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作者 ookk303
提交 171219ca2109fe2ab2697f46e6781f5b7e422047 1 个父辈 2a0d2144

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正在显示 70 个修改的文件 包含 10774 行增加 和 0 行删除
  1 +# Compiled class file
  2 +project_build
  3 +ThirdParty
  4 +ModuleLib
  5 +备份
  1 +# 编译链的配置
  2 +
  3 +#1、编译链与设备类型的选择
  4 +set(DEVICE_NAME JZ_H1T)
  5 +#上一行为禁止修改行
  6 +
  7 +if("${DEVICE_NAME}" STREQUAL "JZ_H1E")
  8 + set(MAKE_COMPILER ARM_CORTEXA9_LINUX)
  9 + set(DEVICE_TYPE MEGAPHONE)
  10 +elseif("${DEVICE_NAME}" STREQUAL "JZ_H1T")
  11 + set(MAKE_COMPILER ARM_CORTEXA9_LINUX)
  12 + set(DEVICE_TYPE MEGAPHONE)
  13 +elseif("${DEVICE_NAME}" STREQUAL "JZ_H150S")
  14 + set(MAKE_COMPILER ARM_CORTEXA9_LINUX)
  15 + set(DEVICE_TYPE MEGAPHONE)
  16 +elseif("${DEVICE_NAME}" STREQUAL "JZ_H150T")
  17 + set(MAKE_COMPILER ARM_CORTEXA9_LINUX)
  18 + set(DEVICE_TYPE MEGAPHONE)
  19 +elseif("${DEVICE_NAME}" STREQUAL "JZ_H10")
  20 + set(MAKE_COMPILER ARM_CORTEXA9_LINUX)
  21 + set(DEVICE_TYPE MEGAPHONE)
  22 +elseif("${DEVICE_NAME}" STREQUAL "JZ_H10T")
  23 + set(MAKE_COMPILER ARM_CORTEXA9_LINUX)
  24 + set(DEVICE_TYPE MEGAPHONE)
  25 +elseif("${DEVICE_NAME}" STREQUAL "JZ_U3")
  26 + set(MAKE_COMPILER ARM_CORTEXA9_LINUX)
  27 + set(DEVICE_TYPE MEGAPHONE)
  28 +elseif("${DEVICE_NAME}" STREQUAL "JZ_U3S")
  29 + set(MAKE_COMPILER ARM_CORTEXA9_LINUX)
  30 + set(DEVICE_TYPE MEGAPHONE)
  31 +elseif("${DEVICE_NAME}" STREQUAL "TF_A1")
  32 + set(MAKE_COMPILER ARM_CORTEXA9_LINUX)
  33 + set(DEVICE_TYPE MEGAPHONE)
  34 +elseif("${DEVICE_NAME}" STREQUAL "JZ_C1")
  35 + set(MAKE_COMPILER ARM_X86_64_ARRCH64)
  36 +endif()
  37 +
  38 +if(${MAKE_COMPILER} STREQUAL "ARM_CORTEXA9_LINUX")
  39 + set(TOOLCHAIN_NAME arm-linux-gnueabihf-gcc)
  40 + set(CMAKE_C_COMPILER "/usr/local/arm/4.9.3/bin/arm-cortexa9-linux-gnueabihf-gcc")
  41 + set(CMAKE_CXX_COMPILER "/usr/local/arm/4.9.3/bin/arm-cortexa9-linux-gnueabihf-g++")
  42 + message("使用ARM_CORTEXA9_LINUX编译链")
  43 +
  44 +elseif(${MAKE_COMPILER} STREQUAL "ARM_CORTEX_LINUX")
  45 + set(TOOLCHAIN_NAME arm-linux-gnueabihf-gcc)
  46 + set(CMAKE_C_COMPILER "/opt/gcc-linaro-6.3.1-2017.05-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc")
  47 + set(CMAKE_CXX_COMPILER "/opt/gcc-linaro-6.3.1-2017.05-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-g++")
  48 + message("使用ARM_CORTEX_LINUX编译链")
  49 +
  50 +elseif(${MAKE_COMPILER} STREQUAL "ARM_X86_64_ARRCH64")
  51 + # 交叉编译链3
  52 + set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc)
  53 + set(CMAKE_C_COMPILER "/opt/gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu-gcc")
  54 + set(CMAKE_CXX_COMPILER "/opt/gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu-g++")
  55 + message("使用ARM_X86_64_ARRCH64编译链")
  56 +
  57 +elseif(${MAKE_COMPILER} STREQUAL "LOCAL")
  58 + # 本地测试编译链
  59 + set(CMAKE_C_COMPILER "/usr/bin/gcc")
  60 + set(CMAKE_CXX_COMPILER "/usr/bin/g++")
  61 + message("使用LOCAL编译链")
  62 +
  63 +else()
  64 + message(FATAL_ERROR "不支持的编译链")
  65 +endif()
  66 +
  67 +message("编译链配置完毕\n")
  1 +# ModuleConfig.cmake 模组模块的配置文件
  2 +
  3 +###################### 自己的库 ##############################
  4 +# AudioDeal 音频处理模块
  5 +set(AUDIODEAL_MODULE VERSION_SWITCH_OFF)
  6 +
  7 +# 信息模块
  8 +set(DEVICE_INFO_MODULE VERSION_SWITCH_OFF)
  9 +
  10 +# Gimbal 云台处理模块
  11 +set(GIMBAL_MODULE VERSION_SWITCH_OFF)
  12 +
  13 +# IRCUT 引脚处理模块
  14 +set(IRCUT_MODULE VERSION_SWITCH_OFF)
  15 +
  16 +# LIGHTING 光源处理模块
  17 +set(LIGHTING_MODULE VERSION_SWITCH_OFF)
  18 +
  19 +# MediaProc 媒体管理模块
  20 +set(MEDIA_PROC_MODULE VERSION_SWITCH_OFF)
  21 +
  22 +# 喊话器模块
  23 +set(MEGAPHONE_MODULE VERSION_SWITCH_OFF)
  24 +
  25 +# 电源管理模块
  26 +set(POWER_MANAGER_MODULE VERSION_SWITCH_OFF)
  27 +
  28 +# UI管理模块
  29 +set(UI_CONTROL_MODULE VERSION_SWITCH_OFF)
  30 +
  31 +# 红外相机模块
  32 +set(IRC_MODULE VERSION_SWITCH_OFF)
  33 +
  34 +# 侧面激光模块
  35 +set(SIDE_LASER_MODULE VERSION_SWITCH_OFF)
  36 +
  37 +###################### 第三方库 ##############################
  38 +
  39 +# FFMPEG及其附属模块
  40 +set(FFMPEG_MODULE VERSION_SWITCH_OFF)
  41 +
  42 +# cedarxLib
  43 +set(CedarxLib VERSION_SWITCH_OFF)
  44 +
  45 +########################## 通用库 ###########################################
  46 +
  47 +# 添加信息模块
  48 +set(DEVICE_INFO_MODULE VERSION_SWITCH_ON)
  49 +
  50 +# 添加UI管理模块
  51 +set(UI_CONTROL_MODULE VERSION_SWITCH_ON)
  52 +
  53 +#####################################################################
  54 +
  55 +if("${DEVICE_NAME}" STREQUAL "JZ_H1E")
  56 +
  57 +elseif("${DEVICE_NAME}" STREQUAL "JZ_H1T")
  58 +
  59 + # 添加AudioDeal 音频处理模块
  60 + set(AUDIODEAL_MODULE VERSION_SWITCH_ON)
  61 +
  62 + # 添加Gimbal 云台处理模块
  63 + set(GIMBAL_MODULE VERSION_SWITCH_ON)
  64 +
  65 + # 添加IRCUT 引脚处理模块
  66 + set(IRCUT_MODULE VERSION_SWITCH_ON)
  67 +
  68 + # 添加LIGHTING 光源处理模块
  69 + set(LIGHTING_MODULE VERSION_SWITCH_ON)
  70 +
  71 + # 添加喊话器模块
  72 + set(MEGAPHONE_MODULE VERSION_SWITCH_ON)
  73 +
  74 + # 添加电源管理模块
  75 + set(POWER_MANAGER_MODULE VERSION_SWITCH_ON)
  76 +
  77 + # 添加FFMPEG及其附属模块
  78 + set(FFMPEG_MODULE VERSION_SWITCH_ON)
  79 +
  80 +elseif("${DEVICE_NAME}" STREQUAL "JZ_U3S")
  81 +
  82 + # 添加AudioDeal 音频处理模块
  83 + set(AUDIODEAL_MODULE VERSION_SWITCH_ON)
  84 +
  85 + # 添加Gimbal 云台处理模块
  86 + set(GIMBAL_MODULE VERSION_SWITCH_ON)
  87 +
  88 + # 添加IRCUT 引脚处理模块
  89 + set(IRCUT_MODULE VERSION_SWITCH_ON)
  90 +
  91 + # 添加LIGHTING 光源处理模块
  92 + set(LIGHTING_MODULE VERSION_SWITCH_ON)
  93 +
  94 + # 添加喊话器模块
  95 + set(MEGAPHONE_MODULE VERSION_SWITCH_ON)
  96 +
  97 + # 添加电源管理模块
  98 + set(POWER_MANAGER_MODULE VERSION_SWITCH_ON)
  99 +
  100 + # 添加FFMPEG及其附属模块
  101 + set(FFMPEG_MODULE VERSION_SWITCH_ON)
  102 +
  103 + # 添加激光模块
  104 + set(SIDE_LASER_MODULE VERSION_SWITCH_ON)
  105 +
  106 +elseif("${DEVICE_NAME}" STREQUAL "JZ_C1")
  107 +
  108 + # 添加Gimbal 云台处理模块
  109 + set(GIMBAL_MODULE VERSION_SWITCH_ON)
  110 +
  111 + # 添加IRCUT 引脚处理模块
  112 + set(IRCUT_MODULE VERSION_SWITCH_ON)
  113 +
  114 + # 添加LIGHTING 光源处理模块
  115 + set(LIGHTING_MODULE VERSION_SWITCH_ON)
  116 +
  117 + # 添加MediaProc 媒体管理模块
  118 + set(MEDIA_PROC_MODULE VERSION_SWITCH_ON)
  119 +
  120 + # 添加电源管理模块
  121 + set(POWER_MANAGER_MODULE VERSION_SWITCH_ON)
  122 +
  123 + # 添加红外相机模块
  124 + set(IRC_MODULE VERSION_SWITCH_ON)
  125 +endif()
  126 +
  127 +message("模组模块已加载\n")
  1 +
  2 +# ModuleLoading.cmake 模块加载文件
  3 +
  4 +
  5 +if(${IFLAY_TTS_MODULE} STREQUAL "VERSION_SWITCH_ON")
  6 + set(iFLYTEK_TTS_DIRS "${ROOT_DIRS}ThirdParty/iFLYTEK_TTS/lib/arm-cortexa9-linux-gnueabihf")
  7 + include_directories(${ROOT_DIRS}ThirdParty/iFLYTEK_TTS/include)
  8 + target_link_libraries(
  9 + ${PROJECT_NAME}
  10 + ${iFLYTEK_TTS_DIRS}/libmsc.so
  11 + )
  12 + message("讯飞TTS模块已加载\n")
  13 +endif()
  14 +
  15 +if(${ESPEAK_TTS_MODULE} STREQUAL "VERSION_SWITCH_ON")
  16 + set(ESPEAK_TTS_DIRS "${ROOT_DIRS}ThirdParty/Espeak/lib/arm-cortexa9-linux-gnueabihf")
  17 + include_directories(${ROOT_DIRS}ThirdParty/Espeak/include)
  18 + target_link_libraries(
  19 + ${PROJECT_NAME}
  20 + ${ESPEAK_TTS_DIRS}/libportaudio.so.2
  21 + ${ESPEAK_TTS_DIRS}/libTTS_Player.so
  22 + )
  23 + message("Espeak模块已加载\n")
  24 +endif()
  25 +
  26 +if(${ALSALIB_MODULE} STREQUAL "VERSION_SWITCH_ON")
  27 + set(ALSALIB_DIRS "${ROOT_DIRS}ThirdParty/AlsaLib/lib/arm-cortexa9-linux-gnueabihf")
  28 + include_directories(${ROOT_DIRS}ThirdParty/AlsaLib/include)
  29 + target_link_libraries(
  30 + ${PROJECT_NAME}
  31 + ${ALSALIB_DIRS}/libasound.so.2.0.0
  32 + )
  33 + message("alsalib已加载\n")
  34 +endif()
  35 +
  36 +if(${OPUS_MODULE} STREQUAL "VERSION_SWITCH_ON")
  37 + set(OPUS_DIRS "${ROOT_DIRS}ThirdParty/opus/lib/arm-cortexa9-linux-gnueabihf")
  38 + include_directories(${ROOT_DIRS}ThirdParty/opus/include)
  39 + target_link_libraries(
  40 + ${PROJECT_NAME}
  41 + ${OPUS_DIRS}/libopus.so
  42 + )
  43 + message("OPUS模块已加载\n")
  44 +endif()
  45 +
  46 +if(${CedarxLib} STREQUAL "VERSION_SWITCH_ON")
  47 + message("\nCedarX已加载\n")
  48 + target_link_libraries(${PROJECT_NAME}
  49 + ${ROOT_DIRS}ModuleLib/Camera/CedarX/libawh264.so
  50 + ${ROOT_DIRS}ModuleLib/Camera/CedarX/libMemAdapter.so
  51 + ${ROOT_DIRS}ModuleLib/Camera/CedarX/libVE.so
  52 + ${ROOT_DIRS}ModuleLib/Camera/CedarX/libvencoder.so
  53 + ${ROOT_DIRS}ModuleLib/Camera/CedarX/libvideoengine.so
  54 + ${ROOT_DIRS}ModuleLib/Camera/CedarX/libvdecoder.so
  55 + )
  56 +
  57 + message("\n OpenCV已加载\n")
  58 + target_link_libraries(${PROJECT_NAME}
  59 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_calib3d.so
  60 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_core.so
  61 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_dnn.so
  62 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_features2d.so
  63 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_flann.so
  64 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_highgui.so
  65 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_imgcodecs.so
  66 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_imgproc.so
  67 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_ml.so
  68 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_objdetect.so
  69 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_photo.so
  70 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_shape.so
  71 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_stitching.so
  72 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_superres.so
  73 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_videoio.so
  74 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_video.so
  75 + ${ROOT_DIRS}ModuleLib/OpenCV/libopencv_videostab.so
  76 + )
  77 +
  78 + message("\n ffmpeg已加载\n")
  79 + target_link_libraries(${PROJECT_NAME}
  80 + ${ROOT_DIRS}ModuleLib/ffmpeg/libavcodec.so
  81 + ${ROOT_DIRS}ModuleLib/ffmpeg/libavdevice.so
  82 + ${ROOT_DIRS}ModuleLib/ffmpeg/libavfilter.so
  83 + ${ROOT_DIRS}ModuleLib/ffmpeg/libavformat.so
  84 + ${ROOT_DIRS}ModuleLib/ffmpeg/libavutil.so
  85 + ${ROOT_DIRS}ModuleLib/ffmpeg/libswresample.so
  86 + ${ROOT_DIRS}ModuleLib/ffmpeg/libswscale.so
  87 + )
  88 +
  89 + message("\n SearchLightCenter已加载\n")
  90 + target_link_libraries(${PROJECT_NAME}
  91 + ${ROOT_DIRS}ModuleLib/SearchLightCenter/libcenter.so
  92 + )
  93 +
  94 +endif()
  95 +
  96 +
  97 +if(${FFMPEG_MODULE} STREQUAL "VERSION_SWITCH_ON")
  98 + message("\nffmpeg模块加载\n")
  99 + set(FFMPEG_6_0_DIRS "${ROOT_DIRS}ThirdParty/ffmpeg_6_0/lib/arm-cortexa9-linux-gnueabihf")
  100 + include_directories(${ROOT_DIRS}ThirdParty/ffmpeg_6_0/include)
  101 + target_link_libraries(
  102 + ${PROJECT_NAME}
  103 + ${FFMPEG_6_0_DIRS}/libavcodec.so.60
  104 + ${FFMPEG_6_0_DIRS}/libavdevice.so.60
  105 + ${FFMPEG_6_0_DIRS}/libavfilter.so.9
  106 + ${FFMPEG_6_0_DIRS}/libavformat.so.60
  107 + ${FFMPEG_6_0_DIRS}/libavutil.so.58
  108 + ${FFMPEG_6_0_DIRS}/libpostproc.so.57
  109 + ${FFMPEG_6_0_DIRS}/libswresample.so.4
  110 + ${FFMPEG_6_0_DIRS}/libswscale.so.7
  111 + )
  112 +
  113 + message("x264模块已加载\n")
  114 + set(X264_DIRS "${ROOT_DIRS}ThirdParty/x264_2245/lib/arm-cortexa9-linux-gnueabihf")
  115 + include_directories(${ROOT_DIRS}ThirdParty/x264_2245/include)
  116 + target_link_libraries(
  117 + ${PROJECT_NAME}
  118 + ${X264_DIRS}/libx264.so.157
  119 + )
  120 +
  121 + message("FDK_AAC模块已加载\n")
  122 + set(FDK_AAC_DIRS "${ROOT_DIRS}ThirdParty/fdk_aac_2_0_3/lib/arm-cortexa9-linux-gnueabihf")
  123 + include_directories(${ROOT_DIRS}ThirdParty/fdk_aac_2_0_3/include)
  124 + target_link_libraries(
  125 + ${PROJECT_NAME}
  126 + ${FDK_AAC_DIRS}/libfdk-aac.so.2
  127 + )
  128 +
  129 +endif()
  130 +
  131 +
  132 +#rtk_mmp库
  133 +if(${LIB_RTK_MMP} STREQUAL "VERSION_SWITCH_ON")
  134 + message("RTK_MMP库已加载\n")
  135 + add_definitions(-DMACRO_RTK_MPP_MODULE) #加载usb模块
  136 +
  137 + include_directories(${ROOT_DIRS}/ThirdParty/RTK_mmp/aarch64-none-linux-gnu/include)
