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zhangzhuo
2023-03-22 09:47:10 +08:00
commit f713586b04
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203
Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.cpp Normal file
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#include "ConfigParser_M300RTK.h"
ZZ_ConfigParser_M300RTK::ZZ_ConfigParser_M300RTK(QObject* parent /*= nullptr*/)
{
m_bInit = false;
//return 0;
}
ZZ_ConfigParser_M300RTK::~ZZ_ConfigParser_M300RTK()
{
}
int ZZ_ConfigParser_M300RTK::GetParams(AppRegInfo& struAppRegInfo, HardwareInfo& struHardwareInfo,UIConfig& struUIConfig)
{
Initialize("/home/DJI/Settings/");
LoadParams();
struAppRegInfo = m_struAppRegInfo;
struHardwareInfo = m_struHardwareInfo;
struUIConfig = m_struUIConfig;
return 0;
}
int ZZ_ConfigParser_M300RTK::UpdateUIConfig(UIConfig struUIConfig)
{
m_pqfM300ConfigFiles[2]->setValue(QString("PSDK/CaptureMode"), struUIConfig.sCaptureMode);
m_pqfM300ConfigFiles[2]->setValue(QString("PSDK/SamplingRate"), struUIConfig.sSamplingRate);
m_pqfM300ConfigFiles[2]->setValue(QString("PSDK/DecisionHeight"), struUIConfig.sDecisionHeight);
}
int ZZ_ConfigParser_M300RTK::Initialize(QString qstrConfigFolderPath)
{
if (m_bInit)
{
return 0;
}
QDir qdConfigFiles(qstrConfigFolderPath);
if (!qdConfigFiles.exists())
{
qDebug() << "ZZ_ConfigParser_M300: Func Initialize. Dir not exists";
return 1;
}
qdConfigFiles.setFilter(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot);
qdConfigFiles.setSorting(QDir::DirsFirst);
QFileInfoList qfList = qdConfigFiles.entryInfoList();
if (qfList.size() < 1)
{
qDebug() << "ZZ_ConfigParser_M300:Func Initialize. Empty folder";
return 2;
}
int i = 0;
int j = 0;
do
{
QFileInfo qfInfo = qfList.at(i);
bool bisDir = qfInfo.isDir();
if (bisDir)
{
continue;
}
else
{
if (qfInfo.fileName() == "AppInfoConfig.ini")
{
//QSettings qsTemp(qfInfo.filePath(), QSettings::Format::IniFormat);
m_pqfM300ConfigFiles[0] = new QSettings(qfInfo.filePath(), QSettings::Format::IniFormat);
qDebug() << qfInfo.filePath();
j++;
}
if (qfInfo.fileName() == "HardwareSettings.ini")
{
//m_qfM300ConfigFiles[1].setUserIniPath(qfInfo.filePath());
m_pqfM300ConfigFiles[1] = new QSettings(qfInfo.filePath(), QSettings::Format::IniFormat);
qDebug() << qfInfo.filePath();
j++;
}
if (qfInfo.fileName() == "SystemSettings.ini")
{
m_pqfM300ConfigFiles[2] = new QSettings(qfInfo.filePath(), QSettings::Format::IniFormat);
//m_qfM300ConfigFiles[2].setUserIniPath(qfInfo.filePath());
qDebug() << qfInfo.filePath();
j++;
}
//qDebug() << qfInfo.filePath() << ":" << qfInfo.fileName();
}
++i;
} while (i < qfList.size());
if (j != 3)
{
qDebug() << "ZZ_ConfigParser_M300:Func Initialize. File count not match";
return 3;
}
m_bInit = true;
return 0;
}
int ZZ_ConfigParser_M300RTK::LoadParams()
{
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
QString qstrUSER_APP_NAME = m_pqfM300ConfigFiles[0]->value(QString("DJI/USER_APP_NAME"),"Error").toString();
qDebug() << qstrUSER_APP_NAME;
if (qstrUSER_APP_NAME=="Error")
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.USER_APP_NAME not load";
return 1;
}
QString qstrUSER_APP_ID = m_pqfM300ConfigFiles[0]->value(QString("DJI/USER_APP_ID"), "Error").toString();
qDebug() << qstrUSER_APP_ID;
if (qstrUSER_APP_ID == "Error")
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.USER_APP_ID not load";
return 1;
}
QString qstrUSER_APP_KEY = m_pqfM300ConfigFiles[0]->value(QString("DJI/USER_APP_KEY"), "Error").toString();
qDebug() << qstrUSER_APP_KEY;
if (qstrUSER_APP_KEY == "Error")
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.USER_APP_KEY not load";
return 1;
}
QString qstrUSER_APP_LICENSE = m_pqfM300ConfigFiles[0]->value(QString("DJI/USER_APP_LICENSE"), "Error").toString();
qDebug() << qstrUSER_APP_LICENSE;
if (qstrUSER_APP_LICENSE == "Error")
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.USER_APP_KEY not load";
return 1;
}
QString qstrUSER_DEVELOPER_ACCOUNT = m_pqfM300ConfigFiles[0]->value(QString("DJI/USER_DEVELOPER_ACCOUNT"), "Error").toString();
qDebug() << qstrUSER_DEVELOPER_ACCOUNT;
if (qstrUSER_DEVELOPER_ACCOUNT == "Error")
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.USER_APP_KEY not load";
return 1;
}
m_struAppRegInfo.qstrUserAppAcc = qstrUSER_DEVELOPER_ACCOUNT;
m_struAppRegInfo.qstrUserAppID = qstrUSER_APP_ID;
m_struAppRegInfo.qstrUserAppKey = qstrUSER_APP_KEY;
m_struAppRegInfo.qstrUserAppLic = qstrUSER_APP_LICENSE;
m_struAppRegInfo.qstrUserAppName = qstrUSER_APP_NAME;
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
QString qstrUSER_BAUD_RATE = m_pqfM300ConfigFiles[1]->value(QString("COMPORT/USER_BAUD_RATE"),"NULL").toString();
qDebug() << qstrUSER_BAUD_RATE;
if (qstrUSER_BAUD_RATE == "NULL")
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.USER_BAUD_RATE not load";
return 1;
}
int iCONFIG_HARDWARE_CONNECTION = m_pqfM300ConfigFiles[1]->value(QString("ADV MODE/CONFIG_HARDWARE_CONNECTION"),10000).toInt();
qDebug() << iCONFIG_HARDWARE_CONNECTION;
if (iCONFIG_HARDWARE_CONNECTION == 10000)
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.CONFIG_HARDWARE_CONNECTION not load";
return 1;
}
m_struHardwareInfo.enumHCM = HardwareConnectionMode(iCONFIG_HARDWARE_CONNECTION);
m_struHardwareInfo.qstrBaudRate = qstrUSER_BAUD_RATE;
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int iCaptureMode = m_pqfM300ConfigFiles[2]->value(QString("PSDK/CaptureMode"), -1).toInt();
qDebug() << iCaptureMode;
if (iCaptureMode == -1)
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.CaptureMode not load";
return 1;
}
m_struUIConfig.sCaptureMode = (short)iCaptureMode;
int iSamplingRate = m_pqfM300ConfigFiles[2]->value(QString("PSDK/SamplingRate"), -1).toInt();
qDebug() << iSamplingRate;
if (iSamplingRate == -1)
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.SamplingRate not load";
return 1;
}
m_struUIConfig.sSamplingRate = (short)iSamplingRate;
int iDecisionHeight = m_pqfM300ConfigFiles[2]->value(QString("PSDK/DecisionHeight"), -1).toInt();
qDebug() << iDecisionHeight;
if (iDecisionHeight == -1)
{
qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.DecisionHeight not load";
return 1;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
}

26
Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.h Normal file
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#pragma once
#include "pch.h"
#include "ZZ_Types_M300.h"
using namespace ZZ::Device::DJI::M300RTK;
class ZZ_ConfigParser_M300RTK :public QObject
{
Q_OBJECT
public:
ZZ_ConfigParser_M300RTK(QObject* parent = nullptr);
virtual ~ZZ_ConfigParser_M300RTK();
public:
private:
bool m_bInit;
QSettings *m_pqfM300ConfigFiles[3];
AppRegInfo m_struAppRegInfo;
HardwareInfo m_struHardwareInfo;
UIConfig m_struUIConfig;
public:
int GetParams(AppRegInfo &struAppRegInfo, HardwareInfo &struHardwareInfo, UIConfig& struUIConfig);
int UpdateUIConfig(UIConfig struUIConfig);
private:
int Initialize(QString qstrConfigFolderPath);
int LoadParams();
};

6
Source/M300/PSDK_Qt/Config/SettingFiles/AppInfoConfig.ini Normal file
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[DJI]
USER_APP_NAME=Project_Grixis
USER_APP_ID=126401
USER_APP_KEY=a313e3617b16c56a11502bd91a61d6f
USER_APP_LICENSE=BNrpsD+UJ2lj8kmVgN4GnXg+AZiQwaxSuf/WvA072DFdLy2h+NCQizf+nR+WcjEEKeTknSzPbfqlvAc/WSJwrtqV/gYXSVPtSlK0AaV61SeKBvZQpogoyaZy07fWNCZrha3OAQsHj18TtU5RjOn6gYapzGDAPQVG6Q/At/H/9GSPQr5uwxI20fVWUTOkymYLM/04CNQGsToPD+fZwixExjjjHjdD9K7R0D4EgyvbqMpMLlkspBLR/9h6/oVxefOyaHJIi+pk+IdLFFC3omnrh7U3/4b95LA3t22J1GJvqvO2cyphjrSXsaDdctvtj6EjE8WhEXQCvmYm0VIHWz/0Qw==
USER_DEVELOPER_ACCOUNT=1033584732@qq.com

