first commit
This commit is contained in:
DESKTOP-4HD0KC3\ZhangZhuo
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/**
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********************************************************************
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* @file test_camera_manager_entry.cpp
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* @brief
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*
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||||
* @copyright (c) 2018 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.
|
||||
*
|
||||
*********************************************************************
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||||
*/
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/* Includes ------------------------------------------------------------------*/
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#include <iostream>
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#include <string>
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#include <dji_logger.h>
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#include <dji_typedef.h>
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#include "utils/util_misc.h"
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#include "dji_camera_manager.h"
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#include "camera_manager/test_camera_manager.h"
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#include "camera_manager/test_camera_manager_entry.h"
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#include "test_camera_manager_entry.h"
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using namespace std;
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/* Private constants ---------------------------------------------------------*/
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static const char *s_cameraManagerSampleSelectList[] = {
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED] = "Set camera shutter speed |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE] = "Set camera aperture |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_EV] = "Set camera ev |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ISO] = "Set camera iso |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_FOCUS_POINT] = "Set camera focus point |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_TAP_ZOOM_POINT] = "Set camera tap zoom point |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ZOOM_PARAM] = "Set camera zoom param |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO] = "Shoot single photo |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_BURST_PHOTO] = "Shoot busrt photo |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO] = "Shoot interval photo |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO] = "Record video |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE] = "Download and delete media file |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_FILE_LIST_BY_SLICES] = "Download file list by slices |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY] = "Thermometry test |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO] = "Get lidar ranging info |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM] = "Set ir camera zoom param |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_NIGHT_SCENE_MODE] = "Set night scene mode |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAPTURE_RECORDING_STREAMS] = "Set capture or recording streams storage type |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO] = "Show storage info |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FORMAT_SD_CARD] = "Format SD card |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_LINK_ZOOM] = "Set synchronized split screen zoom |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_USER_CUSTOM_DIR_FILE_NAME] = "Set custom directory or file name of media file |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RESET_CAMERA_SETTINGS] = "Reset camera settings |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_AE_LOCK_MODE] = "Set AE lock mode |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_FOCUS_RING_VALUE] = "Set focus ring value |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_CONNECT_STATUS_TEST] = "Camera connect status test |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GET_PHOTO_VIDEO_PARAM] = "Set camera photo and video storage param |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_MODE] = "Set camera metering mode |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_POINT] = "Set and get camera metering point |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FFC_MODE_AND_TRRIGER] = "Set FFC mode and trriger a FFC |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GAIN_MODE] = "Set infrared camera gain mode |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_CAMERA_STATUS] = "Get camera status, capturing & recording status etc |",
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[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SUBSCRIBE_POINT_CLOUD] = "Subscribe point cloud |",
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};
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/* Private types -------------------------------------------------------------*/
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/* Private values -------------------------------------------------------------*/
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/* Private functions declaration ---------------------------------------------*/
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static void DjiTest_CmareManagerShowStringList(const char **list, int size)
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{
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for (int i = 0; i < size; i++) {
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printf("| [%2d] %s\r\n", i, list[i]);
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}
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}
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static void DjiTest_CameraManagerShowSampleSelectList(void)
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{
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DjiTest_CmareManagerShowStringList(s_cameraManagerSampleSelectList,
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UTIL_ARRAY_SIZE(s_cameraManagerSampleSelectList));
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}
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/* Exported functions definition ---------------------------------------------*/
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void DjiUser_RunCameraManagerSample(void)
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{
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T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
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string mountPositionStr;
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int posNum;
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E_DjiMountPosition cameraMountPosition;
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string sampleSelectStr;
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int sampleSelectNum;
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E_DjiTestCameraManagerSampleSelect cameraSample;
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USER_LOG_INFO("DjiUser_RunCameraManagerSample");
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while (true) {
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osalHandler->TaskSleepMs(10);
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cout
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<< "| Available position: |"
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<<
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endl;
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cout
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<< "| [1] Select gimbal mount position at NO.1 payload port |"
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<<
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endl;
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cout
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<< "| [2] Select gimbal mount position at NO.2 payload port |"
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<<
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endl;
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cout
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<< "| [3] Select gimbal mount position at NO.3 payload port |"
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<<
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endl;
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cout
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<< "| [q] Quit |"
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<<
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endl;
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cout << "Please input number to select position (input q to quit): ";
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cin >> mountPositionStr;
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if (mountPositionStr == "q") {
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return;
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}
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posNum = atoi(mountPositionStr.c_str());
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if (posNum > 3 || posNum < 1) {
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USER_LOG_ERROR("Input mount position is invalid");
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continue;
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} else {
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break;
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}
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}
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cameraMountPosition = E_DjiMountPosition(posNum);
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while (true) {
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osalHandler->TaskSleepMs(10);
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cout << "\nAvailable samples:\n";
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DjiTest_CameraManagerShowSampleSelectList();
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cout << "Please input number to select sample (input q to quit): ";
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cin >> sampleSelectStr;
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if (sampleSelectStr == "q") {
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return;
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}
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sampleSelectNum = atoi(sampleSelectStr.c_str());
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if (sampleSelectNum < 0 ||
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sampleSelectNum >= (int) E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX) {
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USER_LOG_ERROR("Input camera sample is invalid");
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continue;
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}
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cameraSample = (E_DjiTestCameraManagerSampleSelect) sampleSelectNum;
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cout << "Start test: position " << cameraMountPosition
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<< ", sample " << cameraSample << endl;
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DjiTest_CameraManagerRunSample(cameraMountPosition, cameraSample);
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}
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}
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/* Private functions definition-----------------------------------------------*/
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/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
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@ -0,0 +1,52 @@
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/**
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********************************************************************
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||||
* @file test_camera_manager_entry.h
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* @brief This is the header file for "test_camera_manager_entry.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2018 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
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||||
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef TEST_CAMERA_MANAGER_ENTRY_H
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#define TEST_CAMERA_MANAGER_ENTRY_H
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/* Includes ------------------------------------------------------------------*/
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||||
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#ifdef __cplusplus
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extern "C" {
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||||
#endif
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/* Exported constants --------------------------------------------------------*/
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||||
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||||
/* Exported types ------------------------------------------------------------*/
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||||
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||||
/* Exported functions --------------------------------------------------------*/
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||||
/**
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* @brief Run camera Manager sample.
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* @return void.
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*/
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void DjiUser_RunCameraManagerSample(void);
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#ifdef __cplusplus
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}
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#endif
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||||
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||||
#endif // TEST_CAMERA_MANAGER_ENTRY_H
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||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,68 @@
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{
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"rc_lost_action": {
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"desc_cn": "失控行为",
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"desc_en": "rc lost action",
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"desc_range": "go_home/hover/landing",
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"value": "go_home"
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},
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"go_home_altitude": {
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"desc_cn": "返航高度",
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"desc_en": "go home altitude",
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"desc_range": "0 - 1500",
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"value": 60
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},
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"flying_speed": {
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"desc_cn": "飞行速度",
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"desc_en": "flying speed",
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"desc_range": "0 - 10",
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"value": 5.0
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},
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"home_point_latitude": {
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"desc_cn": "home点纬度",
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"desc_en": "home point latitude",
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"desc_range": "-90 - 90",
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"value": 22.5425
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},
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"home_point_longitude": {
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"desc_cn": "home点经度",
|
||||
"desc_en": "home point longitude",
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"desc_range": "-180 - 180",
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"value": 113.9575
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||||
},
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||||
"rtk_enable": {
|
||||
"desc_cn": "RTK开关",
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"desc_en": "RTK Enable",
|
||||
"desc_range": "true/false",
|
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"value": "false"
|
||||
},
|
||||
"HorizontalVisualObstacleAvoidanceEnable": {
|
||||
"desc_cn": "水平视觉避障开关",
|
||||
"desc_en": "Horizontal Visual Avoidance",
|
||||
"desc_range": "true/false",
|
||||
"value": "false"
|
||||
},
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||||
"HorizontalRadarObstacleAvoidanceEnable": {
|
||||
"desc_cn": "水平TOF避障开关",
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||||
"desc_en": "Horizontal TOF Avoidance",
|
||||
"desc_range": "true/false",
|
||||
"value": "false"
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||||
},
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||||
"UpwardsVisualObstacleAvoidanceEnable": {
|
||||
"desc_cn": "上视觉避障开关",
|
||||
"desc_en": "Upwards Visual Avoidance",
|
||||
"desc_range": "true/false",
|
||||
"value": "false"
|
||||
},
|
||||
"UpwardsRadarObstacleAvoidanceEnable": {
|
||||
"desc_cn": "上TOF开关",
|
||||
"desc_en": "Upwards TOF Avoidance",
|
||||
"desc_range": "true/false",
|
||||
"value": "false"
|
||||
},
|
||||
"DownwardsVisualObstacleAvoidanceEnable": {
|
||||
"desc_cn": "下视觉避障开关",
|
||||
"desc_en": "Downwards Visual Avoidance",
|
||||
"desc_range": "true/false",
|
||||
"value": "false"
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,48 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_flight_controller_command_flying.h
|
||||
* @brief This is the header file for "test_flight_controller_command_flying.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2018 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_FLIGHT_CONTROLLER_COMMAND_FLYING_H
|
||||
#define TEST_FLIGHT_CONTROLLER_COMMAND_FLYING_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
void DjiUser_RunFlightControllerCommandFlyingSample(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_FLIGHT_CONTROLLER_COMMAND_FLYING_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,113 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_flight_controller_entry.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2018 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 <iostream>
|
||||
#include <flight_control/test_flight_control.h>
|
||||
#include "test_flight_controller_entry.h"
|
||||
#include "dji_logger.h"
|
||||
#include "test_flight_controller_command_flying.h"
|
||||
#include <waypoint_v2/test_waypoint_v2.h>
|
||||
#include <waypoint_v3/test_waypoint_v3.h>
|
||||
#include <interest_point/test_interest_point.h>
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
void DjiUser_RunFlightControllerSample(void)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
char inputSelectSample;
|
||||
|
||||
start:
|
||||
osalHandler->TaskSleepMs(100);
|
||||
|
||||
std::cout
|
||||
<< "\n"
|
||||
<< "| Available commands: |\n"
|
||||
<< "| [0] Flight controller sample - control flying with keyboard |\n"
|
||||
<< "| [1] Flight controller sample - take off landing |\n"
|
||||
<< "| [2] Flight controller sample - take off position ctrl landing |\n"
|
||||
<< "| [3] Flight controller sample - take off go home force landing |\n"
|
||||
<< "| [4] Flight controller sample - take off velocity ctrl landing |\n"
|
||||
<< "| [5] Flight controller sample - arrest flying |\n"
|
||||
<< "| [6] Flight controller sample - set get parameters |\n"
|
||||
<< "| [7] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK) |\n"
|
||||
<< "| [8] Waypoint 3.0 sample - run airline mission by kmz file (not support on M300 RTK) |\n"
|
||||
<< "| [9] Interest point sample - run interest point mission by settings (only support on M3E/M3T) |\n"
|
||||
<< "| [a] EU-C6 FTS trigger sample - receive fts callback to trigger parachute function (only support on M3D/M3DT) |\n"
|
||||
<< std::endl;
|
||||
|
||||
std::cin >> inputSelectSample;
|
||||
switch (inputSelectSample) {
|
||||
case '0':
|
||||
DjiUser_RunFlightControllerCommandFlyingSample();
|
||||
goto start;
|
||||
case '1':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_LANDING);
|
||||
goto start;
|
||||
case '2':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_POSITION_CTRL_LANDING);
|
||||
goto start;
|
||||
case '3':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_GO_HOME_FORCE_LANDING);
|
||||
goto start;
|
||||
case '4':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING);
|
||||
goto start;
|
||||
case '5':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING);
|
||||
goto start;
|
||||
case '6':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM);
|
||||
goto start;
|
||||
case '7':
|
||||
DjiTest_WaypointV2RunSample();
|
||||
break;
|
||||
case '8':
|
||||
DjiTest_WaypointV3RunSample();
|
||||
break;
|
||||
case '9':
|
||||
DjiTest_InterestPointRunSample();
|
||||
break;
|
||||
case 'a':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_FTS_TRIGGER);
|
||||
break;
|
||||
case 'q':
|
||||
break;
|
||||
default:
|
||||
USER_LOG_ERROR("Input command is invalid");
|
||||
goto start;
|
||||
}
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,49 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_flight_controller_entry.h
|
||||
* @brief This is the header file for "test_flight_controller_entry.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2018 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_FLIGHT_CONTROLLER_ENTRY_H
|
||||
#define TEST_FLIGHT_CONTROLLER_ENTRY_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include <gimbal_manager/test_gimbal_manager.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
void DjiUser_RunFlightControllerSample(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_FLIGHT_CONTROLLER_ENTRY_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,453 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_gimbal_entry.cpp
|
||||
* @version V2.0.0
|
||||
* @date 2023/3/28
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2018-2023 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 <stdexcept>
|
||||
#include "test_gimbal_entry.hpp"
|
||||
#include "dji_logger.h"
|
||||
#include "utils/util_misc.h"
|
||||
#include "dji_gimbal.h"
|
||||
#include "dji_gimbal_manager.h"
|
||||
#include <iostream>
|
||||
#include "dji_aircraft_info.h"
|
||||
#include "dji_fc_subscription.h"
|
||||
#include <math.h>
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef enum {
|
||||
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_FREE_MODE,
|
||||
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE,
|
||||
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_PITCH_RANGE_EXTENSION_MODE,
|
||||
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_MAX_SPEED_PERCENTAGE,
|
||||
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_SMOOTH_FACTOR,
|
||||
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_RESET_GIMBAL_SETTINGS,
|
||||
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_BY_KEYBOARD,
|
||||
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT,
|
||||
} E_DjiTestGimbalManagerSampleSelect;
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static const char *s_gimbalManagerSampleList[] = {
|
||||
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_FREE_MODE] =
|
||||
"| [0] Gimbal manager sample - Rotate gimbal on free mode |",
|
||||
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE] =
|
||||
"| [1] Gimbal manager sample - Rotate gimbal on yaw follow mode |",
|
||||
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_PITCH_RANGE_EXTENSION_MODE] =
|
||||
"| [2] Gimbal manager sample - Set pitch range extension mode |",
|
||||
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_MAX_SPEED_PERCENTAGE] =
|
||||
"| [3] Gimbal manager sample - Set controller max speed percentage |",
|
||||
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_SMOOTH_FACTOR] =
|
||||
"| [4] Gimbal manager sample - Set controller smooth factor |",
|
||||
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_RESET_GIMBAL_SETTINGS] =
|
||||
"| [5] Gimbal manager sample - Reset gimbal settings |",
|
||||
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_BY_KEYBOARD] =
|
||||
"| [6] Gimbal manager sample - Rotate gimbal by keyboard input and read back value |",
|
||||
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT] =
|
||||
"| [q] Gimbal manager sample - Quit |",
|
||||
};
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
void DjiTest_GimbalManagerShowSampleSelectList(const char **SampleList, uint8_t size);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
void DjiUser_RunGimbalManagerSample(void)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
char inputTestCase;
|
||||
char mountPosition;
|
||||
E_DjiMountPosition gimbalMountPosition;
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
start:
|
||||
osalHandler->TaskSleepMs(100);
|
||||
std::cout
|
||||
<< "| Available position: |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [1] Select gimbal mount position at NO.1 payload port |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [2] Select gimbal mount position at NO.2 payload port |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [3] Select gimbal mount position at NO.3 payload port |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [q] Quit |"
|
||||
<<
|
||||
std::endl;
|
||||
|
||||
std::cin >> mountPosition;
|
||||
if (mountPosition == 'q') {
|
||||
return;
|
||||
}
|
||||
|
||||
if (mountPosition > '3' || mountPosition < '1') {
|
||||
USER_LOG_ERROR("Input mount position is invalid");
|
||||
goto start;
|
||||
}
|
||||
gimbalMountPosition = E_DjiMountPosition(mountPosition - '0');
|
||||
|
||||
osalHandler->TaskSleepMs(100);
|
||||
std::cout
|
||||
<< "| Available commands: |"
|
||||
<<
|
||||
std::endl;
|
||||
DjiTest_GimbalManagerShowSampleSelectList(s_gimbalManagerSampleList, UTIL_ARRAY_SIZE(s_gimbalManagerSampleList));
|
||||
|
||||
std::cin >> inputTestCase;
|
||||
switch (inputTestCase) {
|
||||
case '0':
|
||||
DjiTest_GimbalManagerRunSample(gimbalMountPosition, DJI_GIMBAL_MODE_FREE);
|
||||
goto start;
|
||||
case '1':
|
||||
DjiTest_GimbalManagerRunSample(gimbalMountPosition, DJI_GIMBAL_MODE_YAW_FOLLOW);
|
||||
goto start;
|
||||
case '2': {
|
||||
int32_t enableFlag;
|
||||
|
||||
osalHandler->TaskSleepMs(10);
|
||||
printf("Input enable flag: ");
|
||||
scanf("%d", &enableFlag);
|
||||
|
||||
returnCode = DjiGimbalManager_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
|
||||
return;
|
||||
}
|
||||
|
||||
returnCode = DjiGimbalManager_SetPitchRangeExtensionEnabled(gimbalMountPosition, (bool)enableFlag);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed!");
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Set gimbal's pitch range extension mode as %d successfully!", enableFlag);
|
||||
|
||||
goto start;
|
||||
break;
|
||||
}
|
||||
case '3': {
|
||||
int32_t percentage;
|
||||
|
||||
osalHandler->TaskSleepMs(10);
|
||||
printf("Input max speed percentage of yaw axis: ");
|
||||
scanf("%d", &percentage);
|
||||
|
||||
returnCode = DjiGimbalManager_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
|
||||
return;
|
||||
}
|
||||
|
||||
returnCode = DjiGimbalManager_SetControllerMaxSpeedPercentage(gimbalMountPosition, DJI_GIMBAL_AXIS_YAW, (uint8_t)percentage);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed!");
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Set yaw axis's max speed percentage to %d successfully!", percentage);
|
||||
|
||||
osalHandler->TaskSleepMs(10);
|
||||
printf("Input max speed percentage of pitch axis: ");
|
||||
scanf("%d", &percentage);
|
||||
|
||||
returnCode = DjiGimbalManager_SetControllerMaxSpeedPercentage(gimbalMountPosition, DJI_GIMBAL_AXIS_PITCH, (uint8_t)percentage);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed!");
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Set pitch axis's max speed percentage to %d successfully!", percentage);
|
||||
|
||||
goto start;
|
||||
break;
|
||||
}
|
||||
case '4': {
|
||||
int32_t factor;
|
||||
|
||||
osalHandler->TaskSleepMs(10);
|
||||
printf("Input yaw axis's smooth factor: ");
|
||||
scanf("%d", &factor);
|
||||
|
||||
returnCode = DjiGimbalManager_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
|
||||
return;
|
||||
}
|
||||
|
||||
returnCode = DjiGimbalManager_SetControllerSmoothFactor(gimbalMountPosition, DJI_GIMBAL_AXIS_YAW, (uint8_t)factor);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed!");
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Set yaw axis smooth factor to %d successfully!", factor);
|
||||
|
||||
osalHandler->TaskSleepMs(10);
|
||||
printf("Input pitch axis's smooth factor: ");
|
||||
scanf("%d", &factor);
|
||||
|
||||
returnCode = DjiGimbalManager_SetControllerSmoothFactor(gimbalMountPosition, DJI_GIMBAL_AXIS_PITCH, (uint8_t)factor);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed!");
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Set pitch axis smooth factor to %d successfully!", factor);
|
||||
|
||||
goto start;
|
||||
break;
|
||||
}
|
||||
case '5': {
|
||||
|
||||
returnCode = DjiGimbalManager_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
|
||||
return;
|
||||
}
|
||||
|
||||
returnCode = DjiGimbalManager_RestoreFactorySettings(gimbalMountPosition);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed!");
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Reset gimbal factory settings successfully!");
|
||||
|
||||
goto start;
|
||||
break;
|
||||
}
|
||||
case '6': {
|
||||
uint32_t gimbalMode;
|
||||
uint32_t rotateMode;
|
||||
dji_f32_t pitch, roll, yaw;
|
||||
T_DjiGimbalManagerRotation rotation;
|
||||
T_DjiAircraftInfoBaseInfo baseInfo;
|
||||
E_DjiAircraftSeries aircraftSeries;
|
||||
|
||||
returnCode = DjiGimbalManager_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
|
||||
return;
|
||||
}
|
||||
|
||||
returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed to get aircraft base info, return code 0x%08X", returnCode);
|
||||
goto end;
|
||||
}
|
||||
|
||||
aircraftSeries = baseInfo.aircraftSeries;
|
||||
|
||||
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
|
||||
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d",
|
||||
DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP, returnCode);
|
||||
goto end;
|
||||
}
|
||||
|
||||
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, returnCode);
|
||||
goto end;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
|
||||
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA, returnCode);
|
||||
goto end;
|
||||
}
|
||||
USER_LOG_INFO("Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA succefully.");
|
||||
}
|
||||
else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3 ||
|
||||
aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
|
||||
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
|
||||
goto end;
|
||||
}
|
||||
USER_LOG_INFO("Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES succefully.");
|
||||
}
|
||||
|
||||
|
||||
while (1) {
|
||||
T_DjiFcSubscriptionQuaternion quat;
|
||||
T_DjiFcSubscriptionThreeGimbalData threeGimbalData = {0};
|
||||
T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
|
||||
T_DjiDataTimestamp timestamp = {0};
|
||||
dji_f32_t nPitch, nRoll, nYaw;
|
||||
dji_f32_t qPitch, qRoll, qYaw;
|
||||
dji_f32_t yawOffset = 0;
|
||||
T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp naviData = {0};
|
||||
|
||||
osalHandler->TaskSleepMs(5);
|
||||
printf("gimbal mode: 0: free, 1: fpv, 2: yaw-follow, 3: exit sample\n");
|
||||
printf("rotate mode: 0: rel, 1: abs\n");
|
||||
printf("Input gimbal mode, rotate mode, p, r, y(range in 0 ~ 360 deg if in abs mode): ");
|
||||
|
||||
scanf("%d", &gimbalMode);
|
||||
if (gimbalMode == 3) {
|
||||
break;
|
||||
}
|
||||
|
||||
scanf("%d %f %f %f", &rotateMode, &pitch, &roll, &yaw);
|
||||
|
||||
printf("gimbale mode %d, rotate mode %d, p %f, r %f, y %f\n",
|
||||
gimbalMode, rotateMode, pitch, roll, yaw);
|
||||
|
||||
returnCode = DjiGimbalManager_SetMode(gimbalMountPosition, (E_DjiGimbalMode)gimbalMode);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("DjiGimbalManager_SetMode return 0x%08X", returnCode);
|
||||
goto end;
|
||||
}
|
||||
|
||||
rotation.rotationMode = (E_DjiGimbalRotationMode)rotateMode;
|
||||
rotation.pitch = pitch;
|
||||
rotation.roll = roll;
|
||||
rotation.yaw = yaw;
|
||||
rotation.time = 0.5;
|
||||
|
||||
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
|
||||
osalHandler->TaskSleepMs(20);
|
||||
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP,
|
||||
(uint8_t *) &naviData,
|
||||
sizeof(T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp),
|
||||
×tamp);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("returnCode = 0x%08X", returnCode);
|
||||
}
|
||||
|
||||
nYaw = (dji_f64_t) atan2f(2 * naviData.q[1] * naviData.q[2] + 2 * naviData.q[0] * naviData.q[3],
|
||||
-2 * naviData.q[2] * naviData.q[2] - 2 * naviData.q[3] * naviData.q[3] + 1) * 57.3;
|
||||
|
||||
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION,
|
||||
(uint8_t *) &quat,
|
||||
sizeof(T_DjiFcSubscriptionQuaternion),
|
||||
×tamp);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("DjiFcSubscription_GetLatestValueOfTopic return %x%08X", returnCode);
|
||||
goto end;
|
||||
}
|
||||
|
||||
qYaw = (dji_f64_t) atan2f(2 * quat.q1 * quat.q2 + 2 * quat.q0 * quat.q3,
|
||||
-2 * quat.q2 * quat.q2 - 2 * quat.q3 * quat.q3 + 1) * 57.3;
|
||||
|
||||
|
||||
yawOffset = nYaw - qYaw;
|
||||
|
||||
if (rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
|
||||
rotation.yaw += yawOffset;
|
||||
}
|
||||
}
|
||||
|
||||
returnCode = DjiGimbalManager_Rotate(gimbalMountPosition, rotation);
|
||||
if (returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_PITCH_REACH_POSITIVE_LIMIT ||
|
||||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_PITCH_REACH_NEGATIVE_LIMIT ||
|
||||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_ROLL_REACH_POSITIVE_LIMIT ||
|
||||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_ROLL_REACH_NEGATIVE_LIMIT ||
|
||||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_YAW_REACH_POSITIVE_LIMIT ||
|
||||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_YAW_REACH_NEGATIVE_LIMIT) {
|
||||
USER_LOG_WARN("Reach limitation!");
|
||||
}
|
||||
else if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("DjiGimbalManager_Rotate return %x%08X", returnCode);
|
||||
goto end;
|
||||
}
|
||||
|
||||
osalHandler->TaskSleepMs(2000);
|
||||
|
||||
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
|
||||
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA,
|
||||
(uint8_t *) &threeGimbalData,
|
||||
sizeof(T_DjiFcSubscriptionThreeGimbalData),
|
||||
×tamp);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("DjiFcSubscription_GetLatestValueOfTopic return %x%08X", returnCode);
|
||||
goto end;
|
||||
}
|
||||
|
||||
if (threeGimbalData.anglesData[0].yaw < 0) {
|
||||
threeGimbalData.anglesData[0].yaw = 360 + threeGimbalData.anglesData[0].yaw;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("reab back gimbal's (p, r, y): p=%.4f r=%.4f y=%.4f",
|
||||
threeGimbalData.anglesData[gimbalMountPosition - 1].pitch,
|
||||
threeGimbalData.anglesData[gimbalMountPosition - 1].roll,
|
||||
threeGimbalData.anglesData[gimbalMountPosition - 1].yaw);
|
||||
}
|
||||
else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3 ||
|
||||
aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
|
||||
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
|
||||
(uint8_t *) &gimbalAngles,
|
||||
sizeof(T_DjiFcSubscriptionGimbalAngles),
|
||||
×tamp);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("DjiFcSubscription_GetLatestValueOfTopic return %x%08X", returnCode);
|
||||
goto end;
|
||||
}
|
||||
|
||||
if (gimbalAngles.z < 0) {
|
||||
gimbalAngles.z = 360 + gimbalAngles.z;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("read back gimbal's (p, r, y): p=%.4f r=%.4f y=%.4f",
|
||||
gimbalAngles.x, gimbalAngles.y, gimbalAngles.z);
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
case 'q':
|
||||
break;
|
||||
default:
|
||||
USER_LOG_ERROR("Input command is invalid");
|
||||
goto start;
|
||||
}
|
||||
|
||||
end:
|
||||
returnCode = DjiGimbalManager_Deinit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Deinit gimbal manager error, return code 0x%08X", returnCode);
|
||||
return;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Gimbal sample end");
|
||||
|
||||
return;
|
||||
}
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
void DjiTest_GimbalManagerShowSampleSelectList(const char **SampleList, uint8_t size) {
|
||||
uint8_t i = 0;
|
||||
|
||||
for (i = 0; i < size; i++) {
|
||||
std::cout << SampleList[i] << std::endl;
|
||||
}
|
||||
}
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,52 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_gimbal_entry.hpp
|
||||
* @version V2.0.0
|
||||
* @date 2023/3/28
|
||||
* @brief This is the header file for "test_gimbal_entry.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2018-2023 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_GIMBAL_ENTRY_H
|
||||
#define TEST_GIMBAL_ENTRY_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include <gimbal_manager/test_gimbal_manager.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
void DjiUser_RunGimbalManagerSample(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_GIMBAL_ENTRY_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
|
||||
@ -0,0 +1,82 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hms_manager_entry.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2018 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 "hms_manager_entry.h"
|
||||
#include "dji_platform.h"
|
||||
#include <iostream>
|
||||
#include "dji_logger.h"
|
||||
#include "hms/test_hms.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
void DjiUser_RunHmsManagerSample(void)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
char inputSelectSample;
|
||||
|
||||
start:
|
||||
osalHandler->TaskSleepMs(100);
|
||||
|
||||
std::cout
|
||||
<< "\n"
|
||||
<< "| Available commands: |\n"
|
||||
<< "| [0] Hms manager sample - Chinese language |\n"
|
||||
<< "| [1] Hms manager sample - English language |\n"
|
||||
<< "| [2] Hms manager sample - Japanese language |\n"
|
||||
<< "| [3] Hms manager sample - French language |\n"
|
||||
<< std::endl;
|
||||
|
||||
std::cin >> inputSelectSample;
|
||||
switch (inputSelectSample) {
|
||||
case '0':
|
||||
DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_CHINESE);
|
||||
goto start;
|
||||
case '1':
|
||||
DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_ENGLISH);
|
||||
goto start;
|
||||
case '2':
|
||||
DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_JAPANESE);
|
||||
goto start;
|
||||
case '3':
|
||||
DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_FRENCH);
|
||||
goto start;
|
||||
case 'q':
|
||||
break;
|
||||
default:
|
||||
USER_LOG_ERROR("Input command is invalid");
|
||||
goto start;
|
||||
}
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,49 @@
|
||||
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hms_manager_entry.h
|
||||
* @brief This is the header file for "hms_manager_entry.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2018 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef HMS_MANAGER_ENTRY_H
|
||||
#define HMS_MANAGER_ENTRY_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
void DjiUser_RunHmsManagerSample(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // HMS_MANAGER_ENTRY_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,95 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_camera_image_handler.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "dji_camera_image_handler.hpp"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
DJICameraImageHandler::DJICameraImageHandler() : m_newImageFlag(false)
|
||||
{
|
||||
pthread_mutex_init(&m_mutex, NULL);
|
||||
pthread_cond_init(&m_condv, NULL);
|
||||
}
|
||||
|
||||
DJICameraImageHandler::~DJICameraImageHandler()
|
||||
{
|
||||
pthread_mutex_destroy(&m_mutex);
|
||||
pthread_cond_destroy(&m_condv);
|
||||
}
|
||||
|
||||
bool DJICameraImageHandler::getNewImageWithLock(CameraRGBImage ©OfImage, int timeoutMilliSec)
|
||||
{
|
||||
int result;
|
||||
|
||||
/*! @note
|
||||
* Here result == 0 means successful.
|
||||
* Because this is the behavior of pthread_cond_timedwait.
|
||||
*/
|
||||
pthread_mutex_lock(&m_mutex);
|
||||
if (m_newImageFlag) {
|
||||
/* At this point, a copy of m_img is made, so it is safe to
|
||||
* do any modifications to copyOfImage in user code.