  138 + target_link_libraries(
  139 + ${PROJECT_NAME}
  140 + ${ROOT_DIRS}/ThirdParty/RTK_mmp/aarch64-none-linux-gnu/lib/librockchip_mpp.so.0
  141 + ${ROOT_DIRS}/ThirdParty/RTK_mmp/aarch64-none-linux-gnu/lib/librockchip_vpu.so.0
  142 + )
  143 +endif()
  144 +
  145 +#usb库
  146 +if(${LIB_USB} STREQUAL "VERSION_SWITCH_ON")
  147 + add_definitions(-DMACRO_USB_MODULE) #加载usb模块
  148 +
  149 + message("USB库已加载\n")
  150 + include_directories(${ROOT_DIRS}/ThirdParty/libusb/aarch64-none-linux-gnu/include)
  151 + target_link_libraries(
  152 + ${PROJECT_NAME}
  153 + ${ROOT_DIRS}/ThirdParty/libusb/aarch64-none-linux-gnu/lib/libusb-1.0.so.0.4.0
  154 + )
  155 +
  156 + message("udev库已加载\n")
  157 +
  158 + include_directories(${ROOT_DIRS}/ThirdParty/udev/aarch64-none-linux-gnu/include)
  159 + target_link_libraries(
  160 + ${PROJECT_NAME}
  161 + ${ROOT_DIRS}/ThirdParty/udev/aarch64-none-linux-gnu/lib/libudev.so.1.6.3
  162 + )
  163 +endif()
  1 +# SubsidiaryThirdPartyConfig.cmake 附属第三方库配置文件
  2 +
  3 +set(IFLAY_TTS_MODULE VERSION_SWITCH_OFF)
  4 +set(ESPEAK_TTS_MODULE VERSION_SWITCH_OFF)
  5 +set(ALSALIB_MODULE VERSION_SWITCH_OFF)
  6 +set(OPUS_MODULE VERSION_SWITCH_OFF)
  7 +set(LIB_RTK_MMP VERSION_SWITCH_OFF)
  8 +set(LIB_USB VERSION_SWITCH_OFF)
  9 +
  10 +add_definitions(-D COMPILE_MODE_MODULE) #设置代码为编译模式
  11 +
  12 +if(${MEGAPHONE_MODULE} STREQUAL "VERSION_SWITCH_ON")
  13 + message("\n喊话器模块已加载")
  14 + add_definitions(-DMACRO_MEGAPHONE_MODULE) #加载喊话器模块
  15 +
  16 + message("加载讯飞TTS模块")
  17 + set(IFLAY_TTS_MODULE VERSION_SWITCH_ON)
  18 +
  19 + message("加载espeak模块")
  20 + set(ESPEAK_TTS_MODULE VERSION_SWITCH_ON)
  21 +
  22 + message("加载alsalib模块")
  23 + set(ALSALIB_MODULE VERSION_SWITCH_ON)
  24 +
  25 + message("加载OPUS模块")
  26 + set(OPUS_MODULE VERSION_SWITCH_ON)
  27 +endif()
  28 +
  29 +if(${IRC_MODULE} STREQUAL "VERSION_SWITCH_ON")
  30 + message("\n红外相机模块已加载")
  31 + add_definitions(-DMACRO_IRC_MODULE)
  32 +
  33 + message("加载RTK模块")
  34 + set(LIB_RTK_MMP VERSION_SWITCH_ON)
  35 +
  36 + message("加载USB模块")
  37 + set(LIB_USB VERSION_SWITCH_ON)
  38 +
  39 + message("\n媒体管理模块已加载")
  40 + add_definitions(-DMACRO_MEDIA_PROC_MODULE)
  41 +
  42 +endif()
  43 +
  44 +if(${SIDE_LASER_MODULE} STREQUAL "VERSION_SWITCH_ON")
  45 + message("加载侧面激光模块")
  46 + add_definitions(-DMACRO_SIDE_LASER_MODULE)
  47 +endif()
  48 +
  49 +
  50 +message("附属库已加载\n")
  1 +#include <stdio.h>
  2 +#include "JZsdkLib.h"
  3 +#include "./JZsdk_TaskManagement/TaskManagement.h"
  4 +
  5 +//初始化sdk
  6 +T_JZsdkReturnCode JZsdk_LibInit()
  7 +{
  8 + //1、初始化log
  9 + JZsdk_LoggerInit();
  10 +
  11 + //2、任务管理系统初始化
  12 + TaskManagement_Init();
  13 +
  14 + JZSDK_LOG_INFO("Lib加载已完成");
  15 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdkLib.h
  4 + * JZsdk的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDKLIB_H
  11 +#define JZSDKLIB_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +#include "JZsdk_Base/JZsdkBase.h"
  22 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  23 +
  24 +#include "JZsdk_CommonFuntion/JZsdkCommonFuntion.h"
  25 +/* Exported types ------------------------------------------------------------*/
  26 +
  27 +/* Exported functions --------------------------------------------------------*/
  28 +T_JZsdkReturnCode JZsdk_LibInit();
  29 +
  30 +
  31 +#ifdef __cplusplus
  32 +}
  33 +#endif
  34 +
  35 +#endif
  36 +/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdkBase.h
  4 + * JZsdk基础部件的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDKBASE_H
  11 +#define JZSDKBASE_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +#include "JZsdk_Logger/JZsdk_Logger.h"
  22 +#include "JZsdk_Osal/JZsdk_FileSystm.h"
  23 +#include "JZsdk_Delay/JZsdk_Delay.h"
  24 +#include "JZsdk_Code/JZsdk_FLagCode.h"
  25 +#include "JZsdk_Osal/JZsdk_MemoryAdapter.h"
  26 +
  27 +/* Exported types ------------------------------------------------------------*/
  28 +
  29 +
  30 +/* Exported functions --------------------------------------------------------*/
  31 +
  32 +
  33 +#ifdef __cplusplus
  34 +}
  35 +#endif
  36 +
  37 +#endif
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_Code.h
  4 + * 用于记录各类码的表
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_CODE_H
  11 +#define JZSDK_CODE_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +#include "./JZsdk_InsCode.h"
  23 +#include "./JZsdk_FLagCode.h"
  24 +#include "./JZsdk_ReturnCode.h"
  25 +#include "./JZsdk_FileType.h"
  26 +
  27 +/* Exported types ------------------------------------------------------------*/
  28 +
  29 +
  30 +/* Exported functions --------------------------------------------------------*/
  31 +
  32 +#ifdef __cplusplus
  33 +}
  34 +#endif
  35 +
  36 +#endif
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_ErrorCode.h
  4 + * 用于错误码的表
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_ERRORCODE_H
  11 +#define JZSDK_ERRORCODE_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +
  23 +/* Exported types ------------------------------------------------------------*/
  24 +typedef enum {
  25 + JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS = 0x0000,
  26 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE = 0x0001,
  27 + JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER = 0x0002, //文件指针错误
  28 +} JZ_SYSTEM_Code;
  29 +
  30 +typedef enum {
  31 + JZ_ERROR_SYSTEM_FRAME_ERROR = 0x0100,
  32 +
  33 +} JZ_Syetem_frame_ErrorCode;
  34 +
  35 +typedef enum {
  36 + JZ_ERRORCODE_MUSIC_NOT_FOUND_IN_LIST = 0x1000
  37 +
  38 +} JZ_Megaphone_music_ErrorCode;
  39 +
  40 +typedef enum {
  41 + JZ_ERRORCODE_REALTIMEVOICE_HAS_BEEN_ON = 0x1201
  42 +
  43 +} JZ_Megaphone_opus_ErrorCode;
  44 +
  45 +typedef enum {
  46 + JZ_ERRORCODE_TTS_INVALID_TONE = 0x1300,
  47 + JZ_ERRORCODE_TTS_INVALID_SPEED = 0x1301,
  48 + JZ_ERRORCODE_TTS_INVALID_ADDTONE = 0x1302,
  49 +
  50 +} JZ_Megaphone_TTS_ErrorCode;
  51 +
  52 +typedef enum {
  53 + JZ_ERRORCODE_GIMBAL_INVALID_PITCH = 0x4000,
  54 + JZ_ERRORCODE_GIMBAL_INVALID_YAW = 0x4001,
  55 + JZ_ERRORCODE_GIMBAL_INVALID_ROLL = 0x4002,
  56 +
  57 +} JZ_Gimbal_ErrorCode;
  58 +/* Exported functions --------------------------------------------------------*/
  59 +
  60 +#ifdef __cplusplus
  61 +}
  62 +#endif
  63 +
  64 +#endif
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_FLagCode.h
  4 + * 用于标识码的表
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_FLAGCODE_H
  11 +#define JZSDK_FLAGCODE_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +typedef enum JZ_Flag_Code{
  23 + JZ_FLAGCODE_OFF = 0x0000,
  24 + JZ_FLAGCODE_ON = 0x0001,
  25 + JZ_FLAGCODE_GET = 0x0010, //获取指令
  26 + JZ_FLAGCODE_SET = 0x0011, //设置指令
  27 +
  28 + JZ_FLAGCODE_NORMAL = 0x00FF, //默认模式
  29 +} JZ_Flag_Code;
  30 +
  31 +/* Exported types ------------------------------------------------------------*/
  32 +
  33 +
  34 +/* Exported functions --------------------------------------------------------*/
  35 +
  36 +#ifdef __cplusplus
  37 +}
  38 +#endif
  39 +
  40 +#endif
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_FileType.h
  4 + * 用于记录文件类型的表
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_FILE_TYPE_H
  11 +#define JZSDK_FILE_TYPE_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +
  23 +/* Exported types ------------------------------------------------------------*/
  24 +typedef enum {
  25 + AUDIO_TYPE_WAV = 0x00000001,
  26 + AUDIO_TYPE_MP3 = 0x00000002,
  27 + AUDIO_TYPE_OPUS = 0x00000003,
  28 + AUDIO_TYPE_PCM = 0x00000004,
  29 +} JZ_AUDIO_FILE_TYPE;
  30 +
  31 +/* Exported functions --------------------------------------------------------*/
  32 +
  33 +#ifdef __cplusplus
  34 +}
  35 +#endif
  36 +
  37 +#endif
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_InsCode.h
  4 + * 用于错误码的表
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_INSCODE_H
  11 +#define JZSDK_INSCODE_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +typedef enum {
  23 +
  24 +//5A类帧
  25 + JZ_INSCODE_5AFRAME_FRAME = 0x10000000, //接收类帧
  26 +
  27 + JZ_INSCODE_5AFRAME_ASKFORCONNECT = 0x10000100, //申请连接
  28 + JZ_INSCODE_5AFRAME_HEARTBEAT = 0x10000101, //心跳帧
  29 + JZ_INSCODE_5AFRAME_TIMESTAMP = 0x10000102, //时间戳帧
  30 + JZ_INSCODE_5AFRAME_ALL_VERSION = 0x10000103, //全版本查询
  31 + JZ_INSCODE_5AFRAME_ALL_SERIAL_NUMBER = 0x10000104, //全序列号查询
  32 + JZ_INSCODE_5AFRAME_LOG_MESSAGE_PRINTF = 0x10000105, //log信息打印
  33 + JZ_INSCODE_5AFRAME_DEVICE_MESSAGE = 0x10000106, //设备信息
  34 +
  35 + JZ_INSCODE_5AFRAME_FRAME_POWER_STATUS = 0x10000110, //电源状态设置
  36 +
  37 + JZ_INSCODE_5AFRAME_REALTIMEMP2_START = 0x10000200, //开启实时MP2
  38 + JZ_INSCODE_5AFRAME_REALTIMEMP2_UNLIMIT_TRANSMISSION = 0x10000201, //无限制传输实时MP2
  39 + JZ_INSCODE_5AFRAME_REALTIMEMP2_STOP = 0x10000202, //结束实时MP2
  40 + JZ_INSCODE_5AFRAME_REALTIMEMP2_LIMIT_TRANSMISSION = 0x10000203, //有限制传输MP2
  41 +
  42 + JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_START = 0x10000300, //打开音频文件上传
  43 + JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_UNLIMIT_TRANSMISSION = 0x10000301, //无限制传输音频文件
  44 + JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_STOP = 0x10000302, //关闭音频文件上传
  45 + JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_LIMIT_TRANSMISSION = 0x10000303, //定长传输音频文件
  46 +
  47 + JZ_INSCODE_5AFRAME_AUDIO_PLAYFILE = 0x10000400, //播放指定音频
  48 + JZ_INSCODE_5AFRAME_AUDIO_CONTINUE = 0x10000401, //音频继续播放
  49 + JZ_INSCODE_5AFRAME_AUDIO_PAUSE = 0x10000402, //音频暂停播放
  50 + JZ_INSCODE_5AFRAME_AUDIO_STOP = 0x10000403, //音频停止播放
  51 +
  52 + JZ_INSCODE_5AFRAME_AUDIO_LASTSONG = 0x10000410, //音频上一曲
  53 + JZ_INSCODE_5AFRAME_AUDIO_NEXTSONG = 0x10000411, //音频下一曲
  54 +
  55 + JZ_INSCODE_5AFRAME_AUDIO_GETMUSICLIST = 0x10000420, //获取音频列表
  56 +
  57 +
  58 + JZ_INSCODE_5AFRAME_AMPLIFIER_STOP = 0x10000500, //强制关闭功放
  59 + JZ_INSCODE_5AFRAME_AMPLIFIER_OPEN = 0x10000501, //强制开启功放
  60 + JZ_INSCODE_5AFRAME_AMPLIFIER_AUTO = 0x10000502, //恢复自动功放
  61 +
  62 + JZ_INSCODE_5AFRAME_VOLUME = 0x10000600, //调节音量
  63 +
  64 + JZ_INSCODE_5AFRAME_CHECKSTATUS_VOLUME = 0x10000620, //查询音量
  65 + JZ_INSCODE_5AFRAME_CHECKSTATUS_PLAY = 0x10000621, //查询播放状态
  66 + JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL = 0x10000622, //查询云台角度
  67 + JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL_FINETUNING = 0x10000623, //查询云台微调角度
  68 +
  69 + JZ_INSCODE_5AFRAME_CHECKSTATUS_PLAYFILENAME = 0x10000624, //查询播放文件名
  70 + JZ_INSCODE_5AFRAME_CHECKSTATUS_SOFTWAREVERSION = 0x10000625, //查询软件版本号
  71 + JZ_INSCODE_5AFRAME_CHECKSTATUS_LOOPPLAY = 0x10000626, //查询是否打开循环
  72 + JZ_INSCODE_5AFRAME_CHECKSTATUS_TTSTONE = 0x10000627, //查询音色
  73 + JZ_INSCODE_5AFRAME_CHECKSTATUS_TTSSPEED = 0x10000628, //查询语速
  74 + JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LIGHTATTRIBUTE = 0x10000629, //查询探照灯 灯3个属性
  75 + JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN = 0x10000630, //查询探照灯流明
  76 + JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY = 0x10000631, //查询探照灯频率
  77 + JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_MODE = 0x10000632, //查询探照灯模式
  78 + JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE = 0x10000633, //查询探照灯温度
  79 +
  80 + JZ_INSCODE_5AFRAME_CHECKSTATUS_LASER_STATUS = 0x10000634, //查询激光状态
  81 + JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS = 0x10000635, //查询警灯状态
  82 + JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR = 0x10000636, //查询警灯颜色
  83 + JZ_INSCODE_5AFRAME_CHECKSTATUS_SERIALNUMBER = 0x10000637, //查询序列号
  84 +
  85 +
  86 + JZ_INSCODE_5AFRAME_PLAY_LOOP = 0x10000690, //开启关闭循环
  87 +
  88 + JZ_INSCODE_5AFRAME_DELETE_AUDIO = 0x10000700, //删除音频
  89 + JZ_INSCODE_5AFRAME_DELETE_VOICE_RECORD = 0x10000710, //删除录音
  90 + JZ_INSCODE_5AFRAME_DELETE_VIDEO_RECORD = 0x10000720, //删除视频
  91 +
  92 +
  93 + JZ_INSCODE_5AFRAME_TTS_SET_TONE = 0x10000801, //TTS设置音色