4
Source/M300/PSDK_Qt/Config/SettingFiles/HardwareSettings.ini Normal file
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[COMPORT]
USER_BAUD_RATE=230400
[ADV MODE]
CONFIG_HARDWARE_CONNECTION=1

4
Source/M300/PSDK_Qt/Config/SettingFiles/SystemSettings.ini Normal file
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[PSDK]
SamplingRate=1
CaptureMode=0
DecisionHeight=10

741
Source/M300/PSDK_Qt/Main/VehicleController.cpp Normal file
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#include "VehicleController.h"
#include <dji_platform.h>
#include <dji_logger.h>
#include <dji_core.h>
#include <dji_aircraft_info.h>
#include <dji_fc_subscription.h>
#include "osal.h"
#include "osal_fs.h"
#include "osal_socket.h"
#include "hal_usb_bulk.h"
#include "hal_uart.h"
#include "hal_network.h"
#include "time.h"
#include "ZZ_Types_M300.h"
#define ZZ_UNUSED(x) ((x) = (x))
#define ZZ_MIN(a, b) (((a) < (b)) ? (a) : (b))
#define ZZ_MAX(a, b) (((a) > (b)) ? (a) : (b))
int VehicleController::m_siFlagIsPumpWorking = 0;
int VehicleController::m_siFlagIsStartCaptureSignalEmitted = 0;
VehicleController* VehicleController::spCaller = NULL;
char VehicleController::m_scCaptureMode = 0;
VehicleController::VehicleController(QObject* parent /*= nullptr*/)
{
m_iFlagIsVehicleTakeoff = 0;
m_iFlagIsVehicleCapturing = 0;
m_iFlagIsCaptureModeInited = 0;
//m_cCaptureMode = 0;
}
VehicleController::~VehicleController()
{
}
T_DjiReturnCode VehicleController::DjiTest_FcSubscriptionReceiveFlightStatusCallback(const uint8_t* ccData, uint16_t sDataSize, const T_DjiDataTimestamp* tDjiTimestamp)
{
return 0;
}
T_DjiReturnCode VehicleController::DjiTest_FcSubscriptionReceiveHeightCallback(const uint8_t* data, uint16_t dataSize, const T_DjiDataTimestamp* timestamp)
{
float fHeight = *((T_DjiFcSubscriptionHeightFusion*)data);
//qDebug() <<"[Fused Height]:"<< fHeight;
///Pump need to be added
if (m_siFlagIsPumpWorking==0&& fHeight>10)
{
//system("sudo gpio mode 7 out");
m_siFlagIsPumpWorking = 1;
system("sudo gpio write 7 1");
qDebug() << "[Fused Height]:" << fHeight;
}
if (m_siFlagIsPumpWorking == 1 && fHeight < 10)
{
//system("sudo gpio mode 7 out");
m_siFlagIsPumpWorking = 0;
system("sudo gpio write 7 0");
qDebug() << "[Fused Height]:" << fHeight;
}
//T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler();
//osalHandler->TaskSleepMs(2000);
return 0;
}
T_DjiReturnCode VehicleController::ZZ_DjiWaypointV2EventCallback(T_DjiWaypointV2MissionEventPush eventData)
{
if (spCaller==NULL)
{
qDebug() << "ZZ_DjiWaypointV2EventCallback Fatal Error.spCaller Undefined";
return -1;
}
if (eventData.event == 0x10)
{
if (eventData.data.waypointIndex==0 && m_siFlagIsStartCaptureSignalEmitted==0)
{
if (m_scCaptureMode==0)
{
m_siFlagIsStartCaptureSignalEmitted++;
spCaller->emit Signal_StartCapture();
}
// emit Signal_StartCapture();
}
}
if (eventData.event == 0x11)
{
qDebug() << "eventData.event" << m_siFlagIsStartCaptureSignalEmitted;
if (m_siFlagIsStartCaptureSignalEmitted > 0)
{
m_siFlagIsStartCaptureSignalEmitted = 0;
spCaller->emit Signal_StopCapture();
}
}
return 0;
}
int VehicleController::Initialize()
{
return 0;
}
int VehicleController::SetupEnvironment_M300RTK()
{
using namespace ZZ::Device::DJI::M300RTK;
spCaller = this;
//for test
//ZZ_ConfigParser_M300RTK clsConfigParser;
//clsConfigParser.GetParams(m_struAppRegInfo, m_struHardwareInfo, m_struUIConfig);
//
//for use
m_clsConfigParser.GetParams(m_struAppRegInfo, m_struHardwareInfo, m_struUIConfig);
T_DjiReturnCode returnCode;
T_DjiOsalHandler osalHandler;
T_DjiHalUartHandler uartHandler;
T_DjiHalUsbBulkHandler usbBulkHandler;
T_DjiLoggerConsole printConsole;
T_DjiLoggerConsole localRecordConsole;
T_DjiFileSystemHandler fileSystemHandler;
T_DjiSocketHandler socketHandler;
T_DjiHalNetworkHandler networkHandler;
networkHandler.NetworkInit = HalNetWork_Init;
networkHandler.NetworkDeInit = HalNetWork_DeInit;
networkHandler.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo;
socketHandler.Socket = Osal_Socket;
socketHandler.Bind = Osal_Bind;
socketHandler.Close = Osal_Close;
socketHandler.UdpSendData = Osal_UdpSendData;
socketHandler.UdpRecvData = Osal_UdpRecvData;
socketHandler.TcpListen = Osal_TcpListen;
socketHandler.TcpAccept = Osal_TcpAccept;
socketHandler.TcpConnect = Osal_TcpConnect;
socketHandler.TcpSendData = Osal_TcpSendData;
socketHandler.TcpRecvData = Osal_TcpRecvData;
osalHandler.TaskCreate = Osal_TaskCreate;
osalHandler.TaskDestroy = Osal_TaskDestroy;
osalHandler.TaskSleepMs = Osal_TaskSleepMs;
osalHandler.MutexCreate = Osal_MutexCreate;
osalHandler.MutexDestroy = Osal_MutexDestroy;
osalHandler.MutexLock = Osal_MutexLock;
osalHandler.MutexUnlock = Osal_MutexUnlock;
osalHandler.SemaphoreCreate = Osal_SemaphoreCreate;
osalHandler.SemaphoreDestroy = Osal_SemaphoreDestroy;
osalHandler.SemaphoreWait = Osal_SemaphoreWait;
osalHandler.SemaphoreTimedWait = Osal_SemaphoreTimedWait;
osalHandler.SemaphorePost = Osal_SemaphorePost;
osalHandler.Malloc = Osal_Malloc;
osalHandler.Free = Osal_Free;
osalHandler.GetTimeMs = Osal_GetTimeMs;
osalHandler.GetTimeUs = Osal_GetTimeUs;
uartHandler.UartInit = HalUart_Init;
uartHandler.UartDeInit = HalUart_DeInit;
uartHandler.UartWriteData = HalUart_WriteData;
uartHandler.UartReadData = HalUart_ReadData;
uartHandler.UartGetStatus = HalUart_GetStatus;
usbBulkHandler.UsbBulkInit = HalUsbBulk_Init;
usbBulkHandler.UsbBulkDeInit = HalUsbBulk_DeInit;
usbBulkHandler.UsbBulkWriteData = HalUsbBulk_WriteData;
usbBulkHandler.UsbBulkReadData = HalUsbBulk_ReadData;
usbBulkHandler.UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo;
fileSystemHandler.FileOpen = Osal_FileOpen;
fileSystemHandler.FileClose = Osal_FileClose;
fileSystemHandler.FileWrite = Osal_FileWrite;
fileSystemHandler.FileRead = Osal_FileRead;
fileSystemHandler.FileSync = Osal_FileSync;
fileSystemHandler.FileSeek = Osal_FileSeek;
fileSystemHandler.DirOpen = Osal_DirOpen;
fileSystemHandler.DirClose = Osal_DirClose;
fileSystemHandler.DirRead = Osal_DirRead;
fileSystemHandler.Mkdir = Osal_Mkdir;
fileSystemHandler.Unlink = Osal_Unlink;
fileSystemHandler.Rename = Osal_Rename;
fileSystemHandler.Stat = Osal_Stat;
printConsole.func = DjiUser_PrintMessage;
printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;
printConsole.isSupportColor = false;
returnCode = DjiPlatform_RegOsalHandler(&osalHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "VehicleController: Func DjiPlatform_RegOsalHandler. Register osal handler error";
throw std::runtime_error("Register osal handler error.");
}
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "VehicleController: Func DjiPlatform_RegHalUartHandler. Register hal uart handler error";
throw std::runtime_error("Register hal uart handler error.");
}
if (m_struHardwareInfo.enumHCM== HardwareConnectionMode::UartAndNetwork)
{
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "VehicleController: Func DjiPlatform_RegHalNetworkHandler. Register hal network handler error";
throw std::runtime_error("Register hal network handler error");
}
}
else if(m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartAndUSBBulk)
{
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "VehicleController: Func DjiPlatform_RegHalUsbBulkHandler. Register hal usb bulk handler error";
throw std::runtime_error("Register hal usb bulk handler error.");
}
}
else if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartOnly)
{
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error";
throw std::runtime_error("register osal socket handler error");
}
}
else
{
qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error";
throw std::runtime_error("hardware connection configuration error");
}
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "VehicleController: Func DjiPlatform_RegFileSystemHandler. Register osal filesystem handler error";
throw std::runtime_error("Register osal filesystem handler error.");
}
returnCode = DjiLogger_AddConsole(&printConsole);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "VehicleController: Func DjiPlatform_RegFileSystemHandler. Register osal filesystem handler error";
throw std::runtime_error("Add printf console error.");
}
// if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// throw std::runtime_error("File system init error.");
// }
//
// returnCode = DjiLogger_AddConsole(&printConsole);
// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// throw std::runtime_error("Add printf console error.");
// }
//
// returnCode = DjiLogger_AddConsole(&localRecordConsole);
// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// throw std::runtime_error("Add printf console error.");
// }
return 0;
}
int VehicleController::StartupPSDK_M300RTK()
{
T_DjiUserInfo userInfo;
T_DjiReturnCode returnCode;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler();
returnCode = LoadUserAppInfo(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
throw std::runtime_error("Fill user info error, please check user info config.");
}
returnCode = DjiCore_Init(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
throw std::runtime_error("Core init error.");
}
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
throw std::runtime_error("Get aircraft base info error.");
}
// if (aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_EXTENSION_PORT)
// {
// throw std::runtime_error("Please run this sample on extension port.");
// }
returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
throw std::runtime_error("Set alias error.");
}
returnCode = DjiCore_ApplicationStart();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
throw std::runtime_error("Start sdk application error.");
}
//osalHandler->TaskSleepMs(5000);
SetupWidget();
//osalHandler->TaskSleepMs(5000);
SetupMessagePipe();
SetupWaypointStatusCallback();
InitSystemDateTime();
SetupSubscriptions();
qDebug()<<"M300RTK PSDK Channel Started.";
return 0;
}
int VehicleController::UpdateUIConfig()
{
m_clsWidget.GetSettings(m_struUIConfig);
m_clsConfigParser.UpdateUIConfig(m_struUIConfig);
return 0;
}
int VehicleController::GetOneDataFrame(M300RTKDataFrame& M300RTKDataFrame)
{
T_DjiReturnCode tDjiReturnCode;
T_DjiFcSubscriptionVelocity tDjiVelocity = { 0 };
T_DjiFcSubscriptionQuaternion tDjiQuaternion = { 0 };
T_DjiFcSubscriptionGpsPosition tDjiGpsPosition = { 0 };
T_DjiDataTimestamp tDjiTimestamp = { 0 };
tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY,(uint8_t*)&tDjiVelocity,sizeof(T_DjiFcSubscriptionVelocity),&tDjiTimestamp);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_GetLatestValueOfTopic error.DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY";
//return 1;
}
tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION, (uint8_t*)&tDjiGpsPosition, sizeof(T_DjiFcSubscriptionGpsPosition), &tDjiTimestamp);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_GetLatestValueOfTopic error.DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY";
//return 2;
}
tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, (uint8_t*)&tDjiQuaternion, sizeof(T_DjiFcSubscriptionQuaternion), &tDjiTimestamp);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_GetLatestValueOfTopic error.DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION";
//return 3;
}
M300RTKDataFrame.stVelocity.x = tDjiVelocity.data.x;
M300RTKDataFrame.stVelocity.y = tDjiVelocity.data.y;
M300RTKDataFrame.stVelocity.z = tDjiVelocity.data.z;
M300RTKDataFrame.stQuaternion.w_q0 = tDjiQuaternion.q0;
M300RTKDataFrame.stQuaternion.x_q1 = tDjiQuaternion.q1;
M300RTKDataFrame.stQuaternion.y_q2 = tDjiQuaternion.q2;
M300RTKDataFrame.stQuaternion.z_q3 = tDjiQuaternion.q3;
M300RTKDataFrame.stGPSPosition.x = tDjiGpsPosition.x;
M300RTKDataFrame.stGPSPosition.y = tDjiGpsPosition.y;
M300RTKDataFrame.stGPSPosition.z = tDjiGpsPosition.z;
#ifdef ZZ_FLAG_TEST
qDebug() << tDjiVelocity.data.x << tDjiVelocity.data.y << tDjiVelocity.data.z << tDjiGpsPosition.x << tDjiGpsPosition.y << tDjiGpsPosition.z;
#endif
return 0;
}
int VehicleController::SetupSubscriptions()
{
T_DjiReturnCode tDjiReturnCode;
// tDjiReturnCode = DjiFcSubscription_Init();
// if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
// {
// qDebug() << "init data subscription module error.";
// return 0;
// }
// else
// {
// qDebug() << "init data subscription module finished.";
// }
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, DjiTest_FcSubscriptionReceiveHeightCallback);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY, DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION, DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_BAROMETER, DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_BAROMETER error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return 0;
}
int VehicleController::SetupWaypointStatusCallback()
{
T_DjiReturnCode returnCode;
returnCode = DjiWaypointV2_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug()<<"Init waypoint V2 module error, error code:"<< returnCode;
return returnCode;
}
returnCode = DjiWaypointV2_RegisterMissionEventCallback(ZZ_DjiWaypointV2EventCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() <<"Register waypoint V2 event failed, error code:" << returnCode;
return returnCode;
}
return 0;
}
// int VehicleController::TransSignal_StartCapture(VehicleController* pCaller)
// {
// pCaller->emit Signal_StartCapture();
// return 0;
// }
int VehicleController::LoadUserAppInfo(T_DjiUserInfo* struDjiUserInfo)
{
using namespace ZZ::Device::DJI::M300RTK;
memset(struDjiUserInfo->appName, 0, sizeof(struDjiUserInfo->appName));
memset(struDjiUserInfo->appId, 0, sizeof(struDjiUserInfo->appId));
memset(struDjiUserInfo->appKey, 0, sizeof(struDjiUserInfo->appKey));
memset(struDjiUserInfo->appLicense, 0, sizeof(struDjiUserInfo->appLicense));
memset(struDjiUserInfo->developerAccount, 0, sizeof(struDjiUserInfo->developerAccount));
memset(struDjiUserInfo->baudRate, 0, sizeof(struDjiUserInfo->baudRate));
if (m_struAppRegInfo.qstrUserAppName.length() >= sizeof(struDjiUserInfo->appName) ||
m_struAppRegInfo.qstrUserAppID.length() > sizeof(struDjiUserInfo->appId) ||
m_struAppRegInfo.qstrUserAppKey.length() > sizeof(struDjiUserInfo->appKey) ||
m_struAppRegInfo.qstrUserAppLic.length() > sizeof(struDjiUserInfo->appLicense) ||
m_struAppRegInfo.qstrUserAppAcc.length() >= sizeof(struDjiUserInfo->developerAccount) ||
m_struHardwareInfo.qstrBaudRate.length() > sizeof(struDjiUserInfo->baudRate))
{
qDebug()<<"VehicleController:LoadUserAppInfo.Length of user information string is beyond limit,Please check";
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
strncpy(struDjiUserInfo->appName, m_struAppRegInfo.qstrUserAppName.toLatin1().data(), m_struAppRegInfo.qstrUserAppName.length());
memcpy(struDjiUserInfo->appId, m_struAppRegInfo.qstrUserAppID.toLatin1().data(), ZZ_MIN(sizeof(struDjiUserInfo->appId), m_struAppRegInfo.qstrUserAppID.length()));
memcpy(struDjiUserInfo->appKey, m_struAppRegInfo.qstrUserAppKey.toLatin1().data(), ZZ_MIN(sizeof(struDjiUserInfo->appKey), m_struAppRegInfo.qstrUserAppKey.length()));
memcpy(struDjiUserInfo->appLicense, m_struAppRegInfo.qstrUserAppLic.toLatin1().data(),
ZZ_MIN(sizeof(struDjiUserInfo->appLicense), m_struAppRegInfo.qstrUserAppLic.length()));
memcpy(struDjiUserInfo->baudRate, m_struHardwareInfo.qstrBaudRate.toLatin1().data(), ZZ_MIN(sizeof(struDjiUserInfo->baudRate), m_struHardwareInfo.qstrBaudRate.length()));
strncpy(struDjiUserInfo->developerAccount, m_struAppRegInfo.qstrUserAppAcc.toLatin1().data(), sizeof(struDjiUserInfo->developerAccount) - 1);
return 0;
}
T_DjiReturnCode VehicleController::DjiUser_PrintMessage(const uint8_t* data, uint16_t dataLen)
{
QString qstrMessage((char*)data);
qDebug() << qstrMessage;
return 0;
}
int VehicleController::SetupMessagePipe()
{
connect(&m_clsWidget, &ZZ_Widget_M300RTK::Signal_UpdateCaptureMode, this, &VehicleController::Slot_OnChangeCaptureMode);
connect(&m_clsWidget, &ZZ_Widget_M300RTK::Signal_StartCapture, this, &VehicleController::Signal_StartCapture);
connect(&m_clsWidget, &ZZ_Widget_M300RTK::Signal_StopCapture, this, &VehicleController::Signal_StopCapture);
connect(this, &VehicleController::Signal_UpdateVehicleMessage, &m_clsWidget, &ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage);
/// for test
#ifdef ZZ_FLAG_TEST
connect(this, &VehicleController::Signal_StartCapture, this, &VehicleController::Slot_TestStartCapture);
connect(this, &VehicleController::Signal_StopCapture, this, &VehicleController::Slot_TestStopCapture);
#endif
return 0;
}
int VehicleController::SetupWidget()
{
m_clsWidget.SetUIFilePath("/home/DJI/Widget",100);
m_clsWidget.SetSettings(m_struUIConfig);
m_clsWidget.PreparteEnvironment();
return 0;
}
int VehicleController::InitSystemDateTime()
{
T_DjiReturnCode tDjiReturnCode;
///Init
tDjiReturnCode = DjiFcSubscription_Init();
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "init data subscription module error.";
return 1;
}
else
{
qDebug() << "InitSystemDateTime finished.";
}
///SubscribeTopic
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
///Make sure Gps avalible
T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler();
bool bStop = false;
/////for test
#ifdef ZZ_FLAG_TEST
bStop = 1;
#endif
T_DjiFcSubscriptionGpsSignalLevel tDjiGpsSignalLevel = { 0 };
T_DjiDataTimestamp tTimestamp = { 0 };
osalHandler->TaskSleepMs(5000);
QTime qtStart = QTime::currentTime();
int iRetryTime = 0;
while (!bStop)
{
if (iRetryTime>10)
{
bStop = 1;
}
osalHandler->TaskSleepMs(2000);
DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL, (uint8_t*)&tDjiGpsSignalLevel, sizeof(T_DjiFcSubscriptionGpsSignalLevel), &tTimestamp);
qDebug() << "DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL" << tDjiGpsSignalLevel;
QTime qtElapsed = QTime::currentTime();
if (tDjiGpsSignalLevel>1)
{
bStop = 1;
//emit Signal_UpdatePSDKFloatMessage("");
}
else
{
QString qstrInfo = QString("Warning:Weak GPS signal, Waiting....GPS_SIGNAL_LEVEL:%1, Elapsed time:%2").arg(tDjiGpsSignalLevel).arg(qtStart.msecsTo(qtElapsed));
emit Signal_UpdateVehicleMessage(qstrInfo);
}
iRetryTime++;
}
///Get GPS Datetime
T_DjiFcSubscriptionGpsDate tGpsDate = { 0 };
T_DjiFcSubscriptionGpsTime tGpsTime = { 0 };
tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE, (uint8_t*)&tGpsDate, sizeof(T_DjiFcSubscriptionGpsDate), &tTimestamp);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_GetLatestValueOfTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE.";
return -1;
}
tDjiReturnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, (uint8_t*)&tGpsTime, sizeof(T_DjiFcSubscriptionGpsTime), &tTimestamp);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_GetLatestValueOfTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE.";
return -2;
}
//qDebug() << "Date" << tGpsDate << "Time" << tGpsTime;
QDateTime qdtDateTime;
QString qstrDate, qstrTime,qstrDateTime;
qstrDate = QString::number(tGpsDate);
qstrTime = QString::number(tGpsTime);
if (qstrTime.length()==5)
{
qstrTime = "0" + qstrTime/*+"000"*/;
}
// else
// {
// qstrTime= qstrTime + "000";
// }
// QDate qd;
// qd = QDate::fromString("20121022", "yyyyMMdd");
// QTime qt;
// qt.fromString(qstrTime,"hhmmsszzz");
qstrDateTime = qstrDate + qstrTime;
qdtDateTime = QDateTime::fromString(qstrDateTime, "yyyyMMddhhmmss");
time_t stdTime = qdtDateTime.toTime_t();
if (qdtDateTime.isValid())
{
stime(&stdTime);
}
#ifndef ZZ_FLAG_TEST
//stime(&stdTime);
#else
#endif
// qDebug() << qstrDate;
// qDebug() << qstrTime;
// qDebug() << qd.isValid();
// qDebug() << qd.toString("yyyyMMdd");
// qDebug() << qt.isValid();
// qDebug() << qt;
qDebug() <<"[GPS Time Check]" << qdtDateTime.isValid();
qDebug() <<"[GPS Time:]" << qstrDateTime << "####" << qdtDateTime.toString("yyyyMMddhhmmsszzz");
///UnSubscribeTopic
tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_SIGNAL_LEVEL.";
return -11;
}
tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE.";
return -12;
}
tDjiReturnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "DjiFcSubscription_UnSubscribeTopic module error,DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME.";
return -13;
}
return 0;
}
int VehicleController::Slot_OnChangeCaptureMode(char cMode)
{
//ZZ_Widget_M300RTK* test = qobject_cast<ZZ_Widget_M300RTK*>(sender());
//if (test== &m_clsWidget)
//{
// qDebug() << "from ZZ_Widget_M300RTK";
//}
///0:Auto 1:Manual
switch (cMode)
{
case 0:
//m_clsWidget.SetUIFilePath("/home/DJI/Widget_Auto/", 100);
//m_clsWidget.PreparteEnvironment();
//m_clsWidget.UpdateCaptureStatus(0);
m_scCaptureMode = 0;
break;
case 1:
//m_clsWidget.SetUIFilePath("/home/DJI/Widget_Manual/", 100);
//m_clsWidget.PreparteEnvironment();
//m_clsWidget.UpdateCaptureStatus(1);
m_scCaptureMode = 1;
break;
default:
break;
}
return 0;
}
int VehicleController::Slot_TestStartCapture()
{
qDebug() << "VehicleController Test Cap Started";
return 0;
}
int VehicleController::Slot_TestStopCapture()
{
qDebug() << "VehicleController Test Cap Stopped";
return 0;
}

