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

57
sample/platform/linux/manifold2/application/app_info.h Normal file
View File

@ -0,0 +1,57 @@
/**
********************************************************************
* @file app_info.h
* @version V2.0.0
* @date 2019/07/01
* @brief This is the header file for "app_info.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 APP_INFO_H
#define APP_INFO_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
// ATTENTION: User must goto developer.dji.com to create your own payload sdk application, get payload sdk application
// information then fill in the application information here.
#define USER_APP_NAME "imager"
#define USER_APP_ID "90210"
#define USER_APP_KEY "2c309ca22fb1e67cc166ccc9dc261f4"
#define USER_DEVELOPER_ACCOUNT "735056338@qq.com"
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
#ifdef __cplusplus
}
#endif
#endif //APP_INFO_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

563
sample/platform/linux/manifold2/application/main.c Normal file
View File

@ -0,0 +1,563 @@
/**
********************************************************************
* @file main.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 <fcntl.h>
#include <stdio.h>
#include <time.h>
#include "errno.h"
#include <signal.h>
#include "psdk_logger.h"
#include "psdk_core.h"
#include "psdk_platform.h"
#include "osal/osal.h"
#include "utils/util_misc.h"
#include "hal/hal_uart.h"
#include "hal/hal_network.h"
#include "psdk_config.h"
#include "app_info.h"
#include "psdk_aircraft_info.h"
#include "camera_emu/test_payload_cam_emu.h"
#include "data_transmission/test_data_transmission.h"
#include "data_subscription/test_data_subscription.h"
#include "payload_collaboration/test_payload_collaboration.h"
#include "camera_media_emu/test_payload_cam_media.h"
#include "widget/test_widget.h"
#include "gimbal_emu/test_payload_gimbal_emu.h"
#include "psdk_data_channel.h"
#include "data_channel/test_data_channel.h"
#include "power_management/test_power_management.h"
#include "xport/test_xport.h"
#include "monitor/sys_monitor.h"
#include "psdk_product_info.h"
#include "mop_channel/test_mop_channel.h"
#include "upgrade/test_upgrade.h"
#include "upgrade_platform_opt/upgrade_platform_opt_linux.h"
#include <psdk_payload_camera.h>
/* Private constants ---------------------------------------------------------*/
#define PSDK_LOG_PATH "Logs/psdk_local"
#define PSDK_LOG_INDEX_FILE_NAME "Logs/latest"
#define PSDK_LOG_FOLDER_NAME "Logs"
#define PSDK_LOG_PATH_MAX_SIZE (128)
#define PSDK_LOG_FOLDER_NAME_MAX_SIZE (32)
/* Private types -------------------------------------------------------------*/
typedef struct {
pid_t tid;//linux进程号类型定义，实际就是int
char name[16];
float pcpu;//
} T_ThreadAttribute;
/* Private functions declaration ---------------------------------------------*/
static T_PsdkReturnCode PsdkUser_FillInUserInfo(T_PsdkUserInfo *userInfo);//填写用户信息
static T_PsdkReturnCode PsdkUser_Console(const uint8_t *data, uint16_t dataLen);//位于结构体中的回调函数：将日志信息打印到控制台
static T_PsdkReturnCode PsdkUser_LocalWrite(const uint8_t *data, uint16_t dataLen);//位于结构体中的回调函数：将日志信息写入文件
static T_PsdkReturnCode PsdkUser_FileSystemInit(const char *path);//会打开日志文件，将日志文件指针返回到s_psdkLogFile
static void *PsdkUser_MonitorTask(void *argument);
/* Exported functions definition ---------------------------------------------*/
static FILE *s_psdkLogFile;//函数PsdkUser_FileSystemInit中打开的日志文件指针
static FILE *s_psdkLogFileCnt;//函数PsdkUser_FileSystemInit中打开的一个文件,此文件用于记录日志文件个数
static pthread_t s_monitorThread = 0;//用于生成线程ID
/* Private functions definition-----------------------------------------------*/
static T_PsdkReturnCode PsdkUser_FillInUserInfo(T_PsdkUserInfo *userInfo)
{
//先清空结构体userInfo中的数据
memset(userInfo->appName, 0, sizeof(userInfo->appName));
memset(userInfo->appId, 0, sizeof(userInfo->appId));
memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
//判断输入的用户信息是否合法
if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount)) {
PsdkLogger_UserLogError("Length of user information string is beyond limit. Please check.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
if (!strcmp(USER_APP_NAME, "your_app_name") ||
!strcmp(USER_APP_ID, "your_app_id") ||
!strcmp(USER_APP_KEY, "your_app_key") ||
!strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account")) {
PsdkLogger_UserLogError("Please fill in correct user information to psdk_app_info.h file.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
//如果输入的用户信息合法，就写入到结构体userInfo中。但是用两个函数(strncpy/memcpy)的目的是啥？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_PsdkReturnCode PsdkUser_Console(const uint8_t *data, uint16_t dataLen)
{
USER_UTIL_UNUSED(dataLen);//？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
/*
* Warning: printf() is a blocking interface. If print speed is too low, PSDK will be blocked and many abnormal
* situations occur, such as initialization failure and payload disconnection. Users can raise corresponding
* console level to INFO or even higher to solve this problem.