  94 + JZ_INSCODE_5AFRAME_TTS_SET_SPEED = 0x10000802, //TTS设置语速
  95 + JZ_INSCODE_5AFRAME_TTS_TRANS_START = 0x10000803, //TTS开始发送
  96 + JZ_INSCODE_5AFRAME_TTS_TRANS_UNLIMIT_TRANSMISSION = 0x10000804, //TTS正在无限制接收
  97 + JZ_INSCODE_5AFRAME_TTS_TRANS_STOP = 0x10000805, //TTS发送完毕
  98 + JZ_INSCODE_5AFRAME_TTS_TRANS_LIMIT_TRANSMISSION = 0x10000806, //TTS正在定长接收
  99 +
  100 + JZ_INSCODE_5AFRAME_OPUS_TRANS_START = 0x10000900, //opus传输开始
  101 + JZ_INSCODE_5AFRAME_OPUS_TRAN_UNLIMIT_TRANSMISSION = 0x10000901, //opus 无限制传输中
  102 + JZ_INSCODE_5AFRAME_OPUS_TRANS_LIMIT_TRANSMISSION = 0x10000903, //opus传输中
  103 +
  104 + JZ_INSCODE_5AFRAME_OPUS_TRANS_STOP = 0x10000902, //opus传输结束
  105 +
  106 + JZ_INSCODE_5AFRAME_OPUS_PLAY = 0x10000910, //opus播放
  107 +
  108 + JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_START = 0x10000A00, //开启opus实时语音
  109 + JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_UNLIMIT_TRANSMISSION = 0x10000A01, //无限制传输opus实时语音
  110 + JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_STOP = 0x10000A02, //结束opus实时语音
  111 + JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_LIMIT_TRANSMISSION = 0x10000A03, //定长传输opus实时语音
  112 +
  113 + JZ_INSCODE_5AFRAME_GIMBAL_PITCH_CONTROL = 0x10000B00, //云台俯仰控制
  114 + JZ_INSCODE_5AFRAME_GIMBAL_YAW_CONTROL = 0x10000B01, //云台朝向控制
  115 + JZ_INSCODE_5AFRAME_GIMBAL_ROLL_CONTROL = 0x10000B02, //云台旋转控制
  116 + JZ_INSCODE_5AFRAME_GIMBAL_PITCH_FINETUNING_CONTROL = 0x10000B04, //云台俯仰微调
  117 + JZ_INSCODE_5AFRAME_GIMBAL_YAW_FINETUNING_CONTROL = 0x10000B05, //云台朝向微调
  118 + JZ_INSCODE_5AFRAME_GIMBAL_ROLL_FINETUNING_CONTROL = 0x10000B06, //云台旋转微调
  119 +
  120 +
  121 + JZ_INSCODE_5AFRAME_LASER_CONTROL = 0x10000C00, //激光控制
  122 +
  123 + JZ_INSCODE_5AFRAME_SEARCHLIGHT_CONTROL = 0x10000E00, //探照灯开光
  124 + JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_LUMEN = 0x10000E10, //设置探照灯亮度
  125 + JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_FREQUENCY = 0x10000E20, //设置把爆闪频率
  126 + JZ_INSCODE_5AFRAME_SEARCHLIGHT_MESSAGE_SUBSCRIPTION_CONTROL = 0x10000E21,//探照灯消息订阅控制
  127 +
  128 + JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL = 0x10000F00, //警示灯模式控制
  129 + JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR = 0x10000F10, //警示灯颜色控制
  130 +
  131 + JZ_INSCODE_5AFRAME_OUTPUTPOWER_CONTROL = 0x10001000, //对外供电开关
  132 + JZ_INSCODE_5AFRAME_CHECKSTATUS_OUTPUTPOWER = 0x10001001, //对外供电查询
  133 +
  134 +//5B类帧
  135 + JZ_INSCODE_5BFRAME_FRAME = 0x10004000, //发送帧
  136 +
  137 + JZ_INSCODE_5BFRAME_INITIATECONNECT = 0x10004101, //主动连接
  138 + JZ_INSCODE_5BFRAME_HEARTBEAT = 0x10004102, //心跳帧回复
  139 + JZ_INSCODE_5BFRAME_TIMESTAMP = 0x10004103, //时间戳帧
  140 + JZ_INSCODE_5BFRAME_ALL_VERSION = 0x10004104, //全版本查询
  141 + JZ_INSCODE_5BFRAME_ALL_SERIAL_NUMBER = 0x10004105, //全序列号查询
  142 + JZ_INSCODE_5BFRAME_DEVICE_MESSAGE = 0x10004107, //设备信息
  143 +
  144 + JZ_INSCODE_5BFRAME_SUCESS = 0x10004200, //操作成功
  145 + JZ_INSCODE_5BFRAME_DEFEAT = 0x10004201, //操作失败
  146 +
  147 + JZ_INSCODE_5BFRAME_MUSICLIST_START = 0x10004300, //开启发送音乐列表帧
  148 + JZ_INSCODE_5BFRAME_MUSICLIST_TRANS = 0x10004301, //发送音乐列表帧
  149 + JZ_INSCODE_5BFRAME_MUSICLIST_STOP = 0x10004302, //结束发送音乐列表帧
  150 +
  151 + JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS = 0x10004310, //音频播放状态返回帧
  152 + JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS_END = 0x10004311, //音频播放状态结束帧
  153 +
  154 + JZ_INSCODE_5BFRAME_VOLUME = 0x10004400, //音量返回帧
  155 + JZ_INSCODE_5BFRAME_AUDIO_PLAYLOOPSTATUS = 0x10004401, //发送音频循环播放状态
  156 + JZ_INSCODE_5BFRAME_TTS_TONE = 0x10004402, //发送tts音色
  157 + JZ_INSCODE_5BFRAME_TTS_SPEED = 0x10004403, //发送tts语速
  158 + JZ_INSCODE_5BFRAME_AUDIO_PLAYFILENAME = 0x10004404, //当前播放的音频名字
  159 +
  160 +
  161 + JZ_INSCODE_5BFRAME_GIMBAL_PITCH = 0x10004500, //云台俯仰角度
  162 + JZ_INSCODE_5BFRAME_GIMBAL_YAW = 0x10004501, //云台航向角度
  163 + JZ_INSCODE_5BFRAME_GIMBAL_ROLL = 0x10004502, //
  164 +
  165 + JZ_INSCODE_5BFRAME_GIMBAL_PITCH_FINETUNING = 0x10004510, //云台俯仰微调值
  166 +
  167 +
  168 + JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE = 0x10004600, //查询探照灯温度
  169 + JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS = 0x10004601, //查询激光状态
  170 + JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY = 0x10004602, //查询探照灯频率
  171 + JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_MODE = 0x10004603, //查询探照灯模式
  172 + JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN = 0x10004604, //查询探照灯流明
  173 +
  174 + JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS = 0x10004700, //警示灯模式控制
  175 + JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR = 0x10004701, //警示灯颜色控制
  176 +
  177 +
  178 + JZ_INSCODE_5BFRAME_SORTWAREVERSION = 0x10004800, //发送软件版本号
  179 + JZ_INSCODE_5BFRAME_HARDWAREVERSION = 0x10004801, //发送硬件版本号
  180 + JZ_INSCODE_5BFRAME_CHECKSTATUS_SERIALNUMBER = 0x10004802, //回复序列号
  181 +
  182 + JZ_INSCODE_5BFRAME_CHECKSTATUS_OUTPUTPOWER = 0x10004900, //对外供电查询
  183 +
  184 + JZ_INSCODE_5BFRAME_OPUS_DECODE_STATUS = 0x10005000, //opus解码状态
  185 +
  186 +
  187 +//6A类
  188 + JZ_INSCODE_6AFRAME_FRAME = 0x10008000, //发送帧
  189 +
  190 + JZ_INSCODE_6AFRAME_SET_GIMBAL_ORIGIN = 0x10008101, //设置坐标0值
  191 + JZ_INSCODE_6AFRAME_SET_GIMBAL_MAXMIN_RANGE = 0x10008102, //设置云台范围最大最小值
  192 + JZ_INSCODE_6AFRAME_SET_LUMEN_MAXMIN_RANGE = 0x10008103, //设置灯光范围最大最小值
  193 + JZ_INSCODE_6AFRAME_SET_SERIALNUMBER = 0x10008104, //设置序列号
  194 + JZ_INSCODE_6AFRAME_SERVO_SELFCHECK = 0x10008105, //舵机自检
  195 + JZ_INSCODE_6AFRAME_GIMBAL_LINKAGE_CONTROL = 0x10008106, //开关云台联动
  196 +
  197 + JZ_INSCODE_6AFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME = 0x10008400, //查询从设备设备名
  198 + JZ_INSCODE_6AFRAME_CHECKSTATUS_GIMBAL_LINKAGE = 0x10008401, //查询云台联动
  199 +
  200 + JZ_INSCODE_6AFRAME_UART_BITRATE_CHANGE = 0x10008500, //串口比特率修改
  201 +
  202 + JZ_INSCODE_6AFRAME_SPECIAL_PARAMETERS = 0x10008510, //设置特殊参数
  203 + JZ_INSCODE_6AFRAME_CHECK_SPECIAL_PARAMETERS = 0x10008511, //查询特殊参数
  204 +
  205 +//6B类
  206 + JZ_INSCODE_6BFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME = 0x1000C400, //回复从设备名
  207 + JZ_INSCODE_6BFRAME_CHECKSTATUS_GIMBAL_LINKAGE = 0x1000C401, //回复云台联动
  208 + JZ_INSCODE_6BFRAME_CHECK_SPECIAL_PARAMETERS = 0x1000C511, //回复特殊参数
  209 +
  210 +} JZ_InsCode;
  211 +
  212 +
  213 +/* Exported types ------------------------------------------------------------*/
  214 +
  215 +
  216 +/* Exported functions --------------------------------------------------------*/
  217 +
  218 +#ifdef __cplusplus
  219 +}
  220 +#endif
  221 +
  222 +#endif
  1 +#include <stdint.h>
  2 +#include <stdbool.h>
  3 +#include <stddef.h>
  4 +#include <string.h>
  5 +#include <stdlib.h>
  6 +#include <stdio.h>
  7 +#include <string.h>
  8 +
  9 +#include "./JZsdk_Code.h"
  10 +
  11 +
  12 +
  13 +//获取返回码的信息
  14 +const char* JZsdk_GetReturnCodeMessage(T_JZsdkReturnCode ReturnCode)
  15 +{
  16 + switch (ReturnCode) {
  17 + case JZ_ERRORCODE_REALTIMEVOICE_HAS_BEEN_ON:
  18 + return "实时语音被开启,该操作失败";
  19 +
  20 + default:
  21 + return "未知错误:Unknown error.";
  22 + }
  23 +}
  1 +
  2 +
  3 +/**
  4 + ********************************************************************
  5 + * @file JZsdk_ReturnCode.h
  6 + * 用于记录各类码的表
  7 + *
  8 + *********************************************************************
  9 + */
  10 +
  11 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  12 +#ifndef JZSDK_RETURNCODE_H
  13 +#define JZSDK_RETURNCODE_H
  14 +
  15 +/* Includes ------------------------------------------------------------------*/
  16 +#include <stdint.h>
  17 +#include "JZsdk_ErrorCode.h"
  18 +
  19 +#ifdef __cplusplus
  20 +extern "C" {
  21 +#endif
  22 +
  23 +/* Exported constants --------------------------------------------------------*/
  24 +/* 常亮定义*/
  25 +
  26 +
  27 +
  28 +
  29 +
  30 +
  31 +
  32 +/* Exported types ------------------------------------------------------------*/
  33 +//重定义一个返回码
  34 +typedef uint64_t T_JZsdkReturnCode;
  35 +typedef uint8_t U8_t;
  36 +typedef uint16_t U16_t;
  37 +typedef uint32_t U32_t;
  38 +typedef uint64_t U64_t;
  39 +
  40 +// typedef unsigned long T_JZsdkReturnCode;
  41 +// typedef unsigned char U8_t;
  42 +// typedef unsigned short U16_t;
  43 +// typedef unsigned int U32_t;
  44 +// typedef unsigned long U64_t;
  45 +
  46 +typedef double F64_t;
  47 +typedef float F32_t;
  48 +
  49 +/* Exported functions --------------------------------------------------------*/
  50 +const char* JZsdk_GetReturnCodeMessage(T_JZsdkReturnCode ReturnCode);
  51 +
  52 +#ifdef __cplusplus
  53 +}
  54 +#endif
  55 +
  56 +#endif
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_SMT_Code.h
  4 + * 用于序列号管理的表
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_SMT_CODE_H
  11 +#define JZSDK_SMT_CODE_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +typedef enum
  23 +{
  24 + // 设备序列号类型
  25 + UNDEFINED_SNM = 0x0000, //未定义类型序列号
  26 + STANDARD_DJI_SNM = 0x0001, // 大疆转接环序列号类型
  27 + STANDARD_JZ_1_SNM = 0x0002, // JZ-1型序列号
  28 + STANDARD_JZ_2_SNM = 0x0003, // JZ-2型序列号 2023.12.14 制定
  29 +} JZSDK_SNM_TPYE;
  30 +
  31 +typedef enum
  32 +{
  33 + // 设备激活码状态 0 未存在序列号 1 旧版序列号 2新版序列号未激活 3新版序列号已激活
  34 + SNM_NOT_EXISTS = 0x0000, // （未存在序列号）
  35 + SNM_HAVE_ACTIVATED = 0x0001, // 已激活
  36 + SNM_NOT_ACTIVATED = 0x0002, // 未激活
  37 + SNM_ERROR_ACTIVATED = 0x0003, //激活错误状态
  38 +} JZSDK_SNM_STATUS;
  39 +
  40 +typedef enum
  41 +{
  42 + STANDARD_DJI_SNM_LENGTH = 14, //dji序列号默认长度14
  43 + STANDARD_JZ_1_SUM_LENGTH = 14, //极至标准1长度太多种拉 喊话器最长是14
  44 + STANDARD_JZ_2_SUM_LENGTH = 16, //极至标准2 16长度
  45 +}JZSDK_SNM_STANDARD_LENGTH;
  46 +
  47 +typedef enum
  48 +{
  49 + STANDARD_JZ_2_CN = 0x0001, //极至标准2通用码
  50 + STANDARD_JZ_2_EN = 0x0002, //极至标准2海外码
  51 +}JZSDK_FIREWARM_CODE;
  52 +
  53 +typedef enum
  54 +{
  55 + STANDARD_JZ_2_F1 = 0x0001, //通用版本固件
  56 +
  57 +}JZSKD_SPECIAL_VERSION;
  58 +
  59 +
  60 +#ifdef __cplusplus
  61 +}
  62 +#endif
  63 +
  64 +#endif
  1 +#include <stdio.h>
  2 +#include "JZsdk_Delay.h"
  3 +#include <unistd.h>
  4 +
  5 +/*
  6 +* 用于延时（粗略）
  7 +* 需要优化
  8 +*/
  9 +int delayUs(unsigned long msec)
  10 +{
  11 + usleep(msec);
  12 +}
  13 +
  14 +/*
  15 +* 用于延时（粗略）
  16 +* 需要优化
  17 +*/
  18 +int delayMs(unsigned long msec)
  19 +{
  20 + usleep(msec * 1000);
  21 +}
  22 +
  23 +/*
  24 +* 用于延时（粗略）
  25 +* 需要优化
  26 +*/
  27 +int delayS(unsigned long sec)
  28 +{
  29 + delayMs(sec * 1000);
  30 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_FileSystem.h
  4 + * 用于文件系统操作
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_DELAY_H
  11 +#define JZSDK_DELAY_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +
  23 +/* Exported types ------------------------------------------------------------*/
  24 +
  25 +
  26 +/* Exported functions --------------------------------------------------------*/
  27 +int delayMs(unsigned long msec);
  28 +int delayS(unsigned long sec);
  29 +int delayUs(unsigned long msec);
  30 +
  31 +#ifdef __cplusplus
  32 +}
  33 +#endif
  34 +
  35 +#endif
  36 +/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
  1 +#include <stdio.h>
  2 +#include "./JZsdk_FrameComparsion.h"
  3 +#include "../JZsdk_Code/JZsdk_Code.h"
  4 +
  5 +/*************************
  6 + *
  7 + * 获取帧的序列号
  8 + *
  9 + * ***************************/
  10 +int JZsdk_Get_FrameSequence(char *DealBuf)
  11 +{
  12 + return DealBuf[6];
  13 +}
  14 +
  15 +/***************************
  16 + * 、
  17 + *
  18 + * 帧校对 获取功能
  19 + *
  20 + *
  21 + * ***********************/
  22 +int JZsdk_FrameComparsion(char *getdata, int len)
  23 +{
  24 + //1、判断是否是5A帧
  25 + if (getdata[0] == 0x5A && getdata[1] == 0x5A && getdata[2] == 0x77)
  26 + {
  27 + printf("JZsdk_FrameComparsion:5A帧\n");
  28 + return JZsdk_5AFrameComparsion(getdata, len);
  29 + }
  30 +
  31 + //2、判断是否是5B帧
  32 + if (getdata[0] == 0x5b && getdata[1] == 0x5b && getdata[2] == 0x77)
