896 lines
31 KiB
C
896 lines
31 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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/* 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，并且不能再次启动；
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int systemON_Control = 0;
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char s_strUIMessage[100]=" ";
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static char * s_strStateOfSbg="None";
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static char * s_strSbgSatelliteCounter="None";
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static char * s_strSbgAccuracy="None";
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char XimeaFramerate[100]=" ";
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char XimeaExposeTime[100]=" ";
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char XimeaExposeMaxValue[100]=" ";
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char spectralBin[100]="None";
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static char * s_strSbgSolutionMode="None";
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static char * s_strStateOfXimea="None";
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char * s_strPitch="None";
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char * s_strRoll="None";
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char * s_strYaw="None";
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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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}
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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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}
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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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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相机: %s; 惯导: %s;\n卫星: %s; 精度: %s;\n帧率: %s;曝光: %s;max: %s;\nP: %s; R: %s; Y: %s;\n光谱bin: %s;\n",
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s_strUIMessage, s_strStateOfXimea, s_strStateOfSbg, s_strSbgSatelliteCounter, s_strSbgAccuracy, XimeaFramerate, XimeaExposeTime, XimeaExposeMaxValue, s_strPitch, s_strRoll, s_strYaw, spectralBin);
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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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//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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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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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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if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
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{
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perror("Creatingsocket failed.");
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}
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bzero(&server,sizeof(server));
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server.sin_family=AF_INET;
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server.sin_port=htons(PORT+1);
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server.sin_addr.s_addr= htonl(INADDR_ANY);
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if(bind(sockfd, (struct sockaddr *)&server, sizeof(server)) == -1)
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{
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perror("Bind()error.");
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}
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addrlen=sizeof(client);
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while (1)
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{
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//printf("PsdkTest_IrisRecordSystemChanged: record system status change! 8888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888\n");
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num =recvfrom(sockfd,buf,MAXDATASIZE,0,(struct sockaddr*)&client,&addrlen);
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if (num < 0)
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{
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perror("recvfrom() error\n");
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continue;
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}
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buf[num] = '\0';
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printf("You got a message (%s) from client.\n",buf);
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//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));
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char * result[3];
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result[0] = strtok( buf, "," );
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result[1] = strtok( NULL, "," );
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result[2] = strtok( NULL, "," );
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// printf("result[0]: %s\n", result[0]);
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// printf("result[1]: %s\n\n", result[1]);
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// printf("result[2]: %s\n\n", result[2]);
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if (strcmp(result[0],"sbg") == 0)
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{
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s_stateOfSbg = atoi(result[1]);
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printf("sbg的状态为: %d\n\n", atoi(result[1]));
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switch (s_stateOfSbg)
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{
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case 0:
