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NEW: release DJI Payload-SDK version 3.2

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2022-08-08 15:43:55 +08:00
parent 42099ba7df
commit 08b76b678d
50 changed files with 567 additions and 263 deletions
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181
samples/sample_c++/platform/linux/common/3rdparty/FindFFMPEG.cmake vendored Normal file
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@ -0,0 +1,181 @@
#
# Find the native FFMPEG includes and library
#
# This module defines
# FFMPEG_INCLUDE_DIR, where to find avcodec.h, avformat.h ...
# FFMPEG_LIBRARIES, the libraries to link against to use FFMPEG.
# FFMPEG_FOUND, If false, do not try to use FFMPEG.
# also defined, but not for general use are
# FFMPEG_avformat_LIBRARY and FFMPEG_avcodec_LIBRARY, where to find the FFMPEG library.
# This is useful to do it this way so that we can always add more libraries
# if needed to FFMPEG_LIBRARIES if ffmpeg ever changes...
# if ffmpeg headers are all in one directory
FIND_PATH(FFMPEG_INCLUDE_DIR avformat.h
PATHS
$ENV{FFMPEG_DIR}/include
$ENV{OSGDIR}/include
$ENV{OSG_ROOT}/include
~/Library/Frameworks
/Library/Frameworks
/usr/local/include
/usr/include
/sw/include # Fink
/opt/local/include # DarwinPorts
/opt/csw/include # Blastwave
/opt/include
/usr/freeware/include
PATH_SUFFIXES ffmpeg
DOC "Location of FFMPEG Headers"
)
# if ffmpeg headers are seperated to each of libavformat, libavcodec etc..
IF( NOT FFMPEG_INCLUDE_DIR )
FIND_PATH(FFMPEG_INCLUDE_DIR libavformat/avformat.h
PATHS
$ENV{FFMPEG_DIR}/include
$ENV{OSGDIR}/include
$ENV{OSG_ROOT}/include
~/Library/Frameworks
/Library/Frameworks
/usr/local/include
/usr/include
/sw/include # Fink
/opt/local/include # DarwinPorts
/opt/csw/include # Blastwave
/opt/include
/usr/freeware/include
PATH_SUFFIXES ffmpeg
DOC "Location of FFMPEG Headers"
)
ENDIF( NOT FFMPEG_INCLUDE_DIR )
# we want the -I include line to use the parent directory of ffmpeg as
# ffmpeg uses relative includes such as <ffmpeg/avformat.h> or <libavcodec/avformat.h>
get_filename_component(FFMPEG_INCLUDE_DIR ${FFMPEG_INCLUDE_DIR} ABSOLUTE)
FIND_LIBRARY(FFMPEG_avformat_LIBRARY avformat
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_avcodec_LIBRARY avcodec
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_avutil_LIBRARY avutil
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_vorbis_LIBRARY vorbis
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_dc1394_LIBRARY dc1394_control
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_vorbisenc_LIBRARY vorbisenc
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_theora_LIBRARY theora
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_dts_LIBRARY dts
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_gsm_LIBRARY gsm
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_swscale_LIBRARY swscale
/usr/local/lib
/usr/lib
)
FIND_LIBRARY(FFMPEG_z_LIBRARY z
/usr/local/lib
/usr/lib
)
SET(FFMPEG_LIBRARIES)
IF(FFMPEG_INCLUDE_DIR)
IF(FFMPEG_avformat_LIBRARY)
IF(FFMPEG_avcodec_LIBRARY)
IF(FFMPEG_avutil_LIBRARY)
SET( FFMPEG_FOUND "YES" )
SET( FFMPEG_BASIC_LIBRARIES
${FFMPEG_avcodec_LIBRARY}
${FFMPEG_avformat_LIBRARY}
${FFMPEG_avutil_LIBRARY}
)
# swscale is always a part of newer ffmpeg distros
IF(FFMPEG_swscale_LIBRARY)
LIST(APPEND FFMPEG_BASIC_LIBRARIES ${FFMPEG_swscale_LIBRARY})
ENDIF(FFMPEG_swscale_LIBRARY)
SET(FFMPEG_LIBRARIES ${FFMPEG_BASIC_LIBRARIES})
IF(FFMPEG_vorbis_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_vorbis_LIBRARY})
ENDIF(FFMPEG_vorbis_LIBRARY)
IF(FFMPEG_dc1394_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_dc1394_LIBRARY})
ENDIF(FFMPEG_dc1394_LIBRARY)
IF(FFMPEG_vorbisenc_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_vorbisenc_LIBRARY})
ENDIF(FFMPEG_vorbisenc_LIBRARY)
IF(FFMPEG_theora_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_theora_LIBRARY})
ENDIF(FFMPEG_theora_LIBRARY)
IF(FFMPEG_dts_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_dts_LIBRARY})
ENDIF(FFMPEG_dts_LIBRARY)
IF(FFMPEG_gsm_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_gsm_LIBRARY})
ENDIF(FFMPEG_gsm_LIBRARY)
IF(FFMPEG_z_LIBRARY)
LIST(APPEND FFMPEG_LIBRARIES ${FFMPEG_z_LIBRARY})
ENDIF(FFMPEG_z_LIBRARY)
SET(FFMPEG_LIBRARIES ${FFMPEG_LIBRARIES} CACHE INTERNAL "All presently found FFMPEG libraries.")
ENDIF(FFMPEG_avutil_LIBRARY)
ENDIF(FFMPEG_avcodec_LIBRARY)
ENDIF(FFMPEG_avformat_LIBRARY)
ENDIF(FFMPEG_INCLUDE_DIR)
MARK_AS_ADVANCED(
FFMPEG_INCLUDE_DIR
FFMPEG_avformat_LIBRARY
FFMPEG_avcodec_LIBRARY
FFMPEG_avutil_LIBRARY
FFMPEG_vorbis_LIBRARY
FFMPEG_dc1394_LIBRARY
FFMPEG_vorbisenc_LIBRARY
FFMPEG_theora_LIBRARY
FFMPEG_dts_LIBRARY
FFMPEG_gsm_LIBRARY
FFMPEG_swscale_LIBRARY
FFMPEG_z_LIBRARY
)

