first commit

PSDK/samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_core.c

@@ -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****/

PSDK/samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_core.h

@@ -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******/

PSDK/samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_jpg.c

@@ -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****/

PSDK/samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_jpg.h

@@ -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******/

PSDK/samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_mp4.c

@@ -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****/

PSDK/samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_mp4.h

@@ -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******/

PSDK/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.h

@@ -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******/

PSDK/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.h

@@ -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******/

PSDK/samples/sample_c/module_sample/camera_manager/test_camera_manager.h

@@ -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******/

PSDK/samples/sample_c/module_sample/data_transmission/test_data_transmission.c

@@ -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****/

PSDK/samples/sample_c/module_sample/data_transmission/test_data_transmission.h

@@ -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******/

PSDK/samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c

@@ -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),
+                                                          &timestamp);
+        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),
+                                                          &timestamp);
+        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),
+                                                          &timestamp);
+        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),
+                                                          &timestamp);
+        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),
+                                                          &timestamp);
+        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),
+                                                          &timestamp);
+        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),
+                                                          &timestamp);
+        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****/

PSDK/samples/sample_c/module_sample/fc_subscription/test_fc_subscription.h

@@ -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******/

PSDK/samples/sample_c/module_sample/flight_control/test_flight_control.h

@@ -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******/

PSDK/samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.h

@@ -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******/

PSDK/samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c

@@ -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),
+                                                                        &timestamp);
+                    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****/

PSDK/samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.h

@@ -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******/

PSDK/samples/sample_c/module_sample/hms/hms_text/cn/hms_text_config.json

@@ -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
+        }
+      }
+    ]
+  }
+}

PSDK/samples/sample_c/module_sample/hms/hms_text/en/hms_text_config.json

@@ -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
+        }
+      }
+    ]
+  }
+}

PSDK/samples/sample_c/module_sample/hms/hms_text_c/en/hms_text_config_json.h

@@ -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 */

PSDK/samples/sample_c/module_sample/hms/test_hms.c

@@ -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****/

PSDK/samples/sample_c/module_sample/hms/test_hms.h

@@ -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******/

PSDK/samples/sample_c/module_sample/interest_point/test_interest_point.c

@@ -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****/

PSDK/samples/sample_c/module_sample/interest_point/test_interest_point.h

@@ -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******/

PSDK/samples/sample_c/module_sample/liveview/test_liveview.c

@@ -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(&currentTime);
+        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(&currentTime);
+    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(&currentTime);
+        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****/

PSDK/samples/sample_c/module_sample/liveview/test_liveview.h

@@ -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******/

PSDK/samples/sample_c/module_sample/mop_channel/test_mop_channel.c

@@ -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****/

PSDK/samples/sample_c/module_sample/mop_channel/test_mop_channel.h

@@ -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******/

PSDK/samples/sample_c/module_sample/payload_collaboration/test_payload_collaboration.c

@@ -0,0 +1,174 @@
+/**
+ ********************************************************************
+ * @file    test_payload_collaboration.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_payload_camera.h>
+#include "test_payload_collaboration.h"
+#include "dji_aircraft_info.h"
+#include "dji_typedef.h"
+#include "dji_logger.h"
+#include "dji_platform.h"
+#include "utils/util_misc.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define DJI_TEST_PAYLOAD_COLLABORATION_TASK_FREQ                   (1)
+#define DJI_TEST_PAYLOAD_COLLABORATION_TASK_STACK_SIZE             (2048)
+#define DJI_TEST_PAYLOAD_COLLABORATION_PAYLOADS_IN_DRONE_MAX_COUNT (3)
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    E_DjiCameraType cameraType;
+    bool hasOpticalZoomSpec;
+    bool hasHybridZoomFocalLength;
+} T_DjiTestPayloadPara;
+
+/* Private functions declaration ---------------------------------------------*/
+static void *DjiTest_PayloadCollaborationTask(void *arg);
+
+/* Private variables ---------------------------------------------------------*/
+static T_DjiTaskHandle s_payloadCollaborationThread;
+
+static const T_DjiTestPayloadPara s_payloadPara[] = {
+    {DJI_CAMERA_TYPE_Z30,  true,  true},
+    {DJI_CAMERA_TYPE_XT2,  true,  true},
+    {DJI_CAMERA_TYPE_XTS,  false, false},
+    {DJI_CAMERA_TYPE_H20,  true,  true},
+    {DJI_CAMERA_TYPE_H20T, true,  true},
+};
+static bool s_userPayloadCollaborationDataShow = false;
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_PayloadCollaborationStartService(void)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    if (osalHandler->TaskCreate("user_payload_collaboration_task", DjiTest_PayloadCollaborationTask,
+                                DJI_TEST_PAYLOAD_COLLABORATION_TASK_STACK_SIZE,
+                                NULL, &s_payloadCollaborationThread) !=
+        DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("user payload collaboration task create error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_PayloadCollaborationDataShowTrigger(void)
+{
+    s_userPayloadCollaborationDataShow = !s_userPayloadCollaborationDataShow;
+
+    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 *DjiTest_PayloadCollaborationTask(void *arg)
+{
+    int i = 0;
+    unsigned int payloadParaIndex = 0;
+    T_DjiReturnCode djiStat;
+    E_DjiCameraType cameraType = DJI_CAMERA_TYPE_UNKNOWN;
+    uint16_t cameraHybridZoomFocalLength = 0;
+    T_DjiAircraftInfoBaseInfo aircraftBaseInfo = {0};
+    E_DjiMountPosition requestedPayloadMountPosition;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiCameraOpticalZoomSpec cameraOpticalZoomSpec = {0};
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        osalHandler->TaskSleepMs(1000 / DJI_TEST_PAYLOAD_COLLABORATION_TASK_FREQ);
+
+        djiStat = DjiAircraftInfo_GetBaseInfo(&aircraftBaseInfo);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get aircraft information error: 0x%08llX.", djiStat);
+            continue;
+        }
+
+        for (i = 0; i < DJI_TEST_PAYLOAD_COLLABORATION_PAYLOADS_IN_DRONE_MAX_COUNT; ++i) {
+            requestedPayloadMountPosition =
+                (E_DjiMountPosition) (i + DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1);
+            if (requestedPayloadMountPosition == aircraftBaseInfo.mountPosition)
+                continue;
+
+            djiStat = DjiPayloadCamera_GetCameraTypeOfPayload(requestedPayloadMountPosition, &cameraType);
+            if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                continue;
+            }
+            if (s_userPayloadCollaborationDataShow == true) {
+                USER_LOG_INFO("camera type of payload mounted on NO.%d gimbal connector is %d.",
+                              requestedPayloadMountPosition, cameraType);
+            }
+
+            for (payloadParaIndex = 0; payloadParaIndex < UTIL_ARRAY_SIZE(s_payloadPara); ++payloadParaIndex) {
+                if (s_payloadPara[payloadParaIndex].cameraType == cameraType)
+                    break;
+            }
+            if (payloadParaIndex == UTIL_ARRAY_SIZE(s_payloadPara)) {
+                USER_LOG_ERROR("Not find payload parameters.");
+                continue;
+            }
+
+            if (s_payloadPara[payloadParaIndex].hasOpticalZoomSpec) {
+                djiStat = DjiPayloadCamera_GetCameraOpticalZoomSpecOfPayload(requestedPayloadMountPosition,
+                                                                             &cameraOpticalZoomSpec);
+                if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get optical zoom specification error.");
+                }
+
+                if (s_userPayloadCollaborationDataShow == true) {
+                    USER_LOG_INFO(
+                        "camera optical zoom specification of payload mounted on NO.%d gimbal connector, maxFocalLength: %d, minFocalLength: %d, focalLengthStep: %d.",
+                        requestedPayloadMountPosition, cameraOpticalZoomSpec.maxFocalLength,
+                        cameraOpticalZoomSpec.minFocalLength, cameraOpticalZoomSpec.focalLengthStep);
+                }
+            }
+
+            if (s_payloadPara[payloadParaIndex].hasHybridZoomFocalLength) {
+                djiStat = DjiPayloadCamera_GetCameraHybridZoomFocalLengthOfPayload(requestedPayloadMountPosition,
+                                                                                   &cameraHybridZoomFocalLength);
+                if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get hybrid zoom focal length error.");
+                }
+                if (s_userPayloadCollaborationDataShow == true) {
+                    USER_LOG_INFO(
+                        "camera hybrid zoom focal length of payload mounted on NO.%d gimbal connector, focalLength: %d.\r\n",
+                        requestedPayloadMountPosition, cameraHybridZoomFocalLength);
+                }
+            }
+        }
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/payload_collaboration/test_payload_collaboration.h

@@ -0,0 +1,53 @@
+/**
+ ********************************************************************
+ * @file    test_payload_collaboration.h
+ * @brief   This is the header file for "test_payload_collaboration.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_COLLABORATION_H
+#define TEST_PAYLOAD_COLLABORATION_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_PayloadCollaborationStartService(void);
+T_DjiReturnCode DjiTest_PayloadCollaborationDataShowTrigger(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_PAYLOAD_COLLABORATION_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/perception/test_perception.c

@@ -0,0 +1,210 @@
+/**
+ ********************************************************************
+ * @file    test_perception.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_perception.h"
+#include "dji_logger.h"
+#include "dji_platform.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define TEST_PERCEPTION_SAVE_IMAGE_MAX_NUM    10
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    E_DjiPerceptionDirection direction;
+    char *name;
+} T_DjiTestPerceptionDirectionName;
+
+/* Private values -------------------------------------------------------------*/
+static uint16_t s_perceptionImageCount = 0;
+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"},
+};
+
+/* Private functions declaration ---------------------------------------------*/
+static void DjiTest_PerceptionImageCallback(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer,
+                                            uint32_t bufferLen);
+static int32_t DjiTest_SaveImageData(char *filePath, const uint8_t *data, uint32_t len);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiPerceptionCameraParametersPacket cameraParametersetersPacket = {0};
+
+    USER_LOG_INFO("Perception sample start");
+    DjiTest_WidgetLogAppend("Perception sample start");
+
+    USER_LOG_INFO("--> Step 1: Init Perception module");
+    DjiTest_WidgetLogAppend("--> Step 1: Init Perception module");
+    returnCode = DjiPerception_Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Perception init failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+
+    s_perceptionImageCount = 0;
+
+    USER_LOG_INFO("--> Step 2: Get stereo camera parameters\r\n");
+    DjiTest_WidgetLogAppend("--> Step 2: Get stereo camera parameters\r\n");
+    returnCode = DjiPerception_GetStereoCameraParameters(&cameraParametersetersPacket);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get stereo camera parameters failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+
+    if (cameraParametersetersPacket.directionNum <= IMAGE_MAX_DIRECTION_NUM)
+        for (int i = 0; i < cameraParametersetersPacket.directionNum; i++) {
+            USER_LOG_INFO(" [%-05s] leftIntrinsics = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
+                          directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
+                          cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[0],
+                          cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[1],
+                          cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[2],
+                          cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[3],
+                          cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[4],
+                          cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[5],
+                          cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[6],
+                          cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[7],
+                          cameraParametersetersPacket.cameraParameters[i].leftIntrinsics[8]);
+            USER_LOG_INFO("[%-05s] rightIntrinsics = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
+                          directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
+                          cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[0],
+                          cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[1],
+                          cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[2],
+                          cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[3],
+                          cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[4],
+                          cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[5],
+                          cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[6],
+                          cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[7],
+                          cameraParametersetersPacket.cameraParameters[i].rightIntrinsics[8]);
+            USER_LOG_INFO("[%-05s] rotationLeftInRight = {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
+                          directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
+                          cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[0],
+                          cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[1],
+                          cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[2],
+                          cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[3],
+                          cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[4],
+                          cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[5],
+                          cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[6],
+                          cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[7],
+                          cameraParametersetersPacket.cameraParameters[i].rotationLeftInRight[8]);
+            USER_LOG_INFO("[%-05s] translationLeftInRight = {%f, %f, %f }\r\n",
+                          directionName[cameraParametersetersPacket.cameraParameters[i].direction].name,
+                          cameraParametersetersPacket.cameraParameters[i].translationLeftInRight[0],
+                          cameraParametersetersPacket.cameraParameters[i].translationLeftInRight[1],
+                          cameraParametersetersPacket.cameraParameters[i].translationLeftInRight[2]);
+            osalHandler->TaskSleepMs(100);
+        }
+
+    USER_LOG_INFO("--> Step 3: Subscribe perception image\r\n");
+    DjiTest_WidgetLogAppend("--> Step 3: Subscribe perception image\r\n");
+    returnCode = DjiPerception_SubscribePerceptionImage(direction, DjiTest_PerceptionImageCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Subscribe perception image failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+
+    osalHandler->TaskSleepMs(5000);
+
+    USER_LOG_INFO("--> Step 4: Unsubscribe perception image");
+    DjiTest_WidgetLogAppend("--> Step 4: Unsubscribe perception image");
+    returnCode = DjiPerception_UnsubscribePerceptionImage(direction);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Unsubscribe perception image failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+
+    USER_LOG_INFO("--> Step 5: Deinit Perception module");
+    DjiTest_WidgetLogAppend("--> Step 5: Deinit Perception module");
+    returnCode = DjiPerception_Deinit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Perception deinit failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+
+out:
+    USER_LOG_INFO("Perception sample end");
+
+    return returnCode;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static int32_t DjiTest_SaveImageData(char *filePath, const uint8_t *data, uint32_t len)
+{
+    FILE *fp = NULL;
+    size_t size;
+
+    fp = fopen(filePath, "w+");
+    if (fp == NULL) {
+        return -1;
+    }
+    size = fwrite(data, 1, len, fp);
+    if (size != len) {
+        if (fp) {
+            fclose(fp);
+        }
+        return -1;
+    }
+
+    if (fp) {
+        fclose(fp);
+    }
+
+    return 0;
+}
+
+static void DjiTest_PerceptionImageCallback(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer,
+                                            uint32_t bufferLen)
+{
+    char fileName[256] = {0};
+
+    snprintf(fileName, sizeof(fileName), "./image_%s_%d.raw",
+             directionName[imageInfo.rawInfo.direction].name,
+             s_perceptionImageCount);
+
+    if (s_perceptionImageCount < TEST_PERCEPTION_SAVE_IMAGE_MAX_NUM) {
+        DjiTest_SaveImageData(fileName, imageRawBuffer, bufferLen);
+
+        USER_LOG_INFO(
+            "Save perception image to path: ${binary_execute_path}/image_%s_%d.raw, direction:%s, position:%d, size:%dx%d",
+            directionName[imageInfo.rawInfo.direction].name,
+            s_perceptionImageCount,
+            directionName[imageInfo.rawInfo.direction].name,
+            imageInfo.dataType,
+            imageInfo.rawInfo.width,
+            imageInfo.rawInfo.height);
+
+        s_perceptionImageCount++;
+    }
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/perception/test_perception.h

@@ -0,0 +1,50 @@
+/**
+ ********************************************************************
+ * @file    test_perception.h
+ * @brief   This is the header file for "test_perception.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_PERCEPTION_H
+#define TEST_PERCEPTION_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+#include "dji_perception.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_PerceptionRunSample(E_DjiPerceptionDirection direction);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_PERCEPTION_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/positioning/test_positioning.c

@@ -0,0 +1,248 @@
+/**
+ ********************************************************************
+ * @file    test_positioning.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 <fc_subscription/test_fc_subscription.h>
+#include "test_positioning.h"
+#include "dji_positioning.h"
+#include "dji_logger.h"
+#include "utils/util_misc.h"
+#include "dji_platform.h"
+#include "time_sync/test_time_sync.h"
+
+#ifdef SYSTEM_ARCH_LINUX
+
+#include "time.h"
+
+#endif
+
+/* Private constants ---------------------------------------------------------*/
+#define POSITIONING_TASK_FREQ                     (1)
+#define POSITIONING_TASK_STACK_SIZE               (2048)
+#define TEST_RTCM_FILE_PATH_STR_MAX_SIZE          (64)
+
+#define DJI_TEST_POSITIONING_EVENT_COUNT          (2)
+#define DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US    (200000)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+static void *DjiTest_PositioningTask(void *arg);
+static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
+                                                                    uint16_t dataLen);
+static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t index, const uint8_t *data,
+                                                                     uint16_t dataLen);
+
+/* Private variables ---------------------------------------------------------*/
+static T_DjiTaskHandle s_userPositioningThread;
+static int32_t s_eventIndex = 0;
+static char s_rtkOnAircraftRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
+static char s_rtkBaseStationRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_PositioningStartService(void)
+{
+    T_DjiReturnCode djiStat;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    djiStat = DjiPositioning_Init();
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("positioning module init error.");
+        return djiStat;
+    }
+
+    DjiPositioning_SetTaskIndex(0);
+
+#ifndef SYSTEM_ARCH_LINUX
+    if (osalHandler->TaskCreate("user_positioning_task", DjiTest_PositioningTask,
+                                POSITIONING_TASK_STACK_SIZE, NULL, &s_userPositioningThread) !=
+        DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("user positioning task create error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+#else
+    time_t currentTime = time(NULL);
+    struct tm *localTime = NULL;
+
+    localTime = localtime(&currentTime);
+    sprintf(s_rtkOnAircraftRtcmFilePath, "rtk_on_aircraft_%04d%02d%02d_%02d-%02d-%02d.rtcm",
+            localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
+            localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
+
+    localTime = localtime(&currentTime);
+    sprintf(s_rtkBaseStationRtcmFilePath, "rtk_base_station_%04d%02d%02d_%02d-%02d-%02d.rtcm",
+            localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
+            localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
+#endif
+    djiStat = DjiPositioning_RegReceiveRtcmDataCallback(DJI_POSITIONING_RTCM_DATA_TYPE_RTK_BASE_STATION,
+                                                        DjiTest_ReceiveRtkBaseStationRtcmDataCallback);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register receive rtk base station callback error.");
+        return djiStat;
+    }
+
+    djiStat = DjiPositioning_RegReceiveRtcmDataCallback(DJI_POSITIONING_RTCM_DATA_TYPE_RTK_ON_AIRCRAFT,
+                                                        DjiTest_ReceiveRtkOnAircraftRtcmDataCallback);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register receive rtk on aircraft callback error.");
+        return djiStat;
+    }
+
+    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 *DjiTest_PositioningTask(void *arg)
+{
+    int32_t i = 0;
+    T_DjiReturnCode djiStat;
+    uint64_t ppsNewestTriggerTimeUs = 0;
+    T_DjiPositioningEventInfo eventInfo[DJI_TEST_POSITIONING_EVENT_COUNT] = {0};
+    T_DjiPositioningPositionInfo positionInfo[DJI_TEST_POSITIONING_EVENT_COUNT] = {0};
+    T_DjiTimeSyncAircraftTime aircraftTime = {0};
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint8_t totalSatelliteNumber = 0;
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        osalHandler->TaskSleepMs(1000 / POSITIONING_TASK_FREQ);
+
+        djiStat = DjiTest_FcSubscriptionGetTotalSatelliteNumber(&totalSatelliteNumber);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get total satellite number error: 0x%08llX.", djiStat);
+            continue;
+        }
+
+        djiStat = DjiTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(&ppsNewestTriggerTimeUs);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get newest pps trigger time error: 0x%08llX.", djiStat);
+            continue;
+        }
+
+        for (i = 0; i < DJI_TEST_POSITIONING_EVENT_COUNT; ++i) {
+            eventInfo[i].eventSetIndex = s_eventIndex;
+            eventInfo[i].targetPointIndex = i;
+
+            djiStat = DjiTimeSync_TransferToAircraftTime(
+                ppsNewestTriggerTimeUs - 1000000 - i * DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US, &aircraftTime);
+            if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("transfer to aircraft time error: 0x%08llX.", djiStat);
+                continue;
+            }
+
+            eventInfo[i].eventTime = aircraftTime;
+        }
+
+        djiStat = DjiPositioning_GetPositionInformationSync(DJI_TEST_POSITIONING_EVENT_COUNT, eventInfo, positionInfo);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get position information error.");
+            continue;
+        }
+
+        USER_LOG_DEBUG("request position of target points success.");
+        USER_LOG_DEBUG("detail position information:");
+        for (i = 0; i < DJI_TEST_POSITIONING_EVENT_COUNT; ++i) {
+            USER_LOG_DEBUG("position solution property: %d.", positionInfo[i].positionSolutionProperty);
+            USER_LOG_DEBUG("pitchAttitudeAngle: %d\trollAttitudeAngle: %d\tyawAttitudeAngle: %d",
+                           positionInfo[i].uavAttitude.pitch, positionInfo[i].uavAttitude.roll,
+                           positionInfo[i].uavAttitude.yaw);
+            USER_LOG_DEBUG("northPositionOffset: %d\tearthPositionOffset: %d\tdownPositionOffset: %d",
+                           positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.x,
+                           positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.y,
+                           positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.z);
+            USER_LOG_DEBUG("longitude: %.8f\tlatitude: %.8f\theight: %.8f",
+                           positionInfo[i].targetPointPosition.longitude,
+                           positionInfo[i].targetPointPosition.latitude,
+                           positionInfo[i].targetPointPosition.height);
+            USER_LOG_DEBUG(
+                "longStandardDeviation: %.8f\tlatStandardDeviation: %.8f\thgtStandardDeviation: %.8f",
+                positionInfo[i].targetPointPositionStandardDeviation.longitude,
+                positionInfo[i].targetPointPositionStandardDeviation.latitude,
+                positionInfo[i].targetPointPositionStandardDeviation.height);
+        }
+
+        s_eventIndex++;
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+static int32_t DjiTest_SaveRtcmData(char *filePath, const uint8_t *data, uint32_t len)
+{
+#ifdef SYSTEM_ARCH_LINUX
+    FILE *fp = NULL;
+    size_t size;
+
+    fp = fopen(filePath, "ab+");
+    if (fp == NULL) {
+        printf("fopen failed!\n");
+        return -1;
+    }
+
+    size = fwrite(data, 1, len, fp);
+    if (size != len) {
+        fclose(fp);
+        return -1;
+    }
+
+    fflush(fp);
+    fclose(fp);
+#endif
+    return 0;
+}
+
+static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
+                                                                    uint16_t dataLen)
+{
+    USER_LOG_INFO("Receive rtcm data from rtk on aircraft, index: %d, len: %d", index, dataLen);
+
+#ifdef SYSTEM_ARCH_LINUX
+    DjiTest_SaveRtcmData(s_rtkOnAircraftRtcmFilePath, data, dataLen);
+#endif
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t index, const uint8_t *data,
+                                                                     uint16_t dataLen)
+{
+    USER_LOG_INFO("Receive rtcm data from rtk base station, index: %d, len: %d", index, dataLen);
+
+#ifdef SYSTEM_ARCH_LINUX
+    DjiTest_SaveRtcmData(s_rtkBaseStationRtcmFilePath, data, dataLen);
+#endif
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/positioning/test_positioning.h

@@ -0,0 +1,52 @@
+/**
+ ********************************************************************
+ * @file    test_positioning.h
+ * @brief   This is the header file for "test_positioning.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_POSITIONING_H
+#define TEST_POSITIONING_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_PositioningStartService(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_POSITIONING_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/power_management/test_power_management.c

