tangchao0503/Payload_SDK_V2.2.1_300tc
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1、修改界面：显示xport的姿态角（pitch、roll、yaw）；

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2、linux修改了时区后（timedatectl set-timezone "Asia/Shanghai"），psdk同步飞机的时间到nanopi需要+8hour；
3、m300遥控器界面添加手动设置曝光时间；
This commit is contained in:
tangchao0503
2023-03-19 19:16:00 +08:00
parent c7b7298bbc
commit bde594832e
6 changed files with 61 additions and 17 deletions
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4
sample/api_sample/data_subscription/test_data_subscription.c
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@ -197,6 +197,8 @@ static void *UserDataSubscription_Task(void *arg)
}//PsdkLogger_UserLogInfo }//PsdkLogger_UserLogInfo
printf("开始设置时间\n");
system('date');
if(counter>1 &&counter<10 && isGetGpsDate_time)//避免dji的bug：第一次获取的gpsDate和gpsTime都为0 if(counter>1 &&counter<10 && isGetGpsDate_time)//避免dji的bug：第一次获取的gpsDate和gpsTime都为0
{ {
char *gpsDate_str = (char *)malloc(sizeof(char)*50); char *gpsDate_str = (char *)malloc(sizeof(char)*50);
@ -244,7 +246,7 @@ static void *UserDataSubscription_Task(void *arg)
info.tm_year = atoi(year) - 1900;; info.tm_year = atoi(year) - 1900;;
info.tm_mon = atoi(mon) - 1; info.tm_mon = atoi(mon) - 1;
info.tm_mday = atoi(mday); info.tm_mday = atoi(mday);
info.tm_hour = atoi(hour); info.tm_hour = atoi(hour) + 8;
info.tm_min = atoi(min); info.tm_min = atoi(min);
info.tm_sec = atoi(sec); info.tm_sec = atoi(sec);
info.tm_isdst = -1; info.tm_isdst = -1;

39
sample/api_sample/widget/test_widget.c
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@ -77,11 +77,15 @@ static int s_stateOfXimea=0;
static int s_stateOfSbg=0; static int s_stateOfSbg=0;
static int s_stateOfFile=0; static int s_stateOfFile=0;
static char * s_strStateOfSbg="未打开"; static char * s_strStateOfSbg="None";
static char * s_strSbgAccuracy="1000"; static char * s_strSbgAccuracy="None";
static char * s_strSbgSatelliteCounter="0"; static char * s_strSbgSatelliteCounter="None";
static char * s_strSbgSolutionMode="UNINITIALIZED"; static char * s_strSbgSolutionMode="None";
static char * s_strStateOfXimea="未打开"; static char * s_strStateOfXimea="None";
char * s_strPitch="None";
char * s_strRoll="None";
char * s_strYaw="None";
static int s_sockfd; static int s_sockfd;
static struct sockaddr_in s_server; static struct sockaddr_in s_server;
@ -100,8 +104,9 @@ static const T_PsdkWidgetHandlerListItem s_widgetHandlerList[] = {
{5, PSDK_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL}, {5, PSDK_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
{6, PSDK_WIDGET_TYPE_INT_INPUT_BOX, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL}, {6, PSDK_WIDGET_TYPE_INT_INPUT_BOX, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
{7, PSDK_WIDGET_TYPE_BUTTON, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL}, {7, PSDK_WIDGET_TYPE_BUTTON, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
{8, PSDK_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL}, {8, PSDK_WIDGET_TYPE_INT_INPUT_BOX, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
{9, PSDK_WIDGET_TYPE_LIST, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},//PsdkTestWidget_SetWidgetValue {9, PSDK_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
{10, PSDK_WIDGET_TYPE_LIST, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},//PsdkTestWidget_SetWidgetValue
}; };
static char *s_widgetTypeNameArray[] = { static char *s_widgetTypeNameArray[] = {
@ -269,7 +274,8 @@ static void *PsdkTest_WidgetTask(void *arg)
//snprintf(message, PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "System time: %u ms;\nMAG: %d;\nIMAGER: %d;\nIMU: %d;\nFile: %d;\n", sysTimeMs, s_sbgMagState, s_stateOfXimea, s_stateOfSbg, s_stateOfFile); //snprintf(message, PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "System time: %u ms;\nMAG: %d;\nIMAGER: %d;\nIMU: %d;\nFile: %d;\n", sysTimeMs, s_sbgMagState, s_stateOfXimea, s_stateOfSbg, s_stateOfFile);
snprintf(message, PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "System time: %u ms;\n光谱仪: %s;\n惯导: %s;\n精度: %s;\n卫星: %s;\n", sysTimeMs, s_strStateOfXimea, s_strStateOfSbg, s_strSbgAccuracy, s_strSbgSatelliteCounter); snprintf(message, PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "System time: %u ms;\n光谱仪: %s;\n惯导: %s;\n精度: %s;\n卫星: %s;\npitch: %s;\nroll: %s;\nyaw: %s;\n",
sysTimeMs, s_strStateOfXimea, s_strStateOfSbg, s_strSbgAccuracy, s_strSbgSatelliteCounter, s_strPitch, s_strRoll, s_strYaw);
psdkStat = PsdkWidgetFloatingWindow_ShowMessage(message); psdkStat = PsdkWidgetFloatingWindow_ShowMessage(message);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -438,7 +444,7 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
s_strStateOfXimea="帧率设置完成"; s_strStateOfXimea="帧率设置完成";
break; break;
case 103: case 103:
s_strStateOfXimea="自动曝光完成"; s_strStateOfXimea="设置曝光完成";
break; break;
case 104: case 104:
s_strStateOfXimea="正在采集"; s_strStateOfXimea="正在采集";
@ -522,7 +528,16 @@ static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetTy
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
} }
break; break;
case 8: case 8://手动设置曝光时间
{
char command[50] = "7,";
char exposureTime[20];
sprintf(exposureTime,"%d",value);
strcat(command,exposureTime);
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
break;
}
case 9:
if (value==0)//停止采集 if (value==0)//停止采集
{ {
char* command = "4"; char* command = "4";
@ -534,8 +549,8 @@ static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetTy
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
} }
break; break;
case 9: case 10:
if (value==0)//无操作 if (value==0)//等待指令
{ {
} }
if (value==1) if (value==1)

