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作者 ookk303
提交 07a2535fe104f65e6ed60875857596fc573cb4e8 1 个父辈 b12d8220

修改了zy部分内容

内嵌 并排对比
正在显示 29 个修改的文件 包含 2012 行增加 和 48 行删除
@@ -3,8 +3,11 @@ @@ -3,8 +3,11 @@
3 { 3 {
4 "name": "Win32", 4 "name": "Win32",
5 "includePath": [ 5 "includePath": [
6 - "${workspaceFolder}/**",  
7 - "${workspaceFolder}/linux_kernel/include/**" 6 + "${workspaceFolder}/JZsdk_Common/**",
  7 + "${workspaceFolder}/JZsdk_Config/**",
  8 + "${workspaceFolder}/JZsdk_hal/**",
  9 + "${workspaceFolder}/Module/**",
  10 + //"${workspaceFolder}/linux_kernel/include/**"
8 ], 11 ],
9 "defines": [ 12 "defines": [
10 "_DEBUG", 13 "_DEBUG",
@@ -12,7 +15,8 @@ @@ -12,7 +15,8 @@
12 "_UNICODE" 15 "_UNICODE"
13 ], 16 ],
14 "cStandard": "c99", 17 "cStandard": "c99",
15 - "intelliSenseMode": "${default}" 18 + //"intelliSenseMode": "${default}"
  19 + "intelliSenseMode": "${Tag Parser}"
16 } 20 }
17 ], 21 ],
18 "version": 4 22 "version": 4
@@ -172,7 +172,9 @@ @@ -172,7 +172,9 @@
172 "ifybak3": "c", 172 "ifybak3": "c",
173 "jz_h150a.h": "c", 173 "jz_h150a.h": "c",
174 "jzsdk_framesequencequeue.h": "c", 174 "jzsdk_framesequencequeue.h": "c",
175 - "searchlighttemcontrol.h": "c" 175 + "searchlighttemcontrol.h": "c",
  176 + "*.bak已改好": "c",
  177 + "ziyan_platform.h": "c"
176 }, 178 },
177 "Codegeex.GenerationPreference": "automatic", 179 "Codegeex.GenerationPreference": "automatic",
178 "C_Cpp.dimInactiveRegions": false, 180 "C_Cpp.dimInactiveRegions": false,
@@ -155,6 +155,7 @@ typedef enum { @@ -155,6 +155,7 @@ typedef enum {
155 JZ_INSCODE_5AFRAME_SEARCHLIGHT_MESSAGE_SUBSCRIPTION_CONTROL = 0x10000E21,//探照灯消息订阅控制 155 JZ_INSCODE_5AFRAME_SEARCHLIGHT_MESSAGE_SUBSCRIPTION_CONTROL = 0x10000E21,//探照灯消息订阅控制
156 156
157 JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL = 0x10000F00, //警示灯模式控制 157 JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL = 0x10000F00, //警示灯模式控制
  158 + JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL_2 = 0x10000F01, //警示灯模式控制2
158 JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR = 0x10000F10, //警示灯颜色控制 159 JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR = 0x10000F10, //警示灯颜色控制
159 160
160 JZ_INSCODE_5AFRAME_OUTPUTPOWER_CONTROL = 0x10001000, //对外供电开关 161 JZ_INSCODE_5AFRAME_OUTPUTPOWER_CONTROL = 0x10001000, //对外供电开关
@@ -193,6 +193,15 @@ int JZsdk_GetFrameTemplate(int InsCode ,char *str, int *str_len) @@ -193,6 +193,15 @@ int JZsdk_GetFrameTemplate(int InsCode ,char *str, int *str_len)
193 } 193 }
194 break; 194 break;
195 195
  196 + case JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL_2:
  197 + {
  198 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x66 ,0x52 ,0x00 ,0x00 ,0x23};
  199 + memcpy(str, sendbuf, 12);
  200 + *str_len = 12;
  201 + }
  202 + break;
  203 +
  204 +
196 case JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR: 205 case JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR:
197 { 206 {
198 char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x67 ,0x51 ,0x00 ,0x00 ,0x00 ,0x23}; 207 char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x67 ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
@@ -72,20 +72,44 @@ static T_JZsdkReturnCode JZsdk_Check_Md5(unsigned char *DIR, unsigned char *chec @@ -72,20 +72,44 @@ static T_JZsdkReturnCode JZsdk_Check_Md5(unsigned char *DIR, unsigned char *chec
72 { 72 {
73 T_JZsdkReturnCode ret = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 73 T_JZsdkReturnCode ret = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
74 74
  75 + // 验证输入有效性
  76 + if (!DIR || !checksum || checksum_len != 32) {
  77 + JZSDK_LOG_ERROR("无效的输入参数");
  78 + return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  79 + }
  80 +
75 //1、获取文件的md5校验码 81 //1、获取文件的md5校验码
76 unsigned char cmd[256]; 82 unsigned char cmd[256];
77 - unsigned char md5[32]; 83 + unsigned char raw_output[128] = {0}; // 存储完整命令行输出
  84 + unsigned char md5[33];
78 memset(cmd,0,sizeof(cmd)); 85 memset(cmd,0,sizeof(cmd));
79 - snprintf(cmd, sizeof(cmd), "md5sum %s", DIR);  
80 - JZsdk_RunSystemCmd_ReturnResult_Str(cmd, md5); 86 +
  87 + // 构造安全命令
  88 + snprintf(cmd, sizeof(cmd), "md5sum '%.200s'", DIR);
  89 +
  90 + // 执行命令获取输出
  91 + if (JZsdk_RunSystemCmd_ReturnResult_Str(cmd, raw_output, sizeof(raw_output))
  92 + != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  93 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  94 + }
  95 +
  96 + // 提取MD5部分 (格式: "d41d8cd98f00b204e9800998ecf8427e filename")
  97 + if (sscanf((const char*)raw_output, "%32s", md5) != 1) {
  98 + JZSDK_LOG_ERROR("MD5解析失败: %s", raw_output);
  99 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  100 + }
  101 +
  102 + JZSDK_LOG_INFO("md5校验 原校验码：%s 下载文件校验码:%s", checksum, md5);
81 103
82 //对比校验码 104 //对比校验码
83 - if (memcmp(md5, checksum, 21) != 0) 105 + if (memcmp(md5, checksum, 32) != 0)
84 { 106 {
85 JZSDK_LOG_ERROR("checksum error\n"); 107 JZSDK_LOG_ERROR("checksum error\n");
86 return JZ_ERROR_SYSTEM_MODULE_CODE_CHECK_CODE_ERROR; 108 return JZ_ERROR_SYSTEM_MODULE_CODE_CHECK_CODE_ERROR;
87 } 109 }
88 110
  111 + JZSDK_LOG_INFO("md5 checksum success\n");
  112 +
89 return ret; 113 return ret;
90 } 114 }
91 115
@@ -82,25 +82,22 @@ T_JZsdkReturnCode JZsdk_RunSystemCmd_ReturnResult(char *systemCmd, unsigned int @@ -82,25 +82,22 @@ T_JZsdkReturnCode JZsdk_RunSystemCmd_ReturnResult(char *systemCmd, unsigned int
82 运行命令 并读取返回值 82 运行命令 并读取返回值
83 83
84 */ 84 */
85 -T_JZsdkReturnCode JZsdk_RunSystemCmd_ReturnResult_Str(char *systemCmd, unsigned char *str) 85 +T_JZsdkReturnCode JZsdk_RunSystemCmd_ReturnResult_Str(const char *systemCmd, unsigned char *buffer, int buf_size)
86 { 86 {
87 - FILE *fp;  
88 - double temp = 0;  
89 -  
90 - fp = popen(systemCmd, "r");  
91 - if (fp == NULL) {  
92 - printf("Failed to run command\n"); 87 + FILE *fp = popen(systemCmd, "r");
  88 + if (!fp) {
  89 + JZSDK_LOG_ERROR("执行命令失败: %s", systemCmd);
93 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; 90 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
94 } 91 }
95 92
96 - // 读取命令的输出  
97 - while (fgets(str, sizeof(str)-1, fp) != NULL)  
98 - {  
99 - printf("%s", str); 93 + // 安全读取单行输出
  94 + if (!fgets((char*)buffer, buf_size, fp)) {
  95 + JZSDK_LOG_ERROR("命令无输出: %s", systemCmd);
  96 + pclose(fp);
  97 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
100 } 98 }
101 99
102 pclose(fp); 100 pclose(fp);
103 -  
104 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 101 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
105 } 102 }
106 103
@@ -92,7 +92,7 @@ T_JZsdkReturnCode JZsdk_check_directory_exists_posix(const char* directory_path) @@ -92,7 +92,7 @@ T_JZsdkReturnCode JZsdk_check_directory_exists_posix(const char* directory_path)
92 T_JZsdkReturnCode JZsdk_Fs_ReadFileSize(const unsigned char* FilePath, int *FileSize); 92 T_JZsdkReturnCode JZsdk_Fs_ReadFileSize(const unsigned char* FilePath, int *FileSize);
93 T_JZsdkReturnCode JZsdk_copy_file_byC(const char* source_path, const char* dest_path); 93 T_JZsdkReturnCode JZsdk_copy_file_byC(const char* source_path, const char* dest_path);
94 T_JZsdkReturnCode JZsdk_RunSystemCmd_ReturnResult(char *systemCmd, unsigned int *result); 94 T_JZsdkReturnCode JZsdk_RunSystemCmd_ReturnResult(char *systemCmd, unsigned int *result);
95 -T_JZsdkReturnCode JZsdk_RunSystemCmd_ReturnResult_Str(char *systemCmd, unsigned char *str); 95 +T_JZsdkReturnCode JZsdk_RunSystemCmd_ReturnResult_Str(const char *systemCmd, unsigned char *buffer, int buf_size);
96 T_JZsdkReturnCode JZsdk_Sync(); 96 T_JZsdkReturnCode JZsdk_Sync();
97 T_JZsdkReturnCode JZsdk_Osal_Stat(const char *filePath, T_JZsdkFileInfo *fileInfo); 97 T_JZsdkReturnCode JZsdk_Osal_Stat(const char *filePath, T_JZsdkFileInfo *fileInfo);
98 T_JZsdkReturnCode JZsdk_Osal_Rename(const char *oldFilePath, const char *newFilePath); 98 T_JZsdkReturnCode JZsdk_Osal_Rename(const char *oldFilePath, const char *newFilePath);
@@ -337,9 +337,9 @@ T_JZsdkReturnCode JZ_T40_init(int mode) @@ -337,9 +337,9 @@ T_JZsdkReturnCode JZ_T40_init(int mode)
337 .Device = UART_DEV_2, 337 .Device = UART_DEV_2,
338 .FrameSequence = 0x20, 338 .FrameSequence = 0x20,
339 }; 339 };
  340 + //警灯模块初始化
340 WarnLight_Init(WarnLightInfo); 341 WarnLight_Init(WarnLightInfo);
341 342
342 -  
343 //激光初始化 343 //激光初始化
344 SideLaser_Init(); 344 SideLaser_Init();
345 345
@@ -10,20 +10,20 @@ @@ -10,20 +10,20 @@
10 #define DEVICE_VERSION JZ_H150A 10 #define DEVICE_VERSION JZ_H150A
11 11
12 //禁止修改行 选择是串口程序 还是 psdk程序 12 //禁止修改行 选择是串口程序 还是 psdk程序
13 -#define APP_VERSION APP_UART 13 +#define APP_VERSION APP_PSDK
14 14
15 //禁止修改行 板子型号 15 //禁止修改行 板子型号
16 #define PLATFORM_VERSION PLATFORM_V3S 16 #define PLATFORM_VERSION PLATFORM_V3S
17 17
18 //禁止修改行 串口连接程序的软件版本号 18 //禁止修改行 串口连接程序的软件版本号
19 #define MAJOR_VERSION_TEN_POSITION 0 19 #define MAJOR_VERSION_TEN_POSITION 0
20 -#define MAJOR_VERSION_ONE_POSITION 0 20 +#define MAJOR_VERSION_ONE_POSITION 2
21 #define MINOR_VERSION_TEN_POSITION 0 21 #define MINOR_VERSION_TEN_POSITION 0
22 -#define MINOR_VERSION_ONE_POSITION 0 22 +#define MINOR_VERSION_ONE_POSITION 1
23 #define MODIFY_VERSION_TEN_POSITION 0 23 #define MODIFY_VERSION_TEN_POSITION 0
24 -#define MODIFY_VERSION_ONE_POSITION 2  
25 -#define DEBUG_VERSION_TEN_POSITION 2  
26 -#define DEBUG_VERSION_ONE_POSITION 2 24 +#define MODIFY_VERSION_ONE_POSITION 1
  25 +#define DEBUG_VERSION_TEN_POSITION 0
  26 +#define DEBUG_VERSION_ONE_POSITION 0
27 27
28 28
29 29
@@ -665,6 +665,7 @@ static T_JZsdkReturnCode RecvDeal_SaveAudioFileTrans_stop_and_check(int Port, ch @@ -665,6 +665,7 @@ static T_JZsdkReturnCode RecvDeal_SaveAudioFileTrans_stop_and_check(int Port, ch
665 int FrameSequence = JZsdk_Get_FrameSequence(getbuf); 665 int FrameSequence = JZsdk_Get_FrameSequence(getbuf);
666 666
667 unsigned char checkCode[128]; 667 unsigned char checkCode[128];
  668 + memset(checkCode, 0, 128);
668 int frameLenth = ((int)getbuf[3]) << 8 | (int)getbuf[4]; 669 int frameLenth = ((int)getbuf[3]) << 8 | (int)getbuf[4];
669 int CodeLenth = frameLenth - 10 - 2; 670 int CodeLenth = frameLenth - 10 - 2;
670 if (CodeLenth != 0) 671 if (CodeLenth != 0)
@@ -1093,10 +1094,23 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_AudioDetailMessage(int Port, char @@ -1093,10 +1094,23 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_AudioDetailMessage(int Port, char
1093 } 1094 }
1094 1095
1095 //获取文件的md5码 1096 //获取文件的md5码
1096 - unsigned char md5[16];  
1097 unsigned char cmd[256]; 1097 unsigned char cmd[256];
  1098 + unsigned char raw_output[128] = {0}; // 存储完整命令行输出
  1099 + unsigned char md5[33];
  1100 + memset(cmd,0,sizeof(cmd));
  1101 +
