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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_transmission/test_data_transmission.c Normal file
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/**
********************************************************************
* @file test_data_transmission.c
* @version V2.0.0
* @date 2019/8/3
* @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 "test_data_transmission.h"
#include "psdk_data_transmission.h"
#include "psdk_logger.h"
#include "psdk_platform.h"
#include "utils/util_misc.h"
/* Private constants ---------------------------------------------------------*/
#define DATA_TRANSMISSION_TASK_FREQ (1)
#define DATA_TRANSMISSION_TASK_STACK_SIZE (2048)
/* Private types -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
static void *UserDataTransmission_Task(void *arg);
static T_PsdkReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len);
static T_PsdkReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len);
/* Private variables ---------------------------------------------------------*/
static T_PsdkTaskHandle s_userDataTransmissionThread;//线程句柄
/* Exported functions definition ---------------------------------------------*/
T_PsdkReturnCode PsdkTest_DataTransmissionInit(void)
{
T_PsdkReturnCode psdkStat;
char ipAddr[PSDK_IP_ADDR_STR_SIZE_MAX] = {0};
uint16_t port = 0;
psdkStat = PsdkDataTransmission_Init();
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("init data transmission module error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//函数能够获取用户在DJI Pilot "文本输入框控件" 中向负载设备发送的信息（编码格式为UTF-8）。
psdkStat = PsdkDataTransmission_RegReceiveDataFromMobileCallback(ReceiveDataFromMobile);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("register receive data from mobile error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
psdkStat = PsdkDataTransmission_RegReceiveDataFromOsdkCallback(ReceiveDataFromOnboardComputer);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("register receive data from onboard coputer error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//调用osal层中注册的创建任务的函数来 创建一个任务(在新线程中运行)
if (PsdkOsal_TaskCreate(&s_userDataTransmissionThread, UserDataTransmission_Task, "user_transmission_task",
DATA_TRANSMISSION_TASK_STACK_SIZE, NULL) !=
PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("user data transmission task create error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
psdkStat = PsdkDataTransmission_GetDataStreamRemoteAddress(ipAddr, &port);
if (psdkStat == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogInfo("get data stream remote address: %s_%d", ipAddr, port);
} else {
PsdkLogger_UserLogError("get data stream remote address error.");
}
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 *UserDataTransmission_Task(void *arg)
{
T_PsdkReturnCode psdkStat;
const uint8_t dataToBeSent[] = "PSDK Data Transmission Test Data.\r\n";
T_PsdkDataChannelState state = {0};
USER_UTIL_UNUSED(arg);
while (1) {
PsdkOsal_TaskSleepMs(1000 / DATA_TRANSMISSION_TASK_FREQ);
psdkStat = PsdkDataTransmission_SendDataToMobile(dataToBeSent, sizeof(dataToBeSent));
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
PsdkLogger_UserLogError("send data to mobile error.");
psdkStat = PsdkDataTransmission_SendDataToOsdk(dataToBeSent, sizeof(dataToBeSent));
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
PsdkLogger_UserLogError("send data to onboard computer error.");
#if PSDK_ARCH_SYS_LINUX
psdkStat = PsdkDataTransmission_SendDataStream(dataToBeSent, sizeof(dataToBeSent));
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
PsdkLogger_UserLogError("send data to data stream error.");
#endif
psdkStat = PsdkDataTransmission_GetSendToMobileState(&state);
if (psdkStat == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogDebug(
"send to mobile state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
state.busyState);
} else {
PsdkLogger_UserLogError("get send to mobile channel state error.");
}
psdkStat = PsdkDataTransmission_GetSendToOsdkState(&state);
if (psdkStat == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogDebug(
"send to onboard computer state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
state.busyState);
} else {
PsdkLogger_UserLogError("get send to onboard computer channel state error.");
}
#if PSDK_ARCH_SYS_LINUX
psdkStat = PsdkDataTransmission_GetDataStreamState(&state);
if (psdkStat == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogDebug(
"data stream state: realtimeBandwidthLimit: %d, realtimeBandwidthBeforeFlowController: %d, busyState: %d.",
state.realtimeBandwidthLimit, state.realtimeBandwidthBeforeFlowController, state.busyState);
} else {
PsdkLogger_UserLogError("get data stream state error.");
}
#endif
}
}
#ifndef __CC_ARM
#pragma GCC diagnostic pop
#endif
static T_PsdkReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len)
{
char *printData = NULL;
printData = PsdkOsal_Malloc(len + 1);
if (printData == NULL) {
PsdkLogger_UserLogError("malloc memory for printData fail.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
strncpy(printData, (const char *) data, len);
printData[len] = '\0';
PsdkLogger_UserLogInfo("receive data from mobile: %s, len:%d.", printData, len);
PsdkOsal_Free(printData);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_PsdkReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len)
{
char *printData = NULL;
printData = PsdkOsal_Malloc(len + 1);
if (printData == NULL) {
PsdkLogger_UserLogError("malloc memory for printData fail.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
strncpy(printData, (const char *) data, len);
printData[len] = '\0';
PsdkLogger_UserLogInfo("receive data from onboard computer: %s, len:%d.", printData, len);
PsdkOsal_Free(printData);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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sample/api_sample/data_transmission/test_data_transmission.h Normal file
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/**
********************************************************************
* @file test_data_transmission.h
* @version V2.0.0
* @date 2019/8/3
* @brief This is the header file for "test_data_transmission.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_TRANSMISSION_H
#define TEST_DATA_TRANSMISSION_H
/* Includes ------------------------------------------------------------------*/
#include "psdk_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_PsdkReturnCode PsdkTest_DataTransmissionInit(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_DATA_TRANSMISSION_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/