tangchao0503/Payload_SDK_V2.2.1_300tc
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1.解决飞机加速后，云台俯仰角度异常问题；

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2.将曝光时间和曝光时那一帧数据的最大值显示在浮窗上；
3.优化浮窗显示内容，将内容密度提高，不需要下滑浮窗就能看见所有信息；
4.浮窗第一行为滚动显示区域；
5.错误控制；
6.判断ximeaAirborneSystem系统是否存活：测出有bug，相关代码已经注释掉；
This commit is contained in:
tangchao0503
2023-05-24 16:27:43 +08:00
parent bde594832e
commit f21576ea81
3 changed files with 215 additions and 14 deletions
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10
sample/api_sample/camera_media_emu/test_payload_cam_media.c
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@ -201,11 +201,11 @@ T_PsdkReturnCode PsdkTest_CameraMediaInit(void)
}
//创建线程执行用户自定义函数！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！
if (PsdkOsal_TaskCreate(&s_userSendVideoThread, UserCameraMedia_SendVideoTask, "user_camera_media_task", 2048,
NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("user send video task create error.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
// if (PsdkOsal_TaskCreate(&s_userSendVideoThread, UserCameraMedia_SendVideoTask, "user_camera_media_task", 2048,
// NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// PsdkLogger_UserLogError("user send video task create error.");
// return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
// }
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