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Source/M300/PSDK_Qt/Main/VehicleController.h Normal file
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#pragma once
#include <iostream>
#include <fstream>
#include "dji_typedef.h"
#include "dji_core.h"
#include "dji_waypoint_v2.h"
#include "pch.h"
#include "ConfigParser_M300RTK.h"
#include "Widget_M300RTK.h"
#include "ZZ_Types.h"
using namespace std;
using namespace ZZ_DATA_DEF::M300RTK;
using namespace ZZ_DATA_DEF::MainConfig;
class VehicleController :public QObject
{
Q_OBJECT
public:
VehicleController(QObject* parent = nullptr);
virtual ~VehicleController();
public:
static int m_siFlagIsPumpWorking;
static int m_siFlagIsStartCaptureSignalEmitted;
static VehicleController* spCaller;
static char m_scCaptureMode;
private:
///////////Config need modify
ZZ_ConfigParser_M300RTK m_clsConfigParser;
ZZ_Widget_M300RTK m_clsWidget;
M300RTKSettings m_struM300RTKSs;
AppRegInfo m_struAppRegInfo;
HardwareInfo m_struHardwareInfo;
UIConfig m_struUIConfig;
int m_iFlagIsVehicleTakeoff;
int m_iFlagIsVehicleCapturing;
int m_iFlagIsCaptureModeInited;
public:
/// test func Do Not Call
static T_DjiReturnCode DjiTest_FcSubscriptionReceiveFlightStatusCallback(const uint8_t* ccData, uint16_t sDataSize,const T_DjiDataTimestamp* tDjiTimestamp);
static T_DjiReturnCode DjiTest_FcSubscriptionReceiveHeightCallback(const uint8_t* data, uint16_t dataSize,const T_DjiDataTimestamp* timestamp);
/// callback func to monitor flight status
static T_DjiReturnCode ZZ_DjiWaypointV2EventCallback(T_DjiWaypointV2MissionEventPush eventData);
public:
/// call First
int Initialize();
int SetupEnvironment_M300RTK();
/// call Seconde
int StartupPSDK_M300RTK();
///call to save Settings
int UpdateUIConfig();
/// data call
int GetOneDataFrame(M300RTKDataFrame &M300RTKDataFrame);
private:
///
int SetupMessagePipe();
///
int SetupWidget();
///
public:///for test
int InitSystemDateTime();
int SetupSubscriptions();
///
public:///for test
int SetupWaypointStatusCallback();
///
///
int LoadUserAppInfo(T_DjiUserInfo* struDjiUserInfo);
static T_DjiReturnCode DjiUser_PrintMessage(const uint8_t* data, uint16_t dataLen);
signals:
int Signal_StartCapture();
int Signal_StopCapture();
void Signal_UpdateVehicleMessage(QString qstrMessage);
public slots:
int Slot_OnChangeCaptureMode(char cMode);
///for test
int Slot_TestStartCapture();
int Slot_TestStopCapture();
};