@@ -0,0 +1,156 @@
+/**
+ ********************************************************************
+ * @file    test_power_management.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_power_management.h"
+#include "dji_logger.h"
+#include "dji_aircraft_info.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiTest_PowerOffNotificationCallback(bool *powerOffPreparationFlag);
+
+/* Private variables ---------------------------------------------------------*/
+static T_DjiTestApplyHighPowerHandler s_applyHighPowerHandler;
+
+/* Exported functions definition ---------------------------------------------*/
+/**
+ * @brief Register handler function for applying high power. This function have to be called before calling
+ * DjiTest_PowerManagementInit(), except for in Linux, because DjiTest_PowerManagementInit() do not apply high power
+ * in Linux OS.
+ * @param applyHighPowerHandler: pointer to handler function for applying high power.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiTest_RegApplyHighPowerHandler(T_DjiTestApplyHighPowerHandler *applyHighPowerHandler)
+{
+    if (applyHighPowerHandler->pinInit == NULL) {
+        USER_LOG_ERROR("reg apply high power handler pinInit error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (applyHighPowerHandler->pinWrite == NULL) {
+        USER_LOG_ERROR("reg apply high power handler pinWrite error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    memcpy(&s_applyHighPowerHandler, applyHighPowerHandler, sizeof(T_DjiTestApplyHighPowerHandler));
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Initialise power management module, including apply high power (only RTOS) and register power off notification
+ * callback function.
+ * @note DJI development board 1.0 can not accept high power, so do not call this function in DJI development board
+ * 1.0 project.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiTest_PowerManagementStartService(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiAircraftInfoBaseInfo baseInfo = {0};
+
+    returnCode = DjiPowerManagement_Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("power management init error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get aircraft base info error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    if (((baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK || baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) &&
+        (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 || baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT)) ||
+         baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_FC30) {
+        // apply high power
+        if (s_applyHighPowerHandler.pinInit == NULL) {
+            USER_LOG_ERROR("apply high power pin init interface is NULL error");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        }
+
+        if (s_applyHighPowerHandler.pinWrite == NULL) {
+            USER_LOG_ERROR("apply high power pin write interface is NULL error");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        }
+
+        returnCode = s_applyHighPowerHandler.pinInit();
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("apply high power pin init error");
+            return returnCode;
+        }
+
+        returnCode = DjiPowerManagement_RegWriteHighPowerApplyPinCallback(s_applyHighPowerHandler.pinWrite);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("register WriteHighPowerApplyPinCallback error.");
+            return returnCode;
+        }
+
+        returnCode = DjiPowerManagement_ApplyHighPowerSync();
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("apply high power error");
+            return returnCode;
+        }
+    }
+
+    // register power off notification callback function
+    returnCode = DjiPowerManagement_RegPowerOffNotificationCallback(DjiTest_PowerOffNotificationCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("register power off notification callback function error");
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_PowerManagementStopService(void)
+{
+    T_DjiReturnCode returnCode;
+
+    returnCode = DjiPowerManagement_DeInit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("power management deinit error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return returnCode;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiTest_PowerOffNotificationCallback(bool *powerOffPreparationFlag)
+{
+    USER_LOG_INFO("aircraft will power off soon.");
+
+    *powerOffPreparationFlag = true;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/power_management/test_power_management.h

@@ -0,0 +1,58 @@
+/**
+ ********************************************************************
+ * @file    test_power_management.h
+ * @brief   This is the header file for "test_power_management.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_POWER_MANAGEMENT_H
+#define TEST_POWER_MANAGEMENT_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+#include "dji_power_management.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    T_DjiReturnCode (*pinInit)(void);
+    T_DjiReturnCode (*pinWrite)(E_DjiPowerManagementPinState pinState);
+} T_DjiTestApplyHighPowerHandler;
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_PowerManagementStartService(void);
+T_DjiReturnCode DjiTest_PowerManagementStopService(void);
+T_DjiReturnCode DjiTest_RegApplyHighPowerHandler(T_DjiTestApplyHighPowerHandler *applyHighPowerHandler);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_POWER_MANAGEMENT_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/time_sync/test_time_sync.c

@@ -0,0 +1,173 @@
+/**
+ ********************************************************************
+ * @file    test_time_sync.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 <fc_subscription/test_fc_subscription.h>
+#include "test_time_sync.h"
+#include "dji_time_sync.h"
+#include "dji_logger.h"
+#include "utils/util_misc.h"
+#include "dji_platform.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define DJI_TEST_TIME_SYNC_TASK_FREQ            (1)
+#define DJI_TEST_TIME_SYNC_TASK_STACK_SIZE      (1024)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+static void *DjiTest_TimeSyncTask(void *arg);
+
+/* Private variables ---------------------------------------------------------*/
+static T_DjiTestTimeSyncHandler s_timeSyncHandler;
+static T_DjiTaskHandle s_timeSyncThread;
+
+/* Exported functions definition ---------------------------------------------*/
+/**
+ * @brief Register handler function for initialising PPS pin configure and reporting the latest local time when PPS is
+ * triggered. This function have to be called before calling DjiTest_TimeSyncInit().
+ * @param timeSyncHandler: pointer to handler function for time synchronization.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiTest_TimeSyncRegHandler(T_DjiTestTimeSyncHandler *timeSyncHandler)
+{
+    if (timeSyncHandler->PpsSignalResponseInit == NULL) {
+        USER_LOG_ERROR("reg time sync handler PpsSignalResponseInit error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (timeSyncHandler->GetNewestPpsTriggerLocalTimeUs == NULL) {
+        USER_LOG_ERROR("reg time sync handler GetNewestPpsTriggerLocalTimeUs error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    memcpy(&s_timeSyncHandler, timeSyncHandler, sizeof(T_DjiTestTimeSyncHandler));
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_TimeSyncStartService(void)
+{
+    T_DjiReturnCode djiStat;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    djiStat = DjiTimeSync_Init();
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("time synchronization module init error.");
+        return djiStat;
+    }
+
+    if (s_timeSyncHandler.PpsSignalResponseInit == NULL) {
+        USER_LOG_ERROR("time sync handler PpsSignalResponseInit interface is NULL error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs == NULL) {
+        USER_LOG_ERROR("time sync handler GetNewestPpsTriggerLocalTimeUs interface is NULL error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    // users must register getNewestPpsTriggerTime callback function
+    djiStat = DjiTimeSync_RegGetNewestPpsTriggerTimeCallback(s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("register GetNewestPpsTriggerLocalTimeUsCallback error.");
+        return djiStat;
+    }
+
+    if (osalHandler->TaskCreate("user_time_sync_task", DjiTest_TimeSyncTask,
+                                DJI_TEST_TIME_SYNC_TASK_STACK_SIZE, NULL, &s_timeSyncThread) !=
+        DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("user time sync task create error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    djiStat = s_timeSyncHandler.PpsSignalResponseInit();
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("pps signal response init error");
+        return djiStat;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(uint64_t *localTimeUs)
+{
+    if (s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs == NULL) {
+        USER_LOG_ERROR("GetNewestPpsTriggerLocalTimeUs null error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs(localTimeUs);
+}
+
+/* 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 *DjiTest_TimeSyncTask(void *arg)
+{
+    T_DjiReturnCode djiStat;
+    uint32_t currentTimeMs = 0;
+    T_DjiTimeSyncAircraftTime aircraftTime = {0};
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint8_t totalSatelliteNumber = 0;
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        osalHandler->TaskSleepMs(1000 / DJI_TEST_TIME_SYNC_TASK_FREQ);
+
+        djiStat = DjiTest_FcSubscriptionGetTotalSatelliteNumber(&totalSatelliteNumber);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get total satellite number error: 0x%08llX.", djiStat);
+            continue;
+        }
+
+        djiStat = osalHandler->GetTimeMs(&currentTimeMs);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get current time error: 0x%08llX.", djiStat);
+            continue;
+        }
+
+        djiStat = DjiTimeSync_TransferToAircraftTime(currentTimeMs * 1000, &aircraftTime);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("transfer to aircraft time error: 0x%08llX.", djiStat);
+            continue;
+        }
+
+        USER_LOG_DEBUG("current aircraft time is %04d-%02d-%02d %02d:%02d:%02d %d.",
+                       aircraftTime.year, aircraftTime.month, aircraftTime.day,
+                       aircraftTime.hour, aircraftTime.minute, aircraftTime.second, aircraftTime.microsecond);
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/time_sync/test_time_sync.h

@@ -0,0 +1,57 @@
+/**
+ ********************************************************************
+ * @file    test_time_sync.h
+ * @brief   This is the header file for "test_time_sync.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_TIME_SYNC_H
+#define TEST_TIME_SYNC_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    T_DjiReturnCode (*PpsSignalResponseInit)(void);
+    T_DjiReturnCode (*GetNewestPpsTriggerLocalTimeUs)(uint64_t *localTimeUs);
+} T_DjiTestTimeSyncHandler;
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_TimeSyncStartService(void);
+
+T_DjiReturnCode DjiTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(uint64_t *localTimeUs);
+T_DjiReturnCode DjiTest_TimeSyncRegHandler(T_DjiTestTimeSyncHandler *timeSyncHandler);
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_TIME_SYNC_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/upgrade/test_upgrade.c

@@ -0,0 +1,342 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade.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 <dji_platform.h>
+#include <utils/util_misc.h>
+#include "test_upgrade_common_file_transfer.h"
+#include "test_upgrade_platform_opt.h"
+#include "test_upgrade.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define UPGRADE_TASK_STACK_SIZE                (2048)
+#define DJI_TEST_UPGRADE_TASK_FREQ             (50)
+#define DJI_TEST_ENTER_UPGRADE_WAIT_TIME       (10)  //wait 10s for enter upgrade process
+#define DJI_TEST_UPGRADE_REBOOT_TIMEOUT        (30)   //reboot timeout 30s
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiUpgradeState s_upgradeState = {0};
+static T_DjiMutexHandle s_upgradeStateMutex = {0};
+static T_DjiTaskHandle s_upgradeProcessThread;
+static T_DjiTaskHandle s_enterUpgradeModeProcessThread;
+static bool s_isNeedEnterUpgradeModeProcess = false;
+static bool s_isNeedReplaceProgramBeforeReboot = false;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiTest_EnterUpgradeMode(uint16_t *waitTime);
+static T_DjiReturnCode DjiTest_CheckFirmware(void);
+static T_DjiReturnCode DjiTest_StartUpgrade(void);
+static T_DjiReturnCode DjiTest_FinishUpgrade(void);
+static void *DjiTest_UpgradeProcessTask(void *arg);
+static void *DjiTest_EnterUpgradeModeProcessTask(void *arg);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode
+DjiTest_UpgradeStartService(const T_DjiTestUpgradePlatformOpt *upgradePlatformOpt,
+                            T_DjiTestUpgradeConfig testUpgradeConfig)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiReturnCode returnCode;
+    bool isUpgradeReboot = false;
+    T_DjiUpgradeEndInfo upgradeEndInfo = {0};
+    T_DjiUpgradeConfig upgradeConfig = {
+        .currentFirmwareVersion = testUpgradeConfig.firmwareVersion,
+        .firmwareTransferInfo = {
+            .transferType = testUpgradeConfig.transferType,
+            .ftpTransferInfo.port = 21,
+            .dcftpFileTransferOpt = {
+                .start = DjiTestCommonFileTransfer_Start,
+                .transfer = DjiTestCommonFileTransfer_Transfer,
+                .finish = DjiTestCommonFileTransfer_Finish,
+            }
+        }
+    };
+    s_isNeedReplaceProgramBeforeReboot = testUpgradeConfig.needReplaceProgramBeforeReboot;
+
+    T_DjiUpgradeHandler s_upgradeHandler = {
+        .EnterUpgradeMode = DjiTest_EnterUpgradeMode,
+        .CheckFirmware = DjiTest_CheckFirmware,
+        .StartUpgrade = DjiTest_StartUpgrade,
+        .FinishUpgrade = DjiTest_FinishUpgrade
+    };
+
+    returnCode = DjiTest_RegUpgradePlatformOpt(upgradePlatformOpt);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Reg upgrade platform opt error, return code = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = osalHandler->MutexCreate(&s_upgradeStateMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Create mutex error");
+        return returnCode;
+    }
+
+    returnCode = DjiTest_GetUpgradeRebootState(&isUpgradeReboot, &upgradeEndInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get upgrade reboot state error");
+        isUpgradeReboot = false;
+    }
+
+    returnCode = DjiTest_CleanUpgradeRebootState();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Clean upgrade reboot state error");
+    }
+
+    osalHandler->MutexLock(s_upgradeStateMutex);
+    if (isUpgradeReboot == true) {
+        s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_END;
+        s_upgradeState.upgradeEndInfo = upgradeEndInfo;
+    } else {
+        s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_IDLE;
+    }
+    osalHandler->MutexUnlock(s_upgradeStateMutex);
+
+    returnCode = DjiUpgrade_Init(&upgradeConfig);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("DjiUpgrade_Init error, return code = %d", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiUpgrade_RegHandler(&s_upgradeHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("DjiUpgrade_RegHandler error, return code = %d", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiUpgrade_EnableLocalUpgrade();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("DjiUpgrade_EnableLocalUpgrade error, return code = %d", returnCode);
+        return returnCode;
+    }
+
+    if (osalHandler->TaskCreate("upgrade_task", DjiTest_UpgradeProcessTask, UPGRADE_TASK_STACK_SIZE, NULL,
+                                &s_upgradeProcessThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Dji upgrade test task create error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (osalHandler->TaskCreate("enter_upgrade_mode_task", DjiTest_EnterUpgradeModeProcessTask, UPGRADE_TASK_STACK_SIZE,
+                                NULL, &s_enterUpgradeModeProcessThread) !=
+        DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Dji upgrade test task create error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiTest_EnterUpgradeMode(uint16_t *waitTime)
+{
+    // need 10s for upgrade preprocess work.
+    *waitTime = DJI_TEST_ENTER_UPGRADE_WAIT_TIME;
+    // enable is need enter upgrade mode process, the process is in  DjiTest_EnterUpgradeModeProcessTask
+    s_isNeedEnterUpgradeModeProcess = true;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_CheckFirmware(void)
+{
+    // you can do decrypt and check firmware in this stage
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_StartUpgrade(void)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    osalHandler->MutexLock(s_upgradeStateMutex);
+    s_upgradeState.upgradeOngoingInfo.upgradeProgress = 0;
+    s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_ONGOING;
+    osalHandler->MutexUnlock(s_upgradeStateMutex);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_FinishUpgrade(void)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    osalHandler->MutexLock(s_upgradeStateMutex);
+    s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_IDLE;
+    osalHandler->MutexUnlock(s_upgradeStateMutex);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *DjiTest_EnterUpgradeModeProcessTask(void *arg)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiReturnCode returnCode;
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        if (s_isNeedEnterUpgradeModeProcess) {
+            // prepare enter upgrade mode
+            // you can do some thing before enter upgrade mode.
+            // clear upgrade program file store area
+            returnCode = DjiTest_CleanUpgradeProgramFileStoreArea();
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Clean upgrade file dir error, please check dir permission");
+            }
+
+            s_isNeedEnterUpgradeModeProcess = false;
+            USER_LOG_INFO("Clean upgrade store area");
+        }
+        osalHandler->TaskSleepMs(1000 / DJI_TEST_UPGRADE_TASK_FREQ);
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *DjiTest_UpgradeProcessTask(void *arg)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiUpgradeState tempUpgradeState;
+    T_DjiUpgradeEndInfo upgradeEndInfo;
+    T_DjiReturnCode returnCode;
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        osalHandler->MutexLock(s_upgradeStateMutex);
+        tempUpgradeState = s_upgradeState;
+        osalHandler->MutexUnlock(s_upgradeStateMutex);
+
+        if (tempUpgradeState.upgradeStage == DJI_UPGRADE_STAGE_ONGOING) {
+            if (s_isNeedReplaceProgramBeforeReboot) {
+                // Step 1 : Replace old program
+                returnCode = DjiTest_ReplaceOldProgram();
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Replace firmware error, return code = 0x%08llX", returnCode);
+                    osalHandler->MutexLock(s_upgradeStateMutex);
+                    s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_END;
+                    s_upgradeState.upgradeEndInfo.upgradeEndState = DJI_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                    osalHandler->MutexUnlock(s_upgradeStateMutex);
+                    continue;
+                }
+
+                osalHandler->TaskSleepMs(1000);
+                osalHandler->MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_ONGOING;
+                s_upgradeState.upgradeOngoingInfo.upgradeProgress = 20;
+                DjiUpgrade_PushUpgradeState(&s_upgradeState);
+                osalHandler->MutexUnlock(s_upgradeStateMutex);
+
+                // Step 2 : Clean upgrade program file store area
+                returnCode = DjiTest_CleanUpgradeProgramFileStoreArea();
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Clean upgrade file dir error, please check dir permission");
+                    osalHandler->MutexLock(s_upgradeStateMutex);
+                    s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_END;
+                    s_upgradeState.upgradeEndInfo.upgradeEndState = DJI_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                    osalHandler->MutexUnlock(s_upgradeStateMutex);
+                    continue;
+                }
+
+                osalHandler->TaskSleepMs(1000);
+                osalHandler->MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_ONGOING;
+                s_upgradeState.upgradeOngoingInfo.upgradeProgress = 30;
+                DjiUpgrade_PushUpgradeState(&s_upgradeState);
+                osalHandler->MutexUnlock(s_upgradeStateMutex);
+            }
+
+            //attention emulation upgrade progress, user don't need this process
+            do {
+                osalHandler->TaskSleepMs(1000);
+                osalHandler->MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_ONGOING;
+                s_upgradeState.upgradeOngoingInfo.upgradeProgress += 10;
+                tempUpgradeState = s_upgradeState;
+                DjiUpgrade_PushUpgradeState(&s_upgradeState);
+                osalHandler->MutexUnlock(s_upgradeStateMutex);
+            } while (tempUpgradeState.upgradeOngoingInfo.upgradeProgress < 100);
+
+            // Step 3 : Reboot device
+            osalHandler->MutexLock(s_upgradeStateMutex);
+            s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_DEVICE_REBOOT;
+            s_upgradeState.upgradeRebootInfo.rebootTimeout = DJI_TEST_UPGRADE_REBOOT_TIMEOUT;
+            DjiUpgrade_PushUpgradeState(&s_upgradeState);
+            osalHandler->MutexUnlock(s_upgradeStateMutex);
+            osalHandler->TaskSleepMs(1000); // sleep 1000ms to ensure push send terminal.
+
+            upgradeEndInfo.upgradeEndState = DJI_UPGRADE_END_STATE_SUCCESS;
+            returnCode = DjiTest_SetUpgradeRebootState(&upgradeEndInfo);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set Upgrade reboot state error");
+                osalHandler->MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_END;
+                s_upgradeState.upgradeEndInfo.upgradeEndState = DJI_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                osalHandler->MutexUnlock(s_upgradeStateMutex);
+                continue;
+            }
+
+            returnCode = DjiTest_RebootSystem();
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Reboot system error");
+                osalHandler->MutexLock(s_upgradeStateMutex);
+                s_upgradeState.upgradeStage = DJI_UPGRADE_STAGE_END;
+                s_upgradeState.upgradeEndInfo.upgradeEndState = DJI_UPGRADE_END_STATE_UNKNOWN_ERROR;
+                osalHandler->MutexUnlock(s_upgradeStateMutex);
+                continue;
+            }
+            while (1) {
+                osalHandler->TaskSleepMs(500);
+            }
+        } else if (s_upgradeState.upgradeStage == DJI_UPGRADE_STAGE_END) {
+            osalHandler->MutexLock(s_upgradeStateMutex);
+            DjiUpgrade_PushUpgradeState(&s_upgradeState);
+            osalHandler->MutexUnlock(s_upgradeStateMutex);
+        }
+
+        osalHandler->TaskSleepMs(500);
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/upgrade/test_upgrade.h

@@ -0,0 +1,58 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade.h
+ * @brief   This is the header file for "test_upgrade.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_UPGRADE_H
+#define TEST_UPGRADE_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <dji_upgrade.h>
+#include "test_upgrade_platform_opt.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    T_DjiFirmwareVersion firmwareVersion;
+    E_DjiFirmwareTransferType transferType;
+    //For linux: need replace program before reboot system
+    //For mcu: don't need replace program before reboot system, replace program in loader
+    bool needReplaceProgramBeforeReboot;
+} T_DjiTestUpgradeConfig;
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_UpgradeStartService(const T_DjiTestUpgradePlatformOpt *upgradePlatformOpt,
+                                            T_DjiTestUpgradeConfig testUpgradeConfig);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/upgrade/test_upgrade_common_file_transfer.c

@@ -0,0 +1,149 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade_common_file_transfer.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_upgrade_common_file_transfer.h"
+#include "dji_logger.h"
+#include <utils/util_md5.h>
+#include "test_upgrade_platform_opt.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define DJI_TEST_FILE_MD5_BUFFER_SIZE              256
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiUpgradeFileInfo s_upgradeFileInfo = {0};
+static uint32_t s_alreadyTransferFileSize = 0;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiTestFile_GetUpgradeFileMd5(uint8_t md5[DJI_MD5_BUFFER_LEN]);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTestCommonFileTransfer_Start(const T_DjiUpgradeFileInfo *fileInfo)
+{
+    T_DjiReturnCode returnCode;
+
+    s_upgradeFileInfo.fileSize = 0;
+    memset(s_upgradeFileInfo.fileName, 0, sizeof(s_upgradeFileInfo.fileName));
+    s_alreadyTransferFileSize = 0;
+
+    returnCode = DjiTest_CreateUpgradeProgramFile(fileInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Create upgrade program file error");
+        return returnCode;
+    }
+
+    s_upgradeFileInfo = *fileInfo;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTestCommonFileTransfer_Transfer(const uint8_t *data, uint16_t dataLen)
+{
+    T_DjiReturnCode returnCode;
+
+    if (s_alreadyTransferFileSize >= s_upgradeFileInfo.fileSize) {
+        USER_LOG_ERROR("Already transfer file size is more than file real size");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = DjiTest_WriteUpgradeProgramFile(s_alreadyTransferFileSize, data, dataLen);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Write upgrade program file error, return code = 0x%08llX", returnCode);
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    s_alreadyTransferFileSize += dataLen;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTestCommonFileTransfer_Finish(const uint8_t md5[DJI_MD5_BUFFER_LEN])
+{
+    uint8_t localFileMd5[DJI_MD5_BUFFER_LEN] = {0};
+    T_DjiReturnCode returnCode;
+
+    if (s_alreadyTransferFileSize != s_upgradeFileInfo.fileSize) {
+        USER_LOG_ERROR("Transfer finish error, transfer file size is not equal");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = DjiTestFile_GetUpgradeFileMd5(localFileMd5);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file md5 error, return code = 0x%08llX", returnCode);
+        goto out;
+    }
+
+    if (memcmp(md5, localFileMd5, DJI_MD5_BUFFER_LEN) == 0) {
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+out:
+    DjiTest_CloseUpgradeProgramFile();
+    s_upgradeFileInfo.fileSize = 0;
+    memset(s_upgradeFileInfo.fileName, 0, sizeof(s_upgradeFileInfo.fileName));
+    s_alreadyTransferFileSize = 0;
+    return returnCode;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiTestFile_GetUpgradeFileMd5(uint8_t md5[DJI_MD5_BUFFER_LEN])
+{
+    uint8_t fileBuffer[DJI_TEST_FILE_MD5_BUFFER_SIZE] = {0};
+    T_DjiReturnCode returnCode;
+    uint32_t offset;
+    MD5_CTX fileMd5Ctx;
+    uint16_t realLen = 0;
+
+    offset = 0;
+    UtilMd5_Init(&fileMd5Ctx);
+    while (s_upgradeFileInfo.fileSize - offset > DJI_TEST_FILE_MD5_BUFFER_SIZE) {
+        returnCode = DjiTest_ReadUpgradeProgramFile(offset, DJI_TEST_FILE_MD5_BUFFER_SIZE,
+                                                     fileBuffer, &realLen);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS || realLen != DJI_TEST_FILE_MD5_BUFFER_SIZE) {
+            USER_LOG_ERROR("Get file data error, return code = 0x%08llX", returnCode);
+            return returnCode;
+        }
+
+        UtilMd5_Update(&fileMd5Ctx, fileBuffer, DJI_TEST_FILE_MD5_BUFFER_SIZE);
+
+        offset += DJI_TEST_FILE_MD5_BUFFER_SIZE;
+    }
+
+    returnCode = DjiTest_ReadUpgradeProgramFile(offset, s_upgradeFileInfo.fileSize - offset, fileBuffer, &realLen);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS || realLen != s_upgradeFileInfo.fileSize - offset) {
+        USER_LOG_ERROR("Get file data error, return code = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    UtilMd5_Update(&fileMd5Ctx, fileBuffer, s_upgradeFileInfo.fileSize - offset);
+    UtilMd5_Final(&fileMd5Ctx, md5);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/upgrade/test_upgrade_common_file_transfer.h

