/** ******************************************************************** * @file test_widget.c * @version V2.0.0 * @date 2019/07/01 * @brief * * @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. * ********************************************************************* */ /* Includes ------------------------------------------------------------------*/ #include "test_widget.h" #include #include #include #include #include //sbg #include #include #if !PSDK_ARCH_SYS_LINUX #include "file_binary_array_list_en.h" #endif /* Private constants ---------------------------------------------------------*/ #define WIDGET_DIR_PATH_LEN_MAX (256) #define WIDGET_TASK_STACK_SIZE (2048) /* Private types -------------------------------------------------------------*/ /* Private functions declaration ---------------------------------------------*/ static void *PsdkTest_WidgetTask(void *arg); static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t value, void *userData); static T_PsdkReturnCode PsdkTestWidget_GetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t *value, void *userData); static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetType widgetType, uint32_t index, int32_t value, void *userData); static void *PsdkTest_IrisRecordSystemChanged(void *arg); /* Private values ------------------------------------------------------------*/ static T_PsdkTaskHandle s_widgetTestThread; static T_PsdkTaskHandle s_widgetSbgThread; static T_PsdkTaskHandle s_widgetXimeaThread; int SbgRecordCondition=0; static int s_sbgMagState=0; static int s_stateOfXimea=0; static int s_stateOfSbg=0; static int s_stateOfFile=0; 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; #if PSDK_ARCH_SYS_LINUX static bool s_isWidgetFileDirPathConfigured = false; static char s_widgetFileDirPath[PSDK_FILE_PATH_SIZE_MAX] = {0}; #endif static const T_PsdkWidgetHandlerListItem s_widgetHandlerList[] = { {0, PSDK_WIDGET_TYPE_BUTTON, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL}, {1, PSDK_WIDGET_TYPE_BUTTON, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL}, {2, PSDK_WIDGET_TYPE_LIST, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL}, {3, PSDK_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL}, {4, PSDK_WIDGET_TYPE_SCALE, PsdkTestWidget_SetWidgetValue, 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}, {7, PSDK_WIDGET_TYPE_BUTTON, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL}, {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[] = { "Unknown", "Button", "Switch", "Scale", "List", "Int input box" }; static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_PsdkWidgetHandlerListItem); static int32_t s_widgetValueList[sizeof(s_widgetHandlerList) / sizeof(T_PsdkWidgetHandlerListItem)] = {0}; /* Exported functions definition ---------------------------------------------*/ T_PsdkReturnCode PsdkTest_WidgetInit(void) { T_PsdkReturnCode psdkStat; //Step 1 : Init PSDK Widget psdkStat = PsdkWidget_Init(); if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Psdk test widget init error, stat = 0x%08llX", psdkStat); return psdkStat; } #if PSDK_ARCH_SYS_LINUX //Step 2 : Set UI Config (Linux environment) //获取控件图像和UI配置文件所在文件夹 PsdkLogger_UserLogInfo("验证是否定义了宏PSDK_ARCH_SYS_LINUX:是!--------------------------------------------------------------------------------------------------------------------------"); char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX]; char tempPath[WIDGET_DIR_PATH_LEN_MAX]; psdkStat = PsdkUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath); if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Get file current path error, stat = 0x%08llX", psdkStat); return psdkStat; } if (s_isWidgetFileDirPathConfigured == true) { snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", s_widgetFileDirPath); } else { snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", curFileDirPath); } //set default ui config path psdkStat = PsdkWidget_RegDefaultUiConfigByDirPath(tempPath); if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Add default widget ui config error, stat = 0x%08llX", psdkStat); return psdkStat; } //set ui config for English language //设置系统语言为英文时控件配置文件的路径 psdkStat = PsdkWidget_RegUiConfigByDirPath(PSDK_AIRCRAFT_INFO_MOBILE_APP_LANGUAGE_ENGLISH, PSDK_AIRCRAFT_INFO_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN, tempPath); if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Add widget ui config error, stat = 0x%08llX", psdkStat); return psdkStat; } //set ui config for Chinese language if (s_isWidgetFileDirPathConfigured == true) { snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", s_widgetFileDirPath); } else { snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", curFileDirPath); } psdkStat = PsdkWidget_RegUiConfigByDirPath(PSDK_AIRCRAFT_INFO_MOBILE_APP_LANGUAGE_CHINESE, PSDK_AIRCRAFT_INFO_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN, tempPath); if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Add widget ui config error, stat = 0x%08llX", psdkStat); return psdkStat; } #else //Step 2 : Set UI Config (RTOS environment) T_PsdkWidgetBinaryArrayConfig enWidgetBinaryArrayConfig = { .binaryArrayCount = g_EnBinaryArrayCount, .fileBinaryArrayList = g_EnFileBinaryArrayList }; //set default ui config psdkStat = PsdkWidget_RegDefaultUiConfigByBinaryArray(&enWidgetBinaryArrayConfig); if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Add default widget ui config error, stat = 0x%08llX", psdkStat); return psdkStat; } #endif //Step 3 : Set widget handler list psdkStat = PsdkWidget_RegHandlerList(s_widgetHandlerList, s_widgetHandlerListCount); if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Set widget handler list error, stat = 0x%08llX", psdkStat); return psdkStat; } //Step 4 : Run widget api sample task if (PsdkOsal_TaskCreate(&s_widgetTestThread, PsdkTest_WidgetTask, "user_widget_task", WIDGET_TASK_STACK_SIZE, NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Psdk widget test task create error."); return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; } //Step 5 : Run ximea task if (PsdkOsal_TaskCreate(&s_widgetXimeaThread, PsdkTest_IrisRecordSystemChanged, "ximea", WIDGET_TASK_STACK_SIZE, NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Psdk widget test task(ximea) create error."); return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; } /* tc-----------------------------------------------*/ struct hostent *he; he=gethostbyname("127.0.0.1"); s_sockfd=socket(AF_INET, SOCK_DGRAM,0); bzero(&s_server,sizeof(s_server)); s_server.sin_family = AF_INET; s_server.sin_port = htons(PORT); s_server.sin_addr= *((struct in_addr *)he->h_addr); /* tc-----------------------------------------------*/ return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } #if PSDK_ARCH_SYS_LINUX T_PsdkReturnCode PsdkTest_WidgetSetConfigFilePath(const char *path) { memset(s_widgetFileDirPath, 0, sizeof(s_widgetFileDirPath)); memcpy(s_widgetFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_widgetFileDirPath) - 1)); s_isWidgetFileDirPathConfigured = true; return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } #endif #ifndef __CC_ARM #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wmissing-noreturn" #pragma GCC diagnostic ignored "-Wreturn-type" #pragma GCC diagnostic ignored "-Wformat" #endif /* Private functions definition-----------------------------------------------*/ //在DJI pilot的浮窗上显示系统时间 static void *PsdkTest_WidgetTask(void *arg) { char message[PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN]; uint32_t sysTimeMs = 0; T_PsdkReturnCode psdkStat; USER_UTIL_UNUSED(arg); while (1) { psdkStat = PsdkOsal_GetTimeMs(&sysTimeMs); if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Get system time ms error, stat = 0x%08llX", psdkStat); } //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); psdkStat = PsdkWidgetFloatingWindow_ShowMessage(message); if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { PsdkLogger_UserLogError("Floating window show message error, stat = 0x%08llX", psdkStat); } PsdkOsal_TaskSleepMs(1000); } } static void *PsdkTest_IrisRecordSystemChanged(void *arg)// { // FILE * fp; // char buffer[80]; // fp = popen("/home/iris-xport/cpp_qtcreator/ximeaImageRecorder-Release/ximeaImageRecorder", "r");ss // fgets(buffer, sizeof(buffer), fp); // printf("%s", buffer); // pclose(fp); int sockfd; struct sockaddr_in server; struct sockaddr_in client; socklen_t addrlen; int num; char buf[MAXDATASIZE]; if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1) { perror("Creatingsocket failed."); } bzero(&server,sizeof(server)); server.sin_family=AF_INET; server.sin_port=htons(PORT+1); server.sin_addr.s_addr= htonl(INADDR_ANY); if(bind(sockfd, (struct sockaddr *)&server, sizeof(server)) == -1) { perror("Bind()error."); } addrlen=sizeof(client); while (1) { //printf("PsdkTest_IrisRecordSystemChanged: record system status change! 