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s_strStateOfSbg="未打开";
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if (systemON_Control == 0)
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{
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strcpy(s_strUIMessage,"系统已就绪！");
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messageTimeCounter = 0;
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messageTimespan = 1000;
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systemON_Control = 1;//ximeaAirborneSystem系统一启动就会发送此信息 → 代表采集系统就绪；
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}
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if (systemON_Control == 3)
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{
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strcpy(s_strUIMessage,"数据量过大，采集系统已经停止，请重新上电！");
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messageTimeCounter = 0;
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messageTimespan = 1000;
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}
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break;
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case 1:
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s_strStateOfSbg="波特率设置失败";
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break;
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case 2:
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s_strStateOfSbg="打开成功";
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break;
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case 3:
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s_strStateOfSbg="采集中";
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systemON_Control = 3;
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break;
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default:
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break;
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}
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}
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else if (strcmp(result[0],"Accuracy") == 0)
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{
|
||
// printf("惯导定位精度为: %s\n\n", result[1]);
|
||
|
||
s_strSbgAccuracy=result[1];
|
||
s_strSbgSatelliteCounter=result[2];
|
||
|
||
ximeaAirborneSystemSurvivalTime++;
|
||
|
||
|
||
// s_sbgMagState = atoi(result[1]);
|
||
|
||
// switch (s_sbgMagState)
|
||
// {
|
||
// case 0:
|
||
// s_strSbgAccuracy="false";
|
||
// break;
|
||
// case 1:
|
||
// s_strSbgAccuracy="true";
|
||
// break;
|
||
|
||
// default:
|
||
// break;
|
||
// }
|
||
}
|
||
else if (strcmp(result[0],"SolutionMode") == 0)
|
||
{
|
||
// s_sbgMagState = atoi(result[1]);
|
||
//
|
||
// switch (s_sbgMagState)
|
||
// {
|
||
// case 0:
|
||
// s_strSbgSolutionMode="UNINITIALIZED";
|
||
// break;
|
||
// case 1:
|
||
// s_strSbgSolutionMode="VERTICAL_GYRO";
|
||
// break;
|
||
// case 2:
|
||
// s_strSbgSolutionMode="AHRS";
|
||
// break;
|
||
// case 3:
|
||
// s_strSbgSolutionMode="NAV_VELOCITY";
|
||
// break;
|
||
// case 4:
|
||
// s_strSbgSolutionMode="NAV_POSITION";
|
||
// break;
|
||
//
|
||
// default:
|
||
// break;
|
||
// }
|
||
}
|
||
else if (strcmp(result[0],"ximea") == 0)
|
||
{
|
||
s_stateOfXimea = atoi(result[1]);
|
||
printf("ximea的状态为: %d\n\n", atoi(result[1]));
|
||
|
||
switch (s_stateOfXimea)//0-61：ximea官方错误代码；99：发生的ximea官方错误代码，没有处理；100：未打开；101：打开；102：设置帧率；103：自动曝光；104：正在采集；
|
||
{
|
||
case 10:
|
||
s_strStateOfXimea="10";
|
||
|
||
strcpy(s_strUIMessage,"相机timeout，请重启！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 200;
|
||
break;
|
||
case 11:
|
||
s_strStateOfXimea="11";
|
||
|
||
strcpy(s_strUIMessage,"相机：Invalid arguments supplied！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 200;
|
||
break;
|
||
case 57:
|
||
s_strStateOfXimea="57";
|
||
|
||
strcpy(s_strUIMessage,"相机被占用！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 200;
|
||
break;
|
||
case 99:
|
||
s_strStateOfXimea="99";
|
||
|
||
strcpy(s_strUIMessage,"相机异常，错误码见日志！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 200;
|
||
break;
|
||
case 100:
|
||
s_strStateOfXimea="未打开";
|
||
break;
|
||
case 101:
|
||
s_strStateOfXimea="打开成功";
|
||
|
||
strcpy(s_strUIMessage,"系统启动成功！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 20;
|
||
|
||
break;
|
||
case 102:
|
||
s_strStateOfXimea="帧率已设置";
|
||
break;
|
||
case 103:
|
||
s_strStateOfXimea="曝光完成";
|
||
break;
|
||
case 104:
|
||
s_strStateOfXimea="正在采集";
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
else if (strcmp(result[0],"XimeaAutoExpose") == 0)
|
||
{
|
||
strcpy(XimeaExposeMaxValue, result[1]);
|
||
strcpy(XimeaExposeTime, result[2]);
|
||
|
||
strcpy(s_strUIMessage,"曝光时间设置成功！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
}
|
||
else if (strcmp(result[0],"XimeaFrameRate") == 0)
|
||
{
|
||
int tmp = atoi(result[1]);
|
||
sprintf(XimeaFramerate,"%d",tmp);
|
||
// strcpy(XimeaFramerate,result[1]);
|
||
|
||
strcpy(s_strUIMessage,"帧率设置成功！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
}
|
||
else if (strcmp(result[0],"bin") == 0)
|
||
{
|
||
int spectralBin_tm = atoi(result[2]);
|
||
sprintf(spectralBin,"%d",spectralBin_tm);
|
||
}
|
||
}
|
||
}
|
||
|
||
#ifndef __CC_ARM
|
||
#pragma GCC diagnostic pop
|
||
#endif
|
||
|
||
static T_DjiReturnCode DjiTestWidget_SetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
|
||
void *userData)
|
||
{
|
||
USER_UTIL_UNUSED(userData);
|
||
|
||
USER_LOG_INFO("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d",
|
||
s_widgetTypeNameArray[widgetType], index, value);
|
||
s_widgetValueList[index] = value;
|
||
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||
}
|
||
|
||
static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t *value,
|
||
void *userData)
|
||
{
|
||
USER_UTIL_UNUSED(userData);
|
||
USER_UTIL_UNUSED(widgetType);
|
||
|
||
*value = s_widgetValueList[index];
|