10
sample/api_sample/widget/widget_file/cn_big_screen/widget_config.json
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@ -92,11 +92,17 @@
}, },
{ {
"widget_index": 8, "widget_index": 8,
"widget_type": "int_input_box",
"widget_name": "曝光时间",
"int_input_box_hint": "unit:ms"
},
{
"widget_index": 9,
"widget_type": "switch", "widget_type": "switch",
"widget_name": "开始采集" "widget_name": "开始采集"
}, },
{ {
"widget_index": 9, "widget_index": 10,
"widget_type": "list", "widget_type": "list",
"widget_name": "系统指令", "widget_name": "系统指令",
"list_item": [ "list_item": [
@ -104,7 +110,7 @@
"item_name": "等待指令" "item_name": "等待指令"
}, },
{ {
"item_name": "重启图传" "item_name": "采集HSI"
}, },
{ {
"item_name": "重启300TC" "item_name": "重启300TC"

10
sample/api_sample/widget/widget_file/en_big_screen/widget_config.json
View File

@ -92,11 +92,17 @@
}, },
{ {
"widget_index": 8, "widget_index": 8,
"widget_type": "int_input_box",
"widget_name": "曝光时间",
"int_input_box_hint": "unit:ms"
},
{
"widget_index": 9,
"widget_type": "switch", "widget_type": "switch",
"widget_name": "开始采集" "widget_name": "开始采集"
}, },
{ {
"widget_index": 9, "widget_index": 10,
"widget_type": "list", "widget_type": "list",
"widget_name": "列表_10", "widget_name": "列表_10",
"list_item": [ "list_item": [
@ -104,7 +110,7 @@
"item_name": "等待指令" "item_name": "等待指令"
}, },
{ {
"item_name": "无" "item_name": "采集HSI"
}, },
{ {
"item_name": "重启电脑" "item_name": "重启电脑"

14
sample/api_sample/xport/test_xport.c
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@ -53,6 +53,10 @@ static T_PsdkGimbalSystemState s_userXPortSystemState = {0};
static bool s_isUserXPortInited = false; static bool s_isUserXPortInited = false;
static bool s_isUserXPortSystemStateVaild = false; static bool s_isUserXPortSystemStateVaild = false;
extern char * s_strPitch;
extern char * s_strRoll;
extern char * s_strYaw;
/* Exported functions definition ---------------------------------------------*/ /* Exported functions definition ---------------------------------------------*/
T_PsdkReturnCode PsdkTest_XPortInit(void) T_PsdkReturnCode PsdkTest_XPortInit(void)
{ {
@ -349,12 +353,22 @@ static T_PsdkReturnCode ReceiveXPortSystemState(T_PsdkGimbalSystemState systemSt
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS; return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} }
char * pitchTmp[10];
char * rollTmp[10];
char * yawTmp[10];
static T_PsdkReturnCode ReceiveXPortAttitudeInformation(T_PsdkGimbalAttitudeInformation attitudeInformation) static T_PsdkReturnCode ReceiveXPortAttitudeInformation(T_PsdkGimbalAttitudeInformation attitudeInformation)
{ {
PsdkLogger_UserLogDebug("receive XPort attitude information:"); PsdkLogger_UserLogDebug("receive XPort attitude information:");
PsdkLogger_UserLogDebug("XPort attitude: pitch %d, roll %d, yaw %d.", attitudeInformation.attitude.pitch, PsdkLogger_UserLogDebug("XPort attitude: pitch %d, roll %d, yaw %d.", attitudeInformation.attitude.pitch,
attitudeInformation.attitude.roll, attitudeInformation.attitude.yaw); attitudeInformation.attitude.roll, attitudeInformation.attitude.yaw);
sprintf(pitchTmp, "%d", attitudeInformation.attitude.pitch);
sprintf(rollTmp, "%d", attitudeInformation.attitude.roll);
sprintf(yawTmp, "%d", attitudeInformation.attitude.yaw);
s_strPitch = pitchTmp;
s_strRoll = rollTmp;
s_strYaw = yawTmp;
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS; return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} }

1
sample/api_sample/xport/test_xport.h
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@ -32,6 +32,7 @@
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "psdk_typedef.h" #include "psdk_typedef.h"
#include "psdk_xport.h" #include "psdk_xport.h"
#include <stdio.h>
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {