699 lines
26 KiB
C
699 lines
26 KiB
C
/**
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********************************************************************
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* @file main.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 <dji_platform.h>
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#include <dji_logger.h>
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#include <dji_core.h>
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#include <utils/util_misc.h>
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#include <errno.h>
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#include <signal.h>
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#include <power_management/test_power_management.h>
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#include <gimbal_emu/test_payload_gimbal_emu.h>
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#include <fc_subscription/test_fc_subscription.h>
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#include <camera_emu/test_payload_cam_emu_media.h>
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#include <camera_emu/test_payload_cam_emu_base.h>
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#include <upgrade/test_upgrade.h>
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#include <upgrade_platform_opt/upgrade_platform_opt_linux.h>
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#include <mop_channel/test_mop_channel.h>
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#include <payload_collaboration/test_payload_collaboration.h>
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#include <xport/test_payload_xport.h>
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#include <hms/test_hms.h>
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#include "monitor/sys_monitor.h"
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#include "osal/osal.h"
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#include "osal/osal_fs.h"
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#include "osal/osal_socket.h"
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#include "../hal/hal_uart.h"
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#include "../hal/hal_network.h"
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#include "../hal/hal_usb_bulk.h"
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#include "dji_sdk_app_info.h"
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#include "dji_aircraft_info.h"
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#include "widget/test_widget.h"
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#include "widget/test_widget_speaker.h"
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#include "widget_interaction_test/test_widget_interaction.h"
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#include "data_transmission/test_data_transmission.h"
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#include "dji_sdk_config.h"
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/* Private constants ---------------------------------------------------------*/
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#define DJI_LOG_PATH "Logs/DJI"
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#define DJI_LOG_INDEX_FILE_NAME "Logs/latest"
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#define DJI_LOG_FOLDER_NAME "Logs"
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#define DJI_LOG_PATH_MAX_SIZE (128)
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#define DJI_LOG_FOLDER_NAME_MAX_SIZE (32)
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#define DJI_LOG_MAX_COUNT (10)
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#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
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#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
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#define DJI_USE_WIDGET_INTERACTION 0
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/* Private types -------------------------------------------------------------*/
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typedef struct {
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pid_t tid;
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char name[16];
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float pcpu;
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} T_ThreadAttribute;
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/* Private values -------------------------------------------------------------*/
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static FILE *s_djiLogFile;
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static FILE *s_djiLogFileCnt;
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static pthread_t s_monitorThread = 0;
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/* Private functions declaration ---------------------------------------------*/
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static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void);
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static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo);
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static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
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static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
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static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path);
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static void *DjiUser_MonitorTask(void *argument);
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static T_DjiReturnCode DjiTest_HighPowerApplyPinInit();
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static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState);
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static void DjiUser_NormalExitHandler(int signalNum);
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/* Exported functions definition ---------------------------------------------*/
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int main(int argc, char **argv)
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{
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T_DjiReturnCode returnCode;
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T_DjiUserInfo userInfo;
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T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
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T_DjiFirmwareVersion firmwareVersion = {
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.majorVersion = 1,
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.minorVersion = 0,
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.modifyVersion = 0,
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.debugVersion = 0,
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};
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USER_UTIL_UNUSED(argc);
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USER_UTIL_UNUSED(argv);
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// attention: when the program is hand up ctrl-c will generate the coredump file
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signal(SIGTERM, DjiUser_NormalExitHandler);
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/*!< Step 1: Prepare system environment, such as osal, hal uart, console function and so on. */
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returnCode = DjiUser_PrepareSystemEnvironment();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Prepare system environment error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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/*!< Step 2: Fill your application information in dji_sdk_app_info.h and use this interface to fill it. */
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returnCode = DjiUser_FillInUserInfo(&userInfo);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Fill user info error, please check user info config");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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/*!< Step 3: Initialize the Payload SDK core by your application information. */
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returnCode = DjiCore_Init(&userInfo);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Core init error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("get aircraft base info error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("set alias error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("set firmware version error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("set serial number error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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/*!< Step 4: Initialize the selected modules by macros in dji_sdk_config.h . */
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#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
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T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