|
||||
*/
|
||||
copyOfImage = m_img;
|
||||
m_newImageFlag = false;
|
||||
result = 0;
|
||||
} else {
|
||||
struct timespec absTimeout;
|
||||
clock_gettime(CLOCK_REALTIME, &absTimeout);
|
||||
absTimeout.tv_nsec += timeoutMilliSec * 1e6;
|
||||
result = pthread_cond_timedwait(&m_condv, &m_mutex, &absTimeout);
|
||||
|
||||
if (result == 0) {
|
||||
copyOfImage = m_img;
|
||||
m_newImageFlag = false;
|
||||
}
|
||||
}
|
||||
pthread_mutex_unlock(&m_mutex);
|
||||
return (result == 0) ? true : false;
|
||||
}
|
||||
|
||||
void DJICameraImageHandler::writeNewImageWithLock(uint8_t *buf, int bufSize, int width, int height)
|
||||
{
|
||||
pthread_mutex_lock(&m_mutex);
|
||||
|
||||
m_img.rawData.assign(buf, buf + bufSize);
|
||||
m_img.height = height;
|
||||
m_img.width = width;
|
||||
m_newImageFlag = true;
|
||||
|
||||
pthread_cond_signal(&m_condv);
|
||||
pthread_mutex_unlock(&m_mutex);
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,74 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_camera_image_handler.hpp
|
||||
* @brief This is the header file for "dji_camera_image_handler.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef DJI_CAMERA_IMAGE_HANDLER_H
|
||||
#define DJI_CAMERA_IMAGE_HANDLER_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "pthread.h"
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
struct CameraRGBImage {
|
||||
std::vector<uint8_t> rawData;
|
||||
int height;
|
||||
int width;
|
||||
};
|
||||
|
||||
typedef void (*CameraImageCallback)(CameraRGBImage pImg, void *userData);
|
||||
|
||||
typedef void (*H264Callback)(const uint8_t *buf, int bufLen, void *userData);
|
||||
|
||||
class DJICameraImageHandler {
|
||||
public:
|
||||
DJICameraImageHandler();
|
||||
~DJICameraImageHandler();
|
||||
|
||||
void writeNewImageWithLock(uint8_t *buf, int bufSize, int width, int height);
|
||||
bool getNewImageWithLock(CameraRGBImage ©OfImage, int timeoutMilliSec);
|
||||
|
||||
private:
|
||||
pthread_mutex_t m_mutex;
|
||||
pthread_cond_t m_condv;
|
||||
CameraRGBImage m_img;
|
||||
bool m_newImageFlag;
|
||||
};
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // DJI_CAMERA_IMAGE_HANDLER_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,284 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_camera_stream_decoder.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "dji_camera_stream_decoder.hpp"
|
||||
#include "unistd.h"
|
||||
#include "pthread.h"
|
||||
#include "dji_logger.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
DJICameraStreamDecoder::DJICameraStreamDecoder()
|
||||
: initSuccess(false),
|
||||
cbThreadIsRunning(false),
|
||||
cbThreadStatus(-1),
|
||||
cb(nullptr),
|
||||
cbUserParam(nullptr),
|
||||
#ifdef FFMPEG_INSTALLED
|
||||
pCodecCtx(nullptr),
|
||||
pCodec(nullptr),
|
||||
pCodecParserCtx(nullptr),
|
||||
pSwsCtx(nullptr),
|
||||
pFrameYUV(nullptr),
|
||||
pFrameRGB(nullptr),
|
||||
rgbBuf(nullptr),
|
||||
#endif
|
||||
bufSize(0)
|
||||
{
|
||||
pthread_mutex_init(&decodemutex, nullptr);
|
||||
}
|
||||
|
||||
DJICameraStreamDecoder::~DJICameraStreamDecoder()
|
||||
{
|
||||
pthread_mutex_destroy(&decodemutex);
|
||||
if(cb)
|
||||
{
|
||||
registerCallback(nullptr, nullptr);
|
||||
}
|
||||
|
||||
cleanup();
|
||||
}
|
||||
|
||||
bool DJICameraStreamDecoder::init()
|
||||
{
|
||||
pthread_mutex_lock(&decodemutex);
|
||||
|
||||
if (true == initSuccess) {
|
||||
USER_LOG_INFO("Decoder already initialized.\n");
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef FFMPEG_INSTALLED
|
||||
avcodec_register_all();
|
||||
pCodecCtx = avcodec_alloc_context3(nullptr);
|
||||
if (!pCodecCtx) {
|
||||
return false;
|
||||
}
|
||||
|
||||
pCodecCtx->thread_count = 4;
|
||||
pCodec = avcodec_find_decoder(AV_CODEC_ID_H264);
|
||||
if (!pCodec || avcodec_open2(pCodecCtx, pCodec, nullptr) < 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
pCodecParserCtx = av_parser_init(AV_CODEC_ID_H264);
|
||||
if (!pCodecParserCtx) {
|
||||
return false;
|
||||
}
|
||||
|
||||
pFrameYUV = av_frame_alloc();
|
||||
if (!pFrameYUV) {
|
||||
return false;
|
||||
}
|
||||
|
||||
pFrameRGB = av_frame_alloc();
|
||||
if (!pFrameRGB) {
|
||||
return false;
|
||||
}
|
||||
|
||||
pSwsCtx = nullptr;
|
||||
|
||||
pCodecCtx->flags2 |= AV_CODEC_FLAG2_SHOW_ALL;
|
||||
#endif
|
||||
initSuccess = true;
|
||||
pthread_mutex_unlock(&decodemutex);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void DJICameraStreamDecoder::cleanup()
|
||||
{
|
||||
pthread_mutex_lock(&decodemutex);
|
||||
|
||||
initSuccess = false;
|
||||
|
||||
#ifdef FFMPEG_INSTALLED
|
||||
if (nullptr != pSwsCtx) {
|
||||
sws_freeContext(pSwsCtx);
|
||||
pSwsCtx = nullptr;
|
||||
}
|
||||
|
||||
if (nullptr != pFrameYUV) {
|
||||
av_free(pFrameYUV);
|
||||
pFrameYUV = nullptr;
|
||||
}
|
||||
|
||||
if (nullptr != pCodecParserCtx) {
|
||||
av_parser_close(pCodecParserCtx);
|
||||
pCodecParserCtx = nullptr;
|
||||
}
|
||||
|
||||
if (nullptr != pCodec) {
|
||||
avcodec_close(pCodecCtx);
|
||||
pCodec = nullptr;
|
||||
}
|
||||
|
||||
if (nullptr != pCodecCtx) {
|
||||
av_free(pCodecCtx);
|
||||
pCodecCtx = nullptr;
|
||||
}
|
||||
|
||||
if (nullptr != rgbBuf) {
|
||||
av_free(rgbBuf);
|
||||
rgbBuf = nullptr;
|
||||
}
|
||||
|
||||
if (nullptr != pFrameRGB) {
|
||||
av_free(pFrameRGB);
|
||||
pFrameRGB = nullptr;
|
||||
}
|
||||
#endif
|
||||
pthread_mutex_unlock(&decodemutex);
|
||||
}
|
||||
|
||||
void *DJICameraStreamDecoder::callbackThreadEntry(void *p)
|
||||
{
|
||||
//DSTATUS_PRIVATE("****** Decoder Callback Thread Start ******\n");
|
||||
usleep(50 * 1000);
|
||||
static_cast<DJICameraStreamDecoder *>(p)->callbackThreadFunc();
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
void DJICameraStreamDecoder::callbackThreadFunc()
|
||||
{
|
||||
while (cbThreadIsRunning) {
|
||||
CameraRGBImage copyOfImage;
|
||||
if (!decodedImageHandler.getNewImageWithLock(copyOfImage, 1000)) {
|
||||
//DDEBUG_PRIVATE("Decoder Callback Thread: Get image time out\n");
|
||||
continue;
|
||||
}
|
||||
|
||||
if (cb) {
|
||||
(*cb)(copyOfImage, cbUserParam);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void DJICameraStreamDecoder::decodeBuffer(const uint8_t *buf, int bufLen)
|
||||
{
|
||||
const uint8_t *pData = buf;
|
||||
int remainingLen = bufLen;
|
||||
int processedLen = 0;
|
||||
|
||||
#ifdef FFMPEG_INSTALLED
|
||||
AVPacket pkt;
|
||||
av_init_packet(&pkt);
|
||||
pthread_mutex_lock(&decodemutex);
|
||||
while (remainingLen > 0) {
|
||||
if (!pCodecParserCtx || !pCodecCtx) {
|
||||
//DSTATUS("Invalid decoder ctx.");
|
||||
break;
|
||||
}
|
||||
processedLen = av_parser_parse2(pCodecParserCtx, pCodecCtx,
|
||||
&pkt.data, &pkt.size,
|
||||
pData, remainingLen,
|
||||
AV_NOPTS_VALUE, AV_NOPTS_VALUE, AV_NOPTS_VALUE);
|
||||
remainingLen -= processedLen;
|
||||
pData += processedLen;
|
||||
|
||||
if (pkt.size > 0) {
|
||||
int gotPicture = 0;
|
||||
avcodec_decode_video2(pCodecCtx, pFrameYUV, &gotPicture, &pkt);
|
||||
|
||||
if (!gotPicture) {
|
||||
////DSTATUS_PRIVATE("Got Frame, but no picture\n");
|
||||
continue;
|
||||
} else {
|
||||
int w = pFrameYUV->width;
|
||||
int h = pFrameYUV->height;
|
||||
////DSTATUS_PRIVATE("Got picture! size=%dx%d\n", w, h);
|
||||
|
||||
if (nullptr == pSwsCtx) {
|
||||
pSwsCtx = sws_getContext(w, h, pCodecCtx->pix_fmt,
|
||||
w, h, AV_PIX_FMT_RGB24,
|
||||
4, nullptr, nullptr, nullptr);
|
||||
}
|
||||
|
||||
if (nullptr == rgbBuf) {
|
||||
bufSize = avpicture_get_size(AV_PIX_FMT_RGB24, w, h);
|
||||
rgbBuf = (uint8_t *) av_malloc(bufSize);
|
||||
avpicture_fill((AVPicture *) pFrameRGB, rgbBuf, AV_PIX_FMT_RGB24, w, h);
|
||||
}
|
||||
|
||||
if (nullptr != pSwsCtx && nullptr != rgbBuf) {
|
||||
sws_scale(pSwsCtx,
|
||||
(uint8_t const *const *) pFrameYUV->data, pFrameYUV->linesize, 0, pFrameYUV->height,
|
||||
pFrameRGB->data, pFrameRGB->linesize);
|
||||
|
||||
pFrameRGB->height = h;
|
||||
pFrameRGB->width = w;
|
||||
|
||||
decodedImageHandler.writeNewImageWithLock(pFrameRGB->data[0], bufSize, w, h);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
pthread_mutex_unlock(&decodemutex);
|
||||
av_free_packet(&pkt);
|
||||
#endif
|
||||
}
|
||||
|
||||
bool DJICameraStreamDecoder::registerCallback(CameraImageCallback f, void *param)
|
||||
{
|
||||
cb = f;
|
||||
cbUserParam = param;
|
||||
|
||||
/* When users register a non-nullptr callback, we will start the callback thread. */
|
||||
if (nullptr != cb) {
|
||||
if (!cbThreadIsRunning) {
|
||||
cbThreadStatus = pthread_create(&callbackThread, nullptr, callbackThreadEntry, this);
|
||||
if (0 == cbThreadStatus) {
|
||||
//DSTATUS_PRIVATE("User callback thread created successfully!\n");
|
||||
cbThreadIsRunning = true;
|
||||
return true;
|
||||
} else {
|
||||
//DERROR_PRIVATE("User called thread creation failed!\n");
|
||||
cbThreadIsRunning = false;
|
||||
return false;
|
||||
}
|
||||
} else {
|
||||
//DERROR_PRIVATE("Callback thread already running!\n");
|
||||
return true;
|
||||
}
|
||||
} else {
|
||||
if (cbThreadStatus == 0) {
|
||||
cbThreadIsRunning = false;
|
||||
pthread_join(callbackThread, nullptr);
|
||||
cbThreadStatus = -1;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,101 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_camera_stream_decoder.hpp
|
||||
* @brief This is the header file for "dji_camera_stream_decoder.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef DJI_CAMERA_STREAM_DECCODER_H
|
||||
#define DJI_CAMERA_STREAM_DECCODER_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
extern "C" {
|
||||
#ifdef FFMPEG_INSTALLED
|
||||
#include <libavcodec/avcodec.h>
|
||||
#include <libavformat/avformat.h>
|
||||
#include <libswscale/swscale.h>
|
||||
#endif
|
||||
}
|
||||
|
||||
#include "pthread.h"
|
||||
#include "dji_camera_image_handler.hpp"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
class DJICameraStreamDecoder {
|
||||
public:
|
||||
DJICameraStreamDecoder();
|
||||
~DJICameraStreamDecoder();
|
||||
bool init();
|
||||
void cleanup();
|
||||
|
||||
void callbackThreadFunc();
|
||||
void decodeBuffer(const uint8_t *pBuf, int len);
|
||||
static void *callbackThreadEntry(void *p);
|
||||
bool registerCallback(CameraImageCallback f, void *param);
|
||||
DJICameraImageHandler decodedImageHandler;
|
||||
|
||||
private:
|
||||
pthread_t callbackThread;
|
||||
bool initSuccess;
|
||||
bool cbThreadIsRunning;
|
||||
int cbThreadStatus;
|
||||
CameraImageCallback cb;
|
||||
void *cbUserParam;
|
||||
|
||||
pthread_mutex_t decodemutex;
|
||||
|
||||
#ifdef FFMPEG_INSTALLED
|
||||
AVCodecContext *pCodecCtx;
|
||||
AVCodec *pCodec;
|
||||
AVCodecParserContext *pCodecParserCtx;
|
||||
SwsContext *pSwsCtx;
|
||||
|
||||
AVFrame *pFrameYUV;
|
||||
AVFrame *pFrameRGB;
|
||||
#endif
|
||||
uint8_t *rgbBuf;
|
||||
size_t bufSize;
|
||||
};
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // DJI_CAMERA_STREAM_DECCODER_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
209
PSDK/samples/sample_c++/module_sample/liveview/test_liveview.cpp
Normal file
209
PSDK/samples/sample_c++/module_sample/liveview/test_liveview.cpp
Normal file
@ -0,0 +1,209 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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_liveview.hpp"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
std::map<::E_DjiLiveViewCameraPosition, DJICameraStreamDecoder *> streamDecoder;
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void LiveviewConvertH264ToRgbCallback(E_DjiLiveViewCameraPosition position, const uint8_t *buf, uint32_t bufLen);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
LiveviewSample::LiveviewSample()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw ("Liveview init failed");
|
||||
}
|
||||
|
||||
streamDecoder = {
|
||||
{DJI_LIVEVIEW_CAMERA_POSITION_FPV, (new DJICameraStreamDecoder())},
|
||||
{DJI_LIVEVIEW_CAMERA_POSITION_NO_1, (new DJICameraStreamDecoder())},
|
||||
{DJI_LIVEVIEW_CAMERA_POSITION_NO_2, (new DJICameraStreamDecoder())},
|
||||
{DJI_LIVEVIEW_CAMERA_POSITION_NO_3, (new DJICameraStreamDecoder())},
|
||||
};
|
||||
}
|
||||
|
||||
LiveviewSample::~LiveviewSample()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_Deinit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
perror("Liveview deinit failed");
|
||||
}
|
||||
|
||||
for (auto pair : streamDecoder) {
|
||||
if (pair.second) {
|
||||
delete pair.second;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StartFpvCameraStream(CameraImageCallback callback, void *userData)
|
||||
{
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_FPV);
|
||||
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->init();
|
||||
deocder->second->registerCallback(callback, userData);
|
||||
|
||||
return DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
LiveviewConvertH264ToRgbCallback);
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StartMainCameraStream(CameraImageCallback callback, void *userData)
|
||||
{
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_1);
|
||||
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->init();
|
||||
deocder->second->registerCallback(callback, userData);
|
||||
|
||||
return DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_1, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
LiveviewConvertH264ToRgbCallback);
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StartViceCameraStream(CameraImageCallback callback, void *userData)
|
||||
{
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_2);
|
||||
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->init();
|
||||
deocder->second->registerCallback(callback, userData);
|
||||
|
||||
return DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_2, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
LiveviewConvertH264ToRgbCallback);
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StartTopCameraStream(CameraImageCallback callback, void *userData)
|
||||
{
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_3);
|
||||
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->init();
|
||||
deocder->second->registerCallback(callback, userData);
|
||||
|
||||
return DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_3, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
LiveviewConvertH264ToRgbCallback);
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StopFpvCameraStream()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_FPV);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->cleanup();
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StopMainCameraStream()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_1, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_1);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->cleanup();
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StopViceCameraStream()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_2, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_2);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->cleanup();
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode LiveviewSample::StopTopCameraStream()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_NO_3, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
auto deocder = streamDecoder.find(DJI_LIVEVIEW_CAMERA_POSITION_NO_3);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->cleanup();
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static void LiveviewConvertH264ToRgbCallback(E_DjiLiveViewCameraPosition position, const uint8_t *buf, uint32_t bufLen)
|
||||
{
|
||||
auto deocder = streamDecoder.find(position);
|
||||
if ((deocder != streamDecoder.end()) && deocder->second) {
|
||||
deocder->second->decodeBuffer(buf, bufLen);
|
||||
}
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,70 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview.hpp
|
||||
* @brief This is the header file for "test_liveview.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_LIVEVIEW_H
|
||||
#define TEST_LIVEVIEW_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_liveview.h"
|
||||
#include <map>
|
||||
#include "dji_camera_stream_decoder.hpp"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
using namespace std;
|
||||
|
||||
class LiveviewSample {
|
||||
public:
|
||||
LiveviewSample();
|
||||
~LiveviewSample();
|
||||
|
||||
T_DjiReturnCode StartFpvCameraStream(CameraImageCallback callback, void *userData);
|
||||
T_DjiReturnCode StopFpvCameraStream();
|
||||
|
||||
T_DjiReturnCode StartMainCameraStream(CameraImageCallback callback, void *userData);
|
||||
T_DjiReturnCode StopMainCameraStream();
|
||||
|
||||
T_DjiReturnCode StartViceCameraStream(CameraImageCallback callback, void *userData);
|
||||
T_DjiReturnCode StopViceCameraStream();
|
||||
|
||||
T_DjiReturnCode StartTopCameraStream(CameraImageCallback callback, void *userData);
|
||||
T_DjiReturnCode StopTopCameraStream();
|
||||
};
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_LIVEVIEW_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,307 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview_entry.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <iostream>
|
||||
#include <dji_logger.h>
|
||||
#include "test_liveview_entry.hpp"
|
||||
#include "test_liveview.hpp"
|
||||
|
||||
#ifdef OPEN_CV_INSTALLED
|
||||
|
||||
#include "opencv2/opencv.hpp"
|
||||
#include "opencv2/dnn.hpp"
|
||||
#include "opencv2/highgui/highgui.hpp"
|
||||
#include "../../../sample_c/module_sample/utils/util_misc.h"
|
||||
|
||||
using namespace cv;
|
||||
#endif
|
||||
using namespace std;
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
const char *classNames[] = {"background", "person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck",
|
||||
"boat", "traffic light",
|
||||
"fire hydrant", "background", "stop sign", "parking meter", "bench", "bird", "cat", "dog",
|
||||
"horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "background", "backpack",
|
||||
"umbrella", "background", "background", "handbag", "tie", "suitcase", "frisbee", "skis",
|
||||
"snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard",
|
||||
"surfboard", "tennis racket",
|
||||
"bottle", "background", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana",
|
||||
"apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut",
|
||||
"cake", "chair", "couch", "potted plant", "bed", "background", "dining table", "background",
|
||||
"background", "toilet", "background", "tv", "laptop", "mouse", "remote", "keyboard",
|
||||
"cell phone", "microwave", "oven", "toaster", "sink", "refrigerator", "background", "book",
|
||||
"clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"};
|
||||
|
||||
const size_t inWidth = 320;
|
||||
const size_t inHeight = 300;
|
||||
const float WHRatio = inWidth / (float) inHeight;
|
||||
static int32_t s_demoIndex = -1;
|
||||
char curFileDirPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
char tempFileDirPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
char prototxtFileDirPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
char weightsFileDirPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void DjiUser_ShowRgbImageCallback(CameraRGBImage img, void *userData);
|
||||
static T_DjiReturnCode DjiUser_GetCurrentFileDirPath(const char *filePath, uint32_t pathBufferSize, char *dirPath);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
void DjiUser_RunCameraStreamViewSample()
|
||||
{
|
||||
char cameraIndexChar = 0;
|
||||
char demoIndexChar = 0;
|
||||
char isQuit = 0;
|
||||
CameraRGBImage camImg;
|
||||
char fpvName[] = "FPV_CAM";
|
||||
char mainName[] = "MAIN_CAM";
|
||||
char viceName[] = "VICE_CAM";
|
||||
char topName[] = "TOP_CAM";
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
LiveviewSample *liveviewSample;
|
||||
try {
|
||||
liveviewSample = new LiveviewSample();
|
||||
} catch (...) {
|
||||
return;
|
||||
}
|
||||
|
||||
returnCode = DjiUser_GetCurrentFileDirPath(__FILE__, DJI_FILE_PATH_SIZE_MAX, curFileDirPath);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
|
||||
}
|
||||
|
||||
cout << "Please choose the stream demo you want to run\n\n"
|
||||
<< "--> [0] Normal RGB image display\n"
|
||||
<< "--> [1] Binary image display\n"
|
||||
<< "--> [2] Faces detection demo\n"
|
||||
<< "--> [3] Tensorflow Object detection demo\n"
|
||||
<< endl;
|
||||
cin >> demoIndexChar;
|
||||
|
||||
switch (demoIndexChar) {
|
||||
case '0':
|
||||
s_demoIndex = 0;
|
||||
break;
|
||||
case '1':
|
||||
s_demoIndex = 1;
|
||||
break;
|
||||
case '2':
|
||||
s_demoIndex = 2;
|
||||
break;
|
||||
case '3':
|
||||
s_demoIndex = 3;
|
||||
break;
|
||||
default:
|
||||
cout << "No demo selected";
|
||||
delete liveviewSample;
|
||||
return;
|
||||
}
|
||||
|
||||
cout << "Please enter the type of camera stream you want to view\n\n"
|
||||
<< "--> [0] Fpv Camera\n"
|
||||
<< "--> [1] Main Camera\n"
|
||||
<< "--> [2] Vice Camera\n"
|
||||
<< "--> [3] Top Camera\n"
|
||||
<< endl;
|
||||
cin >> cameraIndexChar;
|
||||
|
||||
switch (cameraIndexChar) {
|
||||
case '0':
|
||||
liveviewSample->StartFpvCameraStream(&DjiUser_ShowRgbImageCallback, &fpvName);
|
||||
break;
|
||||
case '1':
|
||||
liveviewSample->StartMainCameraStream(&DjiUser_ShowRgbImageCallback, &mainName);
|
||||
break;
|
||||
case '2':
|
||||
liveviewSample->StartViceCameraStream(&DjiUser_ShowRgbImageCallback, &viceName);
|
||||
break;
|
||||
case '3':
|
||||
liveviewSample->StartTopCameraStream(&DjiUser_ShowRgbImageCallback, &topName);
|
||||
break;
|
||||
default:
|
||||
cout << "No camera selected";
|
||||
delete liveviewSample;
|
||||
return;
|
||||
}
|
||||
|
||||
cout << "Please enter the 'q' or 'Q' to quit camera stream view\n"
|
||||
<< endl;
|
||||
|
||||
while (true) {
|
||||
cin >> isQuit;
|
||||
if (isQuit == 'q' || isQuit == 'Q') {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
switch (cameraIndexChar) {
|
||||
case '0':
|
||||
liveviewSample->StopFpvCameraStream();
|
||||
break;
|
||||
case '1':
|
||||
liveviewSample->StopMainCameraStream();
|
||||
break;
|
||||
case '2':
|
||||
liveviewSample->StopViceCameraStream();
|
||||
break;
|
||||
case '3':
|
||||
liveviewSample->StopTopCameraStream();
|
||||
break;
|
||||
default:
|
||||
cout << "No camera selected";
|
||||
delete liveviewSample;
|
||||
return;
|
||||
}
|
||||
|
||||
delete liveviewSample;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static void DjiUser_ShowRgbImageCallback(CameraRGBImage img, void *userData)
|
||||
{
|
||||
string name = string(reinterpret_cast<char *>(userData));
|
||||
|
||||
#ifdef OPEN_CV_INSTALLED
|
||||
Mat mat(img.height, img.width, CV_8UC3, img.rawData.data(), img.width * 3);
|
||||
|
||||
if (s_demoIndex == 0) {
|
||||
cvtColor(mat, mat, COLOR_RGB2BGR);
|
||||
imshow(name, mat);
|
||||
} else if (s_demoIndex == 1) {
|
||||
cvtColor(mat, mat, COLOR_RGB2GRAY);
|
||||
Mat mask;
|
||||
cv::threshold(mat, mask, 0, 255, cv::THRESH_BINARY | cv::THRESH_OTSU);
|
||||
imshow(name, mask);
|
||||
} else if (s_demoIndex == 2) {
|
||||
cvtColor(mat, mat, COLOR_RGB2BGR);
|
||||
snprintf(tempFileDirPath, DJI_FILE_PATH_SIZE_MAX, "%s/data/haarcascade_frontalface_alt.xml", curFileDirPath);
|
||||
auto faceDetector = cv::CascadeClassifier(tempFileDirPath);
|
||||
std::vector<Rect> faces;
|
||||
faceDetector.detectMultiScale(mat, faces, 1.1, 3, 0, Size(50, 50));
|
||||
|
||||
for (int i = 0; i < faces.size(); ++i) {
|
||||
cout << "index: " << i;
|
||||
cout << " x: " << faces[i].x;
|
||||
cout << " y: " << faces[i].y << endl;
|
||||
|
||||
cv::rectangle(mat, cv::Point(faces[i].x, faces[i].y),
|
||||
cv::Point(faces[i].x + faces[i].width, faces[i].y + faces[i].height),
|
||||
Scalar(0, 0, 255), 2, 1, 0);
|
||||
}
|
||||
imshow(name, mat);
|
||||
} else if (s_demoIndex == 3) {
|
||||
snprintf(prototxtFileDirPath, DJI_FILE_PATH_SIZE_MAX,
|
||||
"%s/data/tensorflow/ssd_inception_v2_coco_2017_11_17.pbtxt",
|
||||
curFileDirPath);
|
||||
//Attention: If you want to run the Tensorflow Object detection demo, Please download the tensorflow model.
|
||||
//Download Url: http://download.tensorflow.org/models/object_detection/ssd_inception_v2_coco_2017_11_17.tar.gz
|
||||
snprintf(weightsFileDirPath, DJI_FILE_PATH_SIZE_MAX, "%s/data/tensorflow/frozen_inference_graph.pb",
|
||||
curFileDirPath);
|
||||
|
||||
dnn::Net net = cv::dnn::readNetFromTensorflow(weightsFileDirPath, prototxtFileDirPath);
|
||||
Size frame_size = mat.size();
|
||||
|
||||
Size cropSize;
|
||||
if (frame_size.width / (float) frame_size.height > WHRatio) {
|
||||
cropSize = Size(static_cast<int>(frame_size.height * WHRatio),
|
||||
frame_size.height);
|
||||
} else {
|
||||
cropSize = Size(frame_size.width,
|
||||
static_cast<int>(frame_size.width / WHRatio));
|
||||
}
|
||||
|
||||
Rect crop(Point((frame_size.width - cropSize.width) / 2,
|
||||
(frame_size.height - cropSize.height) / 2),
|
||||
cropSize);
|
||||
|
||||
cv::Mat blob = cv::dnn::blobFromImage(mat, 1, Size(300, 300));
|
||||
net.setInput(blob);
|
||||
Mat output = net.forward();
|
||||
Mat detectionMat(output.size[2], output.size[3], CV_32F, output.ptr<float>());
|
||||
|
||||
mat = mat(crop);
|
||||
float confidenceThreshold = 0.50;
|
||||
|
||||
for (int i = 0; i < detectionMat.rows; i++) {
|
||||
float confidence = detectionMat.at<float>(i, 2);
|
||||
if (confidence > confidenceThreshold) {
|
||||
auto objectClass = (size_t) (detectionMat.at<float>(i, 1));
|
||||
|
||||
int xLeftBottom = static_cast<int>(detectionMat.at<float>(i, 3) * mat.cols);
|
||||
int yLeftBottom = static_cast<int>(detectionMat.at<float>(i, 4) * mat.rows);
|
||||
int xRightTop = static_cast<int>(detectionMat.at<float>(i, 5) * mat.cols);
|
||||
int yRightTop = static_cast<int>(detectionMat.at<float>(i, 6) * mat.rows);
|
||||
|
||||
ostringstream ss;
|
||||
ss << confidence;
|
||||
String conf(ss.str());
|
||||
|
||||
Rect object((int) xLeftBottom, (int) yLeftBottom,
|
||||
(int) (xRightTop - xLeftBottom),
|
||||
(int) (yRightTop - yLeftBottom));
|
||||
|
||||
rectangle(mat, object, Scalar(0, 255, 0), 2);
|
||||
String label = String(classNames[objectClass]) + ": " + conf;
|
||||
|
||||
int baseLine = 0;
|
||||
Size labelSize = getTextSize(label, FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine);
|
||||
rectangle(mat, Rect(Point(xLeftBottom, yLeftBottom - labelSize.height),
|
||||
Size(labelSize.width, labelSize.height + baseLine)), Scalar(0, 255, 0), cv::FILLED);
|
||||
putText(mat, label, Point(xLeftBottom, yLeftBottom), FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0));
|
||||
}
|
||||
}
|
||||
imshow(name, mat);
|
||||
}
|
||||
|
||||
cv::waitKey(1);
|
||||
#endif
|
||||
}
|
||||
|
||||
static T_DjiReturnCode DjiUser_GetCurrentFileDirPath(const char *filePath, uint32_t pathBufferSize, char *dirPath)
|
||||
{
|
||||
uint32_t i = strlen(filePath) - 1;
|
||||
uint32_t dirPathLen;
|
||||
|
||||
while (filePath[i] != '/') {
|
||||
i--;
|
||||
}
|
||||
|
||||
dirPathLen = i + 1;
|
||||
|
||||
if (dirPathLen + 1 > pathBufferSize) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
memcpy(dirPath, filePath, dirPathLen);
|
||||
dirPath[dirPathLen] = 0;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,48 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview_entry.hpp
|
||||
* @brief This is the header file for "test_liveview_entry.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_LIVEVIEW_ENTRY_H
|
||||
#define TEST_LIVEVIEW_ENTRY_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
void DjiUser_RunCameraStreamViewSample();
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_LIVEVIEW_ENTRY_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,125 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_perception.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <stdexcept>
|
||||
#include "test_perception.hpp"
|
||||
#include "dji_logger.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
PerceptionSample::PerceptionSample()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiPerception_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT) {
|
||||
USER_LOG_ERROR("Perception feature will support on later version.");
|
||||
}
|
||||
|
||||
throw ("Perception init failed");
|
||||
}
|
||||
}
|
||||
|
||||
PerceptionSample::~PerceptionSample()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
returnCode = DjiPerception_Deinit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
perror("Perception deinit failed");
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::SubscribeFrontImage(DjiPerceptionImageCallback callback)
|
||||
{
|
||||
return DjiPerception_SubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_FRONT, callback);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::SubscribeRearImage(DjiPerceptionImageCallback callback)
|
||||
{
|
||||
return DjiPerception_SubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_REAR, callback);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::SubscribeLeftImage(DjiPerceptionImageCallback callback)
|
||||
{
|
||||
return DjiPerception_SubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_LEFT, callback);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::SubscribeRightImage(DjiPerceptionImageCallback callback)
|
||||
{
|
||||
return DjiPerception_SubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_RIGHT, callback);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::SubscribeUpImage(DjiPerceptionImageCallback callback)
|
||||
{
|
||||
return DjiPerception_SubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_UP, callback);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::SubscribeDownImage(DjiPerceptionImageCallback callback)
|
||||
{
|
||||
return DjiPerception_SubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_DOWN, callback);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::UnSubscribeFrontImage()
|
||||
{
|
||||
return DjiPerception_UnsubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_FRONT);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::UnSubscribeRearImage()
|
||||
{
|
||||
return DjiPerception_UnsubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_REAR);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::UnSubscribeLeftImage()
|
||||
{
|
||||
return DjiPerception_UnsubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_LEFT);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::UnSubscribeRightImage()
|
||||
{
|
||||
return DjiPerception_UnsubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_RIGHT);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::UnSubscribeUpImage()
|
||||
{
|
||||
return DjiPerception_UnsubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_UP);
|
||||
}
|
||||
|
||||
T_DjiReturnCode PerceptionSample::UnSubscribeDownImage()
|
||||
{
|
||||
return DjiPerception_UnsubscribePerceptionImage(DJI_PERCEPTION_RECTIFY_DOWN);
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,70 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_perception.hpp
|
||||
* @brief This is the header file for "test_perception.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_PERCEPTION_H
|
||||
#define TEST_PERCEPTION_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_perception.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
using namespace std;
|
||||
|
||||
class PerceptionSample {
|
||||
public:
|
||||
PerceptionSample();
|
||||
~PerceptionSample();
|
||||
|
||||
T_DjiReturnCode SubscribeFrontImage(DjiPerceptionImageCallback callback);
|
||||
T_DjiReturnCode SubscribeRearImage(DjiPerceptionImageCallback callback);
|
||||
T_DjiReturnCode SubscribeLeftImage(DjiPerceptionImageCallback callback);
|
||||
T_DjiReturnCode SubscribeRightImage(DjiPerceptionImageCallback callback);
|
||||
T_DjiReturnCode SubscribeUpImage(DjiPerceptionImageCallback callback);
|
||||
T_DjiReturnCode SubscribeDownImage(DjiPerceptionImageCallback callback);
|
||||
|
||||
T_DjiReturnCode UnSubscribeFrontImage();
|
||||
T_DjiReturnCode UnSubscribeRearImage();
|
||||
T_DjiReturnCode UnSubscribeLeftImage();
|
||||
T_DjiReturnCode UnSubscribeRightImage();
|
||||
T_DjiReturnCode UnSubscribeUpImage();
|
||||
T_DjiReturnCode UnSubscribeDownImage();
|
||||
private:
|
||||
};
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_PERCEPTION_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,394 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_perception_entry.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <dirent.h>
|
||||
#include "test_perception_entry.hpp"
|
||||
#include "dji_logger.h"
|
||||
#include "dji_perception.h"
|
||||
#include "test_perception.hpp"
|
||||
#include <iostream>
|
||||
|
||||
#ifdef OPEN_CV_INSTALLED
|
||||
|
||||
#include "opencv2/opencv.hpp"
|
||||
#include "opencv2/highgui/highgui.hpp"
|
||||
|
||||
#endif
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define USER_PERCEPTION_TASK_STACK_SIZE (1024)
|
||||
#define USER_PERCEPTION_DIRECTION_NUM (12)
|
||||
#define FPS_STRING_LEN (50)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef struct {
|
||||
T_DjiPerceptionImageInfo info;
|
||||
uint8_t *imageRawBuffer;
|
||||
T_DjiMutexHandle mutex;
|
||||
bool gotData;
|
||||
} T_DjiTestStereoImagePacket;
|
||||
|
||||
typedef struct {
|
||||
E_DjiPerceptionCameraPosition cameraPosition;
|
||||
char const *name;
|
||||
} T_DjiTestPerceptionCameraPositionName;
|
||||
|
||||
typedef struct {
|
||||
E_DjiPerceptionDirection direction;
|
||||
char const *name;
|
||||
} T_DjiTestPerceptionDirectionName;
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static T_DjiTaskHandle s_stereoImageThread;
|
||||
static T_DjiTestStereoImagePacket s_stereoImagePacket = {
|
||||
.info = {0},
|
||||
.imageRawBuffer = nullptr,
|
||||
.mutex = nullptr,
|
||||
.gotData = false};
|
||||
|
||||
static const T_DjiTestPerceptionDirectionName directionName[] = {
|
||||
{.direction = DJI_PERCEPTION_RECTIFY_DOWN, .name = "down"},
|
||||
{.direction = DJI_PERCEPTION_RECTIFY_FRONT, .name = "front"},
|
||||
{.direction = DJI_PERCEPTION_RECTIFY_REAR, .name = "rear"},
|
||||
{.direction = DJI_PERCEPTION_RECTIFY_UP, .name = "up"},
|
||||
{.direction = DJI_PERCEPTION_RECTIFY_LEFT, .name = "left"},
|
||||
{.direction = DJI_PERCEPTION_RECTIFY_RIGHT, .name = "right"},
|
||||
};
|
||||
|
||||
static const T_DjiTestPerceptionCameraPositionName positionName[] = {
|
||||
{.cameraPosition = RECTIFY_DOWN_LEFT, .name = "down_l"},
|
||||
{.cameraPosition = RECTIFY_DOWN_RIGHT, .name = "down_r"},
|
||||
{.cameraPosition = RECTIFY_FRONT_LEFT, .name = "front_l"},
|
||||
{.cameraPosition = RECTIFY_FRONT_RIGHT, .name = "front_r"},
|
||||
{.cameraPosition = RECTIFY_REAR_LEFT, .name = "rear_l"},
|
||||
{.cameraPosition = RECTIFY_REAR_RIGHT, .name = "rear_r"},
|
||||
{.cameraPosition = RECTIFY_UP_LEFT, .name = "up_l"},
|
||||
{.cameraPosition = RECTIFY_UP_RIGHT, .name = "up_r"},
|
||||
{.cameraPosition = RECTIFY_LEFT_LEFT, .name = "left_l"},
|
||||
{.cameraPosition = RECTIFY_LEFT_RIGHT, .name = "left_r"},
|
||||
{.cameraPosition = RECTIFY_RIGHT_LEFT, .name = "right_l"},
|
||||
{.cameraPosition = RECTIFY_RIGHT_RIGHT, .name = "right_r"},
|
||||
};
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void DjiTest_PerceptionImageCallback(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer,
|
||||
uint32_t bufferLen);
|
||||
static void *DjiTest_StereoImagesDisplayTask(void *arg);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
void DjiUser_RunStereoVisionViewSample(void)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
char inputChar;
|
||||
char isQuit;
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiPerceptionCameraParametersPacket cameraParametersPacket = {0};
|
||||
|
||||
PerceptionSample *perceptionSample;
|
||||
try {
|
||||
perceptionSample = new PerceptionSample;
|
||||
} catch (...) {
|
||||
return;
|
||||
}
|
||||
|
||||
returnCode = osalHandler->MutexCreate(&s_stereoImagePacket.mutex);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Crete mutex failed, return code:0x%08X", returnCode);
|
||||
goto DeletePerception;
|
||||
}
|
||||
|
||||
returnCode = osalHandler->TaskCreate("user_perception_task", DjiTest_StereoImagesDisplayTask,
|
||||
USER_PERCEPTION_TASK_STACK_SIZE, &s_stereoImagePacket, &s_stereoImageThread);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Crete task failed, return code:0x%08X", returnCode);
|
||||
goto DestroyMutex;
|
||||
}
|
||||
|
||||
returnCode = DjiPerception_GetStereoCameraParameters(&cameraParametersPacket);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Get camera parameters failed, return code:0x%08X", returnCode);
|
||||
goto DestroyTask;
|
||||
}
|
||||
|
||||
for (int i = 0; i < cameraParametersPacket.directionNum; i++) {
|
||||
USER_LOG_INFO(" [%-05s] leftIntrinsics = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
|
||||
directionName[cameraParametersPacket.cameraParameters[i].direction].name,
|
||||
cameraParametersPacket.cameraParameters[i].leftIntrinsics[0],
|
||||
cameraParametersPacket.cameraParameters[i].leftIntrinsics[1],
|
||||
cameraParametersPacket.cameraParameters[i].leftIntrinsics[2],
|
||||
cameraParametersPacket.cameraParameters[i].leftIntrinsics[3],
|
||||
cameraParametersPacket.cameraParameters[i].leftIntrinsics[4],
|
||||
cameraParametersPacket.cameraParameters[i].leftIntrinsics[5],
|
||||
cameraParametersPacket.cameraParameters[i].leftIntrinsics[6],
|
||||
cameraParametersPacket.cameraParameters[i].leftIntrinsics[7],
|
||||
cameraParametersPacket.cameraParameters[i].leftIntrinsics[8]);
|
||||
USER_LOG_INFO("[%-05s] rightIntrinsics = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
|
||||
directionName[cameraParametersPacket.cameraParameters[i].direction].name,
|
||||
cameraParametersPacket.cameraParameters[i].rightIntrinsics[0],
|
||||
cameraParametersPacket.cameraParameters[i].rightIntrinsics[1],
|
||||
cameraParametersPacket.cameraParameters[i].rightIntrinsics[2],
|
||||
cameraParametersPacket.cameraParameters[i].rightIntrinsics[3],
|
||||
cameraParametersPacket.cameraParameters[i].rightIntrinsics[4],
|
||||
cameraParametersPacket.cameraParameters[i].rightIntrinsics[5],
|
||||
cameraParametersPacket.cameraParameters[i].rightIntrinsics[6],
|
||||
cameraParametersPacket.cameraParameters[i].rightIntrinsics[7],
|
||||
cameraParametersPacket.cameraParameters[i].rightIntrinsics[8]);
|
||||
USER_LOG_INFO("[%-05s] rotationLeftInRight = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
|
||||
directionName[cameraParametersPacket.cameraParameters[i].direction].name,
|
||||
cameraParametersPacket.cameraParameters[i].rotationLeftInRight[0],
|
||||
cameraParametersPacket.cameraParameters[i].rotationLeftInRight[1],
|
||||
cameraParametersPacket.cameraParameters[i].rotationLeftInRight[2],
|
||||
cameraParametersPacket.cameraParameters[i].rotationLeftInRight[3],
|
||||
cameraParametersPacket.cameraParameters[i].rotationLeftInRight[4],
|
||||
cameraParametersPacket.cameraParameters[i].rotationLeftInRight[5],
|
||||
cameraParametersPacket.cameraParameters[i].rotationLeftInRight[6],
|
||||
cameraParametersPacket.cameraParameters[i].rotationLeftInRight[7],
|
||||
cameraParametersPacket.cameraParameters[i].rotationLeftInRight[8]);
|
||||
USER_LOG_INFO("[%-05s] translationLeftInRight = {%f, %f, %f }\r\n",
|
||||
directionName[cameraParametersPacket.cameraParameters[i].direction].name,
|
||||
cameraParametersPacket.cameraParameters[i].translationLeftInRight[0],
|
||||
cameraParametersPacket.cameraParameters[i].translationLeftInRight[1],
|
||||
cameraParametersPacket.cameraParameters[i].translationLeftInRight[2]);
|
||||
osalHandler->TaskSleepMs(100);
|
||||
}
|
||||
|
||||
while (true) {
|
||||
std::cout
|
||||
<< "| Available commands: |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [d] Subscribe down stereo camera pair images |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [f] Subscribe front stereo camera pair images |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [r] Subscribe rear stereo camera pair images |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [u] Subscribe up stereo camera pair images |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [l] Subscribe left stereo camera pair images |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [t] Subscribe right stereo camera pair images |"
|
||||
<<
|
||||
std::endl;
|
||||
std::cout
|
||||
<< "| [q] quit |"
|
||||
<<
|
||||
std::endl;
|
||||
|
||||
std::cin >> inputChar;
|
||||
switch (inputChar) {
|
||||
case 'd':
|
||||
USER_LOG_INFO("Subscribe down stereo camera pair images.");
|
||||
perceptionSample->SubscribeDownImage(DjiTest_PerceptionImageCallback);
|
||||
break;
|
||||
case 'f':
|
||||
USER_LOG_INFO("Subscribe front stereo camera pair images.");
|
||||
perceptionSample->SubscribeFrontImage(DjiTest_PerceptionImageCallback);
|
||||
break;
|
||||
case 'r':
|
||||
USER_LOG_INFO("Subscribe rear stereo camera pair images.");
|
||||
perceptionSample->SubscribeRearImage(DjiTest_PerceptionImageCallback);
|
||||
break;
|
||||
case 'u':
|
||||
USER_LOG_INFO("Subscribe up stereo camera pair images.");
|
||||
perceptionSample->SubscribeUpImage(DjiTest_PerceptionImageCallback);
|
||||
break;
|
||||
case 'l':
|
||||
USER_LOG_INFO("Subscribe left stereo camera pair images.");
|
||||
perceptionSample->SubscribeLeftImage(DjiTest_PerceptionImageCallback);
|
||||
break;
|
||||
case 't':
|
||||
USER_LOG_INFO("Subscribe right stereo camera pair images.");
|
||||
perceptionSample->SubscribeRightImage(DjiTest_PerceptionImageCallback);
|
||||
break;
|
||||
case 'g':
|
||||
USER_LOG_INFO("Do stereo camera parameters subscription");
|
||||
break;
|
||||
case 'q':
|
||||
goto DestroyTask;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
while (true) {
|
||||
cin >> isQuit;
|
||||
if (isQuit == 'q' || isQuit == 'Q') {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
switch (inputChar) {
|
||||
case 'd':
|
||||
USER_LOG_INFO("Unsubscribe down stereo camera pair images.");
|
||||
perceptionSample->UnSubscribeDownImage();
|
||||
break;
|
||||
case 'f':
|
||||
USER_LOG_INFO("Unsubscribe front stereo camera pair images.");
|
||||
perceptionSample->UnSubscribeFrontImage();
|
||||
break;
|
||||
case 'r':
|
||||
USER_LOG_INFO("Unsubscribe rear stereo camera pair images.");
|
||||
perceptionSample->UnSubscribeRearImage();
|
||||
break;
|
||||
case 'u':
|
||||
USER_LOG_INFO("Unsubscribe up stereo camera pair images.");
|
||||
perceptionSample->UnSubscribeUpImage();
|
||||
break;
|
||||
case 'l':
|
||||
USER_LOG_INFO("Unsubscribe left stereo camera pair images.");
|
||||
perceptionSample->UnSubscribeLeftImage();
|
||||
break;
|
||||
case 't':
|
||||
USER_LOG_INFO("Unsubscribe right stereo camera pair images.");
|
||||
perceptionSample->UnSubscribeRightImage();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
#ifdef OPEN_CV_INSTALLED
|
||||
cv::destroyAllWindows();
|
||||
#endif
|
||||
}
|
||||
|
||||
DestroyTask:
|
||||
returnCode = osalHandler->TaskDestroy(s_stereoImageThread);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Destroy task failed, return code:0x%08X", returnCode);
|
||||
}
|
||||
|
||||
DestroyMutex:
|
||||
returnCode = osalHandler->MutexDestroy(s_stereoImagePacket.mutex);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Destroy mutex failed, return code:0x%08X", returnCode);
|
||||
}
|
||||
|
||||
DeletePerception:
|
||||
delete perceptionSample;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static void DjiTest_PerceptionImageCallback(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer,
|
||||
uint32_t bufferLen)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
USER_LOG_INFO("image info : dataId(%d) seq(%d) timestamp(%llu) datatype(%d) index(%d) h(%d) w(%d) dir(%d) "
|
||||
"bpp(%d) bufferlen(%d)", imageInfo.dataId, imageInfo.sequence, imageInfo.timeStamp,
|
||||
imageInfo.dataType,
|
||||
imageInfo.rawInfo.index, imageInfo.rawInfo.height, imageInfo.rawInfo.width,
|
||||
imageInfo.rawInfo.direction,
|
||||
imageInfo.rawInfo.bpp, bufferLen);
|
||||
|
||||
if (imageRawBuffer) {
|
||||
osalHandler->MutexLock(s_stereoImagePacket.mutex);
|
||||
s_stereoImagePacket.info = imageInfo;
|
||||
if (s_stereoImagePacket.imageRawBuffer) osalHandler->Free(s_stereoImagePacket.imageRawBuffer);
|
||||
s_stereoImagePacket.imageRawBuffer = (uint8_t *) osalHandler->Malloc(bufferLen);
|
||||
memcpy(s_stereoImagePacket.imageRawBuffer, imageRawBuffer, bufferLen);
|
||||
s_stereoImagePacket.gotData = true;
|
||||
osalHandler->MutexUnlock(s_stereoImagePacket.mutex);
|
||||
}
|
||||
}
|
||||
|
||||
static void *DjiTest_StereoImagesDisplayTask(void *arg)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
auto *pack = (T_DjiTestStereoImagePacket *) arg;
|
||||
char nameStr[32] = {0};
|
||||
char fpsStr[20] = "FPS: ";
|
||||
int fps = 0;
|
||||
double timePrev[USER_PERCEPTION_DIRECTION_NUM] = {0};
|
||||
double timeNow[USER_PERCEPTION_DIRECTION_NUM] = {0};
|
||||
double timeFess[USER_PERCEPTION_DIRECTION_NUM] = {0};
|
||||
int count[USER_PERCEPTION_DIRECTION_NUM] = {1};
|
||||
char showFpsString[USER_PERCEPTION_DIRECTION_NUM][FPS_STRING_LEN] = {0};
|
||||
int i = 0;
|
||||
|
||||
while (true) {
|
||||
osalHandler->TaskSleepMs(1);
|
||||
#ifdef OPEN_CV_INSTALLED
|
||||
/*! Get data here */
|
||||
osalHandler->MutexLock(pack->mutex);
|
||||
if (!pack->gotData) {
|
||||
osalHandler->MutexUnlock(pack->mutex);
|
||||
continue;
|
||||
}
|
||||
cv::Mat cv_img_stereo = cv::Mat(pack->info.rawInfo.height, pack->info.rawInfo.width, CV_8U);
|
||||
int copySize = pack->info.rawInfo.height * pack->info.rawInfo.width;
|
||||
if (pack->imageRawBuffer) {
|
||||
memcpy(cv_img_stereo.data, pack->imageRawBuffer, copySize);
|
||||
osalHandler->Free(pack->imageRawBuffer);
|
||||
pack->imageRawBuffer = NULL;
|
||||
}
|
||||
|
||||
for (i = 0; i < sizeof(positionName) / sizeof(T_DjiTestPerceptionCameraPositionName); ++i) {
|
||||
if (positionName[i].cameraPosition == pack->info.dataType) {
|
||||
sprintf(nameStr, "Image position: %s", positionName[i].name);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
pack->gotData = false;
|
||||
osalHandler->MutexUnlock(pack->mutex);
|
||||
|
||||
if (i < USER_PERCEPTION_DIRECTION_NUM) {
|
||||
/*! Calculate frame rate */
|
||||
timeNow[i] = (double) cv::getTickCount();
|
||||
if (timePrev[i] != 0) {
|
||||
timeFess[i] = (timeNow[i] - timePrev[i]) / cv::getTickFrequency() + timeFess[i];
|
||||
count[i]++;
|
||||
}
|
||||
if (timeFess[i] > 1) {
|
||||
memset(&showFpsString[i][0], 0, FPS_STRING_LEN);
|
||||
fps = count[i] / timeFess[i];
|
||||
timeFess[i] = 0;
|
||||
count[i] = 0;
|
||||
sprintf(&showFpsString[i][0], "%s%d", fpsStr, fps);
|
||||
}
|
||||
timePrev[i] = timeNow[i];
|
||||
cv::putText(cv_img_stereo, &showFpsString[i][0], cv::Point(5, 20),
|
||||
cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
|
||||
}
|
||||
cv::imshow(nameStr, cv_img_stereo);
|
||||
cv::waitKey(1);
|
||||
#else
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
USER_LOG_WARN("Please install opencv to run this stereo image display sample.");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,49 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_perception_entry.hpp
|
||||
* @brief This is the header file for "test_perception_entry.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_PERCEPTION_ENTRY_H
|
||||
#define TEST_PERCEPTION_ENTRY_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_perception.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
void DjiUser_RunStereoVisionViewSample(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_PERCEPTION_ENTRY_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
181
PSDK/samples/sample_c++/platform/linux/common/3rdparty/FindFFMPEG.cmake
vendored
Normal file
181
PSDK/samples/sample_c++/platform/linux/common/3rdparty/FindFFMPEG.cmake
vendored
Normal file
@ -0,0 +1,181 @@
|
||||
#
|
||||
# Find the native FFMPEG includes and library
|
||||
#
|
||||
# This module defines
|
||||
# FFMPEG_INCLUDE_DIR, where to find avcodec.h, avformat.h ...
|
||||
# FFMPEG_LIBRARIES, the libraries to link against to use FFMPEG.
|
||||
# FFMPEG_FOUND, If false, do not try to use FFMPEG.
|
||||
|
||||
# also defined, but not for general use are
|
||||
# FFMPEG_avformat_LIBRARY and FFMPEG_avcodec_LIBRARY, where to find the FFMPEG library.
|
||||
# This is useful to do it this way so that we can always add more libraries
|
||||
# if needed to FFMPEG_LIBRARIES if ffmpeg ever changes...
|
||||
|
||||
# if ffmpeg headers are all in one directory
|
||||
FIND_PATH(FFMPEG_INCLUDE_DIR avformat.h
|
||||
PATHS
|
||||
$ENV{FFMPEG_DIR}/include
|
||||
$ENV{OSGDIR}/include
|
||||
$ENV{OSG_ROOT}/include
|
||||
~/Library/Frameworks
|
||||
/Library/Frameworks
|
||||
/usr/local/include
|
||||
/usr/include
|
||||
/sw/include # Fink
|
||||
/opt/local/include # DarwinPorts
|
||||
/opt/csw/include # Blastwave
|
||||
/opt/include
|
||||
/usr/freeware/include
|
||||
PATH_SUFFIXES ffmpeg
|
||||
DOC "Location of FFMPEG Headers"
|
||||
)
|
||||
|
||||
# if ffmpeg headers are seperated to each of libavformat, libavcodec etc..
|
||||
IF( NOT FFMPEG_INCLUDE_DIR )
|
||||
FIND_PATH(FFMPEG_INCLUDE_DIR libavformat/avformat.h
|
||||
PATHS
|
||||
$ENV{FFMPEG_DIR}/include
|
||||
$ENV{OSGDIR}/include
|
||||
$ENV{OSG_ROOT}/include
|
||||
~/Library/Frameworks
|
||||
/Library/Frameworks
|
||||
/usr/local/include
|
||||
/usr/include
|
||||
/sw/include # Fink
|
||||
/opt/local/include # DarwinPorts
|
||||
/opt/csw/include # Blastwave
|
||||
/opt/include
|
||||
/usr/freeware/include
|
||||
PATH_SUFFIXES ffmpeg
|
||||
DOC "Location of FFMPEG Headers"
|
||||
)
|
||||
|
||||
ENDIF( NOT FFMPEG_INCLUDE_DIR )
|
||||
|
||||
# we want the -I include line to use the parent directory of ffmpeg as
|
||||
# ffmpeg uses relative includes such as <ffmpeg/avformat.h> or <libavcodec/avformat.h>
|
||||
get_filename_component(FFMPEG_INCLUDE_DIR ${FFMPEG_INCLUDE_DIR} ABSOLUTE)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_avformat_LIBRARY avformat
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_avcodec_LIBRARY avcodec
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_avutil_LIBRARY avutil
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_vorbis_LIBRARY vorbis
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_dc1394_LIBRARY dc1394_control
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_vorbisenc_LIBRARY vorbisenc
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_theora_LIBRARY theora
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_dts_LIBRARY dts
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_gsm_LIBRARY gsm
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_swscale_LIBRARY swscale
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
FIND_LIBRARY(FFMPEG_z_LIBRARY z
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
SET(FFMPEG_LIBRARIES)
|
||||
IF(FFMPEG_INCLUDE_DIR)
|
||||
IF(FFMPEG_avformat_LIBRARY)
|
||||
IF(FFMPEG_avcodec_LIBRARY)
|
||||
IF(FFMPEG_avutil_LIBRARY)
|
||||
SET( FFMPEG_FOUND "YES" )
|
||||
SET( FFMPEG_BASIC_LIBRARIES
|
||||
${FFMPEG_avcodec_LIBRARY}
|
||||
${FFMPEG_avformat_LIBRARY}
|
||||
${FFMPEG_avutil_LIBRARY}
|
||||
)
|
||||
|
||||
# swscale is always a part of newer ffmpeg distros
|
||||
IF(FFMPEG_swscale_LIBRARY)
|
||||
LIST(APPEND FFMPEG_BASIC_LIBRARIES ${FFMPEG_swscale_LIBRARY})
|
||||
ENDIF(FFMPEG_swscale_LIBRARY)
|
||||
|
||||
SET(FFMPEG_LIBRARIES ${FFMPEG_BASIC_LIBRARIES})
|
||||
|
||||
IF(FFMPEG_vorbis_LIBRARY)
|
||||
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_vorbis_LIBRARY})
|
||||
ENDIF(FFMPEG_vorbis_LIBRARY)
|
||||
|
||||
IF(FFMPEG_dc1394_LIBRARY)
|
||||
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_dc1394_LIBRARY})
|
||||
ENDIF(FFMPEG_dc1394_LIBRARY)
|
||||
|
||||
IF(FFMPEG_vorbisenc_LIBRARY)
|
||||
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_vorbisenc_LIBRARY})
|
||||
ENDIF(FFMPEG_vorbisenc_LIBRARY)
|
||||
|
||||
IF(FFMPEG_theora_LIBRARY)
|
||||
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_theora_LIBRARY})
|
||||
ENDIF(FFMPEG_theora_LIBRARY)
|
||||
|
||||
IF(FFMPEG_dts_LIBRARY)
|
||||
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_dts_LIBRARY})
|
||||
ENDIF(FFMPEG_dts_LIBRARY)
|
||||
|
||||
IF(FFMPEG_gsm_LIBRARY)
|
||||
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_gsm_LIBRARY})
|
||||
ENDIF(FFMPEG_gsm_LIBRARY)
|
||||
|
||||
IF(FFMPEG_z_LIBRARY)
|
||||
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_z_LIBRARY})
|
||||
ENDIF(FFMPEG_z_LIBRARY)
|
||||
|
||||
SET(FFMPEG_LIBRARIES ${FFMPEG_LIBRARIES} CACHE INTERNAL "All presently found FFMPEG libraries.")
|
||||
|
||||
ENDIF(FFMPEG_avutil_LIBRARY)
|
||||
ENDIF(FFMPEG_avcodec_LIBRARY)
|
||||
ENDIF(FFMPEG_avformat_LIBRARY)
|
||||
ENDIF(FFMPEG_INCLUDE_DIR)
|
||||
|
||||
MARK_AS_ADVANCED(
|
||||
FFMPEG_INCLUDE_DIR
|
||||
FFMPEG_avformat_LIBRARY
|
||||
FFMPEG_avcodec_LIBRARY
|
||||
FFMPEG_avutil_LIBRARY
|
||||
FFMPEG_vorbis_LIBRARY
|
||||
FFMPEG_dc1394_LIBRARY
|
||||
FFMPEG_vorbisenc_LIBRARY
|
||||
FFMPEG_theora_LIBRARY
|
||||
FFMPEG_dts_LIBRARY
|
||||
FFMPEG_gsm_LIBRARY
|
||||
FFMPEG_swscale_LIBRARY
|
||||
FFMPEG_z_LIBRARY
|
||||
)
|
||||
34
PSDK/samples/sample_c++/platform/linux/common/3rdparty/FindLIBUSB.cmake
vendored
Normal file
34
PSDK/samples/sample_c++/platform/linux/common/3rdparty/FindLIBUSB.cmake
vendored
Normal file
@ -0,0 +1,34 @@
|
||||
#
|
||||
# Find the native LIBUSB includes and library
|
||||
#
|
||||
# This module defines
|
||||
# LIBUSB_INCLUDE_DIR, where to find libusb.h
|
||||
# LIBUSB_LIBRARY, the libraries to link against to use LIBUSB.
|
||||
# LIBUSB_FOUND, If false, do not try to use LIBUSB.
|
||||
|
||||
FIND_PATH(LIBUSB_INCLUDE_DIR libusb.h
|
||||
PATHS
|
||||
/usr/local/include/libusb-1.0
|
||||
/usr/include/libusb-1.0
|
||||
/opt/local/include
|
||||
/opt/include
|
||||
)
|
||||
|
||||
get_filename_component(LIBUSB_INCLUDE_DIR ${LIBUSB_INCLUDE_DIR} ABSOLUTE)
|
||||
|
||||
FIND_LIBRARY(LIBUSB_LIBRARY usb-1.0
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
IF (LIBUSB_INCLUDE_DIR)
|
||||
IF (LIBUSB_LIBRARY)
|
||||
SET(LIBUSB_FOUND "YES")
|
||||
ENDIF (LIBUSB_LIBRARY)
|
||||
ENDIF (LIBUSB_INCLUDE_DIR)
|
||||
|
||||
MARK_AS_ADVANCED(
|
||||
LIBUSB_INCLUDE_DIR
|
||||
LIBUSB_LIBRARY
|
||||
LIBUSB_FOUND
|
||||
)
|
||||
34
PSDK/samples/sample_c++/platform/linux/common/3rdparty/FindOPUS.cmake
vendored
Normal file
34
PSDK/samples/sample_c++/platform/linux/common/3rdparty/FindOPUS.cmake
vendored
Normal file
@ -0,0 +1,34 @@
|
||||
#
|
||||
# Find the native OPUS includes and library
|
||||
#
|
||||
# This module defines
|
||||
# OPUS_INCLUDE_DIR, where to find opus.h
|
||||
# OPUS_LIBRARY, the libraries to link against to use OPUS.
|
||||
# OPUS_FOUND, If false, do not try to use OPUS.
|
||||
|
||||
FIND_PATH(OPUS_INCLUDE_DIR opus.h
|
||||
PATHS
|
||||
/usr/local/include/opus
|
||||
/usr/include/opus
|
||||
/opt/local/include
|
||||
/opt/include
|
||||
)
|
||||
|
||||
get_filename_component(OPUS_INCLUDE_DIR ${OPUS_INCLUDE_DIR} ABSOLUTE)
|
||||
|
||||
FIND_LIBRARY(OPUS_LIBRARY opus
|
||||
/usr/local/lib
|
||||
/usr/lib
|
||||
)
|
||||
|
||||
IF (OPUS_INCLUDE_DIR)
|
||||
IF (OPUS_LIBRARY)
|
||||
SET(OPUS_FOUND "YES")
|
||||
ENDIF (OPUS_LIBRARY)
|
||||
ENDIF (OPUS_INCLUDE_DIR)
|
||||
|
||||
MARK_AS_ADVANCED(
|
||||
OPUS_INCLUDE_DIR
|
||||
OPUS_LIBRARY
|
||||
OPUS_FOUND
|
||||
)
|
||||
347
PSDK/samples/sample_c++/platform/linux/common/osal/osal.c
Normal file
347
PSDK/samples/sample_c++/platform/linux/common/osal/osal.c
Normal file
@ -0,0 +1,347 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file osal.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "osal.h"
|
||||
#include "dji_typedef.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static uint32_t s_localTimeMsOffset = 0;
|
||||
static uint64_t s_localTimeUsOffset = 0;
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
|
||||
T_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *), uint32_t stackSize, void *arg,
|
||||
T_DjiTaskHandle *task)
|
||||
{
|
||||
int result;
|
||||
char nameDealed[16] = {0};
|
||||
|
||||
*task = malloc(sizeof(pthread_t));
|
||||
if (*task == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
result = pthread_create(*task, NULL, taskFunc, arg);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
if (name != NULL)
|
||||
strncpy(nameDealed, name, sizeof(nameDealed) - 1);
|
||||
result = pthread_setname_np(*(pthread_t *) *task, nameDealed);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
|
||||
pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task)
|
||||
{
|
||||
pthread_cancel(*(pthread_t *) task);
|
||||
free(task);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs)
|
||||
{
|
||||
usleep(1000 * timeMs);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Declare the mutex container, initialize the mutex, and
|
||||
* create mutex ID.
|
||||
* @param mutex: pointer to the created mutex ID.
|
||||
* @return an enum that represents a status of PSDK
|
||||
*/
|
||||
T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
|
||||
{
|
||||
int result;
|
||||
|
||||
if (!mutex) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
*mutex = malloc(sizeof(pthread_mutex_t));
|
||||
if (*mutex == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
result = pthread_mutex_init(*mutex, NULL);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Delete the created mutex.
|
||||
* @param mutex: pointer to the created mutex ID.
|
||||
* @return an enum that represents a status of PSDK
|
||||
*/
|
||||
T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
|
||||
{
|
||||
int result = 0;
|
||||
|
||||
if (!mutex) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
result = pthread_mutex_destroy(mutex);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
free(mutex);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Acquire and lock the mutex when peripheral access is required
|
||||
* @param mutex: pointer to the created mutex ID.
|
||||
* @return an enum that represents a status of PSDK
|
||||
*/
|
||||
T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
|
||||
{
|
||||
int result = 0;
|
||||
|
||||
if (!mutex) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
result = pthread_mutex_lock(mutex);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Unlock and release the mutex, when done with the peripheral access.
|
||||
* @param mutex: pointer to the created mutex ID.
|
||||
* @return an enum that represents a status of PSDK
|
||||
*/
|
||||
T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
|
||||
{
|
||||
int result = 0;
|
||||
|
||||
if (!mutex) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
result = pthread_mutex_unlock(mutex);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Declare the semaphore container, initialize the semaphore, and
|
||||
* create semaphore ID.
|
||||
* @param semaphore: pointer to the created semaphore ID.
|
||||
* @param initValue: initial value of semaphore.
|
||||
* @return an enum that represents a status of PSDK
|
||||
*/
|
||||
T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaphore)
|
||||
{
|
||||
int result;
|
||||
|
||||
*semaphore = malloc(sizeof(sem_t));
|
||||
if (*semaphore == NULL) {
|
||||
return
|
||||
DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
result = sem_init(*semaphore, 0, (unsigned int) initValue);
|
||||
if (result != 0) {
|
||||
return
|
||||
DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return
|
||||
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Delete the created semaphore.
|
||||
* @param semaphore: pointer to the created semaphore ID.
|
||||
* @return an enum that represents a status of PSDK
|
||||
*/
|
||||
T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore)
|
||||
{
|
||||
int result;
|
||||
|
||||
result = sem_destroy((sem_t *) semaphore);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
free(semaphore);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Wait the semaphore until token becomes available.
|
||||
* @param semaphore: pointer to the created semaphore ID.
|
||||
* @return an enum that represents a status of PSDK
|
||||
*/
|
||||
T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore)
|
||||
{
|
||||
int result;
|
||||
|
||||
result = sem_wait(semaphore);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Wait the semaphore until token becomes available.
|
||||
* @param semaphore: pointer to the created semaphore ID.
|
||||
* @param waitTime: timeout value of waiting semaphore, unit: millisecond.
|
||||
* @return an enum that represents a status of PSDK
|
||||
*/
|
||||
T_DjiReturnCode Osal_SemaphoreTimedWait(T_DjiSemaHandle semaphore, uint32_t waitTime)
|
||||
{
|
||||
int result;
|
||||
struct timespec semaphoreWaitTime;
|
||||
struct timeval systemTime;
|
||||
|
||||
gettimeofday(&systemTime, NULL);
|
||||
|
||||
systemTime.tv_usec += waitTime * 1000;
|
||||
if (systemTime.tv_usec >= 1000000) {
|
||||
systemTime.tv_sec += systemTime.tv_usec / 1000000;
|
||||
systemTime.tv_usec %= 1000000;
|
||||
}
|
||||
|
||||
semaphoreWaitTime.tv_sec = systemTime.tv_sec;
|
||||
semaphoreWaitTime.tv_nsec = systemTime.tv_usec * 1000;
|
||||
|
||||
result = sem_timedwait(semaphore, &semaphoreWaitTime);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Release the semaphore token.
|
||||
* @param semaphore: pointer to the created semaphore ID.
|
||||
* @return an enum that represents a status of PSDK
|
||||
*/
|
||||
T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore)
|
||||
{
|
||||
int result;
|
||||
|
||||
result = sem_post(semaphore);
|
||||
if (result != 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the system time for ms.
|
||||
* @return an uint32 that the time of system, uint:ms
|
||||
*/
|
||||
T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
|
||||
{
|
||||
struct timeval time;
|
||||
|
||||
gettimeofday(&time, NULL);
|
||||
*ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
|
||||
|
||||
if (s_localTimeMsOffset == 0) {
|
||||
s_localTimeMsOffset = *ms;
|
||||
} else {
|
||||
*ms = *ms - s_localTimeMsOffset;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
|
||||
{
|
||||
struct timeval time;
|
||||
|
||||
gettimeofday(&time, NULL);
|
||||
*us = (time.tv_sec * 1000000 + time.tv_usec);
|
||||
|
||||
if (s_localTimeUsOffset == 0) {
|
||||
s_localTimeUsOffset = *us;
|
||||
} else {
|
||||
*us = *us - s_localTimeMsOffset;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum)
|
||||
{
|
||||
srand(time(NULL));
|
||||
*randomNum = random() % 65535;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
void *Osal_Malloc(uint32_t size)
|
||||
{
|
||||
return malloc(size);
|
||||
}
|
||||
|
||||
void Osal_Free(void *ptr)
|
||||
{
|
||||
free(ptr);
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
78
PSDK/samples/sample_c++/platform/linux/common/osal/osal.h
Normal file
78
PSDK/samples/sample_c++/platform/linux/common/osal/osal.h
Normal file
@ -0,0 +1,78 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file osal.h
|
||||
* @version V2.0.0
|
||||
* @date 2019/8/28
|
||||
* @brief This is the header file for "osal.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef OSAL_H
|
||||
#define OSAL_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <pthread.h>
|
||||
#include <semaphore.h>
|
||||
#include <sys/time.h>
|
||||
#include <unistd.h>
|
||||
#include "dji_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *),
|
||||
uint32_t stackSize, void *arg, T_DjiTaskHandle *task);
|
||||
T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task);
|
||||
T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs);
|
||||
|
||||
T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex);
|
||||
T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex);
|
||||
T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex);
|
||||
T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex);
|
||||
|
||||
T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaphore);
|
||||
T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore);
|
||||
T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore);
|
||||
T_DjiReturnCode Osal_SemaphoreTimedWait(T_DjiSemaHandle semaphore, uint32_t waitTime);
|
||||
T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
|
||||
|
||||
T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
|
||||
T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
|
||||
T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum);
|
||||
|
||||
void *Osal_Malloc(uint32_t size);
|
||||
void Osal_Free(void *ptr);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // OSAL_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
288
PSDK/samples/sample_c++/platform/linux/common/osal/osal_fs.c
Normal file
288
PSDK/samples/sample_c++/platform/linux/common/osal/osal_fs.c
Normal file
@ -0,0 +1,288 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file osal_fs.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "osal_fs.h"
|
||||
#include "stdio.h"
|
||||
#include "stdlib.h"
|
||||
#include "unistd.h"
|
||||
#include <sys/stat.h>
|
||||
#include <dirent.h>
|
||||
#include "time.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode Osal_FileOpen(const char *fileName, const char *fileMode, T_DjiFileHandle *fileObj)
|
||||
{
|
||||
if (fileName == NULL || fileMode == NULL || fileObj == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
*fileObj = fopen(fileName, fileMode);
|
||||
if (*fileObj == NULL) {
|
||||
goto out;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
|
||||
out:
|
||||
free(*fileObj);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_FileClose(T_DjiFileHandle fileObj)
|
||||
{
|
||||
int32_t ret;
|
||||
|
||||
if (fileObj == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = fclose(fileObj);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_FileWrite(T_DjiFileHandle fileObj, const uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
|
||||
if (fileObj == NULL || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = fwrite(buf, 1, len, fileObj);
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_FileRead(T_DjiFileHandle fileObj, uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
|
||||
if (fileObj == NULL || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = fread(buf, 1, len, fileObj);
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_FileSeek(T_DjiFileHandle fileObj, uint32_t offset)
|
||||
{
|
||||
int32_t ret;
|
||||
|
||||
if (fileObj == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = fseek(fileObj, offset, SEEK_SET);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_FileSync(T_DjiFileHandle fileObj)
|
||||
{
|
||||
int32_t ret;
|
||||
|
||||
if (fileObj == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = fflush(fileObj);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_DirOpen(const char *filePath, T_DjiDirHandle *dirObj)
|
||||
{
|
||||
if (filePath == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
*dirObj = opendir(filePath);
|
||||
if (*dirObj == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_DirClose(T_DjiDirHandle dirObj)
|
||||
{
|
||||
int32_t ret;
|
||||
|
||||
if (dirObj == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = closedir((DIR *) dirObj);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_DirRead(T_DjiDirHandle dirObj, T_DjiFileInfo *fileInfo)
|
||||
{
|
||||
struct dirent *dirent;
|
||||
|
||||
if (dirObj == NULL || fileInfo == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
dirent = readdir((DIR *) dirObj);
|
||||
if (!dirent) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
if (dirent->d_type == DT_DIR) {
|
||||
fileInfo->isDir = true;
|
||||
} else {
|
||||
fileInfo->isDir = false;
|
||||
}
|
||||
strcpy(fileInfo->path, dirent->d_name);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_Mkdir(const char *filePath)
|
||||
{
|
||||
int32_t ret;
|
||||
|
||||
if (filePath == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = mkdir(filePath, S_IRWXU);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_Unlink(const char *filePath)
|
||||
{
|
||||
int32_t ret;
|
||||
|
||||
if (filePath == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
if (filePath[strlen(filePath) - 1] == '/') {
|
||||
ret = rmdir(filePath);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
} else {
|
||||
ret = unlink(filePath);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_Rename(const char *oldFilePath, const char *newFilePath)
|
||||
{
|
||||
int32_t ret;
|
||||
|
||||
if (oldFilePath == NULL || newFilePath == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = rename(oldFilePath, newFilePath);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_Stat(const char *filePath, T_DjiFileInfo *fileInfo)
|
||||
{
|
||||
struct stat st;
|
||||
int32_t ret;
|
||||
struct tm *fileTm;
|
||||
|
||||
if (filePath == NULL || fileInfo == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = stat(filePath, &st);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
fileTm = localtime(&(st.st_ctime));
|
||||
if (fileTm == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
fileInfo->size = st.st_size;
|
||||
|
||||
fileInfo->createTime.year = fileTm->tm_year + 1900 - 1980;
|
||||
fileInfo->createTime.month = fileTm->tm_mon;
|
||||
fileInfo->createTime.day = fileTm->tm_mday;
|
||||
fileInfo->createTime.hour = fileTm->tm_hour;
|
||||
fileInfo->createTime.minute = fileTm->tm_min;
|
||||
fileInfo->createTime.second = fileTm->tm_sec;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
73
PSDK/samples/sample_c++/platform/linux/common/osal/osal_fs.h
Normal file
73
PSDK/samples/sample_c++/platform/linux/common/osal/osal_fs.h
Normal file
@ -0,0 +1,73 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file osal_fs.h
|
||||
* @brief This is the header file for "osal_fs.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef OSAL_FS_H
|
||||
#define OSAL_FS_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode Osal_FileOpen(const char *fileName, const char *fileMode, T_DjiFileHandle *fileObj);
|
||||
|
||||
T_DjiReturnCode Osal_FileClose(T_DjiFileHandle fileObj);
|
||||
|
||||
T_DjiReturnCode Osal_FileWrite(T_DjiFileHandle fileObj, const uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
|
||||
T_DjiReturnCode Osal_FileRead(T_DjiFileHandle fileObj, uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
|
||||
T_DjiReturnCode Osal_FileSeek(T_DjiFileHandle fileObj, uint32_t offset);
|
||||
|
||||
T_DjiReturnCode Osal_FileSync(T_DjiFileHandle fileObj);
|
||||
|
||||
T_DjiReturnCode Osal_DirOpen(const char *filePath, T_DjiDirHandle *dirObj);
|
||||
|
||||
T_DjiReturnCode Osal_DirClose(T_DjiDirHandle dirObj);
|
||||
|
||||
T_DjiReturnCode Osal_DirRead(T_DjiDirHandle dirObj, T_DjiFileInfo *fileInfo);
|
||||
|
||||
T_DjiReturnCode Osal_Mkdir(const char *filePath);
|
||||
|
||||
T_DjiReturnCode Osal_Unlink(const char *filePath);
|
||||
|
||||
T_DjiReturnCode Osal_Rename(const char *oldFilePath, const char *newFilePath);
|
||||
|
||||
T_DjiReturnCode Osal_Stat(const char *filePath, T_DjiFileInfo *fileInfo);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // OSAL_FS_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
299
PSDK/samples/sample_c++/platform/linux/common/osal/osal_socket.c
Normal file
299
PSDK/samples/sample_c++/platform/linux/common/osal/osal_socket.c
Normal file
@ -0,0 +1,299 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file osal_socket.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "osal_socket.h"
|
||||
#include <sys/socket.h>
|
||||
#include <netinet/in.h>
|
||||
#include <arpa/inet.h>
|
||||
#include <unistd.h>
|
||||
#include "stdlib.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define SOCKET_RECV_BUF_MAX_SIZE (1000 * 1000 * 10)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef struct {
|
||||
int socketFd;
|
||||
} T_SocketHandleStruct;
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle)
|
||||
{
|
||||
T_SocketHandleStruct *socketHandleStruct;
|
||||
socklen_t optlen = sizeof(int);
|
||||
int rcvBufSize = SOCKET_RECV_BUF_MAX_SIZE;
|
||||
int opt = 1;
|
||||
|
||||
/*! set the socket default read buffer to 20MByte */
|
||||
system("echo 20000000 > /proc/sys/net/core/rmem_default");
|
||||
|
||||
/*! set the socket max read buffer to 50MByte */
|
||||
system("echo 50000000 > /proc/sys/net/core/rmem_max");
|
||||
|
||||
if (socketHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
socketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
|
||||
if (socketHandleStruct == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
if (mode == DJI_SOCKET_MODE_UDP) {
|
||||
socketHandleStruct->socketFd = socket(PF_INET, SOCK_DGRAM, 0);
|
||||
|
||||
if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_REUSEADDR, &opt, optlen) < 0) {
|
||||
goto out;
|
||||
}
|
||||
|
||||
if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0)
|
||||
{
|
||||
goto out;
|
||||
}
|
||||
} else if (mode == DJI_SOCKET_MODE_TCP) {
|
||||
socketHandleStruct->socketFd = socket(PF_INET, SOCK_STREAM, 0);
|
||||
} else {
|
||||
goto out;
|
||||
}
|
||||
|
||||
*socketHandle = socketHandleStruct;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
|
||||
out:
|
||||
close(socketHandleStruct->socketFd);
|
||||
free(socketHandleStruct);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle)
|
||||
{
|
||||
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
|
||||
int32_t ret;
|
||||
|
||||
if (socketHandleStruct->socketFd <= 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = close(socketHandleStruct->socketFd);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
free(socketHandle);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
|
||||
{
|
||||
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
|
||||
struct sockaddr_in addr;
|
||||
int32_t ret;
|
||||
|
||||
if (socketHandle == NULL || ipAddr == NULL || port == 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
bzero(&addr, sizeof(addr));
|
||||
addr.sin_family = AF_INET;
|
||||
addr.sin_port = htons(port);
|
||||
addr.sin_addr.s_addr = inet_addr(ipAddr);
|
||||
|
||||
ret = bind(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
|
||||
const uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
struct sockaddr_in addr;
|
||||
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
|
||||
int32_t ret;
|
||||
|
||||
if (socketHandle <= 0 || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
bzero(&addr, sizeof(addr));
|
||||
addr.sin_family = AF_INET;
|
||||
addr.sin_port = htons(port);
|
||||
addr.sin_addr.s_addr = inet_addr(ipAddr);
|
||||
|
||||
ret = sendto(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
|
||||
uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
struct sockaddr_in addr;
|
||||
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
|
||||
uint32_t addrLen = 0;
|
||||
int32_t ret;
|
||||
|
||||
if (socketHandle == NULL || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = recvfrom(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, &addrLen);
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
strcpy(ipAddr, inet_ntoa(addr.sin_addr));
|
||||
*port = ntohs(addr.sin_port);
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle)
|
||||
{
|
||||
int32_t ret;
|
||||
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
|
||||
|
||||
if (socketHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = listen(socketHandleStruct->socketFd, 5);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
|
||||
T_DjiSocketHandle *outSocketHandle)
|
||||
{
|
||||
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
|
||||
T_SocketHandleStruct *outSocketHandleStruct;
|
||||
struct sockaddr_in addr;
|
||||
uint32_t addrLen = 0;
|
||||
|
||||
if (socketHandle == NULL || ipAddr == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
outSocketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
|
||||
if (outSocketHandleStruct == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
outSocketHandleStruct->socketFd = accept(socketHandleStruct->socketFd, (struct sockaddr *) &addr, &addrLen);
|
||||
if (outSocketHandleStruct->socketFd < 0) {
|
||||
free(outSocketHandleStruct);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
*port = ntohs(addr.sin_port);
|
||||
*outSocketHandle = outSocketHandleStruct;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
|
||||
{
|
||||
struct sockaddr_in addr;
|
||||
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
|
||||
int32_t ret;
|
||||
|
||||
if (socketHandle == NULL || ipAddr == NULL || port == 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
bzero(&addr, sizeof(addr));
|
||||
addr.sin_family = AF_INET;
|
||||
addr.sin_port = htons(port);
|
||||
addr.sin_addr.s_addr = inet_addr(ipAddr);
|
||||
|
||||
ret = connect(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
|
||||
const uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
|
||||
int32_t ret;
|
||||
|
||||
if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = send(socketHandleStruct->socketFd, buf, len, 0);
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
|
||||
uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
|
||||
int32_t ret;
|
||||
|
||||
if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = recv(socketHandleStruct->socketFd, buf, len, 0);
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,72 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file osal_socket.h
|
||||
* @brief This is the header file for "osal_socket.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef OSAL_SOCKET_H
|
||||
#define OSAL_SOCKET_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle);
|
||||
|
||||
T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle);
|
||||
|
||||
T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
|
||||
|
||||
T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
|
||||
const uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
|
||||
T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
|
||||
uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
|
||||
T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle);
|
||||
|
||||
T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
|
||||
T_DjiSocketHandle *outSocketHandle);
|
||||
|
||||
T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
|
||||
|
||||
T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
|
||||
const uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
|
||||
T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
|
||||
uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // OSAL_SOCKET_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
143
PSDK/samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
Normal file
143
PSDK/samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
Normal file
@ -0,0 +1,143 @@
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
project(dji_sdk_demo_linux_cxx CXX)
|
||||
|
||||
set(CMAKE_C_FLAGS "-pthread -std=gnu99")
|
||||
set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
|
||||
set(CMAKE_EXE_LINKER_FLAGS "-pthread")
|
||||
set(CMAKE_C_COMPILER "gcc")
|
||||
set(CMAKE_CXX_COMPILER "g++")
|
||||
add_definitions(-D_GNU_SOURCE)
|
||||
|
||||
if (MEMORY_LEAK_CHECK_ON MATCHES TRUE)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=leak")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fsanitize=leak")
|
||||
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lasan")
|
||||
endif ()
|
||||
|
||||
if (BUILD_TEST_CASES_ON MATCHES TRUE)
|
||||
set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
|
||||
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
|
||||
endif ()
|
||||
|
||||
include_directories(../../../module_sample)
|
||||
include_directories(../../../../sample_c/module_sample)
|
||||
include_directories(../common)
|
||||
include_directories(../manifold2/application)
|
||||
|
||||
file(GLOB_RECURSE MODULE_SAMPLE_SRC
|
||||
../../../module_sample/liveview/*.c*
|
||||
../../../module_sample/camera_manager/*.c*
|
||||
../../../module_sample/perception/*.c*
|
||||
../../../module_sample/gimbal/*.c*
|
||||
../../../module_sample/flight_controller/*.c*
|
||||
../../../module_sample/hms_manager/*.c*
|
||||
../../../../sample_c/module_sample/*.c
|
||||
)
|
||||
file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c*)
|
||||
file(GLOB_RECURSE MODULE_HAL_SRC hal/*.c*)
|
||||
file(GLOB_RECURSE MODULE_APP_SRC application/*.c*)
|
||||
|
||||
execute_process(COMMAND uname -m
|
||||
OUTPUT_VARIABLE DEVICE_SYSTEM_ID)
|
||||
if (DEVICE_SYSTEM_ID MATCHES x86_64)
|
||||
set(TOOLCHAIN_NAME x86_64-linux-gnu-gcc)
|
||||
add_definitions(-DPLATFORM_ARCH_x86_64=1)
|
||||
elseif (DEVICE_SYSTEM_ID MATCHES aarch64)
|
||||
set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc)
|
||||
add_definitions(-DPLATFORM_ARCH_aarch64=1)
|
||||
else ()
|
||||
message(FATAL_ERROR "FATAL: Please confirm your platform.")
|
||||
endif ()
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
|
||||
|
||||
link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})
|
||||
link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME}/libpayloadsdk.a -lstdc++)
|
||||
|
||||
add_executable(${PROJECT_NAME}
|
||||
${MODULE_APP_SRC}
|
||||
${MODULE_SAMPLE_SRC}
|
||||
${MODULE_COMMON_SRC}
|
||||
${MODULE_HAL_SRC})
|
||||
|
||||
# Try to see if user has OpenCV installed
|
||||
# if yes, default callback will display the image
|
||||
find_package(OpenCV QUIET)
|
||||
if (OpenCV_FOUND)
|
||||
message("\n${PROJECT_NAME}...")
|
||||
message(STATUS "Found OpenCV installed in the system, will use it to display image in AdvancedSensing APIs")
|
||||
message(STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
|
||||
message(STATUS " - Libraries: ${OpenCV_LIBRARIES}")
|
||||
add_definitions(-DOPEN_CV_INSTALLED)
|
||||
else ()
|
||||
message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
|
||||
endif ()
|
||||
|
||||
find_package(FFMPEG REQUIRED)
|
||||
if (FFMPEG_FOUND)
|
||||
message(STATUS "Found FFMPEG installed in the system")
|
||||
message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
|
||||
message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
|
||||
|
||||
EXECUTE_PROCESS(COMMAND ffmpeg -version
|
||||
OUTPUT_VARIABLE ffmpeg_version_output
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
string(REGEX MATCH "version.*Copyright" ffmpeg_version_line ${ffmpeg_version_output})
|
||||
string(REGEX MATCH " .* " ffmpeg_version ${ffmpeg_version_line})
|
||||
string(REGEX MATCH "^ 5.*$" ffmpeg_major_version ${ffmpeg_version})
|
||||
|
||||
if (HEAD${ffmpeg_major_version} STREQUAL "HEAD")
|
||||
message(STATUS " - Version: ${ffmpeg_version}")
|
||||
else ()
|
||||
message(FATAL_ERROR " - Not support FFMPEG version: ${ffmpeg_major_version}, please install 4.x.x instead.")
|
||||
endif ()
|
||||
|
||||
target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES})
|
||||
include_directories(${FFMPEG_INCLUDE_DIR})
|
||||
add_definitions(-DFFMPEG_INSTALLED)
|
||||
else ()
|
||||
message(STATUS "Cannot Find FFMPEG")
|
||||
endif (FFMPEG_FOUND)
|
||||
include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/include)
|
||||
|
||||
find_package(OPUS REQUIRED)
|
||||
if (OPUS_FOUND)
|
||||
message(STATUS "Found OPUS installed in the system")
|
||||
message(STATUS " - Includes: ${OPUS_INCLUDE_DIR}")
|
||||
message(STATUS " - Libraries: ${OPUS_LIBRARY}")
|
||||
|
||||
add_definitions(-DOPUS_INSTALLED)
|
||||
target_link_libraries(${PROJECT_NAME} /usr/local/lib/libopus.a)
|
||||
else ()
|
||||
message(STATUS "Cannot Find OPUS")
|
||||
endif (OPUS_FOUND)
|
||||
|
||||
find_package(LIBUSB REQUIRED)
|
||||
if (LIBUSB_FOUND)
|
||||
message(STATUS "Found LIBUSB installed in the system")
|
||||
message(STATUS " - Includes: ${LIBUSB_INCLUDE_DIR}")
|
||||
message(STATUS " - Libraries: ${LIBUSB_LIBRARY}")
|
||||
|
||||
add_definitions(-DLIBUSB_INSTALLED)
|
||||
target_link_libraries(${PROJECT_NAME} usb-1.0)
|
||||
else ()
|
||||
message(STATUS "Cannot Find LIBUSB")
|
||||
endif (LIBUSB_FOUND)
|
||||
|
||||
if (NOT EXECUTABLE_OUTPUT_PATH)
|
||||
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
|
||||
endif ()
|
||||
|
||||
target_link_libraries(${PROJECT_NAME} m)
|
||||
|
||||
add_custom_command(TARGET ${PROJECT_NAME}
|
||||
PRE_LINK COMMAND cmake ..
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
|
||||
|
||||
target_include_directories(${PROJECT_NAME} PRIVATE ${OpenCV_INCLUDE_DIRS})
|
||||
if (OpenCV_FOUND)
|
||||
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
|
||||
endif ()
|
||||
@ -0,0 +1,535 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file application.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "application.hpp"
|
||||
#include "dji_sdk_app_info.h"
|
||||
#include <dji_platform.h>
|
||||
#include <dji_logger.h>
|
||||
#include <dji_core.h>
|
||||
#include <dji_aircraft_info.h>
|
||||
#include <csignal>
|
||||
#include "dji_sdk_config.h"
|
||||
|
||||
#include "../common/osal/osal.h"
|
||||
#include "../common/osal/osal_fs.h"
|
||||
#include "../common/osal/osal_socket.h"
|
||||
#include "../manifold2/hal/hal_usb_bulk.h"
|
||||
#include "../manifold2/hal/hal_uart.h"
|
||||
#include "../manifold2/hal/hal_network.h"
|
||||
|
||||
#include "utils/dji_config_manager.h"
|
||||
#include <gimbal_emu/test_payload_gimbal_emu.h>
|
||||
#include <camera_emu/test_payload_cam_emu_media.h>
|
||||
#include <camera_emu/test_payload_cam_emu_base.h>
|
||||
#include "widget/test_widget.h"
|
||||
#include "widget/test_widget_speaker.h"
|
||||
#include <power_management/test_power_management.h>
|
||||
#include "data_transmission/test_data_transmission.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define DJI_LOG_PATH "Logs/DJI"
|
||||
#define DJI_LOG_INDEX_FILE_NAME "Logs/index"
|
||||
#define DJI_LOG_FOLDER_NAME "Logs"
|
||||
#define DJI_LOG_PATH_MAX_SIZE (128)
|
||||
#define DJI_LOG_FOLDER_NAME_MAX_SIZE (32)
|
||||
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
|
||||
#define DJI_LOG_MAX_COUNT (10)
|
||||
|
||||
#define USER_UTIL_UNUSED(x) ((x) = (x))
|
||||
#define USER_UTIL_MIN(a, b) (((a) < (b)) ? (a) : (b))
|
||||
#define USER_UTIL_MAX(a, b) (((a) > (b)) ? (a) : (b))
|
||||
|
||||
#define DJI_USE_SDK_CONFIG_BY_JSON (0)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static FILE *s_djiLogFile;
|
||||
static FILE *s_djiLogFileCnt;
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void DjiUser_NormalExitHandler(int signalNum);
|
||||
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit();
|
||||
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
Application::Application(int argc, char **argv)
|
||||
{
|
||||
Application::DjiUser_SetupEnvironment(argc, argv);
|
||||
Application::DjiUser_ApplicationStart();
|
||||
|
||||
Osal_TaskSleepMs(3000);
|
||||
}
|
||||
|
||||
Application::~Application()
|
||||
= default;
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
void Application::DjiUser_SetupEnvironment(int argc, char **argv)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiOsalHandler osalHandler = {0};
|
||||
T_DjiHalUartHandler uartHandler = {0};
|
||||
T_DjiHalUsbBulkHandler usbBulkHandler = {0};
|
||||
T_DjiLoggerConsole printConsole;
|
||||
T_DjiLoggerConsole localRecordConsole;
|
||||
T_DjiFileSystemHandler fileSystemHandler = {0};
|
||||
T_DjiSocketHandler socketHandler{0};
|
||||
T_DjiHalNetworkHandler networkHandler = {0};
|
||||
T_DjiUserLinkConfig linkConfig;
|
||||
|
||||
networkHandler.NetworkInit = HalNetWork_Init;
|
||||
networkHandler.NetworkDeInit = HalNetWork_DeInit;
|
||||
networkHandler.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo;
|
||||
|
||||
socketHandler.Socket = Osal_Socket;
|
||||
socketHandler.Bind = Osal_Bind;
|
||||
socketHandler.Close = Osal_Close;
|
||||
socketHandler.UdpSendData = Osal_UdpSendData;
|
||||
socketHandler.UdpRecvData = Osal_UdpRecvData;
|
||||
socketHandler.TcpListen = Osal_TcpListen;
|
||||
socketHandler.TcpAccept = Osal_TcpAccept;
|
||||
socketHandler.TcpConnect = Osal_TcpConnect;
|
||||
socketHandler.TcpSendData = Osal_TcpSendData;
|
||||
socketHandler.TcpRecvData = Osal_TcpRecvData;
|
||||
|
||||
osalHandler.TaskCreate = Osal_TaskCreate;
|
||||
osalHandler.TaskDestroy = Osal_TaskDestroy;
|
||||
osalHandler.TaskSleepMs = Osal_TaskSleepMs;
|
||||
osalHandler.MutexCreate = Osal_MutexCreate;
|
||||
osalHandler.MutexDestroy = Osal_MutexDestroy;
|
||||
osalHandler.MutexLock = Osal_MutexLock;
|
||||
osalHandler.MutexUnlock = Osal_MutexUnlock;
|
||||
osalHandler.SemaphoreCreate = Osal_SemaphoreCreate;
|
||||
osalHandler.SemaphoreDestroy = Osal_SemaphoreDestroy;
|
||||
osalHandler.SemaphoreWait = Osal_SemaphoreWait;
|
||||
osalHandler.SemaphoreTimedWait = Osal_SemaphoreTimedWait;
|
||||
osalHandler.SemaphorePost = Osal_SemaphorePost;
|
||||
osalHandler.Malloc = Osal_Malloc;
|
||||
osalHandler.Free = Osal_Free;
|
||||
osalHandler.GetTimeMs = Osal_GetTimeMs;
|
||||
osalHandler.GetTimeUs = Osal_GetTimeUs;
|
||||
osalHandler.GetRandomNum = Osal_GetRandomNum;
|
||||
|
||||
printConsole.func = DjiUser_PrintConsole;
|
||||
printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;
|
||||
printConsole.isSupportColor = true;
|
||||
|
||||
localRecordConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG;
|
||||
localRecordConsole.func = DjiUser_LocalWrite;
|
||||
localRecordConsole.isSupportColor = false;
|
||||
|
||||
uartHandler.UartInit = HalUart_Init;
|
||||
uartHandler.UartDeInit = HalUart_DeInit;
|
||||
uartHandler.UartWriteData = HalUart_WriteData;
|
||||
uartHandler.UartReadData = HalUart_ReadData;
|
||||
uartHandler.UartGetStatus = HalUart_GetStatus;
|
||||
|
||||
usbBulkHandler.UsbBulkInit = HalUsbBulk_Init;
|
||||
usbBulkHandler.UsbBulkDeInit = HalUsbBulk_DeInit;
|
||||
usbBulkHandler.UsbBulkWriteData = HalUsbBulk_WriteData;
|
||||
usbBulkHandler.UsbBulkReadData = HalUsbBulk_ReadData;
|
||||
usbBulkHandler.UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo;
|
||||
|
||||
fileSystemHandler.FileOpen = Osal_FileOpen,
|
||||
fileSystemHandler.FileClose = Osal_FileClose,
|
||||
fileSystemHandler.FileWrite = Osal_FileWrite,
|
||||
fileSystemHandler.FileRead = Osal_FileRead,
|
||||
fileSystemHandler.FileSync = Osal_FileSync,
|
||||
fileSystemHandler.FileSeek = Osal_FileSeek,
|
||||
fileSystemHandler.DirOpen = Osal_DirOpen,
|
||||
fileSystemHandler.DirClose = Osal_DirClose,
|
||||
fileSystemHandler.DirRead = Osal_DirRead,
|
||||
fileSystemHandler.Mkdir = Osal_Mkdir,
|
||||
fileSystemHandler.Unlink = Osal_Unlink,
|
||||
fileSystemHandler.Rename = Osal_Rename,
|
||||
fileSystemHandler.Stat = Osal_Stat,
|
||||
|
||||
returnCode = DjiPlatform_RegOsalHandler(&osalHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register osal handler error.");
|
||||
}
|
||||
|
||||
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register hal uart handler error.");
|
||||
}
|
||||
|
||||
#if DJI_USE_SDK_CONFIG_BY_JSON
|
||||
if (argc > 1) {
|
||||
DjiUserConfigManager_LoadConfiguration(argv[1]);
|
||||
} else {
|
||||
DjiUserConfigManager_LoadConfiguration(nullptr);
|
||||
}
|
||||
|
||||
DjiUserConfigManager_GetLinkConfig(&linkConfig);
|
||||
if (linkConfig.type == DJI_USER_LINK_CONFIG_USE_UART_AND_NETWORK_DEVICE) {
|
||||
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register hal network handler error");
|
||||
}
|
||||
} else if (linkConfig.type == DJI_USER_LINK_CONFIG_USE_UART_AND_USB_BULK_DEVICE) {
|
||||
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register hal usb bulk handler error.");
|
||||
}
|
||||
} else {
|
||||
/*!< Attention: Only use uart hardware connection. */
|
||||
}
|
||||
#else
|
||||
#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
|
||||
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register hal usb bulk handler error.");
|
||||
}
|
||||
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
|
||||
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register hal network handler error");
|
||||
}
|
||||
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
|
||||
/*!< Attention: Only use uart hardware connection.
|
||||
*/
|
||||
#endif
|
||||
#endif
|
||||
|
||||
//Attention: if you want to use camera stream view function, please uncomment it.
|
||||
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("register osal socket handler error");
|
||||
}
|
||||
|
||||
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register osal filesystem handler error.");
|
||||
}
|
||||
|
||||
if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("File system init error.");
|
||||
}
|
||||
|
||||
returnCode = DjiLogger_AddConsole(&printConsole);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Add printf console error.");
|
||||
}
|
||||
|
||||
returnCode = DjiLogger_AddConsole(&localRecordConsole);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Add printf console error.");
|
||||
}
|
||||
}
|
||||
|
||||
void Application::DjiUser_ApplicationStart()
|
||||
{
|
||||
T_DjiUserInfo userInfo;
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
|
||||
T_DjiFirmwareVersion firmwareVersion = {
|
||||
.majorVersion = 1,
|
||||
.minorVersion = 0,
|
||||
.modifyVersion = 0,
|
||||
.debugVersion = 0,
|
||||
};
|
||||
|
||||
// attention: when the program is hand up ctrl-c will generate the coredump file
|
||||
signal(SIGTERM, DjiUser_NormalExitHandler);
|
||||
|
||||
#if DJI_USE_SDK_CONFIG_BY_JSON
|
||||
DjiUserConfigManager_GetAppInfo(&userInfo);
|
||||
#else
|
||||
returnCode = DjiUser_FillInUserInfo(&userInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Fill user info error, please check user info config.");
|
||||
}
|
||||
#endif
|
||||
|
||||
returnCode = DjiCore_Init(&userInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
sleep(1);
|
||||
throw std::runtime_error("Core init error.");
|
||||
}
|
||||
|
||||
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Get aircraft base info error.");
|
||||
}
|
||||
|
||||
if (aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_EXTENSION_PORT
|
||||
&& DJI_MOUNT_POSITION_EXTENSION_LITE_PORT != aircraftInfoBaseInfo.mountPosition) {
|
||||
throw std::runtime_error("Please run this sample on extension port.");
|
||||
}
|
||||
|
||||
returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Set alias error.");
|
||||
}
|
||||
|
||||
returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Set firmware version error.");
|
||||
}
|
||||
|
||||
returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Set serial number error");
|
||||
}
|
||||
|
||||
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
|
||||
returnCode = DjiTest_CameraEmuBaseStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("camera emu common init error");
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
|
||||
returnCode = DjiTest_CameraEmuMediaStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("camera emu media init error");
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
|
||||
returnCode = DjiTest_GimbalStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("psdk gimbal init error");
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_ON
|
||||
returnCode = DjiTest_WidgetStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("widget sample init error");
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
|
||||
returnCode = DjiTest_WidgetSpeakerStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("widget speaker test init error");
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
|
||||
T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
|
||||
.pinInit = DjiTest_HighPowerApplyPinInit,
|
||||
.pinWrite = DjiTest_WriteHighPowerApplyPin,
|
||||
};
|
||||
|
||||
returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("regsiter apply high power handler error");
|
||||
}
|
||||
|
||||
returnCode = DjiTest_PowerManagementStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("power management init error");
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
|
||||
returnCode = DjiTest_DataTransmissionStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("widget sample init error");
|
||||
}
|
||||
#endif
|
||||
|
||||
returnCode = DjiCore_ApplicationStart();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Start sdk application error.");
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Application start.");
|
||||
}
|
||||
|
||||
T_DjiReturnCode Application::DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
|
||||
{
|
||||
printf("%s", data);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Application::DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
|
||||
{
|
||||
int32_t realLen;
|
||||
|
||||
if (s_djiLogFile == nullptr) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
realLen = fwrite(data, 1, dataLen, s_djiLogFile);
|
||||
fflush(s_djiLogFile);
|
||||
if (realLen == dataLen) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode Application::DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
|
||||
{
|
||||
memset(userInfo->appName, 0, sizeof(userInfo->appName));
|
||||
memset(userInfo->appId, 0, sizeof(userInfo->appId));
|
||||
memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
|
||||
memset(userInfo->appLicense, 0, sizeof(userInfo->appLicense));
|
||||
memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
|
||||
memset(userInfo->baudRate, 0, sizeof(userInfo->baudRate));
|
||||
|
||||
if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
|
||||
strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
|
||||
strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
|
||||
strlen(USER_APP_LICENSE) > sizeof(userInfo->appLicense) ||
|
||||
strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount) ||
|
||||
strlen(USER_BAUD_RATE) > sizeof(userInfo->baudRate)) {
|
||||
USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
if (!strcmp(USER_APP_NAME, "your_app_name") ||
|
||||
!strcmp(USER_APP_ID, "your_app_id") ||
|
||||
!strcmp(USER_APP_KEY, "your_app_key") ||
|
||||
!strcmp(USER_BAUD_RATE, "your_app_license") ||
|
||||
!strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
|
||||
!strcmp(USER_BAUD_RATE, "your_baud_rate")) {
|
||||
USER_LOG_ERROR(
|
||||
"Please fill in correct user information to 'samples/sample_c++/platform/linux/manifold2/application/dji_sdk_app_info.h' file.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
|
||||
memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
|
||||
memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
|
||||
memcpy(userInfo->appLicense, USER_APP_LICENSE,
|
||||
USER_UTIL_MIN(sizeof(userInfo->appLicense), strlen(USER_APP_LICENSE)));
|
||||
memcpy(userInfo->baudRate, USER_BAUD_RATE, USER_UTIL_MIN(sizeof(userInfo->baudRate), strlen(USER_BAUD_RATE)));
|
||||
strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Application::DjiUser_LocalWriteFsInit(const char *path)
|
||||
{
|
||||
T_DjiReturnCode djiReturnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
char filePath[DJI_LOG_PATH_MAX_SIZE];
|
||||
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
|
||||
char folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
|
||||
time_t currentTime = time(nullptr);
|
||||
struct tm *localTime = localtime(¤tTime);
|
||||
uint16_t logFileIndex = 0;
|
||||
uint16_t currentLogFileIndex;
|
||||
uint8_t ret;
|
||||
|
||||
if (localTime == nullptr) {
|
||||
printf("Get local time error.\r\n");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
if (access(DJI_LOG_FOLDER_NAME, F_OK) != 0) {
|
||||
sprintf(folderName, "mkdir %s", DJI_LOG_FOLDER_NAME);
|
||||
ret = system(folderName);
|
||||
if (ret != 0) {
|
||||
printf("Create new log folder error, ret:%d.\r\n", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "rb+");
|
||||
if (s_djiLogFileCnt == nullptr) {
|
||||
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "wb+");
|
||||
if (s_djiLogFileCnt == nullptr) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
} else {
|
||||
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
|
||||
if (ret != 0) {
|
||||
printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
ret = fread((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
|
||||
if (ret != sizeof(uint16_t)) {
|
||||
printf("Read log file index error.\r\n");
|
||||
}
|
||||
}
|
||||
|
||||
currentLogFileIndex = logFileIndex;
|
||||
logFileIndex++;
|
||||
|
||||
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
|
||||
if (ret != 0) {
|
||||
printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
ret = fwrite((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
|
||||
if (ret != sizeof(uint16_t)) {
|
||||
printf("Write log file index error.\r\n");
|
||||
fclose(s_djiLogFileCnt);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
fclose(s_djiLogFileCnt);
|
||||
|
||||
sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
|
||||
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
|
||||
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
|
||||
|
||||
s_djiLogFile = fopen(filePath, "wb+");
|
||||
if (s_djiLogFile == nullptr) {
|
||||
USER_LOG_ERROR("Open filepath time error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
if (logFileIndex >= DJI_LOG_MAX_COUNT) {
|
||||
sprintf(systemCmd, "rm -rf %s_%04d*.log", path, currentLogFileIndex - DJI_LOG_MAX_COUNT);
|
||||
ret = system(systemCmd);
|
||||
if (ret != 0) {
|
||||
printf("Remove file error, ret:%d.\r\n", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
sprintf(systemCmd, "ln -sfrv %s " DJI_LOG_FOLDER_NAME "/latest.log", filePath);
|
||||
system(systemCmd);
|
||||
return djiReturnCode;
|
||||
}
|
||||
|
||||
static void DjiUser_NormalExitHandler(int signalNum)
|
||||
{
|
||||
USER_UTIL_UNUSED(signalNum);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit()
|
||||
{
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState)
|
||||
{
|
||||
//attention: please pull up the HWPR pin state by hardware.
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,67 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_application.hpp
|
||||
* @brief This is the header file for "dji_application.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef APPLICATION_H
|
||||
#define APPLICATION_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include "dji_typedef.h"
|
||||
#include "dji_core.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
using namespace std;
|
||||
|
||||
class Application {
|
||||
public:
|
||||
Application(int argc, char **argv);
|
||||
~Application();
|
||||
|
||||
private:
|
||||
static void DjiUser_SetupEnvironment(int argc, char **argv);
|
||||
static void DjiUser_ApplicationStart();
|
||||
static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
|
||||
static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
|
||||
static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo);
|
||||
static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path);
|
||||
};
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // APPLICATION_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,55 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_sdk_app_info.h
|
||||
* @brief This is the header file for defining the structure and (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2018 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef DJI_SDK_APP_INFO_H
|
||||
#define DJI_SDK_APP_INFO_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
// ATTENTION: User must goto https://developer.dji.com/user/apps/#all to create your own dji sdk application, get dji sdk application
|
||||
// information then fill in the application information here.
|
||||
#define USER_APP_NAME "your_app_name"
|
||||
#define USER_APP_ID "your_app_id"
|
||||
#define USER_APP_KEY "your_app_key"
|
||||
#define USER_APP_LICENSE "your_app_license"
|
||||
#define USER_DEVELOPER_ACCOUNT "your_developer_account"
|
||||
#define USER_BAUD_RATE "460800"
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // DJI_SDK_APP_INFO_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,66 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_sdk_config.h
|
||||
* @brief This is the header file for "dji_config.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef DJI_SDK_CONFIG_H
|
||||
#define DJI_SDK_CONFIG_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
#define DJI_USE_ONLY_UART (0)
|
||||
#define DJI_USE_UART_AND_USB_BULK_DEVICE (1)
|
||||
#define DJI_USE_UART_AND_NETWORK_DEVICE (2)
|
||||
|
||||
/*!< Attention: Select your hardware connection mode here.
|
||||
* */
|
||||
#define CONFIG_HARDWARE_CONNECTION DJI_USE_ONLY_UART
|
||||
|
||||
/*!< Attention: Select the sample you want to run here.
|
||||
* */
|
||||
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
|
||||
|
||||
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
|
||||
|
||||
#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
|
||||
|
||||
#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
|
||||
|
||||
#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // DJI_SDK_CONFIG_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,36 @@
|
||||
{
|
||||
"dji_sdk_app_info": {
|
||||
"user_app_name": "your_app_name",
|
||||
"user_app_id": "your_app_id",
|
||||
"user_app_key": "your_app_key",
|
||||
"user_app_license": "your_app_license",
|
||||
"user_develop_account": "your_developer_account",
|
||||
"user_baud_rate": "460800"
|
||||
},
|
||||
"dji_sdk_link_config": {
|
||||
"link_available": "use_only_uart/use_uart_and_usb_bulk_device/use_uart_and_network_device",
|
||||
"link_select": "use_uart_and_network_device",
|
||||
"uart_config": {
|
||||
"uart1_device_name": "/dev/ttyUSB0",
|
||||
"uart2_device_enable": "true",
|
||||
"uart2_device_name": "/dev/ttyACM0"
|
||||
},
|
||||
"network_config": {
|
||||
"network_device_name": "enxf8e43b7bbc2c",
|
||||
"network_usb_adapter_vid": "0x0B95",
|
||||
"network_usb_adapter_pid": "0x1790"
|
||||
},
|
||||
"usb_bulk_config": {
|
||||
"usb_device_vid": "0x0B95",
|
||||
"usb_device_pid": "0x1790",
|
||||
"usb_bulk1_device_name": "/dev/usb-ffs/bulk1",
|
||||
"usb_bulk1_interface_num": "2",
|
||||
"usb_bulk1_endpoint_in": "0x83",
|
||||
"usb_bulk1_endpoint_out": "0x02",
|
||||
"usb_bulk2_device_name": "/dev/usb-ffs/bulk2",
|
||||
"usb_bulk2_interface_num": "3",
|
||||
"usb_bulk2_endpoint_in": "0x84",
|
||||
"usb_bulk2_endpoint_out": "0x03"
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,119 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file main.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <liveview/test_liveview_entry.hpp>
|
||||
#include <perception/test_perception_entry.hpp>
|
||||
#include <flight_control/test_flight_control.h>
|
||||
#include <gimbal/test_gimbal_entry.hpp>
|
||||
#include "application.hpp"
|
||||
#include "fc_subscription/test_fc_subscription.h"
|
||||
#include <gimbal_emu/test_payload_gimbal_emu.h>
|
||||
#include <camera_emu/test_payload_cam_emu_media.h>
|
||||
#include <camera_emu/test_payload_cam_emu_base.h>
|
||||
#include <dji_logger.h>
|
||||
#include "widget/test_widget.h"
|
||||
#include "widget/test_widget_speaker.h"
|
||||
#include <power_management/test_power_management.h>
|
||||
#include "data_transmission/test_data_transmission.h"
|
||||
#include <flight_controller/test_flight_controller_entry.h>
|
||||
#include <positioning/test_positioning.h>
|
||||
#include <hms_manager/hms_manager_entry.h>
|
||||
#include "camera_manager/test_camera_manager_entry.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
Application application(argc, argv);
|
||||
char inputChar;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiTestApplyHighPowerHandler applyHighPowerHandler;
|
||||
|
||||
start:
|
||||
std::cout
|
||||
<< "\n"
|
||||
<< "| Available commands: |\n"
|
||||
<< "| [0] Fc subscribe sample - subscribe quaternion and gps data |\n"
|
||||
<< "| [1] Flight controller sample - you can control flying by PSDK |\n"
|
||||
<< "| [2] Hms info manager sample - get health manger system info by language |\n"
|
||||
<< "| [a] Gimbal manager sample - you can control gimbal by PSDK |\n"
|
||||
<< "| [c] Camera stream view sample - display the camera video stream |\n"
|
||||
<< "| [d] Stereo vision view sample - display the stereo image |\n"
|
||||
<< "| [e] Run camera manager sample - you can test camera's functions interactively |\n"
|
||||
<< "| [f] Start rtk positioning sample - you can receive rtk rtcm data when rtk signal is ok |\n"
|
||||
<< std::endl;
|
||||
|
||||
std::cin >> inputChar;
|
||||
switch (inputChar) {
|
||||
case '0':
|
||||
DjiTest_FcSubscriptionRunSample();
|
||||
break;
|
||||
case '1':
|
||||
DjiUser_RunFlightControllerSample();
|
||||
break;
|
||||
case '2':
|
||||
DjiUser_RunHmsManagerSample();
|
||||
break;
|
||||
case 'a':
|
||||
DjiUser_RunGimbalManagerSample();
|
||||
break;
|
||||
case 'c':
|
||||
DjiUser_RunCameraStreamViewSample();
|
||||
break;
|
||||
case 'd':
|
||||
DjiUser_RunStereoVisionViewSample();
|
||||
break;
|
||||
case 'e':
|
||||
DjiUser_RunCameraManagerSample();
|
||||
break;
|
||||
case 'f':
|
||||
returnCode = DjiTest_PositioningStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("rtk positioning sample init error");
|
||||
break;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Start rtk positioning sample successfully");
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
osalHandler->TaskSleepMs(2000);
|
||||
|
||||
goto start;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,110 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_network.c
|
||||
* @version V2.0.0
|
||||
* @date 3/27/20
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "string.h"
|
||||
#include "stdlib.h"
|
||||
#include "stdio.h"
|
||||
#include "hal_network.h"
|
||||
#include "dji_logger.h"
|
||||
#include "utils/dji_config_manager.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj)
|
||||
{
|
||||
int32_t ret;
|
||||
char cmdStr[LINUX_CMD_STR_MAX_SIZE];
|
||||
char networkDeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
|
||||
T_DjiUserLinkConfig linkConfig = {0};
|
||||
|
||||
if (ipAddr == NULL || netMask == NULL) {
|
||||
USER_LOG_ERROR("hal network config param error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
//Attention: need root permission to config ip addr and netmask.
|
||||
memset(cmdStr, 0, sizeof(cmdStr));
|
||||
|
||||
if (DjiUserConfigManager_IsEnable()) {
|
||||
DjiUserConfigManager_GetLinkConfig(&linkConfig);
|
||||
strcpy(networkDeviceName, linkConfig.networkConfig.networkDeviceName);
|
||||
} else {
|
||||
strcpy(networkDeviceName, LINUX_NETWORK_DEV);
|
||||
}
|
||||
|
||||
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", networkDeviceName);
|
||||
ret = system(cmdStr);
|
||||
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Can't open the network."
|
||||
"Probably the program not execute with root permission."
|
||||
"Please use the root permission to execute the program.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", networkDeviceName, ipAddr, netMask);
|
||||
ret = system(cmdStr);
|
||||
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Can't config the ip address of network."
|
||||
"Probably the program not execute with root permission."
|
||||
"Please use the root permission to execute the program.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj)
|
||||
{
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo)
|
||||
{
|
||||
T_DjiUserLinkConfig linkConfig = {0};
|
||||
|
||||
if (DjiUserConfigManager_IsEnable()) {
|
||||
DjiUserConfigManager_GetLinkConfig(&linkConfig);
|
||||
deviceInfo->usbNetAdapter.vid = linkConfig.networkConfig.networkUsbAdapterVid;
|
||||
deviceInfo->usbNetAdapter.pid = linkConfig.networkConfig.networkUsbAdapterPid;
|
||||
} else {
|
||||
deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
|
||||
deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,73 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_network.h
|
||||
* @brief This is the header file for "hal_network.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef HAL_NETWORK_H
|
||||
#define HAL_NETWORK_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/** @attention User can config network card name here, if your device is not MF2C/G, please comment below and add your
|
||||
* NIC name micro define as #define 'LINUX_NETWORK_DEV "your NIC name"'.
|
||||
*/
|
||||
#ifdef PLATFORM_ARCH_x86_64
|
||||
#define LINUX_NETWORK_DEV "enxf8e43b7bbc2c"
|
||||
#else
|
||||
#define LINUX_NETWORK_DEV "l4tbr0"
|
||||
#endif
|
||||
/**
|
||||
* @attention
|
||||
*/
|
||||
|
||||
#ifdef PLATFORM_ARCH_x86_64
|
||||
#define USB_NET_ADAPTER_VID (0x0B95)
|
||||
#define USB_NET_ADAPTER_PID (0x1790)
|
||||
#else
|
||||
#define USB_NET_ADAPTER_VID (0x0955)
|
||||
#define USB_NET_ADAPTER_PID (0x7020)
|
||||
#endif
|
||||
|
||||
#define LINUX_CMD_STR_MAX_SIZE (128)
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj);
|
||||
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj);
|
||||
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // HAL_NETWORK_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
280
PSDK/samples/sample_c++/platform/linux/manifold2/hal/hal_uart.c
Normal file
280
PSDK/samples/sample_c++/platform/linux/manifold2/hal/hal_uart.c
Normal file
@ -0,0 +1,280 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_uart.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <dji_logger.h>
|
||||
#include "hal_uart.h"
|
||||
#include "utils/dji_config_manager.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define UART_DEV_NAME_STR_SIZE (128)
|
||||
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
|
||||
#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef struct {
|
||||
int uartFd;
|
||||
} T_UartHandleStruct;
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
|
||||
{
|
||||
T_UartHandleStruct *uartHandleStruct;
|
||||
struct termios options;
|
||||
struct flock lock;
|
||||
T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
char uartName[UART_DEV_NAME_STR_SIZE];
|
||||
char uart1Name[UART_DEV_NAME_STR_SIZE];
|
||||
char uart2Name[UART_DEV_NAME_STR_SIZE];
|
||||
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
|
||||
char *ret = NULL;
|
||||
char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
|
||||
FILE *fp;
|
||||
T_DjiUserLinkConfig linkConfig = {0};
|
||||
|
||||
uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
|
||||
if (uartHandleStruct == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
if (DjiUserConfigManager_IsEnable()) {
|
||||
DjiUserConfigManager_GetLinkConfig(&linkConfig);
|
||||
strcpy(uart1Name, linkConfig.uartConfig.uart1DeviceName);
|
||||
strcpy(uart2Name, linkConfig.uartConfig.uart2DeviceName);
|
||||
} else {
|
||||
strcpy(uart1Name, LINUX_UART_DEV1);
|
||||
strcpy(uart2Name, LINUX_UART_DEV2);
|
||||
}
|
||||
|
||||
if (uartNum == DJI_HAL_UART_NUM_0) {
|
||||
strcpy(uartName, uart1Name);
|
||||
} else if (uartNum == DJI_HAL_UART_NUM_1) {
|
||||
strcpy(uartName, uart2Name);
|
||||
} else {
|
||||
goto free_uart_handle;
|
||||
}
|
||||
|
||||
#ifdef USE_CLION_DEBUG
|
||||
sprintf(systemCmd, "ls -l %s", uartName);
|
||||
fp = popen(systemCmd, "r");
|
||||
if (fp == NULL) {
|
||||
goto free_uart_handle;
|
||||
}
|
||||
|
||||
ret = fgets(lineBuf, sizeof(lineBuf), fp);
|
||||
if (ret == NULL) {
|
||||
goto close_fp;
|
||||
}
|
||||
|
||||
if (strstr(lineBuf, "crwxrwxrwx") == NULL) {
|
||||
USER_LOG_ERROR("Can't operation the device. "
|
||||
"Probably the device has not operation permission. "
|
||||
"Please execute command 'sudo chmod 777 %s' to add permission. ", uartName);
|
||||
goto close_fp;
|
||||
}
|
||||
#else
|
||||
sprintf(systemCmd, "chmod 777 %s", uartName);
|
||||
fp = popen(systemCmd, "r");
|
||||
if (fp == NULL) {
|
||||
goto free_uart_handle;
|
||||
}
|
||||
#endif
|
||||
|
||||
uartHandleStruct->uartFd = open(uartName, (unsigned) O_RDWR | (unsigned) O_NOCTTY | (unsigned) O_NDELAY);
|
||||
if (uartHandleStruct->uartFd == -1) {
|
||||
goto close_fp;
|
||||
}
|
||||
|
||||
// Forbid multiple psdk programs to access the serial port
|
||||
lock.l_type = F_WRLCK;
|
||||
lock.l_pid = getpid();
|
||||
lock.l_whence = SEEK_SET;
|
||||
lock.l_start = 0;
|
||||
lock.l_len = 0;
|
||||
|
||||
if (fcntl(uartHandleStruct->uartFd, F_GETLK, &lock) < 0) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
if (lock.l_type != F_UNLCK) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
lock.l_type = F_WRLCK;
|
||||
lock.l_pid = getpid();
|
||||
lock.l_whence = SEEK_SET;
|
||||
lock.l_start = 0;
|
||||
lock.l_len = 0;
|
||||
if (fcntl(uartHandleStruct->uartFd, F_SETLKW, &lock) < 0) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
|
||||
if (tcgetattr(uartHandleStruct->uartFd, &options) != 0) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
|
||||
switch (baudRate) {
|
||||
case 115200:
|
||||
cfsetispeed(&options, B115200);
|
||||
cfsetospeed(&options, B115200);
|
||||
break;
|
||||
case 230400:
|
||||
cfsetispeed(&options, B230400);
|
||||
cfsetospeed(&options, B230400);
|
||||
break;
|
||||
case 460800:
|
||||
cfsetispeed(&options, B460800);
|
||||
cfsetospeed(&options, B460800);
|
||||
break;
|
||||
case 921600:
|
||||
cfsetispeed(&options, B921600);
|
||||
cfsetospeed(&options, B921600);
|
||||
break;
|
||||
case 1000000:
|
||||
cfsetispeed(&options, B1000000);
|
||||
cfsetospeed(&options, B1000000);
|
||||
break;
|
||||
default:
|
||||
goto close_uart_fd;
|
||||
}
|
||||
|
||||
options.c_cflag |= (unsigned) CLOCAL;
|
||||
options.c_cflag |= (unsigned) CREAD;
|
||||
options.c_cflag &= ~(unsigned) CRTSCTS;
|
||||
options.c_cflag &= ~(unsigned) CSIZE;
|
||||
options.c_cflag |= (unsigned) CS8;
|
||||
options.c_cflag &= ~(unsigned) PARENB;
|
||||
options.c_iflag &= ~(unsigned) INPCK;
|
||||
options.c_cflag &= ~(unsigned) CSTOPB;
|
||||
options.c_oflag &= ~(unsigned) OPOST;
|
||||
options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
|
||||
options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
|
||||
options.c_cc[VTIME] = 0;
|
||||
options.c_cc[VMIN] = 0;
|
||||
|
||||
tcflush(uartHandleStruct->uartFd, TCIFLUSH);
|
||||
|
||||
if (tcsetattr(uartHandleStruct->uartFd, TCSANOW, &options) != 0) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
|
||||
*uartHandle = uartHandleStruct;
|
||||
pclose(fp);
|
||||
|
||||
return returnCode;
|
||||
|
||||
close_uart_fd:
|
||||
close(uartHandleStruct->uartFd);
|
||||
|
||||
close_fp:
|
||||
pclose(fp);
|
||||
|
||||
free_uart_handle:
|
||||
free(uartHandleStruct);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle)
|
||||
{
|
||||
int32_t ret;
|
||||
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
|
||||
|
||||
if (uartHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
ret = close(uartHandleStruct->uartFd);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
free(uartHandleStruct);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
|
||||
|
||||
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = write(uartHandleStruct->uartFd, buf, len);
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
|
||||
|
||||
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = read(uartHandleStruct->uartFd, buf, len);
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status)
|
||||
{
|
||||
T_DjiUserLinkConfig linkConfig = {0};
|
||||
|
||||
if (uartNum == DJI_HAL_UART_NUM_0) {
|
||||
status->isConnect = true;
|
||||
} else if (uartNum == DJI_HAL_UART_NUM_1) {
|
||||
if (DjiUserConfigManager_IsEnable()) {
|
||||
DjiUserConfigManager_GetLinkConfig(&linkConfig);
|
||||
status->isConnect = linkConfig.uartConfig.uart2DeviceEnable;
|
||||
} else {
|
||||
status->isConnect = true;
|
||||
}
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,65 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_uart.h
|
||||
* @brief This is the header file for "hal_uart.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef HAL_UART_H
|
||||
#define HAL_UART_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "stdint.h"
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include "stdlib.h"
|
||||
|
||||
#include "dji_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
//User can config dev based on there environmental conditions
|
||||
#define LINUX_UART_DEV1 "/dev/ttyUSB0"
|
||||
#define LINUX_UART_DEV2 "/dev/ttyACM0"
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
|
||||
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
|
||||
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // HAL_UART_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,280 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_usb_bulk.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "hal_usb_bulk.h"
|
||||
#include "dji_logger.h"
|
||||
#include "utils/dji_config_manager.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
|
||||
#define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER (-1)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef struct {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
libusb_device_handle *handle;
|
||||
#else
|
||||
void *handle;
|
||||
#endif
|
||||
int32_t ep1;
|
||||
int32_t ep2;
|
||||
uint32_t interfaceNum;
|
||||
T_DjiHalUsbBulkInfo usbBulkInfo;
|
||||
} T_HalUsbBulkObj;
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle)
|
||||
{
|
||||
int32_t ret;
|
||||
struct libusb_device_handle *handle = NULL;
|
||||
T_DjiUserLinkConfig linkConfig = {0};
|
||||
char usbBulk1EpInFd[USER_DEVICE_NAME_STR_MAX_SIZE];
|
||||
char usbBulk1EpOutFd[USER_DEVICE_NAME_STR_MAX_SIZE];
|
||||
char usbBulk2EpInFd[USER_DEVICE_NAME_STR_MAX_SIZE];
|
||||
char usbBulk2EpOutFd[USER_DEVICE_NAME_STR_MAX_SIZE];
|
||||
uint8_t usbBulk1InterfaceNum;
|
||||
uint8_t usbBulk2InterfaceNum;
|
||||
|
||||
*usbBulkHandle = malloc(sizeof(T_HalUsbBulkObj));
|
||||
if (*usbBulkHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
if (usbBulkInfo.isUsbHost == true) {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
ret = libusb_init(NULL);
|
||||
if (ret < 0) {
|
||||
USER_LOG_ERROR("init usb bulk failed, errno = %d", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
|
||||
if (handle == NULL) {
|
||||
USER_LOG_ERROR("open usb device failed");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
|
||||
if (ret != LIBUSB_SUCCESS) {
|
||||
USER_LOG_ERROR("libusb claim interface failed, errno = %d", ret);
|
||||
libusb_close(handle);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
|
||||
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
|
||||
#endif
|
||||
} else {
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
|
||||
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
|
||||
|
||||
if (DjiUserConfigManager_IsEnable()) {
|
||||
DjiUserConfigManager_GetLinkConfig(&linkConfig);
|
||||
usbBulk1InterfaceNum = linkConfig.usbBulkConfig.usbBulk1InterfaceNum;
|
||||
usbBulk2InterfaceNum = linkConfig.usbBulkConfig.usbBulk2InterfaceNum;
|
||||
snprintf(usbBulk1EpOutFd, sizeof(usbBulk1EpOutFd), "%s/ep1",
|
||||
linkConfig.usbBulkConfig.usbBulk1DeviceName);
|
||||
snprintf(usbBulk1EpInFd, sizeof(usbBulk1EpInFd), "%s/ep2",
|
||||
linkConfig.usbBulkConfig.usbBulk1DeviceName);
|
||||
snprintf(usbBulk2EpOutFd, sizeof(usbBulk2EpOutFd), "%s/ep1",
|
||||
linkConfig.usbBulkConfig.usbBulk2DeviceName);
|
||||
snprintf(usbBulk2EpInFd, sizeof(usbBulk2EpInFd), "%s/ep2",
|
||||
linkConfig.usbBulkConfig.usbBulk2DeviceName);
|
||||
} else {
|
||||
usbBulk1InterfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
|
||||
usbBulk2InterfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
|
||||
strcpy(usbBulk1EpInFd, LINUX_USB_BULK1_EP_IN_FD);
|
||||
strcpy(usbBulk1EpOutFd, LINUX_USB_BULK1_EP_OUT_FD);
|
||||
strcpy(usbBulk2EpInFd, LINUX_USB_BULK2_EP_IN_FD);
|
||||
strcpy(usbBulk2EpOutFd, LINUX_USB_BULK2_EP_OUT_FD);
|
||||
}
|
||||
|
||||
if (usbBulkInfo.channelInfo.interfaceNum == usbBulk1InterfaceNum) {
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(usbBulk1EpOutFd, O_RDWR);
|
||||
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(usbBulk1EpInFd, O_RDWR);
|
||||
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
} else if (usbBulkInfo.channelInfo.interfaceNum == usbBulk2InterfaceNum) {
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(usbBulk2EpOutFd, O_RDWR);
|
||||
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(usbBulk2EpInFd, O_RDWR);
|
||||
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
|
||||
{
|
||||
struct libusb_device_handle *handle = NULL;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
int32_t ret;
|
||||
|
||||
if (usbBulkHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
|
||||
|
||||
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
ret = libusb_release_interface(handle,
|
||||
((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
|
||||
if (ret != 0) {
|
||||
USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
libusb_exit(NULL);
|
||||
#endif
|
||||
} else {
|
||||
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
|
||||
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
|
||||
}
|
||||
|
||||
free(usbBulkHandle);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
|
||||
uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
int32_t actualLen;
|
||||
struct libusb_device_handle *handle = NULL;
|
||||
|
||||
if (usbBulkHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
|
||||
|
||||
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
|
||||
(uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
|
||||
if (ret < 0) {
|
||||
USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
*realLen = actualLen;
|
||||
#endif
|
||||
} else {
|
||||
*realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
|
||||
uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
struct libusb_device_handle *handle = NULL;
|
||||
int32_t actualLen;
|
||||
|
||||
if (usbBulkHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
|
||||
|
||||
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
|
||||
buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
|
||||
if (ret < 0) {
|
||||
USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
*realLen = actualLen;
|
||||
#endif
|
||||
} else {
|
||||
*realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
|
||||
{
|
||||
T_DjiUserLinkConfig linkConfig = {0};
|
||||
|
||||
if (DjiUserConfigManager_IsEnable()) {
|
||||
DjiUserConfigManager_GetLinkConfig(&linkConfig);
|
||||
|
||||
//attention: this interface only be called in usb device mode.
|
||||
deviceInfo->vid = linkConfig.usbBulkConfig.usbDeviceVid;
|
||||
deviceInfo->pid = linkConfig.usbBulkConfig.usbDevicePid;
|
||||
|
||||
// This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = linkConfig.usbBulkConfig.usbBulk1InterfaceNum;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = linkConfig.usbBulkConfig.usbBulk1EndpointIn;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = linkConfig.usbBulkConfig.usbBulk1EndpointOut;
|
||||
|
||||
// This bulk channel is used to obtain DJI perception image and download camera media file.
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = linkConfig.usbBulkConfig.usbBulk2InterfaceNum;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = linkConfig.usbBulkConfig.usbBulk2EndpointIn;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = linkConfig.usbBulkConfig.usbBulk2EndpointOut;
|
||||
} else {
|
||||
//attention: this interface only be called in usb device mode.
|
||||
deviceInfo->vid = LINUX_USB_VID;
|
||||
deviceInfo->pid = LINUX_USB_PID;
|
||||
|
||||
// This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
|
||||
|
||||
// This bulk channel is used to obtain DJI perception image and download camera media file.
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,92 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_usb_bulk.h
|
||||
* @brief This is the header file for "hal_usb_bulk.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef HAL_USB_BULK_H
|
||||
#define HAL_USB_BULK_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "stdint.h"
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <sys/socket.h>
|
||||
#include <netinet/in.h>
|
||||
#include <arpa/inet.h>
|
||||
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
|
||||
#include <libusb-1.0/libusb.h>
|
||||
|
||||
#endif
|
||||
|
||||
#include "dji_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep1"
|
||||
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep2"
|
||||
|
||||
#define LINUX_USB_BULK1_INTERFACE_NUM (2)
|
||||
#define LINUX_USB_BULK1_END_POINT_IN (0x83)
|
||||
#define LINUX_USB_BULK1_END_POINT_OUT (2)
|
||||
|
||||
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep1"
|
||||
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep2"
|
||||
|
||||
#define LINUX_USB_BULK2_INTERFACE_NUM (3)
|
||||
#define LINUX_USB_BULK2_END_POINT_IN (0x84)
|
||||
#define LINUX_USB_BULK2_END_POINT_OUT (3)
|
||||
|
||||
#ifdef PLATFORM_ARCH_x86_64
|
||||
#define LINUX_USB_VID (0x0B95)
|
||||
#define LINUX_USB_PID (0x1790)
|
||||
#else
|
||||
#define LINUX_USB_VID (0x0955)
|
||||
#define LINUX_USB_PID (0x7020)
|
||||
#endif
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);
|
||||
T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle);
|
||||
T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
|
||||
uint32_t *realLen);
|
||||
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // HAL_USB_BULK_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,128 @@
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
project(dji_sdk_demo_on_jetson_cxx CXX)
|
||||
|
||||
set(CMAKE_C_FLAGS "-pthread -std=gnu99")
|
||||
set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
|
||||
set(CMAKE_EXE_LINKER_FLAGS "-pthread")
|
||||
set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
|
||||
set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
|
||||
add_definitions(-D_GNU_SOURCE)
|
||||
|
||||
if (BUILD_TEST_CASES_ON MATCHES TRUE)
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
|
||||
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
|
||||
endif ()
|
||||
|
||||
include_directories(../../../module_sample)
|
||||
include_directories(../../../../sample_c/module_sample)
|
||||
include_directories(../common)
|
||||
include_directories(../nvidia_jetson/application)
|
||||
|
||||
file(GLOB_RECURSE MODULE_SAMPLE_SRC
|
||||
../../../module_sample/liveview/*.c*
|
||||
../../../module_sample/camera_manager/*.c*
|
||||
../../../module_sample/perception/*.c*
|
||||
../../../module_sample/gimbal/*.c*
|
||||
../../../../sample_c/module_sample/*.c
|
||||
)
|
||||
file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c*)
|
||||
file(GLOB_RECURSE MODULE_HAL_SRC hal/*.c*)
|
||||
file(GLOB_RECURSE MODULE_APP_SRC application/*.c*)
|
||||
|
||||
set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc)
|
||||
add_definitions(-DPLATFORM_ARCH_aarch64=1)
|
||||
add_definitions(-DSYSTEM_ARCH_LINUX=1)
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
|
||||
|
||||
link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})
|
||||
link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME}/libpayloadsdk.a -lstdc++)
|
||||
|
||||
add_executable(${PROJECT_NAME}
|
||||
${MODULE_APP_SRC}
|
||||
${MODULE_SAMPLE_SRC}
|
||||
${MODULE_COMMON_SRC}
|
||||
${MODULE_HAL_SRC})
|
||||
|
||||
# Try to see if user has OpenCV installed
|
||||
# if yes, default callback will display the image
|
||||
find_package(OpenCV QUIET)
|
||||
if (OpenCV_FOUND)
|
||||
message("\n${PROJECT_NAME}...")
|
||||
message(STATUS "Found OpenCV installed in the system, will use it to display image in AdvancedSensing APIs")
|
||||
message(STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
|
||||
message(STATUS " - Libraries: ${OpenCV_LIBRARIES}")
|
||||
add_definitions(-DOPEN_CV_INSTALLED)
|
||||
else ()
|
||||
message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
|
||||
endif ()
|
||||
|
||||
find_package(FFMPEG REQUIRED)
|
||||
if (FFMPEG_FOUND)
|
||||
message(STATUS "Found FFMPEG installed in the system")
|
||||
message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
|
||||
message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
|
||||
|
||||
EXECUTE_PROCESS(COMMAND ffmpeg -version
|
||||
OUTPUT_VARIABLE ffmpeg_version_output
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
string(REGEX MATCH "version.*Copyright" ffmpeg_version_line ${ffmpeg_version_output})
|
||||
string(REGEX MATCH " .* " ffmpeg_version ${ffmpeg_version_line})
|
||||
string(REGEX MATCH "^ 5.*$" ffmpeg_major_version ${ffmpeg_version})
|
||||
|
||||
if (HEAD${ffmpeg_major_version} STREQUAL "HEAD")
|
||||
message(STATUS " - Version: ${ffmpeg_version}")
|
||||
else ()
|
||||
message(FATAL_ERROR " - Not support FFMPEG version: ${ffmpeg_major_version}, please install 4.x.x instead.")
|
||||
endif ()
|
||||
|
||||
target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES})
|
||||
include_directories(${FFMPEG_INCLUDE_DIR})
|
||||
add_definitions(-DFFMPEG_INSTALLED)
|
||||
else ()
|
||||
message(STATUS "Cannot Find FFMPEG")
|
||||
endif (FFMPEG_FOUND)
|
||||
|
||||
include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/include)
|
||||
|
||||
|
||||
find_package(OPUS REQUIRED)
|
||||
if (OPUS_FOUND)
|
||||
message(STATUS "Found OPUS installed in the system")
|
||||
message(STATUS " - Includes: ${OPUS_INCLUDE_DIR}")
|
||||
message(STATUS " - Libraries: ${OPUS_LIBRARY}")
|
||||
|
||||
add_definitions(-DOPUS_INSTALLED)
|
||||
target_link_libraries(${PROJECT_NAME} /usr/local/lib/libopus.a)
|
||||
else ()
|
||||
message(STATUS "Cannot Find OPUS")
|
||||
endif (OPUS_FOUND)
|
||||
|
||||
find_package(LIBUSB REQUIRED)
|
||||
if (LIBUSB_FOUND)
|
||||
message(STATUS "Found LIBUSB installed in the system")
|
||||
message(STATUS " - Includes: ${LIBUSB_INCLUDE_DIR}")
|
||||
message(STATUS " - Libraries: ${LIBUSB_LIBRARY}")
|
||||
|
||||
add_definitions(-DLIBUSB_INSTALLED)
|
||||
target_link_libraries(${PROJECT_NAME} usb-1.0)
|
||||
else ()
|
||||
message(STATUS "Cannot Find LIBUSB")
|
||||
endif (LIBUSB_FOUND)
|
||||
|
||||
if (NOT EXECUTABLE_OUTPUT_PATH)
|
||||
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
|
||||
endif ()
|
||||
|
||||
target_link_libraries(${PROJECT_NAME} m)
|
||||
|
||||
add_custom_command(TARGET ${PROJECT_NAME}
|
||||
PRE_LINK COMMAND cmake ..
|
||||
WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
|
||||
|
||||
target_include_directories(${PROJECT_NAME} PRIVATE ${OpenCV_INCLUDE_DIRS})
|
||||
if (OpenCV_FOUND)
|
||||
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
|
||||
endif ()
|
||||
@ -0,0 +1,420 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file application.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "application.hpp"
|
||||
#include "dji_sdk_app_info.h"
|
||||
#include <dji_platform.h>
|
||||
#include <dji_logger.h>
|
||||
#include <dji_core.h>
|
||||
#include <dji_aircraft_info.h>
|
||||
#include <csignal>
|
||||
#include "dji_sdk_config.h"
|
||||
|
||||
#include "../common/osal/osal.h"
|
||||
#include "../common/osal/osal_fs.h"
|
||||
#include "../common/osal/osal_socket.h"
|
||||
#include "../manifold2/hal/hal_usb_bulk.h"
|
||||
#include "../manifold2/hal/hal_uart.h"
|
||||
#include "../manifold2/hal/hal_network.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define DJI_LOG_PATH "Logs/DJI"
|
||||
#define DJI_LOG_INDEX_FILE_NAME "Logs/latest"
|
||||
#define DJI_LOG_FOLDER_NAME "Logs"
|
||||
#define DJI_LOG_PATH_MAX_SIZE (128)
|
||||
#define DJI_LOG_FOLDER_NAME_MAX_SIZE (32)
|
||||
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
|
||||
#define DJI_LOG_MAX_COUNT (10)
|
||||
|
||||
#define USER_UTIL_UNUSED(x) ((x) = (x))
|
||||
#define USER_UTIL_MIN(a, b) (((a) < (b)) ? (a) : (b))
|
||||
#define USER_UTIL_MAX(a, b) (((a) > (b)) ? (a) : (b))
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static FILE *s_djiLogFile;
|
||||
static FILE *s_djiLogFileCnt;
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void DjiUser_NormalExitHandler(int signalNum);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
Application::Application(int argc, char **argv)
|
||||
{
|
||||
Application::DjiUser_SetupEnvironment();
|
||||
Application::DjiUser_ApplicationStart();
|
||||
|
||||
Osal_TaskSleepMs(3000);
|
||||
}
|
||||
|
||||
Application::~Application()
|
||||
= default;
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
void Application::DjiUser_SetupEnvironment()
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiOsalHandler osalHandler = {0};
|
||||
T_DjiHalUartHandler uartHandler = {0};
|
||||
T_DjiHalUsbBulkHandler usbBulkHandler = {0};
|
||||
T_DjiLoggerConsole printConsole;
|
||||
T_DjiLoggerConsole localRecordConsole;
|
||||
T_DjiFileSystemHandler fileSystemHandler = {0};
|
||||
T_DjiSocketHandler socketHandler = {0};
|
||||
T_DjiHalNetworkHandler networkHandler = {0};
|
||||
|
||||
networkHandler.NetworkInit = HalNetWork_Init;
|
||||
networkHandler.NetworkDeInit = HalNetWork_DeInit;
|
||||
networkHandler.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo;
|
||||
|
||||
socketHandler.Socket = Osal_Socket;
|
||||
socketHandler.Bind = Osal_Bind;
|
||||
socketHandler.Close = Osal_Close;
|
||||
socketHandler.UdpSendData = Osal_UdpSendData;
|
||||
socketHandler.UdpRecvData = Osal_UdpRecvData;
|
||||
socketHandler.TcpListen = Osal_TcpListen;
|
||||
socketHandler.TcpAccept = Osal_TcpAccept;
|
||||
socketHandler.TcpConnect = Osal_TcpConnect;
|
||||
socketHandler.TcpSendData = Osal_TcpSendData;
|
||||
socketHandler.TcpRecvData = Osal_TcpRecvData;
|
||||
|
||||
osalHandler.TaskCreate = Osal_TaskCreate;
|
||||
osalHandler.TaskDestroy = Osal_TaskDestroy;
|
||||
osalHandler.TaskSleepMs = Osal_TaskSleepMs;
|
||||
osalHandler.MutexCreate = Osal_MutexCreate;
|
||||
osalHandler.MutexDestroy = Osal_MutexDestroy;
|
||||
osalHandler.MutexLock = Osal_MutexLock;
|
||||
osalHandler.MutexUnlock = Osal_MutexUnlock;
|
||||
osalHandler.SemaphoreCreate = Osal_SemaphoreCreate;
|
||||
osalHandler.SemaphoreDestroy = Osal_SemaphoreDestroy;
|
||||
osalHandler.SemaphoreWait = Osal_SemaphoreWait;
|
||||
osalHandler.SemaphoreTimedWait = Osal_SemaphoreTimedWait;
|
||||
osalHandler.SemaphorePost = Osal_SemaphorePost;
|
||||
osalHandler.Malloc = Osal_Malloc;
|
||||
osalHandler.Free = Osal_Free;
|
||||
osalHandler.GetTimeMs = Osal_GetTimeMs;
|
||||
osalHandler.GetTimeUs = Osal_GetTimeUs;
|
||||
osalHandler.GetRandomNum = Osal_GetRandomNum,
|
||||
|
||||
printConsole.func = DjiUser_PrintConsole;
|
||||
printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;
|
||||
printConsole.isSupportColor = true;
|
||||
|
||||
localRecordConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG;
|
||||
localRecordConsole.func = DjiUser_LocalWrite;
|
||||
localRecordConsole.isSupportColor = false;
|
||||
|
||||
uartHandler.UartInit = HalUart_Init;
|
||||
uartHandler.UartDeInit = HalUart_DeInit;
|
||||
uartHandler.UartWriteData = HalUart_WriteData;
|
||||
uartHandler.UartReadData = HalUart_ReadData;
|
||||
uartHandler.UartGetStatus = HalUart_GetStatus;
|
||||
|
||||
usbBulkHandler.UsbBulkInit = HalUsbBulk_Init;
|
||||
usbBulkHandler.UsbBulkDeInit = HalUsbBulk_DeInit;
|
||||
usbBulkHandler.UsbBulkWriteData = HalUsbBulk_WriteData;
|
||||
usbBulkHandler.UsbBulkReadData = HalUsbBulk_ReadData;
|
||||
usbBulkHandler.UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo;
|
||||
|
||||
fileSystemHandler.FileOpen = Osal_FileOpen,
|
||||
fileSystemHandler.FileClose = Osal_FileClose,
|
||||
fileSystemHandler.FileWrite = Osal_FileWrite,
|
||||
fileSystemHandler.FileRead = Osal_FileRead,
|
||||
fileSystemHandler.FileSync = Osal_FileSync,
|
||||
fileSystemHandler.FileSeek = Osal_FileSeek,
|
||||
fileSystemHandler.DirOpen = Osal_DirOpen,
|
||||
fileSystemHandler.DirClose = Osal_DirClose,
|
||||
fileSystemHandler.DirRead = Osal_DirRead,
|
||||
fileSystemHandler.Mkdir = Osal_Mkdir,
|
||||
fileSystemHandler.Unlink = Osal_Unlink,
|
||||
fileSystemHandler.Rename = Osal_Rename,
|
||||
fileSystemHandler.Stat = Osal_Stat,
|
||||
|
||||
returnCode = DjiPlatform_RegOsalHandler(&osalHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register osal handler error.");
|
||||
}
|
||||
|
||||
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register hal uart handler error.");
|
||||
}
|
||||
|
||||
#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
|
||||
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register hal usb bulk handler error.");
|
||||
}
|
||||
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
|
||||
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register hal network handler error");
|
||||
}
|
||||
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
|
||||
/*!< Attention: Only use uart hardware connection.
|
||||
*/
|
||||
#endif
|
||||
|
||||
//Attention: if you want to use camera stream view function, please uncomment it.
|
||||
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("register osal socket handler error");
|
||||
}
|
||||
|
||||
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Register osal filesystem handler error.");
|
||||
}
|
||||
|
||||
if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("File system init error.");
|
||||
}
|
||||
|
||||
returnCode = DjiLogger_AddConsole(&printConsole);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Add printf console error.");
|
||||
}
|
||||
|
||||
returnCode = DjiLogger_AddConsole(&localRecordConsole);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Add printf console error.");
|
||||
}
|
||||
}
|
||||
|
||||
void Application::DjiUser_ApplicationStart()
|
||||
{
|
||||
T_DjiUserInfo userInfo;
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
|
||||
T_DjiFirmwareVersion firmwareVersion = {
|
||||
.majorVersion = 1,
|
||||
.minorVersion = 0,
|
||||
.modifyVersion = 0,
|
||||
.debugVersion = 0,
|
||||
};
|
||||
|
||||
// attention: when the program is hand up ctrl-c will generate the coredump file
|
||||
signal(SIGTERM, DjiUser_NormalExitHandler);
|
||||
|
||||
returnCode = DjiUser_FillInUserInfo(&userInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Fill user info error, please check user info config.");
|
||||
}
|
||||
|
||||
returnCode = DjiCore_Init(&userInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Core init error.");
|
||||
}
|
||||
|
||||
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Get aircraft base info error.");
|
||||
}
|
||||
|
||||
if (aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_EXTENSION_PORT) {
|
||||
throw std::runtime_error("Please run this sample on extension port.");
|
||||
}
|
||||
|
||||
returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Set alias error.");
|
||||
}
|
||||
|
||||
returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Set firmware version error.");
|
||||
}
|
||||
|
||||
returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Set serial number error");
|
||||
}
|
||||
|
||||
returnCode = DjiCore_ApplicationStart();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
throw std::runtime_error("Start sdk application error.");
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Application start.");
|
||||
}
|
||||
|
||||
T_DjiReturnCode Application::DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
|
||||
{
|
||||
printf("%s", data);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Application::DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
|
||||
{
|
||||
int32_t realLen;
|
||||
|
||||
if (s_djiLogFile == nullptr) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
realLen = fwrite(data, 1, dataLen, s_djiLogFile);
|
||||
fflush(s_djiLogFile);
|
||||
if (realLen == dataLen) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
}
|
||||
|
||||
T_DjiReturnCode Application::DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
|
||||
{
|
||||
memset(userInfo->appName, 0, sizeof(userInfo->appName));
|
||||
memset(userInfo->appId, 0, sizeof(userInfo->appId));
|
||||
memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
|
||||
memset(userInfo->appLicense, 0, sizeof(userInfo->appLicense));
|
||||
memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
|
||||
memset(userInfo->baudRate, 0, sizeof(userInfo->baudRate));
|
||||
|
||||
if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
|
||||
strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
|
||||
strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
|
||||
strlen(USER_APP_LICENSE) > sizeof(userInfo->appLicense) ||
|
||||
strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount) ||
|
||||
strlen(USER_BAUD_RATE) > sizeof(userInfo->baudRate)) {
|
||||
USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
if (!strcmp(USER_APP_NAME, "your_app_name") ||
|
||||
!strcmp(USER_APP_ID, "your_app_id") ||
|
||||
!strcmp(USER_APP_KEY, "your_app_key") ||
|
||||
!strcmp(USER_BAUD_RATE, "your_app_license") ||
|
||||
!strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
|
||||
!strcmp(USER_BAUD_RATE, "your_baud_rate")) {
|
||||
USER_LOG_ERROR(
|
||||
"Please fill in correct user information to 'samples/sample_c++/platform/linux/manifold2/application/dji_sdk_app_info.h' file.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
|
||||
memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
|
||||
memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
|
||||
memcpy(userInfo->appLicense, USER_APP_LICENSE,
|
||||
USER_UTIL_MIN(sizeof(userInfo->appLicense), strlen(USER_APP_LICENSE)));
|
||||
memcpy(userInfo->baudRate, USER_BAUD_RATE, USER_UTIL_MIN(sizeof(userInfo->baudRate), strlen(USER_BAUD_RATE)));
|
||||
strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode Application::DjiUser_LocalWriteFsInit(const char *path)
|
||||
{
|
||||
T_DjiReturnCode djiReturnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
char filePath[DJI_LOG_PATH_MAX_SIZE];
|
||||
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
|
||||
char folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
|
||||
time_t currentTime = time(nullptr);
|
||||
struct tm *localTime = localtime(¤tTime);
|
||||
uint16_t logFileIndex = 0;
|
||||
uint16_t currentLogFileIndex;
|
||||
uint8_t ret;
|
||||
|
||||
if (localTime == nullptr) {
|
||||
printf("Get local time error.\r\n");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
if (access(DJI_LOG_FOLDER_NAME, F_OK) != 0) {
|
||||
sprintf(folderName, "mkdir %s", DJI_LOG_FOLDER_NAME);
|
||||
ret = system(folderName);
|
||||
if (ret != 0) {
|
||||
printf("Create new log folder error, ret:%d.\r\n", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "rb+");
|
||||
if (s_djiLogFileCnt == nullptr) {
|
||||
s_djiLogFileCnt = fopen(DJI_LOG_INDEX_FILE_NAME, "wb+");
|
||||
if (s_djiLogFileCnt == nullptr) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
} else {
|
||||
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
|
||||
if (ret != 0) {
|
||||
printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
ret = fread((uint16_t * ) & logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
|
||||
if (ret != sizeof(uint16_t)) {
|
||||
printf("Read log file index error.\r\n");
|
||||
}
|
||||
}
|
||||
|
||||
currentLogFileIndex = logFileIndex;
|
||||
logFileIndex++;
|
||||
|
||||
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
|
||||
if (ret != 0) {
|
||||
printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
ret = fwrite((uint16_t * ) & logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
|
||||
if (ret != sizeof(uint16_t)) {
|
||||
printf("Write log file index error.\r\n");
|
||||
fclose(s_djiLogFileCnt);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
fclose(s_djiLogFileCnt);
|
||||
|
||||
sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
|
||||
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
|
||||
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
|
||||
|
||||
s_djiLogFile = fopen(filePath, "wb+");
|
||||
if (s_djiLogFile == nullptr) {
|
||||
USER_LOG_ERROR("Open filepath time error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
if (logFileIndex >= DJI_LOG_MAX_COUNT) {
|
||||
sprintf(systemCmd, "rm -rf %s_%04d*.log", path, currentLogFileIndex - DJI_LOG_MAX_COUNT);
|
||||
ret = system(systemCmd);
|
||||
if (ret != 0) {
|
||||
printf("Remove file error, ret:%d.\r\n", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
return djiReturnCode;
|
||||
}
|
||||
|
||||
static void DjiUser_NormalExitHandler(int signalNum)
|
||||
{
|
||||
USER_UTIL_UNUSED(signalNum);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,67 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_application.hpp
|
||||
* @brief This is the header file for "dji_application.cpp", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef APPLICATION_H
|
||||
#define APPLICATION_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include "dji_typedef.h"
|
||||
#include "dji_core.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
using namespace std;
|
||||
|
||||
class Application {
|
||||
public:
|
||||
Application(int argc, char **argv);
|
||||
~Application();
|
||||
|
||||
private:
|
||||
static void DjiUser_SetupEnvironment();
|
||||
static void DjiUser_ApplicationStart();
|
||||
static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
|
||||
static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
|
||||
static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo);
|
||||
static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path);
|
||||
};
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // APPLICATION_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,55 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_sdk_app_info.h
|
||||
* @brief This is the header file for defining the structure and (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2018 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef DJI_SDK_APP_INFO_H
|
||||
#define DJI_SDK_APP_INFO_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
// ATTENTION: User must goto https://developer.dji.com/user/apps/#all to create your own dji sdk application, get dji sdk application
|
||||
// information then fill in the application information here.
|
||||
#define USER_APP_NAME "your_app_name"
|
||||
#define USER_APP_ID "your_app_id"
|
||||
#define USER_APP_KEY "your_app_key"
|
||||
#define USER_APP_LICENSE "your_app_license"
|
||||
#define USER_DEVELOPER_ACCOUNT "your_developer_account"
|
||||
#define USER_BAUD_RATE "460800"
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // DJI_SDK_APP_INFO_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,54 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_sdk_config.h
|
||||
* @brief This is the header file for "dji_config.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef DJI_SDK_CONFIG_H
|
||||
#define DJI_SDK_CONFIG_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
#define DJI_USE_ONLY_UART (0)
|
||||
#define DJI_USE_UART_AND_USB_BULK_DEVICE (1)
|
||||
#define DJI_USE_UART_AND_NETWORK_DEVICE (2)
|
||||
|
||||
/*!< Attention: Select your hardware connection mode here.
|
||||
* */
|
||||
#define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // DJI_SDK_CONFIG_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,227 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file main.cpp
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <liveview/test_liveview_entry.hpp>
|
||||
#include <perception/test_perception_entry.hpp>
|
||||
#include <flight_control/test_flight_control.h>
|
||||
#include <gimbal/test_gimbal_entry.hpp>
|
||||
#include <hms/test_hms.h>
|
||||
#include <waypoint_v2/test_waypoint_v2.h>
|
||||
#include <waypoint_v3/test_waypoint_v3.h>
|
||||
#include <gimbal_manager/test_gimbal_manager.h>
|
||||
#include "application.hpp"
|
||||
#include "fc_subscription/test_fc_subscription.h"
|
||||
#include <gimbal_emu/test_payload_gimbal_emu.h>
|
||||
#include <camera_emu/test_payload_cam_emu_media.h>
|
||||
#include <camera_emu/test_payload_cam_emu_base.h>
|
||||
#include <dji_logger.h>
|
||||
#include "widget/test_widget.h"
|
||||
#include "widget/test_widget_speaker.h"
|
||||
#include <power_management/test_power_management.h>
|
||||
#include "data_transmission/test_data_transmission.h"
|
||||
#include <camera_manager/test_camera_manager.h>
|
||||
#include "camera_manager/test_camera_manager_entry.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit();
|
||||
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
Application application(argc, argv);
|
||||
char inputChar;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiTestApplyHighPowerHandler applyHighPowerHandler;
|
||||
|
||||
start:
|
||||
std::cout
|
||||
<< "\n"
|
||||
<< "| Available commands: |\n"
|
||||
<< "| [0] Fc subscribe sample - subscribe quaternion and gps data |\n"
|
||||
<< "| [1] Flight controller sample - take off landing |\n"
|
||||
<< "| [2] Flight controller sample - take off position ctrl landing |\n"
|
||||
<< "| [3] Flight controller sample - take off go home force landing |\n"
|
||||
<< "| [4] Flight controller sample - take off velocity ctrl landing |\n"
|
||||
<< "| [5] Flight controller sample - arrest flying |\n"
|
||||
<< "| [6] Flight controller sample - set get parameters |\n"
|
||||
<< "| [7] Hms info sample - get health manger system info |\n"
|
||||
<< "| [8] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK) |\n"
|
||||
<< "| [9] Waypoint 3.0 sample - run airline mission by kmz file (not support on M300 RTK) |\n"
|
||||
<< "| [a] Gimbal manager sample |\n"
|
||||
<< "| [c] Camera stream view sample - display the camera video stream |\n"
|
||||
<< "| [d] Stereo vision view sample - display the stereo image |\n"
|
||||
<< "| [e] Start camera all features sample - you can operate the camera on DJI Pilot |\n"
|
||||
<< "| [f] Start gimbal all features sample - you can operate the gimbal on DJI Pilot |\n"
|
||||
<< "| [g] Start widget all features sample - you can operate the widget on DJI Pilot |\n"
|
||||
<< "| [h] Start widget speaker sample - you can operate the speaker on DJI Pilot2 |\n"
|
||||
<< "| [i] Start power management sample - you will see notification when aircraft power off |\n"
|
||||
<< "| [j] Start data transmission sample - you can send or recv custom data on MSDK demo |\n"
|
||||
<< "| [k] Run camera manager sample - you can test camera's functions interactively |\n"
|
||||
<< std::endl;
|
||||
|
||||
std::cin >> inputChar;
|
||||
switch (inputChar) {
|
||||
case '0':
|
||||
DjiTest_FcSubscriptionRunSample();
|
||||
break;
|
||||
case '1':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_LANDING);
|
||||
break;
|
||||
case '2':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_POSITION_CTRL_LANDING);
|
||||
break;
|
||||
case '3':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_GO_HOME_FORCE_LANDING);
|
||||
break;
|
||||
case '4':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING);
|
||||
break;
|
||||
case '5':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING);
|
||||
break;
|
||||
case '6':
|
||||
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM);
|
||||
break;
|
||||
case '7':
|
||||
DjiTest_HmsRunSample();
|
||||
break;
|
||||
case '8':
|
||||
DjiTest_WaypointV2RunSample();
|
||||
break;
|
||||
case '9':
|
||||
DjiTest_WaypointV3RunSample();
|
||||
break;
|
||||
case 'a':
|
||||
DjiUser_RunGimbalManagerSample();
|
||||
break;
|
||||
case 'c':
|
||||
DjiUser_RunCameraStreamViewSample();
|
||||
break;
|
||||
case 'd':
|
||||
DjiUser_RunStereoVisionViewSample();
|
||||
break;
|
||||
case 'e':
|
||||
returnCode = DjiTest_CameraEmuBaseStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("camera emu common init error");
|
||||
break;
|
||||
}
|
||||
|
||||
if (DjiPlatform_GetSocketHandler() != nullptr) {
|
||||
returnCode = DjiTest_CameraEmuMediaStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("camera emu media init error");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Start camera all feautes sample successfully");
|
||||
break;
|
||||
case 'f':
|
||||
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("psdk gimbal init error");
|
||||
break;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Start gimbal all feautes sample successfully");
|
||||
break;
|
||||
case 'g':
|
||||
returnCode = DjiTest_WidgetStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("widget sample init error");
|
||||
break;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Start widget all feautes sample successfully");
|
||||
break;
|
||||
case 'h':
|
||||
returnCode = DjiTest_WidgetSpeakerStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("widget speaker test init error");
|
||||
break;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Start widget speaker sample successfully");
|
||||
break;
|
||||
case 'i':
|
||||
applyHighPowerHandler.pinInit = DjiTest_HighPowerApplyPinInit;
|
||||
applyHighPowerHandler.pinWrite = DjiTest_WriteHighPowerApplyPin;
|
||||
|
||||
returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("regsiter apply high power handler error");
|
||||
break;
|
||||
}
|
||||
|
||||
returnCode = DjiTest_PowerManagementStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("power management init error");
|
||||
break;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Start power management sample successfully");
|
||||
break;
|
||||
case 'j':
|
||||
returnCode = DjiTest_DataTransmissionStartService();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("data transmission sample init error");
|
||||
break;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Start data transmission sample successfully");
|
||||
break;
|
||||
case 'k':
|
||||
DjiUser_RunCameraManagerSample();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
osalHandler->TaskSleepMs(2000);
|
||||
|
||||
goto start;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static T_DjiReturnCode DjiTest_HighPowerApplyPinInit()
|
||||
{
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinState pinState)
|
||||
{
|
||||
//attention: please pull up the HWPR pin state by hardware.
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,92 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_network.c
|
||||
* @version V2.0.0
|
||||
* @date 3/27/20
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "string.h"
|
||||
#include "stdlib.h"
|
||||
#include "stdio.h"
|
||||
#include "hal_network.h"
|
||||
#include "dji_logger.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj)
|
||||
{
|
||||
int32_t ret;
|
||||
char cmdStr[LINUX_CMD_STR_MAX_SIZE];
|
||||
|
||||
if (ipAddr == NULL || netMask == NULL) {
|
||||
USER_LOG_ERROR("hal network config param error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
//Attention: need root permission to config ip addr and netmask.
|
||||
memset(cmdStr, 0, sizeof(cmdStr));
|
||||
|
||||
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
|
||||
ret = system(cmdStr);
|
||||
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Can't open the network."
|
||||
"Probably the program not execute with root permission."
|
||||
"Please use the root permission to execute the program.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
|
||||
ret = system(cmdStr);
|
||||
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Can't config the ip address of network."
|
||||
"Probably the program not execute with root permission."
|
||||
"Please use the root permission to execute the program.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj)
|
||||
{
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo)
|
||||
{
|
||||
deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
|
||||
deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,73 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_network.h
|
||||
* @brief This is the header file for "hal_network.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef HAL_NETWORK_H
|
||||
#define HAL_NETWORK_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/** @attention User can config network card name here, if your device is not MF2C/G, please comment below and add your
|
||||
* NIC name micro define as #define 'LINUX_NETWORK_DEV "your NIC name"'.
|
||||
*/
|
||||
#ifdef PLATFORM_ARCH_x86_64
|
||||
#define LINUX_NETWORK_DEV "enxf8e43b7bbc2c"
|
||||
#else
|
||||
#define LINUX_NETWORK_DEV "l4tbr0"
|
||||
#endif
|
||||
/**
|
||||
* @attention
|
||||
*/
|
||||
|
||||
#ifdef PLATFORM_ARCH_x86_64
|
||||
#define USB_NET_ADAPTER_VID (0x0B95)
|
||||
#define USB_NET_ADAPTER_PID (0x1790)
|
||||
#else
|
||||
#define USB_NET_ADAPTER_VID (0x0955)
|
||||
#define USB_NET_ADAPTER_PID (0x7020)
|
||||
#endif
|
||||
|
||||
#define LINUX_CMD_STR_MAX_SIZE (128)
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj);
|
||||
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj);
|
||||
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // HAL_NETWORK_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,260 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_uart.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <dji_logger.h>
|
||||
#include "hal_uart.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define UART_DEV_NAME_STR_SIZE (128)
|
||||
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
|
||||
#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef struct {
|
||||
int uartFd;
|
||||
} T_UartHandleStruct;
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
|
||||
{
|
||||
T_UartHandleStruct *uartHandleStruct;
|
||||
struct termios options;
|
||||
struct flock lock;
|
||||
T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
char uartName[UART_DEV_NAME_STR_SIZE];
|
||||
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
|
||||
char *ret = NULL;
|
||||
char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
|
||||
FILE *fp;
|
||||
|
||||
uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
|
||||
if (uartHandleStruct == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
if (uartNum == DJI_HAL_UART_NUM_0) {
|
||||
strcpy(uartName, LINUX_UART_DEV1);
|
||||
} else if (uartNum == DJI_HAL_UART_NUM_1) {
|
||||
strcpy(uartName, LINUX_UART_DEV2);
|
||||
} else {
|
||||
goto free_uart_handle;
|
||||
}
|
||||
|
||||
#ifdef USE_CLION_DEBUG
|
||||
sprintf(systemCmd, "ls -l %s", uartName);
|
||||
fp = popen(systemCmd, "r");
|
||||
if (fp == NULL) {
|
||||
goto free_uart_handle;
|
||||
}
|
||||
|
||||
ret = fgets(lineBuf, sizeof(lineBuf), fp);
|
||||
if (ret == NULL) {
|
||||
goto close_fp;
|
||||
}
|
||||
|
||||
if (strstr(lineBuf, "crwxrwxrwx") == NULL) {
|
||||
USER_LOG_ERROR("Can't operation the device. "
|
||||
"Probably the device has not operation permission. "
|
||||
"Please execute command 'sudo chmod 777 %s' to add permission. ", uartName);
|
||||
goto close_fp;
|
||||
}
|
||||
#else
|
||||
sprintf(systemCmd, "chmod 777 %s", uartName);
|
||||
fp = popen(systemCmd, "r");
|
||||
if (fp == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
#endif
|
||||
|
||||
uartHandleStruct->uartFd = open(uartName, (unsigned) O_RDWR | (unsigned) O_NOCTTY | (unsigned) O_NDELAY);
|
||||
if (uartHandleStruct->uartFd == -1) {
|
||||
goto close_fp;
|
||||
}
|
||||
|
||||
// Forbid multiple psdk programs to access the serial port
|
||||
lock.l_type = F_WRLCK;
|
||||
lock.l_pid = getpid();
|
||||
lock.l_whence = SEEK_SET;
|
||||
lock.l_start = 0;
|
||||
lock.l_len = 0;
|
||||
|
||||
if (fcntl(uartHandleStruct->uartFd, F_GETLK, &lock) < 0) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
if (lock.l_type != F_UNLCK) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
lock.l_type = F_WRLCK;
|
||||
lock.l_pid = getpid();
|
||||
lock.l_whence = SEEK_SET;
|
||||
lock.l_start = 0;
|
||||
lock.l_len = 0;
|
||||
if (fcntl(uartHandleStruct->uartFd, F_SETLKW, &lock) < 0) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
|
||||
if (tcgetattr(uartHandleStruct->uartFd, &options) != 0) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
|
||||
switch (baudRate) {
|
||||
case 115200:
|
||||
cfsetispeed(&options, B115200);
|
||||
cfsetospeed(&options, B115200);
|
||||
break;
|
||||
case 230400:
|
||||
cfsetispeed(&options, B230400);
|
||||
cfsetospeed(&options, B230400);
|
||||
break;
|
||||
case 460800:
|
||||
cfsetispeed(&options, B460800);
|
||||
cfsetospeed(&options, B460800);
|
||||
break;
|
||||
case 921600:
|
||||
cfsetispeed(&options, B921600);
|
||||
cfsetospeed(&options, B921600);
|
||||
break;
|
||||
case 1000000:
|
||||
cfsetispeed(&options, B1000000);
|
||||
cfsetospeed(&options, B1000000);
|
||||
break;
|
||||
default:
|
||||
goto close_uart_fd;
|
||||
}
|
||||
|
||||
options.c_cflag |= (unsigned) CLOCAL;
|
||||
options.c_cflag |= (unsigned) CREAD;
|
||||
options.c_cflag &= ~(unsigned) CRTSCTS;
|
||||
options.c_cflag &= ~(unsigned) CSIZE;
|
||||
options.c_cflag |= (unsigned) CS8;
|
||||
options.c_cflag &= ~(unsigned) PARENB;
|
||||
options.c_iflag &= ~(unsigned) INPCK;
|
||||
options.c_cflag &= ~(unsigned) CSTOPB;
|
||||
options.c_oflag &= ~(unsigned) OPOST;
|
||||
options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
|
||||
options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
|
||||
options.c_cc[VTIME] = 0;
|
||||
options.c_cc[VMIN] = 0;
|
||||
|
||||
tcflush(uartHandleStruct->uartFd, TCIFLUSH);
|
||||
|
||||
if (tcsetattr(uartHandleStruct->uartFd, TCSANOW, &options) != 0) {
|
||||
goto close_uart_fd;
|
||||
}
|
||||
|
||||
*uartHandle = uartHandleStruct;
|
||||
pclose(fp);
|
||||
|
||||
return returnCode;
|
||||
|
||||
close_uart_fd:
|
||||
close(uartHandleStruct->uartFd);
|
||||
|
||||
close_fp:
|
||||
pclose(fp);
|
||||
|
||||
free_uart_handle:
|
||||
free(uartHandleStruct);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle)
|
||||
{
|
||||
int32_t ret;
|
||||
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
|
||||
|
||||
if (uartHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
ret = close(uartHandleStruct->uartFd);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
free(uartHandleStruct);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
|
||||
|
||||
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = write(uartHandleStruct->uartFd, buf, len);
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
|
||||
|
||||
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
ret = read(uartHandleStruct->uartFd, buf, len);
|
||||
if (ret >= 0) {
|
||||
*realLen = ret;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status)
|
||||
{
|
||||
if (uartNum == DJI_HAL_UART_NUM_0) {
|
||||
status->isConnect = true;
|
||||
} else if (uartNum == DJI_HAL_UART_NUM_1) {
|
||||
status->isConnect = true;
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,65 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_uart.h
|
||||
* @brief This is the header file for "hal_uart.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef HAL_UART_H
|
||||
#define HAL_UART_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "stdint.h"
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include "stdlib.h"
|
||||
|
||||
#include "dji_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
//User can config dev based on there environmental conditions
|
||||
#define LINUX_UART_DEV1 "/dev/ttyUSB0"
|
||||
#define LINUX_UART_DEV2 "/dev/ttyACM0"
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
|
||||
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
|
||||
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // HAL_UART_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,224 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_usb_bulk.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "hal_usb_bulk.h"
|
||||
#include "dji_logger.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
|
||||
#define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER (-1)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef struct {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
libusb_device_handle *handle;
|
||||
#else
|
||||
void *handle;
|
||||
#endif
|
||||
int32_t ep1;
|
||||
int32_t ep2;
|
||||
uint32_t interfaceNum;
|
||||
T_DjiHalUsbBulkInfo usbBulkInfo;
|
||||
} T_HalUsbBulkObj;
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle)
|
||||
{
|
||||
int32_t ret;
|
||||
struct libusb_device_handle *handle = NULL;
|
||||
|
||||
*usbBulkHandle = malloc(sizeof(T_HalUsbBulkObj));
|
||||
if (*usbBulkHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
if (usbBulkInfo.isUsbHost == true) {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
ret = libusb_init(NULL);
|
||||
if (ret < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
|
||||
if (handle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
|
||||
if (ret != LIBUSB_SUCCESS) {
|
||||
printf("libusb claim interface error");
|
||||
libusb_close(handle);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
|
||||
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
|
||||
#endif
|
||||
} else {
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
|
||||
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
|
||||
|
||||
if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
|
||||
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
|
||||
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
|
||||
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
|
||||
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
|
||||
{
|
||||
struct libusb_device_handle *handle = NULL;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
if (usbBulkHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
|
||||
|
||||
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
|
||||
osalHandler->TaskSleepMs(100);
|
||||
libusb_exit(NULL);
|
||||
#endif
|
||||
} else {
|
||||
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
|
||||
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
|
||||
}
|
||||
|
||||
free(usbBulkHandle);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
|
||||
uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
int32_t actualLen;
|
||||
struct libusb_device_handle *handle = NULL;
|
||||
|
||||
if (usbBulkHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
|
||||
|
||||
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
|
||||
(uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
|
||||
if (ret < 0) {
|
||||
USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
*realLen = actualLen;
|
||||
#endif
|
||||
} else {
|
||||
*realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
|
||||
uint32_t *realLen)
|
||||
{
|
||||
int32_t ret;
|
||||
struct libusb_device_handle *handle = NULL;
|
||||
int32_t actualLen;
|
||||
|
||||
if (usbBulkHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
|
||||
|
||||
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
|
||||
buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
|
||||
if (ret < 0) {
|
||||
USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
*realLen = actualLen;
|
||||
#endif
|
||||
} else {
|
||||
*realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
|
||||
{
|
||||
//attention: this interface only be called in usb device mode.
|
||||
deviceInfo->vid = LINUX_USB_VID;
|
||||
deviceInfo->pid = LINUX_USB_PID;
|
||||
|
||||
// This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
|
||||
|
||||
// This bulk channel is used to obtain DJI perception image and download camera media file.
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
|
||||
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,92 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file hal_usb_bulk.h
|
||||
* @brief This is the header file for "hal_usb_bulk.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef HAL_USB_BULK_H
|
||||
#define HAL_USB_BULK_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "stdint.h"
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <sys/socket.h>
|
||||
#include <netinet/in.h>
|
||||
#include <arpa/inet.h>
|
||||
|
||||
#ifdef LIBUSB_INSTALLED
|
||||
|
||||
#include <libusb-1.0/libusb.h>
|
||||
|
||||
#endif
|
||||
|
||||
#include "dji_platform.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep1"
|
||||
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep2"
|
||||
|
||||
#define LINUX_USB_BULK1_INTERFACE_NUM (7)
|
||||
#define LINUX_USB_BULK1_END_POINT_IN (0x88)
|
||||
#define LINUX_USB_BULK1_END_POINT_OUT (5)
|
||||
|
||||
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep1"
|
||||
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep2"
|
||||
|
||||
#define LINUX_USB_BULK2_INTERFACE_NUM (8)
|
||||
#define LINUX_USB_BULK2_END_POINT_IN (0x89)
|
||||
#define LINUX_USB_BULK2_END_POINT_OUT (6)
|
||||
|
||||
#ifdef PLATFORM_ARCH_x86_64
|
||||
#define LINUX_USB_VID (0x0B95)
|
||||
#define LINUX_USB_PID (0x1790)
|
||||
#else
|
||||
#define LINUX_USB_VID (0x0955)
|
||||
#define LINUX_USB_PID (0x7020)
|
||||
#endif
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);
|
||||
T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle);
|
||||
T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
|
||||
uint32_t *realLen);
|
||||
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
|
||||
T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // HAL_USB_BULK_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,262 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_media_file_core.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <string.h>
|
||||
#include <dji_logger.h>
|
||||
|
||||
#include "dji_media_file_core.h"
|
||||
#include "dji_media_file_jpg.h"
|
||||
#include "dji_media_file_mp4.h"
|
||||
#include "dji_platform.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Private values ------------------------------------------------------------*/
|
||||
//@formatter:off
|
||||
static const T_DjiMediaFileOptItem s_mediaFileOpt[] =
|
||||
{
|
||||
//JPEG File Operation Item
|
||||
{
|
||||
DJI_CAMERA_FILE_TYPE_JPEG ,
|
||||
DjiMediaFile_IsSupported_JPG,
|
||||
DjiMediaFile_GetAttrFunc_JPG,
|
||||
DjiMediaFile_GetDataOrigin_JPG,
|
||||
DjiMediaFile_GetFileSizeOrigin_JPG,
|
||||
DjiMediaFile_CreateThumbNail_JPG,
|
||||
DjiMediaFile_GetFileSizeThumbNail_JPG,
|
||||
DjiMediaFile_GetDataThumbNail_JPG,
|
||||
DjiMediaFile_DestroyThumbNail_JPG,
|
||||
DjiMediaFile_CreateScreenNail_JPG,
|
||||
DjiMediaFile_GetFileSizeScreenNail_JPG,
|
||||
DjiMediaFile_GetDataScreenNail_JPG,
|
||||
DjiMediaFile_DestroyScreenNail_JPG,
|
||||
},
|
||||
//MP4 File Operation Item
|
||||
{
|
||||
DJI_CAMERA_FILE_TYPE_MP4 ,
|
||||
DjiMediaFile_IsSupported_MP4,
|
||||
DjiMediaFile_GetAttrFunc_MP4,
|
||||
DjiMediaFile_GetDataOrigin_MP4,
|
||||
DjiMediaFile_GetFileSizeOrigin_MP4,
|
||||
DjiMediaFile_CreateThumbNail_MP4,
|
||||
DjiMediaFile_GetFileSizeThumbNail_MP4,
|
||||
DjiMediaFile_GetDataThumbNail_MP4,
|
||||
DjiMediaFile_DestroyThumbNail_MP4,
|
||||
DjiMediaFile_CreateScreenNail_MP4,
|
||||
DjiMediaFile_GetFileSizeScreenNail_MP4,
|
||||
DjiMediaFile_GetDataScreenNail_MP4,
|
||||
DjiMediaFile_DestroyScreenNail_MP4,
|
||||
},
|
||||
};
|
||||
static const uint32_t s_mediaFileOptCount = sizeof (s_mediaFileOpt) / sizeof(T_DjiMediaFileOptItem);
|
||||
//@formatter:on
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
bool DjiMediaFile_IsSupported(const char *filePath)
|
||||
{
|
||||
int i;
|
||||
|
||||
for (i = 0; i < s_mediaFileOptCount; i++) {
|
||||
if (s_mediaFileOpt[i].isSupportedFunc(filePath) == true) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateHandle(const char *filePath, T_DjiMediaFileHandle *pMediaFileHandle)
|
||||
{
|
||||
int optIndex;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
for (optIndex = 0; optIndex < s_mediaFileOptCount; optIndex++) {
|
||||
if (s_mediaFileOpt[optIndex].isSupportedFunc(filePath) == true) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (optIndex == s_mediaFileOptCount) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
*pMediaFileHandle = osalHandler->Malloc(sizeof(T_DjiMediaFile));
|
||||
if (*pMediaFileHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
(*pMediaFileHandle)->filePath = osalHandler->Malloc(strlen(filePath) + 1);
|
||||
if ((*pMediaFileHandle)->filePath == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
(*pMediaFileHandle)->mediaFileOptItem = s_mediaFileOpt[optIndex];
|
||||
(*pMediaFileHandle)->mediaFileThm.privThm = NULL;
|
||||
(*pMediaFileHandle)->mediaFileScr.privScr = NULL;
|
||||
|
||||
strcpy((*pMediaFileHandle)->filePath, filePath);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_DestroyHandle(T_DjiMediaFileHandle mediaFileHandle)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
osalHandler->Free(mediaFileHandle->filePath);
|
||||
osalHandler->Free(mediaFileHandle);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetMediaFileType(T_DjiMediaFileHandle mediaFileHandle,
|
||||
E_DjiCameraMediaFileType *mediaFileType)
|
||||
{
|
||||
*mediaFileType = mediaFileHandle->mediaFileOptItem.mediaFileType;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetMediaFileAttr(T_DjiMediaFileHandle mediaFileHandle,
|
||||
T_DjiCameraMediaFileAttr *mediaFileAttr)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.getAttrFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle getAttrFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.getAttrFunc(mediaFileHandle, mediaFileAttr);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetDataOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint32_t *realLen)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.getDataOrgFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle getDataOrgFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.getDataOrgFunc(mediaFileHandle, offset, len, data, realLen);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.getFileSizeOrgFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle getFileSizeOrgFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.getFileSizeOrgFunc(mediaFileHandle, fileSize);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateThm(T_DjiMediaFileHandle mediaFileHandle)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.createThmFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle createThmFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.createThmFunc(mediaFileHandle);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeThm(T_DjiMediaFileHandle mediaFileHandle, uint32_t *fileSize)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.getFileSizeThmFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle getFileSizeThmFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.getFileSizeThmFunc(mediaFileHandle, fileSize);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetDataThm(T_DjiMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.getDataThmFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle getDataThmFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.getDataThmFunc(mediaFileHandle, offset, len, data, realLen);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_DestoryThm(T_DjiMediaFileHandle mediaFileHandle)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.destroyThmFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle destroyThmFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.destroyThmFunc(mediaFileHandle);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateScr(T_DjiMediaFileHandle mediaFileHandle)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.creatScrFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle creatScrFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.creatScrFunc(mediaFileHandle);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeScr(T_DjiMediaFileHandle mediaFileHandle, uint32_t *fileSize)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.getFileSizeScrFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle getFileSizeScrFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.getFileSizeScrFunc(mediaFileHandle, fileSize);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetDataScr(T_DjiMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.getDataScrFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle getDataScrFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.getDataScrFunc(mediaFileHandle, offset, len, data, realLen);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_DestroyScr(T_DjiMediaFileHandle mediaFileHandle)
|
||||
{
|
||||
if (mediaFileHandle->mediaFileOptItem.destroyScrFunc == NULL) {
|
||||
USER_LOG_ERROR("Media file handle destroyScrFunc null error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
|
||||
}
|
||||
|
||||
return mediaFileHandle->mediaFileOptItem.destroyScrFunc(mediaFileHandle);
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,115 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_media_file_core.h
|
||||
* @brief This is the header file for "dji_media_file_core.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef PSDK_MEDIA_FILE_CORE_H
|
||||
#define PSDK_MEDIA_FILE_CORE_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include <dji_typedef.h>
|
||||
#include <dji_payload_camera.h>
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
#define PSDK_MEDIA_FILE_PATH_LEN_MAX 512 /*max file path len */
|
||||
#define PSDK_MEDIA_DIR_PATH_LEN_MAX 256 /*max dir path len */
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
typedef struct {
|
||||
void *privThm;
|
||||
} T_DjiMediaFileThm;
|
||||
|
||||
typedef struct {
|
||||
void *privScr;
|
||||
} T_DjiMediaFileScr;
|
||||
|
||||
struct _DjiMediaFile;
|
||||
|
||||
typedef struct {
|
||||
E_DjiCameraMediaFileType mediaFileType;
|
||||
bool (*isSupportedFunc)(const char *filePath);
|
||||
|
||||
T_DjiReturnCode (*getAttrFunc)(struct _DjiMediaFile *mediaFileHandle, T_DjiCameraMediaFileAttr *mediaFileAttr);
|
||||
|
||||
T_DjiReturnCode (*getDataOrgFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint32_t *realLen);
|
||||
T_DjiReturnCode (*getFileSizeOrgFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
|
||||
T_DjiReturnCode (*createThmFunc)(struct _DjiMediaFile *mediaFileHandle);
|
||||
T_DjiReturnCode (*getFileSizeThmFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
T_DjiReturnCode (*getDataThmFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen);
|
||||
T_DjiReturnCode (*destroyThmFunc)(struct _DjiMediaFile *mediaFileHandle);
|
||||
|
||||
T_DjiReturnCode (*creatScrFunc)(struct _DjiMediaFile *mediaFileHandle);
|
||||
T_DjiReturnCode (*getFileSizeScrFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
T_DjiReturnCode (*getDataScrFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen);
|
||||
T_DjiReturnCode (*destroyScrFunc)(struct _DjiMediaFile *mediaFileHandle);
|
||||
} T_DjiMediaFileOptItem;
|
||||
|
||||
typedef struct _DjiMediaFile {
|
||||
char *filePath;
|
||||
T_DjiMediaFileOptItem mediaFileOptItem;
|
||||
T_DjiMediaFileThm mediaFileThm;
|
||||
T_DjiMediaFileScr mediaFileScr;
|
||||
} T_DjiMediaFile, *T_DjiMediaFileHandle;
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
bool DjiMediaFile_IsSupported(const char *filePath);
|
||||
T_DjiReturnCode DjiMediaFile_CreateHandle(const char *filePath, T_DjiMediaFileHandle *pMediaFileHandle);
|
||||
T_DjiReturnCode DjiMediaFile_DestroyHandle(T_DjiMediaFileHandle mediaFileHandle);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetMediaFileType(T_DjiMediaFileHandle mediaFileHandle,
|
||||
E_DjiCameraMediaFileType *mediaFileType);
|
||||
T_DjiReturnCode DjiMediaFile_GetMediaFileAttr(T_DjiMediaFileHandle mediaFileHandle,
|
||||
T_DjiCameraMediaFileAttr *mediaFileAttr);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetDataOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint32_t *realLen);
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateThm(T_DjiMediaFileHandle mediaFileHandle);
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeThm(T_DjiMediaFileHandle mediaFileHandle, uint32_t *fileSize);
|
||||
T_DjiReturnCode DjiMediaFile_GetDataThm(T_DjiMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen);
|
||||
T_DjiReturnCode DjiMediaFile_DestoryThm(T_DjiMediaFileHandle mediaFileHandle);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateScr(T_DjiMediaFileHandle mediaFileHandle);
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeScr(T_DjiMediaFileHandle mediaFileHandle, uint32_t *fileSize);
|
||||
T_DjiReturnCode DjiMediaFile_GetDataScr(T_DjiMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen);
|
||||
T_DjiReturnCode DjiMediaFile_DestroyScr(T_DjiMediaFileHandle mediaFileHandle);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // PSDK_MEDIA_FILE_CORE_H
|
||||
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,228 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_media_file_jpg.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "dji_media_file_jpg.h"
|
||||
#include "dji_media_file_core.h"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <dji_logger.h>
|
||||
#include <utils/util_misc.h>
|
||||
#include "dji_platform.h"
|
||||
#include "utils/util_time.h"
|
||||
#include "utils/util_file.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define JPG_FILE_SUFFIX ".jpg"
|
||||
#define JPG_TEMP_FILE_TEMPLATE_STR "JPG_TEMP_XXXXXX.jpg"
|
||||
#define JPG_TEMP_FILE_PATH_MAX_LEN 50
|
||||
#define FFMPEG_CMD_BUF_SIZE 1024
|
||||
|
||||
#define JPG_THM_SCALE_CFG_STR "scale=100:-1"
|
||||
#define JPG_SCR_SCALE_CFG_STR "scale=600:-1"
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef struct {
|
||||
FILE *tempFile;
|
||||
char tempfilePath[JPG_TEMP_FILE_PATH_MAX_LEN];
|
||||
} T_DjiJPGTempFilePriv;
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static T_DjiReturnCode DjiMediaFile_CreateTempFilePriv_JPG(const char *srcFilePath, const char *scaleCfgStr,
|
||||
T_DjiJPGTempFilePriv **pTempFilePrivHandle);
|
||||
static T_DjiReturnCode DjiMediaFile_DestroyTempFilePriv_JPG(T_DjiJPGTempFilePriv *tempFilePrivHandle);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
bool DjiMediaFile_IsSupported_JPG(const char *filePath)
|
||||
{
|
||||
if (filePath == NULL) {
|
||||
USER_LOG_ERROR("input parameter is null error");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (strcmp(&filePath[strlen(filePath) - 4], JPG_FILE_SUFFIX) == 0) {
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetAttrFunc_JPG(struct _DjiMediaFile *mediaFileHandle,
|
||||
T_DjiCameraMediaFileAttr *mediaFileAttr)
|
||||
{
|
||||
USER_UTIL_UNUSED(mediaFileHandle);
|
||||
|
||||
mediaFileAttr->attrVideoDuration = 0;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetDataOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint32_t *realLen)
|
||||
{
|
||||
return UtilFile_GetFileDataByPath(mediaFileHandle->filePath, offset, len, data, realLen);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
|
||||
{
|
||||
return UtilFile_GetFileSizeByPath(mediaFileHandle->filePath, fileSize);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle)
|
||||
{
|
||||
return DjiMediaFile_CreateTempFilePriv_JPG(mediaFileHandle->filePath, JPG_THM_SCALE_CFG_STR,
|
||||
(T_DjiJPGTempFilePriv **) &mediaFileHandle->mediaFileThm.privThm);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
|
||||
{
|
||||
T_DjiJPGTempFilePriv *jpgFileThmPriv = (T_DjiJPGTempFilePriv *) mediaFileHandle->mediaFileThm.privThm;
|
||||
|
||||
return UtilFile_GetFileSize(jpgFileThmPriv->tempFile, fileSize);
|
||||
}
|
||||
|
||||
T_DjiReturnCode
|
||||
DjiMediaFile_GetDataThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen)
|
||||
{
|
||||
T_DjiJPGTempFilePriv *jpgFileThmPriv = (T_DjiJPGTempFilePriv *) mediaFileHandle->mediaFileThm.privThm;
|
||||
|
||||
return UtilFile_GetFileData(jpgFileThmPriv->tempFile, offset, len, data, realLen);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_DestroyThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle)
|
||||
{
|
||||
return DjiMediaFile_DestroyTempFilePriv_JPG(mediaFileHandle->mediaFileThm.privThm);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle)
|
||||
{
|
||||
return DjiMediaFile_CreateTempFilePriv_JPG(mediaFileHandle->filePath, JPG_SCR_SCALE_CFG_STR,
|
||||
(T_DjiJPGTempFilePriv **) &mediaFileHandle->mediaFileScr.privScr);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
|
||||
{
|
||||
T_DjiJPGTempFilePriv *jpgFileScrPriv = (T_DjiJPGTempFilePriv *) mediaFileHandle->mediaFileScr.privScr;
|
||||
|
||||
return UtilFile_GetFileSize(jpgFileScrPriv->tempFile, fileSize);
|
||||
}
|
||||
|
||||
T_DjiReturnCode
|
||||
DjiMediaFile_GetDataScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen)
|
||||
{
|
||||
T_DjiJPGTempFilePriv *jpgFileScrPriv = (T_DjiJPGTempFilePriv *) mediaFileHandle->mediaFileScr.privScr;
|
||||
|
||||
return UtilFile_GetFileData(jpgFileScrPriv->tempFile, offset, len, data, realLen);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_DestroyScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle)
|
||||
{
|
||||
return DjiMediaFile_DestroyTempFilePriv_JPG(mediaFileHandle->mediaFileScr.privScr);
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static T_DjiReturnCode DjiMediaFile_CreateTempFilePriv_JPG(const char *srcFilePath, const char *scaleCfgStr,
|
||||
T_DjiJPGTempFilePriv **pTempFilePrivHandle)
|
||||
{
|
||||
char ffmpeg_cmd[FFMPEG_CMD_BUF_SIZE];
|
||||
int cmdRet;
|
||||
T_DjiRunTimeStamps tiStart, tiEnd;
|
||||
T_DjiJPGTempFilePriv *jpgTempFilePriv;
|
||||
T_DjiReturnCode psdkStat;
|
||||
int tempFd;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
tiStart = DjiUtilTime_GetRunTimeStamps();
|
||||
|
||||
*pTempFilePrivHandle = osalHandler->Malloc(sizeof(T_DjiJPGTempFilePriv));
|
||||
if (*pTempFilePrivHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
jpgTempFilePriv = *pTempFilePrivHandle;
|
||||
|
||||
//get temp file name
|
||||
strcpy(jpgTempFilePriv->tempfilePath, JPG_TEMP_FILE_TEMPLATE_STR);
|
||||
tempFd = mkstemps(jpgTempFilePriv->tempfilePath, strlen(JPG_FILE_SUFFIX));
|
||||
if (tempFd < 0) {
|
||||
USER_LOG_ERROR("JPG Create Temp File Error, tempFd = %d\n", tempFd);
|
||||
psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
goto err_create_temp;
|
||||
}
|
||||
close(tempFd);
|
||||
unlink(jpgTempFilePriv->tempfilePath);
|
||||
|
||||
//ffmpeg cmd send
|
||||
snprintf(ffmpeg_cmd, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" -vf %s %s 1>/dev/null 2>&1",
|
||||
srcFilePath, scaleCfgStr, jpgTempFilePriv->tempfilePath);
|
||||
|
||||
cmdRet = system(ffmpeg_cmd);
|
||||
|
||||
tiEnd = DjiUtilTime_GetRunTimeStamps();
|
||||
|
||||
USER_LOG_DEBUG("JPG Create TempFile, RealTime = %ld us\n", tiEnd.realUsec - tiStart.realUsec);
|
||||
|
||||
if (cmdRet != 0) {
|
||||
USER_LOG_ERROR("JPG ffmpeg cmd call error, ret = %d\n", cmdRet);
|
||||
psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
goto err_system_cmd;
|
||||
}
|
||||
|
||||
//open temp file
|
||||
jpgTempFilePriv->tempFile = fopen(jpgTempFilePriv->tempfilePath, "rb+");
|
||||
if (jpgTempFilePriv->tempFile == NULL) {
|
||||
psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
goto err_file_open;
|
||||
}
|
||||
|
||||
//unlink temp file
|
||||
unlink(jpgTempFilePriv->tempfilePath);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
|
||||
err_file_open:
|
||||
unlink(jpgTempFilePriv->tempfilePath);
|
||||
err_system_cmd:
|
||||
err_create_temp:
|
||||
osalHandler->Free(*pTempFilePrivHandle);
|
||||
|
||||
return psdkStat;
|
||||
}
|
||||
|
||||
static T_DjiReturnCode DjiMediaFile_DestroyTempFilePriv_JPG(T_DjiJPGTempFilePriv *tempFilePrivHandle)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
fclose(tempFilePrivHandle->tempFile);
|
||||
osalHandler->Free(tempFilePrivHandle);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,75 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_media_file_jpg.h
|
||||
* @brief This is the header file for "dji_media_file_jpg.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef PSDK_MEDIA_FILE_JPG_H
|
||||
#define PSDK_MEDIA_FILE_JPG_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include <dji_payload_camera.h>
|
||||
#include <dji_typedef.h>
|
||||
#include "dji_media_file_core.h"
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
bool DjiMediaFile_IsSupported_JPG(const char *filePath);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetAttrFunc_JPG(struct _DjiMediaFile *mediaFileHandle,
|
||||
T_DjiCameraMediaFileAttr *mediaFileAttr);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetDataOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint32_t *realLen);
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle);
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
T_DjiReturnCode
|
||||
DjiMediaFile_GetDataThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen);
|
||||
T_DjiReturnCode DjiMediaFile_DestroyThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle);
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
T_DjiReturnCode
|
||||
DjiMediaFile_GetDataScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen);
|
||||
T_DjiReturnCode DjiMediaFile_DestroyScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // PSDK_MEIDA_FILE_JPG_H
|
||||
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,262 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_media_file_mp4.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 "dji_media_file_mp4.h"
|
||||
#include "dji_media_file_core.h"
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <dji_logger.h>
|
||||
#include <stdlib.h>
|
||||
#include "dji_platform.h"
|
||||
#include "utils/util_time.h"
|
||||
#include "utils/util_file.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
#define MP4_FILE_SUFFIX ".mp4"
|
||||
#define MP4_TEMP_FILE_TEMPLATE_STR "MP4_TEMP_XXXXXX.jpg"
|
||||
#define MP4_TEMP_FILE_PATH_MAX_LEN 50
|
||||
#define FFMPEG_CMD_BUF_SIZE (256 + 256)
|
||||
|
||||
#define MP4_THM_SCALE_CFG_STR "scale=100:-1"
|
||||
#define MP4_SCR_SCALE_CFG_STR "scale=600:-1"
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef struct {
|
||||
FILE *tempFile;
|
||||
char tempfilePath[MP4_TEMP_FILE_PATH_MAX_LEN];
|
||||
} T_DjiMP4TempPicPriv;
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static T_DjiReturnCode DjiMediaFile_CreateTempPicPriv_MP4(const char *srcFilePath, const char *scaleCfgStr,
|
||||
T_DjiMP4TempPicPriv **pTempPicPrivHandle);
|
||||
static T_DjiReturnCode DjiMediaFile_DestroyTempPicPriv_MP4(T_DjiMP4TempPicPriv *tempPicPrivHandle);
|
||||
|
||||
/* Private values ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
bool DjiMediaFile_IsSupported_MP4(const char *filePath)
|
||||
{
|
||||
if (filePath == NULL) {
|
||||
USER_LOG_ERROR("input parameter is null error");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (strcmp(&filePath[strlen(filePath) - 4], MP4_FILE_SUFFIX) == 0) {
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetAttrFunc_MP4(struct _DjiMediaFile *mediaFileHandle,
|
||||
T_DjiCameraMediaFileAttr *mediaFileAttr)
|
||||
{
|
||||
FILE *fp;
|
||||
char ffmpegCmdStr[FFMPEG_CMD_BUF_SIZE];
|
||||
float hour, minute, second;
|
||||
char tempTailStr[128];
|
||||
int ret;
|
||||
T_DjiReturnCode psdkStat;
|
||||
|
||||
snprintf(ffmpegCmdStr, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" 2>&1 | grep \"Duration\"", mediaFileHandle->filePath);
|
||||
fp = popen(ffmpegCmdStr, "r");
|
||||
|
||||
if (fp == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
ret = fscanf(fp, " Duration: %f:%f:%f,%127s", &hour, &minute, &second, tempTailStr);
|
||||
if (ret <= 0) {
|
||||
USER_LOG_ERROR("MP4 File Get Duration Error\n");
|
||||
psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
goto out;
|
||||
}
|
||||
|
||||
mediaFileAttr->attrVideoDuration = (uint32_t) (hour * 3600 + minute * 60 + second + 0.5);
|
||||
|
||||
/*! The user needs to obtain the frame rate and resolution of the video file by ffmpeg tools.
|
||||
* Also the frame rate and resolution of video need convert to enum E_DjiCameraVideoFrameRate or
|
||||
* E_DjiCameraVideoResolution.
|
||||
*/
|
||||
mediaFileAttr->attrVideoFrameRate = DJI_CAMERA_VIDEO_FRAME_RATE_30_FPS;
|
||||
mediaFileAttr->attrVideoResolution = DJI_CAMERA_VIDEO_RESOLUTION_1920x1080;
|
||||
|
||||
psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
|
||||
out:
|
||||
pclose(fp);
|
||||
|
||||
return psdkStat;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetDataOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint32_t *realLen)
|
||||
{
|
||||
return UtilFile_GetFileDataByPath(mediaFileHandle->filePath, offset, len, data, realLen);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
|
||||
{
|
||||
return UtilFile_GetFileSizeByPath(mediaFileHandle->filePath, fileSize);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle)
|
||||
{
|
||||
|
||||
return DjiMediaFile_CreateTempPicPriv_MP4(mediaFileHandle->filePath, MP4_THM_SCALE_CFG_STR,
|
||||
(T_DjiMP4TempPicPriv **) &mediaFileHandle->mediaFileThm.privThm);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
|
||||
{
|
||||
T_DjiMP4TempPicPriv *jpgFileThmPriv = (T_DjiMP4TempPicPriv *) mediaFileHandle->mediaFileThm.privThm;
|
||||
|
||||
return UtilFile_GetFileSize(jpgFileThmPriv->tempFile, fileSize);
|
||||
}
|
||||
|
||||
T_DjiReturnCode
|
||||
DjiMediaFile_GetDataThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen)
|
||||
{
|
||||
T_DjiMP4TempPicPriv *jpgFileThmPriv = (T_DjiMP4TempPicPriv *) mediaFileHandle->mediaFileThm.privThm;
|
||||
|
||||
return UtilFile_GetFileData(jpgFileThmPriv->tempFile, offset, len, data, realLen);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_DestroyThumbNail_MP4(struct _DjiMediaFile *MediaFileHandle)
|
||||
{
|
||||
return DjiMediaFile_DestroyTempPicPriv_MP4(MediaFileHandle->mediaFileThm.privThm);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle)
|
||||
{
|
||||
return DjiMediaFile_CreateTempPicPriv_MP4(mediaFileHandle->filePath, MP4_SCR_SCALE_CFG_STR,
|
||||
(T_DjiMP4TempPicPriv **) &mediaFileHandle->mediaFileScr.privScr);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
|
||||
{
|
||||
T_DjiMP4TempPicPriv *jpgFileScrPriv = (T_DjiMP4TempPicPriv *) mediaFileHandle->mediaFileScr.privScr;
|
||||
|
||||
return UtilFile_GetFileSize(jpgFileScrPriv->tempFile, fileSize);
|
||||
}
|
||||
|
||||
T_DjiReturnCode
|
||||
DjiMediaFile_GetDataScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen)
|
||||
{
|
||||
T_DjiMP4TempPicPriv *jpgFileScrPriv = (T_DjiMP4TempPicPriv *) mediaFileHandle->mediaFileScr.privScr;
|
||||
|
||||
return UtilFile_GetFileData(jpgFileScrPriv->tempFile, offset, len, data, realLen);
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_DestroyScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle)
|
||||
{
|
||||
return DjiMediaFile_DestroyTempPicPriv_MP4(mediaFileHandle->mediaFileScr.privScr);
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static T_DjiReturnCode DjiMediaFile_CreateTempPicPriv_MP4(const char *srcFilePath, const char *scaleCfgStr,
|
||||
T_DjiMP4TempPicPriv **pTempPicPrivHandle)
|
||||
{
|
||||
char ffmpeg_cmd[FFMPEG_CMD_BUF_SIZE];
|
||||
int cmdRet;
|
||||
T_DjiRunTimeStamps tiStart, tiEnd;
|
||||
T_DjiMP4TempPicPriv *mp4TempPicFile;
|
||||
T_DjiReturnCode psdkStat;
|
||||
int tempFd;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
tiStart = DjiUtilTime_GetRunTimeStamps();
|
||||
|
||||
*pTempPicPrivHandle = osalHandler->Malloc(sizeof(T_DjiMP4TempPicPriv));
|
||||
if (*pTempPicPrivHandle == NULL) {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
mp4TempPicFile = *pTempPicPrivHandle;
|
||||
|
||||
//get temp file name
|
||||
strcpy(mp4TempPicFile->tempfilePath, MP4_TEMP_FILE_TEMPLATE_STR);
|
||||
tempFd = mkstemps(mp4TempPicFile->tempfilePath, strlen(MP4_FILE_SUFFIX));
|
||||
if (tempFd < 0) {
|
||||
USER_LOG_ERROR("JPG Create Temp File Error, tempFd = %d\n", tempFd);
|
||||
psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
goto err_create_temp;
|
||||
}
|
||||
close(tempFd);
|
||||
unlink(mp4TempPicFile->tempfilePath);
|
||||
|
||||
//ffmpeg cmd send
|
||||
snprintf(ffmpeg_cmd, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" -vf %s -ss 00:00:00 -vframes 1 %s 1>/dev/null 2>&1",
|
||||
srcFilePath, scaleCfgStr, mp4TempPicFile->tempfilePath);
|
||||
|
||||
cmdRet = system(ffmpeg_cmd);
|
||||
|
||||
tiEnd = DjiUtilTime_GetRunTimeStamps();
|
||||
|
||||
USER_LOG_DEBUG("JPG Create TempFile, RealTime = %ld us\n", tiEnd.realUsec - tiStart.realUsec);
|
||||
|
||||
if (cmdRet != 0) {
|
||||
USER_LOG_ERROR("JPG ffmpeg cmd call error, ret = %d\n", cmdRet);
|
||||
psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
goto err_system_cmd;
|
||||
}
|
||||
|
||||
//open temp file
|
||||
mp4TempPicFile->tempFile = fopen(mp4TempPicFile->tempfilePath, "rb+");
|
||||
if (mp4TempPicFile->tempFile == NULL) {
|
||||
psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
goto err_file_open;
|
||||
}
|
||||
|
||||
//unlink temp file
|
||||
unlink(mp4TempPicFile->tempfilePath);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
|
||||
err_file_open:
|
||||
unlink(mp4TempPicFile->tempfilePath);
|
||||
err_system_cmd:
|
||||
err_create_temp:
|
||||
osalHandler->Free(*pTempPicPrivHandle);
|
||||
|
||||
return psdkStat;
|
||||
}
|
||||
|
||||
static T_DjiReturnCode DjiMediaFile_DestroyTempPicPriv_MP4(T_DjiMP4TempPicPriv *tempPicPrivHandle)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
fclose(tempPicPrivHandle->tempFile);
|
||||
osalHandler->Free(tempPicPrivHandle);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,75 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file dji_media_file_mp4.h
|
||||
* @brief This is the header file for "dji_media_file_mp4.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef PSDK_MEDIA_FILE_MP4_H
|
||||
#define PSDK_MEDIA_FILE_MP4_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include <dji_payload_camera.h>
|
||||
#include <dji_typedef.h>
|
||||
#include "dji_media_file_core.h"
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
bool DjiMediaFile_IsSupported_MP4(const char *filePath);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetAttrFunc_MP4(struct _DjiMediaFile *mediaFileHandle,
|
||||
T_DjiCameraMediaFileAttr *mediaFileAttr);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_GetDataOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint32_t *realLen);
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle);
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
T_DjiReturnCode
|
||||
DjiMediaFile_GetDataThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen);
|
||||
T_DjiReturnCode DjiMediaFile_DestroyThumbNail_MP4(struct _DjiMediaFile *MediaFileHandle);
|
||||
|
||||
T_DjiReturnCode DjiMediaFile_CreateScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle);
|
||||
T_DjiReturnCode DjiMediaFile_GetFileSizeScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
|
||||
T_DjiReturnCode
|
||||
DjiMediaFile_GetDataScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
|
||||
uint8_t *data, uint16_t *realLen);
|
||||
T_DjiReturnCode DjiMediaFile_DestroyScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // PSDK_MEDIA_FILE_MP4_H
|
||||
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 2.1 MiB |
Binary file not shown.
|
After Width: | Height: | Size: 2.4 MiB |
Binary file not shown.
|
After Width: | Height: | Size: 1.0 MiB |
Binary file not shown.
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,55 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_payload_cam_emu_common.h
|
||||
* @brief This is the header file for "test_payload_cam_emu.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_PAYLOAD_CAM_EMU_BASE_H
|
||||
#define TEST_PAYLOAD_CAM_EMU_BASE_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
#include "dji_payload_camera.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_CameraEmuBaseStartService(void);
|
||||
T_DjiReturnCode DjiTest_CameraGetDigitalZoomFactor(dji_f32_t *factor);
|
||||
T_DjiReturnCode DjiTest_CameraGetOpticalZoomFactor(dji_f32_t *factor);
|
||||
T_DjiReturnCode DjiTest_CameraGetMode(E_DjiCameraMode *mode);
|
||||
T_DjiReturnCode DjiTest_CameraGetVideoStreamType(E_DjiCameraVideoStreamType *type);
|
||||
bool DjiTest_CameraIsInited(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_PAYLOAD_CAM_EMU_BASE_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,52 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_payload_cam_emu_media.h
|
||||
* @brief This is the header file for "test_payload_cam_media.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_PAYLOAD_CAM_EMU_MEDIA_H
|
||||
#define TEST_PAYLOAD_CAM_EMU_MEDIA_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
#include "dji_payload_camera.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void);
|
||||
T_DjiReturnCode DjiTest_CameraEmuSetMediaFilePath(const char *path);
|
||||
T_DjiReturnCode DjiTest_CameraMediaGetFileInfo(const char *filePath, T_DjiCameraMediaFileInfo *fileInfo);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_PAYLOAD_CAM_EMU_MEDIA_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,274 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_camera_manager.h
|
||||
* @brief This is the header file for "test_camera_manager.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_CAMERA_MANAGER_H
|
||||
#define TEST_CAMERA_MANAGER_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
#include "dji_camera_manager.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
typedef enum {
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_EV,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ISO,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_FOCUS_POINT,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_TAP_ZOOM_POINT,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ZOOM_PARAM,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_BURST_PHOTO,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_FILE_LIST_BY_SLICES,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_NIGHT_SCENE_MODE,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAPTURE_RECORDING_STREAMS,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FORMAT_SD_CARD,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_LINK_ZOOM,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_USER_CUSTOM_DIR_FILE_NAME,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RESET_CAMERA_SETTINGS,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_AE_LOCK_MODE,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_FOCUS_RING_VALUE,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_CONNECT_STATUS_TEST,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GET_PHOTO_VIDEO_PARAM,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_MODE,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_POINT,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FFC_MODE_AND_TRRIGER,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GAIN_MODE,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_CAMERA_STATUS,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SUBSCRIBE_POINT_CLOUD,
|
||||
E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX
|
||||
} E_DjiTestCameraManagerSampleSelect;
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
|
||||
/*! @brief Sample to set exposure compensation value for camera, using async
|
||||
* api
|
||||
*
|
||||
* @note In this interface, exposure compensation value will be got then be
|
||||
* set.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param dataTarget the target exposure compensation value
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerSetEV(E_DjiMountPosition position,
|
||||
E_DjiCameraManagerExposureCompensation exposureCompensation);
|
||||
|
||||
/*! @brief Sample to set exposure mode for camera, using async api
|
||||
*
|
||||
* @note In this interface, exposure will be got then be set.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param dataTarget the target exposure mode
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerSetExposureMode(E_DjiMountPosition position,
|
||||
E_DjiCameraManagerExposureMode exposureMode);
|
||||
|
||||
/*! @brief Sample to set ISO value for camera, using async api
|
||||
*
|
||||
* @note In this interface, ISO will be got then be set.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param dataTarget the target ISO value
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerSetISO(E_DjiMountPosition position,
|
||||
E_DjiCameraManagerISO isoData);
|
||||
/*! @brief Sample to set shutter speed for camera, using async api
|
||||
*
|
||||
* @note In this interface, shutter speed will be got then be set.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param dataTarget the target shutter speed
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerSetShutterSpeed(E_DjiMountPosition position,
|
||||
E_DjiCameraManagerShutterSpeed shutterSpeed);
|
||||
|
||||
/*! @brief Sample to set shutter aperture value for camera, using async api
|
||||
*
|
||||
* @note In this interface, aperture value will be got then be set.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param dataTarget the target aperture value
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerSetAperture(E_DjiMountPosition position,
|
||||
E_DjiCameraManagerAperture aperture);
|
||||
|
||||
/*! @brief Sample to set focus point for camera, using async api
|
||||
*
|
||||
* @note In this interface, focus mode will be set to be AUTO. Then the
|
||||
* focus point will be set to be (x, y)
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param x the x value of target focus point, 0~1
|
||||
* @param y the y value of target focus point, 0~1
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerSetFocusPoint(E_DjiMountPosition position,
|
||||
T_DjiCameraManagerFocusPosData tapFocusPos);
|
||||
|
||||
/*! @brief Sample to set tap-zoom point for camera, using async api
|
||||
*
|
||||
* @note In this interface, tap-zoom function will be enable and the
|
||||
* multiplier will be set. Then the tap-zoom function will start with the
|
||||
* target tap-zoom point (x, y)
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param multiplier the zoom multiplier of each tap zoom
|
||||
* @param x the x value of target tap-zoom point, 0~1
|
||||
* @param y the y value of target tap-zoom point, 0~1
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerSetTapZoomPoint(E_DjiMountPosition position, uint8_t multiplier,
|
||||
T_DjiCameraManagerTapZoomPosData tapZoomPosData);
|
||||
/*! @brief Sample to execute continuous zoom on camera, using sync api
|
||||
*
|
||||
* @note It is only supported by X5, X5R and X5S camera on Osmo with lens
|
||||
* Olympus M.Zuiko ED 14-42mm f/3.5-5.6 EZ, Z3 camera, Z30 camera.
|
||||
* @note In this interface, the zoom will start with the designated direction
|
||||
* and speed, and will stop after zoomTimeInSecond second(s).
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param direction the choice of zoom out or zoom in
|
||||
* @param speed zooming speed
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerStartContinuousZoom(E_DjiMountPosition position,
|
||||
E_DjiCameraZoomDirection zoomDirection,
|
||||
E_DjiCameraZoomSpeed zoomSpeed);
|
||||
|
||||
/*! @brief Sample to execute position zoom on camera, using sync api
|
||||
*
|
||||
* @note It is only supported by X5, X5R and X5S camera on Osmo with lens
|
||||
* Olympus M.Zuiko ED 14-42mm f/3.5-5.6 EZ, Z3 camera, Z30 camera.
|
||||
* @note In this interface, the zoom will set the zoom factor as the your
|
||||
* target value.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param factor target zoom factor
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerOpticalZoom(E_DjiMountPosition position,
|
||||
E_DjiCameraZoomDirection zoomDirection,
|
||||
dji_f32_t factor);
|
||||
|
||||
/*! @brief Sample to stop continuous zoom on camera, using async api
|
||||
*
|
||||
* @note It is only supported by X5, X5R and X5S camera on Osmo with lens
|
||||
* Olympus M.Zuiko ED 14-42mm f/3.5-5.6 EZ, Z3 camera, Z30 camera.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerStopContinuousZoom(E_DjiMountPosition position);
|
||||
|
||||
/*! @brief Sample to shoot single photo, using async api
|
||||
*
|
||||
* @note In this interface, camera will be set to be the SHOOT_PHOTO mode
|
||||
* then start to shoot a single photo.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerStartShootSinglePhoto(E_DjiMountPosition position);
|
||||
|
||||
/*! @brief Sample to shoot burst photo, using async api
|
||||
*
|
||||
* @note In this interface, camera will be set to be the SHOOT_PHOTO mode
|
||||
* then start to shoot a burst photo.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param count The number of pictures in each burst shooting
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerStartShootBurstPhoto(E_DjiMountPosition position,
|
||||
E_DjiCameraBurstCount burstCount);
|
||||
|
||||
/*! @brief Sample to start shooting interval photo, using async api
|
||||
*
|
||||
* @note In this interface, camera will be set to be the SHOOT_PHOTO mode
|
||||
* then start to shoot a interval photo.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @param intervalData the parameter of interval shooting
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerStartShootIntervalPhoto(E_DjiMountPosition position,
|
||||
T_DjiCameraPhotoTimeIntervalSettings intervalData);
|
||||
|
||||
/*! @brief Sample to stop shooting, using async api
|
||||
*
|
||||
* @note In this interface, camera will stop all the shooting action
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerStopShootPhoto(E_DjiMountPosition position);
|
||||
|
||||
/*! @brief Sample to start record video, using async api
|
||||
*
|
||||
* @note In this interface, camera will be set to be the RECORD_VIDEO mode
|
||||
* then start to record video.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerStartRecordVideo(E_DjiMountPosition position);
|
||||
|
||||
/*! @brief Sample to stop record video, using async api
|
||||
*
|
||||
* @note In this interface, camera will be set to be the RECORD_VIDEO mode
|
||||
* then stop recording video.
|
||||
* @param index payload node index, input limit see enum
|
||||
* DJI::OSDK::PayloadIndexType
|
||||
* @return T_DjiReturnCode error code
|
||||
*/
|
||||
T_DjiReturnCode DjiTest_CameraManagerStopRecordVideo(E_DjiMountPosition position);
|
||||
|
||||
T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
|
||||
E_DjiTestCameraManagerSampleSelect cameraManagerSampleSelect);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_CAMERA_MANAGER_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,387 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_data_transmission.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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_data_transmission.h"
|
||||
#include "dji_logger.h"
|
||||
#include "dji_platform.h"
|
||||
#include "utils/util_misc.h"
|
||||
#include "dji_low_speed_data_channel.h"
|
||||
#include "dji_high_speed_data_channel.h"
|
||||
#include "dji_aircraft_info.h"
|
||||
#include "widget_interaction_test/test_widget_interaction.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define DATA_TRANSMISSION_TASK_FREQ (1)
|
||||
#define DATA_TRANSMISSION_TASK_STACK_SIZE (2048)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void *UserDataTransmission_Task(void *arg);
|
||||
static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len);
|
||||
static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len);
|
||||
static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len);
|
||||
static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len);
|
||||
static T_DjiReturnCode ReceiveDataFromPayload1(const uint8_t *data, uint16_t len);
|
||||
static T_DjiReturnCode ReceiveDataFromPayload2(const uint8_t *data, uint16_t len);
|
||||
static T_DjiReturnCode ReceiveDataFromPayload3(const uint8_t *data, uint16_t len);
|
||||
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
static T_DjiTaskHandle s_userDataTransmissionThread;
|
||||
static T_DjiAircraftInfoBaseInfo s_aircraftInfoBaseInfo;
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
|
||||
{
|
||||
T_DjiReturnCode djiStat;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
E_DjiChannelAddress channelAddress;
|
||||
const T_DjiDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportionOfHighspeedChannel =
|
||||
{10, 60, 30};
|
||||
char ipAddr[DJI_IP_ADDR_STR_SIZE_MAX];
|
||||
uint16_t port;
|
||||
|
||||
djiStat = DjiLowSpeedDataChannel_Init();
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("init data transmission module error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
djiStat = DjiAircraftInfo_GetBaseInfo(&s_aircraftInfoBaseInfo);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("get aircraft base info error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_MASTER_RC_APP;
|
||||
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromMobile);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("register receive data from mobile error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
|
||||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
|
||||
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromCloud);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("register receive data from cloud error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
}
|
||||
|
||||
if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
|
||||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 ||
|
||||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) {
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_EXTENSION_PORT;
|
||||
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromExtensionPort);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("register receive data from extension port error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
djiStat = DjiHighSpeedDataChannel_SetBandwidthProportion(bandwidthProportionOfHighspeedChannel);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Set data channel bandwidth width proportion error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
djiStat = DjiHighSpeedDataChannel_GetDataStreamRemoteAddress(ipAddr, &port);
|
||||
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_DEBUG("Get data stream remote address: %s, port: %d", ipAddr, port);
|
||||
} else {
|
||||
USER_LOG_ERROR("get data stream remote address error.");
|
||||
}
|
||||
|
||||
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT
|
||||
|| DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition) {
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
|
||||
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload1);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("register receive data from payload NO1 error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO2;
|
||||
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload2);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("register receive data from payload NO1 error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO3;
|
||||
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload3);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("register receive data from payload NO1 error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
} else {
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT;
|
||||
}
|
||||
|
||||
if (osalHandler->TaskCreate("user_transmission_task", UserDataTransmission_Task,
|
||||
DATA_TRANSMISSION_TASK_STACK_SIZE, NULL, &s_userDataTransmissionThread) !=
|
||||
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("user data transmission task create error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiTest_DataTransmissionStopService(void)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
T_DjiReturnCode returnCode;
|
||||
|
||||
if (osalHandler->TaskDestroy(s_userDataTransmissionThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("user data transmission task destroy error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
returnCode = DjiLowSpeedDataChannel_DeInit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("deinit data transmission module error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
#ifndef __CC_ARM
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
|
||||
#pragma GCC diagnostic ignored "-Wreturn-type"
|
||||
#endif
|
||||
|
||||
static void *UserDataTransmission_Task(void *arg)
|
||||
{
|
||||
T_DjiReturnCode djiStat;
|
||||
const uint8_t dataToBeSent[] = "DJI Data Transmission Test Data.";
|
||||
T_DjiDataChannelState state = {0};
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
E_DjiChannelAddress channelAddress;
|
||||
|
||||
USER_UTIL_UNUSED(arg);
|
||||
|
||||
while (1) {
|
||||
osalHandler->TaskSleepMs(1000 / DATA_TRANSMISSION_TASK_FREQ);
|
||||
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_MASTER_RC_APP;
|
||||
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
|
||||
USER_LOG_ERROR("send data to mobile error.");
|
||||
|
||||
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
|
||||
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_DEBUG(
|
||||
"send to mobile state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
|
||||
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
|
||||
state.busyState);
|
||||
} else {
|
||||
USER_LOG_ERROR("get send to mobile channel state error.");
|
||||
}
|
||||
|
||||
if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
|
||||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
|
||||
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
|
||||
USER_LOG_ERROR("send data to cloud error.");
|
||||
|
||||
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
|
||||
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_DEBUG(
|
||||
"send to cloud state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
|
||||
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
|
||||
state.busyState);
|
||||
} else {
|
||||
USER_LOG_ERROR("get send to cloud channel state error.");
|
||||
}
|
||||
}
|
||||
|
||||
if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
|
||||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 ||
|
||||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) {
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_EXTENSION_PORT;
|
||||
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
|
||||
USER_LOG_ERROR("send data to extension port error.");
|
||||
|
||||
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
|
||||
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_DEBUG(
|
||||
"send to extension port state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
|
||||
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
|
||||
state.busyState);
|
||||
} else {
|
||||
USER_LOG_ERROR("get send to extension port channel state error.");
|
||||
}
|
||||
|
||||
if (DjiPlatform_GetSocketHandler() != NULL) {
|
||||
#ifdef SYSTEM_ARCH_LINUX
|
||||
djiStat = DjiHighSpeedDataChannel_SendDataStreamData(dataToBeSent, sizeof(dataToBeSent));
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
|
||||
USER_LOG_ERROR("send data to data stream error.");
|
||||
|
||||
djiStat = DjiHighSpeedDataChannel_GetDataStreamState(&state);
|
||||
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_DEBUG(
|
||||
"data stream state: realtimeBandwidthLimit: %d, realtimeBandwidthBeforeFlowController: %d, busyState: %d.",
|
||||
state.realtimeBandwidthLimit, state.realtimeBandwidthBeforeFlowController, state.busyState);
|
||||
} else {
|
||||
USER_LOG_ERROR("get data stream state error.");
|
||||
}
|
||||
#endif
|
||||
}
|
||||
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT
|
||||
|| DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition) {
|
||||
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
|
||||
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
|
||||
USER_LOG_ERROR("send data to extension port error.");
|
||||
|
||||
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
|
||||
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_DEBUG(
|
||||
"send to extension port state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
|
||||
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
|
||||
state.busyState);
|
||||
} else {
|
||||
USER_LOG_ERROR("get send to extension port channel state error.");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef __CC_ARM
|
||||
#pragma GCC diagnostic pop
|
||||
#endif
|
||||
|
||||
static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len)
|
||||
{
|
||||
char *printData = NULL;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
printData = osalHandler->Malloc(len + 1);
|
||||
if (printData == NULL) {
|
||||
USER_LOG_ERROR("malloc memory for printData fail.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
strncpy(printData, (const char *) data, len);
|
||||
printData[len] = '\0';
|
||||
USER_LOG_INFO("receive data from mobile: %s, len:%d.", printData, len);
|
||||
DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
|
||||
|
||||
osalHandler->Free(printData);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len)
|
||||
{
|
||||
char *printData = NULL;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
printData = osalHandler->Malloc(len + 1);
|
||||
if (printData == NULL) {
|
||||
USER_LOG_ERROR("malloc memory for printData fail.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
strncpy(printData, (const char *) data, len);
|
||||
printData[len] = '\0';
|
||||
USER_LOG_INFO("receive data from cloud: %s, len:%d.", printData, len);
|
||||
DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
|
||||
|
||||
osalHandler->Free(printData);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len)
|
||||
{
|
||||
char *printData = NULL;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
printData = osalHandler->Malloc(len + 1);
|
||||
if (printData == NULL) {
|
||||
USER_LOG_ERROR("malloc memory for printData fail.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
strncpy(printData, (const char *) data, len);
|
||||
printData[len] = '\0';
|
||||
USER_LOG_INFO("receive data from extension port: %s, len:%d.", printData, len);
|
||||
DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
|
||||
|
||||
osalHandler->Free(printData);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len)
|
||||
{
|
||||
char *printData = NULL;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
printData = osalHandler->Malloc(len + 1);
|
||||
if (printData == NULL) {
|
||||
USER_LOG_ERROR("malloc memory for printData fail.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
|
||||
}
|
||||
|
||||
strncpy(printData, (const char *) data, len);
|
||||
printData[len] = '\0';
|
||||
USER_LOG_INFO("receive data from payload port: %s, len:%d.", printData, len);
|
||||
DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
|
||||
|
||||
osalHandler->Free(printData);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
static T_DjiReturnCode ReceiveDataFromPayload1(const uint8_t *data, uint16_t len)
|
||||
{
|
||||
USER_LOG_INFO("Receive from payload on port 1");
|
||||
return ReceiveDataFromPayload(data, len);
|
||||
}
|
||||
|
||||
static T_DjiReturnCode ReceiveDataFromPayload2(const uint8_t *data, uint16_t len)
|
||||
{
|
||||
USER_LOG_INFO("Receive from payload on port 2");
|
||||
return ReceiveDataFromPayload(data, len);
|
||||
}
|
||||
|
||||
static T_DjiReturnCode ReceiveDataFromPayload3(const uint8_t *data, uint16_t len)
|
||||
{
|
||||
USER_LOG_INFO("Receive from payload on port 3");
|
||||
return ReceiveDataFromPayload(data, len);
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,52 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_data_transmission.h
|
||||
* @brief This is the header file for "test_data_transmission.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_DATA_TRANSMISSION_H
|
||||
#define TEST_DATA_TRANSMISSION_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_DataTransmissionStartService(void);
|
||||
T_DjiReturnCode DjiTest_DataTransmissionStopService(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_DATA_TRANSMISSION_H
|
||||
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,355 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_fc_subscription.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <utils/util_misc.h>
|
||||
#include <math.h>
|
||||
#include "test_fc_subscription.h"
|
||||
#include "dji_logger.h"
|
||||
#include "dji_platform.h"
|
||||
#include "widget_interaction_test/test_widget_interaction.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define FC_SUBSCRIPTION_TASK_FREQ (1)
|
||||
#define FC_SUBSCRIPTION_TASK_STACK_SIZE (1024)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void *UserFcSubscription_Task(void *arg);
|
||||
static T_DjiReturnCode DjiTest_FcSubscriptionReceiveQuaternionCallback(const uint8_t *data, uint16_t dataSize,
|
||||
const T_DjiDataTimestamp *timestamp);
|
||||
|
||||
/* Private variables ---------------------------------------------------------*/
|
||||
static T_DjiTaskHandle s_userFcSubscriptionThread;
|
||||
static bool s_userFcSubscriptionDataShow = false;
|
||||
static uint8_t s_totalSatelliteNumberUsed = 0;
|
||||
static uint32_t s_userFcSubscriptionDataCnt = 0;
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_FcSubscriptionStartService(void)
|
||||
{
|
||||
T_DjiReturnCode djiStat;
|
||||
T_DjiOsalHandler *osalHandler = NULL;
|
||||
|
||||
osalHandler = DjiPlatform_GetOsalHandler();
|
||||
djiStat = DjiFcSubscription_Init();
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("init data subscription module error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ,
|
||||
DjiTest_FcSubscriptionReceiveQuaternionCallback);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Subscribe topic quaternion error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
} else {
|
||||
USER_LOG_DEBUG("Subscribe topic quaternion success.");
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
|
||||
NULL);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Subscribe topic velocity error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
} else {
|
||||
USER_LOG_DEBUG("Subscribe topic velocity success.");
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
|
||||
NULL);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Subscribe topic gps position error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
} else {
|
||||
USER_LOG_DEBUG("Subscribe topic gps position success.");
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DETAILS, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
|
||||
NULL);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Subscribe topic gps details error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
} else {
|
||||
USER_LOG_DEBUG("Subscribe topic gps details success.");
|
||||
}
|
||||
|
||||
if (osalHandler->TaskCreate("user_subscription_task", UserFcSubscription_Task,
|
||||
FC_SUBSCRIPTION_TASK_STACK_SIZE, NULL, &s_userFcSubscriptionThread) !=
|
||||
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("user data subscription task create error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
|
||||
{
|
||||
T_DjiReturnCode djiStat;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
T_DjiFcSubscriptionVelocity velocity = {0};
|
||||
T_DjiDataTimestamp timestamp = {0};
|
||||
T_DjiFcSubscriptionGpsPosition gpsPosition = {0};
|
||||
T_DjiFcSubscriptionSingleBatteryInfo singleBatteryInfo = {0};
|
||||
|
||||
USER_LOG_INFO("Fc subscription sample start");
|
||||
s_userFcSubscriptionDataShow = true;
|
||||
|
||||
USER_LOG_INFO("--> Step 1: Init fc subscription module");
|
||||
djiStat = DjiFcSubscription_Init();
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("init data subscription module error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 2: Subscribe the topics of quaternion, velocity and gps position");
|
||||
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ,
|
||||
DjiTest_FcSubscriptionReceiveQuaternionCallback);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Subscribe topic quaternion error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
|
||||
NULL);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Subscribe topic velocity error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
|
||||
NULL);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Subscribe topic gps position error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 3: Get latest value of the subscribed topics in the next 10 seconds\r\n");
|
||||
|
||||
for (int i = 0; i < 10; ++i) {
|
||||
osalHandler->TaskSleepMs(1000 / FC_SUBSCRIPTION_TASK_FREQ);
|
||||
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY,
|
||||
(uint8_t *) &velocity,
|
||||
sizeof(T_DjiFcSubscriptionVelocity),
|
||||
×tamp);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("get value of topic velocity error.");
|
||||
} else {
|
||||
USER_LOG_INFO("velocity: x = %f y = %f z = %f healthFlag = %d, timestamp ms = %d us = %d.", velocity.data.x,
|
||||
velocity.data.y,
|
||||
velocity.data.z, velocity.health, timestamp.millisecond, timestamp.microsecond);
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION,
|
||||
(uint8_t *) &gpsPosition,
|
||||
sizeof(T_DjiFcSubscriptionGpsPosition),
|
||||
×tamp);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("get value of topic gps position error.");
|
||||
} else {
|
||||
USER_LOG_INFO("gps position: x = %d y = %d z = %d.", gpsPosition.x, gpsPosition.y, gpsPosition.z);
|
||||
}
|
||||
|
||||
//Attention: if you want to subscribe the single battery info on M300 RTK, you need connect USB cable to
|
||||
//OSDK device or use topic DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_INFO instead.
|
||||
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_SINGLE_INFO_INDEX1,
|
||||
(uint8_t *) &singleBatteryInfo,
|
||||
sizeof(T_DjiFcSubscriptionSingleBatteryInfo),
|
||||
×tamp);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("get value of topic battery single info index1 error.");
|
||||
} else {
|
||||
USER_LOG_INFO(
|
||||
"battery single info index1: capacity percent = %ld% voltage = %ldV temperature = %.2f degree.",
|
||||
singleBatteryInfo.batteryCapacityPercent,
|
||||
singleBatteryInfo.currentVoltage / 1000,
|
||||
(dji_f32_t) singleBatteryInfo.batteryTemperature / 10);
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_SINGLE_INFO_INDEX2,
|
||||
(uint8_t *) &singleBatteryInfo,
|
||||
sizeof(T_DjiFcSubscriptionSingleBatteryInfo),
|
||||
×tamp);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("get value of topic battery single info index2 error.");
|
||||
} else {
|
||||
USER_LOG_INFO(
|
||||
"battery single info index2: capacity percent = %ld% voltage = %ldV temperature = %.2f degree.\r\n",
|
||||
singleBatteryInfo.batteryCapacityPercent,
|
||||
singleBatteryInfo.currentVoltage / 1000,
|
||||
(dji_f32_t) singleBatteryInfo.batteryTemperature / 10);
|
||||
}
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 4: Unsubscribe the topics of quaternion, velocity and gps position");
|
||||
djiStat = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("UnSubscribe topic quaternion error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("UnSubscribe topic quaternion error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("UnSubscribe topic quaternion error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 5: Deinit fc subscription module");
|
||||
|
||||
djiStat = DjiFcSubscription_DeInit();
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Deinit fc subscription error.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
s_userFcSubscriptionDataShow = false;
|
||||
USER_LOG_INFO("Fc subscription sample end");
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiTest_FcSubscriptionDataShowTrigger(void)
|
||||
{
|
||||
s_userFcSubscriptionDataShow = !s_userFcSubscriptionDataShow;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiTest_FcSubscriptionGetTotalSatelliteNumber(uint8_t *number)
|
||||
{
|
||||
*number = s_totalSatelliteNumberUsed;
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
#ifndef __CC_ARM
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
|
||||
#pragma GCC diagnostic ignored "-Wreturn-type"
|
||||
#endif
|
||||
|
||||
static void *UserFcSubscription_Task(void *arg)
|
||||
{
|
||||
T_DjiReturnCode djiStat;
|
||||
T_DjiFcSubscriptionVelocity velocity = {0};
|
||||
T_DjiDataTimestamp timestamp = {0};
|
||||
T_DjiFcSubscriptionGpsPosition gpsPosition = {0};
|
||||
T_DjiFcSubscriptionGpsDetails gpsDetails = {0};
|
||||
T_DjiOsalHandler *osalHandler = NULL;
|
||||
|
||||
USER_UTIL_UNUSED(arg);
|
||||
osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
while (1) {
|
||||
osalHandler->TaskSleepMs(1000 / FC_SUBSCRIPTION_TASK_FREQ);
|
||||
|
||||
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY,
|
||||
(uint8_t *) &velocity,
|
||||
sizeof(T_DjiFcSubscriptionVelocity),
|
||||
×tamp);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("get value of topic velocity error.");
|
||||
}
|
||||
|
||||
if (s_userFcSubscriptionDataShow == true) {
|
||||
USER_LOG_INFO("velocity: x %f y %f z %f, healthFlag %d.", velocity.data.x, velocity.data.y,
|
||||
velocity.data.z, velocity.health);
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION,
|
||||
(uint8_t *) &gpsPosition,
|
||||
sizeof(T_DjiFcSubscriptionGpsPosition),
|
||||
×tamp);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("get value of topic gps position error.");
|
||||
}
|
||||
|
||||
if (s_userFcSubscriptionDataShow == true) {
|
||||
USER_LOG_INFO("gps position: x %d y %d z %d.", gpsPosition.x, gpsPosition.y, gpsPosition.z);
|
||||
}
|
||||
|
||||
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DETAILS,
|
||||
(uint8_t *) &gpsDetails,
|
||||
sizeof(T_DjiFcSubscriptionGpsDetails),
|
||||
×tamp);
|
||||
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("get value of topic gps details error.");
|
||||
}
|
||||
|
||||
if (s_userFcSubscriptionDataShow == true) {
|
||||
USER_LOG_INFO("gps total satellite number used: %d %d %d.",
|
||||
gpsDetails.gpsSatelliteNumberUsed,
|
||||
gpsDetails.glonassSatelliteNumberUsed,
|
||||
gpsDetails.totalSatelliteNumberUsed);
|
||||
s_totalSatelliteNumberUsed = gpsDetails.totalSatelliteNumberUsed;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef __CC_ARM
|
||||
#pragma GCC diagnostic pop
|
||||
#endif
|
||||
|
||||
static T_DjiReturnCode DjiTest_FcSubscriptionReceiveQuaternionCallback(const uint8_t *data, uint16_t dataSize,
|
||||
const T_DjiDataTimestamp *timestamp)
|
||||
{
|
||||
T_DjiFcSubscriptionQuaternion *quaternion = (T_DjiFcSubscriptionQuaternion *) data;
|
||||
dji_f64_t pitch, yaw, roll;
|
||||
|
||||
USER_UTIL_UNUSED(dataSize);
|
||||
|
||||
pitch = (dji_f64_t) asinf(-2 * quaternion->q1 * quaternion->q3 + 2 * quaternion->q0 * quaternion->q2) * 57.3;
|
||||
roll = (dji_f64_t) atan2f(2 * quaternion->q2 * quaternion->q3 + 2 * quaternion->q0 * quaternion->q1,
|
||||
-2 * quaternion->q1 * quaternion->q1 - 2 * quaternion->q2 * quaternion->q2 + 1) * 57.3;
|
||||
yaw = (dji_f64_t) atan2f(2 * quaternion->q1 * quaternion->q2 + 2 * quaternion->q0 * quaternion->q3,
|
||||
-2 * quaternion->q2 * quaternion->q2 - 2 * quaternion->q3 * quaternion->q3 + 1) *
|
||||
57.3;
|
||||
|
||||
if (s_userFcSubscriptionDataShow == true) {
|
||||
if (s_userFcSubscriptionDataCnt++ % DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ == 0) {
|
||||
USER_LOG_INFO("receive quaternion data.");
|
||||
USER_LOG_INFO("timestamp: millisecond %u microsecond %u.", timestamp->millisecond,
|
||||
timestamp->microsecond);
|
||||
USER_LOG_INFO("quaternion: %f %f %f %f.", quaternion->q0, quaternion->q1, quaternion->q2,
|
||||
quaternion->q3);
|
||||
|
||||
USER_LOG_INFO("euler angles: pitch = %.2f roll = %.2f yaw = %.2f.\r\n", pitch, roll, yaw);
|
||||
DjiTest_WidgetLogAppend("pitch = %.2f roll = %.2f yaw = %.2f.", pitch, roll, yaw);
|
||||
}
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,55 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_fc_subscription.h
|
||||
* @brief This is the header file for "test_fc_subscription.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_FC_SUBSCRIPTION_H
|
||||
#define TEST_FC_SUBSCRIPTION_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
#include "dji_fc_subscription.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_FcSubscriptionStartService(void);
|
||||
T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void);
|
||||
T_DjiReturnCode DjiTest_FcSubscriptionDataShowTrigger(void);
|
||||
T_DjiReturnCode DjiTest_FcSubscriptionGetTotalSatelliteNumber(uint8_t *number);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_FC_SUBSCRIPTION_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,68 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_flight_control.h
|
||||
* @brief This is the header file for "test_flight_control.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_FLIGHT_CONTROL_H
|
||||
#define TEST_FLIGHT_CONTROL_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
typedef enum {
|
||||
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_LANDING,
|
||||
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_POSITION_CTRL_LANDING,
|
||||
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_GO_HOME_FORCE_LANDING,
|
||||
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING,
|
||||
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING,
|
||||
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM,
|
||||
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_FTS_TRIGGER,
|
||||
} E_DjiTestFlightCtrlSampleSelect;
|
||||
|
||||
#pragma pack(1)
|
||||
typedef struct {
|
||||
dji_f32_t x;
|
||||
dji_f32_t y;
|
||||
dji_f32_t z;
|
||||
} T_DjiTestFlightControlVector3f; // pack(1)
|
||||
#pragma pack()
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect);
|
||||
void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
|
||||
uint32_t timeMs);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_FLIGHT_CONTROL_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,58 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_payload_gimbal_emu.h
|
||||
* @brief This is the header file for "test_payload_gimbal_emu.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_PAYLOAD_GIMBAL_EMU_H
|
||||
#define TEST_PAYLOAD_GIMBAL_EMU_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
#include "dji_gimbal.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_GimbalStartService(void);
|
||||
|
||||
T_DjiReturnCode DjiTest_GimbalDeInit(void);
|
||||
T_DjiReturnCode DjiTest_GimbalRotate(E_DjiGimbalRotationMode rotationMode,
|
||||
T_DjiGimbalRotationProperty rotationProperty,
|
||||
T_DjiAttitude3d rotationValue); // unit if angle control: 0.1 degree, unit if speed control: 0.1 degree/s
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_PAYLOAD_GIMBAL_EMU_H
|
||||
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,189 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_gimbal_manager.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <utils/util_misc.h>
|
||||
#include <widget_interaction_test/test_widget_interaction.h>
|
||||
#include "test_gimbal_manager.h"
|
||||
#include "dji_platform.h"
|
||||
#include "dji_logger.h"
|
||||
#include "dji_gimbal_manager.h"
|
||||
#include "dji_fc_subscription.h"
|
||||
#include "dji_aircraft_info.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef enum {
|
||||
DJI_TEST_GIMBAL_ROTATION,
|
||||
DJI_TEST_GIMBAL_RESET,
|
||||
} E_DjiTestGimbalAction;
|
||||
|
||||
typedef struct {
|
||||
E_DjiTestGimbalAction action;
|
||||
T_DjiGimbalManagerRotation rotation;
|
||||
} T_DjiTestGimbalActionList;
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static const T_DjiTestGimbalActionList s_rotationActionList[] =
|
||||
{
|
||||
{.action = DJI_TEST_GIMBAL_RESET},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, 4, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, -4, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_RESET},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 30, 0, 0, 0.2},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -90, 0, 0, 0.5},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -60, 0, 0, 0.5},
|
||||
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -30, 0, 0, 0.5},
|
||||
{.action = DJI_TEST_GIMBAL_RESET},
|
||||
};
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition, E_DjiGimbalMode gimbalMode)
|
||||
{
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiGimbalManagerRotation rotation;
|
||||
T_DjiAircraftInfoBaseInfo baseInfo;
|
||||
E_DjiAircraftSeries aircraftSeries;
|
||||
|
||||
returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed to get aircraft base info, return code 0x%08X", returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
aircraftSeries = baseInfo.aircraftSeries;
|
||||
|
||||
USER_LOG_INFO("Gimbal manager sample start");
|
||||
DjiTest_WidgetLogAppend("Gimbal manager sample start");
|
||||
|
||||
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed to subscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 1: Init gimbal manager module");
|
||||
DjiTest_WidgetLogAppend("--> Step 1: Init gimbal manager module");
|
||||
returnCode = DjiGimbalManager_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Init gimbal manager failed, error code: 0x%08X", returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
if (gimbalMode == DJI_GIMBAL_MODE_FREE) {
|
||||
USER_LOG_INFO("--> Step 2: Set gimbal to free mode");
|
||||
DjiTest_WidgetLogAppend("--> Step 2: Set gimbal to free mode");
|
||||
} else if (gimbalMode == DJI_GIMBAL_MODE_YAW_FOLLOW) {
|
||||
USER_LOG_INFO("--> Step 2: Set gimbal to yaw follow mode");
|
||||
DjiTest_WidgetLogAppend("--> Step 2: Set gimbal to yaw follow mode");
|
||||
}
|
||||
returnCode = DjiGimbalManager_SetMode(mountPosition, gimbalMode);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Set gimbal mode failed, error code: 0x%08X", returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 3: Reset gimbal angles.\r\n");
|
||||
returnCode = DjiGimbalManager_Reset(mountPosition, DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 4: Rotate gimbal to target angle by action list\r\n");
|
||||
for (int i = 0; i < sizeof(s_rotationActionList) / sizeof(T_DjiTestGimbalActionList); ++i) {
|
||||
if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_RESET) {
|
||||
USER_LOG_INFO("Target gimbal reset.\r\n");
|
||||
returnCode = DjiGimbalManager_Reset(mountPosition, DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
|
||||
}
|
||||
osalHandler->TaskSleepMs(2000);
|
||||
} else if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_ROTATION) {
|
||||
|
||||
if (gimbalMode == DJI_GIMBAL_MODE_FREE &&
|
||||
s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
|
||||
continue;
|
||||
}
|
||||
|
||||
rotation = s_rotationActionList[i].rotation;
|
||||
|
||||
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M3 || aircraftSeries == DJI_AIRCRAFT_SERIES_M30
|
||||
|| aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
|
||||
if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
|
||||
T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
|
||||
T_DjiDataTimestamp timestamp = {0};
|
||||
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
|
||||
(uint8_t *) &gimbalAngles,
|
||||
sizeof(T_DjiFcSubscriptionGimbalAngles),
|
||||
×tamp);
|
||||
rotation.yaw = gimbalAngles.z;
|
||||
}
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Target gimbal pry = (%.1f, %.1f, %.1f)", rotation.pitch, rotation.roll, rotation.yaw);
|
||||
|
||||
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Target gimbal pry = (%.1f, %.1f, %.1f) failed, error code: 0x%08X",
|
||||
s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
|
||||
s_rotationActionList[i].rotation.yaw,
|
||||
returnCode);
|
||||
}
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
}
|
||||
}
|
||||
|
||||
returnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Failed to unsubscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 5: Deinit gimbal manager module");
|
||||
DjiTest_WidgetLogAppend("--> Step 5: Deinit gimbal manager module");
|
||||
returnCode = DjiGimbalManager_Deinit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Deinit gimbal manager failed, error code: 0x%08X", returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
out:
|
||||
USER_LOG_INFO("Gimbal manager sample end");
|
||||
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,49 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_gimbal_manager.h
|
||||
* @brief This is the header file for "test_gimbal_manager.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_GIMBAL_MANAGER_H
|
||||
#define TEST_GIMBAL_MANAGER_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition, E_DjiGimbalMode gimbalMode);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_GIMBAL_MANAGER_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
32210
PSDK/samples/sample_c/module_sample/hms/data/hms.json
Normal file
32210
PSDK/samples/sample_c/module_sample/hms/data/hms.json
Normal file
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,76 @@
|
||||
{
|
||||
"version": {
|
||||
"major": 1,
|
||||
"minor": 0
|
||||
},
|
||||
"hms_database": {
|
||||
"hms_position_desc": "负载%position_index",
|
||||
"hms_error_code_list": [
|
||||
{
|
||||
"hms_error_code": "0x1E020000",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS测试文案: 我是错误码标题0",
|
||||
"message_content": "HMS测试文案: 我是错误码内容0"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS测试文案: 我在地面发生了错误0",
|
||||
"is_keep_history_on_the_ground": false,
|
||||
"message_in_the_sky": "HMS测试文案: 我在空中发生了错误0",
|
||||
"is_keep_history_in_the_sky": false
|
||||
}
|
||||
},
|
||||
{
|
||||
"hms_error_code": "0x1E020001",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS测试文案: 我是错误码标题1",
|
||||
"message_content": "HMS测试文案: 我是错误码内容1"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS测试文案: 我在地面发生了错误1",
|
||||
"is_keep_history_on_the_ground": false,
|
||||
"message_in_the_sky": "HMS测试文案: 我在空中发生了错误1",
|
||||
"is_keep_history_in_the_sky": false
|
||||
}
|
||||
},
|
||||
{
|
||||
"hms_error_code": "0x1E020002",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS测试文案: 我是错误码标题2",
|
||||
"message_content": "HMS测试文案: 我是错误码内容2"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS测试文案: 我在地面发生了错误2",
|
||||
"is_keep_history_on_the_ground": true,
|
||||
"message_in_the_sky": "HMS测试文案: 我在空中发生了错误2",
|
||||
"is_keep_history_in_the_sky": true
|
||||
}
|
||||
},
|
||||
{
|
||||
"hms_error_code": "0x1E020003",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS测试文案: 我是错误码标题3",
|
||||
"message_content": "HMS测试文案: 我是错误码内容3"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS测试文案: 我在地面发生了错误3",
|
||||
"is_keep_history_on_the_ground": true,
|
||||
"message_in_the_sky": "HMS测试文案: 我在空中发生了错误3",
|
||||
"is_keep_history_in_the_sky": true
|
||||
}
|
||||
},
|
||||
{
|
||||
"hms_error_code": "0x1E020004",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS测试文案: 我是错误码标题4",
|
||||
"message_content": "HMS测试文案: 我是错误码内容4"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS测试文案: 我在地面发生了错误4",
|
||||
"is_keep_history_on_the_ground": true,
|
||||
"message_in_the_sky": "HMS测试文案: 我在空中发生了错误4",
|
||||
"is_keep_history_in_the_sky": true
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,76 @@
|
||||
{
|
||||
"version": {
|
||||
"major": 1,
|
||||
"minor": 0
|
||||
},
|
||||
"hms_database": {
|
||||
"hms_position_desc": "Payload %position_index",
|
||||
"hms_error_code_list": [
|
||||
{
|
||||
"hms_error_code": "0x1E020000",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS test text: I am error code Title 0",
|
||||
"message_content": "HMS test text: I am error code Content 0"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS test text: I got error on the ground 0",
|
||||
"is_keep_history_on_the_ground": false,
|
||||
"message_in_the_sky": "HMS test text: I got error in the sky 0",
|
||||
"is_keep_history_in_the_sky": false
|
||||
}
|
||||
},
|
||||
{
|
||||
"hms_error_code": "0x1E020001",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS test text: I am error code Title 1",
|
||||
"message_content": "HMS test text: I am error code Content 1"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS test text: I got error on the ground 1",
|
||||
"is_keep_history_on_the_ground": false,
|
||||
"message_in_the_sky": "HMS test text: I got error in the sky 1",
|
||||
"is_keep_history_in_the_sky": false
|
||||
}
|
||||
},
|
||||
{
|
||||
"hms_error_code": "0x1E020002",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS test text: I am error code Title 2",
|
||||
"message_content": "HMS test text: I am error code Content 2"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS test text: I got error on the ground 2",
|
||||
"is_keep_history_on_the_ground": true,
|
||||
"message_in_the_sky": "HMS test text: I got error in the sky 2",
|
||||
"is_keep_history_in_the_sky": true
|
||||
}
|
||||
},
|
||||
{
|
||||
"hms_error_code": "0x1E020003",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS test text: I am error code Title 3",
|
||||
"message_content": "HMS test text: I am error code Content 3"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS test text: I got error on the ground 3",
|
||||
"is_keep_history_on_the_ground": true,
|
||||
"message_in_the_sky": "HMS test text: I got error in the sky 3",
|
||||
"is_keep_history_in_the_sky": true
|
||||
}
|
||||
},
|
||||
{
|
||||
"hms_error_code": "0x1E020004",
|
||||
"hms_interface": {
|
||||
"message_title": "HMS test text: I am error code Title 4",
|
||||
"message_content": "HMS test text: I am error code Content 4"
|
||||
},
|
||||
"fpv_interface": {
|
||||
"message_on_the_ground": "HMS test text: I got error on the ground 4",
|
||||
"is_keep_history_on_the_ground": true,
|
||||
"message_in_the_sky": "HMS test text: I got error in the sky 4",
|
||||
"is_keep_history_in_the_sky": true
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,188 @@
|
||||
/* Generated by file2c, do not edit manually */
|
||||
#ifndef __hms_text_config_json_h_included
|
||||
#define __hms_text_config_json_h_included
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/* Contents of file hms_text_config.json */
|
||||
#define hms_text_config_json_fileName "hms_text_config.json"
|
||||
#define hms_text_config_json_fileSize 2783
|
||||
|
||||
static const uint8_t hms_text_config_json_fileBinaryArray[2783] = {
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|
||||
};
|
||||
|
||||
#endif /* __hms_text_config_json_h_included */
|
||||
431
PSDK/samples/sample_c/module_sample/hms/test_hms.c
Normal file
431
PSDK/samples/sample_c/module_sample/hms/test_hms.c
Normal file
@ -0,0 +1,431 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_hms.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <widget_interaction_test/test_widget_interaction.h>
|
||||
#include <utils/util_misc.h>
|
||||
#include <utils/cJSON.h>
|
||||
#include <utils/util_file.h>
|
||||
#include "test_hms.h"
|
||||
#include "dji_hms.h"
|
||||
#include "dji_hms_info_table.h"
|
||||
#include "dji_logger.h"
|
||||
#include "dji_platform.h"
|
||||
#include "dji_fc_subscription.h"
|
||||
#include "hms_text_c/en/hms_text_config_json.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define MAX_HMS_PRINT_COUNT (150)
|
||||
#define MAX_BUFFER_LEN (256)
|
||||
#define MIN_HMS_ERROR_LEVEL (0)
|
||||
#define MID_HMS_ERROR_LEVEL (3)
|
||||
#define MAX_HMS_ERROR_LEVEL (6)
|
||||
#define HMS_DIR_PATH_LEN_MAX (256)
|
||||
|
||||
#define DJI_CUSTOM_HMS_CODE_INJECT_ON (0)
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static const char *oldReplaceAlarmIdStr = "%alarmid";
|
||||
static const char *oldReplaceIndexStr = "%index";
|
||||
static const char *oldReplaceComponentIndexStr = "%component_index";
|
||||
static T_DjiHmsFileBinaryArray s_EnHmsTextConfigFileBinaryArrayList[] = {
|
||||
{hms_text_config_json_fileName, hms_text_config_json_fileSize, hms_text_config_json_fileBinaryArray},
|
||||
};
|
||||
static uint8_t *s_hmsJsonData = NULL;
|
||||
static E_DjiMobileAppLanguage s_hmsLanguage = DJI_MOBILE_APP_LANGUAGE_ENGLISH;
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static T_DjiReturnCode DjiTest_HmsManagerInit(void);
|
||||
static T_DjiReturnCode DjiTest_HmsManagerDeInit(void);
|
||||
static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void);
|
||||
static bool DjiTest_ReplaceStr(char *buffer, uint32_t bufferMaxLen, const char *target, const char *dest);
|
||||
static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable);
|
||||
static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable);
|
||||
static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_HmsManagerRunSample(E_DjiMobileAppLanguage language)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiOsalHandler *osalHandler;
|
||||
|
||||
s_hmsLanguage = language;
|
||||
|
||||
USER_LOG_INFO("Hms Sample Start");
|
||||
DjiTest_WidgetLogAppend("Hms Sample Start");
|
||||
|
||||
USER_LOG_INFO("--> Step 1: Init hms sample");
|
||||
DjiTest_WidgetLogAppend("--> Step 1: Init hms sample");
|
||||
returnCode = DjiTest_HmsManagerInit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Hms sample init error, error code:0x%08llX", returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
osalHandler = DjiPlatform_GetOsalHandler();
|
||||
USER_LOG_INFO("--> Step 2: Register callback function of push HMS information");
|
||||
DjiTest_WidgetLogAppend("--> Step 2: Register callback function of push HMS information");
|
||||
returnCode = DjiHmsManager_RegHmsInfoCallback(DjiTest_HmsInfoCallback);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Register callback function of push HMS information failed, error code:0x%08llX", returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
osalHandler->TaskSleepMs(10000);
|
||||
|
||||
out:
|
||||
USER_LOG_INFO("--> Step 3: Deinit hms sample");
|
||||
DjiTest_WidgetLogAppend("--> Step 3: Deinit hms sample");
|
||||
returnCode = DjiTest_HmsManagerDeInit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Hms sample deinit error, error code:0x%08llX", returnCode);
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Hms Sample End");
|
||||
DjiTest_WidgetLogAppend("Hms Sample End");
|
||||
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
T_DjiReturnCode DjiTest_HmsCustomizationStartService(void)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
#ifdef SYSTEM_ARCH_LINUX
|
||||
char curFileDirPath[HMS_DIR_PATH_LEN_MAX];
|
||||
char tempPath[HMS_DIR_PATH_LEN_MAX];
|
||||
#endif
|
||||
|
||||
returnCode = DjiHmsCustomization_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Hms init error, error code:0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
#ifdef SYSTEM_ARCH_LINUX
|
||||
//Step 2 : Set hms text Config (Linux environment)
|
||||
returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, HMS_DIR_PATH_LEN_MAX, curFileDirPath);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", curFileDirPath);
|
||||
|
||||
//set default hms text config path
|
||||
returnCode = DjiHmsCustomization_RegDefaultHmsTextConfigByDirPath(tempPath);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Add default hms text config error, stat = 0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
//set hms text config for English language
|
||||
returnCode = DjiHmsCustomization_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_ENGLISH,
|
||||
tempPath);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Add hms text config error, stat = 0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
//set hms text config for Chinese language
|
||||
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", curFileDirPath);
|
||||
returnCode = DjiHmsCustomization_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_CHINESE,
|
||||
tempPath);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Add hms text config error, stat = 0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
#else
|
||||
//Step 2 : Set hms text Config (RTOS environment)
|
||||
T_DjiHmsBinaryArrayConfig enHmsTextBinaryArrayConfig = {
|
||||
.binaryArrayCount = sizeof(s_EnHmsTextConfigFileBinaryArrayList) / sizeof(T_DjiHmsFileBinaryArray),
|
||||
.fileBinaryArrayList = s_EnHmsTextConfigFileBinaryArrayList
|
||||
};
|
||||
|
||||
//set default hms text config
|
||||
returnCode = DjiHmsCustomization_RegDefaultHmsTextConfigByBinaryArray(&enHmsTextBinaryArrayConfig);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Add default hms text config error, stat = 0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if DJI_CUSTOM_HMS_CODE_INJECT_ON
|
||||
DjiHmsCustomization_InjectHmsErrorCode(0x1E020000, DJI_HMS_ERROR_LEVEL_FATAL);
|
||||
#endif
|
||||
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static T_DjiReturnCode DjiTest_HmsManagerInit(void)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
char curFileDirPath[HMS_DIR_PATH_LEN_MAX];
|
||||
char tempFileDirPath[HMS_DIR_PATH_LEN_MAX];
|
||||
uint32_t fileSize = 0;
|
||||
uint32_t readRealSize = 0;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
returnCode = DjiFcSubscription_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Hms sample init data subscription module failed, error code:0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
/*! subscribe fc data */
|
||||
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
|
||||
DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
|
||||
NULL);
|
||||
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("HMS sample subscribe topic flight status error, error code:0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
#ifdef SYSTEM_ARCH_LINUX
|
||||
returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, HMS_DIR_PATH_LEN_MAX, curFileDirPath);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
snprintf(tempFileDirPath, HMS_DIR_PATH_LEN_MAX, "%s/data/hms.json", curFileDirPath);
|
||||
|
||||
returnCode = UtilFile_GetFileSizeByPath(tempFileDirPath, &fileSize);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Get file size by path failed, stat = 0x%08llX", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
USER_LOG_DEBUG("Hms json file size is %d", fileSize);
|
||||
|
||||
s_hmsJsonData = osalHandler->Malloc(fileSize);
|
||||
if (s_hmsJsonData == NULL) {
|
||||
USER_LOG_ERROR("Malloc failed.");
|
||||
}
|
||||
|
||||
UtilFile_GetFileDataByPath(tempFileDirPath, 0, fileSize, s_hmsJsonData, &readRealSize);
|
||||
#endif
|
||||
|
||||
return DjiHmsManager_Init();
|
||||
}
|
||||
|
||||
static T_DjiReturnCode DjiTest_HmsManagerDeInit(void)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
returnCode = DjiFcSubscription_DeInit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Deinit data subscription module failed, error code:0x%08llX",
|
||||
returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
#ifdef SYSTEM_ARCH_LINUX
|
||||
osalHandler->Free(s_hmsJsonData);
|
||||
#endif
|
||||
|
||||
return DjiHmsManager_DeInit();
|
||||
}
|
||||
|
||||
static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiFcSubscriptionFlightStatus flightStatus;
|
||||
T_DjiDataTimestamp flightStatusTimestamp = {0};
|
||||
|
||||
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
|
||||
(uint8_t *) &flightStatus,
|
||||
sizeof(T_DjiFcSubscriptionFlightStatus),
|
||||
&flightStatusTimestamp);
|
||||
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Get value of topic flight status failed, error code:0x%08llX", returnCode);
|
||||
flightStatus = 0;
|
||||
} else {
|
||||
USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", flightStatusTimestamp.millisecond,
|
||||
flightStatusTimestamp.microsecond);
|
||||
USER_LOG_DEBUG("Flight status: %d.", flightStatus);
|
||||
}
|
||||
|
||||
return flightStatus;
|
||||
}
|
||||
|
||||
static bool DjiTest_ReplaceStr(char *buffer, uint32_t bufferMaxLen, const char *target, const char *dest)
|
||||
{
|
||||
char printBuffHeader[MAX_BUFFER_LEN] = {0};
|
||||
uint32_t printBuffHeaderCpyCnt = 0;
|
||||
char printBuffTail[MAX_BUFFER_LEN] = {0};
|
||||
uint32_t printBuffTailCpyCnt = 0;
|
||||
char *targetOffset = NULL;
|
||||
|
||||
targetOffset = strstr(buffer, target);
|
||||
if (!targetOffset) {
|
||||
return false;
|
||||
}
|
||||
|
||||
printBuffHeaderCpyCnt = targetOffset - buffer;
|
||||
if (printBuffHeaderCpyCnt > sizeof(printBuffHeader)) {
|
||||
printBuffHeaderCpyCnt = sizeof(printBuffHeader);
|
||||
}
|
||||
memcpy(printBuffHeader, buffer, printBuffHeaderCpyCnt);
|
||||
|
||||
printBuffTailCpyCnt = strlen(targetOffset + strlen(target));
|
||||
if (printBuffTailCpyCnt > sizeof(printBuffTail)) {
|
||||
printBuffTailCpyCnt = sizeof(printBuffTail);
|
||||
}
|
||||
memcpy(printBuffTail, targetOffset + strlen(target), printBuffTailCpyCnt);
|
||||
|
||||
snprintf(buffer, bufferMaxLen, "%s%s%s", printBuffHeader, dest, printBuffTail);
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable)
|
||||
{
|
||||
char alarmIdStr[20] = {0};
|
||||
char sensorIdStr[20] = {0};
|
||||
char componentIdStr[20] = {0};
|
||||
char printBuff[256] = {0};
|
||||
const char *originalAlarmInfo = NULL;
|
||||
uint8_t hmsCodeMatchFlag = 0;
|
||||
|
||||
if (!hmsInfoTable.hmsInfo) {
|
||||
USER_LOG_ERROR("Hms info table is null");
|
||||
return false;
|
||||
}
|
||||
|
||||
for (int i = 0; i < hmsInfoTable.hmsInfoNum; i++) {
|
||||
hmsCodeMatchFlag = 0;
|
||||
for (int j = 0; j < sizeof(hmsErrCodeInfoTbl) / sizeof(T_DjiHmsErrCodeInfo); j++) {
|
||||
if (hmsInfoTable.hmsInfo[i].errorCode == hmsErrCodeInfoTbl[j].alarmId) {
|
||||
hmsCodeMatchFlag = 1;
|
||||
snprintf(alarmIdStr, sizeof(alarmIdStr), "%u", hmsInfoTable.hmsInfo[i].errorCode);
|
||||
//note:sensor_idx:[0,5].In order to be consistent with the display of pilot, add one.
|
||||
snprintf(sensorIdStr, sizeof(sensorIdStr), "%d", hmsInfoTable.hmsInfo[i].componentIndex + 1);
|
||||
snprintf(componentIdStr, sizeof(componentIdStr), "0x%02X", hmsInfoTable.hmsInfo[i].componentIndex + 1);
|
||||
if (DjiTest_GetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
|
||||
originalAlarmInfo = hmsErrCodeInfoTbl[j].flyAlarmInfo;
|
||||
} else {
|
||||
originalAlarmInfo = hmsErrCodeInfoTbl[j].groundAlarmInfo;
|
||||
}
|
||||
originalAlarmInfo = hmsErrCodeInfoTbl[j].groundAlarmInfo;
|
||||
if (strlen(originalAlarmInfo)) {
|
||||
snprintf(printBuff, sizeof(printBuff), "%s", originalAlarmInfo);
|
||||
DjiTest_ReplaceStr(printBuff, sizeof(printBuff), oldReplaceAlarmIdStr, alarmIdStr);
|
||||
DjiTest_ReplaceStr(printBuff, sizeof(printBuff), oldReplaceIndexStr, sensorIdStr);
|
||||
DjiTest_ReplaceStr(printBuff, sizeof(printBuff), oldReplaceComponentIndexStr, componentIdStr);
|
||||
if (hmsInfoTable.hmsInfo[i].errorLevel > MIN_HMS_ERROR_LEVEL &&
|
||||
hmsInfoTable.hmsInfo[i].errorLevel < MID_HMS_ERROR_LEVEL) {
|
||||
USER_LOG_WARN("[ErrorCode:0x%2x] %s", hmsInfoTable.hmsInfo[i].errorCode, printBuff);
|
||||
} else if (hmsInfoTable.hmsInfo[i].errorLevel >= MID_HMS_ERROR_LEVEL &&
|
||||
hmsInfoTable.hmsInfo[i].errorLevel < MAX_HMS_ERROR_LEVEL) {
|
||||
USER_LOG_ERROR("[ErrorCode:0x%2x] %s", hmsInfoTable.hmsInfo[i].errorCode, printBuff);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if (!hmsCodeMatchFlag) {
|
||||
USER_LOG_WARN("[ErrorCode:0x%2x] There are no matching documents in the current hmsErrCodeInfoTbl for now.",
|
||||
hmsInfoTable.hmsInfo[i].errorCode);
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable)
|
||||
{
|
||||
cJSON *hmsJsonRoot = NULL;
|
||||
cJSON *hmsErrorCode = NULL;
|
||||
cJSON *hmsLanguage = NULL;
|
||||
char hmsErrorCodeString[HMS_DIR_PATH_LEN_MAX] = {0};
|
||||
|
||||
hmsJsonRoot = cJSON_Parse((char *) s_hmsJsonData);
|
||||
if (hmsJsonRoot == NULL) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
for (int i = 0; i < hmsInfoTable.hmsInfoNum; i++) {
|
||||
if (DjiTest_GetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
|
||||
sprintf(hmsErrorCodeString, "fpv_tip_0x%08X_in_the_sky", hmsInfoTable.hmsInfo[i].errorCode);
|
||||
} else {
|
||||
sprintf(hmsErrorCodeString, "fpv_tip_0x%08X", hmsInfoTable.hmsInfo[i].errorCode);
|
||||
}
|
||||
|
||||
hmsErrorCode = cJSON_GetObjectItem(hmsJsonRoot, hmsErrorCodeString);
|
||||
if (hmsErrorCode != NULL) {
|
||||
if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_CHINESE) {
|
||||
hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "zh");
|
||||
} else if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_ENGLISH) {
|
||||
hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "en");
|
||||
} else if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_JAPANESE) {
|
||||
hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "ja");
|
||||
} else if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_FRENCH) {
|
||||
hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "fr");
|
||||
}
|
||||
if (hmsLanguage != NULL) {
|
||||
if (hmsInfoTable.hmsInfo[i].errorLevel > MIN_HMS_ERROR_LEVEL &&
|
||||
hmsInfoTable.hmsInfo[i].errorLevel < MID_HMS_ERROR_LEVEL) {
|
||||
USER_LOG_WARN("[ErrorCode: 0x%2x]: %s", hmsInfoTable.hmsInfo[i].errorCode,
|
||||
hmsLanguage->valuestring);
|
||||
} else if (hmsInfoTable.hmsInfo[i].errorLevel >= MID_HMS_ERROR_LEVEL &&
|
||||
hmsInfoTable.hmsInfo[i].errorLevel < MAX_HMS_ERROR_LEVEL) {
|
||||
USER_LOG_ERROR("[ErrorCode: 0x%2x]: %s", hmsInfoTable.hmsInfo[i].errorCode,
|
||||
hmsLanguage->valuestring);
|
||||
}
|
||||
} else {
|
||||
USER_LOG_WARN("[ErrorCode: 0x%2x] There are no matching documents for this language for now.",
|
||||
hmsInfoTable.hmsInfo[i].errorCode);
|
||||
}
|
||||
} else {
|
||||
USER_LOG_WARN("[ErrorCode: 0x%2x] There are no matching documents in the current json for now.",
|
||||
hmsInfoTable.hmsInfo[i].errorCode);
|
||||
}
|
||||
}
|
||||
|
||||
cJSON_Delete(hmsJsonRoot);
|
||||
}
|
||||
|
||||
static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable)
|
||||
{
|
||||
#ifdef SYSTEM_ARCH_LINUX
|
||||
DjiTest_MarchErrCodeInfoTableByJson(hmsInfoTable);
|
||||
#else
|
||||
if (!DjiTest_MarchErrCodeInfoTable(hmsInfoTable)) {
|
||||
USER_LOG_ERROR("March HMS Information failed.");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (hmsInfoTable.hmsInfoNum == 0) {
|
||||
USER_LOG_INFO("All systems of drone are running well now.");
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
50
PSDK/samples/sample_c/module_sample/hms/test_hms.h
Normal file
50
PSDK/samples/sample_c/module_sample/hms/test_hms.h
Normal file
@ -0,0 +1,50 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_hms.h
|
||||
* @brief This is the header file for "test_hms.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_HMS_H
|
||||
#define TEST_HMS_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_HmsManagerRunSample(E_DjiMobileAppLanguage language);
|
||||
T_DjiReturnCode DjiTest_HmsCustomizationStartService(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_HMS_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
@ -0,0 +1,131 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_interest_point.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2018 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_interest_point.h"
|
||||
#include "dji_interest_point.h"
|
||||
#include "dji_logger.h"
|
||||
#include "dji_flight_controller.h"
|
||||
#include "flight_control/test_flight_control.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState);
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_InterestPointRunSample(void)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiInterestPointSettings interestPointSettings = {0};
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
T_DjiFlightControllerRidInfo ridInfo = {0};
|
||||
|
||||
ridInfo.latitude = 22.542812;
|
||||
ridInfo.longitude = 113.958902;
|
||||
ridInfo.altitude = 10;
|
||||
|
||||
returnCode = DjiFlightController_Init(ridInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Flight control init failed, errno=%lld", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
returnCode = DjiInterestPoint_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Point interest init failed, errno=%lld", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
DjiFlightController_ObtainJoystickCtrlAuthority();
|
||||
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
DjiFlightController_StartTakeoff();
|
||||
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {0, 0, 5}, 0, 10000);
|
||||
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 5000);
|
||||
|
||||
interestPointSettings.latitude = 22.542812;
|
||||
interestPointSettings.longitude = 113.958902;
|
||||
|
||||
returnCode = DjiInterestPoint_RegMissionStateCallback(DjiUser_InterestPointMissionStateCallback);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Register mission state callback failed, errno=%lld", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
returnCode = DjiInterestPoint_Start(interestPointSettings);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Point interest start failed, errno=%lld", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
DjiInterestPoint_SetSpeed(5.0f);
|
||||
|
||||
for (int i = 0; i < 60; ++i) {
|
||||
USER_LOG_INFO("Interest point mission running %d.", i);
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
}
|
||||
|
||||
returnCode = DjiInterestPoint_Stop();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Point interest stop failed, errno=%lld", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
DjiFlightController_StartForceLanding();
|
||||
|
||||
returnCode = DjiInterestPoint_DeInit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Point interest deinit failed, errno=%lld", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
returnCode = DjiFlightController_DeInit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Flight control init failed, errno=%lld", returnCode);
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState)
|
||||
{
|
||||
USER_LOG_INFO("Interest point state: %d, radius: %.2f m, speed: %.2f m/s", missionState.state, missionState.radius,
|
||||
missionState.curSpeed);
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,49 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_interest_point.h
|
||||
* @brief This is the header file for "test_interest_point.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2018 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_INTEREST_POINT_H
|
||||
#define TEST_INTEREST_POINT_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_InterestPointRunSample(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_INTEREST_POINT_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
240
PSDK/samples/sample_c/module_sample/liveview/test_liveview.c
Normal file
240
PSDK/samples/sample_c/module_sample/liveview/test_liveview.c
Normal file
@ -0,0 +1,240 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <utils/util_misc.h>
|
||||
#include <widget_interaction_test/test_widget_interaction.h>
|
||||
#include "test_liveview.h"
|
||||
#include "dji_liveview.h"
|
||||
#include "dji_logger.h"
|
||||
#include "dji_platform.h"
|
||||
#include "dji_aircraft_info.h"
|
||||
#include "time.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define TEST_LIVEVIEW_STREAM_FILE_PATH_STR_MAX_SIZE 256
|
||||
#define TEST_LIVEVIEW_STREAM_STROING_TIME_IN_SECONDS 20
|
||||
|
||||
#define TEST_LIVEVIEW_STREAM_REQUEST_I_FRAME_ON 1
|
||||
#define TEST_LIVEVIEW_STREAM_REQUEST_I_FRAME_TICK_IN_SECONDS 5
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static char s_fpvCameraStreamFilePath[TEST_LIVEVIEW_STREAM_FILE_PATH_STR_MAX_SIZE];
|
||||
static char s_payloadCameraStreamFilePath[TEST_LIVEVIEW_STREAM_FILE_PATH_STR_MAX_SIZE];
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void DjiTest_FpvCameraStreamCallback(E_DjiLiveViewCameraPosition position, const uint8_t *buf,
|
||||
uint32_t bufLen);
|
||||
static void DjiTest_PayloadCameraStreamCallback(E_DjiLiveViewCameraPosition position, const uint8_t *buf,
|
||||
uint32_t bufLen);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
time_t currentTime = time(NULL);
|
||||
struct tm *localTime = NULL;
|
||||
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo = {0};
|
||||
|
||||
USER_LOG_INFO("Liveview sample start");
|
||||
DjiTest_WidgetLogAppend("Liveview sample start");
|
||||
|
||||
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("get aircraft base info error");
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 1: Init liveview module");
|
||||
DjiTest_WidgetLogAppend("--> Step 1: Init liveview module");
|
||||
returnCode = DjiLiveview_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Liveview init failed, error code: 0x%08X", returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
|
||||
DjiTest_WidgetLogAppend("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
|
||||
|
||||
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
|
||||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
|
||||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
|
||||
|
||||
localTime = localtime(¤tTime);
|
||||
sprintf(s_fpvCameraStreamFilePath, "fpv_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
|
||||
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
|
||||
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
|
||||
|
||||
returnCode = DjiLiveview_StartH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
DjiTest_FpvCameraStreamCallback);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Request h264 of fpv failed, error code: 0x%08X", returnCode);
|
||||
goto out;
|
||||
}
|
||||
}
|
||||
|
||||
localTime = localtime(¤tTime);
|
||||
sprintf(s_payloadCameraStreamFilePath, "payload%d_vis_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
|
||||
mountPosition, localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
|
||||
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
|
||||
|
||||
returnCode = DjiLiveview_StartH264Stream((E_DjiLiveViewCameraPosition) mountPosition,
|
||||
DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT,
|
||||
DjiTest_PayloadCameraStreamCallback);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Request h264 of payload %d failed, error code: 0x%08X", mountPosition, returnCode);
|
||||
}
|
||||
|
||||
for (int i = 0; i < TEST_LIVEVIEW_STREAM_STROING_TIME_IN_SECONDS; ++i) {
|
||||
USER_LOG_INFO("Storing camera h264 stream, second: %d.", i + 1);
|
||||
#if TEST_LIVEVIEW_STREAM_REQUEST_I_FRAME_ON
|
||||
if (i % TEST_LIVEVIEW_STREAM_REQUEST_I_FRAME_TICK_IN_SECONDS == 0) {
|
||||
returnCode = DjiLiveview_RequestIntraframeFrameData((E_DjiLiveViewCameraPosition) mountPosition,
|
||||
DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Request stream I frame of payload %d failed, error code: 0x%08X", mountPosition,
|
||||
returnCode);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
}
|
||||
|
||||
USER_LOG_INFO("--> Step 3: Stop h264 stream of the fpv and selected payload\r\n");
|
||||
DjiTest_WidgetLogAppend("--> Step 3: Stop h264 stream of the fpv and selected payload");
|
||||
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
|
||||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
|
||||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
|
||||
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Request to stop h264 of fpv failed, error code: 0x%08X", returnCode);
|
||||
goto out;
|
||||
}
|
||||
}
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream((E_DjiLiveViewCameraPosition) mountPosition,
|
||||
DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Request to stop h264 of payload %d failed, error code: 0x%08X", mountPosition, returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Fpv stream is saved to file: %s", s_fpvCameraStreamFilePath);
|
||||
USER_LOG_INFO("Payload%d stream is saved to file: %s\r\n", mountPosition, s_payloadCameraStreamFilePath);
|
||||
|
||||
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
|
||||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
|
||||
USER_LOG_INFO("--> Start h264 stream of the fpv and selected payload\r\n");
|
||||
|
||||
localTime = localtime(¤tTime);
|
||||
sprintf(s_payloadCameraStreamFilePath, "payload%d_ir_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
|
||||
mountPosition, localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
|
||||
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
|
||||
|
||||
returnCode = DjiLiveview_StartH264Stream((E_DjiLiveViewCameraPosition) mountPosition,
|
||||
DJI_LIVEVIEW_CAMERA_SOURCE_M3T_IR,
|
||||
DjiTest_PayloadCameraStreamCallback);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Request h264 of payload %d failed, error code: 0x%08X", mountPosition, returnCode);
|
||||
}
|
||||
|
||||
for (int i = 0; i < TEST_LIVEVIEW_STREAM_STROING_TIME_IN_SECONDS; ++i) {
|
||||
USER_LOG_INFO("Storing camera h264 stream, second: %d.", i + 1);
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
}
|
||||
|
||||
returnCode = DjiLiveview_StopH264Stream((E_DjiLiveViewCameraPosition) mountPosition,
|
||||
DJI_LIVEVIEW_CAMERA_SOURCE_M3T_IR);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Request to stop h264 of payload %d failed, error code: 0x%08X", mountPosition, returnCode);
|
||||
goto out;
|
||||
}
|
||||
}
|
||||
|
||||
USER_LOG_INFO("Fpv stream is saved to file: %s", s_fpvCameraStreamFilePath);
|
||||
USER_LOG_INFO("Payload%d stream is saved to file: %s\r\n", mountPosition, s_payloadCameraStreamFilePath);
|
||||
|
||||
USER_LOG_INFO("--> Step 4: Deinit liveview module");
|
||||
DjiTest_WidgetLogAppend("--> Step 4: Deinit liveview module");
|
||||
returnCode = DjiLiveview_Deinit();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Liveview deinit failed, error code: 0x%08X", returnCode);
|
||||
goto out;
|
||||
}
|
||||
|
||||
out:
|
||||
USER_LOG_INFO("Liveview sample end");
|
||||
|
||||
return returnCode;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
static void DjiTest_FpvCameraStreamCallback(E_DjiLiveViewCameraPosition position, const uint8_t *buf,
|
||||
uint32_t bufLen)
|
||||
{
|
||||
FILE *fp = NULL;
|
||||
size_t size;
|
||||
|
||||
fp = fopen(s_fpvCameraStreamFilePath, "ab+");
|
||||
if (fp == NULL) {
|
||||
printf("fopen failed!\n");
|
||||
return;
|
||||
}
|
||||
|
||||
size = fwrite(buf, 1, bufLen, fp);
|
||||
if (size != bufLen) {
|
||||
fclose(fp);
|
||||
return;
|
||||
}
|
||||
|
||||
fflush(fp);
|
||||
fclose(fp);
|
||||
}
|
||||
|
||||
static void DjiTest_PayloadCameraStreamCallback(E_DjiLiveViewCameraPosition position, const uint8_t *buf,
|
||||
uint32_t bufLen)
|
||||
{
|
||||
FILE *fp = NULL;
|
||||
size_t size;
|
||||
|
||||
fp = fopen(s_payloadCameraStreamFilePath, "ab+");
|
||||
if (fp == NULL) {
|
||||
printf("fopen failed!\n");
|
||||
return;
|
||||
}
|
||||
|
||||
size = fwrite(buf, 1, bufLen, fp);
|
||||
if (size != bufLen) {
|
||||
fclose(fp);
|
||||
return;
|
||||
}
|
||||
|
||||
fflush(fp);
|
||||
fclose(fp);
|
||||
}
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
49
PSDK/samples/sample_c/module_sample/liveview/test_liveview.h
Normal file
49
PSDK/samples/sample_c/module_sample/liveview/test_liveview.h
Normal file
@ -0,0 +1,49 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_liveview.h
|
||||
* @brief This is the header file for "test_liveview.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_LIVEVIEW_H
|
||||
#define TEST_LIVEVIEW_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_LIVEVIEW_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
Binary file not shown.