1098 snprintf(cmd, sizeof(cmd), "md5sum /root/sdcard/audio/%s", AudioDetailMessage.FileName); 1102 snprintf(cmd, sizeof(cmd), "md5sum /root/sdcard/audio/%s", AudioDetailMessage.FileName);
1099 - JZsdk_RunSystemCmd_ReturnResult_Str(cmd, md5); 1103 +
  1104 + // 执行命令获取输出
  1105 + if (JZsdk_RunSystemCmd_ReturnResult_Str(cmd, raw_output, sizeof(raw_output))
  1106 + != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1107 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  1108 + }
  1109 +
  1110 + // 提取MD5部分 (格式: "d41d8cd98f00b204e9800998ecf8427e filename")
  1111 + if (sscanf((const char*)raw_output, "%32s", md5) != 1) {
  1112 + JZSDK_LOG_ERROR("MD5解析失败: %s", raw_output);
  1113 + }
1100 1114
1101 //3、发送歌曲详细信息 1115 //3、发送歌曲详细信息
1102 // JZSDK_LOG_INFO("即将发送%s, %d, %d, %s", 1116 // JZSDK_LOG_INFO("即将发送%s, %d, %d, %s",
@@ -2397,6 +2411,7 @@ static T_JZsdkReturnCode RecvDeal_OpusTrans_stop_and_check(int Port, char *getbu @@ -2397,6 +2411,7 @@ static T_JZsdkReturnCode RecvDeal_OpusTrans_stop_and_check(int Port, char *getbu
2397 2411
2398 2412
2399 unsigned char checkCode[128]; 2413 unsigned char checkCode[128];
  2414 + memset(checkCode, 0, 128);
2400 int frameLenth = ((int)getbuf[3]) << 8 | (int)getbuf[4]; 2415 int frameLenth = ((int)getbuf[3]) << 8 | (int)getbuf[4];
2401 int CodeLenth = frameLenth - 10 - 2; 2416 int CodeLenth = frameLenth - 10 - 2;
2402 if (CodeLenth != 0) 2417 if (CodeLenth != 0)
@@ -4074,6 +4089,12 @@ static T_JZsdkReturnCode RecvDeal_ObtainTimeStamp(int Port, unsigned char *getbu @@ -4074,6 +4089,12 @@ static T_JZsdkReturnCode RecvDeal_ObtainTimeStamp(int Port, unsigned char *getbu
4074 | ((uint64_t)getbuf[12] << 32) | ((uint64_t)getbuf[11] << 40) 4089 | ((uint64_t)getbuf[12] << 32) | ((uint64_t)getbuf[11] << 40)
4075 | ((uint64_t)getbuf[10] << 48) | ((uint64_t)getbuf[9] << 56)); 4090 | ((uint64_t)getbuf[10] << 48) | ((uint64_t)getbuf[9] << 56));
4076 4091
  4092 + // 打印原始字节数据
  4093 + // JZSDK_LOG_INFO("原始数据 [9-16]:");
  4094 + // for (int i = 9; i <= 16; i++) {
  4095 + // JZSDK_LOG_INFO(" getbuf[%d] = 0x%02X", i, (unsigned char)getbuf[i]);
  4096 + // }
  4097 +
4077 JZSDK_LOG_INFO("获得时间戳 %llu",TimeStamp); 4098 JZSDK_LOG_INFO("获得时间戳 %llu",TimeStamp);
4078 4099
4079 // 转换为time_t（注意：这里假设TimeStamp是以秒为单位的Unix时间戳） 4100 // 转换为time_t（注意：这里假设TimeStamp是以秒为单位的Unix时间戳）
@@ -4089,11 +4110,15 @@ static T_JZsdkReturnCode RecvDeal_ObtainTimeStamp(int Port, unsigned char *getbu @@ -4089,11 +4110,15 @@ static T_JZsdkReturnCode RecvDeal_ObtainTimeStamp(int Port, unsigned char *getbu
4089 } 4110 }
4090 4111
4091 // 提取年、月、日 4112 // 提取年、月、日
4092 - int year = tm_info->tm_year + 1980; // 注意：tm_year是从1980年开始的 4113 + int year = tm_info->tm_year + 1900;
4093 int month = tm_info->tm_mon + 1; // 注意：tm_mon是从0开始的（0=1月，11=12月） 4114 int month = tm_info->tm_mon + 1; // 注意：tm_mon是从0开始的（0=1月，11=12月）
4094 - int day = tm_info->tm_mday + 6; 4115 + int day = tm_info->tm_mday;
  4116 + int hour = tm_info->tm_hour;
  4117 + int minute = tm_info->tm_min;
  4118 + int second = tm_info->tm_sec;
4095 4119
4096 JZSDK_LOG_INFO("获得年份: %d, 月份: %d, 日期: %d", year, month, day); 4120 JZSDK_LOG_INFO("获得年份: %d, 月份: %d, 日期: %d", year, month, day);
  4121 + JZSDK_LOG_INFO("获得小时: %d, 分钟: %d, 秒: %d", hour, minute, second);
4097 4122
4098 struct timeval tv; 4123 struct timeval tv;
4099 tv.tv_sec = (time_t)TimeStamp; // 注意：这里可能会有截断，如果TimeStamp非常大 4124 tv.tv_sec = (time_t)TimeStamp; // 注意：这里可能会有截断，如果TimeStamp非常大
@@ -1456,6 +1456,29 @@ T_JZsdkReturnCode HalSend_type1Send_Set_WarningLight_Status(int Uartport, int fr @@ -1456,6 +1456,29 @@ T_JZsdkReturnCode HalSend_type1Send_Set_WarningLight_Status(int Uartport, int fr
1456 1456
1457 /************* 1457 /*************
1458 * 1458 *
  1459 + * 设置警灯状态类型Ⅱ
  1460 + *
  1461 + * ************/
  1462 +T_JZsdkReturnCode HalSend_type1Send_Set_WarningLight_Status_2(int Uartport, int frameSequence, int mode)
  1463 +{
  1464 + printf("发送设置警灯状态 类型2\n");
  1465 +
  1466 + unsigned char sendbuf[256];
  1467 + int send_buf_len;
  1468 +
  1469 + //1、获取帧样板
  1470 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL_2, sendbuf, &send_buf_len);
  1471 +
  1472 + //2、写入数据
  1473 + sendbuf[6] = frameSequence;
  1474 + sendbuf[9] = mode;
  1475 +
  1476 + //3、发送帧
  1477 + HalSend_SendData(Uartport ,sendbuf, send_buf_len, MULTI_THREAD_SEND);
  1478 +}
  1479 +
  1480 +/*************
  1481 + *
1459 * 设置警灯颜色 1482 * 设置警灯颜色
1460 * 1483 *
1461 * **************/ 1484 * **************/
@@ -25,8 +25,10 @@ T_JZsdkReturnCode DebugInfo_Init() @@ -25,8 +25,10 @@ T_JZsdkReturnCode DebugInfo_Init()
25 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 25 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
26 26
27 #endif 27 #endif
  28 +
28 if (JZsdk_check_file_exists("/root/ShakedownTest") != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) 29 if (JZsdk_check_file_exists("/root/ShakedownTest") != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
29 { 30 {
  31 + JZSDK_LOG_DEBUG("未存在调试文件");
30 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 32 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
31 } 33 }
32 34
@@ -38,7 +40,6 @@ T_JZsdkReturnCode DebugInfo_Init() @@ -38,7 +40,6 @@ T_JZsdkReturnCode DebugInfo_Init()
38 JZSDK_LOG_ERROR("移除调试模式失败"); 40 JZSDK_LOG_ERROR("移除调试模式失败");
39 } 41 }
40 42
41 -  
42 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 43 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
43 } 44 }
44 45
@@ -60,7 +61,7 @@ T_JZsdkReturnCode DebugInfo_ModeSet(int mode) @@ -60,7 +61,7 @@ T_JZsdkReturnCode DebugInfo_ModeSet(int mode)
60 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 61 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
61 } 62 }
62 63
63 - if (mode == JZ_FLAGCODE_OFF) 64 + else if (mode == JZ_FLAGCODE_OFF)
64 { 65 {
65 if(JZsdk_Osal_delete("/root/ShakedownTest") == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) 66 if(JZsdk_Osal_delete("/root/ShakedownTest") == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
66 { 67 {
@@ -826,6 +826,7 @@ T_JZsdkReturnCode AudioFile_SaveAudioFileStop(int checkFlag, unsigned char *Chec @@ -826,6 +826,7 @@ T_JZsdkReturnCode AudioFile_SaveAudioFileStop(int checkFlag, unsigned char *Chec
826 fflush(g_AudioFile_SaveAudioFile_NameFp); 826 fflush(g_AudioFile_SaveAudioFile_NameFp);
827 fclose(g_AudioFile_SaveAudioFile_NameFp); 827 fclose(g_AudioFile_SaveAudioFile_NameFp);
828 g_AudioFile_SaveAudioFile_NameFp = NULL; 828 g_AudioFile_SaveAudioFile_NameFp = NULL;
  829 + JZSDK_LOG_INFO("传输得到的音频大小为:%d", g_AudioFile_SaveAudioFile_len);
829 g_AudioFile_SaveAudioFile_len = 0; //置零长度 830 g_AudioFile_SaveAudioFile_len = 0; //置零长度
830 831
831 JZsdk_Sync(); 832 JZsdk_Sync();
@@ -34,7 +34,15 @@ T_JZsdkReturnCode WarnLight_Set_StatusAndMode(int status, int mode) @@ -34,7 +34,15 @@ T_JZsdkReturnCode WarnLight_Set_StatusAndMode(int status, int mode)
34 U8_t FrameSequence = g_WarnLightInfo.FrameSequence; 34 U8_t FrameSequence = g_WarnLightInfo.FrameSequence;
35 osalHandle->GetFrameSequenceQueueNum(&FrameSequence); 35 osalHandle->GetFrameSequenceQueueNum(&FrameSequence);
36 36
  37 + //模式版本
  38 + if(g_WarnLightInfo.mode_version == 0)
  39 + {
37 HalSend_type1Send_Set_WarningLight_Status(g_WarnLightInfo.Device, FrameSequence, status, mode); 40 HalSend_type1Send_Set_WarningLight_Status(g_WarnLightInfo.Device, FrameSequence, status, mode);
  41 + }
  42 + else if(g_WarnLightInfo.mode_version == 1)
  43 + {
  44 +
  45 + }
38 46
39 g_WarnLightInfo.Attribute.mode = mode; 47 g_WarnLightInfo.Attribute.mode = mode;
40 g_WarnLightInfo.Attribute.status = status; 48 g_WarnLightInfo.Attribute.status = status;
@@ -23,7 +23,7 @@ extern "C" { @@ -23,7 +23,7 @@ extern "C" {
23 /* Exported types ------------------------------------------------------------*/ 23 /* Exported types ------------------------------------------------------------*/
24 typedef struct T_JzWarnLightAttribute{ 24 typedef struct T_JzWarnLightAttribute{
25 int mode; //模式 25 int mode; //模式
26 - 26 + int mode_version; //模式的版本
27 int status; //状态 27 int status; //状态
28 int Color1; //颜色1 28 int Color1; //颜色1
29 int Color2; //颜色2 29 int Color2; //颜色2
@@ -53,6 +53,14 @@ typedef enum E_JzWarnLightMode{ @@ -53,6 +53,14 @@ typedef enum E_JzWarnLightMode{
53 E_JZ_WARNLIGHT_MODE_SIMULTANEOUS_SLOW_FALSHING = 4, //同时慢速闪烁 53 E_JZ_WARNLIGHT_MODE_SIMULTANEOUS_SLOW_FALSHING = 4, //同时慢速闪烁
54 }E_JzWarnLightMode; 54 }E_JzWarnLightMode;
55 55
  56 +typedef enum E_JzWarnLightMode2{
  57 + E_JZ_WARNLIGHT_MODE_2_RED_BULE_WARN = 1, //红蓝警示模式
  58 + E_JZ_WARNLIGHT_MODE_2_YELLOW_WARN = 2, //黄闪减速模式
  59 + E_JZ_WARNLIGHT_MODE_2_RED_WARN = 3, //红闪停车模式
  60 + E_JZ_WARNLIGHT_MODE_2_GREEN_WARN = 4, //绿闪通行模式
  61 + E_JZ_WARNLIGHT_MODE_2_RAINBOW_WARN = 5, //彩色闪烁模式
  62 +}E_JzWarnLightMode2;
  63 +
56 /* Exported functions --------------------------------------------------------*/ 64 /* Exported functions --------------------------------------------------------*/
57 T_JZsdkReturnCode WarnLight_Set_StatusAndMode(int status, int mode); 65 T_JZsdkReturnCode WarnLight_Set_StatusAndMode(int status, int mode);
58 T_JZsdkReturnCode WarnLight_Set_Color(int Color1, int Color2); 66 T_JZsdkReturnCode WarnLight_Set_Color(int Color1, int Color2);
@@ -37,7 +37,7 @@ extern "C" { @@ -37,7 +37,7 @@ extern "C" {
37 #define DJI_VERSION_MINOR 12 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */ 37 #define DJI_VERSION_MINOR 12 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
38 #define DJI_VERSION_MODIFY 0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */ 38 #define DJI_VERSION_MODIFY 0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
39 #define DJI_VERSION_BETA 0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */ 39 #define DJI_VERSION_BETA 0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
40 -#define DJI_VERSION_BUILD 2254 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */ 40 +#define DJI_VERSION_BUILD 2257 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
41 41
42 /* Exported types ------------------------------------------------------------*/ 42 /* Exported types ------------------------------------------------------------*/
43 43
@@ -52,6 +52,18 @@ @@ -52,6 +52,18 @@
52 52
53 #endif 53 #endif
54 54
  55 +#ifdef WARNLIGHT_STATUS_ON
  56 +
  57 +#include "WarnLight/WarnLight.h"
  58 +
  59 +#endif
  60 +
  61 +#ifdef SEARCHLIGHT_STATUS_ON
  62 +
  63 +#include "SearchLight/SearchLight.h"
  64 +
  65 +#endif
  66 +
55 #include "MediaProc/MediaProc.h" 67 #include "MediaProc/MediaProc.h"
56 #include "DeviceInfo/DeviceInfo.h" 68 #include "DeviceInfo/DeviceInfo.h"
57 69