  33 + {
  34 + printf("JZsdk_FrameComparsion:5B帧\n");
  35 + return JZsdk_5BFrameComparsion(getdata, len);
  36 + }
  37 +
  38 + //3、判断是否是6A帧
  39 + if (getdata[0] == 0x6A && getdata[1] == 0x6A && getdata[2] == 0x77)
  40 + {
  41 + printf("JZsdk_FrameComparsion:6A帧\n");
  42 + return JZsdk_6AFrameComparsion(getdata, len);
  43 + }
  44 +
  45 + //4、判断是否是6B帧
  46 + if (getdata[0] == 0x6b && getdata[1] == 0x6b && getdata[2] == 0x77)
  47 + {
  48 + printf("JZsdk_FrameComparsion:6B帧\n");
  49 + return JZsdk_6BFrameComparsion(getdata, len);
  50 + }
  51 +
  52 + printf("接受到的帧,没有帧头或者帧尾,退出recv帧判断函数\n");
  53 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  54 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_FrameComparsion.h
  4 + * 用于帧对比的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_FRAMECOMPARSION_H
  11 +#define JZSDK_FRAMECOMPARSION_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +#include "JZsdk_FrameComparsion_5Aframe.h"
  22 +#include "JZsdk_FrameComparsion_5Bframe.h"
  23 +#include "JZsdk_FrameComparsion_6Aframe.h"
  24 +#include "JZsdk_FrameComparsion_6Bframe.h"
  25 +#include "JZsdk_GetFrameTemplate.h"
  26 +
  27 +/* Exported types ------------------------------------------------------------*/
  28 +
  29 +
  30 +/* Exported functions --------------------------------------------------------*/
  31 +int JZsdk_Get_FrameSequence(char *DealBuf);
  32 +int JZsdk_FrameComparsion(char *getdata, int len);
  33 +
  34 +#ifdef __cplusplus
  35 +}
  36 +#endif
  37 +
  38 +#endif
  1 +#include <stdio.h>
  2 +#include "../JZsdk_Code/JZsdk_Code.h"
  3 +
  4 +/******************************************************
  5 +
  6 + 接收一级功能码区
  7 +
  8 +/******************************************************/
  9 +//一级功能码是连接功能
  10 +static int Comparison_5AFRAME_FirstLevelCode_0x50(char *getdata)
  11 +{
  12 + //二级功能位
  13 + switch (getdata[8])
  14 + {
  15 + //开启连接
  16 + case 0x51:
  17 + return JZ_INSCODE_5AFRAME_ASKFORCONNECT;
  18 + break;
  19 +
  20 + //设备电源状态
  21 + case 0x52:
  22 + return JZ_INSCODE_5AFRAME_FRAME_POWER_STATUS;
  23 + break;
  24 +
  25 + //心跳帧
  26 + case 0x53:
  27 + return JZ_INSCODE_5AFRAME_HEARTBEAT;
  28 + break;
  29 +
  30 + //时间戳帧
  31 + case 0x54:
  32 + return JZ_INSCODE_5AFRAME_TIMESTAMP;
  33 + break;
  34 +
  35 + //所有版本号帧
  36 + case 0x55:
  37 + return JZ_INSCODE_5AFRAME_ALL_VERSION;
  38 + break;
  39 +
  40 + //所有序列号帧
  41 + case 0x56:
  42 + return JZ_INSCODE_5AFRAME_ALL_SERIAL_NUMBER;
  43 + break;
  44 +
  45 + //log信息打印
  46 + case 0x57:
  47 + return JZ_INSCODE_5AFRAME_LOG_MESSAGE_PRINTF;
  48 + break;
  49 +
  50 + //获取设备信息帧
  51 + case 0x58:
  52 + return JZ_INSCODE_5AFRAME_DEVICE_MESSAGE;
  53 + break;
  54 +
  55 + default:
  56 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  57 + break;
  58 + }
  59 +}
  60 +//一级功能码是语音 或是 文件功能
  61 +static int Comparison_5AFRAME_FirstLevelCode_0x51(char *getdata)
  62 +{
  63 + //二级功能位
  64 + switch (getdata[8])
  65 + {
  66 + //开启语音
  67 + case 0xb1:
  68 + return JZ_INSCODE_5AFRAME_REALTIMEMP2_START;
  69 + break;
  70 +
  71 + //结束语音
  72 + case 0xb2:
  73 + return JZ_INSCODE_5AFRAME_REALTIMEMP2_STOP;
  74 + break;
  75 +
  76 + //有限制传输mp2语言
  77 + case 0xb3:
  78 + return JZ_INSCODE_5AFRAME_REALTIMEMP2_LIMIT_TRANSMISSION;
  79 + break;
  80 +
  81 + //打开音频文件上传
  82 + case 0x01:
  83 + return JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_START;
  84 + break;
  85 +
  86 + //有限制传输音频文件
  87 + case 0x02:
  88 + return JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_LIMIT_TRANSMISSION;
  89 + break;
  90 +
  91 + //关闭音频文件上传
  92 + case 0x03:
  93 + return JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_STOP;
  94 + break;
  95 +
  96 + default:
  97 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  98 + break;
  99 + }
  100 +}
  101 +//一级功能码是音频/功放/音量调节
  102 +static int Comparison_5AFRAME_FirstLevelCode_0x52(char *getdata)
  103 +{
  104 + //二级功能位
  105 + switch (getdata[8])
  106 + {
  107 + //播放指定音频
  108 + case 0x02:
  109 + return JZ_INSCODE_5AFRAME_AUDIO_PLAYFILE;
  110 + break;
  111 +
  112 + //音频继续播放
  113 + case 0x04:
  114 + return JZ_INSCODE_5AFRAME_AUDIO_CONTINUE;
  115 + break;
  116 +
  117 + //音频暂停播放
  118 + case 0x05:
  119 + return JZ_INSCODE_5AFRAME_AUDIO_PAUSE;
  120 + break;
  121 +
  122 + //音频停止播放
  123 + case 0x06:
  124 + return JZ_INSCODE_5AFRAME_AUDIO_STOP;
  125 + break;
  126 +
  127 + //音频上一曲
  128 + case 0x07:
  129 + return JZ_INSCODE_5AFRAME_AUDIO_LASTSONG;
  130 + break;
  131 +
  132 + //音频下一曲
  133 + case 0x08:
  134 + return JZ_INSCODE_5AFRAME_AUDIO_NEXTSONG;
  135 + break;
  136 +
  137 + //强制关闭功放
  138 + case 0x20:
  139 + return JZ_INSCODE_5AFRAME_AMPLIFIER_STOP;
  140 + break;
  141 +
  142 + //强制开启功放
  143 + case 0x21:
  144 + return JZ_INSCODE_5AFRAME_AMPLIFIER_OPEN;
  145 + break;
  146 +
  147 + //恢复自动功放
  148 + case 0x22:
  149 + return JZ_INSCODE_5AFRAME_AMPLIFIER_AUTO;
  150 + break;
  151 +
  152 + //调节音量
  153 + case 0x10:
  154 + return JZ_INSCODE_5AFRAME_VOLUME;
  155 + break;
  156 +
  157 + default:
  158 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  159 + break;
  160 + }
  161 +}
  162 +//一级功能码是查询状态
  163 +static int Comparison_5AFRAME_FirstLevelCode_0x53(char *getdata)
  164 +{
  165 + //二级功能位
  166 + switch (getdata[8])
  167 + {
  168 + //查询音量
  169 + case 0x01:
  170 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_VOLUME;
  171 + break;
  172 +
  173 + //查询播放状态
  174 + case 0x02:
  175 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_PLAY;
  176 + break;
  177 +
  178 + //查询云台角度(已舍弃)
  179 + case 0x03:
  180 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL;
  181 + break;
  182 +
  183 + //查询播放文件名
  184 + case 0x04:
  185 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_PLAYFILENAME;
  186 + break;
  187 +
  188 + //查询是否打开循环
  189 + case 0x05:
  190 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_LOOPPLAY;
  191 + break;
  192 +
  193 + //查询音色
  194 + case 0x06:
  195 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_TTSTONE;
  196 + break;
  197 +
  198 + //查询语速
  199 + case 0x07:
  200 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_TTSSPEED;
  201 + break;
  202 +
  203 + //查询软件版本号
  204 + case 0xf1:
  205 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_SOFTWAREVERSION;
  206 + break;
  207 +
  208 + default:
  209 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  210 + break;
  211 + }
  212 +
  213 +}
  214 +//一级功能码是删除
  215 +static int Comparison_5AFRAME_FirstLevelCode_0x54(char *getdata)
  216 +{
  217 + //二级功能位
  218 + switch (getdata[8])
  219 + {
  220 + //删除音频
  221 + case 0x02:
  222 + return JZ_INSCODE_5AFRAME_DELETE_AUDIO;
  223 + break;
  224 +
  225 + //删除录音
  226 + case 0x03:
  227 + return JZ_INSCODE_5AFRAME_DELETE_VOICE_RECORD;
  228 + break;
  229 +
  230 + // //删除视频
  231 + // case 0x02:
  232 + // return JZ_INSCODE_DELETE_VIDEO_RECORD;
  233 + // break;
  234 +
  235 + default:
  236 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  237 + break;
  238 + }
  239 +}
  240 +//一级功能码开启关闭循环
  241 +static int Comparison_5AFRAME_FirstLevelCode_0x55(char *getdata)
  242 +{
  243 + //二级功能位
  244 + switch (getdata[8])
  245 + {
  246 + //开启关闭循环
  247 + case 0x00:
  248 + return JZ_INSCODE_5AFRAME_PLAY_LOOP;
  249 + break;
  250 +
  251 + default:
  252 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  253 + break;
  254 + }
  255 +}
  256 +//一级功能码
  257 +static int Comparison_5AFRAME_FirstLevelCode_0x56(char *getdata)
  258 +{
  259 + //二级功能位
  260 + switch (getdata[8])
  261 + {
  262 + default:
  263 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  264 + break;
  265 + }
  266 +}
  267 +//一级功能码是 文本播放
  268 +static int Comparison_5AFRAME_FirstLevelCode_0x57(char *getdata)
  269 +{
  270 + //二级功能位
  271 + switch (getdata[8])
  272 + {
  273 + //设置音色
  274 + case 0x01:
  275 + return JZ_INSCODE_5AFRAME_TTS_SET_TONE;
  276 + break;
  277 +
  278 + //设置语速
  279 + case 0x02:
  280 + return JZ_INSCODE_5AFRAME_TTS_SET_SPEED;
  281 + break;
  282 +
  283 + //开始发送TTS
  284 + case 0x03:
  285 + return JZ_INSCODE_5AFRAME_TTS_TRANS_START;
  286 + break;
  287 +
  288 + case 0x04:
  289 + return JZ_INSCODE_5AFRAME_TTS_TRANS_STOP;
  290 + break;
  291 +
  292 + //定长传输文本
  293 + case 0x05:
  294 + return JZ_INSCODE_5AFRAME_TTS_TRANS_LIMIT_TRANSMISSION;
  295 + break;
  296 +
  297 + default:
  298 + break;
  299 + }
  300 +}
  301 +//一级功能 查询列表
  302 +static int Comparison_5AFRAME_FirstLevelCode_0x58(char *getdata)
  303 +{
  304 + //二级功能位
  305 + switch (getdata[8])
  306 + {
  307 + //设置音色
  308 + case 0x01:
  309 + return JZ_INSCODE_5AFRAME_AUDIO_GETMUSICLIST;
  310 + break;
  311 +
  312 + default:
  313 + break;
  314 + }
  315 +}
  316 +//一级功能码opus功能
  317 +static int Comparison_5AFRAME_FirstLevelCode_0x59(char *getdata)
  318 +{
  319 + //二级功能位
  320 + switch (getdata[8])
  321 + {
  322 + //opus录音传输
  323 + //opus传输开始
  324 + case 0xF1:
  325 + return JZ_INSCODE_5AFRAME_OPUS_TRANS_START;
  326 + break;
  327 +
  328 + //opus传输结束
  329 + case 0xF2:
  330 + return JZ_INSCODE_5AFRAME_OPUS_TRANS_STOP;
  331 + break;
  332 +
  333 + //opus定长传输
  334 + case 0xF3:
  335 + return JZ_INSCODE_5AFRAME_OPUS_TRANS_LIMIT_TRANSMISSION;
  336 + break;
  337 +
  338 + //opus播放
  339 + case 0x01:
  340 + return JZ_INSCODE_5AFRAME_OPUS_PLAY;
  341 + break;
  342 +
  343 + //opus实时语音开始
  344 + case 0xE1:
  345 + return JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_START;
  346 + break;
  347 +
  348 + case 0xE2:
  349 + return JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_STOP;
  350 + break;
  351 +
  352 + //opus定长传输文件
  353 + case 0xE3:
  354 + return JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_LIMIT_TRANSMISSION;
  355 + break;
  356 +
  357 + default:
  358 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  359 + break;
  360 + }
  361 +}
  362 +
  363 +//一级功能码，硬件引脚控制
  364 +static int Comparison_5AFRAME_FirstLevelCode_0x5A(char *getdata)
  365 +{
  366 + //二级功能位
  367 + switch (getdata[8])
  368 + {
  369 + //对外供电开关
  370 + case 0x01:
  371 + return JZ_INSCODE_5AFRAME_OUTPUTPOWER_CONTROL;
  372 + break;
  373 +
  374 + //对外供电查询
  375 + case 0x02:
  376 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_OUTPUTPOWER;
  377 + break;
  378 +
  379 + default:
  380 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  381 + break;
  382 + }
  383 +}
  384 +
  385 +//一级功能码 激光控制
  386 +static int Comparison_5AFRAME_FirstLevelCode_0x60(char *getdata)
  387 +{
  388 + //二级功能位
  389 + switch (getdata[8])
  390 + {
  391 + //激光控制
  392 + case 0x51:
  393 + return JZ_INSCODE_5AFRAME_LASER_CONTROL;
  394 + break;
  395 +
  396 + default:
  397 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  398 + break;
  399 + }
  400 +}
  401 +
  402 +//一级功能码 爆闪频率
  403 +static int Comparison_5AFRAME_FirstLevelCode_0x61(char *getdata)
  404 +{
  405 + //二级功能位
  406 + switch (getdata[8])
  407 + {
  408 + //爆闪频率
  409 + case 0x51:
  410 + return JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_FREQUENCY;
  411 + break;
  412 +
  413 + default:
  414 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  415 + break;
  416 + }
  417 +}
  418 +
  419 +//一级功能码 灯光控制
  420 +static int Comparison_5AFRAME_FirstLevelCode_0x62(char *getdata)
  421 +{
  422 + //二级功能位
  423 + switch (getdata[8])
  424 + {
  425 + //灯光模式
  426 + case 0x51:
  427 + return JZ_INSCODE_5AFRAME_SEARCHLIGHT_CONTROL;
  428 + break;
  429 +
  430 + default:
  431 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  432 + break;
  433 + }
  434 +}
  435 +
  436 +//一级功能码 灯光亮度
  437 +static int Comparison_5AFRAME_FirstLevelCode_0x63(char *getdata)
  438 +{
  439 + //二级功能位
  440 + switch (getdata[8])
  441 + {
  442 + //灯光亮度
  443 + case 0x51:
  444 + return JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_LUMEN;
  445 + break;
  446 +
  447 + default:
  448 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  449 + break;
  450 + }
  451 +}
  452 +
  453 +//一级功能码云台功能
  454 +static int Comparison_5AFRAME_FirstLevelCode_0x64(char *getdata)
  455 +{
  456 + //二级功能位
  457 + switch (getdata[8])
  458 + {
  459 + //云台俯仰控制
  460 + case 0x51:
  461 + return JZ_INSCODE_5AFRAME_GIMBAL_PITCH_CONTROL;
  462 + break;
  463 +
  464 + //云台俯仰微调控制
  465 + case 0x52:
  466 + return JZ_INSCODE_5AFRAME_GIMBAL_PITCH_FINETUNING_CONTROL;
  467 + break;
  468 +
  469 + default:
  470 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  471 + break;
  472 + }
  473 +}
  474 +
  475 +//一级功能码 云台航向
  476 +static int Comparison_5AFRAME_FirstLevelCode_0x65(char *getdata)
  477 +{
  478 +
  479 +}
  480 +
  481 +//一级功能码 警灯模式控制
  482 +static int Comparison_5AFRAME_FirstLevelCode_0x66(char *getdata)
  483 +{
  484 + switch (getdata[8])
  485 + {
  486 + //警灯模式控制
  487 + case 0x51:
  488 + return JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL;
  489 + break;
  490 +
  491 + default:
  492 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  493 + break;
  494 + }
  495 +}
  496 +
  497 +//一级功能码 警灯眼色选择
  498 +static int Comparison_5AFRAME_FirstLevelCode_0x67(char *getdata)
  499 +{
  500 + switch (getdata[8])
  501 + {
  502 + //警灯颜色选择
  503 + case 0x51:
  504 + return JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR;
  505 + break;
  506 +
  507 + default:
  508 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  509 + break;
  510 + }
  511 +}
  512 +
  513 +//一级功能码 探照灯消息订阅
  514 +static int Comparison_5AFRAME_FirstLevelCode_0x68(char *getdata)
  515 +{
  516 + switch (getdata[8])
  517 + {
  518 + //探照灯消息订阅
  519 + case 0x51:
  520 + return JZ_INSCODE_5AFRAME_SEARCHLIGHT_MESSAGE_SUBSCRIPTION_CONTROL;
  521 + break;
  522 +
  523 + default:
  524 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  525 + break;
  526 + }
  527 +
  528 +}
  529 +
  530 +//一级功能码 私有协议
  531 +static int Comparison_5AFRAME_FirstLevelCode_0x69(char *getdata)
  532 +{
  533 +
  534 +}
  535 +
  536 +//一级功能码 6F查询帧
  537 +static int Comparison_5AFRAME_FirstLevelCode_0x6F(char *getdata)
  538 +{
  539 + //二级功能位
  540 + switch (getdata[8])
  541 + {
  542 + //灯光查询
  543 + case 0x51:
  544 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LIGHTATTRIBUTE;
  545 + break;
  546 +
  547 + //温度查询
  548 + case 0x52:
  549 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE;
  550 + break;
  551 +
  552 + //激光查询
  553 + case 0x53:
  554 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  555 + break;
  556 +
  557 + //云台角度查询
  558 + case 0x54:
  559 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL;
  560 + break;
  561 +
  562 + //警灯状态查询
  563 + case 0x55:
  564 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS;
  565 + break;
  566 +
  567 + //警灯颜色查询
  568 + case 0x56:
  569 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR;
  570 + break;
  571 +
  572 + //产品序列号查询
  573 + case 0x57:
  574 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_SERIALNUMBER;
  575 + break;
  576 +
  577 + //云台微调值查询
  578 + case 0x58:
  579 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL_FINETUNING;
  580 + break;
  581 +
  582 + default:
  583 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  584 + break;
  585 + }
  586 +}
  587 +
  588 +/******************************************************************
  589 +
  590 + 回复帧对比
  591 + 成功返回帧类型 无对比数据返回 JZ_ERROR_SYSTEM_FRAME_ERROR
  592 +
  593 +******************************************************************/
  594 +int JZsdk_5AFrameComparsion(char *getdata, int len)
  595 +{
  596 + //1、判断帧头帧尾
  597 + if (
  598 + ( (getdata[0]!= 0x5a) && (getdata[1] != 0x5a) && (getdata[2]!=0x77) )
  599 + || ( (getdata[len -2]!= 0x00) && (getdata[ len -1] != 0x23) )
  600 + )
  601 + {
  602 + printf("接受到的帧,没有帧头或者帧尾,退出JZsdk_5AFrameComparsion函数\n");
  603 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  604 + }
  605 +
  606 + //一级功能码
  607 + switch (getdata[7])
  608 + {
  609 +/*********************************************************************************************************************************************************
  610 + *
  611 + * 连接请求码
  612 + *
  613 +*********************************************************************************************************************************************************/
  614 + //一级功能码是连接请求
  615 + case 0x50:
  616 + return Comparison_5AFRAME_FirstLevelCode_0x50(getdata);
  617 + break;
  618 +
  619 +/*********************************************************************************************************************************************************
  620 + *
  621 + * 喊话器功能码
  622 + *
  623 +*********************************************************************************************************************************************************/
  624 + //一级功能码 语音 / 音频文件功能
  625 + case 0x51:
  626 + return Comparison_5AFRAME_FirstLevelCode_0x51(getdata);
  627 + break;
  628 +
  629 + //一级功能码 音频/ 功放/ 音量调节
  630 + case 0x52:
  631 + return Comparison_5AFRAME_FirstLevelCode_0x52(getdata);
  632 + break;
  633 +
  634 + //一级功能码 查询状态
  635 + case 0x53:
  636 + return Comparison_5AFRAME_FirstLevelCode_0x53(getdata);
  637 + break;
  638 +
  639 + //一级功能码 删除
  640 + case 0x54:
  641 + return Comparison_5AFRAME_FirstLevelCode_0x54(getdata);
  642 + break;
  643 +
  644 + //一级功能码 开启关闭循环
  645 + case 0x55:
  646 + return Comparison_5AFRAME_FirstLevelCode_0x55(getdata);
  647 + break;
  648 +
  649 + //一级功能码
  650 + case 0x56:
  651 + return Comparison_5AFRAME_FirstLevelCode_0x56(getdata);
  652 + break;
  653 +
  654 + //一级功能码 TTS
  655 + case 0x57:
  656 + return Comparison_5AFRAME_FirstLevelCode_0x57(getdata);
  657 + break;
  658 +
  659 + //一级功能码 查询列表功能
  660 + case 0x58:
  661 + return Comparison_5AFRAME_FirstLevelCode_0x58(getdata);
  662 + break;
  663 +
  664 + //一级功能码 opus
  665 + case 0x59:
  666 + return Comparison_5AFRAME_FirstLevelCode_0x59(getdata);
  667 + break;
  668 +
  669 + //一级功能码，硬件引脚控制
  670 + case 0x5A:
  671 + return Comparison_5AFRAME_FirstLevelCode_0x5A(getdata);
  672 + break;
  673 +
  674 + //一级功能码 激光控制
  675 + case 0x60:
  676 + return Comparison_5AFRAME_FirstLevelCode_0x60(getdata);
  677 + break;
  678 +
  679 + //一级功能码 爆闪控制
  680 + case 0x61:
  681 + return Comparison_5AFRAME_FirstLevelCode_0x61(getdata);
  682 + break;
  683 +
  684 + //一级功能码 灯光控制
  685 + case 0x62:
  686 + return Comparison_5AFRAME_FirstLevelCode_0x62(getdata);
  687 + break;
  688 +
  689 + //一级功能码 灯光亮度
  690 + case 0x63:
  691 + return Comparison_5AFRAME_FirstLevelCode_0x63(getdata);
  692 + break;
  693 +
  694 + //一级功能码 云台俯仰
  695 + case 0x64:
  696 + return Comparison_5AFRAME_FirstLevelCode_0x64(getdata);
  697 + break;
  698 +
  699 + //一级功能码 云台航向
  700 + case 0x65:
  701 + return Comparison_5AFRAME_FirstLevelCode_0x65(getdata);
  702 + break;
  703 +
  704 + //一级功能码 警灯模式控制
  705 + case 0x66:
  706 + return Comparison_5AFRAME_FirstLevelCode_0x66(getdata);
  707 + break;
  708 +
  709 + //一级功能码 警灯眼色选择
  710 + case 0x67:
  711 + return Comparison_5AFRAME_FirstLevelCode_0x67(getdata);
  712 + break;
  713 +
  714 + //一级功能码 探照灯消息订阅
  715 + case 0x68:
  716 + return Comparison_5AFRAME_FirstLevelCode_0x68(getdata);
  717 + break;
  718 +
  719 + //一级功能码 私有协议
  720 + case 0x69:
  721 + return Comparison_5AFRAME_FirstLevelCode_0x69(getdata);
  722 + break;
  723 +
  724 + //一级功能码 6f查询帧
  725 + case 0x6F:
  726 + return Comparison_5AFRAME_FirstLevelCode_0x6F(getdata);
  727 + break;
  728 +
  729 +
  730 + break;
  731 +
  732 + //一级功能码
  733 +
  734 +/*********************************************************************************************************************************************************
  735 + *
  736 + *
  737 + *
  738 +*********************************************************************************************************************************************************/
  739 + default:
  740 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  741 + break;
  742 + }
  743 +}
  744 +
  1 +/**********************************************************************
  2 + * @file
  3 + *
  4 + *
  5 + *********************************************************************
  6 + */
  7 +
  8 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  9 +#ifndef JZSDK_FRAMECOMPARSION_5AFRAME_H
  10 +#define JZSDK_FRAMECOMPARSION_5AFRAME_H
  11 +
  12 +/* Includes ------------------------------------------------------------------*/
  13 +
  14 +#ifdef __cplusplus
  15 +extern "C" {
  16 +#endif
  17 +
  18 +/* Exported constants --------------------------------------------------------*/
  19 +/* 常亮定义*/
  20 +
  21 +/* Exported types ------------------------------------------------------------*/
  22 +
  23 +/* Exported functions --------------------------------------------------------*/
  24 +
  25 +int JZsdk_5AFrameComparsion(char *getdata, int len);
  26 +
  27 +#ifdef __cplusplus
  28 +}
  29 +#endif
  30 +
  31 +#endif
  1 +#include <stdio.h>
  2 +#include "../JZsdk_Code/JZsdk_Code.h"
  3 +
  4 +
  5 +/******************************************************
  6 +
  7 + 接收一级功能码区
  8 +
  9 +/******************************************************/
  10 +//一级功能码是连接功能
  11 +static int Comparison_5BFRAME_FirstLevelCode_0x50(char *getdata)
  12 +{
  13 + //二级功能位
  14 + switch (getdata[8])
  15 + {
  16 + //回复连接
  17 + case 0x51:
  18 + return JZ_INSCODE_5BFRAME_INITIATECONNECT;
  19 + break;
  20 +
  21 + //心跳帧回复
  22 + case 0x53:
  23 + return JZ_INSCODE_5BFRAME_HEARTBEAT;
  24 + break;
  25 +
  26 + //时间戳回复
  27 + case 0x54:
  28 + return JZ_INSCODE_5BFRAME_TIMESTAMP;
  29 + break;
  30 +
  31 + //版本号回复
  32 + case 0x55:
  33 + return JZ_INSCODE_5BFRAME_ALL_VERSION;
  34 + break;
  35 +
  36 + //序列号回复
  37 + case 0x56:
  38 + return JZ_INSCODE_5BFRAME_ALL_SERIAL_NUMBER;
  39 + break;
  40 +
  41 + //log信息打印
  42 + case 0x58:
  43 + return JZ_INSCODE_5BFRAME_DEVICE_MESSAGE;
  44 + break;
  45 +
  46 + default:
  47 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  48 + break;
  49 + }
  50 +}
  51 +
  52 +//一级功能码是操作功能
  53 +static int Comparison_5BFRAME_FirstLevelCode_0x51(char *getdata)
  54 +{
  55 + //二级功能位
  56 + switch (getdata[8])
  57 + {
  58 + //回复操作成功
  59 + case 0x01:
  60 + return JZ_INSCODE_5BFRAME_SUCESS;
  61 + break;
  62 +
  63 + //回复操作失败
  64 + case 0xff:
  65 + return JZ_INSCODE_5BFRAME_DEFEAT;
  66 + break;
  67 +
  68 + default:
  69 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  70 + break;
  71 + }
  72 +}
  73 +//一级功能码是音频列表功能
  74 +static int Comparison_5BFRAME_FirstLevelCode_0x53(char *getdata)
  75 +{
  76 + //二级功能位
  77 + switch (getdata[8])
  78 + {
  79 + //音量返回
  80 + case 0x01:
  81 + return JZ_INSCODE_5BFRAME_VOLUME;
  82 + break;
  83 +
  84 + //播放状态返回
  85 + case 0x02:
  86 + return JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS;
  87 + break;
  88 +
  89 + //当前播放文件名返回
  90 + case 0x04:
  91 + return JZ_INSCODE_5BFRAME_AUDIO_PLAYFILENAME;
  92 + break;
  93 +
  94 + //查询是否开启循环
  95 + case 0x05:
  96 + return JZ_INSCODE_5BFRAME_AUDIO_PLAYLOOPSTATUS;
  97 + break;
  98 +
  99 + //查询音色
  100 + case 0x06:
  101 + return JZ_INSCODE_5BFRAME_TTS_TONE;
  102 + break;
  103 +
  104 + //查询语速
  105 + case 0x07:
  106 + return JZ_INSCODE_5BFRAME_TTS_SPEED;
  107 + break;
  108 +
  109 + //版本返回
  110 + case 0xf1:
  111 + return JZ_INSCODE_5BFRAME_SORTWAREVERSION;
  112 + break;
  113 +
  114 + //播放结束（主动返回）
  115 + case 0xff:
  116 + return JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS_END;
  117 + break;
  118 +
  119 + default:
  120 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  121 + break;
  122 + }
  123 +}
  124 +
  125 +//一级功能码是音频列表功能
