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NEW: release DJI Payload-SDK version 3.5

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-05-18 21:30:44 +08:00
parent cae3123cda
commit caa15133cd
81 changed files with 558 additions and 176 deletions
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10
samples/sample_c++/module_sample/camera_manager/test_camera_manager_entry.cpp
View File

@ -50,6 +50,7 @@ static const char *s_cameraManagerSampleSelectList[] = {
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO] = "Shoot interval photo |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO] = "Record video |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE] = "Download and delete media file |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_FILE_LIST_BY_SLICES] = "Download file list by slices |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY] = "Thermometry test |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO] = "Get lidar ranging info |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM] = "Set ir camera zoom param |",
@ -120,8 +121,7 @@ void DjiUser_RunCameraManagerSample(void)
if (posNum > 3 || posNum < 1) {
USER_LOG_ERROR("Input mount position is invalid");
continue;
}
else {
} else {
break;
}
}
@ -140,15 +140,15 @@ void DjiUser_RunCameraManagerSample(void)
return;
}
sampleSelectNum = atoi(sampleSelectStr.c_str());
sampleSelectNum = atoi(sampleSelectStr.c_str());
if (sampleSelectNum < 0 ||
sampleSelectNum >= (int)E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX) {
sampleSelectNum >= (int) E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX) {
USER_LOG_ERROR("Input camera sample is invalid");
continue;
}
cameraSample = (E_DjiTestCameraManagerSampleSelect)sampleSelectNum;
cameraSample = (E_DjiTestCameraManagerSampleSelect) sampleSelectNum;
cout << "Start test: position " << cameraMountPosition
<< ", sample " << cameraSample << endl;

3
samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp
View File

@ -88,6 +88,7 @@ start:
if (mountPosition == 'q') {
return;
}
if (mountPosition > '3' || mountPosition < '1') {
USER_LOG_ERROR("Input mount position is invalid");
goto start;
@ -126,4 +127,4 @@ void DjiTest_GimbalManagerShowSampleSelectList(const char **SampleList, uint8_t
std::cout << SampleList[i] << std::endl;
}
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

3
samples/sample_c++/module_sample/gimbal/test_gimbal_entry.hpp
View File

@ -48,4 +48,5 @@ void DjiUser_RunGimbalManagerSample(void);
#endif
#endif // TEST_GIMBAL_ENTRY_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

9
samples/sample_c++/module_sample/perception/test_perception_entry.cpp
View File

@ -1,4 +1,4 @@
/**
/**
********************************************************************
* @file test_perception_entry.cpp
* @brief
@ -358,13 +358,6 @@ static void *DjiTest_StereoImagesDisplayTask(void *arg)
pack->gotData = false;
osalHandler->MutexUnlock(pack->mutex);
/*! Using Opencv display here */
if (strstr(nameStr, "_l")) {
cv::moveWindow(nameStr, 200, 0);
} else {
cv::moveWindow(nameStr, (200 + (int) pack->info.rawInfo.width), 0);
}
if (i < USER_PERCEPTION_DIRECTION_NUM) {
/*! Calculate frame rate */
timeNow[i] = (double) cv::getTickCount();

32
samples/sample_c++/platform/linux/common/osal/osal.c
View File

@ -98,6 +98,10 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
{
int result;
if (!mutex) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
*mutex = malloc(sizeof(pthread_mutex_t));
if (*mutex == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
@ -118,7 +122,11 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
*/
T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
{
int result;
int result = 0;
if (!mutex) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
result = pthread_mutex_destroy(mutex);
if (result != 0) {
@ -136,8 +144,13 @@ T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
*/
T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
{
int result = pthread_mutex_lock(mutex);
int result = 0;
if (!mutex) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
result = pthread_mutex_lock(mutex);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -152,8 +165,13 @@ T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
*/
T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
{
int result = pthread_mutex_unlock(mutex);
int result = 0;
if (!mutex) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
result = pthread_mutex_unlock(mutex);
if (result != 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -308,6 +326,14 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum)
{
srand(time(NULL));
*randomNum = random() % 65535;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
void *Osal_Malloc(uint32_t size)
{
return malloc(size);

1
samples/sample_c++/platform/linux/common/osal/osal.h
View File

@ -65,6 +65,7 @@ T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum);
void *Osal_Malloc(uint32_t size);
void Osal_Free(void *ptr);

4
samples/sample_c++/platform/linux/common/osal/osal_socket.c
View File

@ -72,7 +72,8 @@ T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandl
goto out;
}
if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0) {
if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0)
{
goto out;
}
} else if (mode == DJI_SOCKET_MODE_TCP) {
@ -86,7 +87,6 @@ T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandl
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
out:
close(socketHandleStruct->socketFd);
free(socketHandleStruct);