*/
printf("%s", data);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_PsdkReturnCode PsdkUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
{
int32_t realLen;
if (s_psdkLogFile == NULL) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
realLen = fwrite(data, 1, dataLen, s_psdkLogFile);
fflush(s_psdkLogFile);//清空缓冲区
if (realLen == dataLen) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
static T_PsdkReturnCode PsdkUser_FileSystemInit(const char *path)
{
T_PsdkReturnCode psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
char filePath[PSDK_LOG_PATH_MAX_SIZE];
char folderName[PSDK_LOG_FOLDER_NAME_MAX_SIZE];
time_t currentTime = time(NULL);//time为内联函数
struct tm *localTime = localtime(&currentTime);//localtime为内联函数
uint16_t logFileIndex = 0;//存储日志文件个数
uint16_t currentLogFileIndex = 0;
uint8_t ret = 0;
if (localTime == NULL) {
printf("Get local time error.\r\n");
return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
//创建日志文件夹
if (access(PSDK_LOG_FOLDER_NAME, F_OK) != 0) {
printf("Log file is not existed, need create new.\r\n");
sprintf(folderName, "mkdir %s", PSDK_LOG_FOLDER_NAME);
ret = system(folderName);
if (ret != 0) {
printf("Create new log folder error, ret:%d.\r\n", ret);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
//查询日志文件个数,并将结果写入到变量currentLogFileIndex中
s_psdkLogFileCnt = fopen(PSDK_LOG_INDEX_FILE_NAME, "rb+");
if (s_psdkLogFileCnt == NULL) {//如果没有就创建日志文件
s_psdkLogFileCnt = fopen(PSDK_LOG_INDEX_FILE_NAME, "wb+");
if (s_psdkLogFileCnt == NULL) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else {
ret = fseek(s_psdkLogFileCnt, 0, SEEK_SET);//文件指针归零
if (ret != 0) {
printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = fread((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_psdkLogFileCnt);//读取日志文件中的数据
if (ret != sizeof(uint16_t)) {
printf("Read log file index error.\r\n");
}
}
printf("Get current log index: %d\r\n", logFileIndex);
currentLogFileIndex = logFileIndex;
logFileIndex++;
ret = fseek(s_psdkLogFileCnt, 0, SEEK_SET);//文件指针再次归零
if (ret != 0) {
printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = fwrite((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_psdkLogFileCnt);//更新日志文件个数
if (ret != sizeof(uint16_t)) {
printf("Write log file index error.\r\n");
fclose(s_psdkLogFileCnt);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
fclose(s_psdkLogFileCnt);
//创建日志文件
sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
s_psdkLogFile = fopen(filePath, "wb+");
if (s_psdkLogFile == NULL) {
PsdkLogger_UserLogWarn("Open filepath time error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return psdkStat;
}
static void PsdkUser_NormalExitHandler(int signalNum)
{
USER_UTIL_UNUSED(signalNum);
exit(0);
}
#pragma GCC diagnostic push//？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
#pragma GCC diagnostic ignored "-Wreturn-type"
static void *PsdkUser_MonitorTask(void *argument)
{
unsigned int i = 0;
unsigned int threadCount = 0;//本进程线程个数
pid_t *tidList = NULL;//指线程id
T_ThreadAttribute *threadAttribute = NULL;
USER_UTIL_UNUSED(argument);//？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
while (1) {
threadCount = Monitor_GetThreadCountOfProcess(getpid());
//为tidList分配内存
tidList = PsdkOsal_Malloc(threadCount * sizeof(pid_t));
if (tidList == NULL) {
PsdkLogger_UserLogError("malloc fail.");
goto delay;
}
Monitor_GetTidListOfProcess(getpid(), tidList, threadCount);
//为threadAttribute分配内存
threadAttribute = PsdkOsal_Malloc(threadCount * sizeof(T_ThreadAttribute));
if (threadAttribute == NULL) {
PsdkLogger_UserLogError("malloc fail.");
goto freeTidList;
}
//向threadAttribute中填写线程id号
for (i = 0; i < threadCount; ++i) {
threadAttribute[i].tid = tidList[i];
}
//向threadAttribute中填写pcpu和线程name
PsdkLogger_UserLogDebug("thread pcpu:");//?????????????????????????????????????????????????????????????????????????????????
PsdkLogger_UserLogDebug("tid\tname\tpcpu");
for (i = 0; i < threadCount; ++i) {
threadAttribute[i].pcpu = Monitor_GetPcpuOfThread(getpid(), tidList[i]);
Monitor_GetNameOfThread(getpid(), tidList[i], threadAttribute[i].name, sizeof(threadAttribute[i].name));
PsdkLogger_UserLogDebug("%d\t%15s\t%f %%.", threadAttribute[i].tid, threadAttribute[i].name,
threadAttribute[i].pcpu);
}
PsdkLogger_UserLogDebug("heap used: %d B.", Monitor_GetHeapUsed(getpid()));
PsdkLogger_UserLogDebug("stack used: %d B.", Monitor_GetStackUsed(getpid()));
PsdkOsal_Free(threadAttribute);
freeTidList:
PsdkOsal_Free(tidList);
delay:
sleep(10);
}
}
#pragma GCC diagnostic pop
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
#pragma GCC diagnostic ignored "-Wreturn-type"
int main(void)
{
T_PsdkUserInfo userInfo;
const T_PsdkDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportionOfHighspeedChannel =
{10, 60, 30};//dataStream，videoStream，downloadStream
T_PsdkLoggerConsole printConsole = {
.consoleLevel = PSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO,
.func = PsdkUser_Console,
};
T_PsdkLoggerConsole localRecordConsole = {
.consoleLevel = PSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO,
.func = PsdkUser_LocalWrite,
};
T_PsdkHalUartHandler halUartHandler = {
.UartInit = Hal_UartInit,
.UartReadData = Hal_UartReadData,
.UartWriteData = Hal_UartSendData,
};
T_PsdkHalNetWorkHandler halNetWorkHandler = {
.NetWorkConfig = HalNetWork_Config,
};
T_PsdkOsalHandler osalHandler = {
.Malloc = Osal_Malloc,
.Free = Osal_Free,
.TaskCreate = Osal_TaskCreate,
.TaskDestroy = Osal_TaskDestroy,
.TaskSleepMs = Osal_TaskSleepMs,
.MutexCreate = Osal_MutexCreate,
.MutexDestroy = Osal_MutexDestroy,
.MutexLock = Osal_MutexLock,
.MutexUnlock = Osal_MutexUnlock,
.SemaphoreCreate = Osal_SemaphoreCreate,
.SemaphoreDestroy = Osal_SemaphoreDestroy,
.SemaphoreWait = Osal_SemaphoreWait,
.SemaphorePost = Osal_SemaphorePost,
.SemaphoreTimedWait = Osal_SemaphoreTimedWait,
.GetTimeMs = Osal_GetTimeMs,
};
T_PsdkAircraftInfoBaseInfo aircraftBaseInfo = {0};
//https://developer.dji.com/cn/document/5c34a334-bde6-471b-88c6-f9f6f8f287a6
//通过注册Hal 层串口设备的函数，负载设备控制程序能够通过开发平台的串口与无人机通信，实现负载设备控制程序在不同硬件平台上的移植。
if (PsdkPlatform_RegHalUartHandler(&halUartHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk register hal uart handler error");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//https://developer.dji.com/cn/document/5c34a334-bde6-471b-88c6-f9f6f8f287a6
//通过注册Hal 层网口函数，负载设备控制程序能够通过网口与无人机通信。
if (PsdkPlatform_RegHalNetworkHandler(&halNetWorkHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk register hal network handler error");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//https://developer.dji.com/cn/document/5c34a334-bde6-471b-88c6-f9f6f8f287a6
//通过注册Osal 层的函数，负载设备控制程序能够访问不同操作系统的内核和资源，实现负载设备控制程序在不同操作系统上的移植。
if (PsdkPlatform_RegOsalHandler(&osalHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk register osal handler error");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//logger打印到控制台
if (PsdkLogger_AddConsole(&printConsole) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk add console print error");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//logger写入到文件1：会打开日志文件，将日志文件指针返回到s_psdkLogFile
if (PsdkUser_FileSystemInit(PSDK_LOG_PATH) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk file system init error");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//logger写入到文件2：注册写入函数到psdk中
if (PsdkLogger_AddConsole(&localRecordConsole) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk add console record error");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//填写用户信息到变量userInfo中
if (PsdkUser_FillInUserInfo(&userInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk fill in user info error");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//初始化psdk,此函数的调用时机有要求
if (PsdkCore_Init(&userInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk instance init error");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//设置负载设备的别称
if (PsdkProductInfo_SetAlias("PSDK_APPALIAS") != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("set product alias error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//获取飞机信息