@@ -0,0 +1,51 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade_common_file_transfer.h
+ * @brief   This is the header file for "test_upgrade_common_file_transfer.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_UPGRADE_COMMON_FILE_TRANSFER_H
+#define TEST_UPGRADE_COMMON_FILE_TRANSFER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <dji_upgrade.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTestCommonFileTransfer_Start(const T_DjiUpgradeFileInfo *fileInfo);
+T_DjiReturnCode DjiTestCommonFileTransfer_Transfer(const uint8_t *data, uint16_t dataLen);
+T_DjiReturnCode DjiTestCommonFileTransfer_Finish(const uint8_t md5[DJI_MD5_BUFFER_LEN]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_UPGRADE_COMMON_FILE_TRANSFER_LINUX_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/upgrade/test_upgrade_platform_opt.c

@@ -0,0 +1,139 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade_platform_opt.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_upgrade_platform_opt.h"
+#include <dji_logger.h>
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiTestUpgradePlatformOpt s_upgradePlatformOpt = {0};
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_RegUpgradePlatformOpt(const T_DjiTestUpgradePlatformOpt *upgradePlatformOpt)
+{
+    if (upgradePlatformOpt->rebootSystem == NULL) {
+        USER_LOG_ERROR("rebootSystem callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->cleanUpgradeProgramFileStoreArea == NULL) {
+        USER_LOG_ERROR("cleanUpgradeProgramFileStoreArea callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->createUpgradeProgramFile == NULL) {
+        USER_LOG_ERROR("createUpgradeProgramFile callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->readUpgradeProgramFile == NULL) {
+        USER_LOG_ERROR("readUpgradeProgramFile callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->writeUpgradeProgramFile == NULL) {
+        USER_LOG_ERROR("writeUpgradeProgramFile callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->closeUpgradeProgramFile == NULL) {
+        USER_LOG_ERROR("closeUpgradeProgramFile callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->replaceOldProgram == NULL) {
+        USER_LOG_ERROR("replaceOldProgram callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->setUpgradeRebootState == NULL) {
+        USER_LOG_ERROR("setUpgradeRebootState callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->getUpgradeRebootState == NULL) {
+        USER_LOG_ERROR("getUpgradeRebootState callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+    if (upgradePlatformOpt->cleanUpgradeRebootState == NULL) {
+        USER_LOG_ERROR("cleanUpgradeRebootState callback can't be NULL");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    s_upgradePlatformOpt = *upgradePlatformOpt;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_RebootSystem(void)
+{
+    return s_upgradePlatformOpt.rebootSystem();
+}
+
+T_DjiReturnCode DjiTest_CleanUpgradeProgramFileStoreArea(void)
+{
+    return s_upgradePlatformOpt.cleanUpgradeProgramFileStoreArea();
+}
+
+T_DjiReturnCode DjiTest_CreateUpgradeProgramFile(const T_DjiUpgradeFileInfo *fileInfo)
+{
+    return s_upgradePlatformOpt.createUpgradeProgramFile(fileInfo);
+}
+
+T_DjiReturnCode DjiTest_WriteUpgradeProgramFile(uint32_t offset, const uint8_t *data, uint16_t dataLen)
+{
+    return s_upgradePlatformOpt.writeUpgradeProgramFile(offset, data, dataLen);
+}
+
+T_DjiReturnCode DjiTest_ReadUpgradeProgramFile(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                                 uint16_t *realLen)
+{
+    return s_upgradePlatformOpt.readUpgradeProgramFile(offset, readDataLen, data, realLen);
+}
+
+T_DjiReturnCode DjiTest_CloseUpgradeProgramFile(void)
+{
+    return s_upgradePlatformOpt.closeUpgradeProgramFile();
+}
+
+T_DjiReturnCode DjiTest_ReplaceOldProgram(void)
+{
+    return s_upgradePlatformOpt.replaceOldProgram();
+}
+
+T_DjiReturnCode DjiTest_SetUpgradeRebootState(const T_DjiUpgradeEndInfo *upgradeEndInfo)
+{
+    return s_upgradePlatformOpt.setUpgradeRebootState(upgradeEndInfo);
+}
+
+T_DjiReturnCode DjiTest_GetUpgradeRebootState(bool *isUpgradeReboot, T_DjiUpgradeEndInfo *upgradeEndInfo)
+{
+    return s_upgradePlatformOpt.getUpgradeRebootState(isUpgradeReboot, upgradeEndInfo);
+}
+
+T_DjiReturnCode DjiTest_CleanUpgradeRebootState(void)
+{
+    return s_upgradePlatformOpt.cleanUpgradeRebootState();
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/upgrade/test_upgrade_platform_opt.h

@@ -0,0 +1,84 @@
+/**
+ ********************************************************************
+ * @file    test_upgrade_platform_opt.h
+ * @brief   This is the header file for "test_upgrade_platform_opt.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_UPGRADE_PLATFORM_OPT_H
+#define TEST_UPGRADE_PLATFORM_OPT_H
+
+#include <dji_typedef.h>
+#include <dji_upgrade.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    T_DjiReturnCode (*rebootSystem)(void);
+
+    T_DjiReturnCode (*cleanUpgradeProgramFileStoreArea)(void);
+    T_DjiReturnCode (*createUpgradeProgramFile)(const T_DjiUpgradeFileInfo *fileInfo);
+    T_DjiReturnCode (*writeUpgradeProgramFile)(uint32_t offset, const uint8_t *data, uint16_t dataLen);
+    T_DjiReturnCode (*readUpgradeProgramFile)(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                               uint16_t *realLen);
+    T_DjiReturnCode (*closeUpgradeProgramFile)(void);
+
+    T_DjiReturnCode (*replaceOldProgram)(void);
+
+    T_DjiReturnCode (*setUpgradeRebootState)(const T_DjiUpgradeEndInfo *upgradeEndInfo);
+    T_DjiReturnCode (*getUpgradeRebootState)(bool *isUpgradeReboot, T_DjiUpgradeEndInfo *upgradeEndInfo);
+    T_DjiReturnCode (*cleanUpgradeRebootState)(void);
+} T_DjiTestUpgradePlatformOpt;
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_RegUpgradePlatformOpt(const T_DjiTestUpgradePlatformOpt *upgradePlatformOpt);
+
+T_DjiReturnCode DjiTest_RebootSystem(void);
+
+T_DjiReturnCode DjiTest_CleanUpgradeProgramFileStoreArea(void);
+T_DjiReturnCode DjiTest_CreateUpgradeProgramFile(const T_DjiUpgradeFileInfo *fileInfo);
+T_DjiReturnCode DjiTest_WriteUpgradeProgramFile(uint32_t offset, const uint8_t *data, uint16_t dataLen);
+T_DjiReturnCode DjiTest_ReadUpgradeProgramFile(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                                 uint16_t *realLen);
+T_DjiReturnCode DjiTest_CloseUpgradeProgramFile(void);
+
+T_DjiReturnCode DjiTest_ReplaceOldProgram(void);
+
+T_DjiReturnCode DjiTest_SetUpgradeRebootState(const T_DjiUpgradeEndInfo *upgradeEndInfo);
+T_DjiReturnCode DjiTest_GetUpgradeRebootState(bool *isUpgradeReboot, T_DjiUpgradeEndInfo *upgradeEndInfo);
+T_DjiReturnCode DjiTest_CleanUpgradeRebootState(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_UPGRADE_PLATFORM_OPT_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/utils/cJSON.h

@@ -0,0 +1,290 @@
+/*
+  Copyright (c) 2009-2017 Dave Gamble and cJSON contributors
+
+  Permission is hereby granted, free of charge, to any person obtaining a copy
+  of this software and associated documentation files (the "Software"), to deal
+  in the Software without restriction, including without limitation the rights
+  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+  copies of the Software, and to permit persons to whom the Software is
+  furnished to do so, subject to the following conditions:
+
+  The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+
+  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+  THE SOFTWARE.
+*/
+
+#ifndef cJSON__h
+#define cJSON__h
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#if !defined(__WINDOWS__) && (defined(WIN32) || defined(WIN64) || defined(_MSC_VER) || defined(_WIN32))
+#define __WINDOWS__
+#endif
+
+#ifdef __WINDOWS__
+
+/* When compiling for windows, we specify a specific calling convention to avoid issues where we are being called from a project with a different default calling convention.  For windows you have 3 define options:
+
+CJSON_HIDE_SYMBOLS - Define this in the case where you don't want to ever dllexport symbols
+CJSON_EXPORT_SYMBOLS - Define this on library build when you want to dllexport symbols (default)
+CJSON_IMPORT_SYMBOLS - Define this if you want to dllimport symbol
+
+For *nix builds that support visibility attribute, you can define similar behavior by
+
+setting default visibility to hidden by adding
+-fvisibility=hidden (for gcc)
+or
+-xldscope=hidden (for sun cc)
+to CFLAGS
+
+then using the CJSON_API_VISIBILITY flag to "export" the same symbols the way CJSON_EXPORT_SYMBOLS does
+
+*/
+
+#define CJSON_CDECL __cdecl
+#define CJSON_STDCALL __stdcall
+
+/* export symbols by default, this is necessary for copy pasting the C and header file */
+#if !defined(CJSON_HIDE_SYMBOLS) && !defined(CJSON_IMPORT_SYMBOLS) && !defined(CJSON_EXPORT_SYMBOLS)
+#define CJSON_EXPORT_SYMBOLS
+#endif
+
+#if defined(CJSON_HIDE_SYMBOLS)
+#define CJSON_PUBLIC(type)   type CJSON_STDCALL
+#elif defined(CJSON_EXPORT_SYMBOLS)
+#define CJSON_PUBLIC(type)   __declspec(dllexport) type CJSON_STDCALL
+#elif defined(CJSON_IMPORT_SYMBOLS)
+#define CJSON_PUBLIC(type)   __declspec(dllimport) type CJSON_STDCALL
+#endif
+#else /* !__WINDOWS__ */
+#define CJSON_CDECL
+#define CJSON_STDCALL
+
+#if (defined(__GNUC__) || defined(__SUNPRO_CC) || defined (__SUNPRO_C)) && defined(CJSON_API_VISIBILITY)
+#define CJSON_PUBLIC(type)   __attribute__((visibility("default"))) type
+#else
+#define CJSON_PUBLIC(type) type
+#endif
+#endif
+
+/* project version */
+#define CJSON_VERSION_MAJOR 1
+#define CJSON_VERSION_MINOR 7
+#define CJSON_VERSION_PATCH 12
+
+#include <stddef.h>
+#include <stdint.h>
+
+/* cJSON Types: */
+#define cJSON_Invalid (0)
+#define cJSON_False  (1 << 0)
+#define cJSON_True   (1 << 1)
+#define cJSON_NULL   (1 << 2)
+#define cJSON_Number (1 << 3)
+#define cJSON_String (1 << 4)
+#define cJSON_Array  (1 << 5)
+#define cJSON_Object (1 << 6)
+#define cJSON_Raw    (1 << 7) /* raw json */
+
+#define cJSON_IsReference 256
+#define cJSON_StringIsConst 512
+
+/* The cJSON structure: */
+typedef struct cJSON {
+    /* next/prev allow you to walk array/object chains. Alternatively, use GetArraySize/GetArrayItem/GetObjectItem */
+    struct cJSON *next;
+    struct cJSON *prev;
+    /* An array or object item will have a child pointer pointing to a chain of the items in the array/object. */
+    struct cJSON *child;
+
+    /* The type of the item, as above. */
+    int type;
+
+    /* The item's string, if type==cJSON_String  and type == cJSON_Raw */
+    char *valuestring;
+    /* writing to valueint is DEPRECATED, use cJSON_SetNumberValue instead */
+    int valueint;
+    /* The item's number, if type==cJSON_Number */
+    double valuedouble;
+
+    /* The item's name string, if this item is the child of, or is in the list of subitems of an object. */
+    char *string;
+} cJSON;
+
+typedef struct cJSON_Hooks {
+    /* malloc/free are CDECL on Windows regardless of the default calling convention of the compiler, so ensure the hooks allow passing those functions directly. */
+    void *(CJSON_CDECL *malloc_fn)(size_t sz);
+    void (CJSON_CDECL *free_fn)(void *ptr);
+} cJSON_Hooks;
+
+typedef int cJSON_bool;
+
+/* Limits how deeply nested arrays/objects can be before cJSON rejects to parse them.
+ * This is to prevent stack overflows. */
+#ifndef CJSON_NESTING_LIMIT
+#define CJSON_NESTING_LIMIT 1000
+#endif
+
+/* returns the version of cJSON as a string */
+CJSON_PUBLIC(const char*)cJSON_Version(void);
+
+/* Supply malloc, realloc and free functions to cJSON */
+CJSON_PUBLIC(void) cJSON_InitHooks(cJSON_Hooks *hooks);
+
+/* Memory Management: the caller is always responsible to free the results from all variants of cJSON_Parse (with cJSON_Delete) and cJSON_Print (with stdlib free, cJSON_Hooks.free_fn, or cJSON_free as appropriate). The exception is cJSON_PrintPreallocated, where the caller has full responsibility of the buffer. */
+/* Supply a block of JSON, and this returns a cJSON object you can interrogate. */
+CJSON_PUBLIC(cJSON *)cJSON_Parse(const char *value);
+CJSON_PUBLIC(cJSON *)cJSON_ParseByJsonData(const uint8_t *json_data, uint16_t data_len);
+/* ParseWithOpts allows you to require (and check) that the JSON is null terminated, and to retrieve the pointer to the final byte parsed. */
+/* If you supply a ptr in return_parse_end and parsing fails, then return_parse_end will contain a pointer to the error so will match cJSON_GetErrorPtr(). */
+CJSON_PUBLIC(cJSON *)cJSON_ParseWithOpts(const char *value, const char **return_parse_end,
+                                         cJSON_bool require_null_terminated);
+
+/* Render a cJSON entity to text for transfer/storage. */
+CJSON_PUBLIC(char *)cJSON_Print(const cJSON *item);
+/* Render a cJSON entity to text for transfer/storage without any formatting. */
+CJSON_PUBLIC(char *)cJSON_PrintUnformatted(const cJSON *item);
+/* Render a cJSON entity to text using a buffered strategy. prebuffer is a guess at the final size. guessing well reduces reallocation. fmt=0 gives unformatted, =1 gives formatted */
+CJSON_PUBLIC(char *)cJSON_PrintBuffered(const cJSON *item, int prebuffer, cJSON_bool fmt);
+/* Render a cJSON entity to text using a buffer already allocated in memory with given length. Returns 1 on success and 0 on failure. */
+/* NOTE: cJSON is not always 100% accurate in estimating how much memory it will use, so to be safe allocate 5 bytes more than you actually need */
+CJSON_PUBLIC(cJSON_bool) cJSON_PrintPreallocated(cJSON *item, char *buffer, const int length, const cJSON_bool format);
+/* Delete a cJSON entity and all subentities. */
+CJSON_PUBLIC(void) cJSON_Delete(cJSON *item);
+
+/* Returns the number of items in an array (or object). */
+CJSON_PUBLIC(int) cJSON_GetArraySize(const cJSON *array);
+/* Retrieve item number "index" from array "array". Returns NULL if unsuccessful. */
+CJSON_PUBLIC(cJSON *)cJSON_GetArrayItem(const cJSON *array, int index);
+/* Get item "string" from object. Case insensitive. */
+CJSON_PUBLIC(cJSON *)cJSON_GetObjectItem(const cJSON *const object, const char *const string);
+CJSON_PUBLIC(cJSON *)cJSON_GetObjectItemCaseSensitive(const cJSON *const object, const char *const string);
+CJSON_PUBLIC(cJSON_bool) cJSON_HasObjectItem(const cJSON *object, const char *string);
+/* For analysing failed parses. This returns a pointer to the parse error. You'll probably need to look a few chars back to make sense of it. Defined when cJSON_Parse() returns 0. 0 when cJSON_Parse() succeeds. */
+CJSON_PUBLIC(const char *)cJSON_GetErrorPtr(void);
+
+/* Check if the item is a string and return its valuestring */
+CJSON_PUBLIC(char *)cJSON_GetStringValue(cJSON *item);
+
+/* These functions check the type of an item */
+CJSON_PUBLIC(cJSON_bool) cJSON_IsInvalid(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsFalse(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsTrue(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsBool(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsNull(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsNumber(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsString(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsArray(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsObject(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsRaw(const cJSON *const item);
+
+/* These calls create a cJSON item of the appropriate type. */
+CJSON_PUBLIC(cJSON *)cJSON_CreateNull(void);
+CJSON_PUBLIC(cJSON *)cJSON_CreateTrue(void);
+CJSON_PUBLIC(cJSON *)cJSON_CreateFalse(void);
+CJSON_PUBLIC(cJSON *)cJSON_CreateBool(cJSON_bool boolean);
+CJSON_PUBLIC(cJSON *)cJSON_CreateNumber(double num);
+CJSON_PUBLIC(cJSON *)cJSON_CreateString(const char *string);
+/* raw json */
+CJSON_PUBLIC(cJSON *)cJSON_CreateRaw(const char *raw);
+CJSON_PUBLIC(cJSON *)cJSON_CreateArray(void);
+CJSON_PUBLIC(cJSON *)cJSON_CreateObject(void);
+
+/* Create a string where valuestring references a string so
+ * it will not be freed by cJSON_Delete */
+CJSON_PUBLIC(cJSON *)cJSON_CreateStringReference(const char *string);
+/* Create an object/array that only references it's elements so
+ * they will not be freed by cJSON_Delete */
+CJSON_PUBLIC(cJSON *)cJSON_CreateObjectReference(const cJSON *child);
+CJSON_PUBLIC(cJSON *)cJSON_CreateArrayReference(const cJSON *child);
+
+/* These utilities create an Array of count items.
+ * The parameter count cannot be greater than the number of elements in the number array, otherwise array access will be out of bounds.*/
+CJSON_PUBLIC(cJSON *)cJSON_CreateIntArray(const int *numbers, int count);
+CJSON_PUBLIC(cJSON *)cJSON_CreateFloatArray(const float *numbers, int count);
+CJSON_PUBLIC(cJSON *)cJSON_CreateDoubleArray(const double *numbers, int count);
+CJSON_PUBLIC(cJSON *)cJSON_CreateStringArray(const char **strings, int count);
+
+/* Append item to the specified array/object. */
+CJSON_PUBLIC(void) cJSON_AddItemToArray(cJSON *array, cJSON *item);
+CJSON_PUBLIC(void) cJSON_AddItemToObject(cJSON *object, const char *string, cJSON *item);
+/* Use this when string is definitely const (i.e. a literal, or as good as), and will definitely survive the cJSON object.
+ * WARNING: When this function was used, make sure to always check that (item->type & cJSON_StringIsConst) is zero before
+ * writing to `item->string` */
+CJSON_PUBLIC(void) cJSON_AddItemToObjectCS(cJSON *object, const char *string, cJSON *item);
+/* Append reference to item to the specified array/object. Use this when you want to add an existing cJSON to a new cJSON, but don't want to corrupt your existing cJSON. */
+CJSON_PUBLIC(void) cJSON_AddItemReferenceToArray(cJSON *array, cJSON *item);
+CJSON_PUBLIC(void) cJSON_AddItemReferenceToObject(cJSON *object, const char *string, cJSON *item);
+
+/* Remove/Detach items from Arrays/Objects. */
+CJSON_PUBLIC(cJSON *)cJSON_DetachItemViaPointer(cJSON *parent, cJSON *const item);
+CJSON_PUBLIC(cJSON *)cJSON_DetachItemFromArray(cJSON *array, int which);
+CJSON_PUBLIC(void) cJSON_DeleteItemFromArray(cJSON *array, int which);
+CJSON_PUBLIC(cJSON *)cJSON_DetachItemFromObject(cJSON *object, const char *string);
+CJSON_PUBLIC(cJSON *)cJSON_DetachItemFromObjectCaseSensitive(cJSON *object, const char *string);
+CJSON_PUBLIC(void) cJSON_DeleteItemFromObject(cJSON *object, const char *string);
+CJSON_PUBLIC(void) cJSON_DeleteItemFromObjectCaseSensitive(cJSON *object, const char *string);
+
+/* Update array items. */
+CJSON_PUBLIC(void)
+cJSON_InsertItemInArray(cJSON *array, int which, cJSON *newitem); /* Shifts pre-existing items to the right. */
+CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemViaPointer(cJSON *const parent, cJSON *const item, cJSON *replacement);
+CJSON_PUBLIC(void) cJSON_ReplaceItemInArray(cJSON *array, int which, cJSON *newitem);
+CJSON_PUBLIC(void) cJSON_ReplaceItemInObject(cJSON *object, const char *string, cJSON *newitem);
+CJSON_PUBLIC(void) cJSON_ReplaceItemInObjectCaseSensitive(cJSON *object, const char *string, cJSON *newitem);
+
+/* Duplicate a cJSON item */
+CJSON_PUBLIC(cJSON *)cJSON_Duplicate(const cJSON *item, cJSON_bool recurse);
+/* Duplicate will create a new, identical cJSON item to the one you pass, in new memory that will
+ * need to be released. With recurse!=0, it will duplicate any children connected to the item.
+ * The item->next and ->prev pointers are always zero on return from Duplicate. */
+/* Recursively compare two cJSON items for equality. If either a or b is NULL or invalid, they will be considered unequal.
+ * case_sensitive determines if object keys are treated case sensitive (1) or case insensitive (0) */
+CJSON_PUBLIC(cJSON_bool) cJSON_Compare(const cJSON *const a, const cJSON *const b, const cJSON_bool case_sensitive);
+
+/* Minify a strings, remove blank characters(such as ' ', '\t', '\r', '\n') from strings.
+ * The input pointer json cannot point to a read-only address area, such as a string constant, 
+ * but should point to a readable and writable adress area. */
+CJSON_PUBLIC(void) cJSON_Minify(char *json);
+
+/* Helper functions for creating and adding items to an object at the same time.
+ * They return the added item or NULL on failure. */
+CJSON_PUBLIC(cJSON*)cJSON_AddNullToObject(cJSON *const object, const char *const name);
+CJSON_PUBLIC(cJSON*)cJSON_AddTrueToObject(cJSON *const object, const char *const name);
+CJSON_PUBLIC(cJSON*)cJSON_AddFalseToObject(cJSON *const object, const char *const name);
+CJSON_PUBLIC(cJSON*)cJSON_AddBoolToObject(cJSON *const object, const char *const name, const cJSON_bool boolean);
+CJSON_PUBLIC(cJSON*)cJSON_AddNumberToObject(cJSON *const object, const char *const name, const double number);
+CJSON_PUBLIC(cJSON*)cJSON_AddStringToObject(cJSON *const object, const char *const name, const char *const string);
+CJSON_PUBLIC(cJSON*)cJSON_AddRawToObject(cJSON *const object, const char *const name, const char *const raw);
+CJSON_PUBLIC(cJSON*)cJSON_AddObjectToObject(cJSON *const object, const char *const name);
+CJSON_PUBLIC(cJSON*)cJSON_AddArrayToObject(cJSON *const object, const char *const name);
+
+/* When assigning an integer value, it needs to be propagated to valuedouble too. */
+#define cJSON_SetIntValue(object, number) ((object) ? (object)->valueint = (object)->valuedouble = (number) : (number))
+/* helper for the cJSON_SetNumberValue macro */
+CJSON_PUBLIC(double) cJSON_SetNumberHelper(cJSON *object, double number);
+#define cJSON_SetNumberValue(object, number) ((object != NULL) ? cJSON_SetNumberHelper(object, (double)number) : (number))
+
+/* Macro for iterating over an array or object */
+#define cJSON_ArrayForEach(element, array) for(element = (array != NULL) ? (array)->child : NULL; element != NULL; element = element->next)
+
+/* malloc/free objects using the malloc/free functions that have been set with cJSON_InitHooks */
+CJSON_PUBLIC(void *)cJSON_malloc(size_t size);
+CJSON_PUBLIC(void) cJSON_free(void *object);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

