bde594832e
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；
576 lines
20 KiB
C
576 lines
20 KiB
C
/**
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********************************************************************
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* @file test_widget.c
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* @version V2.0.0
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* @date 2019/07/01
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* @brief
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*
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* @copyright (c) 2018-2019 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "test_widget.h"
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#include <psdk_widget.h>
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#include <psdk_logger.h>
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#include <utils/util_misc.h>
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#include <psdk_platform.h>
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#include <stdio.h>
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//sbg
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#include <stdlib.h>
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#include <string.h>
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#if !PSDK_ARCH_SYS_LINUX
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#include "file_binary_array_list_en.h"
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#endif
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/* Private constants ---------------------------------------------------------*/
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#define WIDGET_DIR_PATH_LEN_MAX (256)
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#define WIDGET_TASK_STACK_SIZE (2048)
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/* Private types -------------------------------------------------------------*/
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/* Private functions declaration ---------------------------------------------*/
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static void *PsdkTest_WidgetTask(void *arg);
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static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t value,
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void *userData);
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static T_PsdkReturnCode PsdkTestWidget_GetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t *value,
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void *userData);
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static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetType widgetType, uint32_t index, int32_t value,
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void *userData);
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static void *PsdkTest_IrisRecordSystemChanged(void *arg);
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/* Private values ------------------------------------------------------------*/
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static T_PsdkTaskHandle s_widgetTestThread;
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static T_PsdkTaskHandle s_widgetSbgThread;
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static T_PsdkTaskHandle s_widgetXimeaThread;
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int SbgRecordCondition=0;
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static int s_sbgMagState=0;
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static int s_stateOfXimea=0;
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static int s_stateOfSbg=0;
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static int s_stateOfFile=0;
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static char * s_strStateOfSbg="None";
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static char * s_strSbgAccuracy="None";
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static char * s_strSbgSatelliteCounter="None";
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static char * s_strSbgSolutionMode="None";
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static char * s_strStateOfXimea="None";
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char * s_strPitch="None";
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char * s_strRoll="None";
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char * s_strYaw="None";
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static int s_sockfd;
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static struct sockaddr_in s_server;
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#if PSDK_ARCH_SYS_LINUX
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static bool s_isWidgetFileDirPathConfigured = false;
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static char s_widgetFileDirPath[PSDK_FILE_PATH_SIZE_MAX] = {0};
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#endif
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static const T_PsdkWidgetHandlerListItem s_widgetHandlerList[] = {
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{0, PSDK_WIDGET_TYPE_BUTTON, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
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{1, PSDK_WIDGET_TYPE_BUTTON, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
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{2, PSDK_WIDGET_TYPE_LIST, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
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{3, PSDK_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
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{4, PSDK_WIDGET_TYPE_SCALE, PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
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{5, PSDK_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
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{6, PSDK_WIDGET_TYPE_INT_INPUT_BOX, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
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{7, PSDK_WIDGET_TYPE_BUTTON, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
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{8, PSDK_WIDGET_TYPE_INT_INPUT_BOX, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
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{9, PSDK_WIDGET_TYPE_SWITCH, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
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{10, PSDK_WIDGET_TYPE_LIST, PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},//PsdkTestWidget_SetWidgetValue
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};
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static char *s_widgetTypeNameArray[] = {
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"Unknown",
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"Button",
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"Switch",
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"Scale",
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"List",
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"Int input box"
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};
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static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_PsdkWidgetHandlerListItem);
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static int32_t s_widgetValueList[sizeof(s_widgetHandlerList) / sizeof(T_PsdkWidgetHandlerListItem)] = {0};
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/* Exported functions definition ---------------------------------------------*/
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T_PsdkReturnCode PsdkTest_WidgetInit(void)
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{
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T_PsdkReturnCode psdkStat;
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//Step 1 : Init PSDK Widget
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psdkStat = PsdkWidget_Init();
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if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Psdk test widget init error, stat = 0x%08llX", psdkStat);
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return psdkStat;
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}
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#if PSDK_ARCH_SYS_LINUX
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//Step 2 : Set UI Config (Linux environment)
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//获取控件图像和UI配置文件所在文件夹
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PsdkLogger_UserLogInfo("验证是否定义了宏PSDK_ARCH_SYS_LINUX:是!--------------------------------------------------------------------------------------------------------------------------");
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char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX];
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char tempPath[WIDGET_DIR_PATH_LEN_MAX];
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psdkStat = PsdkUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath);
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if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Get file current path error, stat = 0x%08llX", psdkStat);
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return psdkStat;
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}
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if (s_isWidgetFileDirPathConfigured == true) {
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snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", s_widgetFileDirPath);
