Payload_SDK_V2.2.1_300tc/sample/api_sample/widget/test_widget.c

/**
 ********************************************************************
 * @file    test_widget.c
 * @version V2.0.0
 * @date    2019/07/01
 * @brief
 *
 * @copyright (c) 2018-2019 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 "test_widget.h"
#include <psdk_widget.h>
#include <psdk_logger.h>
#include <utils/util_misc.h>
#include <psdk_platform.h>
#include <stdio.h>
//sbg
#include <stdlib.h>
#include <string.h>


#if !PSDK_ARCH_SYS_LINUX

#include "file_binary_array_list_en.h"

#endif

/* Private constants ---------------------------------------------------------*/
#define WIDGET_DIR_PATH_LEN_MAX         (256)
#define WIDGET_TASK_STACK_SIZE          (2048)

/* Private types -------------------------------------------------------------*/


/* Private functions declaration ---------------------------------------------*/
static void *PsdkTest_WidgetTask(void *arg);

static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t value,
                                                      void *userData);
static T_PsdkReturnCode PsdkTestWidget_GetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t *value,
                                                      void *userData);

static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetType widgetType, uint32_t index, int32_t value,
                                                      void *userData);

static void *PsdkTest_IrisRecordSystemChanged(void *arg);


/* Private values ------------------------------------------------------------*/
static T_PsdkTaskHandle s_widgetTestThread;
static T_PsdkTaskHandle s_widgetSbgThread;
static T_PsdkTaskHandle s_widgetXimeaThread;



int SbgRecordCondition=0;

static int s_sbgMagState=0;
static int s_stateOfXimea=100;
static int s_stateOfSbg=0;
static int s_stateOfFile=0;

char s_strUIMessage[100]=" ";
static char * s_strStateOfSbg="None";
static char * s_strSbgSatelliteCounter="None";
static char * s_strSbgAccuracy="None";
char XimeaFramerate[100]=" ";
char XimeaExposeTime[100]=" ";
char XimeaExposeMaxValue[100]=" ";
static char * s_strSbgSolutionMode="None";
static char * s_strStateOfXimea="None";

char * s_strPitch="None";
char * s_strRoll="None";
char * s_strYaw="None";

static int s_sockfd;
static struct sockaddr_in s_server;

#if PSDK_ARCH_SYS_LINUX
static bool s_isWidgetFileDirPathConfigured = false;
static char s_widgetFileDirPath[PSDK_FILE_PATH_SIZE_MAX] = {0};
#endif

static const T_PsdkWidgetHandlerListItem s_widgetHandlerList[] = {
    {0, PSDK_WIDGET_TYPE_BUTTON,        PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
    {1, PSDK_WIDGET_TYPE_BUTTON,        PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
    {2, PSDK_WIDGET_TYPE_LIST,          PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
    {3, PSDK_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
    {4, PSDK_WIDGET_TYPE_SCALE,         PsdkTestWidget_SetWidgetValue, PsdkTestWidget_GetWidgetValue, NULL},
    {5, PSDK_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
    {6, PSDK_WIDGET_TYPE_INT_INPUT_BOX,         PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
    {7, PSDK_WIDGET_TYPE_BUTTON,        PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
    {8, PSDK_WIDGET_TYPE_INT_INPUT_BOX,         PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
    {9, PSDK_WIDGET_TYPE_SWITCH,        PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},
    {10, PSDK_WIDGET_TYPE_LIST,          PsdkTestWidget_SetWidgetValue_StartRecord, PsdkTestWidget_GetWidgetValue, NULL},//PsdkTestWidget_SetWidgetValue
};

static char *s_widgetTypeNameArray[] = {
    "Unknown",
    "Button",
    "Switch",
    "Scale",
    "List",
    "Int input box"
};

static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_PsdkWidgetHandlerListItem);
static int32_t s_widgetValueList[sizeof(s_widgetHandlerList) / sizeof(T_PsdkWidgetHandlerListItem)] = {0};

/* Exported functions definition ---------------------------------------------*/
T_PsdkReturnCode PsdkTest_WidgetInit(void)
{
    T_PsdkReturnCode psdkStat;

    //Step 1 : Init PSDK Widget
    psdkStat = PsdkWidget_Init();
    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        PsdkLogger_UserLogError("Psdk test widget init error, stat = 0x%08llX", psdkStat);
        return psdkStat;
    }

#if PSDK_ARCH_SYS_LINUX
    //Step 2 : Set UI Config (Linux environment)
    //获取控件图像和UI配置文件所在文件夹

