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/platform/linux/common/osal/osal.c
+++ b/sample/platform/linux/common/osal/osal.c
@ -0,0 +1,294 @@
+/**
+ ********************************************************************
+ * @file    psdk_osal.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @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 "osal.h"
+#include "utils/util_misc.h"
+#include "psdk_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+
+/* Private functions definition-----------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+
+T_PsdkReturnCode
+Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg)
+{
+    int result;
+    char nameDealed[16] = {0};
+
+    USER_UTIL_UNUSED(stackSize);
+
+    *task = malloc(sizeof(pthread_t));
+    if (*task == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    result = pthread_create(*task, NULL, taskFunc, arg);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (name != NULL)
+        strncpy(nameDealed, name, sizeof(nameDealed) - 1);
+    result = pthread_setname_np(*(pthread_t * ) * task, nameDealed);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task)
+{
+    pthread_cancel(*(pthread_t *) task);
+    free(task);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs)
+{
+    usleep(1000 * timeMs);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Declare the mutex container, initialize the mutex, and
+ * create mutex ID.
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex)
+{
+    int result;
+
+    *mutex = malloc(sizeof(pthread_mutex_t));
+    if (*mutex == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    result = pthread_mutex_init(*mutex, NULL);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Delete the created mutex.
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex)
+{
+    int result;
+
+    result = pthread_mutex_destroy(mutex);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    free(mutex);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Acquire and lock the mutex when peripheral access is required
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex)
+{
+    int result = pthread_mutex_lock(mutex);
+
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Unlock and release the mutex, when done with the peripheral access.
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex)
+{
+    int result = pthread_mutex_unlock(mutex);
+
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Declare the semaphore container, initialize the semaphore, and
+ * create semaphore ID.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @param initValue: initial value of semaphore.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue)
+{
+    int result;
+
+    *semaphore = malloc(sizeof(sem_t));
+    if (*semaphore == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    result = sem_init(*semaphore, 0, (unsigned int) initValue);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Delete the created semaphore.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore)
+{
+    int result;
+
+    result = sem_destroy((sem_t *) semaphore);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    free(semaphore);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Wait the semaphore until token becomes available.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore)
+{
+    int result;
+
+    result = sem_wait(semaphore);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Wait the semaphore until token becomes available.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @param waitTime: timeout value of waiting semaphore, unit: millisecond.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTime)
+{
+    int result;
+    struct timespec semaphoreWaitTime;
+    struct timeval systemTime;
+
+    gettimeofday(&systemTime, NULL);
+
+    systemTime.tv_usec += waitTime * 1000;
+    if (systemTime.tv_usec >= 1000000) {
+        systemTime.tv_sec += systemTime.tv_usec / 1000000;
+        systemTime.tv_usec %= 1000000;
+    }
+
+    semaphoreWaitTime.tv_sec = systemTime.tv_sec;
+    semaphoreWaitTime.tv_nsec = systemTime.tv_usec * 1000;
+
+    result = sem_timedwait(semaphore, &semaphoreWaitTime);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Release the semaphore token.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore)
+{
+    int result;
+
+    result = sem_post(semaphore);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Get the system time for ms.
+ * @return an uint32 that the time of system, uint:ms
+ */
+T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms)
+{
+    struct timeval time;
+
+    gettimeofday(&time, NULL);
+    *ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+void *Osal_Malloc(uint32_t size)
+{
+    return malloc(size);
+}
+
+void Osal_Free(void *ptr)
+{
+    free(ptr);
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
--- a/sample/platform/linux/common/osal/osal.h
+++ b/sample/platform/linux/common/osal/osal.h
@ -0,0 +1,77 @@
+/**
+ ********************************************************************
+ * @file    osal.h
+ * @version V2.0.0
+ * @date    2019/8/28
+ * @brief   This is the header file for "osal.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 OSAL_H
+#define OSAL_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdio.h>
+#include <stdlib.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <sys/time.h>
+#include <unistd.h>
+#include "psdk_typedef.h"
+
+#include "psdk_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode
+Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg);
+T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task);
+T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs);
+
+T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex);
+T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex);
+T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex);
+T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex);
+
+T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue);
+T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore);
+T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore);
+T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTime);
+T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore);
+
+T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms);
+void *Osal_Malloc(uint32_t size);
+void Osal_Free(void *ptr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // OSAL_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/