@@ -156,14 +168,7 @@ static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = { @@ -156,14 +168,7 @@ static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
156 }; 168 };
157 169
158 static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem); 170 static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem);
159 -int32_t s_widgetValueList[] = { OFF, OFF, PLAY_PAUSE, 30, 30, PLAY_SPEED_X1, 0, OFF,OFF,OFF, //喊话器部分  
160 - OFF, OFF, OFF, OFF, 50, OFF, //探照灯部分  
161 - 0, 0, 2, //警灯部分  
162 - 100, 100 ,ON ,OFF,OFF, //云台部分  
163 - OFF ,OFF, //系统部分  
164 - OFF,OFF, //调试部分  
165 - 0,0,  
166 - 0,0,0,0}; //调试部分 171 +int32_t s_widgetValueList[s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem)] = {0};
167 172
168 #endif 173 #endif
169 174
@@ -203,7 +208,58 @@ static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = { @@ -203,7 +208,58 @@ static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
203 }; 208 };
204 209
205 static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem); 210 static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem);
206 -int32_t s_widgetValueList[] = {VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST, //视频流 211 +int32_t s_widgetValueList[sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem)] = {0};
  212 +
  213 +#endif
  214 +
  215 +
  216 +static T_JZsdkReturnCode WidgetRead()
  217 +{
  218 + //将设备里的控件值读到控件结构体中
  219 + int WidetTempList[sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem)] = {0};
  220 +
  221 +#ifdef MEGAPHONE_CONFIG_STATUS_ON
  222 +
  223 + //赋予控件结构体初始值
  224 + WidetTempList[] = { OFF, OFF, PLAY_PAUSE, 30, 30, PLAY_SPEED_X1, 0, OFF,OFF,OFF, //喊话器部分
  225 + OFF, OFF, OFF, OFF, 50, OFF, //探照灯部分
  226 + 0, 0, 2, //警灯部分
  227 + 100, 100 ,ON ,OFF,OFF, //云台部分
  228 + OFF ,OFF, //系统部分
  229 + OFF,OFF, //调试部分
  230 + 0,0,
  231 + 0,0,0,0}; //调试部分
  232 +
  233 +
  234 + //读取探照灯部分
  235 + #ifdef SEARCHLIGHT_STATUS_ON
  236 + T_JzSearchLightAttribute SearchLightInfo;
  237 + SearchLight_Get_SearchLightAttribute(&SearchLightInfo);
  238 +
  239 + WidetTempList[10] = JZ_MATH_MAX(SearchLightInfo.LeftBrightness, SearchLightInfo.RightBrightness);
  240 + WidetTempList[11] = JZ_MATH_MAX(SearchLightInfo.LeftBrightness, SearchLightInfo.RightBrightness);
  241 + WidetTempList[12] = SearchLightInfo.Mode;
  242 + WidetTempList[14] = SearchLightInfo.Frequency;
  243 + #endif
  244 +
  245 + //读取警灯部分
  246 + #ifdef WARNLIGHT_STATUS_ON
  247 + T_JzWarnLightAttribute WarnLightInfo;
  248 + WarnLight_Get_Attribute(&WarnLightInfo);
  249 +
  250 + WidetTempList[16] = WarnLightInfo.mode;
  251 + WidetTempList[17] = WarnLightInfo.Color1;
  252 + WidetTempList[18] = WarnLightInfo.Color2;
  253 + #endif
  254 +
  255 + //将控件结构体中的值写入设备
  256 + memcpy(s_widgetValueList, WidetTempList, sizeof(s_widgetValueList));
  257 +#endif
  258 +
  259 +#ifdef IRC_CONFIG_STATUS_ON
  260 +
  261 + //赋予控件结构体初始值
  262 + WidetTempList[] = {VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST, //视频流
207 OFF, //测温模式 263 OFF, //测温模式
208 ON, //光圈开关 264 ON, //光圈开关
209 OFF, //冻结开关 265 OFF, //冻结开关
@@ -225,17 +281,24 @@ int32_t s_widgetValueList[] = {VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST, //视频 @@ -225,17 +281,24 @@ int32_t s_widgetValueList[] = {VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST, //视频
225 OFF, 281 OFF,
226 OFF, 282 OFF,
227 OFF, 283 OFF,
228 - OFF  
229 -}; 284 + OFF}; //调试部分
  285 +
  286 + //将控件结构体中的值写入设备
  287 + memcpy(s_widgetValueList, WidetTempList, sizeof(s_widgetValueList));
230 #endif 288 #endif
231 289
232 290
233 291
  292 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  293 +}
234 294
235 295
236 /* Exported functions definition ---------------导出函数定义——------------------------------*/ 296 /* Exported functions definition ---------------导出函数定义——------------------------------*/
237 T_DjiReturnCode DjiTest_WidgetStartService(void) 297 T_DjiReturnCode DjiTest_WidgetStartService(void)
238 { 298 {
  299 + //将设备里的控件值读到控件结构体中
  300 + WidgetRead();
  301 +
239 T_DjiReturnCode djiStat; 302 T_DjiReturnCode djiStat;
240 T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); 303 T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
241 304
@@ -47,7 +47,8 @@ extern "C" { @@ -47,7 +47,8 @@ extern "C" {
47 47
48 /* Exported constants --------------------------------------------------------*/ 48 /* Exported constants --------------------------------------------------------*/
49 //User can config dev based on there environmental conditions 49 //User can config dev based on there environmental conditions
50 -#define LINUX_UART_DEV1 UART_DEV1_NUM 50 +//#define LINUX_UART_DEV1 UART_DEV1_NUM
  51 +#define LINUX_UART_DEV1 "/dev/ttyS1"
51 #define LINUX_UART_DEV2 "/dev/ttyACM0" 52 #define LINUX_UART_DEV2 "/dev/ttyACM0"
52 53
53 /* Exported types ------------------------------------------------------------*/ 54 /* Exported types ------------------------------------------------------------*/
  1 +cmake_minimum_required(VERSION 3.5)
  2 +project(zydemo C)
  3 +
  4 +set(CMAKE_C_FLAGS "-pthread -std=gnu99")
  5 +set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
  6 +set(CMAKE_EXE_LINKER_FLAGS "-pthread")
  7 +set(CMAKE_C_COMPILER "/usr/local/arm/gcc-linaro-7.2.1-2017.11-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc")
  8 +set(CMAKE_CXX_COMPILER "/usr/local/arm/gcc-linaro-7.2.1-2017.11-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-g++")
  9 +add_definitions(-D_GNU_SOURCE)
  10 +
  11 +
  12 +#Strengthen Compilation Warnings - Treat All Warnings as Errors
  13 +#Purpose: Minimize potential issues caused by syntax and compiler-specific features
  14 +# add_definitions(-Werror)
  15 +# add_definitions(-Wno-error=implicit-function-declaration)
  16 +
  17 +
  18 +if (NOT USE_SYSTEM_ARCH)
  19 + add_definitions(-DSYSTEM_ARCH_LINUX)
  20 +endif ()
  21 +
  22 +if (BUILD_TEST_CASES_ON MATCHES TRUE)
  23 + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
  24 + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
  25 + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
  26 +endif ()
  27 +
  28 +set(PACKAGE_NAME payloadsdk)
  29 +
  30 +## "uname -m" to auto distinguish Manifold2-G or Manifold2-C
  31 +execute_process(COMMAND uname -m
  32 + OUTPUT_VARIABLE DEVICE_SYSTEM_ID)
  33 +
  34 +# if (DEVICE_SYSTEM_ID MATCHES x86_64)
  35 +# set(TOOLCHAIN_NAME x86_64-linux-gnu)
  36 +# add_definitions(-DPLATFORM_ARCH_x86_64=1)
  37 +# elseif (DEVICE_SYSTEM_ID MATCHES aarch64)
  38 +# set(TOOLCHAIN_NAME aarch64-linux-gnu)
  39 +# add_definitions(-DPLATFORM_ARCH_aarch64=1)
  40 +# elseif (DEVICE_SYSTEM_ID MATCHES armv7l)
  41 + set(TOOLCHAIN_NAME arm-linux-gnueabihf)
  42 +# add_definitions(-DPLATFORM_ARCH_arm=1)
  43 +# else ()
  44 +# message(FATAL_ERROR "FATAL: Please confirm your platform. SYSTEM_ID:${DEVICE_SYSTEM_ID}")
  45 +# endif ()
  46 +
  47 +
  48 +
  49 +file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c)
  50 +file(GLOB_RECURSE MODULE_HAL_SRC hal/*.c)
  51 +file(GLOB_RECURSE MODULE_APP_SRC application/*.c)
  52 +file(GLOB_RECURSE MODULE_SAMPLE_SRC ../../../module_sample/*.c)
  53 +
  54 +include_directories(../../../module_sample)
  55 +include_directories(../common)
  56 +include_directories(../manifold2/application)
  57 +
  58 +include_directories(../../../../../psdk_lib/include)
  59 +link_directories(../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})
  60 +link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME}/lib${PACKAGE_NAME}.a)
  61 +
  62 +if (NOT EXECUTABLE_OUTPUT_PATH)
  63 + set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
  64 +endif ()
  65 +
  66 +add_executable(${PROJECT_NAME}
  67 + ${MODULE_APP_SRC}
  68 + ${MODULE_SAMPLE_SRC}
  69 + ${MODULE_COMMON_SRC}
  70 + ${MODULE_HAL_SRC})
  71 +
  72 +target_link_libraries(${PROJECT_NAME} m stdc++)
  73 +
  74 +set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
  75 +# find_package(OPUS REQUIRED)
  76 +# if (OPUS_FOUND)
  77 +# message(STATUS "Found OPUS installed in the system")
  78 +# message(STATUS " - Includes: ${OPUS_INCLUDE_DIR}")
  79 +# message(STATUS " - Libraries: ${OPUS_LIBRARY}")
  80 +
  81 +# add_definitions(-DOPUS_INSTALLED)
  82 +# target_link_libraries(${PROJECT_NAME} ${OPUS_LIBRARY})
  83 +# else ()
  84 +# message(STATUS "Cannot Find OPUS")
  85 +# endif (OPUS_FOUND)
  86 +
  87 +
  88 +# find_package(ASOUND REQUIRED)
  89 +# if (ASOUND_FOUND)
  90 +# message(STATUS "Found ASOUND installed in the system")
  91 +# message(STATUS " - Includes: ${ASOUND_INCLUDE_DIR}")
  92 +# message(STATUS " - Libraries: ${ASOUND_LIBRARY}")
  93 +
  94 +# add_definitions(-DASOUND_INSTALLED)
  95 +# include_directories(${ASOUND_INCLUDE_DIR})
  96 +# target_link_libraries(${PROJECT_NAME} ${ASOUND_LIBRARIES})
  97 +# else()
  98 +# message(STATUS "Cannot Find ASOUND")
  99 +# endif()
  100 +
  101 +
  102 +
  103 +# find_package(LIBUSB REQUIRED)
  104 +# if (LIBUSB_FOUND)
  105 +# message(STATUS "Found LIBUSB installed in the system")
  106 +# message(STATUS " - Includes: ${LIBUSB_INCLUDE_DIR}")
  107 +# message(STATUS " - Libraries: ${LIBUSB_LIBRARY}")
  108 +
  109 +# add_definitions(-DLIBUSB_INSTALLED)
  110 +# target_link_libraries(${PROJECT_NAME} ${LIBUSB_LIBRARY})
  111 +# else ()
  112 +# message(STATUS "Cannot Find LIBUSB")
  113 +# endif (LIBUSB_FOUND)
  114 +
  115 +
  116 +
  117 +# find_package(FFMPEG REQUIRED)
  118 +# if(FFMPEG_FOUND)
  119 +# message(STATUS "Found FFMPEG installed in the system")
  120 +# message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
  121 +# message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
  122 +
  123 +# ADD_DEFINITIONS(-DFFMPEG_INSTALLED)
  124 +# target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES} m stdc++)
  125 +# else ()
  126 +# message(STATUS "Cannot Find FFMPEG")
  127 +# endif (FFMPEG_FOUND)
  128 +
  129 +
  130 +
  131 +# # 查找 FFmpeg 库
  132 +# find_package(PkgConfig REQUIRED)
  133 +# pkg_check_modules(AVFORMAT REQUIRED libavformat)
  134 +# pkg_check_modules(AVCODEC REQUIRED libavcodec)
  135 +# pkg_check_modules(AVUTIL REQUIRED libavutil)
  136 +
  137 +# # 包含 FFmpeg 头文件路径
  138 +# include_directories(${AVFORMAT_INCLUDE_DIRS})
  139 +# include_directories(${AVCODEC_INCLUDE_DIRS})
  140 +# include_directories(${AVUTIL_INCLUDE_DIRS})
  141 +
  142 +# # 链接 FFmpeg 库
  143 +# target_link_libraries(${PROJECT_NAME} ${AVFORMAT_LIBRARIES} ${AVCODEC_LIBRARIES} ${AVUTIL_LIBRARIES})
  144 +
  145 +
  146 +# target_link_libraries(${PROJECT_NAME} m)
  147 +
  148 +# target_link_libraries(${PROJECT_NAME} stdc++)
  149 +
  150 +# add_custom_command(TARGET ${PROJECT_NAME}
  151 +# PRE_LINK COMMAND cmake ..
  152 +# WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
  153 +
  1 +/**
  2 + ********************************************************************
  3 + * @file main.c
  4 + * @brief
  5 + *
  6 + * @copyright (c) 2021 ZIYAN. All rights reserved.
  7 + *
  8 + * All information contained herein is, and remains, the property of ZIYAN.
  9 + * The intellectual and technical concepts contained herein are proprietary
  10 + * to ZIYAN and may be covered by U.S. and foreign patents, patents in process,
  11 + * and protected by trade secret or copyright law. Dissemination of this
  12 + * information, including but not limited to data and other proprietary
  13 + * material(s) incorporated within the information, in any form, is strictly
  14 + * prohibited without the express written consent of ZIYAN.
  15 + *
  16 + * If you receive this source code without ZIYAN’s authorization, you may not
  17 + * further disseminate the information, and you must immediately remove the
  18 + * source code and notify ZIYAN of its removal. ZIYAN reserves the right to pursue
  19 + * legal actions against you for any loss(es) or damage(s) caused by your
  20 + * failure to do so.
  21 + *
  22 + *********************************************************************
  23 + */
  24 +
  25 +/* Includes ------------------------------------------------------------------*/
  26 +#include <ziyan_platform.h>
  27 +#include <ziyan_logger.h>
  28 +#include <ziyan_core.h>
  29 +#include <utils/util_misc.h>
  30 +#include <errno.h>
  31 +#include <signal.h>
  32 +#include "monitor/sys_monitor.h"
  33 +#include "osal/osal.h"
  34 +#include "osal/osal_fs.h"
  35 +#include "osal/osal_socket.h"
  36 +#include "../hal/hal_uart.h"
  37 +#include "../hal/hal_network.h"
  38 +#include "../hal/hal_usb_bulk.h"
  39 +#include "ziyan_sdk_app_info.h"
  40 +#include "ziyan_aircraft_info.h"
  41 +#include "widget/test_widget.h"
  42 +#include "ziyan_sdk_config.h"
  43 +
  44 +/* Private constants ---------------------------------------------------------*/
  45 +#define ZIYAN_LOG_PATH "Logs/ZIYAN"
  46 +#define ZIYAN_LOG_INDEX_FILE_NAME "Logs/latest"
  47 +#define ZIYAN_LOG_FOLDER_NAME "Logs"
  48 +#define ZIYAN_LOG_PATH_MAX_SIZE (128)
  49 +#define ZIYAN_LOG_FOLDER_NAME_MAX_SIZE (32)
  50 +#define ZIYAN_LOG_MAX_COUNT (10)
  51 +#define ZIYAN_SYSTEM_CMD_STR_MAX_SIZE (64)
  52 +#define ZIYAN_SYSTEM_RESULT_STR_MAX_SIZE (128)
  53 +
  54 +#define ZIYAN_USE_WIDGET_INTERACTION 0
  55 +
  56 +/* Private types -------------------------------------------------------------*/
  57 +typedef struct {
  58 + pid_t tid;
  59 + char name[16];
  60 + float pcpu;
  61 +} T_ThreadAttribute;
  62 +
  63 +/* Private values -------------------------------------------------------------*/
  64 +static FILE *s_ziyanLogFile;
  65 +static FILE *s_ziyanLogFileCnt;
  66 +static pthread_t s_monitorThread = 0;
  67 +
  68 +/* Private functions declaration ---------------------------------------------*/
  69 +static T_ZiyanReturnCode ZiyanUser_PrepareSystemEnvironment(void);
  70 +static T_ZiyanReturnCode ZiyanUser_FillInUserInfo(T_ZiyanUserInfo *userInfo);
  71 +static T_ZiyanReturnCode ZiyanUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
  72 +static T_ZiyanReturnCode ZiyanUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
  73 +static T_ZiyanReturnCode ZiyanUser_LocalWriteFsInit(const char *path);
  74 +// static void *ZiyanUser_MonitorTask(void *argument);
  75 +// static T_ZiyanReturnCode ZiyanTest_HighPowerApplyPinInit();
  76 +// static T_ZiyanReturnCode ZiyanTest_WriteHighPowerApplyPin(E_ZiyanPowerManagementPinState pinState);
  77 +static void ZiyanUser_NormalExitHandler(int signalNum);
  78 +
  79 +/* Exported functions definition ---------------------------------------------*/
  80 +int main(int argc, char **argv)
  81 +{
  82 + T_ZiyanReturnCode returnCode;
  83 + T_ZiyanUserInfo userInfo;
  84 + T_ZiyanAircraftInfoBaseInfo aircraftInfoBaseInfo;
  85 + T_ZiyanAircraftVersion aircraftInfoVersion;
  86 + T_ZiyanFirmwareVersion firmwareVersion = {
  87 + .majorVersion = 1,
  88 + .minorVersion = 0,
  89 + .modifyVersion = 0,
  90 + .debugVersion = 0,
  91 + };
  92 +
  93 + USER_UTIL_UNUSED(argc);
  94 + USER_UTIL_UNUSED(argv);
  95 +
  96 + // attention: when the program is hand up ctrl-c will generate the coredump file
  97 + signal(SIGTERM, ZiyanUser_NormalExitHandler);
  98 +
  99 + /*!< Step 1: Prepare system environment, such as osal, hal uart, console function and so on. */
  100 + returnCode = ZiyanUser_PrepareSystemEnvironment();
  101 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  102 + USER_LOG_ERROR("Prepare system environment error");
  103 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  104 + }
  105 +
  106 + /*!< Step 2: Fill your application information in ziyan_sdk_app_info.h and use this interface to fill it. */
  107 + returnCode = ZiyanUser_FillInUserInfo(&userInfo);
  108 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  109 + USER_LOG_ERROR("Fill user info error, please check user info config");
  110 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  111 + }
  112 +
  113 + // /*!< Step 3: Initialize the Payload SDK core by your application information. */
  114 + returnCode = ZiyanCore_Init(&userInfo);
  115 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  116 + USER_LOG_ERROR("Core init error");
  117 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  118 + }
  119 +
  120 + returnCode = ZiyanAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
  121 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  122 + USER_LOG_ERROR("get aircraft base info error");
  123 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  124 + }
  125 +
  126 + // returnCode = ZiyanAircraftInfo_GetAircraftVersion(&aircraftInfoVersion);
  127 + // if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  128 + // USER_LOG_ERROR("get aircraft version info error");
  129 + // } else {
  130 + // USER_LOG_INFO("Aircraft version is V%02d.%02d.%02d.%02d", aircraftInfoVersion.majorVersion,
  131 + // aircraftInfoVersion.minorVersion, aircraftInfoVersion.modifyVersion,
  132 + // aircraftInfoVersion.debugVersion);
  133 + // }
  134 +
  135 + // returnCode = ZiyanCore_SetAlias("PSDK_APPALIAS");
  136 + // if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  137 + // USER_LOG_ERROR("set alias error");
  138 + // return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  139 + // }
  140 +
  141 + // returnCode = ZiyanCore_SetFirmwareVersion(firmwareVersion);
  142 + // if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  143 + // USER_LOG_ERROR("set firmware version error");
  144 + // return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  145 + // }
  146 +
  147 + // returnCode = ZiyanCore_SetSerialNumber("PSDK12345678XX");
  148 + // if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  149 + // USER_LOG_ERROR("set serial number error");
  150 + // return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  151 + // }
  152 +
  153 +// /*!< Step 4: Initialize the selected modules by macros in ziyan_sdk_config.h . */
  154 +// #ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
  155 +// T_ZiyanTestApplyHighPowerHandler applyHighPowerHandler = {
  156 +// .pinInit = ZiyanTest_HighPowerApplyPinInit,
  157 +// .pinWrite = ZiyanTest_WriteHighPowerApplyPin,
  158 +// };
  159 +
  160 +// returnCode = ZiyanTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
  161 +// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  162 +// USER_LOG_ERROR("regsiter apply high power handler error");
  163 +// }
  164 +
  165 +// returnCode = ZiyanTest_PowerManagementStartService();
  166 +// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  167 +// USER_LOG_ERROR("power management init error");
  168 +// }
  169 +// #endif
  170 +
  171 +// #ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
  172 +// returnCode = ZiyanTest_DataTransmissionStartService();
  173 +// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  174 +// USER_LOG_ERROR("widget sample init error");
  175 +// }
  176 +// #endif
  177 +
  178 +// if (aircraftInfoBaseInfo.mountPosition == ZIYAN_MOUNT_POSITION_EXTENSION_PORT &&
  179 +// aircraftInfoBaseInfo.aircraftType == ZIYAN_AIRCRAFT_TYPE_M300_RTK) {
  180 +// returnCode = ZiyanTest_WidgetInteractionStartService();
  181 +// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  182 +// USER_LOG_ERROR("widget interaction sample init error");
  183 +// }
  184 +
  185 +// returnCode = ZiyanTest_WidgetSpeakerStartService();
  186 +// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  187 +// USER_LOG_ERROR("widget speaker test init error");
  188 +// }
  189 +// } else {
  190 +#ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
  191 + returnCode = ZiyanTest_CameraEmuBaseStartService();
  192 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  193 + USER_LOG_ERROR("camera emu common init error");
  194 + }
  195 +#endif
  196 +
  197 +#ifdef CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
  198 + returnCode = ZiyanTest_CameraEmuMediaStartService();
  199 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  200 + USER_LOG_ERROR("camera emu media init error");
  201 + }
  202 +#endif
  203 +
  204 +#ifdef CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
  205 + returnCode = ZiyanTest_FcSubscriptionStartService();
  206 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  207 + USER_LOG_ERROR("data subscription sample init error\n");
  208 + }
  209 +#endif
  210 +
  211 +// #ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
  212 +
  213 +// #if DEVICE_VERSION == JZ_H150S || DEVICE_VERSION == JZ_H150T
  214 +
  215 +// // if (aircraftInfoBaseInfo.ziyanAdapterType == ZIYAN_SDK_ADAPTER_TYPE_NONE ||
  216 +// // aircraftInfoBaseInfo.ziyanAdapterType == ZIYAN_SDK_ADAPTER_TYPE_UNKNOWN) {
  217 +
  218 +// if (ZiyanTest_GimbalStartService() != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  219 +// USER_LOG_ERROR("psdk gimbal init error");
  220 +// }
  221 +// //}
  222 +// #endif
  223 +
  224 +// #ifdef CONFIG_MODULE_SAMPLE_XPORT_ON
  225 +// if (aircraftInfoBaseInfo.ziyanAdapterType == ZIYAN_SDK_ADAPTER_TYPE_XPORT) {
  226 +// if (ZiyanTest_XPortStartService() != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  227 +// USER_LOG_ERROR("psdk xport init error");
  228 +// }
  229 +// }
  230 +// #endif
  231 +
  232 +#ifdef CONFIG_MODULE_SAMPLE_WIDGET_ON
  233 +
  234 + ZiyanTest_WidgetSetConfigFilePath("/root/");
  235 +
  236 +#if ZIYAN_USE_WIDGET_INTERACTION
  237 + returnCode = ZiyanTest_WidgetInteractionStartService();
  238 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  239 + USER_LOG_ERROR("widget interaction test init error");
  240 + }
  241 +#else
  242 + returnCode = ZiyanTest_WidgetStartService();
  243 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  244 + USER_LOG_ERROR("widget sample init error");
  245 + }
  246 +#endif
  247 +#endif
  248 +
  249 +#ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
  250 + returnCode = ZiyanTest_WidgetSpeakerStartService();
  251 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  252 + USER_LOG_ERROR("widget speaker test init error");
  253 + }
  254 +#endif
  255 +
  256 +// #ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
  257 +// returnCode = ZiyanTest_MopChannelStartService();
  258 +// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  259 +// USER_LOG_ERROR("mop channel sample init error");
  260 +// }
  261 +// #endif
  262 +
  263 +// #ifdef CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
  264 +// if (aircraftInfoBaseInfo.ziyanAdapterType == ZIYAN_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
  265 +// aircraftInfoBaseInfo.ziyanAdapterType == ZIYAN_SDK_ADAPTER_TYPE_XPORT) {
  266 +// returnCode = ZiyanTest_PayloadCollaborationStartService();
  267 +// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  268 +// USER_LOG_ERROR("Payload collaboration sample init error\n");
  269 +// }
  270 +// }
  271 +// #endif
  272 +
  273 +// #ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
  274 +// T_ZiyanTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
  275 +// .rebootSystem = ZiyanUpgradePlatformLinux_RebootSystem,
  276 +// .cleanUpgradeProgramFileStoreArea = ZiyanUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
  277 +// .createUpgradeProgramFile = ZiyanUpgradePlatformLinux_CreateUpgradeProgramFile,
  278 +// .writeUpgradeProgramFile = ZiyanUpgradePlatformLinux_WriteUpgradeProgramFile,
  279 +// .readUpgradeProgramFile = ZiyanUpgradePlatformLinux_ReadUpgradeProgramFile,
  280 +// .closeUpgradeProgramFile = ZiyanUpgradePlatformLinux_CloseUpgradeProgramFile,
  281 +// .replaceOldProgram = ZiyanUpgradePlatformLinux_ReplaceOldProgram,
  282 +// .setUpgradeRebootState = ZiyanUpgradePlatformLinux_SetUpgradeRebootState,
  283 +// .getUpgradeRebootState = ZiyanUpgradePlatformLinux_GetUpgradeRebootState,
  284 +// .cleanUpgradeRebootState = ZiyanUpgradePlatformLinux_CleanUpgradeRebootState,
  285 +// };
  286 +// T_ZiyanTestUpgradeConfig testUpgradeConfig = {
  287 +// .firmwareVersion = firmwareVersion,
