1、修改界面：显示xport的姿态角（pitch、roll、yaw）；

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；

sample/api_sample/camera_media_emu/test_payload_cam_media.c

@@ -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_tc, "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;
 }

sample/api_sample/data_subscription/test_data_subscription.c

@@ -42,6 +42,8 @@
 static void *UserDataSubscription_Task(void *arg);
 static T_PsdkReturnCode PsdkTest_DataSubscriptionReceiveQuaternionCallback(const uint8_t *data, uint16_t dataSize,
                                                                            const T_PsdkDataSubscriptiontTimestamp *timestamp);
+static char* uitoa(unsigned int n, char *s);
+static int GMT_toLocalTime(unsigned long gmt_time,unsigned int* year,unsigned int* month,unsigned int* day,unsigned int* hour,unsigned int* minute,unsigned int* sec);
 
 /* Private variables ---------------------------------------------------------*/
 static T_PsdkTaskHandle s_userDataSubscriptionThread;
@@ -81,6 +83,22 @@ T_PsdkReturnCode PsdkTest_DataSubscriptionInit(void)
         return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
 
+    //订阅gps日期
+    //要先订阅消息(PsdkDataSubscription_RegTopicSync),才能获取消息(PsdkDataSubscription_GetValueOfTopicWithTimestamp)
+    psdkStat = PsdkDataSubscription_RegTopicSync(PSDK_DATA_SUBSCRIPTION_TOPIC_GPS_DATE, 1,NULL);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Subscribe topic QUATERNION error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //订阅gps时间
+    //要先订阅消息(PsdkDataSubscription_RegTopicSync),才能获取消息(PsdkDataSubscription_GetValueOfTopicWithTimestamp)
+    psdkStat = PsdkDataSubscription_RegTopicSync(PSDK_DATA_SUBSCRIPTION_TOPIC_GPS_TIME, 1,NULL);
+    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Subscribe topic QUATERNION error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
     //创建用户任务
     //要先订阅消息(PsdkDataSubscription_RegTopicSync),才能获取消息(PsdkDataSubscription_GetValueOfTopicWithTimestamp)
     if (PsdkOsal_TaskCreate(&s_userDataSubscriptionThread, UserDataSubscription_Task, "user_subscription_task",
@@ -107,9 +125,13 @@ static void *UserDataSubscription_Task(void *arg)
     T_PsdkDataSubscriptionVelocity velocity = {0};
     T_PsdkDataSubscriptiontTimestamp timestamp = {0};
     T_PsdkDataSubscriptionGpsPosition gpsPosition = {0};
+    T_PsdkDataSubscriptionGpsDate  gpsDate={0};
+    T_PsdkDataSubscriptionGpsTime gpsTime={0};
 
     USER_UTIL_UNUSED(arg);
 
+    int counter = 0;
+    bool isGetGpsDate_time = true;
     while (1) {
         PsdkOsal_TaskSleepMs(1000 / DATA_SUBSCRIPTION_TASK_FREQ);
 