    PsdkLogger_UserLogInfo("验证是否定义了宏PSDK_ARCH_SYS_LINUX:是!--------------------------------------------------------------------------------------------------------------------------");
    
    char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX];
    char tempPath[WIDGET_DIR_PATH_LEN_MAX];
    psdkStat = PsdkUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath);
    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        PsdkLogger_UserLogError("Get file current path error, stat = 0x%08llX", psdkStat);
        return psdkStat;
    }

    if (s_isWidgetFileDirPathConfigured == true) {
        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", s_widgetFileDirPath);
    } else {
        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/en_big_screen", curFileDirPath);
    }

    //set default ui config path
    psdkStat = PsdkWidget_RegDefaultUiConfigByDirPath(tempPath);
    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        PsdkLogger_UserLogError("Add default widget ui config error, stat = 0x%08llX", psdkStat);
        return psdkStat;
    }

    //set ui config for English language
    //设置系统语言为英文时控件配置文件的路径
    psdkStat = PsdkWidget_RegUiConfigByDirPath(PSDK_AIRCRAFT_INFO_MOBILE_APP_LANGUAGE_ENGLISH,
                                               PSDK_AIRCRAFT_INFO_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
                                               tempPath);
    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        PsdkLogger_UserLogError("Add widget ui config error, stat = 0x%08llX", psdkStat);
        return psdkStat;
    }

    //set ui config for Chinese language
    if (s_isWidgetFileDirPathConfigured == true) {
        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", s_widgetFileDirPath);
    } else {
        snprintf(tempPath, WIDGET_DIR_PATH_LEN_MAX, "%swidget_file/cn_big_screen", curFileDirPath);
    }

    psdkStat = PsdkWidget_RegUiConfigByDirPath(PSDK_AIRCRAFT_INFO_MOBILE_APP_LANGUAGE_CHINESE,
                                               PSDK_AIRCRAFT_INFO_MOBILE_APP_SCREEN_TYPE_BIG_SCREEN,
                                               tempPath);
    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        PsdkLogger_UserLogError("Add widget ui config error, stat = 0x%08llX", psdkStat);
        return psdkStat;
    }
#else
    //Step 2 : Set UI Config (RTOS environment)

    T_PsdkWidgetBinaryArrayConfig enWidgetBinaryArrayConfig = {
        .binaryArrayCount = g_EnBinaryArrayCount,
        .fileBinaryArrayList = g_EnFileBinaryArrayList
    };

    //set default ui config
    psdkStat = PsdkWidget_RegDefaultUiConfigByBinaryArray(&enWidgetBinaryArrayConfig);
    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        PsdkLogger_UserLogError("Add default widget ui config error, stat = 0x%08llX", psdkStat);
        return psdkStat;
    }

#endif

    //Step 3 : Set widget handler list
    psdkStat = PsdkWidget_RegHandlerList(s_widgetHandlerList, s_widgetHandlerListCount);
    if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        PsdkLogger_UserLogError("Set widget handler list error, stat = 0x%08llX", psdkStat);
        return psdkStat;
    }

    //Step 4 : Run widget api sample task
    if (PsdkOsal_TaskCreate(&s_widgetTestThread, PsdkTest_WidgetTask, "user_widget_task", WIDGET_TASK_STACK_SIZE,
                            NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        PsdkLogger_UserLogError("Psdk widget test task create error.");
        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
    }

    //Step 5 : Run ximea task
    if (PsdkOsal_TaskCreate(&s_widgetXimeaThread, PsdkTest_IrisRecordSystemChanged, "ximea", WIDGET_TASK_STACK_SIZE,
                            NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
        PsdkLogger_UserLogError("Psdk widget test task(ximea) create error.");
        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
    }

    /* tc-----------------------------------------------*/
    struct hostent *he;
    he=gethostbyname("127.0.0.1");

    s_sockfd=socket(AF_INET, SOCK_DGRAM,0);


    bzero(&s_server,sizeof(s_server));
    s_server.sin_family = AF_INET;
    s_server.sin_port = htons(PORT);
    s_server.sin_addr= *((struct in_addr *)he->h_addr);
    /* tc-----------------------------------------------*/

    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

#if PSDK_ARCH_SYS_LINUX
T_PsdkReturnCode PsdkTest_WidgetSetConfigFilePath(const char *path)
{
    memset(s_widgetFileDirPath, 0, sizeof(s_widgetFileDirPath));
    memcpy(s_widgetFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_widgetFileDirPath) - 1));
    s_isWidgetFileDirPathConfigured = true;

    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
#endif

#ifndef __CC_ARM
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
#pragma GCC diagnostic ignored "-Wreturn-type"
#pragma GCC diagnostic ignored "-Wformat"
#endif