PSDK/samples/sample_c/module_sample/utils/dji_config_manager.c

@@ -0,0 +1,339 @@
+/**
+ ********************************************************************
+ * @file    dji_config_manager.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 <utils/util_misc.h>
+#include <dji_logger.h>
+#include <utils/util_file.h>
+#include <dji_aircraft_info.h>
+#include "dji_config_manager.h"
+#include "utils/cJSON.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiUserInfo s_configManagerUserInfo = {0};
+static T_DjiUserLinkConfig s_configManagerLinkInfo = {0};
+static bool s_configManagerIsEnable = false;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiUserConfigManager_GetAppInfoInner(const char *path, T_DjiUserInfo *userInfo);
+static T_DjiReturnCode DjiUserConfigManager_GetLinkConfigInner(const char *path, T_DjiUserLinkConfig *linkConfig);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiUserConfigManager_LoadConfiguration(const char *path)
+{
+    T_DjiReturnCode returnCode;
+
+    if (path == NULL) {
+        perror("Config file path is null.\n");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    printf("Load configuration start, config file path is: %s\r\n", path);
+
+    returnCode = DjiUserConfigManager_GetAppInfoInner(path, &s_configManagerUserInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        perror("Get app info failed.\n");
+    }
+
+    returnCode = DjiUserConfigManager_GetLinkConfigInner(path, &s_configManagerLinkInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        perror("Get link info failed.\n");
+    }
+
+    printf("\r\nLoad configuration successfully.\r\n");
+
+    s_configManagerIsEnable = true;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+void DjiUserConfigManager_GetAppInfo(T_DjiUserInfo *userInfo)
+{
+    memcpy(userInfo, &s_configManagerUserInfo, sizeof(T_DjiUserInfo));
+}
+
+void DjiUserConfigManager_GetLinkConfig(T_DjiUserLinkConfig *linkConfig)
+{
+    memcpy(linkConfig, &s_configManagerLinkInfo, sizeof(T_DjiUserLinkConfig));
+}
+
+bool DjiUserConfigManager_IsEnable(void)
+{
+    return s_configManagerIsEnable;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiUserConfigManager_GetAppInfoInner(const char *path, T_DjiUserInfo *userInfo)
+{
+    T_DjiReturnCode returnCode;
+    uint32_t fileSize = 0;
+    uint32_t readRealSize = 0;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint8_t *jsonData = NULL;
+    cJSON *jsonRoot = NULL;
+    cJSON *jsonItem = NULL;
+    cJSON *jsonValue = NULL;
+
+#ifdef SYSTEM_ARCH_LINUX
+    returnCode = UtilFile_GetFileSizeByPath(path, &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("Get config json file size is %d", fileSize);
+
+    jsonData = osalHandler->Malloc(fileSize + 1);
+    if (jsonData == NULL) {
+        USER_LOG_ERROR("Malloc failed.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
+    memset(jsonData, 0, fileSize);
+
+    UtilFile_GetFileDataByPath(path, 0, fileSize, jsonData, &readRealSize);
+
+    jsonData[readRealSize] = '\0';
+
+    jsonRoot = cJSON_Parse((char *) jsonData);
+    if (jsonRoot == NULL) {
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        goto jsonDataFree;
+    }
+
+    jsonItem = cJSON_GetObjectItem(jsonRoot, "dji_sdk_app_info");
+    if (jsonItem != NULL) {
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_name");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->appName, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_id");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->appId, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_key");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->appKey, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_license");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->appLicense, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_develop_account");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->developerAccount, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_baud_rate");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->baudRate, jsonValue->valuestring);
+        }
+    }
+
+    if (strlen(userInfo->appName) >= sizeof(userInfo->appName) ||
+        strlen(userInfo->appId) > sizeof(userInfo->appId) ||
+        strlen(userInfo->appKey) > sizeof(userInfo->appKey) ||
+        strlen(userInfo->appLicense) > sizeof(userInfo->appLicense) ||
+        strlen(userInfo->developerAccount) >= sizeof(userInfo->developerAccount) ||
+        strlen(userInfo->baudRate) > sizeof(userInfo->baudRate)) {
+        USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+        goto jsonDataFree;
+    }
+
+    if (!strcmp(userInfo->appName, "your_app_name") ||
+        !strcmp(userInfo->appId, "your_app_id") ||
+        !strcmp(userInfo->appKey, "your_app_key") ||
+        !strcmp(userInfo->appLicense, "your_app_license") ||
+        !strcmp(userInfo->developerAccount, "your_developer_account") ||
+        !strcmp(userInfo->baudRate, "your_baud_rate")) {
+        USER_LOG_ERROR(
+            "Please fill in correct user information to 'samples/sample_c++/platform/linux/manifold2/application/dji_sdk_config.json' file.");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+        goto jsonDataFree;
+    }
+
+jsonDataFree:
+    osalHandler->Free(jsonData);
+#endif
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiUserConfigManager_GetLinkConfigInner(const char *path, T_DjiUserLinkConfig *linkConfig)
+{
+    T_DjiReturnCode returnCode;
+    uint32_t fileSize = 0;
+    uint32_t readRealSize = 0;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint8_t *jsonData = NULL;
+    cJSON *jsonRoot = NULL;
+    cJSON *jsonItem = NULL;
+    cJSON *jsonValue = NULL;
+    cJSON *jsonConfig = NULL;
+    int32_t configValue;
+
+#ifdef SYSTEM_ARCH_LINUX
+
+    returnCode = UtilFile_GetFileSizeByPath(path, &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("Get config json file size is %d", fileSize);
+
+    jsonData = osalHandler->Malloc(fileSize + 1);
+    if (jsonData == NULL) {
+        USER_LOG_ERROR("Malloc failed.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
+    memset(jsonData, 0, fileSize);
+
+    UtilFile_GetFileDataByPath(path, 0, fileSize, jsonData, &readRealSize);
+
+    jsonData[readRealSize] = '\0';
+
+    jsonRoot = cJSON_Parse((char *) jsonData);
+    if (jsonRoot == NULL) {
+        goto jsonDataFree;
+    }
+
+    jsonItem = cJSON_GetObjectItem(jsonRoot, "dji_sdk_link_config");
+    if (jsonItem != NULL) {
+        jsonValue = cJSON_GetObjectItem(jsonItem, "link_select");
+        if (jsonValue != NULL) {
+            printf("\r\nSelect link type: %s\r\n", jsonValue->valuestring);
+            if (strcmp(jsonValue->valuestring, "use_only_uart") == 0) {
+                linkConfig->type = DJI_USER_LINK_CONFIG_USE_ONLY_UART;
+            } else if (strcmp(jsonValue->valuestring, "use_uart_and_network_device") == 0) {
+                linkConfig->type = DJI_USER_LINK_CONFIG_USE_UART_AND_NETWORK_DEVICE;
+            } else if (strcmp(jsonValue->valuestring, "use_uart_and_usb_bulk_device") == 0) {
+                linkConfig->type = DJI_USER_LINK_CONFIG_USE_UART_AND_USB_BULK_DEVICE;
+            }
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "uart_config");
+        if (jsonValue != NULL) {
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "uart1_device_name");
+            printf("\r\nConfig uart1 device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->uartConfig.uart1DeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "uart2_device_name");
+            printf("Config uart2 device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->uartConfig.uart2DeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "uart2_device_enable");
+            printf("Config uart2 device enable: %s\r\n", jsonConfig->valuestring);
+            if (strcmp(jsonConfig->valuestring, "true") == 0) {
+                linkConfig->uartConfig.uart2DeviceEnable = true;
+            } else {
+                linkConfig->uartConfig.uart2DeviceEnable = false;
+            }
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "network_config");
+        if (jsonValue != NULL) {
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "network_device_name");
+            printf("\r\nConfig network device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->networkConfig.networkDeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "network_usb_adapter_vid");
+            printf("Config network usb adapter vid: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->networkConfig.networkUsbAdapterVid = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "network_usb_adapter_pid");
+            printf("Config network usb adapter vid: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->networkConfig.networkUsbAdapterPid = configValue;
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "usb_bulk_config");
+        if (jsonValue != NULL) {
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_device_vid");
+            printf("\r\nConfig usb device vid: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbDeviceVid = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_device_pid");
+            printf("Config usb device pid: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbDevicePid = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_device_name");
+            printf("Config usb bulk1 device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->usbBulkConfig.usbBulk1DeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_interface_num");
+            printf("Config usb bulk1 interface num: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbBulk1InterfaceNum = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_endpoint_in");
+            printf("Config usb bulk1 endpoint in: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbBulk1EndpointIn = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_endpoint_out");
+            printf("Config usb bulk1 endpoint out: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbBulk1EndpointOut = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_device_name");
+            printf("Config usb bulk2 device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->usbBulkConfig.usbBulk2DeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_interface_num");
+            printf("Config usb bulk2 interface num: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbBulk2InterfaceNum = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_endpoint_in");
+            printf("Config usb bulk2 endpoint in: %s\r\n", jsonConfig->valuestring);
+            linkConfig->usbBulkConfig.usbBulk2EndpointIn = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_endpoint_out");
+            printf("Config usb bulk2 endpoint out: %s\r\n", jsonConfig->valuestring);
+            linkConfig->usbBulkConfig.usbBulk2EndpointOut = configValue;
+        }
+    }
+
+jsonDataFree:
+    osalHandler->Free(jsonData);
+#endif
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/utils/dji_config_manager.h

@@ -0,0 +1,88 @@
+/**
+ ********************************************************************
+ * @file    dji_config_manager.h
+ * @brief   This is the header file for "dji_config_manager.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 DJI_CONFIG_MANAGER_H
+#define DJI_CONFIG_MANAGER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_platform.h"
+#include "dji_core.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define USER_DEVICE_NAME_STR_MAX_SIZE    (64)
+
+/* Exported types ------------------------------------------------------------*/
+typedef enum {
+    DJI_USER_LINK_CONFIG_USE_ONLY_UART,
+    DJI_USER_LINK_CONFIG_USE_UART_AND_NETWORK_DEVICE,
+    DJI_USER_LINK_CONFIG_USE_UART_AND_USB_BULK_DEVICE,
+} E_DjiUserLinkConfigType;
+
+typedef struct {
+    E_DjiUserLinkConfigType type;
+    struct {
+        char uart1DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+        bool uart2DeviceEnable;
+        char uart2DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+    } uartConfig;
+    struct {
+        char networkDeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+        // M300/M350 RTK payload port no need
+        uint16_t networkUsbAdapterVid;
+        uint16_t networkUsbAdapterPid;
+    } networkConfig;
+    struct {
+        uint16_t usbDeviceVid;
+        uint16_t usbDevicePid;
+
+        char usbBulk1DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+        uint8_t usbBulk1InterfaceNum;
+        uint8_t usbBulk1EndpointIn;
+        uint8_t usbBulk1EndpointOut;
+
+        char usbBulk2DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+        uint8_t usbBulk2InterfaceNum;
+        uint8_t usbBulk2EndpointIn;
+        uint8_t usbBulk2EndpointOut;
+    } usbBulkConfig;
+} T_DjiUserLinkConfig;
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiUserConfigManager_LoadConfiguration(const char *path);
+void DjiUserConfigManager_GetAppInfo(T_DjiUserInfo *userInfo);
+void DjiUserConfigManager_GetLinkConfig(T_DjiUserLinkConfig *linkConfig);
+bool DjiUserConfigManager_IsEnable(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_CONFIG_MANAGER_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/utils/util_buffer.c

@@ -0,0 +1,127 @@
+/**
+ ******************************************************************************
+ * @file    util_buffer.c
+ * @brief   The file defines buffer related functions, including initialize, put data to buffer,
+ *           get data from buffer and get unused count of bytes of buffer.
+ *
+ * @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 "util_buffer.h"
+#include <string.h>
+#include "util_misc.h"
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Exported variables --------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/**
+ * @brief Cut buffer size to power of 2, in order to increase the convenience of get and put operating of buffer.
+ * @param bufSize Original buffer size.
+ * @return Buffer size after handling.
+ */
+static uint16_t UtilBuffer_CutBufSizeToPowOfTwo(uint16_t bufSize)
+{
+    uint16_t i = 0;
+
+    while ((1 << (++i)) <= bufSize);
+    return (uint16_t) (1 << (--i));
+}
+
+/* Exported functions --------------------------------------------------------*/
+
+/**
+ * @brief Buffer initialization.
+ * @param pthis Pointer to buffer structure.
+ * @param pBuf Pointer to data buffer.
+ * @param bufSize Size of data buffer.
+ * @return None.
+ */
+void UtilBuffer_Init(T_UtilBuffer *pthis, uint8_t *pBuf, uint16_t bufSize)
+{
+    pthis->readIndex = 0;
+    pthis->writeIndex = 0;
+    pthis->bufferPtr = pBuf;
+    pthis->bufferSize = UtilBuffer_CutBufSizeToPowOfTwo(bufSize);
+}
+
+/**
+ * @brief Put a block of data into buffer.
+ * @param pthis Pointer to buffer structure.
+ * @param pData Pointer to data to be stored.
+ * @param dataLen Length of data to be stored.
+ * @return Length of data to be stored.
+ */
+uint16_t UtilBuffer_Put(T_UtilBuffer *pthis, const uint8_t *pData, uint16_t dataLen)
+{
+    uint16_t writeUpLen;
+
+    dataLen = USER_UTIL_MIN(dataLen, (uint16_t) (pthis->bufferSize - pthis->writeIndex + pthis->readIndex));
+
+    //fill up data
+    writeUpLen = USER_UTIL_MIN(dataLen, (uint16_t) (pthis->bufferSize - (pthis->writeIndex & (pthis->bufferSize - 1))));
+    memcpy(pthis->bufferPtr + (pthis->writeIndex & (pthis->bufferSize - 1)), pData, writeUpLen);
+
+    //fill begin data
+    memcpy(pthis->bufferPtr, pData + writeUpLen, dataLen - writeUpLen);
+
+    pthis->writeIndex += dataLen;
+
+    return dataLen;
+}
+
+/**
+ * @brief Get a block of data from buffer.
+* @param pthis Pointer to buffer structure.
+* @param pData Pointer to data to be read.
+* @param dataLen Length of data to be read.
+* @return Length of data to be read.
+ */
+uint16_t UtilBuffer_Get(T_UtilBuffer *pthis, uint8_t *pData, uint16_t dataLen)
+{
+    uint16_t readUpLen;
+
+    dataLen = USER_UTIL_MIN(dataLen, (uint16_t) (pthis->writeIndex - pthis->readIndex));
+
+    //get up data
+    readUpLen = USER_UTIL_MIN(dataLen, (uint16_t) (pthis->bufferSize - (pthis->readIndex & (pthis->bufferSize - 1))));
+    memcpy(pData, pthis->bufferPtr + (pthis->readIndex & (pthis->bufferSize - 1)), readUpLen);
+
+    //get begin data
+    memcpy(pData + readUpLen, pthis->bufferPtr, dataLen - readUpLen);
+
+    pthis->readIndex += dataLen;
+
+    return dataLen;
+}
+
+/**
+ * @brief Get unused size of buffer.
+ * @param pthis Pointer to buffer structure.
+ * @return Unused size of buffer.
+ */
+uint16_t UtilBuffer_GetUnusedSize(T_UtilBuffer *pthis)
+{
+    return (uint16_t) (pthis->bufferSize - pthis->writeIndex + pthis->readIndex);
+}

PSDK/samples/sample_c/module_sample/utils/util_buffer.h

@@ -0,0 +1,59 @@
+/**
+ ******************************************************************************
+ * @file    util_buffer.h
+ * @brief   This is the header file for "util_buffer.c".
+ *
+ * @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_UTIL_BUFFER_H_
+#define _DJI_UTIL_BUFFER_H_
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/* Exported constants --------------------------------------------------------*/
+/* Exported macros -----------------------------------------------------------*/
+/* Exported types ------------------------------------------------------------*/
+
+//Note: not need lock for just one producer / one consumer
+//need mutex to protect for multi-producer / multi-consumer
+typedef struct {
+    uint8_t *bufferPtr;
+    uint16_t bufferSize;
+    uint16_t readIndex;
+    uint16_t writeIndex;
+} T_UtilBuffer;
+
+/* Exported variables --------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+void UtilBuffer_Init(T_UtilBuffer *pthis, uint8_t *pBuf, uint16_t bufSize);
+uint16_t UtilBuffer_Put(T_UtilBuffer *pthis, const uint8_t *pData, uint16_t dataLen);
+uint16_t UtilBuffer_Get(T_UtilBuffer *pthis, uint8_t *pData, uint16_t dataLen);
+uint16_t UtilBuffer_GetUnusedSize(T_UtilBuffer *pthis);
+
+/* Private constants ---------------------------------------------------------*/
+/* Private macros ------------------------------------------------------------*/
+/* Private types -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+#endif

PSDK/samples/sample_c/module_sample/utils/util_file.c

@@ -0,0 +1,207 @@
+/**
+ ********************************************************************
+ * @file    util_file.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 ------------------------------------------------------------------*/
+#ifdef SYSTEM_ARCH_LINUX
+
+#include "util_file.h"
+#include <time.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+/* Private constants ---------------------------------------------------------*/
+
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+
+
+/* Private values ------------------------------------------------------------*/
+
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode UtilFile_GetCreateTime(const char *filePath, T_UtilFileCreateTime *createTime)
+{
+    struct stat st;
+    struct tm *fileTm;
+
+    if (filePath == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (stat(filePath, &st) != 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;
+    }
+
+    createTime->year = fileTm->tm_year + 1900 - 1980;
+    createTime->month = fileTm->tm_mon;
+    createTime->day = fileTm->tm_mday;
+    createTime->hour = fileTm->tm_hour;
+    createTime->minute = fileTm->tm_min;
+    createTime->second = fileTm->tm_sec;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode UtilFile_GetFileSizeByPath(const char *filePath, uint32_t *fileSize)
+{
+    struct stat st;
+
+    if (filePath == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (stat(filePath, &st) != 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    *fileSize = st.st_size;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint32_t len,
+                                           uint8_t *data, uint32_t *realLen)
+{
+    FILE *pF;
+    T_DjiReturnCode psdkStat;
+    uint32_t readRtn;
+
+    if (filePath == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    pF = fopen(filePath, "rb+");
+    if (pF == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (fseek(pF, offset, SEEK_SET) != 0) {
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    readRtn = fread(data, 1, len, pF);
+    if (readRtn == 0 || readRtn > len) {
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    *realLen = readRtn;
+
+    psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    fclose(pF);
+
+    return psdkStat;
+}
+
+T_DjiReturnCode UtilFile_Delete(const char *filePath)
+{
+    int ret;
+
+    if (filePath == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = unlink(filePath);
+
+    if (ret != 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    } else {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+}
+
+T_DjiReturnCode UtilFile_GetFileSize(FILE *file, uint32_t *fileSize)
+{
+    int result;
+
+    if (file == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    long int curSeek = ftell(file);
+
+    result = fseek(file, 0L, SEEK_END);
+    if (result != 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+    *fileSize = ftell(file);
+
+    if (curSeek < 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    result = fseek(file, curSeek, SEEK_SET);
+    if (result != 0) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode UtilFile_GetFileData(FILE *file, uint32_t offset, uint16_t len, uint8_t *data, uint16_t *realLen)
+{
+    T_DjiReturnCode psdkStat;
+    uint32_t readRtn;
+
+    if (file == NULL) {
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+        goto out;
+    }
+
+    if (fseek(file, offset, SEEK_SET) != 0) {
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    readRtn = fread(data, 1, len, file);
+    if (readRtn == 0 || readRtn > len) {
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    *realLen = readRtn;
+
+    psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    return psdkStat;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/utils/util_file.h

@@ -0,0 +1,70 @@
+/**
+ ********************************************************************
+ * @file    util_file.h
+ * @brief   This is the header file for "util_file.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 UTIL_FILE_H
+#define UTIL_FILE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef SYSTEM_ARCH_LINUX
+
+/* Includes ------------------------------------------------------------------*/
+#include <dji_typedef.h>
+#include <stdio.h>
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    uint32_t second: 5;
+    uint32_t minute: 6;
+    uint32_t hour: 5;
+    uint32_t day: 5;
+    uint32_t month: 4;
+    uint32_t year: 7;
+} T_UtilFileCreateTime;
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode UtilFile_GetCreateTime(const char *filePath, T_UtilFileCreateTime *createTime);
+T_DjiReturnCode UtilFile_GetFileSizeByPath(const char *filePath, uint32_t *fileSize);
+T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint32_t len,
+                                           uint8_t *data, uint32_t *realLen);
+T_DjiReturnCode DjiFile_Delete(const char *filePath);
+
+T_DjiReturnCode UtilFile_GetFileSize(FILE *file, uint32_t *fileSize);
+T_DjiReturnCode UtilFile_GetFileData(FILE *file, uint32_t offset, uint16_t len, uint8_t *data, uint16_t *realLen);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+#endif // UTIL_FILE_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/utils/util_link_list.c