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Source/M300/PSDK_Qt/Widget/Widget_M300RTK.cpp Normal file
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#include "Widget_M300RTK.h"
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = 0;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode = 1;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight = 1;
int32_t ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate = 0;
ZZ_Widget_M300RTK::ZZ_Widget_M300RTK(QObject* parent /*= nullptr*/)
{
m_iFlagIsVehicleCapturing = 0;
connect(this,&ZZ_Widget_M300RTK::Signal_UpdatePSDKFloatMessage,this,&ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage);
}
ZZ_Widget_M300RTK::~ZZ_Widget_M300RTK()
{
}
int ZZ_Widget_M300RTK::InitParam()
{
return 0;
}
int ZZ_Widget_M300RTK::SetUIFilePath(char* pcUIFilePath, uint16_t uiLength)
{
if (uiLength>=256)
{
qDebug() << "ZZ_Widget_M300RTK: Func SetUIFilePath. File path is too long";
return 1;
}
QByteArray qbaTemp(pcUIFilePath);
m_qstrFilePath = qbaTemp;
return 0;
}
int ZZ_Widget_M300RTK::UpdateCaptureStatus(int iStatus)
{
m_iFlagIsVehicleCapturing = iStatus;
}
int ZZ_Widget_M300RTK::GetSettings(UIConfig &struUIConfig)
{
struUIConfig.sDecisionHeight = m_siDjiWidgetValueList_DecisionHeight;
struUIConfig.sCaptureMode = m_siDjiWidgetValueList_CaptureMode;
struUIConfig.sSamplingRate = m_siDjiWidgetValueList_SamplingRate;
return 0;
}
int ZZ_Widget_M300RTK::SetSettings(UIConfig struUIConfig)
{
m_struUIConfig = struUIConfig;
m_siDjiWidgetValueList_CaptureMode = struUIConfig.sCaptureMode;
m_siDjiWidgetValueList_DecisionHeight = struUIConfig.sDecisionHeight;
m_siDjiWidgetValueList_SamplingRate = struUIConfig.sSamplingRate;
return 0;
}
int ZZ_Widget_M300RTK::PreparteEnvironment()
{
T_DjiReturnCode djiStat;
static const T_DjiWidgetHandlerListItem s_DjiWidgetHandlerList[] =
{
{0, DJI_WIDGET_TYPE_SWITCH, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{1, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{2, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this},
{3, DJI_WIDGET_TYPE_LIST, ZZ_Widget_M300RTK::OnUpdateWidgetValue, ZZ_Widget_M300RTK::OnLoadWidgetValue, this}
};
djiStat = DjiWidget_Init();
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_Init. Dji widget init error"<< djiStat;
//return djiStat;
}
djiStat = DjiWidget_RegDefaultUiConfigByDirPath(m_qstrFilePath.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << m_qstrFilePath.toLatin1();
qDebug() << "ZZ_Widget_M300RTK: Func DjiWidget_RegDefaultUiConfigByDirPath.Add default widget ui config error";
return djiStat;
}
djiStat = DjiWidget_RegHandlerList(s_DjiWidgetHandlerList, sizeof(s_DjiWidgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() <<"ZZ_Widget_M300RTK: Func DjiWidget_RegHandlerList.Set widget handler list error";
return djiStat;
}
return 0;
}
int ZZ_Widget_M300RTK::UploadResources()
{
return 0;
}
int ZZ_Widget_M300RTK::test_UpdatePSDKFloatMessage(QString qstrMessage)
{
T_DjiReturnCode djiStat;
djiStat = DjiWidgetFloatingWindow_ShowMessage(qstrMessage.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
}
return 0;
}
T_DjiReturnCode ZZ_Widget_M300RTK::OnUpdateWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value, void* userData)
{
ZZ_Widget_M300RTK* pCaller = (ZZ_Widget_M300RTK*)userData;
if (pCaller->m_iFlagIsVehicleCapturing)
{
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (widgetType == DJI_WIDGET_TYPE_SWITCH )
{
if (ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode==0)
{
pCaller->emit Signal_UpdatePSDKFloatMessage("Automatic capture mode.Please don't use this function");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
else
{
if (value==1)
{
pCaller->emit Signal_UpdatePSDKFloatMessage("start capture");
pCaller->emit Signal_StartCapture();
}
else
{
pCaller->emit Signal_UpdatePSDKFloatMessage("capture stopped");
pCaller->emit Signal_StopCapture();
}
}
ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn = value;
///for test
QString qstrTest;
qDebug() << "OnUpdateWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
qstrTest = QString("index:%1,value:%2").arg(index, value);
//pCaller->test_UpdatePSDKFloatMessage(qstrTest);
//qstrTest = "12345";
//pCaller->emit Signal_UpdatePSDKFloatMessage(qstrTest);
}
if (widgetType == DJI_WIDGET_TYPE_LIST )
{
if (index==1)
{
pCaller->emit Signal_UpdateCaptureMode((char)value);
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode = value;
}
else if (index == 2)
{
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight = value;
}
else if (index == 3)
{
ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate = value;
}
#ifdef ZZ_FLAG_TEST
qDebug() << "OnUpdateWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
#endif
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode ZZ_Widget_M300RTK::OnLoadWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t* value, void* userData)
{
if (widgetType == DJI_WIDGET_TYPE_SWITCH)
{
//qDebug() << "OnLoadWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
*value= ZZ_Widget_M300RTK::m_siDjiWidgetValueBtn;
}
if (widgetType == DJI_WIDGET_TYPE_LIST)
{
//qDebug() << "OnLoadWidgetValue " << "widgetType " << widgetType << "index " << index << "value " << value;
if (index == 1)
{
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_CaptureMode;
}
else if (index == 2)
{
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_DecisionHeight;
}
else if (index == 3)
{
*value = ZZ_Widget_M300RTK::m_siDjiWidgetValueList_SamplingRate;
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
int ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage(QString qstrMessage)
{
T_DjiReturnCode djiStat;
djiStat = DjiWidgetFloatingWindow_ShowMessage(qstrMessage.toLatin1());
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
qDebug() << "ZZ_Widget_M300RTK: Func test_UpdatePSDKFloatMessage.Floating window show message error";
}
return 0;
}

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Source/M300/PSDK_Qt/Widget/Widget_M300RTK.h Normal file
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#pragma once
#include <iostream>
#include <fstream>
#include "dji_typedef.h"
#include "dji_core.h"
#include "pch.h"
#include "dji_widget.h"
#include "ConfigParser_M300RTK.h"
using namespace std;
class ZZ_Widget_M300RTK :public QObject
{
Q_OBJECT
public:
ZZ_Widget_M300RTK(QObject* parent = nullptr);
virtual ~ZZ_Widget_M300RTK();
public:
private:
int m_iFlagIsVehicleCapturing;
UIConfig m_struUIConfig;
short m_sFlagCaptureMode;
QString m_qstrFilePath;
static int32_t m_siDjiWidgetValueBtn, m_siDjiWidgetValueList_CaptureMode, m_siDjiWidgetValueList_SamplingRate, m_siDjiWidgetValueList_DecisionHeight;
public:
int PreparteEnvironment();
int SetUIFilePath(char* pcUIFilePath, uint16_t uiLength);
int UpdateCaptureStatus(int iStatus);
int GetSettings(UIConfig &struUIConfig);
int SetSettings(UIConfig struUIConfig);
//int UpdateCaptureStatus(int iStatus);
private:
int InitParam();
int UploadResources();
int test_UpdatePSDKFloatMessage(QString qstrMessage);
public:
static T_DjiReturnCode OnUpdateWidgetValue(E_DjiWidgetType widgetType, uint32_t index, int32_t value,void* userData);
static T_DjiReturnCode OnLoadWidgetValue (E_DjiWidgetType widgetType, uint32_t index, int32_t* value,void* userData);
public slots:
int Slot_UpdatePSDKFloatMessage(QString qstrMessage);
signals:
void Signal_UpdatePSDKFloatMessage(QString qstrMessage);
///0:Auto 1:Manual
void Signal_UpdateCaptureMode(char cMode);
void Signal_StartCapture();
void Signal_StopCapture();
};

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52
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{
"version":
{
"major": 1,
"minor": 0
},
"main_interface": {
"floating_window": {
"is_enable": true
},
"speaker": {
"is_enable_tts": false,
"is_enable_voice": false
},
"widget_list": [
{
}
]
},
"config_interface":
{
"widget_list":
[
{
"widget_index": 1,
"widget_type": "list",
"widget_name": "采集模式",
"list_item": [
{
"item_name": "自动航线采集",
"icon_file_set": {
"icon_file_name_selected": "",
"icon_file_name_unselected": ""
}
},
{
"item_name": "手动航线采集",
"icon_file_set": {
"icon_file_name_selected": "",
"icon_file_name_unselected": ""
}
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 1
}
}
]
}
}