||
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||
}
|
||
|
||
int frameRateGlobel = 0;
|
||
static T_DjiReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
|
||
void *userData)
|
||
{
|
||
USER_UTIL_UNUSED(userData);
|
||
|
||
USER_LOG_INFO("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d",
|
||
s_widgetTypeNameArray[widgetType], index, value);
|
||
s_widgetValueList[index] = value;
|
||
|
||
switch (index)
|
||
{
|
||
case 5://系统启动关闭
|
||
if (value==0)//系统关闭
|
||
{
|
||
if (systemON_Control == 3)
|
||
{
|
||
strcpy(s_strUIMessage,"系统已经关闭！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 1000;
|
||
|
||
char* command = "2";
|
||
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
|
||
|
||
systemON_Control = 4;
|
||
}
|
||
}
|
||
else if (value==1)//系统启动
|
||
{
|
||
if (systemON_Control == 0)
|
||
{
|
||
strcpy(s_strUIMessage,"请等待系统初始化！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 1000;
|
||
}
|
||
else if (systemON_Control == 1)
|
||
{
|
||
strcpy(s_strUIMessage,"系统启动中，请等待！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 1000;
|
||
|
||
char* command = "1";
|
||
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
|
||
|
||
systemON_Control = 2;
|
||
}
|
||
else if (systemON_Control == 2)
|
||
{
|
||
strcpy(s_strUIMessage,"系统启动中，请等待！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 1000;
|
||
}
|
||
else if (systemON_Control == 3)
|
||
{
|
||
strcpy(s_strUIMessage,"系统已经启动！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 1000;
|
||
}
|
||
else if (systemON_Control == 4)
|
||
{
|
||
strcpy(s_strUIMessage,"相机占用，请重新上电！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 1000;
|
||
}
|
||
}
|
||
break;
|
||
case 6://设置帧率
|
||
{
|
||
if (s_stateOfXimea < 101)
|
||
{
|
||
strcpy(s_strUIMessage,"请先启动系统！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
else if (s_stateOfXimea > 103)
|
||
{
|
||
strcpy(s_strUIMessage,"相机采集中，此操作无效！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
|
||
|
||
// 控制帧率范围
|
||
if(value > 150)
|
||
{
|
||
strcpy(s_strUIMessage,"帧率不可超过150！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
else if(value == 0)
|
||
{
|
||
strcpy(s_strUIMessage,"帧率无效！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
|
||
//
|
||
frameRateGlobel = value;
|
||
|
||
char command[50] = "5,";
|
||
char framerate[20];
|
||
sprintf(framerate,"%d",value);
|
||
strcat(command,framerate);
|
||
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
|
||
break;
|
||
}
|
||
case 7://自动曝光
|
||
if (value==0)
|
||
{
|
||
;
|
||
}
|
||
else if (value==1)
|
||
{
|
||
if (s_stateOfXimea < 101)
|
||
{
|
||
strcpy(s_strUIMessage,"请先启动系统！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
else if (s_stateOfXimea > 103)
|
||
{
|
||
strcpy(s_strUIMessage,"相机采集中，此操作无效！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
|
||
strcpy(s_strUIMessage,"正在自动曝光，请稍等！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 1000;
|
||
|
||
char* command = "6";
|
||
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
|
||
}
|
||
break;
|
||
case 8://手动设置曝光时间
|
||
{
|
||
if (s_stateOfXimea < 101)
|
||
{
|
||
strcpy(s_strUIMessage,"请先启动系统！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
else if (s_stateOfXimea > 103)
|
||
{
|
||
strcpy(s_strUIMessage,"相机采集中，此操作无效！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
|
||
//曝光时间有效性判断
|
||
if(frameRateGlobel == 0)
|
||
{
|
||
strcpy(s_strUIMessage,"请先设置帧率！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
|
||
float maxExposureTime = 1 / (float)frameRateGlobel * 1000;//单位是ms
|
||
|
||
if(value > maxExposureTime)
|
||
{
|
||
strcpy(s_strUIMessage,"曝光时间超过上限，无效！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
else if(value == 0)
|
||
{
|
||
strcpy(s_strUIMessage,"曝光时间无效！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
|
||
//
|
||
char command[50] = "7,";
|
||
char exposureTime[20];
|
||
sprintf(exposureTime,"%d",(value));
|
||
strcat(command,exposureTime);
|
||
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
|
||
|
||
break;
|
||
}
|
||
case 9:
|
||
if (value==0)//停止采集
|
||
{
|
||
char* command = "4";
|
||
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
|
||
}
|
||
else if (value==1)//开始采集
|
||
{
|
||
if (s_stateOfXimea < 101)
|
||
{
|
||
strcpy(s_strUIMessage,"请先启动系统！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
else if (s_stateOfXimea == 101)
|
||
{
|
||
strcpy(s_strUIMessage,"请先设置帧率！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
else if (s_stateOfXimea == 102)
|
||
{
|
||
strcpy(s_strUIMessage,"请先设置曝光时间！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10;
|
||
|
||
break;
|
||
}
|
||
|
||
char* command = "3";
|
||
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
|
||
}
|
||
break;
|
||
case 10:
|
||
if (value==0)//等待指令
|
||
{
|
||
}
|
||
if (value==1)
|
||
{
|
||
system("reboot");
|
||
}
|
||
else if (value==2)
|
||
{
|
||
system("shutdown now");
|
||
}
|
||
else if (value==3)
|
||
{
|
||
system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,1");
|
||
}
|
||
else if (value==4)
|
||
{
|
||
system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
|
||
}
|
||
else if (value==5)
|
||
{
|
||
strcpy(s_strUIMessage,"系统正在更新，稍后会自动重启！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10000;
|
||
|
||
system("/home/pi/tc_ShellScripts/update0.sh &> /media/nvme/300TC/update/log");
|
||
}
|
||
break;
|
||
case 11:
|
||
if (value==0)//等待指令
|
||
{
|
||
}
|
||
if (value==1)
|
||
{
|
||
system("sudo sed -i 's/spectralBin =.*/spectralBin = 1;/g' /media/nvme/300TC/config/ximea.cfg");
|
||
}
|
||
else if (value==2)
|
||
{
|
||
system("sudo sed -i 's/spectralBin =.*/spectralBin = 2;/g' /media/nvme/300TC/config/ximea.cfg");
|
||
}
|
||
|
||
strcpy(s_strUIMessage,"请重新上电！");
|
||
messageTimeCounter = 0;
|
||
messageTimespan = 10000;
|
||
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
|
||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||
}
|
||
|
||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|