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.pinInit = DjiTest_HighPowerApplyPinInit,
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.pinWrite = DjiTest_WriteHighPowerApplyPin,
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};
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returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("regsiter apply high power handler error");
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}
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returnCode = DjiTest_PowerManagementStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("power management init error");
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}
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
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returnCode = DjiTest_DataTransmissionStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("widget sample init error");
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}
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#endif
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if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT &&
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aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK) {
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returnCode = DjiTest_WidgetInteractionStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("widget interaction sample init error");
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}
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returnCode = DjiTest_WidgetSpeakerStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("widget speaker test init error");
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}
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} else {
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#ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
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returnCode = DjiTest_CameraEmuBaseStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("camera emu common init error");
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}
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
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returnCode = DjiTest_CameraEmuMediaStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("camera emu media init error");
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}
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
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returnCode = DjiTest_FcSubscriptionStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("data subscription sample init error\n");
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}
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
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if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
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aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
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if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("psdk gimbal init error");
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}
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}
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_XPORT_ON
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if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
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if (DjiTest_XPortStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("psdk xport init error");
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}
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}
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_WIDGET_ON
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#if DJI_USE_WIDGET_INTERACTION
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returnCode = DjiTest_WidgetInteractionStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("widget interaction test init error");
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}
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#else
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returnCode = DjiTest_WidgetStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("widget sample init error");
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}
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#endif
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
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returnCode = DjiTest_WidgetSpeakerStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("widget speaker test init error");
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}
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
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returnCode = DjiTest_MopChannelStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("mop channel sample init error");
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}
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
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if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
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aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
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returnCode = DjiTest_PayloadCollaborationStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("Payload collaboration sample init error\n");
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}
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}
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#endif
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#ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
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T_DjiTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
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.rebootSystem = DjiUpgradePlatformLinux_RebootSystem,
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.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
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.createUpgradeProgramFile = DjiUpgradePlatformLinux_CreateUpgradeProgramFile,
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.writeUpgradeProgramFile = DjiUpgradePlatformLinux_WriteUpgradeProgramFile,
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.readUpgradeProgramFile = DjiUpgradePlatformLinux_ReadUpgradeProgramFile,
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.closeUpgradeProgramFile = DjiUpgradePlatformLinux_CloseUpgradeProgramFile,
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.replaceOldProgram = DjiUpgradePlatformLinux_ReplaceOldProgram,
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.setUpgradeRebootState = DjiUpgradePlatformLinux_SetUpgradeRebootState,
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.getUpgradeRebootState = DjiUpgradePlatformLinux_GetUpgradeRebootState,
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.cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
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};
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T_DjiTestUpgradeConfig testUpgradeConfig = {
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.firmwareVersion = {1, 0, 0, 0},
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.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
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.needReplaceProgramBeforeReboot = true
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};
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if (DjiTest_UpgradeStartService(&linuxUpgradePlatformOpt, testUpgradeConfig) !=
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DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("psdk upgrade init error");
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}
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#endif
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}
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#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
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returnCode = DjiTest_HmsStartService();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("hms test init error");
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}
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#endif
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/*!< Step 5: Tell the DJI Pilot you are ready. */
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returnCode = DjiCore_ApplicationStart();
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("start sdk application error");
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}
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if (pthread_create(&s_monitorThread, NULL, DjiUser_MonitorTask, NULL) != 0) {
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USER_LOG_ERROR("create monitor task fail.");
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}
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if (pthread_setname_np(s_monitorThread, "monitor task") != 0) {
