版本号：2.30.34.20

1. 添加ximea错误代码反馈：10、11；
2. 系统启动错误控制；

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, "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

@@ -196,11 +196,11 @@ static void *UserDataSubscription_Task(void *arg)
             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
         {
+            printf("开始设置时间\n");
+            system('date');
+
             char *gpsDate_str = (char *)malloc(sizeof(char)*50);
             char *gpsTime_str = (char *)malloc(sizeof(char)*20);
 

sample/api_sample/widget/test_widget.c

@@ -73,13 +73,21 @@ 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;
 
+//0：ximeaAirborneSystem系统未就绪，不可启动；1：ximeaAirborneSystem系统就绪，可以启动；
+//2：ximeaAirborneSystem系统正在启动；3：ximeaAirborneSystem系统启动成功；4：系统已经关闭，并且不能再次启动；
+int systemON_Control = 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 +266,12 @@ 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 +280,7 @@ 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 +289,40 @@ 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);
     }
 }
@@ -356,6 +397,23 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
             {
             case 0:
                 s_strStateOfSbg="未打开";
+
+                if (systemON_Control == 0)
+                {
+                    strcpy(s_strUIMessage,"系统已就绪！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 1000;
+
+                    systemON_Control = 1;//ximeaAirborneSystem系统一启动就会发送此信息 → 代表采集系统就绪；
+                }
+
+                if (systemON_Control == 3)
+                {
+                    strcpy(s_strUIMessage,"采集系统崩溃，请重启并联系技术工程师！");
+                    messageTimeCounter = 0;
+                    messageTimespan = 1000;
+                }
+
                 break;
             case 1:
                 s_strStateOfSbg="波特率设置失败";
@@ -365,6 +423,7 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
                 break;
             case 3:
                 s_strStateOfSbg="采集中";
+                systemON_Control = 3;
                 break;
             
             default:
@@ -378,6 +437,8 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
             s_strSbgAccuracy=result[1];
             s_strSbgSatelliteCounter=result[2];
 
+            ximeaAirborneSystemSurvivalTime++;
+
 
             // s_sbgMagState = atoi(result[1]);
 
@@ -427,24 +488,50 @@ static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
 
             switch (s_stateOfXimea)//0-61：ximea官方错误代码；99：发生的ximea官方错误代码，没有处理；100：未打开；101：打开；102：设置帧率；103：自动曝光；104：正在采集；
             {
+            case 10:
+                s_strStateOfXimea="10";
+
+                strcpy(s_strUIMessage,"相机timeout，请重启！");
+                messageTimeCounter = 0;
+                messageTimespan = 200;
+                break;
+            case 11:
+                s_strStateOfXimea="11";
+
+                strcpy(s_strUIMessage,"相机：Invalid arguments supplied！");
+                messageTimeCounter = 0;
+                messageTimespan = 200;
+                break;
             case 57:
-                s_strStateOfXimea="相机被占用";
+                s_strStateOfXimea="57";
+
+                strcpy(s_strUIMessage,"相机被占用！");
+                messageTimeCounter = 0;
+                messageTimespan = 200;
                 break;
             case 99:
-                s_strStateOfXimea="未处理错误，错误码见日志";
-                break;
+                s_strStateOfXimea="99";
 
+                strcpy(s_strUIMessage,"相机异常，错误码见日志！");
+                messageTimeCounter = 0;
+                messageTimespan = 200;
+                break;
             case 100:
                 s_strStateOfXimea="未打开";
                 break;
             case 101:
                 s_strStateOfXimea="打开成功";
+
+                strcpy(s_strUIMessage,"系统启动成功！");
+                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 +541,25 @@ 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 +591,7 @@ 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)
 {
@@ -499,17 +606,98 @@ static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetTy
     case 5://系统启动关闭
         if (value==0)//系统关闭
         {
+            if (systemON_Control == 3)
+            {
+                strcpy(s_strUIMessage,"系统已经关闭！");
+                messageTimeCounter = 0;
+                messageTimespan = 1000;
+
                 char* command = "2";
                 sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
+
+                systemON_Control = 4;
+            }
         }
         else if (value==1)//系统启动
         {
+            if (systemON_Control == 0)
+            {
+                strcpy(s_strUIMessage,"请等待系统初始化！");
+                messageTimeCounter = 0;
+                messageTimespan = 1000;
+            }
+            else if (systemON_Control == 1)
+            {
+                strcpy(s_strUIMessage,"系统启动中，请等待！");
+                messageTimeCounter = 0;
+                messageTimespan = 1000;
+
                 char* command = "1";
                 sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
+
+                systemON_Control = 2;
+            }
+            else if (systemON_Control == 2)
+            {
+                strcpy(s_strUIMessage,"系统启动中，请等待！");
+                messageTimeCounter = 0;
+                messageTimespan = 1000;
+            }
+            else if (systemON_Control == 3)
+            {
+                strcpy(s_strUIMessage,"系统已经启动！");
+                messageTimeCounter = 0;
+                messageTimespan = 1000;
+            }
+            else if (systemON_Control == 4)
+            {
+                strcpy(s_strUIMessage,"相机占用，请重新上电！");
+                messageTimeCounter = 0;
+                messageTimespan = 1000;
+            }
         }
         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 +712,86 @@ 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 +802,31 @@ 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));
         }
@@ -554,16 +836,29 @@ static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetTy
         {
         }
         if (value==1)
-        {
-        }
-        else if (value==2)//重启电脑
         {
             system("reboot");
         }
-        else if (value==3)//关机
+        else if (value==2)
         {
             system("shutdown now");
         }
+        else if (value==3)
+        {
+            system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,1");
+        }
+        else if (value==4)
+        {
+            system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
+        }
+        else if (value==5)
+        {
+            strcpy(s_strUIMessage,"系统正在更新，稍后会自动重启！");
+            messageTimeCounter = 0;
+            messageTimespan = 10000;
+
+            system("/home/pi/tc_ShellScripts/update0.sh &> /media/nvme/300TC/update/log");
+        }
         break;
     default:
         break;

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

@@ -110,13 +110,19 @@
                         "item_name": "等待指令"
                     },
                     {
-                        "item_name": "采集HSI"
-                    },
-                    {
-                        "item_name": "重启300TC"
+                        "item_name": "重启电脑"
                     },
                     {
                         "item_name": "关机"
+                    },
+                    {
+                        "item_name": "测试采集"
+                    },
+                    {
+                        "item_name": "停止采集"
+                    },
+                    {
+                        "item_name": "更新"
                     }
                 ]
             }

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

@@ -109,14 +109,20 @@
               {
                 "item_name": "等待指令"
               },
-              {
-                "item_name": "采集HSI"
-              },
               {
                 "item_name": "重启电脑"
               },
               {
                 "item_name": "关机"
+              },
+              {
+                "item_name": "测试采集"
+              },
+              {
+                "item_name": "停止采集"
+              },
+              {
+                "item_name": "更新"
               }
             ]
           }

sample/api_sample/xport/test_xport.c

@@ -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);

sample/platform/linux/manifold2/application/main.c

@@ -398,7 +398,7 @@ int main(void)
     }
 
     //设置负载设备的别称
-    if (PsdkProductInfo_SetAlias("300TC") != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (PsdkProductInfo_SetAlias("300TC_2.30.34.20") != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         PsdkLogger_UserLogError("set product alias error.");
         return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }