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；

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；
2022-06-22 16:48:50 +08:00
commit 109e0a8f2b
89 changed files with 17079 additions and 0 deletions
--- a/sample/api_sample/power_management/test_power_management.c
+++ b/sample/api_sample/power_management/test_power_management.c
@ -0,0 +1,145 @@
+/**
+ ********************************************************************
+ * @file    test_power_management.c
+ * @version V2.0.0
+ * @date    2019/8/29
+ * @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_power_management.h"
+#include "psdk_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+//需要自己写的函数：功能是负载设备关机前需要执行的命令
+//详细说明见网页：https://developer.dji.com/cn/payload-sdk/documentation/basicfunction/power-manage.html
+static T_PsdkReturnCode PsdkTest_PowerOffNotificationCallback(bool *powerOffPreparationFlag);
+
+/* Private variables ---------------------------------------------------------*/
+//此变量是函数PsdkTest_RegApplyHighPowerHandler先判断然后内存拷贝过来的
+static T_PsdkTestApplyHighPowerHandler s_applyHighPowerHandler;
+
+/* Exported functions definition ---------------------------------------------*/
+/**
+ * @brief Register handler function for applying high power. This function have to be called before calling
+ * PsdkTest_PowerManagementInit(), except for in Linux, because PsdkTest_PowerManagementInit() do not apply high power
+ * in Linux OS.
+ * @param applyHighPowerHandler: pointer to handler function for applying high power.
+ * @return Execution result.
+ */
+T_PsdkReturnCode PsdkTest_RegApplyHighPowerHandler(T_PsdkTestApplyHighPowerHandler *applyHighPowerHandler)
+{
+    //此函数的功能：验证这两个函数指针指向的函数是否可用 → 结构体T_PsdkTestApplyHighPowerHandler中有两个函数指针，分别为pinInit和pinWrite
+
+    //1、先判断两个函数指针是否为空，如果为空就报错
+    if (applyHighPowerHandler->pinInit == NULL) {
+        PsdkLogger_UserLogError("reg apply high power handler pinInit error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (applyHighPowerHandler->pinWrite == NULL) {
+        PsdkLogger_UserLogError("reg apply high power handler pinWrite error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    //2、如果不为空就内存拷贝到本文件的静态变量中
+    memcpy(&s_applyHighPowerHandler, applyHighPowerHandler, sizeof(T_PsdkTestApplyHighPowerHandler));
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Initialise power management module, including apply high power (only RTOS) and register power off notification
+ * callback function.
+ * @note PSDK development board 1.0 can not accept high power, so do not call this function in PSDK development board
+ * 1.0 project.
+ * @return Execution result.
+ */
+T_PsdkReturnCode PsdkTest_PowerManagementInit(void)
+{
+    //此函数的功能：
+    //1、申请高功率。如果要申请高功率，需要在执行本函数前，先执行PsdkTest_RegApplyHighPowerHandler函数
+    //2、负载设备关机前需要执行的操作
+
+
+    T_PsdkReturnCode psdkStat;
+
+    // apply high power
+#if !PSDK_ARCH_SYS_LINUX
+    //如果函数指针pinInit为空（没有指向函数），就返回错误代码：PSDK_RETURN_CODE_ERR_UNKNOWN
+    if (s_applyHighPowerHandler.pinInit == NULL) {
+        PsdkLogger_UserLogError("apply high power pin init interface is NULL error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (s_applyHighPowerHandler.pinWrite == NULL) {
+        PsdkLogger_UserLogError("apply high power pin write interface is NULL error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //如果函数指针pinInit不为空（指向了一个函数），就执行函数，并根据返回值判断是否成功
+    psdkStat = s_applyHighPowerHandler.pinInit();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("apply high power pin init error");
+        return psdkStat;
+    }
+    //注册高电压返回函数
+    psdkStat = PsdkPowerManagement_RegWriteHighPowerApplyPinCallback(s_applyHighPowerHandler.pinWrite);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register WriteHighPowerApplyPinCallback error.");
+        return psdkStat;
+    }
+    //执行高电压请求
+    psdkStat = PsdkPowerManagement_ApplyHighPowerSync();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("apply high power error");
+        return psdkStat;
+    }
+#endif
+
+    // register power off notification callback function
+    //负载设备关机前需要执行的操作
+    psdkStat = PsdkPowerManagement_RegPowerOffNotificationCallback(PsdkTest_PowerOffNotificationCallback);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register power off notification callback function error");
+        return psdkStat;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+//详细说明见函数申明处
+static T_PsdkReturnCode PsdkTest_PowerOffNotificationCallback(bool *powerOffPreparationFlag)
+{
+    PsdkLogger_UserLogDebug("aircraft will power off soon.");
+
+    *powerOffPreparationFlag = true;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
--- a/sample/api_sample/power_management/test_power_management.h
+++ b/sample/api_sample/power_management/test_power_management.h
@ -0,0 +1,63 @@
+/**
+ ********************************************************************
+ * @file    test_power_management.h
+ * @version V2.0.0
+ * @date    2019/8/29
+ * @brief   This is the header file for "test_power_management.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_POWER_MANAGEMENT_H
+#define TEST_POWER_MANAGEMENT_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+#include "psdk_power_management.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+//E_PsdkPowerManagementPinState定义在中psdk_power_management.h
+//里面的两个函数指针例子见下行网页中：PsdkTest_HighPowerApplyPinInit + PsdkTest_WriteHighPowerApplyPin
+//https://developer.dji.com/cn/payload-sdk/documentation/basicfunction/power-manage.html
+typedef struct {
+    T_PsdkReturnCode (*pinInit)(void);
+    T_PsdkReturnCode (*pinWrite)(E_PsdkPowerManagementPinState pinState);
+} T_PsdkTestApplyHighPowerHandler;
+
+/* Exported functions --------------------------------------------------------*/
+//如果要申请高功率，需要在执行PsdkTest_PowerManagementInit函数前，先执行PsdkTest_RegApplyHighPowerHandler函数
+T_PsdkReturnCode PsdkTest_PowerManagementInit(void);
+T_PsdkReturnCode PsdkTest_RegApplyHighPowerHandler(T_PsdkTestApplyHighPowerHandler *applyHighPowerHandler);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_POWER_MANAGEMENT_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/