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USER_LOG_ERROR("set name for monitor task fail.");
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}
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while (1) {
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sleep(1);
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}
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}
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/* Private functions definition-----------------------------------------------*/
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static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
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{
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T_DjiReturnCode returnCode;
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T_DjiOsalHandler osalHandler = {
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.TaskCreate = Osal_TaskCreate,
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.TaskDestroy = Osal_TaskDestroy,
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.TaskSleepMs = Osal_TaskSleepMs,
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.MutexCreate= Osal_MutexCreate,
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.MutexDestroy = Osal_MutexDestroy,
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.MutexLock = Osal_MutexLock,
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.MutexUnlock = Osal_MutexUnlock,
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.SemaphoreCreate = Osal_SemaphoreCreate,
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.SemaphoreDestroy = Osal_SemaphoreDestroy,
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.SemaphoreWait = Osal_SemaphoreWait,
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.SemaphoreTimedWait = Osal_SemaphoreTimedWait,
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.SemaphorePost = Osal_SemaphorePost,
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.Malloc = Osal_Malloc,
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.Free = Osal_Free,
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.GetTimeMs = Osal_GetTimeMs,
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.GetTimeUs = Osal_GetTimeUs,
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};
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T_DjiLoggerConsole printConsole = {
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.func = DjiUser_PrintConsole,
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.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO,
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.isSupportColor = true,
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};
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T_DjiLoggerConsole localRecordConsole = {
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.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG,
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.func = DjiUser_LocalWrite,
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.isSupportColor = true,
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};
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T_DjiHalUartHandler uartHandler = {
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.UartInit = HalUart_Init,
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.UartDeInit = HalUart_DeInit,
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.UartWriteData = HalUart_WriteData,
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.UartReadData = HalUart_ReadData,
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.UartGetStatus = HalUart_GetStatus,
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};
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T_DjiHalNetworkHandler networkHandler = {
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.NetworkInit = HalNetWork_Init,
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.NetworkDeInit = HalNetWork_DeInit,
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.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo,
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};
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T_DjiHalUsbBulkHandler usbBulkHandler = {
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.UsbBulkInit = HalUsbBulk_Init,
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.UsbBulkDeInit = HalUsbBulk_DeInit,
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.UsbBulkWriteData = HalUsbBulk_WriteData,
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.UsbBulkReadData = HalUsbBulk_ReadData,
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.UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo,
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};
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T_DjiFileSystemHandler fileSystemHandler = {
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.FileOpen = Osal_FileOpen,
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.FileClose = Osal_FileClose,
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.FileWrite = Osal_FileWrite,
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.FileRead = Osal_FileRead,
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.FileSync = Osal_FileSync,
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.FileSeek = Osal_FileSeek,
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.DirOpen = Osal_DirOpen,
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.DirClose = Osal_DirClose,
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.DirRead = Osal_DirRead,
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.Mkdir = Osal_Mkdir,
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.Unlink = Osal_Unlink,
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.Rename = Osal_Rename,
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.Stat = Osal_Stat,
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};
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T_DjiSocketHandler socketHandler = {
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.Socket = Osal_Socket,
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.Bind = Osal_Bind,
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.Close = Osal_Close,
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.UdpSendData = Osal_UdpSendData,
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.UdpRecvData = Osal_UdpRecvData,
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.TcpListen = Osal_TcpListen,
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.TcpAccept = Osal_TcpAccept,
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.TcpConnect = Osal_TcpConnect,
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.TcpSendData = Osal_TcpSendData,
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.TcpRecvData = Osal_TcpRecvData,
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};
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returnCode = DjiPlatform_RegOsalHandler(&osalHandler);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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printf("register osal handler error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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printf("register hal uart handler error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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printf("file system init error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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returnCode = DjiLogger_AddConsole(&printConsole);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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printf("add printf console error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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returnCode = DjiLogger_AddConsole(&localRecordConsole);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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printf("add printf console error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
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returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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printf("register hal usb bulk handler error");
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return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
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returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
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if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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printf("register hal network handler error");
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
|
||
//Attention: if you want to use camera stream view function, please uncomment it.
|
||
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
|
||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||
printf("register osal socket handler error");
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
|
||
/*!< Attention: Only use uart hardware connection.