  288 +// .transferType = ZIYAN_FIRMWARE_TRANSFER_TYPE_DCFTP,
  289 +// .needReplaceProgramBeforeReboot = true
  290 +// };
  291 +// if (ZiyanTest_UpgradeStartService(&linuxUpgradePlatformOpt, testUpgradeConfig) !=
  292 +// ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  293 +// USER_LOG_ERROR("psdk upgrade init error");
  294 +// }
  295 +// #endif
  296 +
  297 +// #ifdef CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
  298 +// returnCode = ZiyanTest_HmsCustomizationStartService();
  299 +// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  300 +// USER_LOG_ERROR("hms test init error");
  301 +// }
  302 +// #endif
  303 +// }
  304 +
  305 + // /*!< Step 5: Tell the ZIYAN Pilot you are ready. */
  306 + returnCode = ZiyanCore_ApplicationStart();
  307 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  308 + USER_LOG_ERROR("start sdk application error");
  309 + }
  310 +
  311 + // if (pthread_create(&s_monitorThread, NULL, ZiyanUser_MonitorTask, NULL) != 0) {
  312 + // USER_LOG_ERROR("create monitor task fail.");
  313 + // }
  314 +
  315 + // if (pthread_setname_np(s_monitorThread, "monitor task") != 0) {
  316 + // USER_LOG_ERROR("set name for monitor task fail.");
  317 + // }
  318 +
  319 + while (1) {
  320 + sleep(1);
  321 + }
  322 +}
  323 +
  324 +/* Private functions definition-----------------------------------------------*/
  325 +static T_ZiyanReturnCode ZiyanUser_PrepareSystemEnvironment(void)
  326 +{
  327 + T_ZiyanReturnCode returnCode;
  328 + T_ZiyanOsalHandler osalHandler = {
  329 + .TaskCreate = Osal_TaskCreate,
  330 + .TaskDestroy = Osal_TaskDestroy,
  331 + .TaskSleepMs = Osal_TaskSleepMs,
  332 + .MutexCreate= Osal_MutexCreate,
  333 + .MutexDestroy = Osal_MutexDestroy,
  334 + .MutexLock = Osal_MutexLock,
  335 + .MutexUnlock = Osal_MutexUnlock,
  336 + .SemaphoreCreate = Osal_SemaphoreCreate,
  337 + .SemaphoreDestroy = Osal_SemaphoreDestroy,
  338 + .SemaphoreWait = Osal_SemaphoreWait,
  339 + .SemaphoreTimedWait = Osal_SemaphoreTimedWait,
  340 + .SemaphorePost = Osal_SemaphorePost,
  341 + .Malloc = Osal_Malloc,
  342 + .Free = Osal_Free,
  343 + .GetRandomNum = Osal_GetRandomNum,
  344 + .GetTimeMs = Osal_GetTimeMs,
  345 + .GetTimeUs = Osal_GetTimeUs,
  346 + };
  347 +
  348 + T_ZiyanLoggerConsole printConsole = {
  349 + .func = ZiyanUser_PrintConsole,
  350 + .consoleLevel = ZIYAN_LOGGER_CONSOLE_LOG_LEVEL_INFO,
  351 + .isSupportColor = true,
  352 + };
  353 +
  354 + T_ZiyanLoggerConsole localRecordConsole = {
  355 + .consoleLevel = ZIYAN_LOGGER_CONSOLE_LOG_LEVEL_DEBUG,
  356 + .func = ZiyanUser_LocalWrite,
  357 + .isSupportColor = true,
  358 + };
  359 +
  360 + T_ZiyanHalUartHandler uartHandler = {
  361 + .UartInit = HalUart_Init,
  362 + .UartDeInit = HalUart_DeInit,
  363 + .UartWriteData = HalUart_WriteData,
  364 + .UartReadData = HalUart_ReadData,
  365 + .UartGetStatus = HalUart_GetStatus,
  366 + };
  367 +
  368 + T_ZiyanHalNetworkHandler networkHandler = {
  369 + .NetworkInit = HalNetWork_Init,
  370 + .NetworkDeInit = HalNetWork_DeInit,
  371 + .NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo,
  372 + };
  373 +
  374 + T_ZiyanHalUsbBulkHandler usbBulkHandler = {
  375 + .UsbBulkInit = HalUsbBulk_Init,
  376 + .UsbBulkDeInit = HalUsbBulk_DeInit,
  377 + .UsbBulkWriteData = HalUsbBulk_WriteData,
  378 + .UsbBulkReadData = HalUsbBulk_ReadData,
  379 + .UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo,
  380 + };
  381 +
  382 + T_ZiyanFileSystemHandler fileSystemHandler = {
  383 + .FileOpen = Osal_FileOpen,
  384 + .FileClose = Osal_FileClose,
  385 + .FileWrite = Osal_FileWrite,
  386 + .FileRead = Osal_FileRead,
  387 + .FileSync = Osal_FileSync,
  388 + .FileSeek = Osal_FileSeek,
  389 + .DirOpen = Osal_DirOpen,
  390 + .DirClose = Osal_DirClose,
  391 + .DirRead = Osal_DirRead,
  392 + .Mkdir = Osal_Mkdir,
  393 + .Unlink = Osal_Unlink,
  394 + .Rename = Osal_Rename,
  395 + .Stat = Osal_Stat,
  396 + };
  397 +
  398 + T_ZiyanSocketHandler socketHandler = {
  399 + .Socket = Osal_Socket,
  400 + .Bind = Osal_Bind,
  401 + .Close = Osal_Close,
  402 + .UdpSendData = Osal_UdpSendData,
  403 + .UdpRecvData = Osal_UdpRecvData,
  404 + .TcpListen = Osal_TcpListen,
  405 + .TcpAccept = Osal_TcpAccept,
  406 + .TcpConnect = Osal_TcpConnect,
  407 + .TcpSendData = Osal_TcpSendData,
  408 + .TcpRecvData = Osal_TcpRecvData,
  409 + };
  410 +
  411 + returnCode = ZiyanPlatform_RegOsalHandler(&osalHandler);
  412 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  413 + printf("register osal handler error");
  414 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  415 + }
  416 +
  417 + returnCode = ZiyanPlatform_RegHalUartHandler(&uartHandler);
  418 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  419 + printf("register hal uart handler error");
  420 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  421 + }
  422 +
  423 + if (ZiyanUser_LocalWriteFsInit(ZIYAN_LOG_PATH) != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  424 + printf("file system init error");
  425 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  426 + }
  427 +
  428 + returnCode = ZiyanLogger_AddConsole(&printConsole);
  429 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  430 + printf("add printf console error");
  431 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  432 + }
  433 +
  434 + returnCode = ZiyanLogger_AddConsole(&localRecordConsole);
  435 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  436 + printf("add printf console error");
  437 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  438 + }
  439 +
  440 +
  441 +#if (CONFIG_HARDWARE_CONNECTION == ZIYAN_USE_UART_AND_USB_BULK_DEVICE)
  442 + returnCode = ZiyanPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
  443 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  444 + printf("register hal usb bulk handler error");
  445 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  446 + }
  447 +#elif (CONFIG_HARDWARE_CONNECTION == ZIYAN_USE_UART_AND_NETWORK_DEVICE)
  448 + returnCode = ZiyanPlatform_RegHalNetworkHandler(&networkHandler);
  449 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  450 + printf("register hal network handler error");
  451 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  452 + }
  453 +
  454 + //Attention: if you want to use camera stream view function, please uncomment it.
  455 + returnCode = ZiyanPlatform_RegSocketHandler(&socketHandler);
  456 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  457 + printf("register osal socket handler error");
  458 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  459 + }
  460 +#elif (CONFIG_HARDWARE_CONNECTION == ZIYAN_USE_ONLY_UART)
  461 + /*!< Attention: Only use uart hardware connection.
  462 + */
  463 +#endif
  464 +
  465 + returnCode = ZiyanPlatform_RegFileSystemHandler(&fileSystemHandler);
  466 + if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  467 + printf("register osal filesystem handler error");
  468 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  469 + }
  470 +
  471 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  472 +}
  473 +
  474 +static T_ZiyanReturnCode ZiyanUser_FillInUserInfo(T_ZiyanUserInfo *userInfo)
  475 +{
  476 + if (userInfo == NULL) {
  477 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  478 + }
  479 +
  480 + memset(userInfo->appName, 0, sizeof(userInfo->appName));
  481 + memset(userInfo->appId, 0, sizeof(userInfo->appId));
  482 + memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
  483 + memset(userInfo->appLicense, 0, sizeof(userInfo->appLicense));
  484 + memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
  485 + memset(userInfo->baudRate, 0, sizeof(userInfo->baudRate));
  486 +
  487 + if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
  488 + strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
  489 + strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
  490 + strlen(USER_APP_LICENSE) > sizeof(userInfo->appLicense) ||
  491 + strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount) ||
  492 + strlen(USER_BAUD_RATE) > sizeof(userInfo->baudRate)) {
  493 + USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
  494 + sleep(1);
  495 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  496 + }
  497 +
  498 + if (!strcmp(USER_APP_NAME, "your_app_name") ||
  499 + !strcmp(USER_APP_ID, "your_app_id") ||
  500 + !strcmp(USER_APP_KEY, "your_app_key") ||
  501 + !strcmp(USER_BAUD_RATE, "your_app_license") ||
  502 + !strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
  503 + !strcmp(USER_BAUD_RATE, "your_baud_rate")) {
  504 + USER_LOG_ERROR(
  505 + "Please fill in correct user information to 'samples/sample_c/platform/linux/manifold2/application/ziyan_sdk_app_info.h' file.");
  506 + sleep(1);
  507 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  508 + }
  509 +
  510 + strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
  511 + memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
  512 + memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
  513 + memcpy(userInfo->appLicense, USER_APP_LICENSE,
  514 + USER_UTIL_MIN(sizeof(userInfo->appLicense), strlen(USER_APP_LICENSE)));
  515 + memcpy(userInfo->baudRate, USER_BAUD_RATE, USER_UTIL_MIN(sizeof(userInfo->baudRate), strlen(USER_BAUD_RATE)));
  516 + strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
  517 +
  518 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  519 +}
  520 +
  521 +static T_ZiyanReturnCode ZiyanUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
  522 +{
  523 + USER_UTIL_UNUSED(dataLen);
  524 +
  525 + printf("%s", data);
  526 +
  527 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  528 +}
  529 +
  530 +static T_ZiyanReturnCode ZiyanUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
  531 +{
  532 + uint32_t realLen;
  533 +
  534 + if (s_ziyanLogFile == NULL) {
  535 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  536 + }
  537 +
  538 + realLen = fwrite(data, 1, dataLen, s_ziyanLogFile);
  539 + fflush(s_ziyanLogFile);
  540 + if (realLen == dataLen) {
  541 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  542 + } else {
  543 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  544 + }
  545 +}
  546 +
  547 +static T_ZiyanReturnCode ZiyanUser_LocalWriteFsInit(const char *path)
  548 +{
  549 + T_ZiyanReturnCode ziyanReturnCode = ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  550 + char filePath[ZIYAN_LOG_PATH_MAX_SIZE];
  551 + char systemCmd[ZIYAN_SYSTEM_CMD_STR_MAX_SIZE];
  552 + char folderName[ZIYAN_LOG_FOLDER_NAME_MAX_SIZE];
  553 + time_t currentTime = time(NULL);
  554 + struct tm *localTime = localtime(&currentTime);
  555 + uint16_t logFileIndex = 0;
  556 + uint16_t currentLogFileIndex;
  557 + uint8_t ret;
  558 +
  559 + if (localTime == NULL) {
  560 + printf("Get local time error.\r\n");
  561 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  562 + }
  563 +
  564 + if (access(ZIYAN_LOG_FOLDER_NAME, F_OK) != 0) {
  565 + sprintf(folderName, "mkdir %s", ZIYAN_LOG_FOLDER_NAME);
  566 + ret = system(folderName);
  567 + if (ret != 0) {
  568 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  569 + }
  570 + }
  571 +
  572 + s_ziyanLogFileCnt = fopen(ZIYAN_LOG_INDEX_FILE_NAME, "rb+");
  573 + if (s_ziyanLogFileCnt == NULL) {
  574 + s_ziyanLogFileCnt = fopen(ZIYAN_LOG_INDEX_FILE_NAME, "wb+");
  575 + if (s_ziyanLogFileCnt == NULL) {
  576 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  577 + }
  578 + } else {
  579 + ret = fseek(s_ziyanLogFileCnt, 0, SEEK_SET);
  580 + if (ret != 0) {
  581 + printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
  582 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  583 + }
  584 +
  585 + ret = fread((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_ziyanLogFileCnt);
  586 + if (ret != sizeof(uint16_t)) {
  587 + printf("Read log file index error.\r\n");
  588 + }
  589 + }
  590 +
  591 + currentLogFileIndex = logFileIndex;
  592 + logFileIndex++;
  593 +
  594 + ret = fseek(s_ziyanLogFileCnt, 0, SEEK_SET);
  595 + if (ret != 0) {
  596 + printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
  597 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  598 + }
  599 +
  600 + ret = fwrite((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_ziyanLogFileCnt);
  601 + if (ret != sizeof(uint16_t)) {
  602 + printf("Write log file index error.\r\n");
  603 + fclose(s_ziyanLogFileCnt);
  604 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  605 + }
  606 +
  607 + fclose(s_ziyanLogFileCnt);
  608 +
  609 + sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
  610 + localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
  611 + localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
  612 +
  613 + s_ziyanLogFile = fopen(filePath, "wb+");
  614 + if (s_ziyanLogFile == NULL) {
  615 + USER_LOG_ERROR("Open filepath time error.");
  616 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  617 + }
  618 +
  619 + if (logFileIndex >= ZIYAN_LOG_MAX_COUNT) {
  620 + sprintf(systemCmd, "rm -rf %s_%04d*.log", path, currentLogFileIndex - ZIYAN_LOG_MAX_COUNT);