8888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888\n"); num =recvfrom(sockfd,buf,MAXDATASIZE,0,(struct sockaddr*)&client,&addrlen); if (num < 0) { perror("recvfrom() error\n"); continue; } buf[num] = '\0'; printf("You got a message (%s) from client.\n",buf); //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[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) { s_stateOfSbg = atoi(result[1]); printf("sbg的状态为: %d\n\n", atoi(result[1])); switch (s_stateOfSbg) { case 0: s_strStateOfSbg="未打开"; break; case 1: s_strStateOfSbg="波特率设置失败"; break; case 2: s_strStateOfSbg="打开成功"; break; case 3: s_strStateOfSbg="采集中"; break; default: break; } } 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]); // switch (s_sbgMagState) // { // case 0: // s_strSbgAccuracy="false"; // break; // case 1: // s_strSbgAccuracy="true"; // break; // default: // break; // } } else if (strcmp(result[0],"SolutionMode") == 0) { // s_sbgMagState = atoi(result[1]); // // switch (s_sbgMagState) // { // case 0: // s_strSbgSolutionMode="UNINITIALIZED"; // break; // case 1: // s_strSbgSolutionMode="VERTICAL_GYRO"; // break; // case 2: // s_strSbgSolutionMode="AHRS"; // break; // case 3: // s_strSbgSolutionMode="NAV_VELOCITY"; // break; // case 4: // s_strSbgSolutionMode="NAV_POSITION"; // break; // // default: // break; // } } else if (strcmp(result[0],"ximea") == 0) { s_stateOfXimea = atoi(result[1]); printf("ximea的状态为: %d\n\n", atoi(result[1])); 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 57: s_strStateOfXimea="相机被占用"; break; case 99: s_strStateOfXimea="未处理错误，错误码见日志"; break; case 100: s_strStateOfXimea="未打开"; break; case 101: s_strStateOfXimea="打开成功"; break; case 102: s_strStateOfXimea="帧率设置完成"; break; case 103: s_strStateOfXimea="设置曝光完成"; break; case 104: s_strStateOfXimea="正在采集"; break; default: break; } } } } #ifndef __CC_ARM #pragma GCC diagnostic pop #endif static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t value, void *userData) { USER_UTIL_UNUSED(userData); PsdkLogger_UserLogInfo("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d", s_widgetTypeNameArray[widgetType], index, value); s_widgetValueList[index] = value; return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } static T_PsdkReturnCode PsdkTestWidget_GetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t *value, void *userData) { USER_UTIL_UNUSED(userData); USER_UTIL_UNUSED(widgetType); *value = s_widgetValueList[index]; return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetType widgetType, uint32_t index, int32_t value, void *userData) { USER_UTIL_UNUSED(userData); PsdkLogger_UserLogInfo("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d", s_widgetTypeNameArray[widgetType], index, value); s_widgetValueList[index] = value; switch (index) { case 5://系统启动关闭 if (value==0)//系统关闭 { char* command = "2"; sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); } else if (value==1)//系统启动 { char* command = "1"; sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); } break; case 6://设置帧率 { char command[50] = "5,"; char framerate[20]; sprintf(framerate,"%d",value); strcat(command,framerate); sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); break; } case 7://自动曝光 if (value==0) { ; } else if (value==1) { 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 { 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"; sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); } else if (value==1)//开始采集 { char* command = "3"; sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server)); } break; case 10: if (value==0)//等待指令 { } if (value==1) { } else if (value==2)//重启电脑 { system("reboot"); } else if (value==3)//关机 { system("shutdown now"); } break; default: break; } return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/