/* Private functions definition-----------------------------------------------*/
//在DJI pilot的浮窗上显示系统时间
int messageTimeCounter = 0;
int messageTimespan = 10;

int XimeaAirborneSystemSurvival_Counter = 1;
int ximeaAirborneSystemSurvivalTime = 0;
int ximeaAirborneSystemSurvivalTime_Temp = 0;
static void *PsdkTest_WidgetTask(void *arg)
{
    char message[PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN];
    uint32_t sysTimeMs = 0;
    T_PsdkReturnCode psdkStat;

    USER_UTIL_UNUSED(arg);


    while (1) {
        psdkStat = PsdkOsal_GetTimeMs(&sysTimeMs);
        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
            PsdkLogger_UserLogError("Get system time ms error, stat = 0x%08llX", psdkStat);
        }

        //snprintf(message, PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "System time: %u ms;\nMAG: %d;\nIMAGER: %d;\nIMU: %d;\nFile: %d;\n", sysTimeMs, s_sbgMagState, s_stateOfXimea, s_stateOfSbg, s_stateOfFile);

        snprintf(message, PSDK_WIDGET_FLOATING_WINDOW_MSG_MAX_LEN, "%s\n相机: %s;  惯导: %s;\n卫星: %s;          精度: %s;\n帧率: %s;曝光: %s;max: %s;\nP: %s;         R: %s;         Y: %s;\n",
                 s_strUIMessage, s_strStateOfXimea, s_strStateOfSbg, s_strSbgSatelliteCounter, s_strSbgAccuracy, XimeaFramerate, XimeaExposeTime, XimeaExposeMaxValue, s_strPitch, s_strRoll, s_strYaw);

        psdkStat = PsdkWidgetFloatingWindow_ShowMessage(message);
        if (psdkStat != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
            PsdkLogger_UserLogError("Floating window show message error, stat = 0x%08llX", psdkStat);
        }

        messageTimeCounter++;

        if (messageTimeCounter % messageTimespan == 0)
        {
            strcpy(s_strUIMessage," ");
        }

        //判断ximeaAirborneSystem系统是否存活
//        if(ximeaAirborneSystemSurvivalTime > 10)
//        {
//            if (XimeaAirborneSystemSurvival_Counter % 10 ==0)
//            {
//                if (ximeaAirborneSystemSurvivalTime - ximeaAirborneSystemSurvivalTime_Temp == 0)
//                {
//                    strcpy(s_strUIMessage,"采集系统无响应，请重启！");
//                    messageTimeCounter = 0;
//                    messageTimespan = 10;
//                }
//
//                XimeaAirborneSystemSurvival_Counter = 1;
//                ximeaAirborneSystemSurvivalTime_Temp = ximeaAirborneSystemSurvivalTime;
//            }
//
//            XimeaAirborneSystemSurvival_Counter++;
//        }

        PsdkOsal_TaskSleepMs(1000);
    }
}

static void *PsdkTest_IrisRecordSystemChanged(void *arg)//
{
    // FILE * fp;
    // char buffer[80];
    // fp = popen("/home/iris-xport/cpp_qtcreator/ximeaImageRecorder-Release/ximeaImageRecorder", "r");ss
    // fgets(buffer, sizeof(buffer), fp);
    // printf("%s", buffer);
    // pclose(fp);


    int sockfd;
    struct sockaddr_in server;
    struct sockaddr_in client;
    socklen_t addrlen;
    int num;
    char buf[MAXDATASIZE];

    if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
    {
        perror("Creatingsocket failed.");
    }

    bzero(&server,sizeof(server));
    server.sin_family=AF_INET;
    server.sin_port=htons(PORT+1);
    server.sin_addr.s_addr= htonl(INADDR_ANY);
    if(bind(sockfd, (struct sockaddr *)&server, sizeof(server)) == -1)
    {
        perror("Bind()error.");
    }

    addrlen=sizeof(client);
    while (1)
    {
        //printf("PsdkTest_IrisRecordSystemChanged: record system status change! 8888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888888\n");

        num =recvfrom(sockfd,buf,MAXDATASIZE,0,(struct sockaddr*)&client,&addrlen);

        if (num < 0)
        {
            perror("recvfrom() error\n");

            continue;
        }

        buf[num] = '\0';

        printf("You got a message (%s) from client.\n",buf);
        //printf("You got a message (%s%) from client.\nIt's ip is%s, port is %d.\n",buf,inet_ntoa(client.sin_addr),htons(client.sin_port));


        char * result[3];
        result[0] = strtok( buf, "," );
        result[1] = strtok( NULL, "," );
        result[2] = strtok( NULL, "," );

