223 lines
12 KiB
C
223 lines
12 KiB
C
/**
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********************************************************************
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* @file psdk_data_transmission.h
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* @brief This is the header file for "psdk_data_transmission.c", defining the structure and
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* (exported) function prototypes.
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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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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef PSDK_DATA_TRANSMISSION_H
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#define PSDK_DATA_TRANSMISSION_H
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/* Includes ------------------------------------------------------------------*/
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#include "legacy_psdk2.x/psdk_typedef.h"
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#include "dji_low_speed_data_channel.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/**
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* @brief Prototype of callback function used to receive data that come from mobile end.
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* @warning User can not execute blocking style operations or functions in callback function, because that will block PSDK
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* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
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* @param data: pointer to data.
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* @param len: length of data.
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* @return Execution result.
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*/
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typedef DjiLowSpeedDataChannelRecvDataCallback ReceiveDataFromMobileCallback;
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/**
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* @brief Prototype of callback function used to receive data that come from onboard computer.
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* @warning User can not execute blocking style operations or functions in callback function, because that will block PSDK
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* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
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* @param data: pointer to data.
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* @param len: length of data.
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* @return Execution result.
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*/
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typedef DjiLowSpeedDataChannelRecvDataCallback ReceiveDataFromOsdkCallback;
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialise data transmission module in block mode. Should call this function before sending data to mobile
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* end/onboard computer or receiving data.
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* @note Max execution time of this function is slightly larger than 500ms.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_Init(void);
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/**
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* @brief Deinitialize data transmission module. User can call this function to release all resources that data
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* transmission module have occupied from the system and restore the state of internal variables when functions of data
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* transmission module will no longer be used or exit program.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_DeInit(void);
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/**
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* @brief Register callback function used to receive data from mobile end. After registering this callback function,
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* callback function will be called automatically when system receive data from mobile end.
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* @param callback: pointer to callback function.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_RegReceiveDataFromMobileCallback(ReceiveDataFromMobileCallback callback);
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/**
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* @brief Register callback function used to receive data from onboard computer. After registering this callback
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* function, callback function will be called automatically when system receive data from onboard computer.
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* @param callback: pointer to callback function.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_RegReceiveDataFromOsdkCallback(ReceiveDataFromOsdkCallback callback);
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/**
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* @brief Send data to mobile end via command channel.
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* @warning If actual bandwidth is below limitation, data can be sent to the endpoint directly. If exceeds the limitation,
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* firstly data will be stored to buffer of the flow controller and be sent to endpoint after a period (an integer multiple of
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* 1s, the exact time depends on bandwidth limitation and buffer size). If the buffer is full, data be will discarded. The
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* capacity of flow controller buffer is 512 bytes.
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* @note Must ensure actual bandwidth is less than bandwidth limitation of corresponding channel or stream, please
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* refer to developer documentation or state of channel/stream for details related to bandwidth limitation. User can
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* get state of "sendToMobile" command channel via PsdkDataTransmission_GetSendToMobileState() function. If actual
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* bandwidth exceeds the limitation or busy state is set, the user should stop transmitting data or decrease amount of data
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* to be sent.
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* @note Max size of data package sent to mobile end on a physical link of command channel is 128. If the length of data to
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* be sent is greater than 128, data to be sent will be divided into multiple packages to send, and the user will also
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* receive multiple data packages on the mobile end.
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* @param data: pointer to data to be sent.
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* @param len: length of data to be sent, unit: byte.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_SendDataToMobile(const uint8_t *data, uint8_t len);
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/**
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* @brief Send data to the onboard computer via command channel.
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* @warning If actual bandwidth is below limitation, data can be sent to the endpoint directly. If exceeds the limitation,
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* firstly data will be stored to buffer of the flow controller and be sent to endpoint after a period (an integer multiple of
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* 1s, the exact time depends on bandwidth limitation and buffer size). If the buffer is full, data will be discarded. The
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* capacity of flow controller buffer is 512 bytes.
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* @note Must ensure actual bandwidth is less than bandwidth limitation of corresponding channel or stream, please
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* refer to developer documentation or state of channel/stream for details related to bandwidth limitation. User can
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* get state of "sendToOsdk" command channel via PsdkDataTransmission_GetSendToOsdkState() function. If actual bandwidth
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* exceeds the limitation or busy state is set, the user should stop transmitting data or decrease amount of data to be
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* sent.