|
||
*/
|
||
#endif
|
||
|
||
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
|
||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||
printf("register osal filesystem handler error");
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||
}
|
||
|
||
static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
|
||
{
|
||
if (userInfo == NULL) {
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||
}
|
||
|
||
memset(userInfo->appName, 0, sizeof(userInfo->appName));
|
||
memset(userInfo->appId, 0, sizeof(userInfo->appId));
|
||
memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
|
||
memset(userInfo->appLicense, 0, sizeof(userInfo->appLicense));
|
||
memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
|
||
memset(userInfo->baudRate, 0, sizeof(userInfo->baudRate));
|
||
|
||
if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
|
||
strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
|
||
strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
|
||
strlen(USER_APP_LICENSE) > sizeof(userInfo->appLicense) ||
|
||
strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount) ||
|
||
strlen(USER_BAUD_RATE) > sizeof(userInfo->baudRate)) {
|
||
USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
|
||
sleep(1);
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||
}
|
||
|
||
if (!strcmp(USER_APP_NAME, "your_app_name") ||
|
||
!strcmp(USER_APP_ID, "your_app_id") ||
|
||
!strcmp(USER_APP_KEY, "your_app_key") ||
|
||
!strcmp(USER_BAUD_RATE, "your_app_license") ||
|
||
!strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
|
||
!strcmp(USER_BAUD_RATE, "your_baud_rate")) {
|
||
USER_LOG_ERROR(
|
||
"Please fill in correct user information to 'samples/sample_c/platform/linux/manifold2/application/dji_sdk_app_info.h' file.");
|
||
sleep(1);
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||
}
|
||
|
||
strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
|
||
memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
|
||
memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
|
||
memcpy(userInfo->appLicense, USER_APP_LICENSE,
|
||
USER_UTIL_MIN(sizeof(userInfo->appLicense), strlen(USER_APP_LICENSE)));
|
||
memcpy(userInfo->baudRate, USER_BAUD_RATE, USER_UTIL_MIN(sizeof(userInfo->baudRate), strlen(USER_BAUD_RATE)));
|
||
strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
|
||
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||
}
|
||
|
||
static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
|
||
{
|
||
USER_UTIL_UNUSED(dataLen);
|
||
|
||
printf("%s", data);
|
||
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||
}
|
||
|
||
static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
|
||
{
|
||
uint32_t realLen;
|
||
|
||
if (s_djiLogFile == NULL) {
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||
}
|
||
|
||
realLen = fwrite(data, 1, dataLen, s_djiLogFile);
|
||
fflush(s_djiLogFile);
|
||
if (realLen == dataLen) {
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||
} else {
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||
}
|
||
}
|
||
|
||
static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path)
|
||
{
|
||
T_DjiReturnCode djiReturnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||
char filePath[DJI_LOG_PATH_MAX_SIZE];
|
||
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
|
||
char folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
|
||
time_t currentTime = time(NULL);
|
||
struct tm *localTime = localtime(¤tTime);
|
||
uint16_t logFileIndex = 0;
|
||
uint16_t currentLogFileIndex;
|
||
uint8_t ret;
|
||
|
||
if (localTime == NULL) {
|
||
printf("Get local time error.\r\n");
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
|
||
if (access(DJI_LOG_FOLDER_NAME, F_OK) != 0) {
|
||
sprintf(folderName, "mkdir %s", DJI_LOG_FOLDER_NAME);
|
||
ret = system(folderName);
|
||
if (ret != 0) {
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
}
|
||
|
||