17
samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
View File

@ -2,15 +2,24 @@ cmake_minimum_required(VERSION 3.5)
project(dji_sdk_demo_linux_cxx CXX)
set(CMAKE_C_FLAGS "-pthread -std=gnu99")
set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
set(CMAKE_EXE_LINKER_FLAGS "-pthread")
set(CMAKE_C_COMPILER "gcc")
set(CMAKE_CXX_COMPILER "g++")
add_definitions(-D_GNU_SOURCE)
set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
if (MEMORY_LEAK_CHECK_ON MATCHES TRUE)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=leak")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fsanitize=leak")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lasan")
endif ()
if (BUILD_TEST_CASES_ON MATCHES TRUE)
set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
endif ()
include_directories(../../../module_sample)
include_directories(../../../../sample_c/module_sample)

13
samples/sample_c++/platform/linux/manifold2/application/application.cpp
View File

@ -77,14 +77,14 @@ Application::~Application()
void Application::DjiUser_SetupEnvironment()
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler osalHandler;
T_DjiHalUartHandler uartHandler;
T_DjiHalUsbBulkHandler usbBulkHandler;
T_DjiOsalHandler osalHandler = {0};
T_DjiHalUartHandler uartHandler = {0};
T_DjiHalUsbBulkHandler usbBulkHandler = {0};
T_DjiLoggerConsole printConsole;
T_DjiLoggerConsole localRecordConsole;
T_DjiFileSystemHandler fileSystemHandler;
T_DjiSocketHandler socketHandler;
T_DjiHalNetworkHandler networkHandler;
T_DjiFileSystemHandler fileSystemHandler = {0};
T_DjiSocketHandler socketHandler {0};
T_DjiHalNetworkHandler networkHandler = {0};
networkHandler.NetworkInit = HalNetWork_Init;
networkHandler.NetworkDeInit = HalNetWork_DeInit;
@ -117,6 +117,7 @@ void Application::DjiUser_SetupEnvironment()
osalHandler.Free = Osal_Free;
osalHandler.GetTimeMs = Osal_GetTimeMs;
osalHandler.GetTimeUs = Osal_GetTimeUs;
osalHandler.GetRandomNum = Osal_GetRandomNum;
printConsole.func = DjiUser_PrintConsole;
printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;

1
samples/sample_c++/platform/linux/manifold2/application/main.cpp
View File

@ -30,7 +30,6 @@
#include <hms/test_hms.h>
#include <waypoint_v2/test_waypoint_v2.h>
#include <waypoint_v3/test_waypoint_v3.h>
#include <gimbal_manager/test_gimbal_manager.h>
#include "application.hpp"
#include "fc_subscription/test_fc_subscription.h"
#include <gimbal_emu/test_payload_gimbal_emu.h>

14
samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.c
View File

@ -62,17 +62,19 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
#ifdef LIBUSB_INSTALLED
ret = libusb_init(NULL);
if (ret < 0) {
USER_LOG_ERROR("init usb bulk failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
if (handle == NULL) {
if(handle == NULL) {
USER_LOG_ERROR("open usb device failed");
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");
USER_LOG_ERROR("libusb claim interface failed, errno = %d", ret);
libusb_close(handle);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -115,6 +117,7 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
{
struct libusb_device_handle *handle = NULL;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
int32_t ret;
if (usbBulkHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@ -124,8 +127,11 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED
libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
osalHandler->TaskSleepMs(100);
ret = libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
if(ret != 0) {
USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
libusb_exit(NULL);
#endif
} else {

18
samples/sample_c++/platform/linux/nvidia_jeston/CMakeLists.txt → samples/sample_c++/platform/linux/nvidia_jetson/CMakeLists.txt
View File