  126 +static int Comparison_5BFRAME_FirstLevelCode_0x58(char *getdata)
  127 +{
  128 + //二级功能位
  129 + switch (getdata[8])
  130 + {
  131 + //查询列表开始
  132 + case 0x00:
  133 + return JZ_INSCODE_5BFRAME_MUSICLIST_START;
  134 + break;
  135 +
  136 + //文件列表帧
  137 + case 0x02:
  138 + return JZ_INSCODE_5BFRAME_MUSICLIST_TRANS;
  139 + break;
  140 +
  141 + //结束列表返回
  142 + case 0xff:
  143 + return JZ_INSCODE_5BFRAME_MUSICLIST_STOP;
  144 + break;
  145 +
  146 + default:
  147 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  148 + break;
  149 + }
  150 +}
  151 +
  152 +//一级功能码是opus功能
  153 +static int Comparison_5BFRAME_FirstLevelCode_0x59(char *getdata)
  154 +{
  155 + //二级功能位
  156 + switch (getdata[8])
  157 + {
  158 + //opus解码状态
  159 + case 0xF2:
  160 + return JZ_INSCODE_5BFRAME_OPUS_DECODE_STATUS;
  161 + break;
  162 +
  163 + default:
  164 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  165 + break;
  166 + }
  167 +}
  168 +
  169 +//一级功能码是硬件引脚控制
  170 +static int Comparison_5BFRAME_FirstLevelCode_0x5A(char *getdata)
  171 +{
  172 + //二级功能位
  173 + switch (getdata[8])
  174 + {
  175 + //回复对供电开关状态返回
  176 + case 0x02:
  177 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_OUTPUTPOWER;
  178 + break;
  179 +
  180 + default:
  181 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  182 + break;
  183 + }
  184 +}
  185 +
  186 +//一级功能码是激光
  187 +static int Comparison_5BFRAME_FirstLevelCode_0x60(char *getdata)
  188 +{
  189 + //二级功能位
  190 + switch (getdata[8])
  191 + {
  192 + //回复激光查询
  193 + case 0x51:
  194 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS;
  195 + break;
  196 +
  197 + default:
  198 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  199 + break;
  200 + }
  201 +}
  202 +
  203 +//一级功能码是回复灯光频率
  204 +static int Comparison_5BFRAME_FirstLevelCode_0x61(char *getdata)
  205 +{
  206 + //二级功能位
  207 + switch (getdata[8])
  208 + {
  209 + //回复灯光频率
  210 + case 0x51:
  211 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY;
  212 + break;
  213 +
  214 + default:
  215 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  216 + break;
  217 + }
  218 +}
  219 +
  220 +//一级功能码是回复灯光模式
  221 +static int Comparison_5BFRAME_FirstLevelCode_0x62(char *getdata)
  222 +{
  223 + //二级功能位
  224 + switch (getdata[8])
  225 + {
  226 + //回复灯光模式
  227 + case 0x51:
  228 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_MODE;
  229 + break;
  230 +
  231 + default:
  232 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  233 + break;
  234 + }
  235 +}
  236 +
  237 +//一级功能码是回复灯光亮度
  238 +static int Comparison_5BFRAME_FirstLevelCode_0x63(char *getdata)
  239 +{
  240 + //二级功能位
  241 + switch (getdata[8])
  242 + {
  243 + //回复灯光亮度
  244 + case 0x51:
  245 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN;
  246 + break;
  247 +
  248 + default:
  249 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  250 + break;
  251 + }
  252 +}
  253 +
  254 +//一级功能码是云台俯仰
  255 +static int Comparison_5BFRAME_FirstLevelCode_0x64(char *getdata)
  256 +{
  257 + //二级功能位
  258 + switch (getdata[8])
  259 + {
  260 + //回复云台俯仰
  261 + case 0x51:
  262 + return JZ_INSCODE_5BFRAME_GIMBAL_PITCH;
  263 + break;
  264 +
  265 + //回复云台俯仰微调值
  266 + case 0x52:
  267 + return JZ_INSCODE_5BFRAME_GIMBAL_PITCH_FINETUNING;
  268 + break;
  269 +
  270 + default:
  271 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  272 + break;
  273 + }
  274 +}
  275 +//一级功能码是云台航向
  276 +static int Comparison_5BFRAME_FirstLevelCode_0x65(char *getdata)
  277 +{
  278 + //二级功能位
  279 + switch (getdata[8])
  280 + {
  281 + //回复云台航向
  282 + case 0x51:
  283 + return JZ_INSCODE_5BFRAME_GIMBAL_YAW;
  284 + break;
  285 +
  286 +
  287 + default:
  288 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  289 + break;
  290 + }
  291 +}
  292 +//一级功能码是回复警灯状态
  293 +static int Comparison_5BFRAME_FirstLevelCode_0x66(char *getdata)
  294 +{
  295 + //二级功能位
  296 + switch (getdata[8])
  297 + {
  298 + //回复警灯状态
  299 + case 0x51:
  300 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS;
  301 + break;
  302 +
  303 +
  304 + default:
  305 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  306 + break;
  307 + }
  308 +}//一级功能码是回复警灯颜色
  309 +static int Comparison_5BFRAME_FirstLevelCode_0x67(char *getdata)
  310 +{
  311 + //二级功能位
  312 + switch (getdata[8])
  313 + {
  314 + //回复回复警灯颜色
  315 + case 0x51:
  316 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR;
  317 + break;
  318 +
  319 +
  320 + default:
  321 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  322 + break;
  323 + }
  324 +}//一级功能码是回复温度/序列号查询
  325 +static int Comparison_5BFRAME_FirstLevelCode_0x69(char *getdata)
  326 +{
  327 + //二级功能位
  328 + switch (getdata[8])
  329 + {
  330 + //回复温度查询
  331 + case 0x51:
  332 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE;
  333 + break;
  334 +
  335 + //回复产品序列号
  336 + case 0x54:
  337 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_SERIALNUMBER;
  338 + break;
  339 +
  340 + default:
  341 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  342 + break;
  343 + }
  344 +}
  345 +/******************************************************************
  346 +
  347 + 回复帧对比
  348 + 成功返回帧类型 无对比数据返回 JZ_ERROR_SYSTEM_FRAME_ERROR
  349 +
  350 +******************************************************************/
  351 +int JZsdk_5BFrameComparsion(char *getdata, int len)
  352 +{
  353 + //1、判断帧头帧尾
  354 + if (
  355 + ( (getdata[0]!= 0x5B) && (getdata[1] != 0x5B) && (getdata[2]!=0x77) )
  356 + || ( (getdata[len -2]!= 0x00) && (getdata[ len -1] != 0x23) )
  357 + )
  358 + {
  359 + printf("接受到的帧,没有帧头或者帧尾,退出JZsdk_5BFrameComparsion函数\n");
  360 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  361 + }
  362 +
  363 + //一级功能码
  364 + switch (getdata[7])
  365 + {
  366 + case 0x50:
  367 + return Comparison_5BFRAME_FirstLevelCode_0x50(getdata);
  368 + break;
  369 +
  370 + case 0x51:
  371 + return Comparison_5BFRAME_FirstLevelCode_0x51(getdata);
  372 + break;
  373 +
  374 + case 0x53:
  375 + return Comparison_5BFRAME_FirstLevelCode_0x53(getdata);
  376 + break;
  377 +
  378 + case 0x58:
  379 + return Comparison_5BFRAME_FirstLevelCode_0x58(getdata);
  380 + break;
  381 +
  382 + case 0x59:
  383 + return Comparison_5BFRAME_FirstLevelCode_0x58(getdata);
  384 + break;
  385 +
  386 + case 0x5A:
  387 + return Comparison_5BFRAME_FirstLevelCode_0x5A(getdata);
  388 + break;
  389 +
  390 + case 0x60:
  391 + return Comparison_5BFRAME_FirstLevelCode_0x60(getdata);
  392 + break;
  393 +
  394 + case 0x61:
  395 + return Comparison_5BFRAME_FirstLevelCode_0x61(getdata);
  396 + break;
  397 +
  398 + case 0x62:
  399 + return Comparison_5BFRAME_FirstLevelCode_0x62(getdata);
  400 + break;
  401 +
  402 + case 0x63:
  403 + return Comparison_5BFRAME_FirstLevelCode_0x63(getdata);
  404 + break;
  405 +
  406 + case 0x64:
  407 + return Comparison_5BFRAME_FirstLevelCode_0x64(getdata);
  408 + break;
  409 +
  410 + case 0x65:
  411 + return Comparison_5BFRAME_FirstLevelCode_0x65(getdata);
  412 + break;
  413 +
  414 + case 0x66:
  415 + return Comparison_5BFRAME_FirstLevelCode_0x66(getdata);
  416 + break;
  417 +
  418 + case 0x67:
  419 + return Comparison_5BFRAME_FirstLevelCode_0x67(getdata);
  420 + break;
  421 +
  422 + case 0x69:
  423 + return Comparison_5BFRAME_FirstLevelCode_0x69(getdata);
  424 + break;
  425 +
  426 +
  427 + default:
  428 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  429 + break;
  430 + }
  431 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file
  4 + *
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_FRAMECOMPARSION_5BFRAME_H
  11 +#define JZSDK_FRAMECOMPARSION_5BFRAME_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +/* Exported types ------------------------------------------------------------*/
  23 +
  24 +/* Exported functions --------------------------------------------------------*/
  25 +int JZsdk_5BFrameComparsion(char *getdata, int len);
  26 +
  27 +
  28 +#ifdef __cplusplus
  29 +}
  30 +#endif
  31 +
  32 +#endif
  1 +#include <stdio.h>
  2 +#include "../JZsdk_Code/JZsdk_Code.h"
  3 +
  4 +
  5 +//一级功能码是私有协议
  6 +static int Comparison_6AFRAME_FirstLevelCode_0x69(char *getdata)
  7 +{
  8 + //二级功能位
  9 + switch (getdata[8])
  10 + {
  11 + //设置当前为云台零值
  12 + case 0x51:
  13 + return JZ_INSCODE_6AFRAME_SET_GIMBAL_ORIGIN;
  14 + break;
  15 +
  16 + //设置云台当前为最大最小值
  17 + case 0x52:
  18 + return JZ_INSCODE_6AFRAME_SET_GIMBAL_MAXMIN_RANGE;
  19 + break;
  20 +
  21 + //设置灯光当前亮度为最大最小值
  22 + case 0x53:
  23 + return JZ_INSCODE_6AFRAME_SET_LUMEN_MAXMIN_RANGE;
  24 + break;
  25 +
  26 + //设置产品序列号
  27 + case 0x54:
  28 + return JZ_INSCODE_6AFRAME_SET_SERIALNUMBER;
  29 + break;
  30 +
  31 + //舵机自检
  32 + case 0x55:
  33 + return JZ_INSCODE_6AFRAME_SERVO_SELFCHECK;
  34 + break;
  35 +
  36 + //开启关闭云台联动
  37 + case 0x56:
  38 + return JZ_INSCODE_6AFRAME_GIMBAL_LINKAGE_CONTROL;
  39 + break;
  40 +
  41 + default:
  42 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  43 + break;
  44 + }
  45 +}
  46 +
  47 +
  48 +
  49 +//一级功能码是私有协议
  50 +static int Comparison_6AFRAME_FirstLevelCode_0x6F(char *getdata)
  51 +{
  52 + //二级功能位
  53 + switch (getdata[8])
  54 + {
  55 + //设置当前为云台零值
  56 + case 0x50:
  57 + return JZ_INSCODE_6AFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME;
  58 + break;
  59 +
  60 + //设置当前为云台零值
  61 + case 0x51:
  62 + return JZ_INSCODE_6AFRAME_CHECKSTATUS_GIMBAL_LINKAGE;
  63 + break;
  64 +
  65 + //串口比特率修改
  66 + case 0x52:
  67 + return JZ_INSCODE_6AFRAME_UART_BITRATE_CHANGE;
  68 + break;
  69 +
  70 + //设置特殊变量
  71 + case 0x53:
  72 + return JZ_INSCODE_6AFRAME_SPECIAL_PARAMETERS;
  73 + break;
  74 +
  75 + //查询特殊变量
  76 + case 0x54:
  77 + return JZ_INSCODE_6AFRAME_CHECK_SPECIAL_PARAMETERS;
  78 + break;
  79 +
  80 + default:
  81 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  82 + break;
  83 + }
  84 +}
  85 +
  86 +/******************************************************************
  87 +
  88 + 回复帧对比
  89 + 成功返回帧类型 无对比数据返回 JZ_ERROR_SYSTEM_FRAME_ERROR
  90 +
  91 +******************************************************************/
  92 +int JZsdk_6AFrameComparsion(char *getdata, int len)
  93 +{
  94 + //1、判断帧头帧尾
  95 + if (
  96 + ( (getdata[0]!= 0x6A) && (getdata[1] != 0x6A) && (getdata[2]!=0x77) )
  97 + || ( (getdata[len -2]!= 0x00) && (getdata[ len -1] != 0x23) )
  98 + )
  99 + {
  100 + printf("接受到的帧,没有帧头或者帧尾,退出JZsdk_6AFrameComparsion函数\n");
  101 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  102 + }
  103 +
  104 + //一级功能码
  105 + switch (getdata[7])
  106 + {
  107 + case 0x69:
  108 + return Comparison_6AFRAME_FirstLevelCode_0x69(getdata);
  109 + break;
  110 +
  111 + case 0x6F:
  112 + return Comparison_6AFRAME_FirstLevelCode_0x6F(getdata);
  113 + break;
  114 +
  115 +
  116 + default:
  117 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  118 + break;
  119 + }
  120 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file
  4 + *
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_FRAMECOMPARSION_6AFRAME_H
  11 +#define JZSDK_FRAMECOMPARSION_6AFRAME_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +/* Exported types ------------------------------------------------------------*/
  23 +
  24 +/* Exported functions --------------------------------------------------------*/
  25 +int JZsdk_6AFrameComparsion(char *getdata, int len);
  26 +
  27 +
  28 +#ifdef __cplusplus
  29 +}
  30 +#endif
  31 +
  32 +#endif
  33 +
  1 +#include <stdio.h>
  2 +#include "../JZsdk_Code/JZsdk_Code.h"
  3 +
  4 +
  5 +//一级功能码是私有协议
  6 +static int Comparison_6BFRAME_FirstLevelCode_0x6F(char *getdata)
  7 +{
  8 + //二级功能位
  9 + switch (getdata[8])
  10 + {
  11 + //从设备名返回
  12 + case 0x50:
  13 + return JZ_INSCODE_6BFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME;
  14 + break;