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "rb+");
|
||
if (s_djiLogFileCnt == NULL) {
|
||
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "wb+");
|
||
if (s_djiLogFileCnt == NULL) {
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
} else {
|
||
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
|
||
if (ret != 0) {
|
||
printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
|
||
ret = fread((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
|
||
if (ret != sizeof(uint16_t)) {
|
||
printf("Read log file index error.\r\n");
|
||
}
|
||
}
|
||
|
||
currentLogFileIndex = logFileIndex;
|
||
logFileIndex++;
|
||
|
||
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
|
||
if (ret != 0) {
|
||
printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
|
||
ret = fwrite((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
|
||
if (ret != sizeof(uint16_t)) {
|
||
printf("Write log file index error.\r\n");
|
||
fclose(s_djiLogFileCnt);
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
|
||
fclose(s_djiLogFileCnt);
|
||
|
||
sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
|
||
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
|
||
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
|
||
|
||
s_djiLogFile = fopen(filePath, "wb+");
|
||
if (s_djiLogFile == NULL) {
|
||
USER_LOG_ERROR("Open filepath time error.");
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
|
||
if (logFileIndex >= DJI_LOG_MAX_COUNT) {
|
||
sprintf(systemCmd, "rm -rf %s_%04d*.log", path, currentLogFileIndex - DJI_LOG_MAX_COUNT);
|
||
ret = system(systemCmd);
|
||
if (ret != 0) {
|
||
printf("Remove file error, ret:%d.\r\n", ret);
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||
}
|
||
}
|
||
|
||
return djiReturnCode;
|
||
}
|
||
|
||
#pragma GCC diagnostic push
|
||
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
|
||
#pragma GCC diagnostic ignored "-Wreturn-type"
|
||
|
||
static void *DjiUser_MonitorTask(void *argument)
|
||
{
|
||
unsigned int i = 0;
|
||
unsigned int threadCount = 0;
|
||
pid_t *tidList = NULL;
|
||
T_ThreadAttribute *threadAttribute = NULL;
|
||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||
|
||
USER_UTIL_UNUSED(argument);
|
||
|
||
while (1) {
|
||
threadCount = Monitor_GetThreadCountOfProcess(getpid());
|
||
tidList = osalHandler->Malloc(threadCount * sizeof(pid_t));
|
||
if (tidList == NULL) {
|
||
USER_LOG_ERROR("malloc fail.");
|
||
goto delay;
|
||
}
|
||
Monitor_GetTidListOfProcess(getpid(), tidList, threadCount);
|
||
|
||
threadAttribute = osalHandler->Malloc(threadCount * sizeof(T_ThreadAttribute));
|
||
if (threadAttribute == NULL) {
|
||
USER_LOG_ERROR("malloc fail.");
|
||
goto freeTidList;
|
||
}
|
||
for (i = 0; i < threadCount; ++i) {
|
||
threadAttribute[i].tid = tidList[i];
|
||
}
|
||
|
||
USER_LOG_DEBUG("thread pcpu:");
|
||
USER_LOG_DEBUG("tid\tname\tpcpu");
|
||
for (i = 0; i < threadCount; ++i) {
|
||
threadAttribute[i].pcpu = Monitor_GetPcpuOfThread(getpid(), tidList[i]);
|
||
Monitor_GetNameOfThread(getpid(), tidList[i], threadAttribute[i].name, sizeof(threadAttribute[i].name));
|
||
USER_LOG_DEBUG("%d\t%15s\t%f %%.", threadAttribute[i].tid, threadAttribute[i].name,
|
||
threadAttribute[i].pcpu);
|
||
}
|
||
|
||
USER_LOG_DEBUG("heap used: %d B.", Monitor_GetHeapUsed(getpid()));
|
||
USER_LOG_DEBUG("stack used: %d B.", Monitor_GetStackUsed(getpid()));
|
||
|
||
osalHandler->Free(threadAttribute);
|
||
freeTidList:
|
||
osalHandler->Free(tidList);
|
||
|
||
delay:
|
||
sleep(10);
|
||
}
|
||
}
|
||
|
||
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit()
|
||
{
|
||
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.
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||
}
|
||
|
||
static void DjiUser_NormalExitHandler(int signalNum)
|
||
{
|
||
USER_UTIL_UNUSED(signalNum);
|
||
exit(0);
|
||
}
|
||
|
||
#pragma GCC diagnostic pop
|
||
|
||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|