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NEW: release DJI Payload-SDK version 3.6

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-09-18 20:37:36 +08:00
parent 59b71864e4
commit ae9653a52f
89 changed files with 67525 additions and 354 deletions
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91
samples/sample_c/module_sample/positioning/test_positioning.c
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@ -32,22 +32,34 @@
#include "dji_platform.h"
#include "time_sync/test_time_sync.h"
#ifdef SYSTEM_ARCH_LINUX
#include "time.h"
#endif
/* Private constants ---------------------------------------------------------*/
#define POSITIONING_TASK_FREQ (1)
#define POSITIONING_TASK_STACK_SIZE (1024)
#define POSITIONING_TASK_STACK_SIZE (2048)
#define TEST_RTCM_FILE_PATH_STR_MAX_SIZE (64)
#define DJI_TEST_POSITIONING_EVENT_COUNT (2)
#define DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US (200000)
/* Private types -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
static void *DjiTest_PositioningTask(void *arg);
static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen);
static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen);
/* Private variables ---------------------------------------------------------*/
static T_DjiTaskHandle s_userPositioningThread;
static int32_t s_eventIndex = 0;
static char s_rtkOnAircraftRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
static char s_rtkBaseStationRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_PositioningStartService(void)
@ -63,12 +75,40 @@ T_DjiReturnCode DjiTest_PositioningStartService(void)
DjiPositioning_SetTaskIndex(0);
#ifndef SYSTEM_ARCH_LINUX
if (osalHandler->TaskCreate("user_positioning_task", DjiTest_PositioningTask,
POSITIONING_TASK_STACK_SIZE, NULL, &s_userPositioningThread) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("user positioning task create error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
#else
time_t currentTime = time(NULL);
struct tm *localTime = NULL;
localTime = localtime(&currentTime);
sprintf(s_rtkOnAircraftRtcmFilePath, "rtk_on_aircraft_%04d%02d%02d_%02d-%02d-%02d.rtcm",
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
localTime = localtime(&currentTime);
sprintf(s_rtkBaseStationRtcmFilePath, "rtk_base_station_%04d%02d%02d_%02d-%02d-%02d.rtcm",
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
#endif
djiStat = DjiPositioning_RegReceiveRtcmDataCallback(DJI_POSITIONING_RTCM_DATA_TYPE_RTK_BASE_STATION,
DjiTest_ReceiveRtkBaseStationRtcmDataCallback);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register receive rtk base station callback error.");
return djiStat;
}
djiStat = DjiPositioning_RegReceiveRtcmDataCallback(DJI_POSITIONING_RTCM_DATA_TYPE_RTK_ON_AIRCRAFT,
DjiTest_ReceiveRtkOnAircraftRtcmDataCallback);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register receive rtk on aircraft callback error.");
return djiStat;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
@ -158,4 +198,51 @@ static void *DjiTest_PositioningTask(void *arg)
#pragma GCC diagnostic pop
#endif
static int32_t DjiTest_SaveRtcmData(char *filePath, const uint8_t *data, uint32_t len)
{
#ifdef SYSTEM_ARCH_LINUX
FILE *fp = NULL;
size_t size;
fp = fopen(filePath, "ab+");
if (fp == NULL) {
printf("fopen failed!\n");
return -1;
}
size = fwrite(data, 1, len, fp);
if (size != len) {
fclose(fp);
return -1;
}
fflush(fp);
fclose(fp);
#endif
return 0;
}
static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen)
{
USER_LOG_INFO("Receive rtcm data from rtk on aircraft, index: %d, len: %d", index, dataLen);
#ifdef SYSTEM_ARCH_LINUX
DjiTest_SaveRtcmData(s_rtkOnAircraftRtcmFilePath, data, dataLen);
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen)
{
USER_LOG_INFO("Receive rtcm data from rtk base station, index: %d, len: %d", index, dataLen);
#ifdef SYSTEM_ARCH_LINUX
DjiTest_SaveRtcmData(s_rtkBaseStationRtcmFilePath, data, dataLen);
#endif
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/