@@ -147,9 +169,191 @@ static void *UserDataSubscription_Task(void *arg)
         } else {
             PsdkLogger_UserLogDebug("gps position: x %d y %d z %d.", gpsPosition.x, gpsPosition.y, gpsPosition.z);
         }//PsdkLogger_UserLogInfo
+
+
+
+        psdkStat = PsdkDataSubscription_GetValueOfTopicWithTimestamp(PSDK_DATA_SUBSCRIPTION_TOPIC_GPS_DATE,
+                                                                     (uint8_t *) &gpsDate,
+                                                                     sizeof(T_PsdkDataSubscriptionGpsDate),
+                                                                     &timestamp);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get value of topic gps DATE error.");
+            isGetGpsDate_time = false;
+        } else {
+            PsdkLogger_UserLogDebug("timestamp: millisecond %u microsecond %u.", timestamp.millisecond,
+                                    timestamp.microsecond);
+            PsdkLogger_UserLogDebug("gps DATE: %d.", gpsDate);
+        }//PsdkLogger_UserLogInfo
+
+        psdkStat = PsdkDataSubscription_GetValueOfTopicWithTimestamp(PSDK_DATA_SUBSCRIPTION_TOPIC_GPS_TIME,
+                                                                     (uint8_t *) &gpsTime,
+                                                                     sizeof(T_PsdkDataSubscriptionGpsTime),
+                                                                     &timestamp);
+        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("get value of topic gps TIME error.");
+            isGetGpsDate_time = false;
+        } else {
+            PsdkLogger_UserLogDebug("gps TIME: %d.", gpsTime);
+        }//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
+        {
+            char *gpsDate_str = (char *)malloc(sizeof(char)*50);
+            char *gpsTime_str = (char *)malloc(sizeof(char)*20);
+
+
+            uitoa(gpsDate,gpsDate_str);
+            uitoa(gpsTime,gpsTime_str);
+            strcat(gpsDate_str, gpsTime_str);
+//            printf("pingjie----------------------------------------------:%s\n",gpsDate_str);
+
+
+            char *year = (char *)malloc(sizeof(char)*10);
+            char *mon = (char *)malloc(sizeof(char)*10);
+            char *mday = (char *)malloc(sizeof(char)*10);
+            char *hour = (char *)malloc(sizeof(char)*10);
+            char *min = (char *)malloc(sizeof(char)*10);
+            char *sec = (char *)malloc(sizeof(char)*10);
+
+            strncpy(year, gpsDate_str, 4);
+            strncpy(mon, gpsDate_str+4, 2);
+            strncpy(mday, gpsDate_str+6, 2);
+            if(gpsTime >= 100000)//dji时间格式为hhmmss，但是当时间小于上午10点时，小时位（hh）只有1位：21923（2:19:23）；
+            {
+                strncpy(hour, gpsTime_str, 2);
+                strncpy(min, gpsTime_str+2, 2);
+                strncpy(sec, gpsTime_str+4, 2);
+            }
+            else
+            {
+                strncpy(hour, gpsTime_str, 1);
+                strncpy(min, gpsTime_str+1, 2);
+                strncpy(sec, gpsTime_str+3, 2);
+            }
+
+
+//            printf("year:%s\n",year);
+//            printf("mon:%s\n",mon);
+//            printf("mday:%s\n",mday);
+//            printf("hour:%s\n",hour);
+//            printf("min:%s\n",min);
+//            printf("sec:%s\n",sec);
+
+            struct tm info;
+            info.tm_year = atoi(year) - 1900;;
+            info.tm_mon = atoi(mon) - 1;
+            info.tm_mday = atoi(mday);
+            info.tm_hour = atoi(hour) + 8;
+            info.tm_min = atoi(min);
+            info.tm_sec = atoi(sec);
+            info.tm_isdst = -1;
+
+            int gmt_time = mktime(&info);
+
+            LocalTimeInfo LocalTime;
+
+            GMT_toLocalTime(gmt_time,&LocalTime.year,&LocalTime.month,&LocalTime.day,&LocalTime.hour,&LocalTime.minute,&LocalTime.second);
+//            printf("MyLocalTime=%d-%d-%d %d:%d:%d\n",LocalTime.year,LocalTime.month,LocalTime.day,LocalTime.hour,LocalTime.minute,LocalTime.second);
+
+            char *timeParam = (char *)malloc(sizeof(char)*500);
+            sprintf(timeParam,"%d-%d-%d %d:%d:%d",LocalTime.year,LocalTime.month,LocalTime.day,LocalTime.hour,LocalTime.minute,LocalTime.second);
+//            printf("----------: %s",timeParam);
+
+            char *command = (char *)malloc(sizeof(char)*100);
+
+            strcat(command, "date -s \"");
+            strcat(command, timeParam);
+            strcat(command, "\"");
+
+//            printf("command---:%s\n",command);
+            system(command);
+        }
+        counter++;
     }
 }
 