34
samples/sample_c++/platform/linux/common/3rdparty/FindLIBUSB.cmake vendored Normal file
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@ -0,0 +1,34 @@
#
# Find the native LIBUSB includes and library
#
# This module defines
# LIBUSB_INCLUDE_DIR, where to find libusb.h
# LIBUSB_LIBRARY, the libraries to link against to use LIBUSB.
# LIBUSB_FOUND, If false, do not try to use LIBUSB.
FIND_PATH(LIBUSB_INCLUDE_DIR libusb.h
PATHS
/usr/local/include/libusb-1.0
/usr/include/libusb-1.0
/opt/local/include
/opt/include
)
get_filename_component(LIBUSB_INCLUDE_DIR ${LIBUSB_INCLUDE_DIR} ABSOLUTE)
FIND_LIBRARY(LIBUSB_LIBRARY usb-1.0
/usr/local/lib
/usr/lib
)
IF (LIBUSB_INCLUDE_DIR)
IF (LIBUSB_LIBRARY)
SET(LIBUSB_FOUND "YES")
ENDIF (LIBUSB_LIBRARY)
ENDIF (LIBUSB_INCLUDE_DIR)
MARK_AS_ADVANCED(
LIBUSB_INCLUDE_DIR
LIBUSB_LIBRARY
LIBUSB_FOUND
)

34
samples/sample_c++/platform/linux/common/3rdparty/FindOPUS.cmake vendored Normal file
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@ -0,0 +1,34 @@
#
# Find the native OPUS includes and library
#
# This module defines
# OPUS_INCLUDE_DIR, where to find opus.h
# OPUS_LIBRARY, the libraries to link against to use OPUS.
# OPUS_FOUND, If false, do not try to use OPUS.
FIND_PATH(OPUS_INCLUDE_DIR opus.h
PATHS
/usr/local/include/opus
/usr/include/opus
/opt/local/include
/opt/include
)
get_filename_component(OPUS_INCLUDE_DIR ${OPUS_INCLUDE_DIR} ABSOLUTE)
FIND_LIBRARY(OPUS_LIBRARY opus
/usr/local/lib
/usr/lib
)
IF (OPUS_INCLUDE_DIR)
IF (OPUS_LIBRARY)
SET(OPUS_FOUND "YES")
ENDIF (OPUS_LIBRARY)
ENDIF (OPUS_INCLUDE_DIR)
MARK_AS_ADVANCED(
OPUS_INCLUDE_DIR
OPUS_LIBRARY
OPUS_FOUND
)

24
samples/sample_c++/platform/linux/common/osal/osal.c
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@ -1,8 +1,6 @@
/**
********************************************************************
* @file psdk_osal.c
* @version V2.0.0
* @date 2019/07/01
* @file osal.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
@ -32,6 +30,10 @@
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static uint32_t s_localTimeMsOffset = 0;
static uint64_t s_localTimeUsOffset = 0;
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
@ -281,6 +283,12 @@ T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
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;
}
@ -291,15 +299,17 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
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)
{
if (size == 0) {
return NULL;
}
return malloc(size);
}