  621 + ret = system(systemCmd);
  622 + if (ret != 0) {
  623 + printf("Remove file error, ret:%d.\r\n", ret);
  624 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  625 + }
  626 + }
  627 +
  628 + return ziyanReturnCode;
  629 +}
  630 +
  631 +// #pragma GCC diagnostic push
  632 +// #pragma GCC diagnostic ignored "-Wmissing-noreturn"
  633 +// #pragma GCC diagnostic ignored "-Wreturn-type"
  634 +
  635 +// static void *ZiyanUser_MonitorTask(void *argument)
  636 +// {
  637 +// unsigned int i = 0;
  638 +// unsigned int threadCount = 0;
  639 +// pid_t *tidList = NULL;
  640 +// T_ThreadAttribute *threadAttribute = NULL;
  641 +// T_ZiyanOsalHandler *osalHandler = ZiyanPlatform_GetOsalHandler();
  642 +
  643 +// USER_UTIL_UNUSED(argument);
  644 +
  645 +// while (1) {
  646 +// threadCount = Monitor_GetThreadCountOfProcess(getpid());
  647 +// tidList = osalHandler->Malloc(threadCount * sizeof(pid_t));
  648 +// if (tidList == NULL) {
  649 +// USER_LOG_ERROR("malloc fail.");
  650 +// goto delay;
  651 +// }
  652 +// Monitor_GetTidListOfProcess(getpid(), tidList, threadCount);
  653 +
  654 +// threadAttribute = osalHandler->Malloc(threadCount * sizeof(T_ThreadAttribute));
  655 +// if (threadAttribute == NULL) {
  656 +// USER_LOG_ERROR("malloc fail.");
  657 +// goto freeTidList;
  658 +// }
  659 +// for (i = 0; i < threadCount; ++i) {
  660 +// threadAttribute[i].tid = tidList[i];
  661 +// }
  662 +
  663 +// USER_LOG_DEBUG("thread pcpu:");
  664 +// USER_LOG_DEBUG("tid\tname\tpcpu");
  665 +// for (i = 0; i < threadCount; ++i) {
  666 +// threadAttribute[i].pcpu = Monitor_GetPcpuOfThread(getpid(), tidList[i]);
  667 +// Monitor_GetNameOfThread(getpid(), tidList[i], threadAttribute[i].name, sizeof(threadAttribute[i].name));
  668 +// USER_LOG_DEBUG("%d\t%15s\t%f %%.", threadAttribute[i].tid, threadAttribute[i].name,
  669 +// threadAttribute[i].pcpu);
  670 +// }
  671 +
  672 +// USER_LOG_DEBUG("heap used: %d B.", Monitor_GetHeapUsed(getpid()));
  673 +// USER_LOG_DEBUG("stack used: %d B.", Monitor_GetStackUsed(getpid()));
  674 +
  675 +// osalHandler->Free(threadAttribute);
  676 +// freeTidList:
  677 +// osalHandler->Free(tidList);
  678 +
  679 +// delay:
  680 +// sleep(10);
  681 +// }
  682 +// }
  683 +
  684 +// // static T_ZiyanReturnCode ZiyanTest_HighPowerApplyPinInit()
  685 +// // {
  686 +// // return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  687 +// // }
  688 +
  689 +// // static T_ZiyanReturnCode ZiyanTest_WriteHighPowerApplyPin(E_ZiyanPowerManagementPinState pinState)
  690 +// // {
  691 +// // //attention: please pull up the HWPR pin state by hardware.
  692 +// // return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  693 +// // }
  694 +
  695 +static void ZiyanUser_NormalExitHandler(int signalNum)
  696 +{
  697 + USER_UTIL_UNUSED(signalNum);
  698 + exit(0);
  699 +}
  700 +
  701 +#pragma GCC diagnostic pop
  702 +
  703 +/****************** (C) COPYRIGHT ZIYAN Innovations *****END OF FILE****/
  1 +/**
  2 + ********************************************************************
  3 + * @file ziyan_sdk_app_info.h
  4 + * @brief This is the header file for defining the structure and (exported) function prototypes.
  5 + *
  6 + * @copyright (c) 2018 ZIYAN. All rights reserved.
  7 + *
  8 + * All information contained herein is, and remains, the property of ZIYAN.
  9 + * The intellectual and technical concepts contained herein are proprietary
  10 + * to ZIYAN and may be covered by U.S. and foreign patents, patents in process,
  11 + * and protected by trade secret or copyright law. Dissemination of this
  12 + * information, including but not limited to data and other proprietary
  13 + * material(s) incorporated within the information, in any form, is strictly
  14 + * prohibited without the express written consent of ZIYAN.
  15 + *
  16 + * If you receive this source code without ZIYAN’s authorization, you may not
  17 + * further disseminate the information, and you must immediately remove the
  18 + * source code and notify ZIYAN of its removal. ZIYAN reserves the right to pursue
  19 + * legal actions against you for any loss(es) or damage(s) caused by your
  20 + * failure to do so.
  21 + *
  22 + *********************************************************************
  23 + */
  24 +
  25 +/* Define to prevent recursive inclusion -------------------------------------*/
  26 +#ifndef ZIYAN_SDK_APP_INFO_H
  27 +#define ZIYAN_SDK_APP_INFO_H
  28 +
  29 +/* Includes ------------------------------------------------------------------*/
  30 +
  31 +#ifdef __cplusplus
  32 +extern "C" {
  33 +#endif
  34 +
  35 +/* Exported constants --------------------------------------------------------*/
  36 +// ATTENTION: User must goto https://developer.ziyan.com/user/apps/#all to create your own ziyan sdk application, get ziyan sdk application
  37 +// information then fill in the application information here.
  38 +#define USER_APP_NAME "app_name_ziyan"
  39 +#define USER_APP_ID "app_id_ziyan"
  40 +#define USER_APP_KEY "app_key_ziyan"
  41 +#define USER_APP_LICENSE "app_license_ziyan"
  42 +#define USER_DEVELOPER_ACCOUNT "developer_account_ziyan"
  43 +#define USER_BAUD_RATE "921600"
  44 +
  45 +/* Exported types ------------------------------------------------------------*/
  46 +
  47 +/* Exported functions --------------------------------------------------------*/
  48 +
  49 +
  50 +#ifdef __cplusplus
  51 +}
  52 +#endif
  53 +
  54 +#endif // ZIYAN_SDK_APP_INFO_H
  55 +/************************ (C) COPYRIGHT ZIYAN Innovations *******END OF FILE******/
  1 +/**
  2 + ********************************************************************
  3 + * @file ziyan_sdk_config.h
  4 + * @brief This is the header file for "ziyan_config.c", defining the structure and
  5 + * (exported) function prototypes.
  6 + *
  7 + * @copyright (c) 2021 ZIYAN. All rights reserved.
  8 + *
  9 + * All information contained herein is, and remains, the property of ZIYAN.
  10 + * The intellectual and technical concepts contained herein are proprietary
  11 + * to ZIYAN and may be covered by U.S. and foreign patents, patents in process,
  12 + * and protected by trade secret or copyright law. Dissemination of this
  13 + * information, including but not limited to data and other proprietary
  14 + * material(s) incorporated within the information, in any form, is strictly
  15 + * prohibited without the express written consent of ZIYAN.
  16 + *
  17 + * If you receive this source code without ZIYAN’s authorization, you may not
  18 + * further disseminate the information, and you must immediately remove the
  19 + * source code and notify ZIYAN of its removal. ZIYAN reserves the right to pursue
  20 + * legal actions against you for any loss(es) or damage(s) caused by your
  21 + * failure to do so.
  22 + *
  23 + *********************************************************************
  24 + */
  25 +
  26 +/* Define to prevent recursive inclusion -------------------------------------*/
  27 +#ifndef ZIYAN_SDK_CONFIG_H
  28 +#define ZIYAN_SDK_CONFIG_H
  29 +
  30 +/* Includes ------------------------------------------------------------------*/
  31 +
  32 +#ifdef __cplusplus
  33 +extern "C" {
  34 +#endif
  35 +
  36 +/* Exported constants --------------------------------------------------------*/
  37 +#define ZIYAN_USE_ONLY_UART (0)
  38 +#define ZIYAN_USE_UART_AND_USB_BULK_DEVICE (1)
  39 +#define ZIYAN_USE_UART_AND_NETWORK_DEVICE (2)
  40 +
  41 +/*!< Attention: Select your hardware connection mode here.
  42 +* */
  43 +#define CONFIG_HARDWARE_CONNECTION ZIYAN_USE_ONLY_UART
  44 +
  45 +/*!< Attention: Select the sample you want to run here.
  46 +* */
  47 +// #define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
  48 +
  49 +// #define CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
  50 +
  51 +// #define CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
  52 +
  53 +// #define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
  54 +
  55 +// #define CONFIG_MODULE_SAMPLE_XPORT_ON
  56 +
  57 +#define CONFIG_MODULE_SAMPLE_WIDGET_ON
  58 +
  59 +#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
  60 +
  61 +// #define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
  62 +
  63 +// #define CONFIG_MODULE_SAMPLE_UPGRADE_ON
  64 +
  65 +// #define CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
  66 +
  67 +#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
  68 +
  69 +/*!< Attention: This function needs to be used together with mobile sdk mop sample.
  70 +* */
  71 +//#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
  72 +
  73 +/* Exported types ------------------------------------------------------------*/
  74 +
  75 +/* Exported functions --------------------------------------------------------*/
  76 +
  77 +#ifdef __cplusplus
  78 +}
  79 +#endif
  80 +
  81 +#endif // ZIYAN_SDK_CONFIG_H
  82 +/************************ (C) COPYRIGHT ZIYAN Innovations *******END OF FILE******/
  1 +/**
  2 + ********************************************************************
  3 + * @file hal_network.c
  4 + * @brief
  5 + *
  6 + * @copyright (c) 2021 ZIYAN. All rights reserved.
  7 + *
  8 + * All information contained herein is, and remains, the property of ZIYAN.
  9 + * The intellectual and technical concepts contained herein are proprietary
  10 + * to ZIYAN and may be covered by U.S. and foreign patents, patents in process,
  11 + * and protected by trade secret or copyright law. Dissemination of this
  12 + * information, including but not limited to data and other proprietary
  13 + * material(s) incorporated within the information, in any form, is strictly
  14 + * prohibited without the express written consent of ZIYAN.
  15 + *
  16 + * If you receive this source code without ZIYAN’s authorization, you may not
  17 + * further disseminate the information, and you must immediately remove the
  18 + * source code and notify ZIYAN of its removal. ZIYAN reserves the right to pursue
  19 + * legal actions against you for any loss(es) or damage(s) caused by your
  20 + * failure to do so.
  21 + *
  22 + *********************************************************************
  23 + */
  24 +
  25 +/* Includes ------------------------------------------------------------------*/
  26 +#include "string.h"
  27 +#include "stdlib.h"
  28 +#include "stdio.h"
  29 +#include "hal_network.h"
  30 +#include "ziyan_logger.h"
  31 +
  32 +/* Private constants ---------------------------------------------------------*/
  33 +
  34 +/* Private types -------------------------------------------------------------*/
  35 +
  36 +/* Private values -------------------------------------------------------------*/
  37 +
  38 +/* Private functions declaration ---------------------------------------------*/
  39 +
  40 +/* Exported functions definition ---------------------------------------------*/
  41 +T_ZiyanReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_ZiyanNetworkHandle *halObj)
  42 +{
  43 + int32_t ret;
  44 + char cmdStr[LINUX_CMD_STR_MAX_SIZE];
  45 +
  46 + if (ipAddr == NULL || netMask == NULL) {
  47 + USER_LOG_ERROR("hal network config param error");
  48 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  49 + }
  50 +
  51 + //Attention: need root permission to config ip addr and netmask.
  52 + memset(cmdStr, 0, sizeof(cmdStr));
  53 +
  54 + snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
  55 + ret = system(cmdStr);
  56 + if (ret != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  57 + USER_LOG_ERROR("Can't open the network."
  58 + "Probably the program not execute with root permission."
  59 + "Please use the root permission to execute the program.");
  60 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  61 + }
  62 +
  63 + snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
  64 + ret = system(cmdStr);
  65 + if (ret != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  66 + USER_LOG_ERROR("Can't config the ip address of network."
  67 + "Probably the program not execute with root permission."
  68 + "Please use the root permission to execute the program.");
  69 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  70 + }
  71 +
  72 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  73 +}
  74 +
  75 +T_ZiyanReturnCode HalNetWork_DeInit(T_ZiyanNetworkHandle halObj)
  76 +{
  77 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  78 +}
  79 +
  80 +T_ZiyanReturnCode HalNetWork_GetDeviceInfo(T_ZiyanHalNetworkDeviceInfo *deviceInfo)
  81 +{
  82 + deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
  83 + deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
  84 +
  85 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  86 +}
  87 +
  88 +/* Private functions definition-----------------------------------------------*/
  89 +
  90 +/****************** (C) COPYRIGHT ZIYAN Innovations *****END OF FILE****/
  1 +/**
  2 + ********************************************************************
  3 + * @file hal_network.h
  4 + * @brief This is the header file for "hal_network.c", defining the structure and
  5 + * (exported) function prototypes.