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* @note Max size of data package sent to an onboard computer on the physical link of command channel is 255. If the length of data
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* to be sent is greater than 255, data to be sent will be divided into multiple packages to send, and the user will also
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* receive multiple data packages on the onboard computer.
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* @param data: pointer to data to be sent.
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* @param len: length of data to be sent, unit: byte.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_SendDataToOsdk(const uint8_t *data, uint8_t len);
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/**
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* @brief Get data transmission state of "sendToMobile" command channel. User can use the state as base for controlling
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* data transmission between payload and mobile end.
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* @param state: pointer to "sendToMobile" command channel state.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_GetSendToMobileState(T_PsdkDataChannelState *state);
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/**
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* @brief Get data transmission state of "sendToOsdk" command channel. User can use the state as base for controlling data
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* transmission between payload and onboard computer.
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* @param state: pointer to "sendToOsdk" command channel state.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_GetSendToOsdkState(T_PsdkDataChannelState *state);
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/**
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* @brief Get the network remote address for sending data stream.
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* @note The interface is used to get the network remote address for sending data stream. You can get this info for another
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* heterogeneous system to do somethings. This interface should be used after calling PsdkCore_Init function.
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* @param ipAddr: the remote ip address for sending data stream.
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* @param port: the remote port for sending data stream.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_GetDataStreamRemoteAddress(char *ipAddr, uint16_t *port);
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/**
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* @brief Send data to mobile end via data stream of the data channel.
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* @note This function can be used only in Linux operating system.
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* @note Must ensure actual bandwidth is less than bandwidth limitation of corresponding channel or stream, please
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* refer to developer documentation and state of channel/stream for details related to bandwidth limitation. User can
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* get state of "dataStream" channel via PsdkDataTransmission_GetDataStreamState() function. If actual bandwidth
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* exceeds the limitation or busy state is set, the user should stop transmitting data or decrease amount of data to be
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* sent. Otherwise, data may be discarded.
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* @param data: pointer to data to be sent.
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* @param len: length of data to be sent via data stream, and it must be less than or equal to 65000, unit: byte.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_SendDataStream(const uint8_t *data, uint16_t len);
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/**
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* @brief Get data transmission state of "dataStream" channel. User can use the state as base for controlling data
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* transmission of data stream. This function exists and can be used only in Linux operation system.
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* @param state: pointer to "dataStream" channel state.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_GetDataStreamState(T_PsdkDataChannelState *state);
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/**
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* @brief Get the network remote address for sending data stream.
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* @note The interface is used to get the network remote address for sending data stream. You can get this info for another
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* heterogeneous system to do somethings. This interface should be used after calling PsdkCore_Init function.
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* @param ipAddr: the remote ip address for sending data stream.
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* @param port: the remote port for sending data stream.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_GetDataStreamRemoteAddress(char *ipAddr, uint16_t *port);
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/**
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* @brief Send data to mobile end via data stream of the data channel.
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* @note This function can be used only in Linux operating system.
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* @note Must ensure actual bandwidth is less than bandwidth limitation of corresponding channel or stream, please
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* refer to developer documentation and state of channel/stream for details related to bandwidth limitation. User can
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* get state of "dataStream" channel via PsdkDataTransmission_GetDataStreamState() function. If actual bandwidth
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* exceeds the limitation or busy state is set, the user should stop transmitting data or decrease amount of data to be
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* sent. Otherwise, data may be discarded.
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* @param data: pointer to data to be sent.
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* @param len: length of data to be sent via data stream, and it must be less than or equal to 65000, unit: byte.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_SendDataStream(const uint8_t *data, uint16_t len);
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/**
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* @brief Get data transmission state of "dataStream" channel. User can use the state as base for controlling data
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* transmission of data stream. This function exists and can be used only in Linux operation system.
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* @param state: pointer to "dataStream" channel state.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkDataTransmission_GetDataStreamState(T_PsdkDataChannelState *state);
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#ifdef __cplusplus
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}
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#endif
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#endif // PSDK_DATA_TRANSMISSION_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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