if (PsdkAircraftInfo_GetBaseInfo(&aircraftBaseInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("get aircraft information error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
//通过宏来判断 是否初始化各种设备和功能；开始-----------------------------------------------------------------------------------------------------------------------------------------
PsdkLogger_UserLogInfo("通过宏来判断 是否初始化各种设备和功能；开始--------------------------------------------------------------------------------------------------------------------------");
//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
#ifdef PSDK_USING_POWER_MANAGEMENT
PsdkLogger_UserLogInfo("使用电源模块--------------------------------------------------------------------------------------------------------------------------");
if (PsdkTest_PowerManagementInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("power management init error");
}
#endif
//相机相关
#ifdef PSDK_USING_CAMERA_EMU
PsdkLogger_UserLogInfo("使用PSDK_USING_CAMERA_EMU--------------------------------------------------------------------------------------------------------------------------");
if (PsdkTest_CameraInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk camera init error");
}
#endif
#ifdef PSDK_USING_CAMERA_MEDIA_EMU
#if PSDK_ARCH_SYS_LINUX
PsdkLogger_UserLogInfo("使用PSDK_USING_CAMERA_MEDIA_EMU--------------------------------------------------------------------------------------------------------------------------");
if (PsdkTest_CameraMediaInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk camera media init error");
}
#endif
#endif
//数据传输：Should call this function before sending data to mobile end/onboard computer or receiving data.
#ifdef PSDK_USING_DATA_TRANSMISSION
PsdkLogger_UserLogInfo("使用数据传输模块--------------------------------------------------------------------------------------------------------------------------");
if (PsdkTest_DataTransmissionInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {//其中的用户自定义任务UserDataTransmission_Task,有点不懂机制????????????????????????????????????????????????
PsdkLogger_UserLogError("psdk data transmission init error");
}
#endif
//数据通道，带宽设置：3类数据通道：dataStream，videoStream，downloadStream
#ifdef PSDK_USING_DATA_CHANNEL
PsdkLogger_UserLogInfo("设置数据通道带宽--------------------------------------------------------------------------------------------------------------------------");
if (PsdkTest_DataChannelSetBandwidthProportionForHighspeedChannel(
bandwidthProportionOfHighspeedChannel) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("set bandwidth distribution for high-speed channel error");
}
#endif
//消息订阅
#ifdef PSDK_USING_DATA_SUBSCRIPTION
PsdkLogger_UserLogInfo("使用消息订阅--------------------------------------------------------------------------------------------------------------------------");
if (PsdkTest_DataSubscriptionInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk data subscription init error");
}
#endif
//负载协同
#ifdef PSDK_USING_PAYLOAD_COLLABORATION
PsdkLogger_UserLogInfo("使用COLLABORATION--------------------------------------------------------------------------------------------------------------------------");
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) &&
aircraftBaseInfo.payloadMountPosition == PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO2) ||
aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M300_RTK) {
if (PsdkTest_PayloadCollaborationInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk payload collaboration init error");
}
}
#endif
//使用UI
#ifdef PSDK_USING_WIDGET
PsdkLogger_UserLogInfo("使用WIDGET--------------------------------------------------------------------------------------------------------------------------");
if (PsdkTest_WidgetInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk widget init error");
}
#endif
//云台相关1、判断是否为天空端（SKYPORT_V2）
#ifdef PSDK_USING_GIMBAL_EMU
PsdkLogger_UserLogInfo("判断是否为天空端（SKYPORT_V2）--------------------------------------------------------------------------------------------------------------------------");