@@ -0,0 +1,218 @@
+/**
+ ********************************************************************
+ * @file    util_link_list.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.
+ *
+ *********************************************************************
+ */
+
+#define UTIL_LINK_LIST_C
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "util_link_list.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Private values ------------------------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+void DjiUserUtil_ListNodeDeleteDataOnly( T_UtilListNode *node )
+{
+    if ( NULL == node) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    if ( NULL != node->data ) {
+        UTIL_OSAL_MEMRY_FREE( node->data );
+        node->data = NULL;
+    }
+    return;
+}
+
+void DjiUserUtil_ListNodeDeleteNodeSelf( T_UtilListNode *node )
+{
+    if ( NULL == node) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    UTIL_OSAL_MEMRY_FREE( node );
+    return;
+}
+
+void DjiUserUtil_InitListNode( T_UtilListNode *node, void *data )
+{
+    if ( NULL == node ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    node->prev = NULL;
+    node->next = NULL;
+    node->data = data;
+    return;
+}
+
+T_UtilListNode *DjiUserUtil_NewListNode( void *data )
+{
+    T_UtilListNode *node = NULL;
+
+    node = (T_UtilListNode *)UTIL_OSAL_MEMRY_ALLOC( sizeof(T_UtilListNode) );
+    if ( NULL == node ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return NULL;
+    }
+
+    DjiUserUtil_InitListNode( node, data );
+    return node;
+}
+
+void DjiUserUtil_LinkListDestory( T_UtilLinkList *linkList )
+{
+    T_UtilListNode *node = NULL;
+    T_UtilListNode *next = NULL;
+
+    if ( NULL == linkList ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    for ( node = linkList->first; NULL != node ; node = next ) {
+        next = node->next;
+        DjiUserUtil_ListNodeDeleteDataOnly( node );
+        DjiUserUtil_ListNodeDeleteNodeSelf( node );
+    }
+}
+void DjiUserUtil_LinkListAddNodeFirst( T_UtilLinkList *linkList, T_UtilListNode *node )
+{
+    if ( ( NULL == linkList ) || ( NULL == node ) ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    if ( UTIL_LINKLIST_IS_EMPTY( *linkList ) ) {
+        node->prev = NULL;
+        node->next = NULL;
+        linkList->first = node;
+        linkList->last  = node;
+    } else {
+        node->prev = NULL;
+        node->next = linkList->first;
+        linkList->first = node;
+        node->next->prev = node;
+    }
+    linkList->count ++;
+    return;
+}
+
+void DjiUserUtil_LinkListAddNodeLast( T_UtilLinkList *linkList, T_UtilListNode *node )
+{
+    if ( ( NULL == linkList ) || ( NULL == node ) ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    if ( UTIL_LINKLIST_IS_EMPTY( *linkList ) ) {
+        node->prev = NULL;
+        node->next = NULL;
+        linkList->first = node;
+        linkList->last  = node;
+    } else {
+        node->next = NULL;
+        node->prev = linkList->last;
+        linkList->last = node;
+        node->prev->next = node;
+    }
+    linkList->count ++;
+    return;
+}
+
+void DjiUserUtil_InitLinkList( T_UtilLinkList *linkList )
+{
+    if ( NULL == linkList ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    linkList->first = NULL;
+    linkList->last  = NULL;
+    linkList->count = 0;
+    return;
+}
+
+T_UtilLinkList *DjiUserUtil_NewLinkList( void )
+{
+    T_UtilLinkList *linkList = NULL;
+
+    linkList = (T_UtilLinkList *)UTIL_OSAL_MEMRY_ALLOC( sizeof( T_UtilLinkList ) );
+    if ( NULL == linkList ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return NULL;
+    }
+
+    DjiUserUtil_InitLinkList( linkList );
+    return linkList;
+}
+
+void DjiUserUtil_LinkListRemoveNodeOnly( T_UtilLinkList *linkList, T_UtilListNode *node )
+{
+    if ( ( NULL == linkList ) || ( NULL == node ) ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    if ( node == linkList->first ) {
+        linkList->first = linkList->first->next;
+    }
+
+    if ( node == linkList->last ) {
+        linkList->last  = linkList->last->prev;
+    }
+
+    if ( NULL != node->next ) {
+        node->next->prev = node->prev;
+    }
+
+    if ( NULL != node->prev ) {
+        node->prev->next = node->next;
+    }
+
+    if ( 0 != linkList->count ) {
+        linkList->count --;
+    }
+
+    DjiUserUtil_ListNodeDeleteNodeSelf( node );
+    return;
+}
+/* Private functions definition-----------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/utils/util_link_list.h

@@ -0,0 +1,94 @@
+/**
+ ********************************************************************
+ * @file    link_list.h
+ * @brief   This is the header file for "link_list.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 UTIL_LINK_LIST_H
+#define UTIL_LINK_LIST_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_platform.h"
+
+#ifdef UTIL_LINK_LIST_C
+    #define UTIL_LINK_LIST_EXT
+#else
+    #define UTIL_LINK_LIST_EXT          extern
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define UTIL_REPORT_ERROR( exp... )
+
+#define UTIL_OSAL_MEMRY_ALLOC(size)     ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); osalHandler->Malloc( size ); } )
+#define UTIL_OSAL_MEMRY_FREE(ptr)       ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); osalHandler->Free( ptr ); } )
+
+#define UTIL_OSAL_SEM_FREE_MAY_RETURN(sem)          ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreDestroy( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_SEM_INIT_MAY_RETURN(sem)          ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreCreate( 0, sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_SEM_POST_MAY_RETURN(sem)          ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphorePost( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_SEM_WAIT_MAY_RETURN(sem)          ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreWait( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_SEM_WAIT_FOR(sem,ms)              ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreTimedWait( sem, ms ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+
+#define UTIL_OSAL_MUTEX_FREE_MAY_RETURN(mutex)      ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexDestroy( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_MUTEX_INIT_MAY_RETURN(mutex)      ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexCreate( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_MUTEX_LOCK_MAY_RETURN(mutex)      ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexLock( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_MUTEX_UNLOCK_MAY_RETURN(mutex)    ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexUnlock( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+
+#define UTIL_LINKLIST_IS_EMPTY(l)       ( ((l).first == NULL)  ? true : false )
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct tagT_UtilListNode {
+    struct tagT_UtilListNode        *next;
+    struct tagT_UtilListNode        *prev;
+    void                            *data;
+} T_UtilListNode;
+
+typedef struct tagT_UtilLinkList {
+    T_UtilListNode                  *first;
+    T_UtilListNode                  *last;
+    uint32_t                        count;
+} T_UtilLinkList;
+
+/* Exported functions --------------------------------------------------------*/
+UTIL_LINK_LIST_EXT void DjiUserUtil_ListNodeDeleteDataOnly( T_UtilListNode *node );
+UTIL_LINK_LIST_EXT void DjiUserUtil_ListNodeDeleteNodeSelf( T_UtilListNode *node );
+UTIL_LINK_LIST_EXT void DjiUserUtil_InitListNode( T_UtilListNode *node, void *data );
+UTIL_LINK_LIST_EXT T_UtilListNode *DjiUserUtil_NewListNode( void *data );
+
+UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListDestory( T_UtilLinkList *linkList );
+UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListAddNodeFirst( T_UtilLinkList *linkList, T_UtilListNode *node );
+UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListAddNodeLast( T_UtilLinkList *linkList, T_UtilListNode *node );
+UTIL_LINK_LIST_EXT void DjiUserUtil_InitLinkList( T_UtilLinkList *linkList );
+UTIL_LINK_LIST_EXT T_UtilLinkList *DjiUserUtil_NewLinkList( void );
+
+UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListRemoveNodeOnly( T_UtilLinkList *linkList, T_UtilListNode *node );
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // UTIL_LINK_LIST_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/utils/util_md5.c

@@ -0,0 +1,238 @@
+/**
+ ********************************************************************
+ * @file    util_md5.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.
+ *
+ * crypto-algorithms
+ * =================
+ *
+ * About
+ * ---
+ * These are basic implementations of standard cryptography algorithms, written by Brad Conte (brad@bradconte.com) from
+ * scratch and without any cross-licensing. They exist to provide publically accessible, restriction-free implementations
+ * of popular cryptographic algorithms, like AES and SHA-1. These are primarily intended for educational and pragmatic
+ * purposes (such as comparing a specification to actual implementation code, or for building an internal application
+ * that computes test vectors for a product). The algorithms have been tested against standard test vectors.
+ * This code is released into the public domain free of any restrictions. The author requests acknowledgement if the code
+ * is used, but does not require it. This code is provided free of any liability and without any quality claims by the
+ * author.
+ * Note that these are *not* cryptographically secure implementations. They have no resistence to side-channel attacks
+ * and should not be used in contexts that need cryptographically secure implementations.
+ * These algorithms are not optimized for speed or space. They are primarily designed to be easy to read, although some
+ * basic optimization techniques have been employed.
+ * Building
+ * ---
+ * The source code for each algorithm will come in a pair of a source code file and a header file. There should be no
+ * inter-header file dependencies, no additional libraries, no platform-specific header files, or any other complicating
+ * matters. Compiling them should be as easy as adding the relevent source code to the project.
+ *
+ * @statement DJI has modified some symbols' name.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "util_md5.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define ROTLEFT(a, b) ((a << b) | (a >> (32-b)))
+
+#define F(x, y, z) ((x & y) | (~x & z))
+#define G(x, y, z) ((x & z) | (y & ~z))
+#define H(x, y, z) (x ^ y ^ z)
+#define I(x, y, z) (y ^ (x | ~z))
+
+#define FF(a, b, c, d, m, s, t) { a += F(b,c,d) + m + t; \
+                            a = b + ROTLEFT(a,s); }
+#define GG(a, b, c, d, m, s, t) { a += G(b,c,d) + m + t; \
+                            a = b + ROTLEFT(a,s); }
+#define HH(a, b, c, d, m, s, t) { a += H(b,c,d) + m + t; \
+                            a = b + ROTLEFT(a,s); }
+#define II(a, b, c, d, m, s, t) { a += I(b,c,d) + m + t; \
+                            a = b + ROTLEFT(a,s); }
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+
+
+/* Exported functions definition ---------------------------------------------*/
+void UtilMd5_Transform(MD5_CTX *ctx, const BYTE *data)
+{
+    WORD a, b, c, d, m[16], i, j;
+
+    // MD5 specifies big endian byte order, but this implementation assumes a little
+    // endian byte order CPU. Reverse all the bytes upon input, and re-reverse them
+    // on output (in md5_final()).
+    for (i = 0, j = 0; i < 16; ++i, j += 4) {
+        m[i] = (data[j]) + (data[j + 1] << 8) + (data[j + 2] << 16) + (data[j + 3] << 24);
+    }
+
+    a = ctx->state[0];
+    b = ctx->state[1];
+    c = ctx->state[2];
+    d = ctx->state[3];
+
+    FF(a, b, c, d, m[0], 7, 0xd76aa478);
+    FF(d, a, b, c, m[1], 12, 0xe8c7b756);
+    FF(c, d, a, b, m[2], 17, 0x242070db);
+    FF(b, c, d, a, m[3], 22, 0xc1bdceee);
+    FF(a, b, c, d, m[4], 7, 0xf57c0faf);
+    FF(d, a, b, c, m[5], 12, 0x4787c62a);
+    FF(c, d, a, b, m[6], 17, 0xa8304613);
+    FF(b, c, d, a, m[7], 22, 0xfd469501);
+    FF(a, b, c, d, m[8], 7, 0x698098d8);
+    FF(d, a, b, c, m[9], 12, 0x8b44f7af);
+    FF(c, d, a, b, m[10], 17, 0xffff5bb1);
+    FF(b, c, d, a, m[11], 22, 0x895cd7be);
+    FF(a, b, c, d, m[12], 7, 0x6b901122);
+    FF(d, a, b, c, m[13], 12, 0xfd987193);
+    FF(c, d, a, b, m[14], 17, 0xa679438e);
+    FF(b, c, d, a, m[15], 22, 0x49b40821);
+
+    GG(a, b, c, d, m[1], 5, 0xf61e2562);
+    GG(d, a, b, c, m[6], 9, 0xc040b340);
+    GG(c, d, a, b, m[11], 14, 0x265e5a51);
+    GG(b, c, d, a, m[0], 20, 0xe9b6c7aa);
+    GG(a, b, c, d, m[5], 5, 0xd62f105d);
+    GG(d, a, b, c, m[10], 9, 0x02441453);
+    GG(c, d, a, b, m[15], 14, 0xd8a1e681);
+    GG(b, c, d, a, m[4], 20, 0xe7d3fbc8);
+    GG(a, b, c, d, m[9], 5, 0x21e1cde6);
+    GG(d, a, b, c, m[14], 9, 0xc33707d6);
+    GG(c, d, a, b, m[3], 14, 0xf4d50d87);
+    GG(b, c, d, a, m[8], 20, 0x455a14ed);
+    GG(a, b, c, d, m[13], 5, 0xa9e3e905);
+    GG(d, a, b, c, m[2], 9, 0xfcefa3f8);
+    GG(c, d, a, b, m[7], 14, 0x676f02d9);
+    GG(b, c, d, a, m[12], 20, 0x8d2a4c8a);
+
+    HH(a, b, c, d, m[5], 4, 0xfffa3942);
+    HH(d, a, b, c, m[8], 11, 0x8771f681);
+    HH(c, d, a, b, m[11], 16, 0x6d9d6122);
+    HH(b, c, d, a, m[14], 23, 0xfde5380c);
+    HH(a, b, c, d, m[1], 4, 0xa4beea44);
+    HH(d, a, b, c, m[4], 11, 0x4bdecfa9);
+    HH(c, d, a, b, m[7], 16, 0xf6bb4b60);
+    HH(b, c, d, a, m[10], 23, 0xbebfbc70);
+    HH(a, b, c, d, m[13], 4, 0x289b7ec6);
+    HH(d, a, b, c, m[0], 11, 0xeaa127fa);
+    HH(c, d, a, b, m[3], 16, 0xd4ef3085);
+    HH(b, c, d, a, m[6], 23, 0x04881d05);
+    HH(a, b, c, d, m[9], 4, 0xd9d4d039);
+    HH(d, a, b, c, m[12], 11, 0xe6db99e5);
+    HH(c, d, a, b, m[15], 16, 0x1fa27cf8);
+    HH(b, c, d, a, m[2], 23, 0xc4ac5665);
+
+    II(a, b, c, d, m[0], 6, 0xf4292244);
+    II(d, a, b, c, m[7], 10, 0x432aff97);
+    II(c, d, a, b, m[14], 15, 0xab9423a7);
+    II(b, c, d, a, m[5], 21, 0xfc93a039);
+    II(a, b, c, d, m[12], 6, 0x655b59c3);
+    II(d, a, b, c, m[3], 10, 0x8f0ccc92);
+    II(c, d, a, b, m[10], 15, 0xffeff47d);
+    II(b, c, d, a, m[1], 21, 0x85845dd1);
+    II(a, b, c, d, m[8], 6, 0x6fa87e4f);
+    II(d, a, b, c, m[15], 10, 0xfe2ce6e0);
+    II(c, d, a, b, m[6], 15, 0xa3014314);
+    II(b, c, d, a, m[13], 21, 0x4e0811a1);
+    II(a, b, c, d, m[4], 6, 0xf7537e82);
+    II(d, a, b, c, m[11], 10, 0xbd3af235);
+    II(c, d, a, b, m[2], 15, 0x2ad7d2bb);
+    II(b, c, d, a, m[9], 21, 0xeb86d391);
+
+    ctx->state[0] += a;
+    ctx->state[1] += b;
+    ctx->state[2] += c;
+    ctx->state[3] += d;
+}
+
+void UtilMd5_Init(MD5_CTX *ctx)
+{
+    ctx->datalen = 0;
+    ctx->bitlen = 0;
+    ctx->state[0] = 0x67452301;
+    ctx->state[1] = 0xEFCDAB89;
+    ctx->state[2] = 0x98BADCFE;
+    ctx->state[3] = 0x10325476;
+}
+
+void UtilMd5_Update(MD5_CTX *ctx, const BYTE *data, size_t len)
+{
+    size_t i;
+
+    for (i = 0; i < len; ++i) {
+        ctx->data[ctx->datalen] = data[i];
+        ctx->datalen++;
+        if (ctx->datalen == 64) {
+            UtilMd5_Transform(ctx, ctx->data);
+            ctx->bitlen += 512;
+            ctx->datalen = 0;
+        }
+    }
+}
+
+void UtilMd5_Final(MD5_CTX *ctx, BYTE *hash)
+{
+    size_t i;
+
+    i = ctx->datalen;
+
+    // Pad whatever data is left in the buffer.
+    if (ctx->datalen < 56) {
+        ctx->data[i++] = 0x80;
+        while (i < 56) {
+            ctx->data[i++] = 0x00;
+        }
+    } else if (ctx->datalen >= 56) {
+        ctx->data[i++] = 0x80;
+        while (i < 64) {
+            ctx->data[i++] = 0x00;
+        }
+        UtilMd5_Transform(ctx, ctx->data);
+        memset(ctx->data, 0, 56);
+    }
+
+    // Append to the padding the total message's length in bits and transform.
+    ctx->bitlen += ctx->datalen * 8;
+    ctx->data[56] = ctx->bitlen;
+    ctx->data[57] = ctx->bitlen >> 8;
+    ctx->data[58] = ctx->bitlen >> 16;
+    ctx->data[59] = ctx->bitlen >> 24;
+    ctx->data[60] = ctx->bitlen >> 32;
+    ctx->data[61] = ctx->bitlen >> 40;
+    ctx->data[62] = ctx->bitlen >> 48;
+    ctx->data[63] = ctx->bitlen >> 56;
+    UtilMd5_Transform(ctx, ctx->data);
+
+    // Since this implementation uses little endian byte ordering and MD uses big endian,
+    // reverse all the bytes when copying the final state to the output hash.
+    for (i = 0; i < 4; ++i) {
+        hash[i] = (ctx->state[0] >> (i * 8)) & 0x000000ff;
+        hash[i + 4] = (ctx->state[1] >> (i * 8)) & 0x000000ff;
+        hash[i + 8] = (ctx->state[2] >> (i * 8)) & 0x000000ff;
+        hash[i + 12] = (ctx->state[3] >> (i * 8)) & 0x000000ff;
+    }
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/utils/util_md5.h

@@ -0,0 +1,88 @@
+/**
+ ********************************************************************
+ * @file    util_md5.h
+ * @brief   This is the header file for "util_md5.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.
+ *
+ * crypto-algorithms
+ * =================
+ *
+ * About
+ * ---
+ * These are basic implementations of standard cryptography algorithms, written by Brad Conte (brad@bradconte.com) from
+ * scratch and without any cross-licensing. They exist to provide publically accessible, restriction-free implementations
+ * of popular cryptographic algorithms, like AES and SHA-1. These are primarily intended for educational and pragmatic
+ * purposes (such as comparing a specification to actual implementation code, or for building an internal application
+ * that computes test vectors for a product). The algorithms have been tested against standard test vectors.
+ * This code is released into the public domain free of any restrictions. The author requests acknowledgement if the code
+ * is used, but does not require it. This code is provided free of any liability and without any quality claims by the
+ * author.
+ * Note that these are *not* cryptographically secure implementations. They have no resistence to side-channel attacks
+ * and should not be used in contexts that need cryptographically secure implementations.
+ * These algorithms are not optimized for speed or space. They are primarily designed to be easy to read, although some
+ * basic optimization techniques have been employed.
+ * Building
+ * ---
+ * The source code for each algorithm will come in a pair of a source code file and a header file. There should be no
+ * inter-header file dependencies, no additional libraries, no platform-specific header files, or any other complicating
+ * matters. Compiling them should be as easy as adding the relevent source code to the project.
+ *
+ * @statement DJI has modified some symbols' name.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef UTIL_MD5_H
+#define UTIL_MD5_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define MD5_BLOCK_SIZE 16               // MD5 outputs a 16 byte digest
+
+/* Exported types ------------------------------------------------------------*/
+typedef unsigned char BYTE;             // 8-bit byte
+typedef unsigned int WORD;              // 32-bit word, change to "long" for 16-bit machines
+
+typedef struct {
+    BYTE data[64];
+    WORD datalen;
+    unsigned long long bitlen;
+    WORD state[4];
+} MD5_CTX;
+
+/* Exported functions --------------------------------------------------------*/
+void UtilMd5_Init(MD5_CTX *ctx);
+void UtilMd5_Update(MD5_CTX *ctx, const BYTE *data, size_t len);
+void UtilMd5_Final(MD5_CTX *ctx, BYTE *hash);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // UTIL_MD5_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/utils/util_misc.c

@@ -0,0 +1,102 @@
+/**
+ ********************************************************************
+ * @file    util_misc.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 ------------------------------------------------------------------*/
+#ifdef SYSTEM_ARCH_LINUX
+
+#include <stdio.h>
+#include "util_misc.h"
+
+/* Private constants ---------------------------------------------------------*/
+const char *baseStr = "[>>>>>>>>>>>>>---------------------------------------------------------------------------------------]  13%";
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values ------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiUserUtil_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;
+}
+
+T_DjiReturnCode DjiUserUtil_RunSystemCmd(const char *systemCmdStr)
+{
+    FILE *fp;
+
+    fp = popen(systemCmdStr, "r");
+    if (fp == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    pclose(fp);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+void DjiUserUtil_PrintProgressBar(uint16_t currentProgress, uint16_t totalProgress, char *userData)
+{
+    for (int j = 0; j < strlen(baseStr) + strlen(userData) + 4; ++j) {
+        printf("\b");
+    }
+
+    printf("[");
+    for (int j = 0; j < totalProgress; ++j) {
+        if (j < currentProgress) {
+            printf("%c", '>');
+        } else {
+            printf("-");
+        }
+    }
+
+    printf("] ");
+    printf("%3d%%", currentProgress);
+    printf("%s", userData);
+
+    fflush(stdout);
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/utils/util_misc.h

@@ -0,0 +1,58 @@
+/**
+ ********************************************************************
+ * @file    util_misc.h
+ * @brief   This is the header file for "util_misc.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 UTIL_MISC_H
+#define UTIL_MISC_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#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 USER_UTIL_IS_WORK_TURN(step, workfreq, taskfreq)    (!((step) % (uint32_t) ((taskfreq) / (workfreq))))
+#define UTIL_OFFSETOF(type, member)                         ((size_t) & ((type *)0 )-> member)
+#define UTIL_ARRAY_SIZE(array)                              ((unsigned int) (sizeof(array) / sizeof((array)[0])))
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiUserUtil_GetCurrentFileDirPath(const char *filePath, uint32_t pathBufferSize, char *dirPath);
+void DjiUserUtil_PrintProgressBar(uint16_t currentProgress, uint16_t totalProgress, char *userData);
+T_DjiReturnCode DjiUserUtil_RunSystemCmd(const char *systemCmdStr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // UTIL_MISC_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/utils/util_time.c

@@ -0,0 +1,62 @@
+/**
+ ********************************************************************
+ * @file    util_time.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 ------------------------------------------------------------------*/
+#ifdef SYSTEM_ARCH_LINUX
+
+#include "util_time.h"
+#include <sys/resource.h>
+#include <time.h>
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Private values ------------------------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiRunTimeStamps DjiUtilTime_GetRunTimeStamps(void)
+{
+    T_DjiRunTimeStamps timeStamps;
+    struct rusage rusage;
+    struct timespec ts;
+
+    clock_gettime(CLOCK_MONOTONIC, &ts);
+    timeStamps.realUsec = (uint64_t) ts.tv_sec * 1000000 + ts.tv_nsec / 1000;
+
+    getrusage(RUSAGE_SELF, &rusage);
+    timeStamps.userUsec =
+        (rusage.ru_utime.tv_sec * 1000000LL) + rusage.ru_utime.tv_usec;
+    timeStamps.sysUsec =
+        (rusage.ru_stime.tv_sec * 1000000LL) + rusage.ru_stime.tv_usec;
+
+    return timeStamps;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+#endif
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/utils/util_time.h

@@ -0,0 +1,60 @@
+/**
+ ********************************************************************
+ * @file    util_time.h
+ * @brief   This is the header file for "util_time.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_UTIL_TIME_H
+#define DJI_UTIL_TIME_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef SYSTEM_ARCH_LINUX
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    uint64_t realUsec;
+    uint64_t userUsec;
+    uint64_t sysUsec;
+} T_DjiRunTimeStamps;
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiRunTimeStamps DjiUtilTime_GetRunTimeStamps(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+#endif // DJI_DP_UTILS_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/waypoint_v2/test_waypoint_v2.c

@@ -0,0 +1,465 @@
+/**
+ ********************************************************************
+ * @file    test_waypoint_v2.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 "test_waypoint_v2.h"
+#include "dji_waypoint_v2.h"
+#include "dji_fc_subscription.h"
+#include "dji_logger.h"
+#include "dji_platform.h"
+#include "math.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    uint8_t eventID;
+    char *eventStr;
+} T_DjiTestWaypointV2EventStr;
+
+typedef struct {
+    uint8_t missionState;
+    char *stateStr;
+} T_DjiTestWaypointV2StateStr;
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiOsalHandler *osalHandler = NULL;
+static const dji_f32_t TEST_EARTH_RADIUS = 6378137.0;
+static uint32_t s_missionID = 12345;
+//reference note of "T_DjiWaypointV2MissionEventPush"
+static const T_DjiTestWaypointV2EventStr s_waypointV2EventStr[] = {
+    {.eventID = 0x01, .eventStr = "Interrupt Event"},
+    {.eventID = 0x02, .eventStr = "Resume Event"},
+    {.eventID = 0x03, .eventStr = "Stop Event"},
+    {.eventID = 0x10, .eventStr = "Arrival Event"},
+    {.eventID = 0x11, .eventStr = "Finished Event"},
+    {.eventID = 0x12, .eventStr = "Avoid Obstacle Event"},
+    {.eventID = 0x30, .eventStr = "Action Switch Event"},
+    {.eventID = 0xFF, .eventStr = "Unknown"}
+};
+
+//reference note of "T_DjiWaypointV2MissionStatePush"
+static const T_DjiTestWaypointV2StateStr s_waypointV2StateStr[] = {
+    {.missionState = 0x00, .stateStr = "Ground station not start"},
+    {.missionState = 0x01, .stateStr = "Mission prepared"},
+    {.missionState = 0x02, .stateStr = "Enter mission"},
+    {.missionState = 0x03, .stateStr = "Execute mission"},
+    {.missionState = 0x04, .stateStr = "Pause Mission"},
+    {.missionState = 0x05, .stateStr = "Enter mission after ending pause"},
+    {.missionState = 0x06, .stateStr = "Exit mission"},
+    {.missionState = 0xFF, .stateStr = "Unknown"}
+};
+
+/* Private functions declaration ---------------------------------------------*/
+uint8_t DJiTest_WaypointV2GetMissionEventIndex(uint8_t eventID);
+uint8_t DjiTest_WaypointV2GetMissionStateIndex(uint8_t state);
+static T_DJIWaypointV2Action *DjiTest_WaypointV2GenerateWaypointV2Actions(uint16_t actionNum);
+static T_DjiWaypointV2 *DjiTest_WaypointV2GeneratePolygonWaypointV2(dji_f32_t radius, uint16_t polygonNum);
+static void DjiTest_WaypointV2SetDefaultSetting(T_DjiWaypointV2 *waypointV2);
+static T_DjiReturnCode DjiTest_WaypointV2UploadMission(uint16_t missionNum);
+static T_DjiReturnCode DjiTest_WaypointV2EventCallback(T_DjiWaypointV2MissionEventPush eventData);
+static T_DjiReturnCode DjiTest_WaypointV2StateCallback(T_DjiWaypointV2MissionStatePush stateData);
+static T_DjiReturnCode DjiTest_WaypointV2Init(void);
+static T_DjiReturnCode DjiTest_WaypointV2DeInit(void);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_WaypointV2RunSample(void)
+{
+    T_DjiReturnCode returnCode;
+    uint32_t timeOutMs = 1000;
+    uint16_t missionNum = 8;
+    T_DjiWaypointV2GlobalCruiseSpeed setGlobalCruiseSpeed = 0;
+    T_DjiWaypointV2GlobalCruiseSpeed getGlobalCruiseSpeed = 0;
+
+    USER_LOG_INFO("Waypoint V2 sample start");
+    DjiTest_WidgetLogAppend("Waypoint V2 sample start");
+
+    USER_LOG_INFO("--> Step 1: Init Waypoint V2 sample");
+    DjiTest_WidgetLogAppend("--> Step 1: Init Waypoint V2 sample");
+    returnCode = DjiTest_WaypointV2Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Init waypoint V2 sample failed, error code: 0x%08X", returnCode);
+        USER_LOG_INFO("Waypoint V2 sample end");
+        return returnCode;
+    }
+
+    USER_LOG_INFO("--> Step 2: Subscribe gps fused data");
+    DjiTest_WidgetLogAppend("--> Step 2: Subscribe gps fused data");
+    returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_POSITION_FUSED,
+                                                  DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Subscribe gps fused data failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+
+    USER_LOG_INFO("--> Step 3: Register waypoint V2 event and state callback\r\n");
+    DjiTest_WidgetLogAppend("--> Step 3: Register waypoint V2 event and state callback\r\n");
+    returnCode = DjiWaypointV2_RegisterMissionEventCallback(DjiTest_WaypointV2EventCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register waypoint V2 event failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+    returnCode = DjiWaypointV2_RegisterMissionStateCallback(DjiTest_WaypointV2StateCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register waypoint V2 state failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+    osalHandler->TaskSleepMs(timeOutMs);
+
+    USER_LOG_INFO("--> Step 4: Upload waypoint V2 mission\r\n");
+    DjiTest_WidgetLogAppend("--> Step 4: Upload waypoint V2 mission\r\n");
+    returnCode = DjiTest_WaypointV2UploadMission(missionNum);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Upload waypoint V2 mission failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+    osalHandler->TaskSleepMs(timeOutMs);
+
+    USER_LOG_INFO("--> Step 5: Start waypoint V2 mission\r\n");
+    DjiTest_WidgetLogAppend("--> Step 5: Start waypoint V2 mission\r\n");
+    returnCode = DjiWaypointV2_Start();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Start waypoint V2 mission failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+    osalHandler->TaskSleepMs(20 * timeOutMs);
+
+    USER_LOG_INFO("--> Step 6: Set global cruise speed\r\n");
+    DjiTest_WidgetLogAppend("--> Step 6: Set global cruise speed\r\n");
+    setGlobalCruiseSpeed = 1.5;
+    returnCode = DjiWaypointV2_SetGlobalCruiseSpeed(setGlobalCruiseSpeed);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Set global cruise speed failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+    osalHandler->TaskSleepMs(timeOutMs);
+
+    USER_LOG_INFO("--> Step 7: Get global cruise speed\r\n");
+    DjiTest_WidgetLogAppend("--> Step 7: Get global cruise speed\r\n");
+    returnCode = DjiWaypointV2_GetGlobalCruiseSpeed(&getGlobalCruiseSpeed);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get global cruise speed failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+    USER_LOG_INFO("Current global cruise speed is %f m/s", getGlobalCruiseSpeed);
+    osalHandler->TaskSleepMs(timeOutMs);
+
+    USER_LOG_INFO("--> Step 8: Pause waypoint V2 for 5 s\r\n");
+    DjiTest_WidgetLogAppend("--> Step 8: Pause waypoint V2 for 5 s\r\n");
+    returnCode = DjiWaypointV2_Pause();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Pause waypoint V2 failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+    osalHandler->TaskSleepMs(5 * timeOutMs);
+
+    USER_LOG_INFO("--> Step 9: Resume waypoint V2\r\n");
+    DjiTest_WidgetLogAppend("--> Step 9: Resume waypoint V2\r\n");
+    returnCode = DjiWaypointV2_Resume();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Resume waypoint V2 failed, error code: 0x%08X", returnCode);
+        goto out;
+    }
+    osalHandler->TaskSleepMs(50 * timeOutMs);
+
+    USER_LOG_INFO("--> Step 10: Deinit Waypoint V2 sample\r\n");
+    DjiTest_WidgetLogAppend("--> Step 10: Deinit Waypoint V2 sample\r\n");
+out:
+    returnCode = DjiTest_WaypointV2DeInit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Deinit waypoint V2 sample failed, error code: 0x%08X", returnCode);
+    }
+
+    USER_LOG_INFO("Waypoint V2 sample end");
+    DjiTest_WidgetLogAppend("Waypoint V2 sample end");
+
+    return returnCode;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DJIWaypointV2Action *DjiTest_WaypointV2GenerateWaypointV2Actions(uint16_t actionNum)
+{
+    T_DJIWaypointV2Action *actions = NULL;
+    uint16_t i;
+    T_DJIWaypointV2Trigger trigger = {0};
+    T_DJIWaypointV2SampleReachPointTriggerParam sampleReachPointTriggerParam = {0};
+    T_DJIWaypointV2Actuator actuator = {0};
+    T_DJIWaypointV2Action action = {0};
+
+    actions = osalHandler->Malloc(actionNum * sizeof(T_DJIWaypointV2Action));
+    if (actions == NULL) {
+        return NULL;
+    }
+
+    for (i = 0; i < actionNum; i++) {
+        sampleReachPointTriggerParam.waypointIndex = i;
+        sampleReachPointTriggerParam.terminateNum = 0;
+
+        trigger.actionTriggerType = DJI_WAYPOINT_V2_ACTION_TRIGGER_TYPE_SAMPLE_REACH_POINT;
+        trigger.sampleReachPointTriggerParam.terminateNum = sampleReachPointTriggerParam.terminateNum;
+        trigger.sampleReachPointTriggerParam.waypointIndex = sampleReachPointTriggerParam.waypointIndex;
+
+        actuator.actuatorType = DJI_WAYPOINT_V2_ACTION_ACTUATOR_TYPE_CAMERA;
+        actuator.actuatorIndex = 0;
+        actuator.cameraActuatorParam.operationType = DJI_WAYPOINT_V2_ACTION_ACTUATOR_CAMERA_OPERATION_TYPE_TAKE_PHOTO;
+
+        action.actionId = i;
+        memcpy(&action.actuator, &actuator, sizeof(actuator));
+        memcpy(&action.trigger, &trigger, sizeof(trigger));
+
+        actions[i] = action;
+    }
+
+    return actions;
+}
+
+static void DjiTest_WaypointV2SetDefaultSetting(T_DjiWaypointV2 *waypointV2)
+{
+    waypointV2->waypointType = DJI_WAYPOINT_V2_FLIGHT_PATH_MODE_GO_TO_POINT_IN_STRAIGHT_AND_STOP;
+    waypointV2->headingMode = DJI_WAYPOINT_V2_HEADING_MODE_AUTO;
+    waypointV2->config.useLocalMaxVel = 0;
+    waypointV2->config.useLocalCruiseVel = 0;
+    waypointV2->dampingDistance = 40;
+    waypointV2->heading = 0;
+    waypointV2->turnMode = DJI_WAYPOINT_V2_TURN_MODE_CLOCK_WISE;
+
+    waypointV2->pointOfInterest.positionX = 0;
+    waypointV2->pointOfInterest.positionY = 0;
+    waypointV2->pointOfInterest.positionZ = 0;
+    waypointV2->maxFlightSpeed = 9;
+    waypointV2->autoFlightSpeed = 2;
+}
+
+static T_DjiWaypointV2 *DjiTest_WaypointV2GeneratePolygonWaypointV2(dji_f32_t radius, uint16_t polygonNum)
+{
+    // Let's create a vector to store our waypoints in.
+    T_DjiReturnCode returnCode;
+    T_DjiWaypointV2 *waypointV2List = (T_DjiWaypointV2 *) osalHandler->Malloc(
+        (polygonNum + 2) * sizeof(T_DjiWaypointV2));
+    T_DjiWaypointV2 startPoint;
+    T_DjiWaypointV2 waypointV2;
+    T_DjiFcSubscriptionPositionFused positionFused = {0};
+    T_DjiDataTimestamp timestamp = {0};
+
+    osalHandler->TaskSleepMs(1000);
+    returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_POSITION_FUSED,
+                                                         (uint8_t *) &positionFused,
+                                                         sizeof(T_DjiFcSubscriptionPositionFused),
+                                                         &timestamp);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get value of topic GPS Fused error");
+    } else {
+        USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", timestamp.millisecond,
+                       timestamp.microsecond);
+        USER_LOG_DEBUG("Position: %f %f %f %d.", positionFused.latitude, positionFused.longitude,
+                       positionFused.altitude,
+                       positionFused.visibleSatelliteNumber);
+    }
+
+    startPoint.latitude = positionFused.latitude;
+    startPoint.longitude = positionFused.longitude;
+    startPoint.relativeHeight = 15;
+    DjiTest_WaypointV2SetDefaultSetting(&startPoint);
+    waypointV2List[0] = startPoint;
+
+    // Iterative algorithm
+    for (int i = 0; i < polygonNum; i++) {
+        dji_f32_t angle = i * 2 * DJI_PI / polygonNum;
+        DjiTest_WaypointV2SetDefaultSetting(&waypointV2);
+        dji_f32_t X = radius * cos(angle);
+        dji_f32_t Y = radius * sin(angle);
+        waypointV2.latitude = X / TEST_EARTH_RADIUS + startPoint.latitude;
+        waypointV2.longitude = Y / (TEST_EARTH_RADIUS * cos(startPoint.latitude)) + startPoint.longitude;
+        waypointV2.relativeHeight = startPoint.relativeHeight;
+
+        waypointV2List[i + 1] = waypointV2;
+    }
+
+    waypointV2List[polygonNum + 1] = startPoint;
+    return waypointV2List;
+}
+
+uint8_t DJiTest_WaypointV2GetMissionEventIndex(uint8_t eventID)
+{
+    uint8_t i;
+
+    for (i = 0; i < sizeof(s_waypointV2EventStr) / sizeof(T_DjiTestWaypointV2EventStr); i++) {
+        if (s_waypointV2EventStr[i].eventID == eventID) {
+            return i;
+        }
+    }
+
+    return i;
+}
+
+uint8_t DjiTest_WaypointV2GetMissionStateIndex(uint8_t state)
+{
+    uint8_t i;
+
+    for (i = 0; i < sizeof(s_waypointV2StateStr) / sizeof(T_DjiTestWaypointV2StateStr); i++) {
+        if (s_waypointV2StateStr[i].missionState == state) {
+            return i;
+        }
+    }
+
+    return i;
+}
+
+static T_DjiReturnCode DjiTest_WaypointV2EventCallback(T_DjiWaypointV2MissionEventPush eventData)
+{
+    if (eventData.event == 0x01) {
+        USER_LOG_INFO("[%s]: Mission interrupted reason is 0x%x",
+                      s_waypointV2EventStr[DJiTest_WaypointV2GetMissionEventIndex(eventData.event)].eventStr,
+                      eventData.data.interruptReason);
+    } else if (eventData.event == 0x02) {
+        USER_LOG_INFO("[%s]: Mission recover reason is 0x%x",
+                      s_waypointV2EventStr[DJiTest_WaypointV2GetMissionEventIndex(eventData.event)].eventStr,
+                      eventData.data.recoverProcess);
+    } else if (eventData.event == 0x03) {
+        USER_LOG_INFO("[%s]: Mission exit reason is 0x%x",
+                      s_waypointV2EventStr[DJiTest_WaypointV2GetMissionEventIndex(eventData.event)].eventStr,
+                      eventData.data.exitReason);
+    } else if (eventData.event == 0x10) {
+        USER_LOG_INFO("[%s]: Current waypoint index is %d",
+                      s_waypointV2EventStr[DJiTest_WaypointV2GetMissionEventIndex(eventData.event)].eventStr,
+                      eventData.data.waypointIndex);
+    } else if (eventData.event == 0x11) {
+        USER_LOG_INFO("[%s]: Current mission execute times is %d",
+                      s_waypointV2EventStr[DJiTest_WaypointV2GetMissionEventIndex(eventData.event)].eventStr,
+                      eventData.data.T_DjiWaypointV2MissionExecEvent.currentMissionExecTimes);
+    } else if (eventData.event == 0x12) {
+        USER_LOG_INFO("[%s]: avoid obstacle state:%d",
+                      s_waypointV2EventStr[DJiTest_WaypointV2GetMissionEventIndex(eventData.event)].eventStr,
+                      eventData.data.avoidState);
+    } else if (eventData.event == 0x30) {
+        USER_LOG_INFO(
+            "[%s]: action id:%d, pre actuator state:%d, current actuator state:%d, result:0x%08llX",
+            s_waypointV2EventStr[DJiTest_WaypointV2GetMissionEventIndex(eventData.event)].eventStr,
+            eventData.data.T_DjiWaypointV2ActionExecEvent.actionId,
+            eventData.data.T_DjiWaypointV2ActionExecEvent.preActuatorState,
+            eventData.data.T_DjiWaypointV2ActionExecEvent.curActuatorState,
+            eventData.data.T_DjiWaypointV2ActionExecEvent.result
+        );
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_WaypointV2StateCallback(T_DjiWaypointV2MissionStatePush stateData)
+{
+    static uint32_t curMs = 0;
+    static uint32_t preMs = 0;
+    osalHandler->GetTimeMs(&curMs);
+    if (curMs - preMs >= 1000) {
+        preMs = curMs;
+        USER_LOG_INFO("[Waypoint Index:%d]: State: %s, velocity:%.2f m/s",
+                      stateData.curWaypointIndex,
+                      s_waypointV2StateStr[DjiTest_WaypointV2GetMissionStateIndex(stateData.state)].stateStr,
+                      (dji_f32_t) stateData.velocity / 100);
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_WaypointV2Init(void)
+{
+    T_DjiReturnCode returnCode;
+
+    osalHandler = DjiPlatform_GetOsalHandler();
+    if (!osalHandler) return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+
+    returnCode = DjiFcSubscription_Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Init waypoint V2 data subscription module error, stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiWaypointV2_Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Init waypoint V2 module error, stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+}
+
+static T_DjiReturnCode DjiTest_WaypointV2DeInit(void)
+{
+    T_DjiReturnCode returnCode;
+
+    returnCode = DjiFcSubscription_DeInit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Deinit waypoint V2 data subscription module error, stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiWaypointV2_Deinit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Deinit waypoint V2 module error, stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_WaypointV2UploadMission(uint16_t missionNum)
+{
+    T_DjiReturnCode returnCode;
+    uint16_t polygonNum = missionNum - 2;
+    dji_f32_t radius = 6;
+    uint16_t actionNum = 5;
+    T_DjiWayPointV2MissionSettings missionInitSettings = {0};
+    T_DJIWaypointV2ActionList actionList = {NULL, 0};
+
+    /*! Generate actions*/
+    actionList.actions = DjiTest_WaypointV2GenerateWaypointV2Actions(actionNum);
+    actionList.actionNum = actionNum;
+
+    /*! Init waypoint settings*/
+    missionInitSettings.missionID = s_missionID + 10;
+    USER_LOG_DEBUG("Generate mission id:%d", missionInitSettings.missionID);
+    missionInitSettings.repeatTimes = 1;
+    missionInitSettings.finishedAction = DJI_WAYPOINT_V2_FINISHED_GO_HOME;
+    missionInitSettings.maxFlightSpeed = 10;
+    missionInitSettings.autoFlightSpeed = 2;
+    missionInitSettings.actionWhenRcLost = DJI_WAYPOINT_V2_MISSION_KEEP_EXECUTE_WAYPOINT_V2;
+    missionInitSettings.gotoFirstWaypointMode = DJI_WAYPOINT_V2_MISSION_GO_TO_FIRST_WAYPOINT_MODE_POINT_TO_POINT;
+    missionInitSettings.mission = DjiTest_WaypointV2GeneratePolygonWaypointV2(radius, polygonNum);
+    missionInitSettings.missTotalLen = missionNum;
+    missionInitSettings.actionList = actionList;
+
+    returnCode = DjiWaypointV2_UploadMission(&missionInitSettings);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Init waypoint V2 mission setting failed, ErrorCode:0x%lX", returnCode);
+        goto out;
+    }
+
+out:
+    osalHandler->Free(actionList.actions);
+    return returnCode;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/waypoint_v2/test_waypoint_v2.h

@@ -0,0 +1,49 @@
+/**
+ ********************************************************************
+ * @file    test_waypoint_v2.h
+ * @brief   This is the header file for "test_waypoint_v2.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_WAYPOINT_V2_H
+#define TEST_WAYPOINT_V2_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_WaypointV2RunSample(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_WAYPOINT_V2_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c