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} else {
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snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", curFileDirPath);
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}
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//set default ui config path
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psdkStat = PsdkWidget_RegDefaultUiConfigByDirPath(tempPath);
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if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Add default widget ui config error, stat = 0x%08llX", psdkStat);
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return psdkStat;
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}
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//set ui config for English language
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//设置系统语言为英文时控件配置文件的路径
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psdkStat = PsdkWidget_RegUiConfigByDirPath(PSDK_AIRCRAFT_INFO_MOBILE_APP_LANGUAGE_ENGLISH,
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PSDK_AIRCRAFT_INFO_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
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tempPath);
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if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Add widget ui config error, stat = 0x%08llX", psdkStat);
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return psdkStat;
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}
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//set ui config for Chinese language
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if (s_isWidgetFileDirPathConfigured == true) {
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snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", s_widgetFileDirPath);
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} else {
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snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", curFileDirPath);
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}
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psdkStat = PsdkWidget_RegUiConfigByDirPath(PSDK_AIRCRAFT_INFO_MOBILE_APP_LANGUAGE_CHINESE,
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PSDK_AIRCRAFT_INFO_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
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tempPath);
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if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Add widget ui config error, stat = 0x%08llX", psdkStat);
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return psdkStat;
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}
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#else
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//Step 2 : Set UI Config (RTOS environment)
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T_PsdkWidgetBinaryArrayConfig enWidgetBinaryArrayConfig = {
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.binaryArrayCount = g_EnBinaryArrayCount,
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.fileBinaryArrayList = g_EnFileBinaryArrayList
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};
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//set default ui config
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psdkStat = PsdkWidget_RegDefaultUiConfigByBinaryArray(&enWidgetBinaryArrayConfig);
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if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Add default widget ui config error, stat = 0x%08llX", psdkStat);
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return psdkStat;
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}
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#endif
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//Step 3 : Set widget handler list
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psdkStat = PsdkWidget_RegHandlerList(s_widgetHandlerList, s_widgetHandlerListCount);
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if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Set widget handler list error, stat = 0x%08llX", psdkStat);
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return psdkStat;
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}
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//Step 4 : Run widget api sample task
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if (PsdkOsal_TaskCreate(&s_widgetTestThread, PsdkTest_WidgetTask, "user_widget_task", WIDGET_TASK_STACK_SIZE,
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NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Psdk widget test task create error.");
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return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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//Step 5 : Run ximea task
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if (PsdkOsal_TaskCreate(&s_widgetXimeaThread, PsdkTest_IrisRecordSystemChanged, "ximea", WIDGET_TASK_STACK_SIZE,
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NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Psdk widget test task(ximea) create error.");
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return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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/* tc-----------------------------------------------*/
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struct hostent *he;
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he=gethostbyname("127.0.0.1");
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s_sockfd=socket(AF_INET, SOCK_DGRAM,0);
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bzero(&s_server,sizeof(s_server));
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s_server.sin_family = AF_INET;
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s_server.sin_port = htons(PORT);
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s_server.sin_addr= *((struct in_addr *)he->h_addr);
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/* tc-----------------------------------------------*/
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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#if PSDK_ARCH_SYS_LINUX
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T_PsdkReturnCode PsdkTest_WidgetSetConfigFilePath(const char *path)
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{
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memset(s_widgetFileDirPath, 0, sizeof(s_widgetFileDirPath));
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memcpy(s_widgetFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_widgetFileDirPath) - 1));
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s_isWidgetFileDirPathConfigured = true;
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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#endif
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#ifndef __CC_ARM
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wmissing-noreturn"
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#pragma GCC diagnostic ignored "-Wreturn-type"
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#pragma GCC diagnostic ignored "-Wformat"
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#endif
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/* Private functions definition-----------------------------------------------*/
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//在DJI pilot的浮窗上显示系统时间
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static void *PsdkTest_WidgetTask(void *arg)
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{
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char message[PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN];
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uint32_t sysTimeMs = 0;
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T_PsdkReturnCode psdkStat;
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USER_UTIL_UNUSED(arg);
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while (1) {
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psdkStat = PsdkOsal_GetTimeMs(&sysTimeMs);
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if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Get system time ms error, stat = 0x%08llX", psdkStat);
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}
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//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);
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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",
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sysTimeMs, s_strStateOfXimea, s_strStateOfSbg, s_strSbgAccuracy, s_strSbgSatelliteCounter, s_strPitch, s_strRoll, s_strYaw);
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psdkStat = PsdkWidgetFloatingWindow_ShowMessage(message);
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if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Floating window show message error, stat = 0x%08llX", psdkStat);
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}
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PsdkOsal_TaskSleepMs(1000);
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}
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}
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static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
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{
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// FILE * fp;
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// char buffer[80];
