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/time_synchronization/test_time_sync.c
+++ b/sample/api_sample/time_synchronization/test_time_sync.c
@ -0,0 +1,166 @@
+/**
+ ********************************************************************
+ * @file    test_time_sync.c
+ * @version V1.0.0
+ * @date    11/26/19
+ * @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_time_sync.h"
+#include "psdk_time_sync.h"
+#include "psdk_logger.h"
+#include "utils/util_misc.h"
+#include "psdk_platform.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define PSDK_TEST_TIME_SYNC_TASK_FREQ       (1)
+#define PSDK_TEST_TIME_SYNC_TASK_STACK_SIZE (2048)
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+static void *PsdkTest_TimeSyncTask(void *arg);
+
+/* Private variables ---------------------------------------------------------*/
+static T_PsdkTestTimeSyncHandler s_timeSyncHandler;
+static T_PsdkTaskHandle s_timeSyncThread;
+
+/* Exported functions definition ---------------------------------------------*/
+/**
+ * @brief Register handler function for initialising PPS pin configure and reporting the latest local time when PPS is
+ * triggered. This function have to be called before calling PsdkTest_TimeSyncInit().
+ * @param timeSyncHandler: pointer to handler function for time synchronization.
+ * @return Execution result.
+ */
+T_PsdkReturnCode PsdkTest_TimeSyncRegHandler(T_PsdkTestTimeSyncHandler *timeSyncHandler)
+{
+    if (timeSyncHandler->PpsSignalResponseInit == NULL) {
+        PsdkLogger_UserLogError("reg time sync handler PpsSignalResponseInit error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (timeSyncHandler->GetNewestPpsTriggerLocalTimeUs == NULL) {
+        PsdkLogger_UserLogError("reg time sync handler GetNewestPpsTriggerLocalTimeUs error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    memcpy(&s_timeSyncHandler, timeSyncHandler, sizeof(T_PsdkTestTimeSyncHandler));
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkTest_TimeSyncInit(void)
+{
+    T_PsdkReturnCode psdkStat;
+
+    psdkStat = PsdkTimeSync_Init();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("time synchronization module init error.");
+        return psdkStat;
+    }
+
+    if (s_timeSyncHandler.PpsSignalResponseInit == NULL) {
+        PsdkLogger_UserLogError("time sync handler PpsSignalResponseInit interface is NULL error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs == NULL) {
+        PsdkLogger_UserLogError("time sync handler GetNewestPpsTriggerLocalTimeUs interface is NULL error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    // users must register getNewestPpsTriggerTime callback function
+    psdkStat = PsdkTimeSync_RegGetNewestPpsTriggerTimeCallback(s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("register GetNewestPpsTriggerLocalTimeUsCallback error.");
+        return psdkStat;
+    }
+
+    if (PsdkOsal_TaskCreate(&s_timeSyncThread, PsdkTest_TimeSyncTask, "user_time_sync_task",
+                            PSDK_TEST_TIME_SYNC_TASK_STACK_SIZE, NULL) !=
+        PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("user time sync task create error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    psdkStat = s_timeSyncHandler.PpsSignalResponseInit();
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("pps signal response init error");
+        return psdkStat;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(uint64_t *localTimeUs)
+{
+    if (s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs == NULL) {
+        PsdkLogger_UserLogError("GetNewestPpsTriggerLocalTimeUs null error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs(localTimeUs);
+}
+
+/* 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_TimeSyncTask(void *arg)
+{
+    T_PsdkReturnCode psdkStat;
+    uint32_t currentTimeMs = 0;
+    T_PsdkTimeSyncAircraftTime aircraftTime = {0};
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        PsdkOsal_TaskSleepMs(1000 / PSDK_TEST_TIME_SYNC_TASK_FREQ);
+
+        psdkStat = PsdkOsal_GetTimeMs(&currentTimeMs);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get current time error: 0x%08llX.", psdkStat);
+            continue;
+        }
+
+        psdkStat = PsdkTimeSync_TransferToAircraftTime(currentTimeMs * 1000, &aircraftTime);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("transfer to aircraft time error: 0x%08llX.", psdkStat);
+            continue;
+        }
+
+        PsdkLogger_UserLogDebug("current aircraft time is %d.%d.%d %d:%d %d %d.", aircraftTime.year, aircraftTime.month,
+                                aircraftTime.day, aircraftTime.hour, aircraftTime.minute, aircraftTime.second,
+                                aircraftTime.microsecond);
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
--- a/sample/api_sample/time_synchronization/test_time_sync.h
+++ b/sample/api_sample/time_synchronization/test_time_sync.h
@ -0,0 +1,59 @@
+/**
+ ********************************************************************
+ * @file    test_time_sync.h
+ * @version V0.0.0
+ * @date    11/26/19
+ * @brief   This is the header file for "test_time_sync.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_TIME_SYNC_H
+#define TEST_TIME_SYNC_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    T_PsdkReturnCode (*PpsSignalResponseInit)(void);
+    T_PsdkReturnCode (*GetNewestPpsTriggerLocalTimeUs)(uint64_t *localTimeUs);
+} T_PsdkTestTimeSyncHandler;
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkTest_TimeSyncRegHandler(T_PsdkTestTimeSyncHandler *timeSyncHandler);
+T_PsdkReturnCode PsdkTest_TimeSyncInit(void);
+T_PsdkReturnCode PsdkTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(uint64_t *localTimeUs);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_TIME_SYNC_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/