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109
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{
"version":
{
"major": 1,
"minor": 0
},
"main_interface": {
"floating_window": {
"is_enable": true
},
"speaker": {
"is_enable_tts": false,
"is_enable_voice": false
},
"widget_list": [
{
"widget_index": 0,
"widget_type": "switch",
"widget_name": "采集",
"icon_file_set": {
"icon_file_name_selected": "icon_button_zz_stop.png",
"icon_file_name_unselected": "icon_button_zz_start.png"
},
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 3,
"button_value_step_length": 5
}
}
]
},
"config_interface":
{
"widget_list":
[
{
"widget_index": 1,
"widget_type": "list",
"widget_name": "采集模式",
"list_item": [
{
"item_name": "自动航线采集",
"icon_file_set": {
"icon_file_name_selected": "",
"icon_file_name_unselected": ""
}
},
{
"item_name": "手动航线采集",
"icon_file_set": {
"icon_file_name_selected": "",
"icon_file_name_unselected": ""
}
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 1
}
},
{
"widget_index": 2,
"widget_type": "list",
"widget_name": "决断高度",
"list_item": [
{
"item_name": "0m"
},
{
"item_name": "10m"
},
{
"item_name": "20m"
},
{
"item_name": "∞"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 2
}
},
{
"widget_index": 3,
"widget_type": "list",
"widget_name": "采样频率",
"list_item": [
{
"item_name": "1Hz"
},
{
"item_name": "2Hz"
},
{
"item_name": "5Hz"
},
{
"item_name": "10Hz"
}
],
"customize_rc_buttons_config": {
"is_enable": true,
"mapping_config_display_order": 3
}
}
]
}
}

46
Source/M300/PSDK_Qt/ZZ_Types_M300.h Normal file
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#pragma once
#include "pch.h"
#include "dji_typedef.h"
namespace ZZ
{
namespace Device
{
namespace DJI
{
namespace M300RTK
{
enum HardwareConnectionMode
{
UartOnly = 0,
UartAndUSBBulk,
UartAndNetwork
};
typedef struct tagAppRegInfo
{
QString qstrUserAppName;
QString qstrUserAppID;
QString qstrUserAppKey;
QString qstrUserAppLic;
QString qstrUserAppAcc;
}AppRegInfo;
typedef struct tagHardwareInfo
{
HardwareConnectionMode enumHCM;
QString qstrBaudRate;
}HardwareInfo;
typedef struct tagUIConfig
{
short sCaptureMode=0;
short sSamplingRate=0;
short sDecisionHeight=1;
}UIConfig;
};
};
};
};

92
Source/M300/PSDK_Qt/hal/hal_network.c Normal file
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/**
********************************************************************
* @file hal_network.c
* @version V2.0.0
* @date 3/27/20
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "string.h"
#include "stdlib.h"
#include "stdio.h"
#include "hal_network.h"
#include "dji_logger.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj)
{
int32_t ret;
char cmdStr[LINUX_CMD_STR_MAX_SIZE];
if (ipAddr == NULL || netMask == NULL) {
USER_LOG_ERROR("hal network config param error");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
//Attention: need root permission to config ip addr and netmask.
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't open the network."
"Probably the program not execute with root permission."
"Please use the root permission to execute the program.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't config the ip address of network."
"Probably the program not execute with root permission."
"Please use the root permission to execute the program.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj)
{
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo)
{
deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

73
Source/M300/PSDK_Qt/hal/hal_network.h Normal file
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/**
********************************************************************
* @file hal_network.h
* @brief This is the header file for "hal_network.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef HAL_NETWORK_H
#define HAL_NETWORK_H
/* Includes ------------------------------------------------------------------*/
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/** @attention User can config network card name here, if your device is not MF2C/G, please comment below and add your
* NIC name micro define as #define 'LINUX_NETWORK_DEV "your NIC name"'.
*/
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_NETWORK_DEV "enx000ec6688213"
#else
#define LINUX_NETWORK_DEV "l4tbr0"
#endif
/**
* @attention
*/
#ifdef PLATFORM_ARCH_x86_64
#define USB_NET_ADAPTER_VID (0x0B95)
#define USB_NET_ADAPTER_PID (0x1790)
#else
#define USB_NET_ADAPTER_VID (0x0955)
#define USB_NET_ADAPTER_PID (0x7020)
#endif
#define LINUX_CMD_STR_MAX_SIZE (128)
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj);
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj);
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo);
#ifdef __cplusplus
}
#endif
#endif // HAL_NETWORK_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

280
Source/M300/PSDK_Qt/hal/hal_uart.c Normal file
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/**
********************************************************************
* @file hal_uart.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <dji_logger.h>
#include "hal_uart.h"
/* Private constants ---------------------------------------------------------*/
#define UART_DEV_NAME_STR_SIZE (128)
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
//Global
char gvpcM300RTK_UART1[128] = "/dev/ttyUSB0";
char gvpcM300RTK_UART2[128] = "/dev/ttyUSB0";
/* Private types -------------------------------------------------------------*/
typedef struct {
int uartFd;
} T_UartHandleStruct;
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
{
T_UartHandleStruct *uartHandleStruct;
struct termios options;
struct flock lock;
T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
char uartName[UART_DEV_NAME_STR_SIZE];
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
char *ret = NULL;
char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
FILE *fp;
uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
if (uartHandleStruct == NULL)
{
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
//////////////////////////////////////////////////////////////////////////edit by zz
/*if (uartNum == DJI_HAL_UART_NUM_0) {
strcpy(uartName, LINUX_UART_DEV1);
} else if (uartNum == DJI_HAL_UART_NUM_1) {
strcpy(uartName, LINUX_UART_DEV2);
} else {
goto free_uart_handle;
}*/
if (uartNum == DJI_HAL_UART_NUM_0)
{
strcpy(uartName, gvpcM300RTK_UART1);
}
else if (uartNum == DJI_HAL_UART_NUM_1)
{
strcpy(uartName, gvpcM300RTK_UART2);
}
else
{
goto free_uart_handle;
}
#ifdef USE_CLION_DEBUG
sprintf(systemCmd, "ls -l %s", uartName);
fp = popen(systemCmd, "r");
if (fp == NULL) {
goto free_uart_handle;
}
ret = fgets(lineBuf, sizeof(lineBuf), fp);
if (ret == NULL) {
goto close_fp;
}
if (strstr(lineBuf, "crwxrwxrwx") == NULL) {
USER_LOG_ERROR("Can't operation the device. "
"Probably the device has not operation permission. "
"Please execute command 'sudo chmod 777 %s' to add permission. ", uartName);
goto close_fp;
}
#else
sprintf(systemCmd, "chmod 777 %s", uartName);
fp = popen(systemCmd, "r");
if (fp == NULL)
{
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#endif
uartHandleStruct->uartFd = open(uartName, (unsigned) O_RDWR | (unsigned) O_NOCTTY | (unsigned) O_NDELAY);
if (uartHandleStruct->uartFd == -1) {
goto close_fp;
}
// Forbid multiple psdk programs to access the serial port
lock.l_type = F_WRLCK;
lock.l_pid = getpid();
lock.l_whence = SEEK_SET;
lock.l_start = 0;
lock.l_len = 0;
if (fcntl(uartHandleStruct->uartFd, F_GETLK, &lock) < 0) {
goto close_uart_fd;
}
if (lock.l_type != F_UNLCK) {
goto close_uart_fd;
}
lock.l_type = F_WRLCK;
lock.l_pid = getpid();
lock.l_whence = SEEK_SET;
lock.l_start = 0;
lock.l_len = 0;
if (fcntl(uartHandleStruct->uartFd, F_SETLKW, &lock) < 0) {
goto close_uart_fd;
}
if (tcgetattr(uartHandleStruct->uartFd, &options) != 0) {
goto close_uart_fd;
}
switch (baudRate) {
case 115200:
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
break;
case 230400:
cfsetispeed(&options, B230400);
cfsetospeed(&options, B230400);
break;
case 460800:
cfsetispeed(&options, B460800);
cfsetospeed(&options, B460800);
break;
case 921600:
cfsetispeed(&options, B921600);
cfsetospeed(&options, B921600);
break;
case 1000000:
cfsetispeed(&options, B1000000);
cfsetospeed(&options, B1000000);
break;
default:
goto close_uart_fd;
}
options.c_cflag |= (unsigned) CLOCAL;
options.c_cflag |= (unsigned) CREAD;
options.c_cflag &= ~(unsigned) CRTSCTS;
options.c_cflag &= ~(unsigned) CSIZE;
options.c_cflag |= (unsigned) CS8;
options.c_cflag &= ~(unsigned) PARENB;
options.c_iflag &= ~(unsigned) INPCK;
options.c_cflag &= ~(unsigned) CSTOPB;
options.c_oflag &= ~(unsigned) OPOST;
options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
tcflush(uartHandleStruct->uartFd, TCIFLUSH);
if (tcsetattr(uartHandleStruct->uartFd, TCSANOW, &options) != 0)
{
goto close_uart_fd;
}
*uartHandle = uartHandleStruct;
pclose(fp);
return returnCode;
close_uart_fd:
close(uartHandleStruct->uartFd);
close_fp:
pclose(fp);
free_uart_handle:
free(uartHandleStruct);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle)
{
int32_t ret;
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
if (uartHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
ret = close(uartHandleStruct->uartFd);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
free(uartHandleStruct);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = write(uartHandleStruct->uartFd, buf, len);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = read(uartHandleStruct->uartFd, buf, len);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status)
{
if (uartNum == DJI_HAL_UART_NUM_0) {
status->isConnect = true;
} else if (uartNum == DJI_HAL_UART_NUM_1) {
status->isConnect = true;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