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// fp = popen("/home/iris-xport/cpp_qtcreator/ximeaImageRecorder-Release/ximeaImageRecorder", "r");ss
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// fgets(buffer, sizeof(buffer), fp);
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// printf("%s", buffer);
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// pclose(fp);
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int sockfd;
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struct sockaddr_in server;
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struct sockaddr_in client;
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socklen_t addrlen;
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int num;
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char buf[MAXDATASIZE];
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if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
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{
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perror("Creatingsocket failed.");
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}
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bzero(&server,sizeof(server));
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server.sin_family=AF_INET;
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server.sin_port=htons(PORT+1);
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server.sin_addr.s_addr= htonl(INADDR_ANY);
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if(bind(sockfd, (struct sockaddr *)&server, sizeof(server)) == -1)
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{
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perror("Bind()error.");
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}
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addrlen=sizeof(client);
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while (1)
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{
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//printf("PsdkTest_IrisRecordSystemChanged: record system status change! 8888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888\n");
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num =recvfrom(sockfd,buf,MAXDATASIZE,0,(struct sockaddr*)&client,&addrlen);
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if (num < 0)
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{
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perror("recvfrom() error\n");
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continue;
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}
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buf[num] = '\0';
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printf("You got a message (%s) from client.\n",buf);
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//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));
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char * result[3];
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result[0] = strtok( buf, "," );
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result[1] = strtok( NULL, "," );
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result[2] = strtok( NULL, "," );
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// printf("result[0]: %s\n", result[0]);
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// printf("result[1]: %s\n\n", result[1]);
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// printf("result[2]: %s\n\n", result[2]);
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if (strcmp(result[0],"sbg") == 0)
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{
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s_stateOfSbg = atoi(result[1]);
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printf("sbg的状态为: %d\n\n", atoi(result[1]));
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switch (s_stateOfSbg)
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{
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case 0:
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s_strStateOfSbg="未打开";
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break;
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case 1:
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s_strStateOfSbg="波特率设置失败";
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break;
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case 2:
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s_strStateOfSbg="打开成功";
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break;
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case 3:
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s_strStateOfSbg="采集中";
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break;
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default:
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break;
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}
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}
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else if (strcmp(result[0],"Accuracy") == 0)
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{
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// printf("惯导定位精度为: %s\n\n", result[1]);
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s_strSbgAccuracy=result[1];
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s_strSbgSatelliteCounter=result[2];
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// s_sbgMagState = atoi(result[1]);
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// switch (s_sbgMagState)
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// {
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// case 0:
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// s_strSbgAccuracy="false";
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// break;
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// case 1:
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// s_strSbgAccuracy="true";
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// break;
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// default:
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// break;
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// }
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}
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else if (strcmp(result[0],"SolutionMode") == 0)
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{
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// s_sbgMagState = atoi(result[1]);
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//
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// switch (s_sbgMagState)
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// {
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// case 0:
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// s_strSbgSolutionMode="UNINITIALIZED";
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// break;
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// case 1:
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// s_strSbgSolutionMode="VERTICAL_GYRO";
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// break;
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// case 2:
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// s_strSbgSolutionMode="AHRS";
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// break;
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// case 3:
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// s_strSbgSolutionMode="NAV_VELOCITY";
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// break;
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// case 4:
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// s_strSbgSolutionMode="NAV_POSITION";
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// break;
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//
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// default:
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// break;
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// }
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}
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else if (strcmp(result[0],"ximea") == 0)
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{
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s_stateOfXimea = atoi(result[1]);
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printf("ximea的状态为: %d\n\n", atoi(result[1]));
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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；
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{
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case 57:
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s_strStateOfXimea="相机被占用";
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break;
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case 99:
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s_strStateOfXimea="未处理错误，错误码见日志";
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break;
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case 100:
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s_strStateOfXimea="未打开";
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break;
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case 101:
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s_strStateOfXimea="打开成功";
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break;
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case 102:
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s_strStateOfXimea="帧率设置完成";
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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****/
|