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PSDK/samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c Normal file
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/**
********************************************************************
* @file test_gimbal_manager.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 <utils/util_misc.h>
#include <widget_interaction_test/test_widget_interaction.h>
#include "test_gimbal_manager.h"
#include "dji_platform.h"
#include "dji_logger.h"
#include "dji_gimbal_manager.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
typedef enum {
DJI_TEST_GIMBAL_ROTATION,
DJI_TEST_GIMBAL_RESET,
} E_DjiTestGimbalAction;
typedef struct {
E_DjiTestGimbalAction action;
T_DjiGimbalManagerRotation rotation;
} T_DjiTestGimbalActionList;
/* Private values -------------------------------------------------------------*/
static const T_DjiTestGimbalActionList s_rotationActionList[] =
{
{.action = DJI_TEST_GIMBAL_RESET},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, 4, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, -4, 0.2},
{.action = DJI_TEST_GIMBAL_RESET},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -90, 0, 0, 0.5},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -60, 0, 0, 0.5},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -30, 0, 0, 0.5},
{.action = DJI_TEST_GIMBAL_RESET},
};
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition, E_DjiGimbalMode gimbalMode)
{
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiReturnCode returnCode;
T_DjiGimbalManagerRotation rotation;
USER_LOG_INFO("Gimbal manager sample start");
DjiTest_WidgetLogAppend("Gimbal manager sample start");
USER_LOG_INFO("--> Step 1: Init gimbal manager module");
DjiTest_WidgetLogAppend("--> Step 1: Init gimbal manager module");
returnCode = DjiGimbalManager_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init gimbal manager failed, error code: 0x%08X", returnCode);
goto out;
}
if (gimbalMode == DJI_GIMBAL_MODE_FREE) {
USER_LOG_INFO("--> Step 2: Set gimbal to free mode");
DjiTest_WidgetLogAppend("--> Step 2: Set gimbal to free mode");
} else if (gimbalMode == DJI_GIMBAL_MODE_YAW_FOLLOW) {
USER_LOG_INFO("--> Step 2: Set gimbal to yaw follow mode");
DjiTest_WidgetLogAppend("--> Step 2: Set gimbal to yaw follow mode");
}
returnCode = DjiGimbalManager_SetMode(mountPosition, gimbalMode);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set gimbal mode failed, error code: 0x%08X", returnCode);
goto out;
}
USER_LOG_INFO("--> Step 3: Reset gimbal angles.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
USER_LOG_INFO("--> Step 4: Rotate gimbal to target angle by action list\r\n");
for (int i = 0; i < sizeof(s_rotationActionList) / sizeof(T_DjiTestGimbalActionList); ++i) {
if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_RESET) {
USER_LOG_INFO("Target gimbal reset.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(2000);
} else if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_ROTATION) {
if (gimbalMode == DJI_GIMBAL_MODE_FREE &&
s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
continue;
}
USER_LOG_INFO("Target gimbal pry = (%.1f, %.1f, %.1f)",
s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
s_rotationActionList[i].rotation.yaw);
rotation = s_rotationActionList[i].rotation;
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (%.1f, %.1f, %.1f) failed, error code: 0x%08X",
s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
s_rotationActionList[i].rotation.yaw,
returnCode);
}
osalHandler->TaskSleepMs(1000);
}
}
USER_LOG_INFO("--> Step 5: Deinit gimbal manager module");
DjiTest_WidgetLogAppend("--> Step 5: Deinit gimbal manager module");
returnCode = DjiGimbalManager_Deinit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Deinit gimbal manager failed, error code: 0x%08X", returnCode);
goto out;
}
out:
USER_LOG_INFO("Gimbal manager sample end");
return returnCode;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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PSDK/samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.h Normal file
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/**
********************************************************************
* @file test_gimbal_manager.h
* @brief This is the header file for "test_gimbal_manager.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 TEST_GIMBAL_MANAGER_H
#define TEST_GIMBAL_MANAGER_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition, E_DjiGimbalMode gimbalMode);
#ifdef __cplusplus
}
#endif
#endif // TEST_GIMBAL_MANAGER_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/