|
||
// strcat(commandtmp, "kill $(ps aux | grep ximeaAirborneSystem | grep -v grep | awk \'{print $2}\')");
|
||
// printf("命令行指令为：%s\n",commandtmp);
|
||
// system(commandtmp);
|
||
|
||
closeXimeaRecordSystem();
|
||
}
|
||
}
|
||
else if (value==1)//系统启动
|
||
{
|
||
printf("systemON_Control的值为：%d\n", systemON_Control);
|
||
if (systemON_Control == 4)
|
||
{
|
||
strcpy(s_strUIMessage,"请等待系统初始化！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 1000;
|
||
}
|
||
else if (systemON_Control == 0 || 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;
|
||
}
|
||
}
|
||
break;
|
||
case 6://设置帧率
|
||
{
|
||
if (s_stateOfXimea < 101)
|
||
{
|
||
strcpy(s_strUIMessage,"请先启动系统！");
|
||
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)
|
||
{
|
||
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 > 250)
|
||
{
|
||
strcpy(s_strUIMessage,"帧率不可超过250！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
else if(value == 0)
|
||
{
|
||
strcpy(s_strUIMessage,"帧率无效！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
|
||
//
|
||
char command[50] = "5,";
|
||
char framerate_str[20];
|
||
sprintf(framerate_str,"%d",value);
|
||
strcat(command,framerate_str);
|
||
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
|
||
float maxExposureTime = 1 / (float)framerate * 1000;//单位是ms
|
||
|
||
if(value > maxExposureTime)
|
||
{
|
||
strcpy(s_strUIMessage,"曝光时间已设置为最大！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
}
|
||
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;
|
||
}
|
||
|
||
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");
|
||
}
|
||
closeXimeaRecordSystem();
|
||
|
||
extractSpectralBinAndBandnumber(true);
|
||
|
||
strcpy(s_strUIMessage,"请等待采集系统重启！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10000;
|
||
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
|
||
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=" ";
|
||
s_strSbgSatelliteCounter=" ";
|
||
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;
|
||
char buffer[128];
|
||
FILE *fp;
|
||
|
||
fp = popen("grep \"spectralBin = \" /media/nvme/300TC/config/ximea.cfg | awk '{print $3}' | tr -d ';'", "r");
|
||
if (fp == NULL) {
|
||
perror("popen");
|
||
}
|
||
if (fgets(buffer, sizeof(buffer), fp) != NULL)
|
||
{
|
||
// printf("当前字符串-----: %s \n", buffer);
|
||
spectralBin = strtoull(buffer, NULL, 10);
|
||
}
|
||
pclose(fp);
|
||
|
||
if (spectralBin == 1)
|
||
{
|
||
fp = popen("grep \"height\" /media/nvme/300TC/config/ximea.cfg | head -n 1 | awk '{print $3}' | tr -d ';'", "r");
|
||
if (fp == NULL) {
|
||
perror("popen");
|
||
}
|
||
if (fgets(buffer, sizeof(buffer), fp) != NULL)
|
||
{
|
||
// printf("当前字符串-----: %s \n", buffer);
|
||
height = strtoull(buffer, NULL, 10);
|
||
}
|
||
pclose(fp);
|
||
}
|
||
else if(spectralBin == 2)
|
||
{
|
||
fp = popen("grep \"height\" /media/nvme/300TC/config/ximea.cfg | head -n 2 | tail -n 1 | awk '{print $3}' | tr -d ';'", "r");
|
||
if (fp == NULL) {
|
||
perror("popen");
|
||
}
|
||
if (fgets(buffer, sizeof(buffer), fp) != NULL)
|
||
{
|
||
// printf("当前字符串-----: %s \n", buffer);
|
||
height = strtoull(buffer, NULL, 10);
|
||
}
|
||
pclose(fp);
|
||
}
|
||
|
||
s_widgetValueList[11] = spectralBin;
|
||
|
||
if (!isModifyBin)
|
||
{
|
||
sprintf(s_spectralBin,"%d_%d", spectralBin, height);
|
||
}
|
||
}
|
||
|
||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|