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1、操作遥控器按钮，psdk进程通过socket发送命令给相机进程 来控制高光谱采集系统；

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2、通过FFmpeg采集摄像头视频流并编码为h264，利用psdk推流到遥控器；
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tangchao0503
2022-06-22 16:48:50 +08:00
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sample/api_sample/data_subscription/test_data_subscription.c Normal file
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/**
********************************************************************
* @file test_data_subscription.c
* @version V2.0.0
* @date 2019/8/15
* @brief
*
* @copyright (c) 2017-2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <utils/util_misc.h>
#include "test_data_subscription.h"
#include "psdk_logger.h"
#include "psdk_platform.h"
/* Private constants ---------------------------------------------------------*/
#define DATA_SUBSCRIPTION_TASK_FREQ (1)
#define DATA_SUBSCRIPTION_TASK_STACK_SIZE (2048)
/* Private types -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
static void *UserDataSubscription_Task(void *arg);
static T_PsdkReturnCode PsdkTest_DataSubscriptionReceiveQuaternionCallback(const uint8_t *data, uint16_t dataSize,
const T_PsdkDataSubscriptiontTimestamp *timestamp);
/* Private variables ---------------------------------------------------------*/
static T_PsdkTaskHandle s_userDataSubscriptionThread;
/* Exported functions definition ---------------------------------------------*/
//要先订阅消息(PsdkDataSubscription_RegTopicSync),才能获取消息(PsdkDataSubscription_GetValueOfTopicWithTimestamp)
T_PsdkReturnCode PsdkTest_DataSubscriptionInit(void)
{
T_PsdkReturnCode psdkStat;
psdkStat = PsdkDataSubscription_Init();
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("init data subscription module error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//订阅姿态四元数
//要先订阅消息(PsdkDataSubscription_RegTopicSync),才能获取消息(PsdkDataSubscription_GetValueOfTopicWithTimestamp)
psdkStat = PsdkDataSubscription_RegTopicSync(PSDK_DATA_SUBSCRIPTION_TOPIC_QUATERNION, 10,
PsdkTest_DataSubscriptionReceiveQuaternionCallback);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("Subscribe topic QUATERNION error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//订阅无人机速度
//要先订阅消息(PsdkDataSubscription_RegTopicSync),才能获取消息(PsdkDataSubscription_GetValueOfTopicWithTimestamp)
psdkStat = PsdkDataSubscription_RegTopicSync(PSDK_DATA_SUBSCRIPTION_TOPIC_VELOCITY, 1, NULL);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("Subscribe topic VELOCITY error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
psdkStat = PsdkDataSubscription_RegTopicSync(PSDK_DATA_SUBSCRIPTION_TOPIC_GPS_POSITION, 1, NULL);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("Subscribe topic GPS_POSITION error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//创建用户任务
//要先订阅消息(PsdkDataSubscription_RegTopicSync),才能获取消息(PsdkDataSubscription_GetValueOfTopicWithTimestamp)
if (PsdkOsal_TaskCreate(&s_userDataSubscriptionThread, UserDataSubscription_Task, "user_subscription_task",
DATA_SUBSCRIPTION_TASK_STACK_SIZE, NULL) !=
PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("user data subscription task create error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
#ifndef __CC_ARM
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
#pragma GCC diagnostic ignored "-Wreturn-type"
#endif
static void *UserDataSubscription_Task(void *arg)
{
T_PsdkReturnCode psdkStat;
T_PsdkDataSubscriptionQuaternion quaternion = {0};
T_PsdkDataSubscriptionVelocity velocity = {0};
T_PsdkDataSubscriptiontTimestamp timestamp = {0};
T_PsdkDataSubscriptionGpsPosition gpsPosition = {0};
USER_UTIL_UNUSED(arg);
while (1) {
PsdkOsal_TaskSleepMs(1000 / DATA_SUBSCRIPTION_TASK_FREQ);
//要先订阅消息(PsdkDataSubscription_RegTopicSync),才能获取消息(PsdkDataSubscription_GetValueOfTopicWithTimestamp)
psdkStat = PsdkDataSubscription_GetValueOfTopicWithTimestamp(PSDK_DATA_SUBSCRIPTION_TOPIC_QUATERNION,
(uint8_t *) &quaternion,
sizeof(T_PsdkDataSubscriptionQuaternion),
&timestamp);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("get value of topic quaternion error.");
} else {
PsdkLogger_UserLogDebug("timestamp: millisecond %u microsecond %u.", timestamp.millisecond,
timestamp.microsecond);
PsdkLogger_UserLogDebug("quaternion: %f %f %f %f.", quaternion.q0, quaternion.q1, quaternion.q2,
quaternion.q3);
}
psdkStat = PsdkDataSubscription_GetValueOfTopicWithTimestamp(PSDK_DATA_SUBSCRIPTION_TOPIC_VELOCITY,
(uint8_t *) &velocity,
sizeof(T_PsdkDataSubscriptionVelocity),
&timestamp);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("get value of topic velocity error.");
} else {
PsdkLogger_UserLogDebug("velocity: x %f y %f z %f, healthFlag %d.", velocity.data.x, velocity.data.y,
velocity.data.z, velocity.health);
}
psdkStat = PsdkDataSubscription_GetValueOfTopicWithTimestamp(PSDK_DATA_SUBSCRIPTION_TOPIC_GPS_POSITION,
(uint8_t *) &gpsPosition,
sizeof(T_PsdkDataSubscriptionGpsPosition),
&timestamp);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("get value of topic gps position error.");
} else {
PsdkLogger_UserLogDebug("gps position: x %d y %d z %d.", gpsPosition.x, gpsPosition.y, gpsPosition.z);
}//PsdkLogger_UserLogInfo
}
}
#ifndef __CC_ARM
#pragma GCC diagnostic pop
#endif
static T_PsdkReturnCode PsdkTest_DataSubscriptionReceiveQuaternionCallback(const uint8_t *data, uint16_t dataSize,
const T_PsdkDataSubscriptiontTimestamp *timestamp)
{
T_PsdkDataSubscriptionQuaternion *quaternion = (T_PsdkDataSubscriptionQuaternion *) data;
USER_UTIL_UNUSED(dataSize);
PsdkLogger_UserLogDebug("receive quaternion data.");//
PsdkLogger_UserLogDebug("timestamp: millisecond %u microsecond %u.", timestamp->millisecond,
timestamp->microsecond);
PsdkLogger_UserLogDebug("quaternion: %f %f %f %f.", quaternion->q0, quaternion->q1, quaternion->q2, quaternion->q3);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @file test_data_subscription.h
* @version V2.0.0
* @date 2019/8/15
* @brief This is the header file for "test_data_subscription.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2017-2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef TEST_DATA_SUBSCRIPTION_H
#define TEST_DATA_SUBSCRIPTION_H
/* Includes ------------------------------------------------------------------*/
#include "psdk_typedef.h"
#include "psdk_data_subscription.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_PsdkReturnCode PsdkTest_DataSubscriptionInit(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_DATA_SUBSCRIPTION_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/