if (aircraftBaseInfo.psdkAdapterType == PSDK_AIRCRAFT_INFO_PSDK_ADAPTER_TYPE_SKYPORT_V2) {
if (PsdkTest_GimbalInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk gimbal init error");
}
}
#endif
//云台相关2、判断是否为xport
#ifdef PSDK_USING_XPORT
PsdkLogger_UserLogDebug("使用xport--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------");
if (aircraftBaseInfo.psdkAdapterType == PSDK_AIRCRAFT_INFO_PSDK_ADAPTER_TYPE_XPORT) {
if (PsdkTest_XPortInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk XPort init error");
}
}
#endif
#ifdef PSDK_USING_UPGRADE
PsdkLogger_UserLogInfo("使用PSDK_USING_UPGRADE--------------------------------------------------------------------------------------------------------------------------");
T_PsdkTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
.rebootSystem = PsdkUpgradePlatformLinux_RebootSystem,
.cleanUpgradeProgramFileStoreArea = PsdkUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = PsdkUpgradePlatformLinux_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = PsdkUpgradePlatformLinux_WriteUpgradeProgramFile,
.readUpgradeProgramFile = PsdkUpgradePlatformLinux_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = PsdkUpgradePlatformLinux_CloseUpgradeProgramFile,
.replaceOldProgram = PsdkUpgradePlatformLinux_ReplaceOldProgram,
.setUpgradeRebootState = PsdkUpgradePlatformLinux_SetUpgradeRebootState,
.getUpgradeRebootState = PsdkUpgradePlatformLinux_GetUpgradeRebootState,
.cleanUpgradeRebootState = PsdkUpgradePlatformLinux_CleanUpgradeRebootState,
};
if (PsdkTest_UpgradeInit(&linuxUpgradePlatformOpt) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk upgrade init error");
}
#endif
#ifdef PSDK_USING_MOP_CHANNEL
PsdkLogger_UserLogInfo("使用PSDK_USING_MOP_CHANNEL--------------------------------------------------------------------------------------------------------------------------");
if (PsdkTest_MopChannelInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk mop channel init error");
}
#endif
//通过宏来判断 是否初始化各种设备和功能；结束---------------------------------------------------------------------------------------------
PsdkLogger_UserLogInfo("通过宏来判断 是否初始化各种设备和功能；结束--------------------------------------------------------------------------------------------------------------------------");
//创建并执行一个监控线程
if (pthread_create(&s_monitorThread, NULL, PsdkUser_MonitorTask, NULL) != 0) {
PsdkLogger_UserLogError("create monitor task fail.");
}
if (pthread_setname_np(s_monitorThread, "monitor task") != 0) {
PsdkLogger_UserLogError("set name for monitor task fail.");
}
//启动负载设备控制程序 ,如果没有这些代码 → 移动端的APP 将无法正常控制负载设备；
if (PsdkCore_ApplicationStart() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk application start error");
}
signal(SIGTERM, PsdkUser_NormalExitHandler);
PsdkLogger_UserLogInfo("进入无限循环--------------------------------------------------------------------------------------------------------------------------");
while (1) {
sleep(1);
}
}
#pragma GCC diagnostic pop
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

75
sample/platform/linux/manifold2/application/psdk_config.h Normal file
View File

@ -0,0 +1,75 @@
/**
********************************************************************
* @file psdk_config.h
* @version V2.0.0
* @date 2019/9/11
* @brief This is the header file for "psdk_config.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 PSDK_CONFIG_H
#define PSDK_CONFIG_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define PSDK_USING_POWER_MANAGEMENT
#define PSDK_USING_CAMERA_EMU
#define PSDK_USING_CAMERA_MEDIA_EMU//相机类负载设备的下载回放功能
#define PSDK_USING_DATA_TRANSMISSION
#define PSDK_USING_DATA_CHANNEL
#define PSDK_USING_DATA_SUBSCRIPTION
#define PSDK_USING_PAYLOAD_COLLABORATION//负载协同
#define PSDK_USING_WIDGET
#define PSDK_USING_GIMBAL_EMU
#define PSDK_USING_XPORT
#define PSDK_USING_UPGRADE
/*!< Attention: This function needs to be used together with OSDK/MSDK mop sample.
* */
//#define PSDK_USING_MOP_CHANNEL
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
#ifdef __cplusplus
}
#endif
#endif // PSDK_CONFIG_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/