  6 + *
  7 + * @copyright (c) 2021 ZIYAN. All rights reserved.
  8 + *
  9 + * All information contained herein is, and remains, the property of ZIYAN.
  10 + * The intellectual and technical concepts contained herein are proprietary
  11 + * to ZIYAN and may be covered by U.S. and foreign patents, patents in process,
  12 + * and protected by trade secret or copyright law. Dissemination of this
  13 + * information, including but not limited to data and other proprietary
  14 + * material(s) incorporated within the information, in any form, is strictly
  15 + * prohibited without the express written consent of ZIYAN.
  16 + *
  17 + * If you receive this source code without ZIYAN’s authorization, you may not
  18 + * further disseminate the information, and you must immediately remove the
  19 + * source code and notify ZIYAN of its removal. ZIYAN reserves the right to pursue
  20 + * legal actions against you for any loss(es) or damage(s) caused by your
  21 + * failure to do so.
  22 + *
  23 + *********************************************************************
  24 + */
  25 +
  26 +/* Define to prevent recursive inclusion -------------------------------------*/
  27 +#ifndef HAL_NETWORK_H
  28 +#define HAL_NETWORK_H
  29 +
  30 +/* Includes ------------------------------------------------------------------*/
  31 +#include "ziyan_platform.h"
  32 +
  33 +#ifdef __cplusplus
  34 +extern "C" {
  35 +#endif
  36 +
  37 +/* Exported constants --------------------------------------------------------*/
  38 +
  39 +/** @attention User can config network card name here, if your device is not MF2C/G, please comment below and add your
  40 + * NIC name micro define as #define 'LINUX_NETWORK_DEV "your NIC name"'.
  41 + */
  42 +#ifdef PLATFORM_ARCH_x86_64
  43 +#define LINUX_NETWORK_DEV "enxf8e43b7bbc2c"
  44 +#else
  45 +#define LINUX_NETWORK_DEV "l4tbr0"
  46 +#endif
  47 +/**
  48 + * @attention
  49 + */
  50 +
  51 +#ifdef PLATFORM_ARCH_x86_64
  52 +#define USB_NET_ADAPTER_VID (0x0B95)
  53 +#define USB_NET_ADAPTER_PID (0x1790)
  54 +#else
  55 +#define USB_NET_ADAPTER_VID (0x0955)
  56 +#define USB_NET_ADAPTER_PID (0x7020)
  57 +#endif
  58 +
  59 +#define LINUX_CMD_STR_MAX_SIZE (128)
  60 +
  61 +/* Exported types ------------------------------------------------------------*/
  62 +
  63 +/* Exported functions --------------------------------------------------------*/
  64 +T_ZiyanReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_ZiyanNetworkHandle *halObj);
  65 +T_ZiyanReturnCode HalNetWork_DeInit(T_ZiyanNetworkHandle halObj);
  66 +T_ZiyanReturnCode HalNetWork_GetDeviceInfo(T_ZiyanHalNetworkDeviceInfo *deviceInfo);
  67 +
  68 +#ifdef __cplusplus
  69 +}
  70 +#endif
  71 +
  72 +#endif // HAL_NETWORK_H
  73 +/************************ (C) COPYRIGHT ZIYAN Innovations *******END OF FILE******/
  1 +/**
  2 + ********************************************************************
  3 + * @file hal_uart.c
  4 + * @brief
  5 + *
  6 + * @copyright (c) 2021 ZIYAN. All rights reserved.
  7 + *
  8 + * All information contained herein is, and remains, the property of ZIYAN.
  9 + * The intellectual and technical concepts contained herein are proprietary
  10 + * to ZIYAN and may be covered by U.S. and foreign patents, patents in process,
  11 + * and protected by trade secret or copyright law. Dissemination of this
  12 + * information, including but not limited to data and other proprietary
  13 + * material(s) incorporated within the information, in any form, is strictly
  14 + * prohibited without the express written consent of ZIYAN.
  15 + *
  16 + * If you receive this source code without ZIYAN’s authorization, you may not
  17 + * further disseminate the information, and you must immediately remove the
  18 + * source code and notify ZIYAN of its removal. ZIYAN reserves the right to pursue
  19 + * legal actions against you for any loss(es) or damage(s) caused by your
  20 + * failure to do so.
  21 + *
  22 + *********************************************************************
  23 + */
  24 +
  25 +/* Includes ------------------------------------------------------------------*/
  26 +#include <ziyan_logger.h>
  27 +#include "hal_uart.h"
  28 +
  29 +/* Private constants ---------------------------------------------------------*/
  30 +#define UART_DEV_NAME_STR_SIZE (128)
  31 +#define ZIYAN_SYSTEM_CMD_STR_MAX_SIZE (128)
  32 +#define ZIYAN_SYSTEM_RESULT_STR_MAX_SIZE (128)
  33 +
  34 +/* Private types -------------------------------------------------------------*/
  35 +typedef struct {
  36 + int32_t uartFd;
  37 +} T_UartHandleStruct;
  38 +
  39 +/* Private values -------------------------------------------------------------*/
  40 +
  41 +/* Private functions declaration ---------------------------------------------*/
  42 +
  43 +/* Exported functions definition ---------------------------------------------*/
  44 +T_ZiyanReturnCode HalUart_Init(E_ZiyanHalUartNum uartNum, uint32_t baudRate, T_ZiyanUartHandle *uartHandle)
  45 +{
  46 + T_UartHandleStruct *uartHandleStruct = NULL;
  47 + struct termios options;
  48 + struct flock lock;
  49 + T_ZiyanReturnCode returnCode = ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  50 + char uartName[UART_DEV_NAME_STR_SIZE];
  51 + char systemCmd[ZIYAN_SYSTEM_CMD_STR_MAX_SIZE + 32];
  52 + char *ret = NULL;
  53 + char lineBuf[ZIYAN_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
  54 + FILE *fp;
  55 +
  56 + uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
  57 + if (uartHandleStruct == NULL) {
  58 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
  59 + }
  60 +
  61 + if (uartNum == ZIYAN_HAL_UART_NUM_0) {
  62 + strcpy(uartName, LINUX_UART_DEV1);
  63 + } else if (uartNum == ZIYAN_HAL_UART_NUM_1) {
  64 + strcpy(uartName, LINUX_UART_DEV2);
  65 + } else {
  66 + goto free_uart_handle;
  67 + }
  68 +
  69 +#ifdef USE_CLION_DEBUG
  70 + sprintf(systemCmd, "ls -l %s", uartName);
  71 + fp = popen(systemCmd, "r");
  72 + if (fp == NULL) {
  73 + goto free_uart_handle;
  74 + }
  75 +
  76 + ret = fgets(lineBuf, sizeof(lineBuf), fp);
  77 + if (ret == NULL) {
  78 + goto close_fp;
  79 + }
  80 +
  81 + if (strstr(lineBuf, "crwxrwxrwx") == NULL) {
  82 + USER_LOG_ERROR("Can't operation the device. "
  83 + "Probably the device has not operation permission. "
  84 + "Please execute command 'sudo chmod 777 %s' to add permission. ", uartName);
  85 + goto close_fp;
  86 + }
  87 +#else
  88 + sprintf(systemCmd, "chmod 777 %s", uartName);
  89 + fp = popen(systemCmd, "r");
  90 + if (fp == NULL) {
  91 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  92 + }
  93 +#endif
  94 +
  95 + uartHandleStruct->uartFd = open(uartName, (unsigned) O_RDWR | (unsigned) O_NOCTTY | (unsigned) O_NDELAY);
  96 + if (uartHandleStruct->uartFd == -1) {
  97 + goto close_fp;
  98 + }
  99 +
  100 + // Forbid multiple psdk programs to access the serial port
  101 + lock.l_type = F_WRLCK;
  102 + lock.l_pid = getpid();
  103 + lock.l_whence = SEEK_SET;
  104 + lock.l_start = 0;
  105 + lock.l_len = 0;
  106 +
  107 + if (fcntl(uartHandleStruct->uartFd, F_GETLK, &lock) < 0) {
  108 + goto close_uart_fd;
  109 + }
  110 + if (lock.l_type != F_UNLCK) {
  111 + goto close_uart_fd;
  112 + }
  113 + lock.l_type = F_WRLCK;
  114 + lock.l_pid = getpid();
  115 + lock.l_whence = SEEK_SET;
  116 + lock.l_start = 0;
  117 + lock.l_len = 0;
  118 + if (fcntl(uartHandleStruct->uartFd, F_SETLKW, &lock) < 0) {
  119 + goto close_uart_fd;
  120 + }
  121 +
  122 + if (tcgetattr(uartHandleStruct->uartFd, &options) != 0) {
  123 + goto close_uart_fd;
  124 + }
  125 +
  126 + switch (baudRate) {
  127 + case 115200:
  128 + cfsetispeed(&options, B115200);
  129 + cfsetospeed(&options, B115200);
  130 + break;
  131 + case 230400:
  132 + cfsetispeed(&options, B230400);
  133 + cfsetospeed(&options, B230400);
  134 + break;
  135 + case 460800:
  136 + cfsetispeed(&options, B460800);
  137 + cfsetospeed(&options, B460800);
  138 + break;
  139 + case 921600:
  140 + cfsetispeed(&options, B921600);
  141 + cfsetospeed(&options, B921600);
  142 + break;
  143 + case 1000000:
  144 + cfsetispeed(&options, B1000000);
  145 + cfsetospeed(&options, B1000000);
  146 + break;
  147 + default:
  148 + goto close_uart_fd;
  149 + }
  150 +
  151 + options.c_cflag |= (unsigned) CLOCAL;
  152 + options.c_cflag |= (unsigned) CREAD;
  153 + options.c_cflag &= ~(unsigned) CRTSCTS;
  154 + options.c_cflag &= ~(unsigned) CSIZE;
  155 + options.c_cflag |= (unsigned) CS8;
  156 + options.c_cflag &= ~(unsigned) PARENB;
  157 + options.c_iflag &= ~(unsigned) INPCK;
  158 + options.c_cflag &= ~(unsigned) CSTOPB;
  159 + options.c_oflag &= ~(unsigned) OPOST;
  160 + options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
  161 + options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
  162 + options.c_cc[VTIME] = 0;
  163 + options.c_cc[VMIN] = 0;
  164 +
  165 + tcflush(uartHandleStruct->uartFd, TCIFLUSH);
  166 +
  167 + if (tcsetattr(uartHandleStruct->uartFd, TCSANOW, &options) != 0) {
  168 + goto close_uart_fd;
  169 + }
  170 +
  171 + *uartHandle = uartHandleStruct;
  172 + pclose(fp);
  173 +
  174 + return returnCode;
  175 +
  176 +close_uart_fd:
  177 + close(uartHandleStruct->uartFd);
  178 +
  179 +close_fp:
  180 + pclose(fp);
  181 +
  182 +free_uart_handle:
  183 + free(uartHandleStruct);
  184 +
  185 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  186 +}
  187 +
  188 +T_ZiyanReturnCode HalUart_DeInit(T_ZiyanUartHandle uartHandle)
  189 +{
  190 + int32_t ret;
  191 + T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
  192 +
  193 + if (uartHandle == NULL) {
  194 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  195 + }
  196 +
  197 + ret = close(uartHandleStruct->uartFd);
  198 + if (ret < 0) {
  199 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  200 + }
  201 +
  202 + free(uartHandleStruct);
  203 +
  204 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  205 +}
  206 +
  207 +T_ZiyanReturnCode HalUart_WriteData(T_ZiyanUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
  208 +{
  209 + int32_t ret;
  210 + T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
  211 +
  212 + if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
  213 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  214 + }
  215 +
  216 + ret = write(uartHandleStruct->uartFd, buf, len);
  217 + if (ret >= 0) {
  218 + *realLen = ret;
  219 + } else {
  220 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  221 + }
  222 +
  223 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  224 +}
  225 +
  226 +T_ZiyanReturnCode HalUart_ReadData(T_ZiyanUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
  227 +{
  228 + int32_t ret;
  229 + T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
  230 +
  231 + if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
  232 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  233 + }
  234 +
  235 + ret = read(uartHandleStruct->uartFd, buf, len);
  236 + if (ret >= 0) {
  237 + *realLen = ret;
  238 + } else {
  239 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  240 + }
  241 +
  242 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  243 +}
  244 +
  245 +T_ZiyanReturnCode HalUart_GetStatus(E_ZiyanHalUartNum uartNum, T_ZiyanUartStatus *status)
  246 +{
  247 + if (uartNum == ZIYAN_HAL_UART_NUM_0) {
  248 + status->isConnect = true;
  249 + } else if (uartNum == ZIYAN_HAL_UART_NUM_1) {
  250 + status->isConnect = true;
  251 + } else {
  252 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  253 + }
  254 +
  255 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  256 +}
  257 +
  258 +/* Private functions definition-----------------------------------------------*/
  259 +
  260 +/****************** (C) COPYRIGHT ZIYAN Innovations *****END OF FILE****/
  1 +/**
  2 + ********************************************************************
  3 + * @file hal_uart.h
  4 + * @brief This is the header file for "hal_uart.c", defining the structure and
  5 + * (exported) function prototypes.
  6 + *
  7 + * @copyright (c) 2021 ZIYAN. All rights reserved.
  8 + *
  9 + * All information contained herein is, and remains, the property of ZIYAN.
  10 + * The intellectual and technical concepts contained herein are proprietary
  11 + * to ZIYAN and may be covered by U.S. and foreign patents, patents in process,
  12 + * and protected by trade secret or copyright law. Dissemination of this
  13 + * information, including but not limited to data and other proprietary
  14 + * material(s) incorporated within the information, in any form, is strictly
  15 + * prohibited without the express written consent of ZIYAN.