215
sample/api_sample/widget/test_widget.c
View File

@ -73,13 +73,17 @@ static T_PsdkTaskHandle s_widgetXimeaThread;
int SbgRecordCondition=0;
static int s_sbgMagState=0;
static int s_stateOfXimea=0;
static int s_stateOfXimea=100;
static int s_stateOfSbg=0;
static int s_stateOfFile=0;
char s_strUIMessage[100]=" ";
static char * s_strStateOfSbg="None";
static char * s_strSbgAccuracy="None";
static char * s_strSbgSatelliteCounter="None";
static char * s_strSbgAccuracy="None";
char XimeaFramerate[100]=" ";
char XimeaExposeTime[100]=" ";
char XimeaExposeMaxValue[100]=" ";
static char * s_strSbgSolutionMode="None";
static char * s_strStateOfXimea="None";
@ -258,6 +262,12 @@ T_PsdkReturnCode PsdkTest_WidgetSetConfigFilePath(const char *path)
/* Private functions definition-----------------------------------------------*/
//在DJI pilot的浮窗上显示系统时间
int messageTimeCounter = 0;
int messageTimespan = 10;
int XimeaAirborneSystemSurvival_Counter = 1;
int ximeaAirborneSystemSurvivalTime = 0;
int ximeaAirborneSystemSurvivalTime_Temp = 0;
static void *PsdkTest_WidgetTask(void *arg)
{
char message[PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN];
@ -266,6 +276,7 @@ static void *PsdkTest_WidgetTask(void *arg)
USER_UTIL_UNUSED(arg);
while (1) {
psdkStat = PsdkOsal_GetTimeMs(&sysTimeMs);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -274,14 +285,40 @@ 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;\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);
snprintf(message, PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "%s\n相机: %s; 惯导: %s;\n卫星: %s; 精度: %s;\n帧率: %s;曝光: %s;max: %s;\nP: %s; R: %s; Y: %s;\n",
s_strUIMessage, s_strStateOfXimea, s_strStateOfSbg, s_strSbgSatelliteCounter, s_strSbgAccuracy, XimeaFramerate, XimeaExposeTime, XimeaExposeMaxValue, s_strPitch, s_strRoll, s_strYaw);
psdkStat = PsdkWidgetFloatingWindow_ShowMessage(message);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("Floating window show message error, stat = 0x%08llX", psdkStat);
}
messageTimeCounter++;
if (messageTimeCounter % messageTimespan == 0)
{
strcpy(s_strUIMessage," ");
}
//判断ximeaAirborneSystem系统是否存活
// if(ximeaAirborneSystemSurvivalTime > 10)
// {
// if (XimeaAirborneSystemSurvival_Counter % 10 ==0)
// {
// if (ximeaAirborneSystemSurvivalTime - ximeaAirborneSystemSurvivalTime_Temp == 0)
// {
// strcpy(s_strUIMessage,"采集系统无响应，请重启！");
// messageTimeCounter = 0;
// messageTimespan = 10;
// }
//
// XimeaAirborneSystemSurvival_Counter = 1;
// ximeaAirborneSystemSurvivalTime_Temp = ximeaAirborneSystemSurvivalTime;
// }
//
// XimeaAirborneSystemSurvival_Counter++;
// }
PsdkOsal_TaskSleepMs(1000);
}
}
@ -378,6 +415,8 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
s_strSbgAccuracy=result[1];
s_strSbgSatelliteCounter=result[2];
ximeaAirborneSystemSurvivalTime++;
// s_sbgMagState = atoi(result[1]);
@ -439,12 +478,17 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
break;
case 101:
s_strStateOfXimea="打开成功";
strcpy(s_strUIMessage,"系统打开成功！");
messageTimeCounter = 0;
messageTimespan = 20;
break;
case 102:
s_strStateOfXimea="帧率设置完成";
s_strStateOfXimea="帧率已设置";
break;
case 103:
s_strStateOfXimea="设置曝光完成";
s_strStateOfXimea="曝光完成";
break;
case 104:
s_strStateOfXimea="正在采集";
@ -454,6 +498,25 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
break;
}
}
else if (strcmp(result[0],"XimeaAutoExpose") == 0)
{
strcpy(XimeaExposeMaxValue, result[1]);
strcpy(XimeaExposeTime, result[2]);
strcpy(s_strUIMessage,"曝光时间设置成功！");
messageTimeCounter = 0;
messageTimespan = 10;
}
else if (strcmp(result[0],"XimeaFrameRate") == 0)
{
int tmp = atoi(result[1]);
sprintf(XimeaFramerate,"%d",tmp);
// strcpy(XimeaFramerate,result[1]);
strcpy(s_strUIMessage,"帧率设置成功！");
messageTimeCounter = 0;
messageTimespan = 10;
}
}
}
@ -485,6 +548,7 @@ static T_PsdkReturnCode PsdkTestWidget_GetWidgetValue(E_PsdkWidgetType widgetTyp
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
int frameRateGlobel = 0;
static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetType widgetType, uint32_t index, int32_t value,
void *userData)
{
@ -504,12 +568,55 @@ static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetTy
}
else if (value==1)//系统启动
{
strcpy(s_strUIMessage,"系统启动中，超过60s未成功，请重新启动系统！");
messageTimeCounter = 0;
messageTimespan = 1000;
char* command = "1";
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
}
break;
case 6://设置帧率
{
if (s_stateOfXimea < 101)
{
strcpy(s_strUIMessage,"请先启动系统！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
else if (s_stateOfXimea > 103)
{
strcpy(s_strUIMessage,"相机采集中，此操作无效！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
// 控制帧率范围
if(value > 150)
{
strcpy(s_strUIMessage,"帧率不可超过150！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
else if(value == 0)
{
strcpy(s_strUIMessage,"帧率无效！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
//
frameRateGlobel = value;
char command[50] = "5,";
char framerate[20];
sprintf(framerate,"%d",value);
@ -524,17 +631,86 @@ static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetTy
}
else if (value==1)
{
if (s_stateOfXimea < 101)
{
strcpy(s_strUIMessage,"请先启动系统！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
else if (s_stateOfXimea > 103)
{
strcpy(s_strUIMessage,"相机采集中，此操作无效！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
strcpy(s_strUIMessage,"正在自动曝光，请稍等！");
messageTimeCounter = 0;
messageTimespan = 1000;
char* command = "6";
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
}
break;
case 8://手动设置曝光时间
{
if (s_stateOfXimea < 101)
{
strcpy(s_strUIMessage,"请先启动系统！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
else if (s_stateOfXimea > 103)
{
strcpy(s_strUIMessage,"相机采集中，此操作无效！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
//曝光时间有效性判断
if(frameRateGlobel == 0)
{
strcpy(s_strUIMessage,"请先设置帧率！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
float maxExposureTime = 1 / (float)frameRateGlobel * 1000;//单位是ms
if(value > maxExposureTime)
{
strcpy(s_strUIMessage,"曝光时间超过上限，无效！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
else if(value == 0)
{
strcpy(s_strUIMessage,"曝光时间无效！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
//
char command[50] = "7,";
char exposureTime[20];
sprintf(exposureTime,"%d",value);
sprintf(exposureTime,"%d",(value));
strcat(command,exposureTime);
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
break;
}
case 9:
@ -545,6 +721,31 @@ static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetTy
}
else if (value==1)//开始采集
{
if (s_stateOfXimea < 101)
{
strcpy(s_strUIMessage,"请先启动系统！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
else if (s_stateOfXimea == 101)
{
strcpy(s_strUIMessage,"请先设置帧率！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
else if (s_stateOfXimea == 102)
{
strcpy(s_strUIMessage,"请先设置曝光时间！");
messageTimeCounter = 0;
messageTimespan = 10;
break;
}
char* command = "3";
sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
}

4
sample/api_sample/xport/test_xport.c
View File

@ -99,7 +99,7 @@ T_PsdkReturnCode PsdkTest_XPortInit(void)
//设置俯仰轴关节角（JOINT_ANGLE）限位
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1000;
limitAngle.lowerLimit = -1200;
psdkStat = PsdkXPort_SetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("set pitch joint angle limit angle for XPort error: 0x%08llX.", psdkStat);
@ -107,7 +107,7 @@ T_PsdkReturnCode PsdkTest_XPortInit(void)
}
//设置俯仰轴欧拉角（EULER_ANGLE）限位
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -800;
limitAngle.lowerLimit = -1200;
psdkStat = PsdkXPort_SetLimitAngleSync(PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle);
if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("set pitch euler angle limit angle for XPort error: 0x%08llX.", psdkStat);