@@ -0,0 +1,260 @@
+/**
+ ********************************************************************
+ * @file    test_waypoint_v3.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 <utils/util_file.h>
+#include <utils/util_misc.h>
+#include "test_waypoint_v3.h"
+#include "dji_logger.h"
+#include "dji_waypoint_v3.h"
+#include "waypoint_file_c/waypoint_v3_test_file_kmz.h"
+#include "dji_fc_subscription.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX         (256)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiWaypointV3MissionState s_lastWaypointV3MissionState = {0};
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiTest_WaypointV3MissionStateCallback(T_DjiWaypointV3MissionState missionState);
+static T_DjiReturnCode DjiTest_WaypointV3ActionStateCallback(T_DjiWaypointV3ActionState actionState);
+static T_DjiReturnCode DjiTest_WaypointV3WaitEndFlightStatus(T_DjiFcSubscriptionFlightStatus status);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiFcSubscriptionFlightStatus flightStatus = 0;
+    T_DjiDataTimestamp flightStatusTimestamp = {0};
+
+#ifdef SYSTEM_ARCH_LINUX
+    FILE *kmzFile = NULL;
+    uint32_t kmzFileSize = 0;
+    uint8_t *kmzFileBuf;
+    uint16_t readLen;
+    char curFileDirPath[DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX];
+    char tempPath[DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX];
+
+    returnCode = DjiWaypointV3_Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Waypoint v3 init failed.");
+        return returnCode;
+    }
+
+    returnCode = DjiWaypointV3_RegMissionStateCallback(DjiTest_WaypointV3MissionStateCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register waypoint v3 state callback failed.");
+        goto out;
+    }
+
+    returnCode = DjiWaypointV3_RegActionStateCallback(DjiTest_WaypointV3ActionStateCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register waypoint v3 action state callback failed.");
+        goto out;
+    }
+
+    returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX,
+                                                   curFileDirPath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
+        goto out;
+    }
+
+    /*! Attention: suggest use the exported kmz file by DJI pilot. If use this test file, you need set the longitude as
+     * 113.94255, latitude as 22.57765 on DJI Assistant 2 simulator */
+    snprintf(tempPath, DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX, "%s/waypoint_file/waypoint_v3_test_file.kmz",
+             curFileDirPath);
+
+    kmzFile = fopen(tempPath, "r");
+    if (kmzFile == NULL) {
+        USER_LOG_ERROR("Open kmz file failed.");
+        goto out;
+    }
+
+    returnCode = UtilFile_GetFileSize(kmzFile, &kmzFileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get kmz file size failed.");
+        goto close_file;
+    }
+
+    kmzFileBuf = osalHandler->Malloc(kmzFileSize);
+    if (kmzFileBuf == NULL) {
+        USER_LOG_ERROR("Malloc kmz file buf error.");
+        goto close_file;
+    }
+
+    readLen = fread(kmzFileBuf, 1, kmzFileSize, kmzFile);
+    if (readLen != kmzFileSize) {
+        USER_LOG_ERROR("Read kmz file data failed.");
+        goto close_file;
+    }
+
+    returnCode = DjiWaypointV3_UploadKmzFile(kmzFileBuf, kmzFileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Upload kmz file failed.");
+        goto close_file;
+    }
+
+    osalHandler->Free(kmzFileBuf);
+#else
+    returnCode = DjiWaypointV3_UploadKmzFile(waypoint_v3_test_file_kmz_fileBinaryArray,
+                                             waypoint_v3_test_file_kmz_fileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Upload kmz file binary array failed.");
+        return returnCode;
+    }
+#endif
+
+    USER_LOG_INFO("Execute start action");
+    returnCode = DjiWaypointV3_Action(DJI_WAYPOINT_V3_ACTION_START);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Execute start action failed.");
+        goto close_file;
+    }
+
+close_file:
+#ifdef SYSTEM_ARCH_LINUX
+    returnCode = fclose(kmzFile);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Close KMZ file failed.");
+    }
+    kmzFile = NULL;
+#endif
+
+    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("Subscribe topic flight status failed, error code:0x%08llX", returnCode);
+        goto out;
+    }
+
+    USER_LOG_INFO("The aircraft is on the ground and motors are stoped...");
+    returnCode = DjiTest_WaypointV3WaitEndFlightStatus(DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_STOPED);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Wait end flight status error.");
+        goto out;
+    }
+
+    USER_LOG_INFO("The aircraft is on the ground and motors are rotating...");
+    returnCode = DjiTest_WaypointV3WaitEndFlightStatus(DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_ON_GROUND);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Wait end flight status error.");
+        goto out;
+    }
+
+    USER_LOG_INFO("The aircraft is in the air...");
+    returnCode = DjiTest_WaypointV3WaitEndFlightStatus(DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Wait end flight status error.");
+        goto out;
+    }
+
+    USER_LOG_INFO("The aircraft is on the ground and motors are rotating...");
+    returnCode = DjiTest_WaypointV3WaitEndFlightStatus(DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_ON_GROUND);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Wait end flight status error.");
+        goto out;
+    }
+
+    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);
+        goto out;
+    }
+
+    if (flightStatus != DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_STOPED) {
+        USER_LOG_ERROR("Aircraft's flight status error, motors are not stoped.");
+        goto out;
+    }
+
+    USER_LOG_INFO("The aircraft is on the ground now, and motor are stoped.");
+
+out:
+#ifdef SYSTEM_ARCH_LINUX
+    if (kmzFile != NULL) {
+        fclose(kmzFile);
+    }
+#endif
+
+    return DjiWaypointV3_DeInit();
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiTest_WaypointV3MissionStateCallback(T_DjiWaypointV3MissionState missionState)
+{
+    if (s_lastWaypointV3MissionState.state == missionState.state
+        && s_lastWaypointV3MissionState.currentWaypointIndex == missionState.currentWaypointIndex
+        && s_lastWaypointV3MissionState.wayLineId == missionState.wayLineId) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
+    USER_LOG_INFO("Waypoint v3 mission state: %d, current waypoint index: %d, wayLine id: %d", missionState.state,
+                  missionState.currentWaypointIndex, missionState.wayLineId);
+
+    memcpy(&s_lastWaypointV3MissionState, &missionState, sizeof(T_DjiWaypointV3MissionState));
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_WaypointV3ActionStateCallback(T_DjiWaypointV3ActionState actionState)
+{
+    USER_LOG_INFO(
+        "Waypoint v3 action state: %d, current waypoint index: %d, wayLine id: %d, action group: %d, action id: %d",
+        actionState.state,
+        actionState.currentWaypointIndex, actionState.wayLineId,
+        actionState.actionGroupId, actionState.actionId);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_WaypointV3WaitEndFlightStatus(T_DjiFcSubscriptionFlightStatus status) {
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiDataTimestamp flightStatusTimestamp = {0};
+    T_DjiFcSubscriptionFlightStatus flightStatus = 0;
+
+    do {
+        osalHandler->TaskSleepMs(20);
+
+        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);
+        }
+    } while(flightStatus == status);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.h

@@ -0,0 +1,49 @@
+/**
+ ********************************************************************
+ * @file    test_waypoint_v3.h
+ * @brief   This is the header file for "test_waypoint_v3.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_WAYPOINT_V3_H
+#define TEST_WAYPOINT_V3_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_WaypointV3RunSample(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_WAYPOINT_V3_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/waypoint_v3/waypoint_file_c/waypoint_v3_test_file_kmz.h

@@ -0,0 +1,255 @@
+/* Generated by file2c, do not edit manually */
+#ifndef __waypoint_v3_test_file_kmz_h_included
+#define __waypoint_v3_test_file_kmz_h_included
+
+#include <stdint.h>
+
+/* Contents of file waypoint_v3_test_file.kmz */
+#define waypoint_v3_test_file_kmz_fileName        "waypoint_v3_test_file.kmz"
+#define waypoint_v3_test_file_kmz_fileSize        3856
+
+static const uint8_t waypoint_v3_test_file_kmz_fileBinaryArray[3856] = {
+    0x50, 0x4B, 0x03, 0x04, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x8A, 0x81, 0x3E, 0x56, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x77, 0x70,
+    0x6D, 0x7A, 0x2F, 0x74, 0x65, 0x6D, 0x70, 0x6C, 0x61, 0x74, 0x65, 0x2E, 0x6B, 0x6D, 0x6C, 0xED,
+    0x5C, 0xCD, 0x72, 0xDB, 0x36, 0x10, 0xBE, 0xE7, 0x29, 0x3C, 0x3E, 0xA7, 0x12, 0x00, 0xFE, 0x80,
+    0xCC, 0x28, 0xCC, 0xA4, 0x76, 0xEC, 0x64, 0x26, 0x6D, 0x34, 0x91, 0x53, 0x4F, 0x8F, 0x30, 0x05,
+    0x49, 0xA8, 0x49, 0x42, 0x25, 0xC1, 0xC8, 0xCE, 0xB1, 0xA7, 0x3E, 0x4B, 0xDF, 0xA0, 0x4F, 0xD4,
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+    0x72, 0x4B, 0xFD, 0xCE, 0x27, 0x4D, 0x0D, 0x9A, 0x1A, 0x1E, 0x31, 0x35, 0x60, 0xC7, 0x72, 0x30,
+    0x06, 0xD5, 0x1E, 0x24, 0xB6, 0x4C, 0x64, 0xDB, 0x0E, 0xC2, 0xF6, 0xAE, 0x5B, 0x0D, 0x40, 0xBF,
+    0x62, 0x44, 0x53, 0x83, 0xA6, 0x86, 0xFB, 0xA7, 0x86, 0x41, 0x7F, 0xF9, 0x67, 0x69, 0x06, 0xFD,
+    0xE5, 0x9F, 0x7A, 0x1A, 0x64, 0x7F, 0x2E, 0x6A, 0xF8, 0xE4, 0x7F, 0x50, 0x4B, 0x07, 0x08, 0x9F,
+    0x7E, 0x60, 0xC2, 0x2B, 0x07, 0x00, 0x00, 0x7E, 0x6A, 0x00, 0x00, 0x50, 0x4B, 0x01, 0x02, 0x14,
+    0x00, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x8A, 0x81, 0x3E, 0x56, 0xF2, 0xB2, 0xDF, 0xE7, 0xD1,
+    0x06, 0x00, 0x00, 0x66, 0x4D, 0x00, 0x00, 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x77, 0x70, 0x6D, 0x7A, 0x2F, 0x74, 0x65,
+    0x6D, 0x70, 0x6C, 0x61, 0x74, 0x65, 0x2E, 0x6B, 0x6D, 0x6C, 0x50, 0x4B, 0x01, 0x02, 0x14, 0x00,
+    0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x8A, 0x81, 0x3E, 0x56, 0x9F, 0x7E, 0x60, 0xC2, 0x2B, 0x07,
+    0x00, 0x00, 0x7E, 0x6A, 0x00, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x10, 0x07, 0x00, 0x00, 0x77, 0x70, 0x6D, 0x7A, 0x2F, 0x77, 0x61, 0x79,
+    0x6C, 0x69, 0x6E, 0x65, 0x73, 0x2E, 0x77, 0x70, 0x6D, 0x6C, 0x50, 0x4B, 0x05, 0x06, 0x00, 0x00,
+    0x00, 0x00, 0x02, 0x00, 0x02, 0x00, 0x7F, 0x00, 0x00, 0x00, 0x7B, 0x0E, 0x00, 0x00, 0x00, 0x00
+};
+
+#endif    /* __waypoint_v3_test_file_kmz_h_included */

PSDK/samples/sample_c/module_sample/widget/file_binary_array_list_en.c

@@ -0,0 +1,58 @@
+/**
+ ********************************************************************
+ * @file    file_binary_array_list_en.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 "file_binary_array_list_en.h"
+
+#include "widget_file_c/en_big_screen/icon_button1_png.h"
+#include "widget_file_c/en_big_screen/icon_button2_png.h"
+#include "widget_file_c/en_big_screen/icon_list_item1_png.h"
+#include "widget_file_c/en_big_screen/icon_list_item2_png.h"
+#include "widget_file_c/en_big_screen/icon_scale_png.h"
+#include "widget_file_c/en_big_screen/icon_switch_select_png.h"
+#include "widget_file_c/en_big_screen/icon_switch_unselect_png.h"
+#include "widget_file_c/en_big_screen/widget_config_json.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Export types -------------------------------------------------------------*/
+// English language file binary array list
+static T_DjiWidgetFileBinaryArray s_EnWidgetFileBinaryArrayList[] = {
+    {widget_config_json_fileName, widget_config_json_fileSize, widget_config_json_fileBinaryArray},
+
+    {icon_button1_png_fileName, icon_button1_png_fileSize, icon_button1_png_fileBinaryArray},
+    {icon_button2_png_fileName, icon_button2_png_fileSize, icon_button2_png_fileBinaryArray},
+    {icon_list_item1_png_fileName, icon_list_item1_png_fileSize, icon_list_item1_png_fileBinaryArray},
+    {icon_list_item2_png_fileName, icon_list_item2_png_fileSize, icon_list_item2_png_fileBinaryArray},
+    {icon_scale_png_fileName, icon_scale_png_fileSize, icon_scale_png_fileBinaryArray},
+    {icon_switch_select_png_fileName, icon_switch_select_png_fileSize, icon_switch_select_png_fileBinaryArray},
+    {icon_switch_unselect_png_fileName, icon_switch_unselect_png_fileSize, icon_switch_unselect_png_fileBinaryArray}
+};
+
+/* Export values -------------------------------------------------------------*/
+uint32_t g_EnBinaryArrayCount = sizeof(s_EnWidgetFileBinaryArrayList) / sizeof(T_DjiWidgetFileBinaryArray);
+T_DjiWidgetFileBinaryArray * g_EnFileBinaryArrayList = s_EnWidgetFileBinaryArrayList;
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/widget/file_binary_array_list_en.h

@@ -0,0 +1,57 @@
+/**
+ ********************************************************************
+ * @file    file_binary_array_list_en.h
+ * @brief   This is the header file for "file_binary_array_list_en.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 FILE_BINARY_ARRAY_LIST_EN_H
+#define FILE_BINARY_ARRAY_LIST_EN_H
+
+#include <stdint.h>
+#include <dji_widget.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+
+extern uint32_t g_EnBinaryArrayCount;
+extern T_DjiWidgetFileBinaryArray * g_EnFileBinaryArrayList;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // FILE_BINARY_ARRAY_LIST_EN_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/widget/test_widget.c

@@ -0,0 +1,251 @@
+/**
+ ********************************************************************
+ * @file    test_widget.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_widget.h"
+#include <dji_widget.h>
+#include <dji_logger.h>
+#include "../utils/util_misc.h"
+#include <dji_platform.h>
+#include <stdio.h>
+#include "dji_sdk_config.h"
+#include "file_binary_array_list_en.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define WIDGET_DIR_PATH_LEN_MAX         (256)
+#define WIDGET_TASK_STACK_SIZE          (2048)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+static void *DjiTest_WidgetTask(void *arg);
+static T_DjiReturnCode DjiTestWidget_SetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
+                                                    void *userData);
+static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t *value,
+                                                    void *userData);
+
+/* Private values ------------------------------------------------------------*/
+static T_DjiTaskHandle s_widgetTestThread;
+static bool s_isWidgetFileDirPathConfigured = false;
+static char s_widgetFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
+
+static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
+    {0, DJI_WIDGET_TYPE_BUTTON,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {1, DJI_WIDGET_TYPE_LIST,          DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {2, DJI_WIDGET_TYPE_SWITCH,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {3, DJI_WIDGET_TYPE_SCALE,         DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {4, DJI_WIDGET_TYPE_BUTTON,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {5, DJI_WIDGET_TYPE_SCALE,         DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {6, DJI_WIDGET_TYPE_INT_INPUT_BOX, DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {7, DJI_WIDGET_TYPE_SWITCH,        DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+    {8, DJI_WIDGET_TYPE_LIST,          DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},
+};
+
+static const char *s_widgetTypeNameArray[] = {
+    "Unknown",
+    "Button",
+    "Switch",
+    "Scale",
+    "List",
+    "Int input box"
+};
+
+static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem);
+static int32_t s_widgetValueList[sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem)] = {0};
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_WidgetStartService(void)
+{
+    T_DjiReturnCode djiStat;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    //Step 1 : Init DJI Widget
+    djiStat = DjiWidget_Init();
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Dji test widget init error, stat = 0x%08llX", djiStat);
+        return djiStat;
+    }
+
+#ifdef SYSTEM_ARCH_LINUX
+    //Step 2 : Set UI Config (Linux environment)
+    char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX];
+    char tempPath[WIDGET_DIR_PATH_LEN_MAX];
+    djiStat = DjiUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", djiStat);
+        return djiStat;
+    }
+
+    if (s_isWidgetFileDirPathConfigured == true) {
+        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", s_widgetFileDirPath);
+    } else {
+        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", curFileDirPath);
+    }
+
+    //set default ui config path
+    djiStat = DjiWidget_RegDefaultUiConfigByDirPath(tempPath);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Add default widget ui config error, stat = 0x%08llX", djiStat);
+        return djiStat;
+    }
+
+    //set ui config for English language
+    djiStat = DjiWidget_RegUiConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_ENGLISH,
+                                             DJI_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
+                                             tempPath);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Add widget ui config error, stat = 0x%08llX", djiStat);
+        return djiStat;
+    }
+
+    //set ui config for Chinese language
+    if (s_isWidgetFileDirPathConfigured == true) {
+        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", s_widgetFileDirPath);
+    } else {
+        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", curFileDirPath);
+    }
+
+    djiStat = DjiWidget_RegUiConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_CHINESE,
+                                             DJI_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
+                                             tempPath);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Add widget ui config error, stat = 0x%08llX", djiStat);
+        return djiStat;
+    }
+#else
+    //Step 2 : Set UI Config (RTOS environment)
+    T_DjiWidgetBinaryArrayConfig enWidgetBinaryArrayConfig = {
+        .binaryArrayCount = g_EnBinaryArrayCount,
+        .fileBinaryArrayList = g_EnFileBinaryArrayList
+    };
+
+    //set default ui config
+    djiStat = DjiWidget_RegDefaultUiConfigByBinaryArray(&enWidgetBinaryArrayConfig);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Add default widget ui config error, stat = 0x%08llX", djiStat);
+        return djiStat;
+    }
+#endif
+    //Step 3 : Set widget handler list
+    djiStat = DjiWidget_RegHandlerList(s_widgetHandlerList, s_widgetHandlerListCount);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Set widget handler list error, stat = 0x%08llX", djiStat);
+        return djiStat;
+    }
+
+    //Step 4 : Run widget api sample task
+    if (osalHandler->TaskCreate("user_widget_task", DjiTest_WidgetTask, WIDGET_TASK_STACK_SIZE, NULL,
+                                &s_widgetTestThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Dji widget test task create error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_WidgetSetConfigFilePath(const char *path)
+{
+    memset(s_widgetFileDirPath, 0, sizeof(s_widgetFileDirPath));
+    memcpy(s_widgetFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_widgetFileDirPath) - 1));
+    s_isWidgetFileDirPathConfigured = true;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+__attribute__((weak)) void DjiTest_WidgetLogAppend(const char *fmt, ...)
+{
+
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#pragma GCC diagnostic ignored "-Wformat"
+#endif
+
+/* Private functions definition-----------------------------------------------*/
+static void *DjiTest_WidgetTask(void *arg)
+{
+    char message[DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN];
+    uint32_t sysTimeMs = 0;
+    T_DjiReturnCode djiStat;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        djiStat = osalHandler->GetTimeMs(&sysTimeMs);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Get system time ms error, stat = 0x%08llX", djiStat);
+        }
+
+#ifndef USER_FIRMWARE_MAJOR_VERSION
+        snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "System time : %u ms", sysTimeMs);
+#else
+        snprintf(message, DJI_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN,
+                 "System time : %u ms\r\nVersion: v%02d.%02d.%02d.%02d\r\nBuild time: %s %s", sysTimeMs,
+                 USER_FIRMWARE_MAJOR_VERSION, USER_FIRMWARE_MINOR_VERSION,
+                 USER_FIRMWARE_MODIFY_VERSION, USER_FIRMWARE_DEBUG_VERSION,
+                 __DATE__, __TIME__);
+#endif
+
+
+        djiStat = DjiWidgetFloatingWindow_ShowMessage(message);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Floating window show message error, stat = 0x%08llX", djiStat);
+        }
+
+        osalHandler->TaskSleepMs(1000);
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+static T_DjiReturnCode DjiTestWidget_SetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value,
+                                                    void *userData)
+{
+    USER_UTIL_UNUSED(userData);
+
+    USER_LOG_INFO("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d",
+                  s_widgetTypeNameArray[widgetType], index, value);
+    s_widgetValueList[index] = value;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTestWidget_GetWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t *value,
+                                                    void *userData)
+{
+    USER_UTIL_UNUSED(userData);
+    USER_UTIL_UNUSED(widgetType);
+
+    *value = s_widgetValueList[index];
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/widget/test_widget.h

@@ -0,0 +1,51 @@
+/**
+ ********************************************************************
+ * @file    test_widget.h
+ * @brief   This is the header file for "test_widget.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_WIDGET_H
+#define TEST_WIDGET_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <dji_typedef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_WidgetStartService(void);
+T_DjiReturnCode DjiTest_WidgetSetConfigFilePath(const char *path);
+__attribute__((weak)) void DjiTest_WidgetLogAppend(const char *fmt, ...);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_WIDGET_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/widget/test_widget_speaker.c

