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zhangzhuo
2023-03-22 09:47:10 +08:00
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150
PSDK/samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c Normal file
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/**
********************************************************************
* @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"
/* 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_WaypointV3StateCallback(T_DjiWaypointV3MissionState missionState);
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
#ifdef SYSTEM_ARCH_LINUX
FILE *kmzFile;
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_WaypointV3StateCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register waypoint v3 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 out;
}
kmzFileBuf = osalHandler->Malloc(kmzFileSize);
if (kmzFileBuf == NULL) {
USER_LOG_ERROR("Malloc kmz file buf error.");
goto out;
}
readLen = fread(kmzFileBuf, 1, kmzFileSize, kmzFile);
if (readLen != kmzFileSize) {
USER_LOG_ERROR("Read kmz file data failed.");
goto out;
}
returnCode = DjiWaypointV3_UploadKmzFile(kmzFileBuf, kmzFileSize);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Upload kmz file failed.");
goto out;
}
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 failed.");
goto out;
}
#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 out;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
out:
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiTest_WaypointV3StateCallback(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;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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PSDK/samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.h Normal file
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/**
********************************************************************
* @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******/

BIN
PSDK/samples/sample_c/module_sample/waypoint_v3/waypoint_file/waypoint_v3_test_file.kmz Normal file
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PSDK/samples/sample_c/module_sample/waypoint_v3/waypoint_file_c/waypoint_v3_test_file_kmz.h Normal file
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/* 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 3186
static const uint8_t waypoint_v3_test_file_kmz_fileBinaryArray[3186] = {
0x50, 0x4B, 0x03, 0x04, 0x14, 0x00, 0x08, 0x08, 0x08, 0x00, 0x22, 0x6D, 0x34, 0x55, 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,
0x5B, 0x4D, 0x8F, 0xDB, 0x36, 0x10, 0xBD, 0xE7, 0x57, 0x08, 0x3E, 0xB5, 0x40, 0x6A, 0x53, 0xDF,
0x52, 0xE0, 0x38, 0xD8, 0x6E, 0x3E, 0x76, 0x91, 0x4D, 0x63, 0xC4, 0x4E, 0xF7, 0x58, 0x30, 0x32,
0x6D, 0xB3, 0x2B, 0x91, 0x86, 0x44, 0xAD, 0xD7, 0x3D, 0x05, 0x28, 0x52, 0xB4, 0x40, 0x4E, 0x2D,
0x8A, 0x1E, 0x8A, 0x1E, 0x52, 0xA0, 0x40, 0x4F, 0xBD, 0x34, 0xC7, 0xB4, 0xFF, 0x66, 0x83, 0xF4,
0x5F, 0x94, 0x92, 0x25, 0x59, 0x94, 0xE8, 0x4D, 0x10, 0x05, 0xD8, 0xAC, 0x6D, 0x9F, 0x2C, 0xCE,
0x7B, 0x43, 0xCD, 0xCC, 0x23, 0x25, 0x0F, 0xE1, 0xEE, 0xAD, 0xB3, 0xC0, 0x57, 0x4E, 0x51, 0x18,
0x61, 0x4A, 0x6E, 0xB6, 0xD4, 0x36, 0x68, 0x29, 0x88, 0x78, 0x74, 0x84, 0xC9, 0xE4, 0x66, 0xEB,
0xF1, 0xF0, 0xEE, 0x67, 0x4E, 0xEB, 0x56, 0xEF, 0x5A, 0xF7, 0x84, 0xA3, 0x38, 0x92, 0x44, 0x37,
0x5B, 0x53, 0xC6, 0x66, 0x37, 0x3A, 0x9D, 0xF9, 0x7C, 0xDE, 0xA6, 0x33, 0x44, 0x26, 0x38, 0x6A,
0x13, 0xC4, 0x3A, 0x1C, 0xD1, 0xD1, 0xDA, 0x5A, 0x6B, 0x09, 0xBB, 0x31, 0x9F, 0x05, 0xBE, 0x80,
0x1D, 0x7D, 0x8D, 0xDB, 0x1E, 0x0D, 0x3A, 0xDC, 0xF0, 0x4D, 0x87, 0xCF, 0xD3, 0x56, 0x5B, 0xBD,
0x6B, 0x8A, 0xD2, 0xBD, 0x4D, 0xBD, 0x38, 0x40, 0x84, 0x25, 0x17, 0xFC, 0x32, 0xE1, 0xDD, 0xF0,
0x42, 0x04, 0x19, 0x1A, 0xE2, 0x00, 0xF5, 0x54, 0xCB, 0xD2, 0x2D, 0x53, 0xD3, 0x55, 0x4B, 0x07,
0x66, 0xB7, 0x53, 0x35, 0x97, 0x48, 0xF1, 0x6C, 0x54, 0x21, 0x19, 0x86, 0x6B, 0x59, 0x76, 0x46,
0x2A, 0x99, 0x4B, 0xA4, 0x00, 0x47, 0x49, 0xE4, 0xFB, 0x94, 0x8C, 0xF1, 0x64, 0x69, 0xC8, 0x4D,
0x63, 0x7F, 0x31, 0xA4, 0xC7, 0x70, 0xE1, 0x63, 0x82, 0x1E, 0xD0, 0x11, 0xEA, 0x45, 0x70, 0x8C,
0xFC, 0x45, 0xE6, 0xAE, 0x66, 0x15, 0xB9, 0x98, 0xE0, 0x68, 0xBA, 0xE7, 0x31, 0xEE, 0xBB, 0x37,
0xA1, 0x07, 0x34, 0x40, 0x39, 0xAF, 0x6C, 0x11, 0x38, 0xE8, 0x0C, 0xB3, 0x87, 0xE4, 0xD1, 0xFE,
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0x1A, 0xC8, 0xF8, 0x72, 0xB3, 0xE0, 0x61, 0xE2, 0xD3, 0x27, 0xD0, 0x1F, 0x86, 0x90, 0x44, 0x38,
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0x9D, 0x57, 0xB6, 0x32, 0x2E, 0x63, 0x0D, 0xE2, 0x27, 0x2B, 0x00, 0x28, 0xF3, 0x04, 0x4B, 0x7E,
0x1F, 0x1D, 0xF9, 0x8D, 0x2C, 0x1D, 0xCE, 0x78, 0xD1, 0x29, 0x1C, 0xC9, 0xEE, 0x30, 0x33, 0xAD,
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0x1D, 0xEE, 0x0D, 0xF2, 0x8D, 0xA6, 0x86, 0xAA, 0xB8, 0x19, 0x53, 0x0F, 0xFA, 0x47, 0x7C, 0x13,
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0x7F, 0x79, 0xF3, 0xE2, 0xCF, 0x8D, 0x2C, 0x90, 0x4C, 0xB6, 0x97, 0x54, 0x20, 0xAD, 0x41, 0x81,
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0x52, 0xF1, 0x5A, 0x30, 0x44, 0x11, 0xBC, 0x3D, 0x0D, 0xB2, 0x74, 0x0D, 0xE3, 0x90, 0xA4, 0xF1,
0x31, 0x9A, 0x3A, 0xDD, 0x23, 0xA3, 0x01, 0xA3, 0xB3, 0x63, 0xCC, 0xA6, 0xB7, 0x71, 0x94, 0xBC,
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};
#endif /* __waypoint_v3_test_file_kmz_h_included */