tangchao0503/Payload_SDK_V2.2.1_300tc
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

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；

Browse Source 
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；
This commit is contained in:
tangchao0503
2022-06-22 16:48:50 +08:00
commit 109e0a8f2b
89 changed files with 17079 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

175
sample/api_sample/payload_collaboration/test_payload_collaboration.c Normal file
View File

@ -0,0 +1,175 @@
/**
********************************************************************
* @file test_payload_collaboration.c
* @version V2.0.0
* @date 2019/9/3
* @brief
*
* @copyright (c) 2018-2019 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_payload_collaboration.h"
#include "psdk_payload_collaboration.h"
#include "psdk_logger.h"
#include "psdk_platform.h"
#include "utils/util_misc.h"
/* Private constants ---------------------------------------------------------*/
#define PSDK_TEST_PAYLOAD_COLLABORATION_TASK_FREQ (1)
#define PSDK_TEST_PAYLOAD_COLLABORATION_TASK_STACK_SIZE (2048)
#define PSDK_TEST_PAYLOAD_COLLABORATION_PAYLOADS_IN_DRONE_MAX_COUNT (3)
/* Private types -------------------------------------------------------------*/
typedef struct {
E_PsdkPayloadCollaborationCameraType cameraType;
bool hasOpticalZoomSpec;
bool hasHybridZoomFocalLength;
} T_PsdkTestPayloadPara;
/* Private functions declaration ---------------------------------------------*/
static void *PsdkTest_PayloadCollaborationTask(void *arg);
/* Private variables ---------------------------------------------------------*/
static T_PsdkTaskHandle s_payloadCollaborationThread;
static const T_PsdkTestPayloadPara s_payloadPara[] = {
{PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_XT, false, false},
{PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_X4S, true, true},
{PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_X5S, true, true},
{PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_X7, true, true},
{PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_Z30, true, true},
{PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_XT2, true, true},
{PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_XTS, false, false},
{PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_H20, true, true},
{PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_H20T, true, true},
};
/* Exported functions definition ---------------------------------------------*/
T_PsdkReturnCode PsdkTest_PayloadCollaborationInit(void)
{
if (PsdkPayloadCollaboration_Init() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("payload collaboration module init error");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (PsdkOsal_TaskCreate(&s_payloadCollaborationThread, PsdkTest_PayloadCollaborationTask,
"user_payload_collaboration_task", PSDK_TEST_PAYLOAD_COLLABORATION_TASK_STACK_SIZE, NULL) !=
PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("user payload collaboration 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 *PsdkTest_PayloadCollaborationTask(void *arg)
{
int i = 0;
unsigned int payloadParaIndex = 0;
T_PsdkReturnCode psdkStat;
E_PsdkPayloadCollaborationCameraType cameraType = PSDK_PAYLOAD_COLLABORATION_CAMERA_TYPE_UNKNOWN;
T_PsdkCameraOpticalZoomSpec cameraOpticalZoomSpec = {0};
uint16_t cameraHybridZoomFocalLength = 0;
T_PsdkAircraftInfoBaseInfo aircraftBaseInfo = {0};
E_PsdkAircraftInfoPayloadMountPosition requestedPayloadMountPosition;
USER_UTIL_UNUSED(arg);
while (1) {
PsdkOsal_TaskSleepMs(1000 / PSDK_TEST_PAYLOAD_COLLABORATION_TASK_FREQ);
psdkStat = PsdkAircraftInfo_GetBaseInfo(&aircraftBaseInfo);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("get aircraft information error: 0x%08llX.", psdkStat);
continue;
}
for (i = 0; i < PSDK_TEST_PAYLOAD_COLLABORATION_PAYLOADS_IN_DRONE_MAX_COUNT; ++i) {
requestedPayloadMountPosition =
(E_PsdkAircraftInfoPayloadMountPosition) (i + PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO1);
if (requestedPayloadMountPosition == aircraftBaseInfo.payloadMountPosition)
continue;
if (aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M200_V2 ||
aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210_V2 ||
aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210RTK_V2) {
if (requestedPayloadMountPosition == PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO3) {
continue;
}
}
psdkStat = PsdkPayloadCollaboration_GetCameraTypeOfPayload(requestedPayloadMountPosition, &cameraType);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
continue;
}
PsdkLogger_UserLogDebug("camera type of payload mounted on NO.%d gimbal connector is %d.",
requestedPayloadMountPosition, cameraType);
for (payloadParaIndex = 0; payloadParaIndex < UTIL_ARRAY_SIZE(s_payloadPara); ++payloadParaIndex) {
if (s_payloadPara[payloadParaIndex].cameraType == cameraType)
break;
}
if (payloadParaIndex == UTIL_ARRAY_SIZE(s_payloadPara)) {
PsdkLogger_UserLogError("Not find payload parameters.");
continue;
}
if (s_payloadPara[payloadParaIndex].hasOpticalZoomSpec) {
psdkStat = PsdkPayloadCollaboration_GetCameraOpticalZoomSpecOfPayload(requestedPayloadMountPosition,
&cameraOpticalZoomSpec);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("Get optical zoom specification error.");
} else {
PsdkLogger_UserLogDebug(
"camera optical zoom specification of payload mounted on NO.%d gimbal connector, maxFocalLength: %d, minFocalLength: %d, focalLengthStep: %d.",
requestedPayloadMountPosition, cameraOpticalZoomSpec.maxFocalLength,
cameraOpticalZoomSpec.minFocalLength, cameraOpticalZoomSpec.focalLengthStep);
}
}
if (s_payloadPara[payloadParaIndex].hasHybridZoomFocalLength) {
psdkStat = PsdkPayloadCollaboration_GetCameraHybridZoomFocalLengthOfPayload(
requestedPayloadMountPosition,
&cameraHybridZoomFocalLength);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("Get hybrid zoom focal length error.");
} else {
PsdkLogger_UserLogDebug(
"camera hybrid zoom focal length of payload mounted on NO.%d gimbal connector, focalLength: %d.",
requestedPayloadMountPosition, cameraHybridZoomFocalLength);
}
}
}
}
}
#ifndef __CC_ARM
#pragma GCC diagnostic pop
#endif
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

54
sample/api_sample/payload_collaboration/test_payload_collaboration.h Normal file
View File

@ -0,0 +1,54 @@
/**
********************************************************************
* @file test_payload_collaboration.h
* @version V2.0.0
* @date 2019/9/3
* @brief This is the header file for "test_payload_collaboration.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2018-2019 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_PAYLOAD_COLLABORATION_H
#define TEST_PAYLOAD_COLLABORATION_H
/* Includes ------------------------------------------------------------------*/
#include "psdk_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_PsdkReturnCode PsdkTest_PayloadCollaborationInit(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_PAYLOAD_COLLABORATION_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/