+char* uitoa(unsigned int n, char *s)
+{
+    int i, j;
+    i = 0;
+    char buf[20];
+    memset(buf, 0, sizeof(buf));
+    do{
+        buf[i++] = n % 10 + '0';//取下一个数字
+    } while ((n /= 10)>0);//删除该数字
+    i -= 1;
+    for (j = 0; i >= 0; j++, i--)//生成的数字是逆序的，所以要逆序输出
+        s[j] = buf[i];
+    s[j] = '\0';
+    return s;
+}
+
+/*格林威治时间就是1970年01月01日00时00分00秒起至现在的总秒数*/
+/*通过格林威治时间，计算本地时间*/
+int GMT_toLocalTime(unsigned long gmt_time,unsigned int* year,unsigned int* month,unsigned int* day,unsigned int* hour,unsigned int* minute,unsigned int* sec)
+{
+    int TIME_ZONE	= 8;
+    unsigned long gmtTime = gmt_time + TIME_ZONE * 60 * 60;
+    int leap_years = 0;
+    int month_days[] = {31, 28, 31,30,31, 30,31,31, 30,31,30,31};
+    int i =0;
+    int days;
+
+    *sec = (int)(gmtTime%60);//秒钟数
+    gmtTime = gmtTime/60;//总共有多少分钟
+
+    *minute = (int)(gmtTime%60);
+    gmtTime = gmtTime/60;//总共有多少小时
+
+    *hour = (int)(gmtTime%24);
+    gmtTime = gmtTime/24;//总共有多少天
+
+    //去掉小时分钟秒钟后，转换成从公元元年开始到现在的天数
+    //不包括今天
+    gmtTime += 719162;
+//    首先不考虑闰年计算年份和天数
+//            计算年份
+    *year = (int)(gmtTime/365);
+//    days = （从公元元年开始到year的闰年个数 + 当前年份已经度过的天数）除以365后的余数
+    days = (int)(gmtTime%365);
+    while(1)
+    {
+        //总共有多少个闰年，天数要相应的减去这些天数
+        leap_years = (*year)/4 - (*year)/100; //计算普通闰年
+        leap_years += (*year)/400; //加上世纪闰年
+        if(days < leap_years)
+        {
+            days+=365;
+            (*year)--;
+        }else break;
+    }
+    days -= leap_years;
+    (*year)++;
+    days++;
+    //计算今年总共度过了多少秒
+    if(((*year)%4 == 0 && (*year) % 100!=0) || (*year)%400==0) month_days[1] = 29;//今年是闰年,修改二月份为29天
+    *month = 1;
+    for(i=0;i<12;i++)
+    {
+        if(days <= month_days[i])
+        {
+            break;
+        }
+        else
+        {
+            days -=month_days[i];
+            (*month)++;
+        }
+    }
+    *day =days;
+    return 0;
+}
+
+
+
 #ifndef __CC_ARM
 #pragma GCC diagnostic pop
 #endif

sample/api_sample/data_subscription/test_data_subscription.h

@@ -33,6 +33,20 @@
 #include "psdk_typedef.h"
 #include "psdk_data_subscription.h"
 
+#include <malloc.h>
+#include <stdlib.h>
+#include <time.h>
+
+typedef struct LocalTimeInformation
+{
+    unsigned int year;
+    unsigned int month;
+    unsigned int day;
+    unsigned int hour;
+    unsigned int minute;
+    unsigned int second;
+}LocalTimeInfo;
+
 #ifdef __cplusplus
 extern "C" {
 #endif

sample/api_sample/widget/test_widget.c

@@ -77,10 +77,15 @@ static int s_stateOfXimea=0;
 static int s_stateOfSbg=0;
 static int s_stateOfFile=0;
 
-static char * s_strStateOfSbg="未打开";
-static char * s_strSbgAccuracy="1000";
-static char * s_strSbgSolutionMode="UNINITIALIZED";
-static char * s_strStateOfXimea="未打开";
+static char * s_strStateOfSbg="None";
+static char * s_strSbgAccuracy="None";
+static char * s_strSbgSatelliteCounter="None";
+static char * s_strSbgSolutionMode="None";
+static char * s_strStateOfXimea="None";
+
+char * s_strPitch="None";
+char * s_strRoll="None";
+char * s_strYaw="None";
 