  16 + *
  17 + * If you receive this source code without ZIYAN’s authorization, you may not
  18 + * further disseminate the information, and you must immediately remove the
  19 + * source code and notify ZIYAN of its removal. ZIYAN reserves the right to pursue
  20 + * legal actions against you for any loss(es) or damage(s) caused by your
  21 + * failure to do so.
  22 + *
  23 + *********************************************************************
  24 + */
  25 +
  26 +/* Define to prevent recursive inclusion -------------------------------------*/
  27 +#ifndef HAL_UART_H
  28 +#define HAL_UART_H
  29 +
  30 +/* Includes ------------------------------------------------------------------*/
  31 +#include "stdint.h"
  32 +#include <stdio.h>
  33 +#include <unistd.h>
  34 +#include <fcntl.h>
  35 +#include <termios.h>
  36 +#include <unistd.h>
  37 +#include <string.h>
  38 +#include "stdlib.h"
  39 +
  40 +#include "ziyan_platform.h"
  41 +
  42 +#ifdef __cplusplus
  43 +extern "C" {
  44 +#endif
  45 +
  46 +/* Exported constants --------------------------------------------------------*/
  47 +//User can config dev based on there environmental conditions
  48 +#define LINUX_UART_DEV1 "/dev/ttyS1"
  49 +#define LINUX_UART_DEV2 "/dev/ttyACM0"
  50 +
  51 +/* Exported types ------------------------------------------------------------*/
  52 +
  53 +/* Exported functions --------------------------------------------------------*/
  54 +T_ZiyanReturnCode HalUart_Init(E_ZiyanHalUartNum uartNum, uint32_t baudRate, T_ZiyanUartHandle *uartHandle);
  55 +T_ZiyanReturnCode HalUart_DeInit(T_ZiyanUartHandle uartHandle);
  56 +T_ZiyanReturnCode HalUart_WriteData(T_ZiyanUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
  57 +T_ZiyanReturnCode HalUart_ReadData(T_ZiyanUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
  58 +T_ZiyanReturnCode HalUart_GetStatus(E_ZiyanHalUartNum uartNum, T_ZiyanUartStatus *status);
  59 +
  60 +#ifdef __cplusplus
  61 +}
  62 +#endif
  63 +
  64 +#endif // HAL_UART_H
  65 +/************************ (C) COPYRIGHT ZIYAN Innovations *******END OF FILE******/
  1 +/**
  2 + ********************************************************************
  3 + * @file hal_usb_bulk.c
  4 + * @brief
  5 + *
  6 + * @copyright (c) 2021 ZIYAN. All rights reserved.
  7 + *
  8 + * All information contained herein is, and remains, the property of ZIYAN.
  9 + * The intellectual and technical concepts contained herein are proprietary
  10 + * to ZIYAN and may be covered by U.S. and foreign patents, patents in process,
  11 + * and protected by trade secret or copyright law. Dissemination of this
  12 + * information, including but not limited to data and other proprietary
  13 + * material(s) incorporated within the information, in any form, is strictly
  14 + * prohibited without the express written consent of ZIYAN.
  15 + *
  16 + * If you receive this source code without ZIYAN’s authorization, you may not
  17 + * further disseminate the information, and you must immediately remove the
  18 + * source code and notify ZIYAN of its removal. ZIYAN reserves the right to pursue
  19 + * legal actions against you for any loss(es) or damage(s) caused by your
  20 + * failure to do so.
  21 + *
  22 + *********************************************************************
  23 + */
  24 +
  25 +/* Includes ------------------------------------------------------------------*/
  26 +#include "hal_usb_bulk.h"
  27 +#include "ziyan_logger.h"
  28 +
  29 +/* Private constants ---------------------------------------------------------*/
  30 +#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
  31 +#define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER (-1)
  32 +
  33 +/* Private types -------------------------------------------------------------*/
  34 +typedef struct {
  35 +#ifdef LIBUSB_INSTALLED
  36 + libusb_device_handle *handle;
  37 +#else
  38 + void *handle;
  39 +#endif
  40 + int32_t ep1;
  41 + int32_t ep2;
  42 + uint32_t interfaceNum;
  43 + T_ZiyanHalUsbBulkInfo usbBulkInfo;
  44 +} T_HalUsbBulkObj;
  45 +
  46 +/* Private values -------------------------------------------------------------*/
  47 +
  48 +/* Private functions declaration ---------------------------------------------*/
  49 +
  50 +/* Exported functions definition ---------------------------------------------*/
  51 +T_ZiyanReturnCode HalUsbBulk_Init(T_ZiyanHalUsbBulkInfo usbBulkInfo, T_ZiyanUsbBulkHandle *usbBulkHandle)
  52 +{
  53 + int32_t ret;
  54 + struct libusb_device_handle *handle = NULL;
  55 +
  56 + *usbBulkHandle = malloc(sizeof(T_HalUsbBulkObj));
  57 + if (*usbBulkHandle == NULL) {
  58 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  59 + }
  60 +
  61 + if (usbBulkInfo.isUsbHost == true) {
  62 +#ifdef LIBUSB_INSTALLED
  63 + ret = libusb_init(NULL);
  64 + if (ret < 0) {
  65 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  66 + }
  67 +
  68 + handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
  69 + if (handle == NULL) {
  70 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  71 + }
  72 +
  73 + ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
  74 + if (ret != LIBUSB_SUCCESS) {
  75 + printf("libusb claim interface error");
  76 + libusb_close(handle);
  77 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  78 + }
  79 +
  80 + ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
  81 + memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
  82 +#endif
  83 + } else {
  84 + ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
  85 + memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
  86 + ((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
  87 +
  88 + if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
  89 + ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
  90 + if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
  91 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  92 + }
  93 +
  94 + ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
  95 + if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
  96 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  97 + }
  98 + } else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
  99 + ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
  100 + if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
  101 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  102 + }
  103 +
  104 + ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
  105 + if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
  106 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  107 + }
  108 + }
  109 + }
  110 +
  111 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  112 +}
  113 +
  114 +T_ZiyanReturnCode HalUsbBulk_DeInit(T_ZiyanUsbBulkHandle usbBulkHandle)
  115 +{
  116 + struct libusb_device_handle *handle = NULL;
  117 + T_ZiyanOsalHandler *osalHandler = ZiyanPlatform_GetOsalHandler();
  118 +
  119 + if (usbBulkHandle == NULL) {
  120 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  121 + }
  122 +
  123 + handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
  124 +
  125 + if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
  126 +#ifdef LIBUSB_INSTALLED
  127 + libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
  128 + osalHandler->TaskSleepMs(100);
  129 + libusb_exit(NULL);
  130 +#endif
  131 + } else {
  132 + close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
  133 + close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
  134 + }
  135 +
  136 + free(usbBulkHandle);
  137 +
  138 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  139 +}
  140 +
  141 +T_ZiyanReturnCode HalUsbBulk_WriteData(T_ZiyanUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
  142 + uint32_t *realLen)
  143 +{
  144 + int32_t ret;
  145 + int32_t actualLen;
  146 + struct libusb_device_handle *handle = NULL;
  147 +
  148 + if (usbBulkHandle == NULL) {
  149 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  150 + }
  151 +
  152 + handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
  153 +
  154 + if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
  155 +#ifdef LIBUSB_INSTALLED
  156 + ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
  157 + (uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
  158 + if (ret < 0) {
  159 + USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
  160 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  161 + }
  162 +
  163 + *realLen = actualLen;
  164 +#endif
  165 + } else {
  166 + *realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
  167 + }
  168 +
  169 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  170 +}
  171 +
  172 +T_ZiyanReturnCode HalUsbBulk_ReadData(T_ZiyanUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
  173 + uint32_t *realLen)
  174 +{
  175 + int32_t ret;
  176 + struct libusb_device_handle *handle = NULL;
  177 + int32_t actualLen;
  178 +
  179 + if (usbBulkHandle == NULL) {
  180 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  181 + }
  182 +
  183 + handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
  184 +
  185 + if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
  186 +#ifdef LIBUSB_INSTALLED
  187 + ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
  188 + buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
  189 + if (ret < 0) {
  190 + USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
  191 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  192 + }
  193 +
  194 + *realLen = actualLen;
  195 +#endif
  196 + } else {
  197 + *realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
  198 + }
  199 +
  200 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  201 +}
  202 +
  203 +T_ZiyanReturnCode HalUsbBulk_GetDeviceInfo(T_ZiyanHalUsbBulkDeviceInfo *deviceInfo)
  204 +{
  205 + //attention: this interface only be called in usb device mode.
  206 + deviceInfo->vid = LINUX_USB_VID;
  207 + deviceInfo->pid = LINUX_USB_PID;
  208 +
  209 + // This bulk channel is used to obtain ZIYAN camera video stream and push 3rd-party camera video stream.
  210 + deviceInfo->channelInfo[ZIYAN_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
  211 + deviceInfo->channelInfo[ZIYAN_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
  212 + deviceInfo->channelInfo[ZIYAN_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
  213 +
  214 + // This bulk channel is used to obtain ZIYAN perception image and download camera media file.
  215 + deviceInfo->channelInfo[ZIYAN_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
  216 + deviceInfo->channelInfo[ZIYAN_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
  217 + deviceInfo->channelInfo[ZIYAN_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
  218 +
  219 + return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  220 +}
  221 +
  222 +/* Private functions definition-----------------------------------------------*/
  223 +
  224 +/****************** (C) COPYRIGHT ZIYAN Innovations *****END OF FILE****/
  1 +/**
  2 + ********************************************************************
  3 + * @file hal_usb_bulk.h
  4 + * @brief This is the header file for "hal_usb_bulk.c", defining the structure and
  5 + * (exported) function prototypes.
  6 + *
  7 + * @copyright (c) 2021 ZIYAN. All rights reserved.
  8 + *
  9 + * All information contained herein is, and remains, the property of ZIYAN.
  10 + * The intellectual and technical concepts contained herein are proprietary
  11 + * to ZIYAN and may be covered by U.S. and foreign patents, patents in process,
  12 + * and protected by trade secret or copyright law. Dissemination of this
  13 + * information, including but not limited to data and other proprietary
  14 + * material(s) incorporated within the information, in any form, is strictly
  15 + * prohibited without the express written consent of ZIYAN.
  16 + *
  17 + * If you receive this source code without ZIYAN’s authorization, you may not
  18 + * further disseminate the information, and you must immediately remove the
  19 + * source code and notify ZIYAN of its removal. ZIYAN reserves the right to pursue
  20 + * legal actions against you for any loss(es) or damage(s) caused by your
  21 + * failure to do so.
  22 + *
  23 + *********************************************************************
  24 + */
  25 +
  26 +/* Define to prevent recursive inclusion -------------------------------------*/
  27 +#ifndef HAL_USB_BULK_H
  28 +#define HAL_USB_BULK_H
  29 +
  30 +/* Includes ------------------------------------------------------------------*/
  31 +#include "stdint.h"
  32 +#include <stdio.h>
  33 +#include <unistd.h>
  34 +#include <fcntl.h>
  35 +#include <termios.h>
  36 +#include <unistd.h>
  37 +#include <string.h>
  38 +#include <sys/socket.h>
  39 +#include <netinet/in.h>
  40 +#include <arpa/inet.h>
  41 +
  42 +#ifdef LIBUSB_INSTALLED
  43 +
  44 +#include <libusb-1.0/libusb.h>
  45 +
  46 +#endif
  47 +
  48 +#include "ziyan_platform.h"
  49 +
  50 +#ifdef __cplusplus
  51 +extern "C" {
  52 +#endif
  53 +
  54 +/* Exported constants --------------------------------------------------------*/
  55 +#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep1"
  56 +#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep2"
  57 +
  58 +#define LINUX_USB_BULK1_INTERFACE_NUM (7)
  59 +#define LINUX_USB_BULK1_END_POINT_IN (0x88)
  60 +#define LINUX_USB_BULK1_END_POINT_OUT (5)
  61 +
  62 +#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep1"
  63 +#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep2"
  64 +
  65 +#define LINUX_USB_BULK2_INTERFACE_NUM (8)
  66 +#define LINUX_USB_BULK2_END_POINT_IN (0x89)
  67 +#define LINUX_USB_BULK2_END_POINT_OUT (6)
  68 +
  69 +#ifdef PLATFORM_ARCH_x86_64
  70 +#define LINUX_USB_VID (0x0B95)
  71 +#define LINUX_USB_PID (0x1790)
  72 +#else
  73 +#define LINUX_USB_VID (0x0955)
  74 +#define LINUX_USB_PID (0x7020)
  75 +#endif
  76 +
  77 +/* Exported types ------------------------------------------------------------*/
  78 +
  79 +/* Exported functions --------------------------------------------------------*/
  80 +T_ZiyanReturnCode HalUsbBulk_Init(T_ZiyanHalUsbBulkInfo usbBulkInfo, T_ZiyanUsbBulkHandle *usbBulkHandle);
  81 +T_ZiyanReturnCode HalUsbBulk_DeInit(T_ZiyanUsbBulkHandle usbBulkHandle);
  82 +T_ZiyanReturnCode HalUsbBulk_WriteData(T_ZiyanUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
  83 + uint32_t *realLen);
  84 +T_ZiyanReturnCode HalUsbBulk_ReadData(T_ZiyanUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
  85 +T_ZiyanReturnCode HalUsbBulk_GetDeviceInfo(T_ZiyanHalUsbBulkDeviceInfo *deviceInfo);
  86 +
  87 +#ifdef __cplusplus
  88 +}
  89 +#endif
  90 +
  91 +#endif // HAL_USB_BULK_H
  92 +/************************ (C) COPYRIGHT ZIYAN Innovations *******END OF FILE******/