  15 +
  16 + //查询云台联动返回
  17 + case 0x51:
  18 + return JZ_INSCODE_6BFRAME_CHECKSTATUS_GIMBAL_LINKAGE;
  19 + break;
  20 +
  21 + //查询特殊变量
  22 + case 0x54:
  23 + return JZ_INSCODE_6BFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME;
  24 + break;
  25 +
  26 + default:
  27 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  28 + break;
  29 + }
  30 +}
  31 +
  32 +/******************************************************************
  33 +
  34 + 回复帧对比
  35 + 成功返回帧类型 无对比数据返回 JZ_ERROR_SYSTEM_FRAME_ERROR
  36 +
  37 +******************************************************************/
  38 +int JZsdk_6BFrameComparsion(char *getdata, int len)
  39 +{
  40 + //1、判断帧头帧尾
  41 + if (
  42 + ( (getdata[0]!= 0x6B) && (getdata[1] != 0x6B) && (getdata[2]!=0x77) )
  43 + || ( (getdata[len -2]!= 0x00) && (getdata[ len -1] != 0x23) )
  44 + )
  45 + {
  46 + printf("接受到的帧,没有帧头或者帧尾,退出JZsdk_6BFrameComparsion函数\n");
  47 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  48 + }
  49 +
  50 + //一级功能码
  51 + switch (getdata[7])
  52 + {
  53 + case 0x6F:
  54 + return Comparison_6BFRAME_FirstLevelCode_0x6F(getdata);
  55 + break;
  56 +
  57 +
  58 + default:
  59 + return JZ_ERROR_SYSTEM_FRAME_ERROR;
  60 + break;
  61 + }
  62 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file
  4 + *
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +
  11 +
  12 +#ifndef JZSDK_FRAMECOMPARSION_6BFRAME_H
  13 +#define JZSDK_FRAMECOMPARSION_6BFRAME_H
  14 +
  15 +/* Includes ------------------------------------------------------------------*/
  16 +
  17 +#ifdef __cplusplus
  18 +extern "C" {
  19 +#endif
  20 +
  21 +/* Exported constants --------------------------------------------------------*/
  22 +/* 常亮定义*/
  23 +
  24 +/* Exported types ------------------------------------------------------------*/
  25 +
  26 +/* Exported functions --------------------------------------------------------*/
  27 +int JZsdk_6BFrameComparsion(char *getdata, int len);
  28 +
  29 +
  30 +#ifdef __cplusplus
  31 +}
  32 +#endif
  33 +
  34 +#endif
  35 +
  1 +#include <stdio.h>
  2 +#include <string.h>
  3 +#include "../JZsdk_Code/JZsdk_Code.h"
  4 +
  5 +/******************************************************
  6 +
  7 + 用于获取帧模板
  8 +
  9 +/******************************************************/
  10 +int JZsdk_GetFrameTemplate(int InsCode ,char *str, int *str_len)
  11 +{
  12 + //printf("JZsdk_GetFrameTemplate:获取0x%x帧模板\n",InsCode); //该打印可能会对 要求快速控制的地方变慢，请不要随意开启
  13 + switch (InsCode)
  14 + {
  15 +/********************************************************************************************************************************************************
  16 + *
  17 + * 5A帧
  18 + *
  19 +********************************************************************************************************************************************************/
  20 + case JZ_INSCODE_5AFRAME_ASKFORCONNECT:
  21 + {
  22 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x50 ,0x51 ,0x00 ,0x00 ,0x23};
  23 + memcpy(str, sendbuf, 12);
  24 + *str_len = 12;
  25 + }
  26 + break;
  27 +
  28 + case JZ_INSCODE_5AFRAME_FRAME_POWER_STATUS:
  29 + {
  30 + unsigned char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x50 ,0x52 ,0x00 ,0x00 ,0x23};
  31 + memcpy(str, sendbuf, 12);
  32 + *str_len = 12;
  33 + }
  34 + break;
  35 +
  36 + case JZ_INSCODE_5AFRAME_HEARTBEAT:
  37 + {
  38 + unsigned char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x50 ,0x53 ,0x00 ,0x00 ,0x23};
  39 + memcpy(str, sendbuf, 12);
  40 + *str_len = 12;
  41 + }
  42 + break;
  43 +
  44 + case JZ_INSCODE_5AFRAME_TIMESTAMP:
  45 + {
  46 + unsigned char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x50 ,0x54 ,0x00 ,0x00 ,0x23};
  47 + memcpy(str, sendbuf, 12);
  48 + *str_len = 12;
  49 + }
  50 + break;
  51 + case JZ_INSCODE_5AFRAME_AUDIO_STOP:
  52 + {
  53 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x52 ,0x06 ,0x00 ,0x00 ,0x23};
  54 + memcpy(str, sendbuf, 12);
  55 + *str_len = 12;
  56 + }
  57 + break;
  58 +
  59 + case JZ_INSCODE_5AFRAME_AUDIO_LASTSONG:
  60 + {
  61 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x52 ,0x07 ,0x00 ,0x00 ,0x23};
  62 + memcpy(str, sendbuf, 12);
  63 + *str_len = 12;
  64 + }
  65 + break;
  66 +
  67 + case JZ_INSCODE_5AFRAME_AUDIO_NEXTSONG:
  68 + {
  69 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x52 ,0x08 ,0x00 ,0x00 ,0x23};
  70 + memcpy(str, sendbuf, 12);
  71 + *str_len = 12;
  72 + }
  73 + break;
  74 +
  75 + case JZ_INSCODE_5AFRAME_VOLUME:
  76 + {
  77 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x52 ,0x10 ,0x00 ,0x00 ,0x23};
  78 + memcpy(str, sendbuf, 12);
  79 + *str_len = 12;
  80 + }
  81 + break;
  82 +
  83 + case JZ_INSCODE_5AFRAME_PLAY_LOOP:
  84 + {
  85 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x55 ,0x00 ,0x00 ,0x00 ,0x23};
  86 + memcpy(str, sendbuf, 12);
  87 + *str_len = 12;
  88 + }
  89 + break;
  90 +
  91 + case JZ_INSCODE_5AFRAME_TTS_SET_TONE:
  92 + {
  93 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x57 ,0x01 ,0x00 ,0x00 ,0x23};
  94 + memcpy(str, sendbuf, 12);
  95 + *str_len = 12;
  96 + }
  97 + break;
  98 +
  99 + case JZ_INSCODE_5AFRAME_TTS_TRANS_START:
  100 + {
  101 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x57 ,0x03 ,0x00 ,0x00 ,0x23};
  102 + memcpy(str, sendbuf, 12);
  103 + *str_len = 12;
  104 + }
  105 + break;
  106 +
  107 + case JZ_INSCODE_5AFRAME_TTS_TRANS_STOP:
  108 + {
  109 + char sendbuf[12] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0C ,0x00 ,0x00 ,0x57 ,0x04 ,0x00 ,0x00 ,0x23};
  110 + memcpy(str, sendbuf, 12);
  111 + *str_len = 12;
  112 + }
  113 + break;
  114 +
  115 + case JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_FREQUENCY:
  116 + {
  117 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x61 ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
  118 + memcpy(str, sendbuf, 13);
  119 + *str_len = 13;
  120 + }
  121 + break;
  122 +
  123 + case JZ_INSCODE_5AFRAME_SEARCHLIGHT_CONTROL:
  124 + {
  125 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x62 ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
  126 + memcpy(str, sendbuf, 13);
  127 + *str_len = 13;
  128 + }
  129 + break;
  130 +
  131 + case JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_LUMEN:
  132 + {
  133 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x63 ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
  134 + memcpy(str, sendbuf, 13);
  135 + *str_len = 13;
  136 + }
  137 + break;
  138 +
  139 + case JZ_INSCODE_5AFRAME_GIMBAL_PITCH_CONTROL:
  140 + {
  141 + char sendbuf[14] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0E ,0x00 ,0x00 ,0x64 ,0x51 ,0x00 ,0x00 ,0x00 ,0x00 ,0x23};
  142 + memcpy(str, sendbuf, 14);
  143 + *str_len = 14;
  144 + }
  145 + break;
  146 +
  147 + case JZ_INSCODE_5AFRAME_GIMBAL_PITCH_FINETUNING_CONTROL:
  148 + {
  149 + char sendbuf[14] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0E ,0x00 ,0x00 ,0x64 ,0x52 ,0x00 ,0x00 ,0x00 ,0x00 ,0x23};
  150 + memcpy(str, sendbuf, 14);
  151 + *str_len = 14;
  152 + }
  153 + break;
  154 +
  155 + case JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL:
  156 + {
  157 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x66 ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
  158 + memcpy(str, sendbuf, 13);
  159 + *str_len = 13;
  160 + }
  161 + break;
  162 +
  163 + case JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR:
  164 + {
  165 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x67 ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
  166 + memcpy(str, sendbuf, 13);
  167 + *str_len = 13;
  168 + }
  169 + break;
  170 +
  171 + case JZ_INSCODE_5AFRAME_SEARCHLIGHT_MESSAGE_SUBSCRIPTION_CONTROL:
  172 + {
  173 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x68 ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
  174 + memcpy(str, sendbuf, 13);
  175 + *str_len = 13;
  176 + }
  177 + break;
  178 +
  179 + case JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LIGHTATTRIBUTE:
  180 + {
  181 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
  182 + memcpy(str, sendbuf, 13);
  183 + *str_len = 13;
  184 + }
  185 + break;
  186 +
  187 + case JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE:
  188 + {
  189 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x52 ,0x00 ,0x00 ,0x00 ,0x23};
  190 + memcpy(str, sendbuf, 13);
  191 + *str_len = 13;
  192 + }
  193 + break;
  194 +
  195 + case JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL:
  196 + {
  197 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x54 ,0x00 ,0x00 ,0x00 ,0x23};
  198 + memcpy(str, sendbuf, 13);
  199 + *str_len = 13;
  200 + }
  201 + break;
  202 +
  203 + case JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS:
  204 + {
  205 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x55 ,0x00 ,0x00 ,0x00 ,0x23};
  206 + memcpy(str, sendbuf, 13);
  207 + *str_len = 13;
  208 + }
  209 + break;
  210 +
  211 + case JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR:
  212 + {
  213 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x56 ,0x00 ,0x00 ,0x00 ,0x23};
  214 + memcpy(str, sendbuf, 13);
  215 + *str_len = 13;
  216 + }
  217 + break;
  218 +
  219 + case JZ_INSCODE_5AFRAME_CHECKSTATUS_SERIALNUMBER:
  220 + {
  221 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x57 ,0x00 ,0x00 ,0x00 ,0x23};
  222 + memcpy(str, sendbuf, 13);
  223 + *str_len = 13;
  224 + }
  225 + break;
  226 +
  227 + case JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL_FINETUNING:
  228 + {
  229 + char sendbuf[13] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x58 ,0x00 ,0x00 ,0x00 ,0x23};
  230 + memcpy(str, sendbuf, 13);
  231 + *str_len = 13;
  232 + }
  233 + break;
  234 +/********************************************************************************************************************************************************
  235 + *
  236 + * 5B帧
  237 + *
  238 +********************************************************************************************************************************************************/
  239 + case JZ_INSCODE_5BFRAME_INITIATECONNECT:
  240 + {
  241 + char sendbuf[12] = {0x5B ,0x5B ,0x77 ,0x00 ,0x0c ,0x00 ,0x00 ,0x50 ,0x51 ,0x00 ,0x00 ,0x23};
  242 + memcpy(str, sendbuf, 12);
  243 + *str_len = 12;
  244 + }
  245 + break;
  246 +
  247 + case JZ_INSCODE_5BFRAME_HEARTBEAT:
  248 + {
  249 + char sendbuf[12] = {0x5B ,0x5B ,0x77 ,0x00 ,0x0c ,0x00 ,0x00 ,0x50 ,0x53 ,0x00 ,0x00 ,0x23};
  250 + memcpy(str, sendbuf, 12);
  251 + *str_len = 12;
  252 + }
  253 + break;
  254 +
  255 + case JZ_INSCODE_5BFRAME_ALL_VERSION:
  256 + {
  257 + unsigned char sendbuf[16] = {0x5B ,0x5B ,0x77 ,0x00 ,0x10 ,0x00 ,0x00 ,0x50 ,0x55, 0x00, 0x00, 0x00, 0x00 ,0x00 ,0x00 ,0x23};
  258 + memcpy(str, sendbuf, 16);
  259 + *str_len = 16;
  260 + }
  261 + break;
  262 +
  263 + case JZ_INSCODE_5BFRAME_ALL_SERIAL_NUMBER:
  264 + {
  265 + unsigned char sendbuf[13] = {0x5B ,0x5B ,0x77 ,0x00 ,0x10 ,0x00 ,0x00 ,0x50 ,0x56, 0x00, 0x00 , 0x00 ,0x23};
  266 + memcpy(str, sendbuf, 13);
  267 + *str_len = 13;
  268 + }
  269 + break;
  270 +
  271 + case JZ_INSCODE_5BFRAME_DEVICE_MESSAGE:
  272 + {
  273 + unsigned char sendbuf[12] = {0x5B ,0x5B ,0x77 ,0x00 ,0x0c ,0x00 ,0x00 ,0x50 ,0x58, 0x00 , 0x00 ,0x23};
  274 + memcpy(str, sendbuf, 12);
  275 + *str_len = 12;
  276 + }
  277 + break;
  278 +
  279 + case JZ_INSCODE_5BFRAME_SUCESS:
  280 + {
  281 + char sendbuf[12] = {0x5B, 0x5B, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x51, 0x01, 0x00, 0x00, 0x23};
  282 + memcpy(str, sendbuf, 12);
  283 + *str_len = 12;
  284 + }
  285 + break;
  286 +
  287 + case JZ_INSCODE_5BFRAME_DEFEAT:
  288 + {
  289 + char sendbuf[12] = {0x5B, 0x5B, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x51, 0xff, 0x00, 0x00, 0x23};
