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；
This commit is contained in:
tangchao0503
90
sample/platform/linux/manifold2/hal/hal_network.c
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90
sample/platform/linux/manifold2/hal/hal_network.c
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@ -0,0 +1,90 @@
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/**
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********************************************************************
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* @file hal_network.c
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* @version V2.0.0
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* @date 3/27/20
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* @brief
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*
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* @copyright (c) 2018-2019 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "string.h"
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#include "stdlib.h"
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#include "stdio.h"
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#include "hal_network.h"
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#include "psdk_logger.h"
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/* Private constants ---------------------------------------------------------*/
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#define LINUX_NETWORK_DEV "eth0"//enx00e04c360a7d
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#define LINUX_CMD_STR_MAX_SIZE (128)
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/* Private types -------------------------------------------------------------*/
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/* Private values -------------------------------------------------------------*/
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/* Private functions declaration ---------------------------------------------*/
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/* Exported functions definition ---------------------------------------------*/
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T_PsdkReturnCode HalNetWork_Config(const char *ipAddr, const char *netMask)
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{
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int32_t ret;
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char cmdStr[LINUX_CMD_STR_MAX_SIZE];
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if (ipAddr == NULL || netMask == NULL) {
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PsdkLogger_UserLogError("hal network config param error");
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return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
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}
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//Attention: need root permission to config ip addr and netmask.
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memset(cmdStr, 0, sizeof(cmdStr));
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snprintf(cmdStr, sizeof(cmdStr), "ifconfig | grep %s", LINUX_NETWORK_DEV);
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ret = system(cmdStr);
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if (ret != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Can't find the network device. "
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"Probably the name of network device is not match or device is not properly initialized. "
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"Please check the name or status of network device. ");
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
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ret = system(cmdStr);
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if (ret != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Can't open the network. "
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"Probably the program not execute with root permission. "
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"Please use the root permission to execute the program. ");
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
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ret = system(cmdStr);
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if (ret != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Can't config the ip address of network. "
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"Probably the program not execute with root permission. "
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"Please use the root permission to execute the program. ");
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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/* Private functions definition-----------------------------------------------*/
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/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
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52
sample/platform/linux/manifold2/hal/hal_network.h
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52
sample/platform/linux/manifold2/hal/hal_network.h
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@ -0,0 +1,52 @@
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/**
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********************************************************************
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* @file hal_network.h
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* @version V2.0.0
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* @date 3/27/20
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* @brief This is the header file for "hal_network.c", defining the structure and
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* (exported) function prototypes.
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*
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* @copyright (c) 2018-2019 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef HAL_NETWORK_H
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#define HAL_NETWORK_H
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/* Includes ------------------------------------------------------------------*/
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#include "psdk_typedef.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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T_PsdkReturnCode HalNetWork_Config(const char *ipAddr, const char *netMask);
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#ifdef __cplusplus
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}
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#endif
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#endif // HAL_NETWORK_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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139
sample/platform/linux/manifold2/hal/hal_uart.c
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139
sample/platform/linux/manifold2/hal/hal_uart.c
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@ -0,0 +1,139 @@
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/**
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********************************************************************
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* @file psdk_hal.c
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* @version V2.0.0
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* @date 2019/07/01
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* @brief
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*
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* @copyright (c) 2018-2019 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
|
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* 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
|
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
|
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "hal_uart.h"
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/* Private constants ---------------------------------------------------------*/
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#define LINUX_UART_DEV "/dev/ttyUSB0"///dev/dji_serial_port
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/* Private types -------------------------------------------------------------*/
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static int s_psdkUartFd = -1;
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/* Private functions declaration ---------------------------------------------*/
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/* Exported functions definition ---------------------------------------------*/
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T_PsdkReturnCode Hal_UartInit(void)
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{
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struct termios options;
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struct flock lock;
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T_PsdkReturnCode returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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s_psdkUartFd = open(LINUX_UART_DEV, O_RDWR | O_NOCTTY | O_NDELAY);
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if (s_psdkUartFd == -1) {
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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// Forbid multiple psdk programs to access the serial port
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lock.l_type = F_WRLCK;
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lock.l_pid = getpid();
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lock.l_whence = SEEK_SET;
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lock.l_start = 0;
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lock.l_len = 0;
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if (fcntl(s_psdkUartFd, F_GETLK, &lock) < 0) {
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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if (lock.l_type != F_UNLCK) {
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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lock.l_type = F_WRLCK;
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lock.l_pid = getpid();
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lock.l_whence = SEEK_SET;
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lock.l_start = 0;
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lock.l_len = 0;
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if (fcntl(s_psdkUartFd, F_SETLKW, &lock) < 0) {
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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if (tcgetattr(s_psdkUartFd, &options) != 0) {
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close(s_psdkUartFd);
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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cfsetispeed(&options, B460800);
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cfsetospeed(&options, B460800);
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options.c_cflag |= CLOCAL;
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options.c_cflag |= CREAD;
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options.c_cflag &= ~CRTSCTS;
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options.c_cflag &= ~CSIZE;
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options.c_cflag |= CS8;
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options.c_cflag &= ~PARENB;
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options.c_iflag &= ~INPCK;
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options.c_cflag &= ~CSTOPB;
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options.c_oflag &= ~OPOST;
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options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
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options.c_iflag &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON);
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options.c_cc[VTIME] = 0;
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options.c_cc[VMIN] = 0;
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tcflush(s_psdkUartFd, TCIFLUSH);
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if (tcsetattr(s_psdkUartFd, TCSANOW, &options) != 0) {
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close(s_psdkUartFd);
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return returnCode;
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}
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T_PsdkReturnCode Hal_UartSendData(const uint8_t *pBuf, uint16_t bufLen)
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{
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int32_t realLen;
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if (s_psdkUartFd == -1) {
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return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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realLen = write(s_psdkUartFd, pBuf, bufLen);
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if (realLen == bufLen) {
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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} else {
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return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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}
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T_PsdkReturnCode Hal_UartReadData(uint8_t *pBuf, uint16_t bufLen, uint16_t *realBufLen)
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{
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int result;
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T_PsdkReturnCode returnCode;
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result = read(s_psdkUartFd, pBuf, bufLen);
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if (result >= 0) {
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*realBufLen = result;
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returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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} else {
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*realBufLen = 0;
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returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
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}
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return returnCode;
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}
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/* Private functions definition-----------------------------------------------*/
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/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
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62
sample/platform/linux/manifold2/hal/hal_uart.h
Normal file
62
sample/platform/linux/manifold2/hal/hal_uart.h
Normal file
@ -0,0 +1,62 @@
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/**
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********************************************************************
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* @file hal.h
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* @version V2.0.0
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* @date 2019/8/28
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* @brief This is the header file for "hal.c", defining the structure and
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* (exported) function prototypes.
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*
|
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* @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.
|
||||
*
|
||||
*********************************************************************
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||||
*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef HAL_H
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#define HAL_H
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/* Includes ------------------------------------------------------------------*/
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#include "stdint.h"
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#include <stdio.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <unistd.h>
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#include <string.h>
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#include "psdk_platform.h"
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#include "psdk_typedef.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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T_PsdkReturnCode Hal_UartInit(void);
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T_PsdkReturnCode Hal_UartSendData(const uint8_t *pBuf, uint16_t bufLen);
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T_PsdkReturnCode Hal_UartReadData(uint8_t *pBuf, uint16_t bufLen, uint16_t *realBufLen);
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#ifdef __cplusplus
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}
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#endif
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#endif // HAL_H
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||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
Reference in New Issue
Block a user