68
Source/M300/PSDK_Qt/hal/hal_uart.h Normal file
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/**
********************************************************************
* @file hal_uart.h
* @brief This is the header file for "hal_uart.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef HAL_UART_H
#define HAL_UART_H
/* Includes ------------------------------------------------------------------*/
#include "stdint.h"
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include <string.h>
#include "stdlib.h"
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
//global
extern char gvpcM300RTK_UART1[128];
extern char gvpcM300RTK_UART2[128];
/* Exported constants --------------------------------------------------------*/
//User can config dev based on there environmental conditions
#define LINUX_UART_DEV1 "/dev/ttyS1"
#define LINUX_UART_DEV2 "/dev/ttyACM0"
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
#ifdef __cplusplus
}
#endif
#endif // HAL_UART_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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/**
********************************************************************
* @file hal_usb_bulk.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "hal_usb_bulk.h"
#include "dji_logger.h"
/* Private constants ---------------------------------------------------------*/
#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
#define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER (-1)
/* Private types -------------------------------------------------------------*/
typedef struct {
#ifdef LIBUSB_INSTALLED
libusb_device_handle *handle;
#else
void *handle;
#endif
int32_t ep1;
int32_t ep2;
uint32_t interfaceNum;
T_DjiHalUsbBulkInfo usbBulkInfo;
} T_HalUsbBulkObj;
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle)
{
int32_t ret;
struct libusb_device_handle *handle = NULL;
*usbBulkHandle = malloc(sizeof(T_HalUsbBulkObj));
if (*usbBulkHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
ret = libusb_init(NULL);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
if (handle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
if (ret != LIBUSB_SUCCESS) {
printf("libusb claim interface error");
libusb_close(handle);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
#endif
} else {
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
{
struct libusb_device_handle *handle = NULL;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
if (usbBulkHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
osalHandler->TaskSleepMs(100);
libusb_exit(NULL);
#endif
} else {
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
}
free(usbBulkHandle);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
uint32_t *realLen)
{
int32_t ret;
int32_t actualLen;
struct libusb_device_handle *handle = NULL;
if (usbBulkHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
(uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
if (ret < 0) {
USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*realLen = actualLen;
#endif
} else {
*realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
uint32_t *realLen)
{
int32_t ret;
struct libusb_device_handle *handle = NULL;
int32_t actualLen;
if (usbBulkHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
if (ret < 0) {
USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*realLen = actualLen;
#endif
} else {
*realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
{
//attention: this interface only be called in usb device mode.
deviceInfo->vid = LINUX_USB_VID;
deviceInfo->pid = LINUX_USB_PID;
// This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
// This bulk channel is used to obtain DJI perception image and download camera media file.
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @file hal_usb_bulk.h
* @brief This is the header file for "hal_usb_bulk.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef HAL_USB_BULK_H
#define HAL_USB_BULK_H
/* Includes ------------------------------------------------------------------*/
#include "stdint.h"
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include <string.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#ifdef LIBUSB_INSTALLED
#include <libusb-1.0/libusb.h>
#endif
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep1"
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep2"
#define LINUX_USB_BULK1_INTERFACE_NUM (2)
#define LINUX_USB_BULK1_END_POINT_IN (0x83)
#define LINUX_USB_BULK1_END_POINT_OUT (2)
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep1"
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep2"
#define LINUX_USB_BULK2_INTERFACE_NUM (3)
#define LINUX_USB_BULK2_END_POINT_IN (0x84)
#define LINUX_USB_BULK2_END_POINT_OUT (3)
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_USB_VID (0x0B95)
#define LINUX_USB_PID (0x1790)
#else
#define LINUX_USB_VID (0x0955)
#define LINUX_USB_PID (0x7020)
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);
T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle);
T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
uint32_t *realLen);
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo);
#ifdef __cplusplus
}
#endif
#endif // HAL_USB_BULK_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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/**
********************************************************************
* @file osal.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "osal.h"
#include "dji_typedef.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static uint32_t s_localTimeMsOffset = 0;
static uint64_t s_localTimeUsOffset = 0;
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
/* Private functions definition-----------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *), uint32_t stackSize, void *arg,
T_DjiTaskHandle *task)
{
int result;
char nameDealed[16] = {0};
*task = malloc(sizeof(pthread_t));
if (*task == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
result = pthread_create(*task, NULL, taskFunc, arg);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (name != NULL)
{
strncpy(nameDealed, name, sizeof(nameDealed) - 1);
}
result = pthread_setname_np(*(pthread_t *) *task, nameDealed);
if (result != 0)
{
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task)
{
pthread_cancel(*(pthread_t *) task);
free(task);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs)
{
usleep(1000 * timeMs);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Declare the mutex container, initialize the mutex, and
* create mutex ID.
* @param mutex: pointer to the created mutex ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
{
int result;
*mutex = malloc(sizeof(pthread_mutex_t));
if (*mutex == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
result = pthread_mutex_init(*mutex, NULL);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Delete the created mutex.
* @param mutex: pointer to the created mutex ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
{
int result;
result = pthread_mutex_destroy(mutex);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
free(mutex);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Acquire and lock the mutex when peripheral access is required
* @param mutex: pointer to the created mutex ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
{
int result = pthread_mutex_lock(mutex);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Unlock and release the mutex, when done with the peripheral access.
* @param mutex: pointer to the created mutex ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
{
int result = pthread_mutex_unlock(mutex);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Declare the semaphore container, initialize the semaphore, and
* create semaphore ID.
* @param semaphore: pointer to the created semaphore ID.
* @param initValue: initial value of semaphore.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaphore)
{
int result;
*semaphore = malloc(sizeof(sem_t));
if (*semaphore == NULL) {
return
DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
result = sem_init(*semaphore, 0, (unsigned int) initValue);
if (result != 0) {
return
DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Delete the created semaphore.
* @param semaphore: pointer to the created semaphore ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore)
{
int result;
result = sem_destroy((sem_t *) semaphore);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
free(semaphore);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Wait the semaphore until token becomes available.
* @param semaphore: pointer to the created semaphore ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore)
{
int result;
result = sem_wait(semaphore);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Wait the semaphore until token becomes available.
* @param semaphore: pointer to the created semaphore ID.
* @param waitTime: timeout value of waiting semaphore, unit: millisecond.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphoreTimedWait(T_DjiSemaHandle semaphore, uint32_t waitTime)
{
int result;
struct timespec semaphoreWaitTime;
struct timeval systemTime;
gettimeofday(&systemTime, NULL);
systemTime.tv_usec += waitTime * 1000;
if (systemTime.tv_usec >= 1000000) {
systemTime.tv_sec += systemTime.tv_usec / 1000000;
systemTime.tv_usec %= 1000000;
}
semaphoreWaitTime.tv_sec = systemTime.tv_sec;
semaphoreWaitTime.tv_nsec = systemTime.tv_usec * 1000;
result = sem_timedwait(semaphore, &semaphoreWaitTime);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Release the semaphore token.
* @param semaphore: pointer to the created semaphore ID.
* @return an enum that represents a status of PSDK
*/
T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore)
{
int result;
result = sem_post(semaphore);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/**
* @brief Get the system time for ms.
* @return an uint32 that the time of system, uint:ms
*/
T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
{
struct timeval time;
gettimeofday(&time, NULL);
*ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
if (s_localTimeMsOffset == 0) {
s_localTimeMsOffset = *ms;
} else {
*ms = *ms - s_localTimeMsOffset;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
{
struct timeval time;
gettimeofday(&time, NULL);
*us = (time.tv_sec * 1000000 + time.tv_usec);
if (s_localTimeUsOffset == 0) {
s_localTimeUsOffset = *us;
} else {
*us = *us - s_localTimeMsOffset;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
void *Osal_Malloc(uint32_t size)
{
return malloc(size);
}
void Osal_Free(void *ptr)
{
free(ptr);
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @file osal.h
* @version V2.0.0
* @date 2019/8/28
* @brief This is the header file for "osal.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef OSAL_H
#define OSAL_H
/* Includes ------------------------------------------------------------------*/
#include <stdio.h>
#include <stdlib.h>
#include <pthread.h>
#include <semaphore.h>
#include <sys/time.h>
#include <unistd.h>
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *),
uint32_t stackSize, void *arg, T_DjiTaskHandle *task);
T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task);
T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs);
T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex);
T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex);
T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex);
T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex);
T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaphore);
T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore);
T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore);
T_DjiReturnCode Osal_SemaphoreTimedWait(T_DjiSemaHandle semaphore, uint32_t waitTime);
T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
void *Osal_Malloc(uint32_t size);
void Osal_Free(void *ptr);
#ifdef __cplusplus
}
#endif
#endif // OSAL_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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/**
********************************************************************
* @file osal_fs.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "osal_fs.h"
#include "stdio.h"
#include "stdlib.h"
#include "unistd.h"
#include <sys/stat.h>
#include <dirent.h>
#include "time.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode Osal_FileOpen(const char *fileName, const char *fileMode, T_DjiFileHandle *fileObj)
{
if (fileName == NULL || fileMode == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
*fileObj = malloc(sizeof(FILE));