@ -1,15 +1,15 @@
cmake_minimum_required(VERSION 3.5)
project(dji_sdk_demo_on_jeston_cxx CXX)
project(dji_sdk_demo_on_jetson_cxx CXX)
set(CMAKE_C_FLAGS "-pthread -std=gnu99")
set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
set(CMAKE_EXE_LINKER_FLAGS "-pthread")
set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
add_definitions(-D_GNU_SOURCE)
if (BUILD_TEST_CASES_ON MATCHES TRUE)
set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
endif ()
@ -17,7 +17,7 @@ endif ()
include_directories(../../../module_sample)
include_directories(../../../../sample_c/module_sample)
include_directories(../common)
include_directories(../nvidia_jeston/application)
include_directories(../nvidia_jetson/application)
file(GLOB_RECURSE MODULE_SAMPLE_SRC
../../../module_sample/liveview/*.c*
@ -57,9 +57,11 @@ if (OpenCV_FOUND)
execute_process(COMMAND opencv_version OUTPUT_VARIABLE OPENCV_VERSION)
if (${OPENCV_VERSION} STRLESS "4.0.0")
add_definitions(-DOPEN_CV_VERSION_3)
else()
else ()
add_definitions(-DOPEN_CV_VERSION_4)
endif()
endif ()
else ()
message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
endif ()
@ -69,8 +71,6 @@ if (FFMPEG_FOUND)
message(STATUS "Found FFMPEG installed in the system")
message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
add_definitions(-DFFMPEG_INSTALLED)
include_directories(${FFMPEG_INCLUDE_DIR})
EXECUTE_PROCESS(COMMAND ffmpeg -version
OUTPUT_VARIABLE ffmpeg_version_psdk_libput
@ -87,6 +87,8 @@ if (FFMPEG_FOUND)
endif ()
target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES})
include_directories(${FFMPEG_INCLUDE_DIR})
add_definitions(-DFFMPEG_INSTALLED)
else ()
message(STATUS "Cannot Find FFMPEG")
endif (FFMPEG_FOUND)

13
samples/sample_c++/platform/linux/nvidia_jeston/application/application.cpp → samples/sample_c++/platform/linux/nvidia_jetson/application/application.cpp
View File

@ -77,14 +77,14 @@ Application::~Application()
void Application::DjiUser_SetupEnvironment()
{
T_DjiReturnCode returnCode;
T_DjiOsalHandler osalHandler;
T_DjiHalUartHandler uartHandler;
T_DjiHalUsbBulkHandler usbBulkHandler;
T_DjiOsalHandler osalHandler = {0};
T_DjiHalUartHandler uartHandler = {0};
T_DjiHalUsbBulkHandler usbBulkHandler = {0};
T_DjiLoggerConsole printConsole;
T_DjiLoggerConsole localRecordConsole;
T_DjiFileSystemHandler fileSystemHandler;
T_DjiSocketHandler socketHandler;
T_DjiHalNetworkHandler networkHandler;
T_DjiFileSystemHandler fileSystemHandler = {0};
T_DjiSocketHandler socketHandler = {0};
T_DjiHalNetworkHandler networkHandler = {0};
networkHandler.NetworkInit = HalNetWork_Init;
networkHandler.NetworkDeInit = HalNetWork_DeInit;
@ -117,6 +117,7 @@ void Application::DjiUser_SetupEnvironment()
osalHandler.Free = Osal_Free;
osalHandler.GetTimeMs = Osal_GetTimeMs;
osalHandler.GetTimeUs = Osal_GetTimeUs;
osalHandler.GetRandomNum = Osal_GetRandomNum,
printConsole.func = DjiUser_PrintConsole;
printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;

0
samples/sample_c++/platform/linux/nvidia_jeston/application/application.hpp → samples/sample_c++/platform/linux/nvidia_jetson/application/application.hpp
View File

0
samples/sample_c++/platform/linux/nvidia_jeston/application/dji_sdk_app_info.h → samples/sample_c++/platform/linux/nvidia_jetson/application/dji_sdk_app_info.h
View File

0
samples/sample_c++/platform/linux/nvidia_jeston/application/dji_sdk_config.h → samples/sample_c++/platform/linux/nvidia_jetson/application/dji_sdk_config.h
View File

0
samples/sample_c++/platform/linux/nvidia_jeston/application/main.cpp → samples/sample_c++/platform/linux/nvidia_jetson/application/main.cpp
View File

0
samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_network.c → samples/sample_c++/platform/linux/nvidia_jetson/hal/hal_network.c
View File

0
samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_network.h → samples/sample_c++/platform/linux/nvidia_jetson/hal/hal_network.h
View File

0
samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_uart.c → samples/sample_c++/platform/linux/nvidia_jetson/hal/hal_uart.c
View File

0
samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_uart.h → samples/sample_c++/platform/linux/nvidia_jetson/hal/hal_uart.h
View File

0
samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_usb_bulk.c → samples/sample_c++/platform/linux/nvidia_jetson/hal/hal_usb_bulk.c
View File

0
samples/sample_c++/platform/linux/nvidia_jeston/hal/hal_usb_bulk.h → samples/sample_c++/platform/linux/nvidia_jetson/hal/hal_usb_bulk.h
View File