 static int s_sockfd;
 static struct sockaddr_in s_server;
@@ -99,8 +104,9 @@ static const T_PsdkWidgetHandlerListItem s_widgetHandlerList[] = {
     {5, PSDK_WIDGET_TYPE_SWITCH,        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},
-    {8, PSDK_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
-    {9, PSDK_WIDGET_TYPE_LIST,          PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},//PsdkTestWidget_SetWidgetValue
+    {8, PSDK_WIDGET_TYPE_INT_INPUT_BOX,         PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
+    {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[] = {
@@ -268,7 +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;\n光谱仪: %s;\n惯导: %s;\n精度: %s;\n", sysTimeMs, s_strStateOfXimea, s_strStateOfSbg, s_strSbgAccuracy);
+        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);
         if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -330,9 +337,14 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
         //printf("You got a message (%s%) from client.\nIt's ip is%s, port is %d.\n",buf,inet_ntoa(client.sin_addr),htons(client.sin_port));
 
 
-        char * result[2];
+        char * result[3];
         result[0] = strtok( buf, "," );
         result[1] = strtok( NULL, "," );
+        result[2] = strtok( NULL, "," );
+
+//        printf("result[0]: %s\n", result[0]);
+//        printf("result[1]: %s\n\n", result[1]);
+//        printf("result[2]: %s\n\n", result[2]);
 
 
         if (strcmp(result[0],"sbg") == 0)
@@ -361,9 +373,10 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
         }
         else if (strcmp(result[0],"Accuracy") == 0)
         {
-            
+//            printf("惯导定位精度为: %s\n\n", result[1]);
 
             s_strSbgAccuracy=result[1];
+            s_strSbgSatelliteCounter=result[2];
 
 
             // s_sbgMagState = atoi(result[1]);
@@ -431,7 +444,7 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
                 s_strStateOfXimea="帧率设置完成";
                 break;
             case 103:
-                s_strStateOfXimea="自动曝光完成";
+                s_strStateOfXimea="设置曝光完成";
                 break;
             case 104:
                 s_strStateOfXimea="正在采集";
@@ -515,7 +528,16 @@ static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetTy
             sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
         }
         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
         {
             char* command = "4";
@@ -527,8 +549,8 @@ static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetTy
             sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
         }
         break;
-    case 9:
-        if (value==0)//无操作
+    case 10:
+        if (value==0)//等待指令
         {
         }
         if (value==1)

sample/api_sample/widget/widget_file/cn_big_screen/widget_config.json

@@ -92,11 +92,17 @@
             },
             {
                 "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_name": "开始采集"
             },
             {
-                "widget_index": 9,
+                "widget_index": 10,
                 "widget_type": "list",
                 "widget_name": "系统指令",
                 "list_item": [
@@ -104,10 +110,10 @@
                         "item_name": "等待指令"
                     },
                     {
-                        "item_name": "无"
+                        "item_name": "采集HSI"
                     },
                     {
-                        "item_name": "重启电脑"
+                        "item_name": "重启300TC"
                     },
                     {
                         "item_name": "关机"

sample/api_sample/widget/widget_file/en_big_screen/widget_config.json

@@ -92,11 +92,17 @@
           },
           {
             "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_name": "开始采集"
           },
           {
-            "widget_index": 9,
+            "widget_index": 10,
             "widget_type": "list",
             "widget_name": "列表_10",
             "list_item": [
@@ -104,7 +110,7 @@
                 "item_name": "等待指令"
               },
               {
-                "item_name": "无"
+                "item_name": "采集HSI"
               },
               {
                 "item_name": "重启电脑"

sample/api_sample/xport/test_xport.c

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

sample/api_sample/xport/test_xport.h

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

sample/platform/linux/manifold2/hal/hal_network.c

@@ -32,7 +32,7 @@
 #include "psdk_logger.h"
 
 /* Private constants ---------------------------------------------------------*/
-#define LINUX_NETWORK_DEV           "eth0"//enx00e04c360a7d
+#define LINUX_NETWORK_DEV           "eth1"//enx00e04c360a7d
 #define LINUX_CMD_STR_MAX_SIZE      (128)
 
 /* Private types -------------------------------------------------------------*/