if (*fileObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
*fileObj = fopen(fileName, fileMode);
if (*fileObj == NULL) {
goto out;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
out:
free(*fileObj);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
T_DjiReturnCode Osal_FileClose(T_DjiFileHandle fileObj)
{
int32_t ret;
if (fileObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fclose(fileObj);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_FileWrite(T_DjiFileHandle fileObj, const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
if (fileObj == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fwrite(buf, 1, len, fileObj);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_FileRead(T_DjiFileHandle fileObj, uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
if (fileObj == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fread(buf, 1, len, fileObj);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_FileSeek(T_DjiFileHandle fileObj, uint32_t offset)
{
int32_t ret;
if (fileObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fseek(fileObj, offset, SEEK_SET);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_FileSync(T_DjiFileHandle fileObj)
{
int32_t ret;
if (fileObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = fflush(fileObj);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_DirOpen(const char *filePath, T_DjiDirHandle *dirObj)
{
if (filePath == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
*dirObj = opendir(filePath);
if (*dirObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_DirClose(T_DjiDirHandle dirObj)
{
int32_t ret;
if (dirObj == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = closedir((DIR *) dirObj);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_DirRead(T_DjiDirHandle dirObj, T_DjiFileInfo *fileInfo)
{
struct dirent *dirent;
if (dirObj == NULL || fileInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
dirent = readdir((DIR *) dirObj);
if (!dirent) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (dirent->d_type == DT_DIR) {
fileInfo->isDir = true;
} else {
fileInfo->isDir = false;
}
strcpy(fileInfo->path, dirent->d_name);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Mkdir(const char *filePath)
{
int32_t ret;
if (filePath == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = mkdir(filePath, S_IRWXU);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Unlink(const char *filePath)
{
int32_t ret;
if (filePath == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
if (filePath[strlen(filePath) - 1] == '/') {
ret = rmdir(filePath);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
} else {
ret = unlink(filePath);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Rename(const char *oldFilePath, const char *newFilePath)
{
int32_t ret;
if (oldFilePath == NULL || newFilePath == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = rename(oldFilePath, newFilePath);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Stat(const char *filePath, T_DjiFileInfo *fileInfo)
{
struct stat st;
int32_t ret;
struct tm *fileTm;
if (filePath == NULL || fileInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = stat(filePath, &st);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
fileTm = localtime(&(st.st_ctime));
if (fileTm == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
fileInfo->size = st.st_size;
fileInfo->createTime.year = fileTm->tm_year + 1900 - 1980;
fileInfo->createTime.month = fileTm->tm_mon;
fileInfo->createTime.day = fileTm->tm_mday;
fileInfo->createTime.hour = fileTm->tm_hour;
fileInfo->createTime.minute = fileTm->tm_min;
fileInfo->createTime.second = fileTm->tm_sec;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @file osal_fs.h
* @brief This is the header file for "osal_fs.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef OSAL_FS_H
#define OSAL_FS_H
/* Includes ------------------------------------------------------------------*/
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode Osal_FileOpen(const char *fileName, const char *fileMode, T_DjiFileHandle *fileObj);
T_DjiReturnCode Osal_FileClose(T_DjiFileHandle fileObj);
T_DjiReturnCode Osal_FileWrite(T_DjiFileHandle fileObj, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_FileRead(T_DjiFileHandle fileObj, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_FileSeek(T_DjiFileHandle fileObj, uint32_t offset);
T_DjiReturnCode Osal_FileSync(T_DjiFileHandle fileObj);
T_DjiReturnCode Osal_DirOpen(const char *filePath, T_DjiDirHandle *dirObj);
T_DjiReturnCode Osal_DirClose(T_DjiDirHandle dirObj);
T_DjiReturnCode Osal_DirRead(T_DjiDirHandle dirObj, T_DjiFileInfo *fileInfo);
T_DjiReturnCode Osal_Mkdir(const char *filePath);
T_DjiReturnCode Osal_Unlink(const char *filePath);
T_DjiReturnCode Osal_Rename(const char *oldFilePath, const char *newFilePath);
T_DjiReturnCode Osal_Stat(const char *filePath, T_DjiFileInfo *fileInfo);
#ifdef __cplusplus
}
#endif
#endif // OSAL_FS_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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/**
********************************************************************
* @file osal_socket.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "osal_socket.h"
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <unistd.h>
#include "stdlib.h"
/* Private constants ---------------------------------------------------------*/
typedef struct {
int socketFd;
} T_SocketHandleStruct;
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle)
{
T_SocketHandleStruct *socketHandleStruct;
if (socketHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
socketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
if (socketHandleStruct == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
if (mode == DJI_SOCKET_MODE_UDP) {
socketHandleStruct->socketFd = socket(PF_INET, SOCK_DGRAM, 0);
} else if (mode == DJI_SOCKET_MODE_TCP) {
socketHandleStruct->socketFd = socket(PF_INET, SOCK_STREAM, 0);
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
*socketHandle = socketHandleStruct;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandleStruct->socketFd <= 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = close(socketHandleStruct->socketFd);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
struct sockaddr_in addr;
int32_t ret;
if (socketHandle == NULL || ipAddr == NULL || port == 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
bzero(&addr, sizeof(addr));
addr.sin_family = AF_INET;
addr.sin_port = htons(port);
addr.sin_addr.s_addr = inet_addr(ipAddr);
ret = bind(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
struct sockaddr_in addr;
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandle <= 0 || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
bzero(&addr, sizeof(addr));
addr.sin_family = AF_INET;
addr.sin_port = htons(port);
addr.sin_addr.s_addr = inet_addr(ipAddr);
ret = sendto(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
uint8_t *buf, uint32_t len, uint32_t *realLen)
{
struct sockaddr_in addr;
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
uint32_t addrLen = 0;
int32_t ret;
if (socketHandle == NULL || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = recvfrom(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, &addrLen);
if (ret >= 0) {
*realLen = ret;
strcpy(ipAddr, inet_ntoa(addr.sin_addr));
*port = ntohs(addr.sin_port);
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle)
{
int32_t ret;
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
if (socketHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = listen(socketHandleStruct->socketFd, 5);
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
T_DjiSocketHandle *outSocketHandle)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
T_SocketHandleStruct *outSocketHandleStruct;
struct sockaddr_in addr;
uint32_t addrLen = 0;
if (socketHandle == NULL || ipAddr == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
outSocketHandleStruct = malloc(sizeof(T_SocketHandleStruct));
if (outSocketHandleStruct == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
outSocketHandleStruct->socketFd = accept(socketHandleStruct->socketFd, (struct sockaddr *) &addr, &addrLen);
if (outSocketHandleStruct->socketFd < 0) {
free(outSocketHandleStruct);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*port = ntohs(addr.sin_port);
*outSocketHandle = outSocketHandleStruct;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port)
{
struct sockaddr_in addr;
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandle == NULL || ipAddr == NULL || port == 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
bzero(&addr, sizeof(addr));
addr.sin_family = AF_INET;
addr.sin_port = htons(port);
addr.sin_addr.s_addr = inet_addr(ipAddr);
ret = connect(socketHandleStruct->socketFd, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
if (ret < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = send(socketHandleStruct->socketFd, buf, len, 0);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
uint8_t *buf, uint32_t len, uint32_t *realLen)
{
T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
int32_t ret;
if (socketHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = recv(socketHandleStruct->socketFd, buf, len, 0);
if (ret >= 0) {
*realLen = ret;
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @file osal_socket.h
* @brief This is the header file for "osal_socket.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef OSAL_SOCKET_H
#define OSAL_SOCKET_H
/* Includes ------------------------------------------------------------------*/
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle);
T_DjiReturnCode Osal_Close(T_DjiSocketHandle socketHandle);
T_DjiReturnCode Osal_Bind(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_TcpListen(T_DjiSocketHandle socketHandle);
T_DjiReturnCode Osal_TcpAccept(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
T_DjiSocketHandle *outSocketHandle);
T_DjiReturnCode Osal_TcpConnect(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);
T_DjiReturnCode Osal_TcpSendData(T_DjiSocketHandle socketHandle,
const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode Osal_TcpRecvData(T_DjiSocketHandle socketHandle,
uint8_t *buf, uint32_t len, uint32_t *realLen);
#ifdef __cplusplus
}
#endif
#endif // OSAL_SOCKET_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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/**
******************************************************************************
* @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);
}

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/**
******************************************************************************
* @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

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/**
********************************************************************
* @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, uint16_t len,
uint8_t *data, uint16_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****/

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/**
********************************************************************
* @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, uint16_t len,
uint8_t *data, uint16_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******/

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/**
********************************************************************
* @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****/

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/**
********************************************************************
* @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******/

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/**
********************************************************************
* @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.
*
*********************************************************************
*/
#define SYSTEM_ARCH_LINUX
/* 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****/

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/**
********************************************************************
* @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******/

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/**
********************************************************************
* @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****/

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/**
********************************************************************
* @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******/