@@ -0,0 +1,800 @@
+/**
+ ********************************************************************
+ * @file    test_widget_speaker.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_widget_speaker.h"
+#include "dji_logger.h"
+#include <stdlib.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include "utils/util_misc.h"
+#include "utils/util_md5.h"
+#include <dji_aircraft_info.h>
+
+#ifdef OPUS_INSTALLED
+
+#include <opus/opus.h>
+
+#endif
+
+/* Private constants ---------------------------------------------------------*/
+#define WIDGET_SPEAKER_TASK_STACK_SIZE          (2048)
+
+/*! Attention: replace your audio device name here. */
+#define WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME    "alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo"
+
+#define WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME     "test_audio.opus"
+#define WIDGET_SPEAKER_AUDIO_PCM_FILE_NAME      "test_audio.pcm"
+
+#define WIDGET_SPEAKER_TTS_FILE_NAME            "test_tts.txt"
+#define WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME     "tts_audio.wav"
+#define WIDGET_SPEAKER_TTS_FILE_MAX_SIZE        (3000)
+
+/* The frame size is hardcoded for this sample code but it doesn't have to be */
+#define WIDGET_SPEAKER_AUDIO_OPUS_MAX_PACKET_SIZE          (3 * 1276)
+#define WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE           (6 * 960)
+#define WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE              (16000)
+#define WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS                 (1)
+
+#define WIDGET_SPEAKER_AUDIO_OPUS_DECODE_FRAME_SIZE_8KBPS  (40)
+#define WIDGET_SPEAKER_AUDIO_OPUS_DECODE_BITRATE_8KBPS     (8000)
+
+/* The speaker initialization parameters */
+#define WIDGET_SPEAKER_DEFAULT_VOLUME                (60)
+#define EKHO_INSTALLED                               (1)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiWidgetSpeakerHandler s_speakerHandler = {0};
+static T_DjiMutexHandle s_speakerMutex = {0};
+static T_DjiWidgetSpeakerState s_speakerState = {0};
+static T_DjiTaskHandle s_widgetSpeakerTestThread;
+
+static FILE *s_audioFile = NULL;
+static FILE *s_ttsFile = NULL;
+static bool s_isDecodeFinished = true;
+static uint16_t s_decodeBitrate = 0;
+
+/* Private functions declaration ---------------------------------------------*/
+static void SetSpeakerState(E_DjiWidgetSpeakerState speakerState);
+static T_DjiReturnCode GetSpeakerState(T_DjiWidgetSpeakerState *speakerState);
+static T_DjiReturnCode SetWorkMode(E_DjiWidgetSpeakerWorkMode workMode);
+static T_DjiReturnCode SetPlayMode(E_DjiWidgetSpeakerPlayMode playMode);
+static T_DjiReturnCode StartPlay(void);
+static T_DjiReturnCode StopPlay(void);
+static T_DjiReturnCode SetVolume(uint8_t volume);
+static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
+                                      uint32_t offset, uint8_t *buf, uint16_t size);
+static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
+                                        uint32_t offset, uint8_t *buf, uint16_t size);
+#ifdef SYSTEM_ARCH_LINUX
+static void *DjiTest_WidgetSpeakerTask(void *arg);
+static uint32_t DjiTest_GetVoicePlayProcessId(void);
+static uint32_t DjiTest_KillVoicePlayProcess(uint32_t pid);
+static T_DjiReturnCode DjiTest_DecodeAudioData(void);
+static T_DjiReturnCode DjiTest_PlayAudioData(void);
+static T_DjiReturnCode DjiTest_PlayTtsData(void);
+static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, uint16_t size);
+#endif
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    s_speakerHandler.GetSpeakerState = GetSpeakerState;
+    s_speakerHandler.SetWorkMode = SetWorkMode;
+    s_speakerHandler.StartPlay = StartPlay;
+    s_speakerHandler.StopPlay = StopPlay;
+    s_speakerHandler.SetPlayMode = SetPlayMode;
+    s_speakerHandler.SetVolume = SetVolume;
+    s_speakerHandler.ReceiveTtsData = ReceiveTtsData;
+    s_speakerHandler.ReceiveVoiceData = ReceiveAudioData;
+
+    returnCode = osalHandler->MutexCreate(&s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Create speaker mutex error: 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiWidget_RegSpeakerHandler(&s_speakerHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register speaker handler error: 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_IDEL;
+    s_speakerState.workMode = DJI_WIDGET_SPEAKER_WORK_MODE_VOICE;
+    s_speakerState.playMode = DJI_WIDGET_SPEAKER_PLAY_MODE_SINGLE_PLAY;
+
+    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    returnCode = SetVolume(WIDGET_SPEAKER_DEFAULT_VOLUME);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Set speaker volume error: 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+#ifdef SYSTEM_ARCH_LINUX
+    if (osalHandler->TaskCreate("user_widget_speaker_task", DjiTest_WidgetSpeakerTask, WIDGET_SPEAKER_TASK_STACK_SIZE,
+                                NULL,
+                                &s_widgetSpeakerTestThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Dji widget speaker test task create error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+#endif
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+#ifdef SYSTEM_ARCH_LINUX
+
+static uint32_t DjiTest_GetVoicePlayProcessId(void)
+{
+    FILE *fp;
+    char cmdStr[128];
+    uint32_t pid;
+    int ret;
+
+    snprintf(cmdStr, 128, "pgrep ffplay");
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        USER_LOG_ERROR("fp is null.");
+        return 0;
+    }
+
+    ret = fscanf(fp, "%u", &pid);
+    if (ret <= 0) {
+        pid = 0;
+        goto out;
+    }
+
+out:
+    pclose(fp);
+
+    return pid;
+}
+
+static uint32_t DjiTest_KillVoicePlayProcess(uint32_t pid)
+{
+    FILE *fp;
+    char cmdStr[128];
+
+    snprintf(cmdStr, 128, "kill %d", pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        USER_LOG_ERROR("fp is null.");
+        return 0;
+    }
+
+    pclose(fp);
+
+    return pid;
+}
+
+static T_DjiReturnCode DjiTest_DecodeAudioData(void)
+{
+#ifdef OPUS_INSTALLED
+    FILE *fin;
+    FILE *fout;
+    OpusDecoder *decoder;
+    opus_int16 out[WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS];
+    uint8_t cbits[WIDGET_SPEAKER_AUDIO_OPUS_MAX_PACKET_SIZE];
+    int32_t nbBytes;
+    int32_t err;
+
+    /*! Attention: you can use "ffmpeg -i xxx.mp3 -ar 16000 -ac 1 out.wav" and use opus-tools to generate opus file for test */
+    fin = fopen(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, "r");
+    if (fin == NULL) {
+        fprintf(stderr, "failed to open input file: %s\n", strerror(errno));
+        return EXIT_FAILURE;
+    }
+
+    /* Create a new decoder state. */
+    decoder = opus_decoder_create(WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE, WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS, &err);
+    if (err < 0) {
+        fprintf(stderr, "failed to create decoder: %s\n", opus_strerror(err));
+        goto close_fin;
+    }
+
+    fout = fopen(WIDGET_SPEAKER_AUDIO_PCM_FILE_NAME, "w");
+    if (fout == NULL) {
+        fprintf(stderr, "failed to open output file: %s\n", strerror(errno));
+        goto close_fin;
+    }
+
+    while (1) {
+        int i;
+        unsigned char pcm_bytes[WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS * 2];
+        int frame_size;
+
+        /* Read a 16 bits/sample audio frame. */
+        nbBytes = fread(cbits, 1, s_decodeBitrate / WIDGET_SPEAKER_AUDIO_OPUS_DECODE_BITRATE_8KBPS *
+                                  WIDGET_SPEAKER_AUDIO_OPUS_DECODE_FRAME_SIZE_8KBPS, fin);
+        if (feof(fin))
+            break;
+
+        /* Decode the data. In this example, frame_size will be constant because
+           the encoder is using a constant frame size. However, that may not
+           be the case for all encoders, so the decoder must always check
+           the frame size returned. */
+        frame_size = opus_decode(decoder, cbits, nbBytes, out, WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE, 0);
+        if (frame_size < 0) {
+            fprintf(stderr, "decoder failed: %s\n", opus_strerror(frame_size));
+            goto close_fout;
+        }
+
+        USER_LOG_DEBUG("decode data to file: %d\r\n", frame_size * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS);
+        /* Convert to little-endian ordering. */
+        for (i = 0; i < WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS * frame_size; i++) {
+            pcm_bytes[2 * i] = out[i] & 0xFF;
+            pcm_bytes[2 * i + 1] = (out[i] >> 8) & 0xFF;
+        }
+        /* Write the decoded audio to file. */
+        fwrite(pcm_bytes, sizeof(short), frame_size * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS, fout);
+    }
+
+    USER_LOG_INFO("Decode Finished...");
+    s_isDecodeFinished = true;
+
+decode_data_failed:
+    opus_decoder_destroy(decoder);
+create_decoder_failed:
+    fclose(fout);
+open_pcm_audio_failed:
+    fclose(fin);
+#endif
+    return EXIT_SUCCESS;
+
+#ifdef OPUS_INSTALLED
+close_fout:
+    fclose(fout);
+
+close_fin:
+    fclose(fin);
+
+    return EXIT_FAILURE;
+#endif
+
+}
+
+static T_DjiReturnCode DjiTest_PlayAudioData(void)
+{
+    char cmdStr[128];
+
+    memset(cmdStr, 0, sizeof(cmdStr));
+    USER_LOG_INFO("Start Playing...");
+
+    snprintf(cmdStr, sizeof(cmdStr), "ffplay -nodisp -autoexit -ar 16000 -ac 1 -f s16le -i %s 2>/dev/null",
+             WIDGET_SPEAKER_AUDIO_PCM_FILE_NAME);
+
+    return DjiUserUtil_RunSystemCmd(cmdStr);
+}
+
+static T_DjiReturnCode DjiTest_PlayTtsData(void)
+{
+    FILE *txtFile;
+    uint8_t data[WIDGET_SPEAKER_TTS_FILE_MAX_SIZE] = {0};
+    int32_t readLen;
+    char cmdStr[WIDGET_SPEAKER_TTS_FILE_MAX_SIZE + 128];
+    T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+    T_DjiReturnCode returnCode;
+
+    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;
+    }
+
+    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
+        return DjiTest_PlayAudioData();
+    } else {
+        txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");
+        if (txtFile == NULL) {
+            USER_LOG_ERROR("failed to open input file: %s\n", strerror(errno));
+            return EXIT_FAILURE;
+        }
+
+        readLen = fread(data, 1, WIDGET_SPEAKER_TTS_FILE_MAX_SIZE - 1, txtFile);
+        if (readLen <= 0) {
+            USER_LOG_ERROR("Read tts file failed, error code: %d", readLen);
+            fclose(txtFile);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+        }
+
+        data[readLen] = '\0';
+
+        fclose(txtFile);
+
+        USER_LOG_INFO("Read tts file success, len: %d", readLen);
+        USER_LOG_INFO("Content: %s", data);
+
+        memset(cmdStr, 0, sizeof(cmdStr));
+
+        SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IN_TTS_CONVERSION);
+
+#if EKHO_INSTALLED
+        /*! Attention: you can use other tts opensource function to convert txt to speech, example used ekho v7.5 */
+        snprintf(cmdStr, sizeof(cmdStr), " ekho %s -s 20 -p 20 -a 100 -o %s", data,
+                 WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
+#else
+        USER_LOG_WARN(
+        "Ekho is not installed, please visit https://www.eguidedog.net/ekho.php to install it or use other TTS tools to convert audio");
+#endif
+        DjiUserUtil_RunSystemCmd(cmdStr);
+
+        SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_PLAYING);
+        USER_LOG_INFO("Start TTS Playing...");
+        memset(cmdStr, 0, sizeof(cmdStr));
+        snprintf(cmdStr, sizeof(cmdStr), "ffplay -nodisp -autoexit -ar 16000 -ac 1 -f s16le -i %s 2>/dev/null",
+                 WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
+
+        return DjiUserUtil_RunSystemCmd(cmdStr);
+    }
+}
+
+static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, uint16_t size)
+{
+    MD5_CTX md5Ctx;
+    uint32_t readFileTotalSize = 0;
+    uint16_t readLen;
+    T_DjiReturnCode returnCode;
+    uint8_t readBuf[1024] = {0};
+    uint8_t md5Sum[16] = {0};
+    FILE *file = NULL;;
+
+    UtilMd5_Init(&md5Ctx);
+
+    file = fopen(path, "rb");
+    if (file == NULL) {
+        USER_LOG_ERROR("Open tts file error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    while (1) {
+        returnCode = fseek(file, readFileTotalSize, SEEK_SET);
+        if (returnCode != 0) {
+            USER_LOG_INFO("fseek file error");
+        }
+
+        readLen = fread(readBuf, 1, sizeof(readBuf), file);
+        if (readLen > 0) {
+            readFileTotalSize += readLen;
+            UtilMd5_Update(&md5Ctx, readBuf, readLen);
+        }
+
+        if (feof(file))
+            break;
+    }
+
+    UtilMd5_Final(&md5Ctx, md5Sum);
+    fclose(file);
+
+    if (size == sizeof(md5Sum)) {
+        if (memcmp(md5Sum, buf, sizeof(md5Sum)) == 0) {
+            USER_LOG_INFO("MD5 sum check success");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+        } else {
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    } else {
+        USER_LOG_ERROR("MD5 sum length error");
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#endif
+
+static void SetSpeakerState(E_DjiWidgetSpeakerState speakerState)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+    }
+
+    s_speakerState.state = speakerState;
+
+    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+    }
+}
+
+static T_DjiReturnCode GetSpeakerState(T_DjiWidgetSpeakerState *speakerState)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    *speakerState = s_speakerState;
+
+    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetWorkMode(E_DjiWidgetSpeakerWorkMode workMode)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("Set widget speaker work mode: %d", workMode);
+    s_speakerState.workMode = workMode;
+
+    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetPlayMode(E_DjiWidgetSpeakerPlayMode playMode)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("Set widget speaker play mode: %d", playMode);
+    s_speakerState.playMode = playMode;
+
+    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode StartPlay(void)
+{
+    uint32_t pid;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+#ifdef SYSTEM_ARCH_LINUX
+    pid = DjiTest_GetVoicePlayProcessId();
+    if (pid != 0) {
+        DjiTest_KillVoicePlayProcess(pid);
+    }
+#endif
+
+    osalHandler->TaskSleepMs(5);
+    USER_LOG_INFO("Start widget speaker play");
+    SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_PLAYING);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode StopPlay(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint32_t pid;
+
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("Stop widget speaker play");
+    s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_IDEL;
+
+#ifdef SYSTEM_ARCH_LINUX
+    pid = DjiTest_GetVoicePlayProcessId();
+    if (pid != 0) {
+        DjiTest_KillVoicePlayProcess(pid);
+    }
+#endif
+
+    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetVolume(uint8_t volume)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    char cmdStr[128];
+    int32_t ret = 0;
+    float realVolume;
+
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    realVolume = 1.5f * (float) volume;
+    s_speakerState.volume = volume;
+
+    USER_LOG_INFO("Set widget speaker volume: %d", volume);
+
+#ifdef PLATFORM_ARCH_x86_64
+    snprintf(cmdStr, sizeof(cmdStr), "pactl list | grep %s -q", WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME);
+    ret = system(cmdStr);
+    if (ret == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        memset(cmdStr, 0, sizeof(cmdStr));
+        snprintf(cmdStr, sizeof(cmdStr), "pactl set-sink-volume %s %d%%", WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME,
+                 (int32_t) realVolume);
+
+        returnCode = DjiUserUtil_RunSystemCmd(cmdStr);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Set widget speaker volume error: %d", ret);
+        }
+    } else {
+        USER_LOG_WARN("No audio device found, please add audio device and init speaker volume here.");
+    }
+#else
+    USER_LOG_WARN("No audio device found, please add audio device and init speaker volume here!!!");
+#endif
+
+    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
+                                      uint32_t offset, uint8_t *buf, uint16_t size)
+{
+    uint16_t writeLen;
+    T_DjiReturnCode returnCode;
+
+    if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
+        USER_LOG_INFO("Create tts file.");
+#ifdef SYSTEM_ARCH_LINUX
+        s_ttsFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "wb");
+        if (s_ttsFile == NULL) {
+            USER_LOG_ERROR("Open tts file error.");
+        }
+#endif
+        if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
+            SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
+        }
+    } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT) {
+        USER_LOG_INFO("Transmit tts file, offset: %d, size: %d", offset, size);
+#ifdef SYSTEM_ARCH_LINUX
+        if (s_ttsFile != NULL) {
+            fseek(s_ttsFile, offset, SEEK_SET);
+            writeLen = fwrite(buf, 1, size, s_ttsFile);
+            if (writeLen != size) {
+                USER_LOG_ERROR("Write tts file error %d", writeLen);
+            }
+        }
+#endif
+        if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
+            SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
+        }
+    } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_FINISH) {
+        USER_LOG_INFO("Close tts file.");
+#ifdef SYSTEM_ARCH_LINUX
+        if (s_ttsFile != NULL) {
+            fclose(s_ttsFile);
+            s_ttsFile = NULL;
+        }
+
+        returnCode = DjiTest_CheckFileMd5Sum(WIDGET_SPEAKER_TTS_FILE_NAME, buf, size);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("File md5 sum check failed");
+        }
+#endif
+        if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
+            SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IDEL);
+        }
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
+                                        uint32_t offset, uint8_t *buf, uint16_t size)
+{
+    uint16_t writeLen;
+    T_DjiReturnCode returnCode;
+    T_DjiWidgetTransDataContent transDataContent = {0};
+
+    if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
+        s_isDecodeFinished = false;
+#ifdef SYSTEM_ARCH_LINUX
+        USER_LOG_INFO("Create voice file.");
+        s_audioFile = fopen(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, "wb");
+        if (s_audioFile == NULL) {
+            USER_LOG_ERROR("Create tts file error.");
+        }
+        if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
+            SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
+        }
+#endif
+
+        memcpy(&transDataContent, buf, size);
+        s_decodeBitrate = transDataContent.transDataStartContent.fileDecodeBitrate;
+        USER_LOG_INFO("Create voice file: %s, decoder bitrate: %d.", transDataContent.transDataStartContent.fileName,
+                      transDataContent.transDataStartContent.fileDecodeBitrate);
+    } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT) {
+        USER_LOG_INFO("Transmit voice file, offset: %d, size: %d", offset, size);
+#ifdef SYSTEM_ARCH_LINUX
+        if (s_audioFile != NULL) {
+            fseek(s_audioFile, offset, SEEK_SET);
+            writeLen = fwrite(buf, 1, size, s_audioFile);
+            if (writeLen != size) {
+                USER_LOG_ERROR("Write tts file error %d", writeLen);
+            }
+        }
+#endif
+        if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
+            SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_TRANSMITTING);
+        }
+    } else if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_FINISH) {
+        USER_LOG_INFO("Close voice file.");
+        if (s_audioFile != NULL) {
+            fclose(s_audioFile);
+            s_audioFile = NULL;
+        }
+
+#ifdef SYSTEM_ARCH_LINUX
+        returnCode = DjiTest_CheckFileMd5Sum(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, buf, size);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("File md5 sum check failed");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+#endif
+        if (s_speakerState.state != DJI_WIDGET_SPEAKER_STATE_PLAYING) {
+            SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IDEL);
+        }
+#ifdef SYSTEM_ARCH_LINUX
+        DjiTest_DecodeAudioData();
+#endif
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#ifdef SYSTEM_ARCH_LINUX
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *DjiTest_WidgetSpeakerTask(void *arg)
+{
+    T_DjiReturnCode djiReturnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        osalHandler->TaskSleepMs(10);
+
+        if (s_speakerState.state == DJI_WIDGET_SPEAKER_STATE_PLAYING) {
+            if (s_speakerState.playMode == DJI_WIDGET_SPEAKER_PLAY_MODE_LOOP_PLAYBACK) {
+                if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) {
+                    USER_LOG_DEBUG("Waiting opus decoder finished...");
+                    while (s_isDecodeFinished == false) {
+                        osalHandler->TaskSleepMs(1);
+                    }
+                    djiReturnCode = DjiTest_PlayAudioData();
+                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("Play audio data failed, error: 0x%08llX.", djiReturnCode);
+                    }
+                } else {
+                    djiReturnCode = DjiTest_PlayTtsData();
+                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("Play tts data failed, error: 0x%08llX.", djiReturnCode);
+                    }
+                }
+                osalHandler->TaskSleepMs(1000);
+            } else {
+                if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) {
+                    USER_LOG_DEBUG("Waiting opus decoder finished...");
+                    while (s_isDecodeFinished == false) {
+                        osalHandler->TaskSleepMs(1);
+                    }
+                    djiReturnCode = DjiTest_PlayAudioData();
+                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("Play audio data failed, error: 0x%08llX.", djiReturnCode);
+                    }
+                } else {
+                    djiReturnCode = DjiTest_PlayTtsData();
+                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("Play tts data failed, error: 0x%08llX.", djiReturnCode);
+                    }
+                }
+
+                djiReturnCode = osalHandler->MutexLock(s_speakerMutex);
+                if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("lock mutex error: 0x%08llX.", djiReturnCode);
+                }
+
+                if (s_speakerState.playMode == DJI_WIDGET_SPEAKER_PLAY_MODE_SINGLE_PLAY) {
+                    s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_IDEL;
+                }
+
+                djiReturnCode = osalHandler->MutexUnlock(s_speakerMutex);
+                if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("unlock mutex error: 0x%08llX.", djiReturnCode);
+                }
+            }
+        }
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

PSDK/samples/sample_c/module_sample/widget/test_widget_speaker.h

@@ -0,0 +1,50 @@
+/**
+ ********************************************************************
+ * @file    test_widget_speaker.h
+ * @brief   This is the header file for "test_widget_speaker.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_WIDGET_SPEAKER_H
+#define TEST_WIDGET_SPEAKER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_widget.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* Exported constants --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void);
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_WIDGET_SPEAKER_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

PSDK/samples/sample_c/module_sample/widget/widget_file/cn_big_screen/widget_config.json

@@ -0,0 +1,148 @@
+{
+  "version": {
+    "major": 1,
+    "minor": 0
+  },
+  "main_interface": {
+    "floating_window": {
+      "is_enable": true
+    },
+    "speaker": {
+      "is_enable_tts": true,
+      "is_enable_voice": true
+    },
+    "widget_list": [
+      {
+        "widget_index": 0,
+        "widget_type": "button",
+        "widget_name": "按钮",
+        "icon_file_set": {
+          "icon_file_name_selected": "icon_button1.png",
+          "icon_file_name_unselected": "icon_button1.png"
+        },
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 0
+        }
+      },
+      {
+        "widget_index": 1,
+        "widget_type": "list",
+        "widget_name": "列表",
+        "list_item": [
+          {
+            "item_name": "选项_1",
+            "icon_file_set": {
+              "icon_file_name_selected": "icon_list_item1.png",
+              "icon_file_name_unselected": "icon_list_item1.png"
+            }
+          },
+          {
+            "item_name": "选项_2",
+            "icon_file_set": {
+              "icon_file_name_selected": "icon_list_item2.png",
+              "icon_file_name_unselected": "icon_list_item2.png"
+            }
+          }
+        ],
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 1
+        }
+      },
+      {
+        "widget_index": 2,
+        "widget_type": "switch",
+        "widget_name": "开关",
+        "icon_file_set": {
+          "icon_file_name_selected": "icon_switch_select.png",
+          "icon_file_name_unselected": "icon_switch_unselect.png"
+        },
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 2
+        }
+      },
+      {
+        "widget_index": 3,
+        "widget_type": "scale",
+        "widget_name": "范围条",
+        "icon_file_set": {
+          "icon_file_name_selected": "icon_scale.png",
+          "icon_file_name_unselected": "icon_scale.png"
+        },
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 3,
+          "button_value_step_length": 5
+        }
+      }
+    ]
+  },
+  "config_interface": {
+    "text_input_box": {
+      "widget_name": "文本输入框",
+      "placeholder_text": "请输入消息",
+      "is_enable": true
+    },
+    "widget_list": [
+      {
+        "widget_index": 4,
+        "widget_type": "button",
+        "widget_name": "按钮 4",
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 4
+        }
+      },
+      {
+        "widget_index": 5,
+        "widget_type": "scale",
+        "widget_name": "范围条 5",
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 5,
+          "button_value_step_length": 5
+        }
+      },
+      {
+        "widget_index": 6,
+        "widget_type": "int_input_box",
+        "widget_name": "整形值输入框 6",
+        "int_input_box_hint": "unit:s"
+      },
+      {
+        "widget_index": 7,
+        "widget_type": "switch",
+        "widget_name": "开关 7",
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 7
+        }
+      },
+      {
+        "widget_index": 8,
+        "widget_type": "list",
+        "widget_name": "列表 8",
+        "list_item": [
+          {
+            "item_name": "选项 1"
+          },
+          {
+            "item_name": "选项 2"
+          },
+          {
+            "item_name": "选项 3"
+          },
+          {
+            "item_name": "选项 4"
+          }
+        ],
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 8
+        }
+      }
+    ]
+  }
+}

PSDK/samples/sample_c/module_sample/widget/widget_file/en_big_screen/widget_config.json

@@ -0,0 +1,148 @@
+{
+  "version": {
+    "major": 1,
+    "minor": 0
+  },
+  "main_interface": {
+    "floating_window": {
+      "is_enable": true
+    },
+    "speaker": {
+      "is_enable_tts": true,
+      "is_enable_voice": true
+    },
+    "widget_list": [
+      {
+        "widget_index": 0,
+        "widget_type": "button",
+        "widget_name": "Button",
+        "icon_file_set": {
+          "icon_file_name_selected": "icon_button1.png",
+          "icon_file_name_unselected": "icon_button1.png"
+        },
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 0
+        }
+      },
+      {
+        "widget_index": 1,
+        "widget_type": "list",
+        "widget_name": "List",
+        "list_item": [
+          {
+            "item_name": "Item_1",
+            "icon_file_set": {
+              "icon_file_name_selected": "icon_list_item1.png",
+              "icon_file_name_unselected": "icon_list_item1.png"
+            }
+          },
+          {
+            "item_name": "Item_2",
+            "icon_file_set": {
+              "icon_file_name_selected": "icon_list_item2.png",
+              "icon_file_name_unselected": "icon_list_item2.png"
+            }
+          }
+        ],
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 1
+        }
+      },
+      {
+        "widget_index": 2,
+        "widget_type": "switch",
+        "widget_name": "Switch",
+        "icon_file_set": {
+          "icon_file_name_selected": "icon_switch_select.png",
+          "icon_file_name_unselected": "icon_switch_unselect.png"
+        },
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 2
+        }
+      },
+      {
+        "widget_index": 3,
+        "widget_type": "scale",
+        "widget_name": "Scale",
+        "icon_file_set": {
+          "icon_file_name_selected": "icon_scale.png",
+          "icon_file_name_unselected": "icon_scale.png"
+        },
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 3,
+          "button_value_step_length": 5
+        }
+      }
+    ]
+  },
+  "config_interface": {
+    "text_input_box": {
+      "widget_name": "TextInputBox",
+      "placeholder_text": "Please input message",
+      "is_enable": true
+    },
+    "widget_list": [
+      {
+        "widget_index": 4,
+        "widget_type": "button",
+        "widget_name": "Button 4",
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 4
+        }
+      },
+      {
+        "widget_index": 5,
+        "widget_type": "scale",
+        "widget_name": "Scale 5",
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 5,
+          "button_value_step_length": 5
+        }
+      },
+      {
+        "widget_index": 6,
+        "widget_type": "int_input_box",
+        "widget_name": "Integer Input Box 6",
+        "int_input_box_hint": "unit:s"
+      },
+      {
+        "widget_index": 7,
+        "widget_type": "switch",
+        "widget_name": "Switch 7",
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 7
+        }
+      },
+      {
+        "widget_index": 8,
+        "widget_type": "list",
+        "widget_name": "List 8",
+        "list_item": [
+          {
+            "item_name": "Item 1"
+          },
+          {
+            "item_name": "Item 2"
+          },
+          {
+            "item_name": "Item 3"
+          },
+          {
+            "item_name": "Item 4"
+          }
+        ],
+        "customize_rc_buttons_config": {
+          "is_enable": true,
+          "mapping_config_display_order": 8
+        }
+      }
+    ]
+  }
+}