//        printf("result[0]: %s\n", result[0]);
//        printf("result[1]: %s\n\n", result[1]);
//        printf("result[2]: %s\n\n", result[2]);


        if (strcmp(result[0],"sbg") == 0)
        {
            s_stateOfSbg = atoi(result[1]);
            printf("sbg的状态为: %d\n\n", atoi(result[1]));

            switch (s_stateOfSbg)
            {
            case 0:
                s_strStateOfSbg="未打开";
                break;
            case 1:
                s_strStateOfSbg="波特率设置失败";
                break;
            case 2:
                s_strStateOfSbg="打开成功";
                break;
            case 3:
                s_strStateOfSbg="采集中";
                break;
            
            default:
                break;
            }
        }
        else if (strcmp(result[0],"Accuracy") == 0)
        {
//            printf("惯导定位精度为: %s\n\n", result[1]);

            s_strSbgAccuracy=result[1];
            s_strSbgSatelliteCounter=result[2];

            ximeaAirborneSystemSurvivalTime++;


            // s_sbgMagState = atoi(result[1]);

            // switch (s_sbgMagState)
            // {
            // case 0:
            //     s_strSbgAccuracy="false";
            //     break;
            // case 1:
            //     s_strSbgAccuracy="true";
            //     break;

            // default:
            //     break;
            // }
        }
        else if (strcmp(result[0],"SolutionMode") == 0)
        {
//            s_sbgMagState = atoi(result[1]);
//
//            switch (s_sbgMagState)
//            {
//            case 0:
//                s_strSbgSolutionMode="UNINITIALIZED";
//                    break;
//            case 1:
//                s_strSbgSolutionMode="VERTICAL_GYRO";
//                break;
//            case 2:
//                s_strSbgSolutionMode="AHRS";
//                break;
//            case 3:
//                s_strSbgSolutionMode="NAV_VELOCITY";
//                break;
//            case 4:
//                s_strSbgSolutionMode="NAV_POSITION";
//                break;
//
//            default:
//                break;
//            }
        }
        else if (strcmp(result[0],"ximea") == 0)
        {
            s_stateOfXimea = atoi(result[1]);
            printf("ximea的状态为: %d\n\n", atoi(result[1]));

            switch (s_stateOfXimea)//0-61：ximea官方错误代码；99：发生的ximea官方错误代码，没有处理；100：未打开；101：打开；102：设置帧率；103：自动曝光；104：正在采集；
            {
            case 57:
                s_strStateOfXimea="相机被占用";
                break;
            case 99:
                s_strStateOfXimea="未处理错误，错误码见日志";
                break;

            case 100:
                s_strStateOfXimea="未打开";
                break;
            case 101:
                s_strStateOfXimea="打开成功";

                strcpy(s_strUIMessage,"系统打开成功！");
                messageTimeCounter = 0;
                messageTimespan = 20;

                break;
            case 102:
                s_strStateOfXimea="帧率已设置";
                break;
            case 103:
                s_strStateOfXimea="曝光完成";
                break;
            case 104:
                s_strStateOfXimea="正在采集";
                break;

            default:
                break;
            }
        }
        else if (strcmp(result[0],"XimeaAutoExpose") == 0)
        {
            strcpy(XimeaExposeMaxValue, result[1]);
            strcpy(XimeaExposeTime, result[2]);

            strcpy(s_strUIMessage,"曝光时间设置成功！");
            messageTimeCounter = 0;
            messageTimespan = 10;
        }
        else if (strcmp(result[0],"XimeaFrameRate") == 0)
        {
            int tmp = atoi(result[1]);
            sprintf(XimeaFramerate,"%d",tmp);
//            strcpy(XimeaFramerate,result[1]);

            strcpy(s_strUIMessage,"帧率设置成功！");
            messageTimeCounter = 0;
            messageTimespan = 10;
        }
    }
}


#ifndef __CC_ARM
#pragma GCC diagnostic pop
#endif

static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t value,
                                                      void *userData)
{
    USER_UTIL_UNUSED(userData);

    PsdkLogger_UserLogInfo("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d",
                           s_widgetTypeNameArray[widgetType], index, value);
    s_widgetValueList[index] = value;

    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

static T_PsdkReturnCode PsdkTestWidget_GetWidgetValue(E_PsdkWidgetType widgetType, uint32_t index, int32_t *value,
                                                      void *userData)
{
    USER_UTIL_UNUSED(userData);
    USER_UTIL_UNUSED(widgetType);

    *value = s_widgetValueList[index];