@ -0,0 +1,833 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_mop_channel.c
|
||||
* @brief
|
||||
*
|
||||
* @copyright (c) 2021 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 <utils/util_misc.h>
|
||||
#include <stdio.h>
|
||||
#include <utils/util_md5.h>
|
||||
#include "dji_mop_channel.h"
|
||||
#include "dji_logger.h"
|
||||
#include "dji_platform.h"
|
||||
#include "test_mop_channel.h"
|
||||
|
||||
/* Private constants ---------------------------------------------------------*/
|
||||
#define DJI_MOP_CHANNEL_TASK_STACK_SIZE 2048
|
||||
#define TEST_MOP_CHANNEL_INIT_TIMEMS (3 * 1000)
|
||||
#define TEST_MOP_CHANNEL_RETRY_TIMEMS (3 * 1000)
|
||||
|
||||
#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_CHANNEL_ID 49152
|
||||
#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_USING_RELIABLE_TRANS 0
|
||||
#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_TASK_FREQ 1
|
||||
#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER (64 * 1024)
|
||||
#define TEST_MOP_CHANNEL_NORMAL_TRANSFOR_RECV_BUFFER (100 * 1024)
|
||||
|
||||
#define TEST_MOP_CHANNEL_FILE_SERVICE_CHANNEL_ID 49153
|
||||
#define TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER (3 * 1024 * 1024)
|
||||
#define TEST_MOP_CHANNEL_FILE_SERVICE_RECV_BUFFER (100 * 1024)
|
||||
#define TEST_MOP_CHANNEL_FILE_SERVICE_CLIENT_MAX_SUPPORT_NUM 10
|
||||
|
||||
/* Private types -------------------------------------------------------------*/
|
||||
typedef enum {
|
||||
MOP_FILE_SERVICE_DOWNLOAD_IDEL = 0,
|
||||
MOP_FILE_SERVICE_DOWNLOAD_REQUEST_START,
|
||||
MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_SUCCESS,
|
||||
MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_FAILED,
|
||||
MOP_FILE_SERVICE_DOWNLOAD_DATA_SENDING,
|
||||
MOP_FILE_SERVICE_DOWNLOAD_FINISHED_SUCCESS,
|
||||
MOP_FILE_SERVICE_DOWNLOAD_FINISHED_FAILED,
|
||||
MOP_FILE_SERVICE_DOWNLOAD_STOP,
|
||||
} E_MopFileServiceDownloadState;
|
||||
|
||||
typedef enum {
|
||||
MOP_FILE_SERVICE_UPLOAD_IDEL = 0,
|
||||
MOP_FILE_SERVICE_UPLOAD_REQUEST_START,
|
||||
MOP_FILE_SERVICE_UPLOAD_FILE_INFO_SUCCESS,
|
||||
MOP_FILE_SERVICE_UPLOAD_FILE_INFO_FAILED,
|
||||
MOP_FILE_SERVICE_UPLOAD_DATA_SENDING,
|
||||
MOP_FILE_SERVICE_UPLOAD_FINISHED_SUCCESS,
|
||||
MOP_FILE_SERVICE_UPLOAD_FINISHED_FAILED,
|
||||
MOP_FILE_SERVICE_UPLOAD_STOP,
|
||||
} E_MopFileServiceUploadState;
|
||||
|
||||
typedef struct {
|
||||
uint8_t index;
|
||||
T_DjiTaskHandle clientRecvTask;
|
||||
T_DjiTaskHandle clientSendTask;
|
||||
T_DjiMopChannelHandle clientHandle;
|
||||
E_MopFileServiceDownloadState downloadState;
|
||||
uint16_t downloadSeqNum;
|
||||
E_MopFileServiceUploadState uploadState;
|
||||
uint16_t uploadSeqNum;
|
||||
} T_MopFileServiceClientContent;
|
||||
|
||||
/* Private values -------------------------------------------------------------*/
|
||||
static T_DjiMopChannelHandle s_testMopChannelNormalHandle;
|
||||
static T_DjiMopChannelHandle s_testMopChannelNormalOutHandle;
|
||||
static T_DjiTaskHandle s_testMopChannelNormalSendTask;
|
||||
static T_DjiTaskHandle s_testMopChannelNormalRecvTask;
|
||||
static T_DjiSemaHandle s_testMopChannelReadySema;
|
||||
static bool s_testMopChannelConnected = false;
|
||||
|
||||
static T_DjiTaskHandle s_fileServiceMopChannelAcceptTask;
|
||||
static T_DjiMopChannelHandle s_fileServiceMopChannelHandle;
|
||||
static T_MopFileServiceClientContent s_fileServiceContent[TEST_MOP_CHANNEL_FILE_SERVICE_CLIENT_MAX_SUPPORT_NUM];
|
||||
|
||||
/* Private functions declaration ---------------------------------------------*/
|
||||
static void *DjiTest_MopChannelSendNormalTask(void *arg);
|
||||
static void *DjiTest_MopChannelRecvNormalTask(void *arg);
|
||||
static void *DjiTest_MopChannelFileServiceAcceptTask(void *arg);
|
||||
static void *DjiTest_MopChannelFileServiceRecvTask(void *arg);
|
||||
static void *DjiTest_MopChannelFileServiceSendTask(void *arg);
|
||||
|
||||
/* Exported functions definition ---------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_MopChannelStartService(void)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
returnCode = osalHandler->SemaphoreCreate(0, &s_testMopChannelReadySema);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel create msdk sema error, stat:0x%08llX.", returnCode);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
returnCode = DjiMopChannel_Init();
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel init error, stat:0x%08llX.", returnCode);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
returnCode = osalHandler->TaskCreate("mop_msdk_send_task", DjiTest_MopChannelSendNormalTask,
|
||||
DJI_MOP_CHANNEL_TASK_STACK_SIZE, NULL, &s_testMopChannelNormalSendTask);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel msdk send task create error, stat:0x%08llX.", returnCode);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
returnCode = osalHandler->TaskCreate("mop_msdk_recv_task", DjiTest_MopChannelRecvNormalTask,
|
||||
DJI_MOP_CHANNEL_TASK_STACK_SIZE, NULL, &s_testMopChannelNormalRecvTask);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel msdk recv task create error, stat:0x%08llX.", returnCode);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
returnCode = osalHandler->TaskCreate("mop_msdk_accept_task", DjiTest_MopChannelFileServiceAcceptTask,
|
||||
DJI_MOP_CHANNEL_TASK_STACK_SIZE, NULL, &s_fileServiceMopChannelAcceptTask);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel osdk recv task create error, stat:0x%08llX.", returnCode);
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
|
||||
}
|
||||
|
||||
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
|
||||
}
|
||||
|
||||
/* Private functions definition-----------------------------------------------*/
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
|
||||
#pragma GCC diagnostic ignored "-Wreturn-type"
|
||||
|
||||
static void *DjiTest_MopChannelSendNormalTask(void *arg)
|
||||
{
|
||||
uint8_t *sendBuf = NULL;
|
||||
uint32_t realLen = 0;
|
||||
T_DjiReturnCode returnCode;
|
||||
uint32_t sendDataCount = 0;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
USER_UTIL_UNUSED(arg);
|
||||
|
||||
osalHandler->TaskSleepMs(TEST_MOP_CHANNEL_INIT_TIMEMS);
|
||||
|
||||
sendBuf = osalHandler->Malloc(TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
|
||||
if (sendBuf == NULL) {
|
||||
USER_LOG_ERROR("malloc send buffer error");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
REWAIT:
|
||||
returnCode = osalHandler->SemaphoreWait(s_testMopChannelReadySema);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel wait sema error, stat:0x%08llX.", returnCode);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
while (1) {
|
||||
if (s_testMopChannelConnected == false) {
|
||||
sendDataCount = 0;
|
||||
goto REWAIT;
|
||||
}
|
||||
|
||||
sendDataCount++;
|
||||
memset(sendBuf, sendDataCount, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
|
||||
returnCode = DjiMopChannel_SendData(s_testMopChannelNormalOutHandle, sendBuf,
|
||||
TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER, &realLen);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel send data to channel error,stat:0x%08llX", returnCode);
|
||||
} else {
|
||||
USER_LOG_INFO("mop channel send data to channel length:%d count:%d", realLen, sendDataCount);
|
||||
}
|
||||
|
||||
osalHandler->TaskSleepMs(1000 / TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_TASK_FREQ);
|
||||
}
|
||||
}
|
||||
|
||||
#pragma GCC diagnostic pop
|
||||
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
|
||||
#pragma GCC diagnostic ignored "-Wreturn-type"
|
||||
|
||||
static void *DjiTest_MopChannelRecvNormalTask(void *arg)
|
||||
{
|
||||
USER_UTIL_UNUSED(arg);
|
||||
uint8_t *recvBuf = NULL;
|
||||
uint32_t realLen;
|
||||
T_DjiReturnCode returnCode;
|
||||
uint32_t recvDataCount = 0;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
osalHandler->TaskSleepMs(TEST_MOP_CHANNEL_INIT_TIMEMS);
|
||||
|
||||
#if TEST_MOP_CHANNEL_NORMAL_TRANSFOR_USING_RELIABLE_TRANS
|
||||
returnCode = DjiMopChannel_Create(&s_testMopChannelNormalHandle, DJI_MOP_CHANNEL_TRANS_RELIABLE);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel create send handle error, stat:0x%08llX.", returnCode);
|
||||
return NULL;
|
||||
}
|
||||
#else
|
||||
returnCode = DjiMopChannel_Create(&s_testMopChannelNormalHandle, DJI_MOP_CHANNEL_TRANS_UNRELIABLE);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel create send handle error, stat:0x%08llX.", returnCode);
|
||||
return NULL;
|
||||
}
|
||||
#endif
|
||||
|
||||
REBIND:
|
||||
returnCode = DjiMopChannel_Bind(s_testMopChannelNormalHandle, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_CHANNEL_ID);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop bind channel error :0x%08llX", returnCode);
|
||||
osalHandler->TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
|
||||
goto REBIND;
|
||||
}
|
||||
|
||||
REACCEPT:
|
||||
returnCode = DjiMopChannel_Accept(s_testMopChannelNormalHandle, &s_testMopChannelNormalOutHandle);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_WARN("mop accept channel error :0x%08llX", returnCode);
|
||||
osalHandler->TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
|
||||
goto REACCEPT;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("mop channel is connected");
|
||||
|
||||
recvBuf = osalHandler->Malloc(TEST_MOP_CHANNEL_NORMAL_TRANSFOR_RECV_BUFFER);
|
||||
if (recvBuf == NULL) {
|
||||
USER_LOG_ERROR("malloc recv buffer error");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
s_testMopChannelConnected = true;
|
||||
|
||||
returnCode = osalHandler->SemaphorePost(s_testMopChannelReadySema);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel post sema error, stat:0x%08llX.", returnCode);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
while (1) {
|
||||
memset(recvBuf, 0, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_RECV_BUFFER);
|
||||
|
||||
returnCode = DjiMopChannel_RecvData(s_testMopChannelNormalOutHandle, recvBuf,
|
||||
TEST_MOP_CHANNEL_NORMAL_TRANSFOR_RECV_BUFFER, &realLen);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
if (returnCode == DJI_ERROR_MOP_CHANNEL_MODULE_CODE_CONNECTION_CLOSE) {
|
||||
USER_LOG_INFO("mop channel is disconnected");
|
||||
s_testMopChannelConnected = false;
|
||||
osalHandler->TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
|
||||
DjiMopChannel_Close(s_testMopChannelNormalOutHandle);
|
||||
DjiMopChannel_Destroy(s_testMopChannelNormalOutHandle);
|
||||
goto REACCEPT;
|
||||
}
|
||||
} else {
|
||||
USER_LOG_INFO("mop channel recv data from channel length:%d count:%d", realLen, recvDataCount++);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#pragma GCC diagnostic pop
|
||||
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
|
||||
#pragma GCC diagnostic ignored "-Wreturn-type"
|
||||
|
||||
static void *DjiTest_MopChannelFileServiceAcceptTask(void *arg)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
uint8_t currentClientNum = 0;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
USER_UTIL_UNUSED(arg);
|
||||
|
||||
USER_LOG_DEBUG("[File-Service] Start the file service.");
|
||||
|
||||
returnCode = DjiMopChannel_Create(&s_fileServiceMopChannelHandle, DJI_MOP_CHANNEL_TRANS_RELIABLE);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("[File-Service] mop channel create send handle error, stat:0x%08llX.", returnCode);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
REBIND:
|
||||
returnCode = DjiMopChannel_Bind(s_fileServiceMopChannelHandle, TEST_MOP_CHANNEL_FILE_SERVICE_CHANNEL_ID);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("[File-Service] mop bind channel error :0x%08llX", returnCode);
|
||||
osalHandler->TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
|
||||
goto REBIND;
|
||||
}
|
||||
|
||||
while (1) {
|
||||
REACCEPT:
|
||||
returnCode = DjiMopChannel_Accept(s_fileServiceMopChannelHandle,
|
||||
&s_fileServiceContent[currentClientNum].clientHandle);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_WARN("[File-Service] mop accept channel error :0x%08llX", returnCode);
|
||||
osalHandler->TaskSleepMs(TEST_MOP_CHANNEL_RETRY_TIMEMS);
|
||||
goto REACCEPT;
|
||||
}
|
||||
|
||||
USER_LOG_INFO("[File-Service] [Client:%d] mop channel is connected", currentClientNum);
|
||||
|
||||
s_fileServiceContent[currentClientNum].index = currentClientNum;
|
||||
returnCode = osalHandler->TaskCreate("mop_file_service_recv_task",
|
||||
DjiTest_MopChannelFileServiceRecvTask,
|
||||
DJI_MOP_CHANNEL_TASK_STACK_SIZE,
|
||||
&s_fileServiceContent[currentClientNum].index,
|
||||
&s_fileServiceContent[currentClientNum].clientRecvTask);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel recv task create error, stat:0x%08llX.", returnCode);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
returnCode = osalHandler->TaskCreate("mop_file_service_send_task",
|
||||
DjiTest_MopChannelFileServiceSendTask,
|
||||
DJI_MOP_CHANNEL_TASK_STACK_SIZE,
|
||||
&s_fileServiceContent[currentClientNum].index,
|
||||
&s_fileServiceContent[currentClientNum].clientSendTask);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("mop channel send task create error, stat:0x%08llX.", returnCode);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
currentClientNum++;
|
||||
if (currentClientNum > TEST_MOP_CHANNEL_FILE_SERVICE_CLIENT_MAX_SUPPORT_NUM) {
|
||||
currentClientNum = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#pragma GCC diagnostic pop
|
||||
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
|
||||
#pragma GCC diagnostic ignored "-Wreturn-type"
|
||||
|
||||
static void *DjiTest_MopChannelFileServiceSendTask(void *arg)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
uint8_t clientNum = *(uint8_t *) arg;
|
||||
uint32_t sendRealLen = 0;
|
||||
uint8_t *sendBuf;
|
||||
MD5_CTX downloadFileMd5Ctx;
|
||||
FILE *downloadFile = NULL;
|
||||
uint8_t downloadFileMd5[DJI_MD5_BUFFER_LEN] = {0};
|
||||
uint64_t downloadFileTotalSize = 0;
|
||||
uint64_t downloadWriteLen;
|
||||
uint16_t downloadPackCount = 0;
|
||||
T_DjiMopChannel_FileInfo downloadFileInfo = {0};
|
||||
T_DjiMopChannel_FileTransfor transforAck = {0};
|
||||
T_DjiMopChannel_FileTransfor fileData = {0};
|
||||
T_DjiMopChannel_FileTransfor fileInfo = {0};
|
||||
uint32_t downloadStartMs = 0;
|
||||
uint32_t downloadEndMs = 0;
|
||||
uint32_t downloadDurationMs;
|
||||
dji_f32_t downloadRate;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
char curFileDirPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
char tempPath[DJI_FILE_PATH_SIZE_MAX];
|
||||
|
||||
sendBuf = osalHandler->Malloc(TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER);
|
||||
if (sendBuf == NULL) {
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] malloc send buffer error", clientNum);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
while (1) {
|
||||
switch (s_fileServiceContent[clientNum].uploadState) {
|
||||
case MOP_FILE_SERVICE_UPLOAD_REQUEST_START:
|
||||
transforAck.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK;
|
||||
transforAck.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_OK;
|
||||
transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum;
|
||||
transforAck.dataLen = 0;
|
||||
DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t * ) & transforAck,
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data),
|
||||
&sendRealLen);
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] upload request ack", clientNum);
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
|
||||
break;
|
||||
case MOP_FILE_SERVICE_UPLOAD_FILE_INFO_SUCCESS:
|
||||
transforAck.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK;
|
||||
transforAck.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_OK;
|
||||
transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum;
|
||||
transforAck.dataLen = 0;
|
||||
DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t * ) & transforAck,
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data),
|
||||
&sendRealLen);
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] upload file info success", clientNum);
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
|
||||
break;
|
||||
case MOP_FILE_SERVICE_UPLOAD_FILE_INFO_FAILED:
|
||||
transforAck.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK;
|
||||
transforAck.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_REJECTED;
|
||||
transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum;
|
||||
transforAck.dataLen = 0;
|
||||
DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t * ) & transforAck,
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data),
|
||||
&sendRealLen);
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] upload file info failed", clientNum);
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
|
||||
break;
|
||||
case MOP_FILE_SERVICE_UPLOAD_FINISHED_SUCCESS:
|
||||
transforAck.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_RESULT;
|
||||
transforAck.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_OK;
|
||||
transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum++;
|
||||
transforAck.dataLen = 0;
|
||||
DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle,
|
||||
(uint8_t * ) & transforAck,
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data),
|
||||
&sendRealLen);
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] upload finished success", clientNum);
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
|
||||
|
||||
break;
|
||||
case MOP_FILE_SERVICE_UPLOAD_FINISHED_FAILED:
|
||||
transforAck.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_RESULT;
|
||||
transforAck.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_FAILED;
|
||||
transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum++;
|
||||
transforAck.dataLen = 0;
|
||||
DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle,
|
||||
(uint8_t * ) & transforAck,
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data),
|
||||
&sendRealLen);
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] upload finished failed", clientNum);
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
|
||||
break;
|
||||
case MOP_FILE_SERVICE_UPLOAD_STOP:
|
||||
transforAck.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_ACK;
|
||||
transforAck.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_UPLOAD;
|
||||
transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum++;
|
||||
transforAck.dataLen = 0;
|
||||
DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle,
|
||||
(uint8_t *) &transforAck,
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data),
|
||||
&sendRealLen);
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
switch (s_fileServiceContent[clientNum].downloadState) {
|
||||
case MOP_FILE_SERVICE_DOWNLOAD_REQUEST_START:
|
||||
transforAck.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK;
|
||||
transforAck.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_OK;
|
||||
transforAck.seqNum = s_fileServiceContent[clientNum].downloadSeqNum;
|
||||
transforAck.dataLen = 0;
|
||||
DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t * ) & transforAck,
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data),
|
||||
&sendRealLen);
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] download request ack", clientNum);
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_IDEL;
|
||||
|
||||
break;
|
||||
case MOP_FILE_SERVICE_DOWNLOAD_STOP:
|
||||
transforAck.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_ACK;
|
||||
transforAck.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_DOWNLOAD;
|
||||
transforAck.seqNum = s_fileServiceContent[clientNum].uploadSeqNum++;
|
||||
transforAck.dataLen = 0;
|
||||
DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle,
|
||||
(uint8_t *) &transforAck,
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data),
|
||||
&sendRealLen);
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_IDEL;
|
||||
break;
|
||||
case MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_SUCCESS:
|
||||
UtilMd5_Init(&downloadFileMd5Ctx);
|
||||
osalHandler->GetTimeMs(&downloadStartMs);
|
||||
if (downloadFile != NULL) {
|
||||
fclose(downloadFile);
|
||||
}
|
||||
|
||||
returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, DJI_FILE_PATH_SIZE_MAX, curFileDirPath);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
|
||||
exit(1);
|
||||
}
|
||||
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%smop_channel_test_file/mop_send_test_file.mp4", curFileDirPath);
|
||||
|
||||
downloadFile = fopen(tempPath, "rb");
|
||||
if (downloadFile == NULL) {
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] download open file error",
|
||||
clientNum);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
downloadFileTotalSize = 0;
|
||||
while (1) {
|
||||
returnCode = fseek(downloadFile, downloadFileTotalSize, SEEK_SET);
|
||||
if (returnCode != 0) {
|
||||
USER_LOG_ERROR(
|
||||
"[File-Service] [Client:%d] mop channel fseek file data fail.", clientNum);
|
||||
}
|
||||
downloadWriteLen = fread(sendBuf, 1, TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER,
|
||||
downloadFile);
|
||||
if (downloadWriteLen > 0) {
|
||||
downloadFileTotalSize += downloadWriteLen;
|
||||
UtilMd5_Update(&downloadFileMd5Ctx, sendBuf, downloadWriteLen);
|
||||
if (downloadWriteLen < TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
UtilMd5_Final(&downloadFileMd5Ctx, downloadFileMd5);
|
||||
|
||||
fileInfo.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_INFO;
|
||||
fileInfo.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_DOWNLOAD_REQUEST;
|
||||
fileInfo.seqNum = s_fileServiceContent[clientNum].downloadSeqNum;
|
||||
fileInfo.dataLen = sizeof(fileInfo) - UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data);
|
||||
|
||||
fileInfo.data.fileInfo.isExist = true;
|
||||
downloadFileInfo.fileLength = downloadFileTotalSize;
|
||||
fileInfo.data.fileInfo.fileLength = downloadFileTotalSize;
|
||||
strcpy(fileInfo.data.fileInfo.fileName, "test.mp4");
|
||||
memcpy(&fileInfo.data.fileInfo.md5Buf, &downloadFileMd5, sizeof(downloadFileMd5));
|
||||
DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, (uint8_t *) &fileInfo,
|
||||
sizeof(T_DjiMopChannel_FileTransfor),
|
||||
&sendRealLen);
|
||||
USER_LOG_DEBUG(
|
||||
"[File-Service] [Client:%d] download ack file info exist:%d length:%d name:%s",
|
||||
clientNum, fileInfo.data.fileInfo.isExist,
|
||||
fileInfo.data.fileInfo.fileLength, fileInfo.data.fileInfo.fileName);
|
||||
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_DATA_SENDING;
|
||||
downloadFileTotalSize = 0;
|
||||
downloadPackCount = 0;
|
||||
break;
|
||||
case MOP_FILE_SERVICE_DOWNLOAD_DATA_SENDING:
|
||||
if (downloadFile == NULL) {
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] download file object is NULL.");
|
||||
break;
|
||||
}
|
||||
|
||||
returnCode = fseek(downloadFile, downloadFileTotalSize, SEEK_SET);
|
||||
if (returnCode != 0) {
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] download fseek file data fail.",
|
||||
clientNum);
|
||||
break;
|
||||
}
|
||||
downloadWriteLen = fread(&sendBuf[UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data)],
|
||||
1,
|
||||
(TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER -
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data)),
|
||||
downloadFile);
|
||||
|
||||
if (downloadWriteLen > 0) {
|
||||
downloadFileTotalSize += downloadWriteLen;
|
||||
downloadPackCount++;
|
||||
|
||||
fileData.cmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DATA;
|
||||
fileData.dataLen = downloadWriteLen;
|
||||
fileData.seqNum++;
|
||||
if (downloadWriteLen ==
|
||||
(TEST_MOP_CHANNEL_FILE_SERVICE_SEND_BUFFER -
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data))) {
|
||||
fileData.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_NORMAL;
|
||||
} else {
|
||||
fileData.subcmd = DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_END;
|
||||
}
|
||||
|
||||
memcpy(sendBuf, &fileData, UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data));
|
||||
returnCode = DjiMopChannel_SendData(s_fileServiceContent[clientNum].clientHandle, sendBuf,
|
||||
(downloadWriteLen +
|
||||
UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data)),
|
||||
&sendRealLen);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
USER_LOG_ERROR(
|
||||
"[File-Service] [Client:%d] download send file data error,stat:0x%08llX",
|
||||
clientNum, returnCode);
|
||||
if (returnCode == DJI_ERROR_MOP_CHANNEL_MODULE_CODE_CONNECTION_CLOSE) {
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
USER_LOG_INFO(
|
||||
"[File-Service] [Client:%d] download send file data length:%d count:%d total:%d percent: %.1f %%",
|
||||
clientNum, sendRealLen, downloadPackCount, downloadFileTotalSize,
|
||||
(dji_f32_t)(downloadFileTotalSize) * 100 / (dji_f32_t) downloadFileInfo.fileLength);
|
||||
}
|
||||
|
||||
if (fileData.subcmd == DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_END) {
|
||||
osalHandler->GetTimeMs(&downloadEndMs);
|
||||
downloadDurationMs = downloadEndMs - downloadStartMs;
|
||||
if (downloadDurationMs != 0) {
|
||||
downloadRate = (dji_f32_t) downloadFileInfo.fileLength * 1000 /
|
||||
(dji_f32_t) (downloadDurationMs);
|
||||
USER_LOG_INFO(
|
||||
"[File-Service] [Client:%d] download finished totalTime:%d, rate:%.2f Byte/s",
|
||||
clientNum, downloadDurationMs, downloadRate);
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#pragma GCC diagnostic pop
|
||||
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
|
||||
#pragma GCC diagnostic ignored "-Wreturn-type"
|
||||
|
||||
static void *DjiTest_MopChannelFileServiceRecvTask(void *arg)
|
||||
{
|
||||
T_DjiReturnCode returnCode;
|
||||
uint8_t clientNum = *(uint8_t *) arg;
|
||||
uint32_t recvRealLen;
|
||||
uint8_t *recvBuf;
|
||||
MD5_CTX uploadFileMd5Ctx;
|
||||
FILE *uploadFile = NULL;
|
||||
uint8_t uploadFileMd5[DJI_MD5_BUFFER_LEN] = {0};
|
||||
uint32_t uploadFileTotalSize = 0;
|
||||
int32_t uploadWriteLen;
|
||||
T_DjiMopChannel_FileInfo uploadFileInfo = {0};
|
||||
uint32_t uploadStartMs = 0;
|
||||
uint32_t uploadEndMs = 0;
|
||||
dji_f32_t uploadRate;
|
||||
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
|
||||
|
||||
recvBuf = osalHandler->Malloc(TEST_MOP_CHANNEL_FILE_SERVICE_RECV_BUFFER);
|
||||
if (recvBuf == NULL) {
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] malloc recv buffer error", clientNum);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_IDEL;
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_IDEL;
|
||||
|
||||
while (1) {
|
||||
returnCode = DjiMopChannel_RecvData(s_fileServiceContent[clientNum].clientHandle, recvBuf,
|
||||
TEST_MOP_CHANNEL_FILE_SERVICE_RECV_BUFFER, &recvRealLen);
|
||||
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
|
||||
osalHandler->TaskSleepMs(1000);
|
||||
if (returnCode == DJI_ERROR_MOP_CHANNEL_MODULE_CODE_CONNECTION_CLOSE) {
|
||||
USER_LOG_INFO("[File-Service] [Client:%d] mop channel is disconnected", clientNum);
|
||||
osalHandler->TaskDestroy(s_fileServiceContent[clientNum].clientRecvTask);
|
||||
DjiMopChannel_Close(s_fileServiceContent[clientNum].clientHandle);
|
||||
DjiMopChannel_Destroy(s_fileServiceContent[clientNum].clientHandle);
|
||||
}
|
||||
} else {
|
||||
if (&recvRealLen > 0) {
|
||||
T_DjiMopChannel_FileTransfor *fileTransfor = (T_DjiMopChannel_FileTransfor *) recvBuf;
|
||||
|
||||
switch (fileTransfor->cmd) {
|
||||
case DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_REQUEST:
|
||||
if (fileTransfor->subcmd == DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_REQUEST_UPLOAD) {
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_REQUEST_START;
|
||||
s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
|
||||
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] upload request is ok", clientNum);
|
||||
UtilMd5_Init(&uploadFileMd5Ctx);
|
||||
uploadFileTotalSize = 0;
|
||||
osalHandler->GetTimeMs(&uploadStartMs);
|
||||
} else if (fileTransfor->subcmd == DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_REQUEST_DOWNLOAD) {
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_REQUEST_START;
|
||||
s_fileServiceContent[clientNum].downloadSeqNum = fileTransfor->seqNum;
|
||||
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] download request is ok", clientNum);
|
||||
}
|
||||
break;
|
||||
case DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DOWNLOAD_REQ:
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] download request file name:%s", clientNum,
|
||||
fileTransfor->data.dwonloadReq.fileName);
|
||||
|
||||
if (strcmp(fileTransfor->data.dwonloadReq.fileName, "test.mp4") == 0) {
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_SUCCESS;
|
||||
s_fileServiceContent[clientNum].downloadSeqNum = fileTransfor->seqNum;
|
||||
} else {
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_FILE_INFO_FAILED;
|
||||
s_fileServiceContent[clientNum].downloadSeqNum = fileTransfor->seqNum;
|
||||
}
|
||||
break;
|
||||
case DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_INFO:
|
||||
USER_LOG_DEBUG(
|
||||
"[File-Service] [Client:%d] upload file info length:%d exist:%d name:%s seq:%d", clientNum,
|
||||
fileTransfor->data.fileInfo.fileLength,
|
||||
fileTransfor->data.fileInfo.isExist,
|
||||
fileTransfor->data.fileInfo.fileName, fileTransfor->seqNum);
|
||||
|
||||
uploadFileInfo.fileLength = fileTransfor->data.fileInfo.fileLength;
|
||||
memcpy(uploadFileInfo.md5Buf, fileTransfor->data.fileInfo.md5Buf,
|
||||
sizeof(uploadFileInfo.md5Buf));
|
||||
if (uploadFile != NULL) {
|
||||
fclose(uploadFile);
|
||||
}
|
||||
uploadFile = fopen(fileTransfor->data.fileInfo.fileName, "wb");
|
||||
if (uploadFile == NULL) {
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] open file error", clientNum);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_FILE_INFO_SUCCESS;
|
||||
s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
|
||||
|
||||
break;
|
||||
case DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DATA:
|
||||
if (uploadFile == NULL) {
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] open file error", clientNum);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (fileTransfor->subcmd == DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_NORMAL) {
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_DATA_SENDING;
|
||||
s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
|
||||
|
||||
uploadWriteLen = fwrite(&recvBuf[UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data)], 1,
|
||||
fileTransfor->dataLen, uploadFile);
|
||||
if (uploadWriteLen < 0) {
|
||||
USER_LOG_ERROR(
|
||||
"[File-Service] [Client:%d] upload write normal data to file error, stat:%d.",
|
||||
clientNum,
|
||||
uploadWriteLen);
|
||||
} else {
|
||||
uploadFileTotalSize += uploadWriteLen;
|
||||
UtilMd5_Update(&uploadFileMd5Ctx,
|
||||
&recvBuf[UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data)],
|
||||
fileTransfor->dataLen);
|
||||
|
||||
if (uploadFileInfo.fileLength != 0) {
|
||||
USER_LOG_INFO(
|
||||
"[File-Service] [Client:%d] upload write data to file success, len:%d percent:%.1f %%",
|
||||
clientNum, uploadWriteLen,
|
||||
(dji_f32_t)(uploadFileTotalSize * 100) /
|
||||
(dji_f32_t) uploadFileInfo.fileLength);
|
||||
}
|
||||
}
|
||||
} else if (fileTransfor->subcmd == DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_END) {
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_DATA_SENDING;
|
||||
s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
|
||||
uploadWriteLen = fwrite(&recvBuf[UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data)], 1,
|
||||
fileTransfor->dataLen, uploadFile);
|
||||
if (uploadWriteLen < 0) {
|
||||
USER_LOG_ERROR(
|
||||
"[File-Service] [Client:%d] upload write end data to file error, stat:%d.",
|
||||
clientNum,
|
||||
uploadWriteLen);
|
||||
} else {
|
||||
uploadFileTotalSize += uploadWriteLen;
|
||||
UtilMd5_Update(&uploadFileMd5Ctx,
|
||||
&recvBuf[UTIL_OFFSETOF(T_DjiMopChannel_FileTransfor, data)],
|
||||
fileTransfor->dataLen);
|
||||
UtilMd5_Final(&uploadFileMd5Ctx, uploadFileMd5);
|
||||
osalHandler->GetTimeMs(&uploadEndMs);
|
||||
|
||||
if (uploadEndMs - uploadStartMs > 0) {
|
||||
uploadRate = (dji_f32_t) uploadFileTotalSize * 1000 /
|
||||
(dji_f32_t) (uploadEndMs - uploadStartMs);
|
||||
USER_LOG_INFO(
|
||||
"[File-Service] [Client:%d] upload write data to file success, len:%d percent:%.1f %%",
|
||||
clientNum, uploadWriteLen,
|
||||
(dji_f32_t)(uploadFileTotalSize * 100) /
|
||||
(dji_f32_t) uploadFileInfo.fileLength);
|
||||
USER_LOG_INFO(
|
||||
"[File-Service] [Client:%d] upload file finished, totalTime:%d ms rate:%.2f Byte/s",
|
||||
clientNum, (uploadEndMs - uploadStartMs), uploadRate);
|
||||
}
|
||||
|
||||
fclose(uploadFile);
|
||||
uploadFile = NULL;
|
||||
if (uploadFileInfo.fileLength == uploadFileTotalSize) {
|
||||
if (memcmp(uploadFileInfo.md5Buf, uploadFileMd5, sizeof(uploadFileMd5)) == 0) {
|
||||
USER_LOG_DEBUG(
|
||||
"[File-Service] [Client:%d] upload file md5 check success", clientNum);
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_FINISHED_SUCCESS;
|
||||
s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
|
||||
} else {
|
||||
USER_LOG_ERROR(
|
||||
"[File-Service] [Client:%d] upload file md5 check failed", clientNum);
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_FINISHED_FAILED;
|
||||
s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
|
||||
}
|
||||
} else {
|
||||
USER_LOG_ERROR(
|
||||
"[File-Service] [Client:%d] upload file check file length error", clientNum);
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_FINISHED_FAILED;
|
||||
s_fileServiceContent[clientNum].uploadSeqNum = fileTransfor->seqNum;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
case DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_RESULT:
|
||||
if (fileTransfor->subcmd == DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_OK) {
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_FINISHED_SUCCESS;
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] download file result notify success",
|
||||
clientNum);
|
||||
} else {
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_FINISHED_FAILED;
|
||||
USER_LOG_ERROR("[File-Service] [Client:%d] download file result notify failed",
|
||||
clientNum);
|
||||
}
|
||||
break;
|
||||
case DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_REQUEST:
|
||||
if (fileTransfor->subcmd == DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_UPLOAD) {
|
||||
s_fileServiceContent[clientNum].uploadState = MOP_FILE_SERVICE_UPLOAD_STOP;
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] upload file stop", clientNum);
|
||||
} else if (fileTransfor->subcmd == DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_DOWNLOAD) {
|
||||
s_fileServiceContent[clientNum].downloadState = MOP_FILE_SERVICE_DOWNLOAD_STOP;
|
||||
USER_LOG_DEBUG("[File-Service] [Client:%d] download file stop", clientNum);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
USER_LOG_WARN("[File-Service] [Client:%d] recv the unknown command：0x%02X",
|
||||
clientNum, fileTransfor->cmd);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#pragma GCC diagnostic pop
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,119 @@
|
||||
/**
|
||||
********************************************************************
|
||||
* @file test_mop_channel.h
|
||||
* @brief This is the header file for "test_mop_channel.c", defining the structure and
|
||||
* (exported) function prototypes.
|
||||
*
|
||||
* @copyright (c) 2021 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.
|
||||
*
|
||||
*********************************************************************
|
||||
*/
|
||||
|
||||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef TEST_MOP_CHANNEL_H
|
||||
#define TEST_MOP_CHANNEL_H
|
||||
|
||||
/* Includes ------------------------------------------------------------------*/
|
||||
#include "dji_typedef.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
typedef enum {
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_REQUEST = 0x50,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_ACK = 0x51,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_RESULT = 0x52,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_INFO = 0x60,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DOWNLOAD_REQ = 0x61,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_FILE_DATA = 0x62,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_REQUEST = 0x63,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_CMD_STOP_ACK = 0x64,
|
||||
} E_DjiMopChannel_FileTransforCmd;
|
||||
|
||||
typedef enum {
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_REQUEST_UPLOAD = 0x00,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_REQUEST_DOWNLOAD = 0x01,
|
||||
} E_DjiMopChannel_FileTransforRequestSubCmd;
|
||||
|
||||
typedef enum {
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_OK = 0x00,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_ACK_REJECTED = 0x01,
|
||||
} E_DjiMopChannel_FileTransforAckSubCmd;
|
||||
|
||||
typedef enum {
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_OK = 0x00,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_RESULT_FAILED = 0x01,
|
||||
} E_DjiMopChannel_FileTransforResultSubCmd;
|
||||
|
||||
typedef enum {
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_INFO_DEFAULT = 0xFF,
|
||||
} E_DjiMopChannel_FileTransforFileInfoSubCmd;
|
||||
|
||||
typedef enum {
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_DOWNLOAD_REQUEST = 0xFF,
|
||||
} E_DjiMopChannel_FileTransforFileDownloadRequestSubCmd;
|
||||
|
||||
typedef enum {
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_NORMAL = 0x00,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_FILE_DATA_END = 0x01,
|
||||
} E_DjiMopChannel_FileTransforFileDataSubCmd;
|
||||
|
||||
typedef enum {
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_UPLOAD = 0x00,
|
||||
DJI_MOP_CHANNEL_FILE_TRANSFOR_SUBCMD_STOP_DOWNLOAD = 0x01,
|
||||
} E_DjiMopChannel_FileTransforStopSubCmd;
|
||||
|
||||
#pragma pack(1)
|
||||
|
||||
typedef struct {
|
||||
bool isExist;
|
||||
uint32_t fileLength;
|
||||
char fileName[32];
|
||||
uint8_t md5Buf[16];
|
||||
} T_DjiMopChannel_FileInfo;
|
||||
|
||||
typedef struct {
|
||||
char fileName[32];
|
||||
} T_DjiMopChannel_DwonloadReq;
|
||||
|
||||
typedef struct {
|
||||
uint8_t cmd;
|
||||
uint8_t subcmd;
|
||||
uint16_t seqNum;
|
||||
uint32_t dataLen;
|
||||
union dataType {
|
||||
T_DjiMopChannel_FileInfo fileInfo;
|
||||
T_DjiMopChannel_DwonloadReq dwonloadReq;
|
||||
uint8_t fileData[0];
|
||||
} data;
|
||||
} T_DjiMopChannel_FileTransfor;
|
||||
|
||||
#pragma pack()
|
||||
|
||||
/* Exported functions --------------------------------------------------------*/
|
||||
T_DjiReturnCode DjiTest_MopChannelStartService(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // TEST_MOP_CHANNEL_H
|
||||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user