    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

int frameRateGlobel = 0;
int systemON_Control = 0;
static T_PsdkReturnCode PsdkTestWidget_SetWidgetValue_StartRecord(E_PsdkWidgetType widgetType, uint32_t index, int32_t value,
                                                      void *userData)
{
    USER_UTIL_UNUSED(userData);

    PsdkLogger_UserLogInfo("Set widget value, widgetType = %s, widgetIndex = %d ,widgetValue = %d",
                           s_widgetTypeNameArray[widgetType], index, value);
    s_widgetValueList[index] = value;

    switch (index)
    {
    case 5://系统启动关闭
        if (value==0)//系统关闭
        {
            char* command = "2";
            sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
        }
        else if (value==1)//系统启动
        {
            systemON_Control++;

            if (systemON_Control>=2)
            {
                strcpy(s_strUIMessage,"请重启300TC！");
                messageTimeCounter = 0;
                messageTimespan = 1000;
            }
            else
            {
                strcpy(s_strUIMessage,"系统启动中，超过60s未成功，请重新启动系统！");
                messageTimeCounter = 0;
                messageTimespan = 1000;

                char* command = "1";
                sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
            }
        }
        break;
    case 6://设置帧率
        {
            if (s_stateOfXimea < 101)
            {
                strcpy(s_strUIMessage,"请先启动系统！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }
            else if (s_stateOfXimea > 103)
            {
                strcpy(s_strUIMessage,"相机采集中，此操作无效！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }


            // 控制帧率范围
            if(value > 150)
            {
                strcpy(s_strUIMessage,"帧率不可超过150！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }
            else if(value == 0)
            {
                strcpy(s_strUIMessage,"帧率无效！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }

            //
            frameRateGlobel = value;

            char command[50] = "5,";
            char framerate[20];
            sprintf(framerate,"%d",value);
            strcat(command,framerate);
            sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
            break;
        }
    case 7://自动曝光
        if (value==0)
        {
            ;
        }
        else if (value==1)
        {
            if (s_stateOfXimea < 101)
            {
                strcpy(s_strUIMessage,"请先启动系统！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }
            else if (s_stateOfXimea > 103)
            {
                strcpy(s_strUIMessage,"相机采集中，此操作无效！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }

            strcpy(s_strUIMessage,"正在自动曝光，请稍等！");
            messageTimeCounter = 0;
            messageTimespan = 1000;

            char* command = "6";
            sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
        }
        break;
    case 8://手动设置曝光时间
        {
            if (s_stateOfXimea < 101)
            {
                strcpy(s_strUIMessage,"请先启动系统！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }
            else if (s_stateOfXimea > 103)
            {
                strcpy(s_strUIMessage,"相机采集中，此操作无效！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }

            //曝光时间有效性判断
            if(frameRateGlobel == 0)
            {
                strcpy(s_strUIMessage,"请先设置帧率！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }

            float maxExposureTime = 1 / (float)frameRateGlobel * 1000;//单位是ms

            if(value > maxExposureTime)
            {
                strcpy(s_strUIMessage,"曝光时间超过上限，无效！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }
            else if(value == 0)
            {
                strcpy(s_strUIMessage,"曝光时间无效！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }

            //
            char command[50] = "7,";
            char exposureTime[20];
            sprintf(exposureTime,"%d",(value));
            strcat(command,exposureTime);
            sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));

            break;
        }
    case 9:
        if (value==0)//停止采集
        {
            char* command = "4";
            sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
        }
        else if (value==1)//开始采集
        {
            if (s_stateOfXimea < 101)
            {
                strcpy(s_strUIMessage,"请先启动系统！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }
            else if (s_stateOfXimea == 101)
            {
                strcpy(s_strUIMessage,"请先设置帧率！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }
            else if (s_stateOfXimea == 102)
            {
                strcpy(s_strUIMessage,"请先设置曝光时间！");
                messageTimeCounter = 0;
                messageTimespan = 10;

                break;
            }

            char* command = "3";
            sendto(s_sockfd, command,strlen(command),0,(struct sockaddr *)&s_server,sizeof(s_server));
        }
        break;
    case 10:
        if (value==0)//等待指令
        {
        }
        if (value==1)//更新
        {
            system("/home/pi/tc_ShellScripts/update0.sh &> /media/nvme/300TC/update/log");
        }
        else if (value==2)//重启电脑
        {
            system("reboot");
        }
        else if (value==3)//关机
        {
            system("shutdown now");
        }
        else if (value==4)
        {
            system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,1");
        }
        else if (value==5)
        {
            system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 9,0");
        }
        break;
    default:
        break;
    }

    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/