  290 + memcpy(str, sendbuf, 12);
  291 + *str_len = 12;
  292 + }
  293 + break;
  294 +
  295 +
  296 + case JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS_END:
  297 + {
  298 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x53, 0xff, 0x00, 0x00, 0x23};
  299 + memcpy(str, sendbuf, 12);
  300 + *str_len = 12;
  301 + }
  302 + break;
  303 +
  304 + case JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS:
  305 + {
  306 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x53, 0x02, 0x00, 0x00, 0x23};
  307 + memcpy(str, sendbuf, 12);
  308 + *str_len = 12;
  309 + }
  310 + break;
  311 +
  312 + case JZ_INSCODE_5BFRAME_AUDIO_PLAYFILENAME:
  313 + {
  314 + char sendbuf[12] = {0x5B, 0x5B, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x53, 0x04, 0x00, 0x00, 0x23};
  315 + memcpy(str, sendbuf, 12);
  316 + *str_len = 12;
  317 + }
  318 + break;
  319 +
  320 + case JZ_INSCODE_5BFRAME_VOLUME:
  321 + {
  322 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x53, 0x01, 0x00, 0x00, 0x23};
  323 + memcpy(str, sendbuf, 12);
  324 + *str_len = 12;
  325 + }
  326 + break;
  327 +
  328 +
  329 +
  330 + case JZ_INSCODE_5BFRAME_SORTWAREVERSION:
  331 + {
  332 + char sendbuf[15] = { 0x5b, 0x5b, 0x77, 0x00, 0x0f, 0x00, 0x00, 0x53, 0xf1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23};
  333 + memcpy(str, sendbuf, 15);
  334 + *str_len = 15;
  335 + }
  336 + break;
  337 +
  338 + case JZ_INSCODE_5BFRAME_AUDIO_PLAYLOOPSTATUS:
  339 + {
  340 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x53, 0x05, 0x00, 0x00, 0x23};
  341 + memcpy(str, sendbuf, 12);
  342 + *str_len = 12;
  343 + }
  344 + break;
  345 +
  346 + case JZ_INSCODE_5BFRAME_TTS_TONE:
  347 + {
  348 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x53, 0x06, 0x00, 0x00, 0x23};
  349 + memcpy(str, sendbuf, 12);
  350 + *str_len = 12;
  351 + }
  352 + break;
  353 +
  354 + case JZ_INSCODE_5BFRAME_TTS_SPEED:
  355 + {
  356 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x53, 0x07, 0x00, 0x00, 0x23};
  357 + memcpy(str, sendbuf, 12);
  358 + *str_len = 12;
  359 + }
  360 + break;
  361 +
  362 + case JZ_INSCODE_5BFRAME_MUSICLIST_START:
  363 + {
  364 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x58, 0x00, 0x00, 0x00, 0x23};
  365 + memcpy(str, sendbuf, 12);
  366 + *str_len = 12;
  367 + }
  368 + break;
  369 +
  370 + case JZ_INSCODE_5BFRAME_MUSICLIST_TRANS:
  371 + {
  372 + char sendbuf[12] = {0x5B, 0x5B, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x58, 0x02, 0x00, 0x00, 0x23};
  373 + memcpy(str, sendbuf, 12);
  374 + *str_len = 12;
  375 + }
  376 + break;
  377 +
  378 + case JZ_INSCODE_5BFRAME_MUSICLIST_STOP:
  379 + {
  380 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x58, 0xff, 0x00, 0x00, 0x23};
  381 + memcpy(str, sendbuf, 12);
  382 + *str_len = 12;
  383 + }
  384 + break;
  385 +
  386 + case JZ_INSCODE_5BFRAME_OPUS_DECODE_STATUS:
  387 + {
  388 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0c, 0x00, 0x00, 0x59, 0xf2, 0x00, 0x00, 0x23};
  389 + memcpy(str, sendbuf, 12);
  390 + *str_len = 12;
  391 + }
  392 + break;
  393 +
  394 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_OUTPUTPOWER:
  395 + {
  396 + char sendbuf[12] = { 0x5b, 0x5b, 0x77, 0x00, 0x0C, 0x00, 0x00, 0x5A, 0x02, 0x00, 0x00, 0x23};
  397 + memcpy(str, sendbuf, 12);
  398 + *str_len = 12;
  399 + }
  400 + break;
  401 +
  402 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY:
  403 + {
  404 + char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x61, 0x51, 0x00, 0x00, 0x00, 0x23};
  405 + memcpy(str, sendbuf, 13);
  406 + *str_len = 13;
  407 + }
  408 + break;
  409 +
  410 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_MODE:
  411 + {
  412 + char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x62, 0x51, 0x00, 0x00, 0x00, 0x23};
  413 + memcpy(str, sendbuf, 13);
  414 + *str_len = 13;
  415 + }
  416 + break;
  417 +
  418 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN:
  419 + {
  420 + char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x63, 0x51, 0x00, 0x00, 0x00, 0x23};
  421 + memcpy(str, sendbuf, 13);
  422 + *str_len = 13;
  423 + }
  424 + break;
  425 +
  426 + case JZ_INSCODE_5BFRAME_GIMBAL_PITCH:
  427 + {
  428 + char sendbuf[14] = { 0x5b, 0x5b, 0x77, 0x00, 0x0e, 0x00, 0x00, 0x64, 0x51, 0x00, 0x00, 0x00, 0x00, 0x23};
  429 + memcpy(str, sendbuf, 14);
  430 + *str_len = 14;
  431 + }
  432 + break;
  433 +
  434 + case JZ_INSCODE_5BFRAME_GIMBAL_PITCH_FINETUNING:
  435 + {
  436 + char sendbuf[14] = { 0x5b, 0x5b, 0x77, 0x00, 0x0e, 0x00, 0x00, 0x64, 0x52, 0x00, 0x00, 0x00, 0x00, 0x23};
  437 + memcpy(str, sendbuf, 14);
  438 + *str_len = 14;
  439 + }
  440 + break;
  441 +
  442 + case JZ_INSCODE_5BFRAME_GIMBAL_YAW:
  443 + {
  444 + char sendbuf[14] = { 0x5b, 0x5b, 0x77, 0x00, 0x0e, 0x00, 0x00, 0x65, 0x51, 0x00, 0x00, 0x00, 0x00, 0x23};
  445 + memcpy(str, sendbuf, 14);
  446 + *str_len = 14;
  447 + }
  448 + break;
  449 +
  450 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS:
  451 + {
  452 + char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x66, 0x51, 0x00, 0x00, 0x00, 0x23};
  453 + memcpy(str, sendbuf, 13);
  454 + *str_len = 13;
  455 + }
  456 + break;
  457 +
  458 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR:
  459 + {
  460 + char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x67, 0x51, 0x00, 0x00, 0x00, 0x23};
  461 + memcpy(str, sendbuf, 13);
  462 + *str_len = 13;
  463 + }
  464 + break;
  465 +
  466 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE:
  467 + {
  468 + char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x69, 0x51, 0x00, 0x00, 0x00, 0x23};
  469 + memcpy(str, sendbuf, 13);
  470 + *str_len = 13;
  471 + }
  472 + break;
  473 +
  474 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_SERIALNUMBER:
  475 + {
  476 + char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x6F, 0x57, 0x00, 0x00, 0x00, 0x23};
  477 + memcpy(str, sendbuf, 13);
  478 + *str_len = 13;
  479 + }
  480 + break;
  481 +
  482 +
  483 +
  484 +/********************************************************************************************************************************************************
  485 + *
  486 + * 6A帧
  487 + *
  488 +********************************************************************************************************************************************************/
  489 +
  490 + case JZ_INSCODE_6AFRAME_SET_GIMBAL_MAXMIN_RANGE:
  491 + {
  492 + char sendbuf[13] = {0x6A ,0x6A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x69 ,0x52 ,0x00 ,0x00 ,0x00 ,0x23};
  493 + memcpy(str, sendbuf, 13);
  494 + *str_len = 13;
  495 + }
  496 + break;
  497 +
  498 + case JZ_INSCODE_6AFRAME_GIMBAL_LINKAGE_CONTROL:
  499 + {
  500 + char sendbuf[13] = {0x6A ,0x6A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x69 ,0x56 ,0x00 ,0x00 ,0x00 ,0x23};
  501 + memcpy(str, sendbuf, 13);
  502 + *str_len = 13;
  503 + }
  504 + break;
  505 +
  506 + case JZ_INSCODE_6AFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME:
  507 + {
  508 + char sendbuf[13] = {0x6A ,0x6A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x50 ,0x00 ,0x00 ,0x00 ,0x23};
  509 + memcpy(str, sendbuf, 13);
  510 + *str_len = 13;
  511 + }
  512 + break;
  513 +
  514 + case JZ_INSCODE_6AFRAME_CHECKSTATUS_GIMBAL_LINKAGE:
  515 + {
  516 + char sendbuf[13] = {0x6A ,0x6A ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
  517 + memcpy(str, sendbuf, 13);
  518 + *str_len = 13;
  519 + }
  520 + break;
  521 +
  522 +
  523 +/********************************************************************************************************************************************************
  524 + *
  525 + * 6B帧
  526 + *
  527 +********************************************************************************************************************************************************/
  528 + case JZ_INSCODE_6BFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME:
  529 + {
  530 + char sendbuf[13] = {0x6B ,0x6B ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x50 ,0x00 ,0x00 ,0x00 ,0x23};
  531 + memcpy(str, sendbuf, 13);
  532 + *str_len = 13;
  533 + }
  534 + break;
  535 +
  536 + case JZ_INSCODE_6BFRAME_CHECKSTATUS_GIMBAL_LINKAGE:
  537 + {
  538 + char sendbuf[13] = {0x6B ,0x6B ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x51 ,0x00 ,0x00 ,0x00 ,0x23};
  539 + memcpy(str, sendbuf, 13);
  540 + *str_len = 13;
  541 + }
  542 + break;
  543 +
  544 + case JZ_INSCODE_6BFRAME_CHECK_SPECIAL_PARAMETERS:
  545 + {
  546 + char sendbuf[13] = {0x6B ,0x6B ,0x77 ,0x00 ,0x0D ,0x00 ,0x00 ,0x6F ,0x54 ,0x00 ,0x00 ,0x00 ,0x23};
  547 + memcpy(str, sendbuf, 13);
  548 + *str_len = 13;
  549 + }
  550 + break;
  551 +
  552 + default:
  553 + printf("JZsdk_GetFrameTemplate:没有对应的帧模板\n");
  554 + break;
  555 + }
  556 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file
  4 + *
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_GET_FRAME_TEMPLATE_H
  11 +#define JZSDK_GET_FRAME_TEMPLATE_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +/* Exported types ------------------------------------------------------------*/
  23 +
  24 +/* Exported functions --------------------------------------------------------*/
  25 +int JZsdk_GetFrameTemplate(int InsCode ,char *str, int *str_len);
  26 +
  27 +
  28 +#ifdef __cplusplus
  29 +}
  30 +#endif
  31 +
  32 +#endif
  1 +/* 头文件 ------------------------------------------------------------------*/
  2 +#include <stdio.h>
  3 +#include <stdlib.h>
  4 +#include <string.h>
  5 +#include <stdarg.h>
  6 +#include <stdio.h>
  7 +
  8 +#include "JZsdk_Logger.h"
  9 +#include <time.h>
  10 +#include "JZsdkLib.h"
  11 +#include <pthread.h>
  12 +#include <sys/time.h>
  13 +#include <sys/resource.h>
  14 +#include <unistd.h>
  15 +#include <sys/types.h>
  16 +
  17 +
  18 +#define LOG_GRADE JZSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO
  19 +
  20 +// 定义全局互斥锁
  21 +static pthread_mutex_t LogWriteMutex = PTHREAD_MUTEX_INITIALIZER;
  22 +
  23 +/* 全局变量 ------------------------------------------------------------------*/
  24 +static struct timeval g_start_time;
  25 +static FILE *logFile = NULL;
  26 +static char LogFileName[JZSDK_FILENAME_SIZE];
  27 +static int Logger_init_flag = JZ_FLAGCODE_OFF;
  28 +
  29 +/* 函数声明 ------------------------------------------------------------------*/
  30 +
  31 +long long get_total_ram() {
  32 + FILE *file;
  33 + char line[128];
  34 + long long total_ram = 0;
  35 +
  36 + file = fopen("/proc/meminfo", "r");
  37 + if (!file) {
  38 + perror("Error opening /proc/meminfo");
  39 + return 0;
  40 + }
  41 +
  42 + while (fgets(line, sizeof(line), file)) {
  43 + if (strncmp(line, "MemTotal:", 9) == 0) {
  44 + sscanf(line, "MemTotal: %lld kB", &total_ram);
  45 + break;
  46 + }
  47 + }
  48 +
  49 + fclose(file);
  50 + return total_ram;
  51 +}
  52 +
  53 +long long get_current_rss(pid_t pid) {
  54 + FILE *file;
  55 + char line[128];
  56 + long long vmrss = 0;
  57 +
  58 + char path[64];
  59 + snprintf(path, sizeof(path), "/proc/%d/status", pid);
  60 +
  61 + file = fopen(path, "r");
  62 + if (!file) {
  63 + perror("Error opening /proc/[pid]/status");
  64 + return 0;
  65 + }
  66 +
  67 + while (fgets(line, sizeof(line), file)) {
  68 + if (strncmp(line, "VmRSS:", 6) == 0) {
  69 + sscanf(line, "VmRSS: %lld kB", &vmrss);
  70 + break;
  71 + }
  72 + }
  73 +
  74 + fclose(file);
  75 + return vmrss;
  76 +}
  77 +
  78 +static void *MonitorTask(void *arg)
  79 +{
  80 + //获取程序的pid号
  81 + pid_t pid = getpid(); // 获取当前进程的 PID
  82 + long long total_ram; //最大ram内存
  83 + long long current_rss; //RSS内存
  84 + double memory_percentage; //内存百分比
  85 +
  86 + // 获取系统总 RAM
  87 + total_ram = get_total_ram();
  88 +
  89 + while (1)
  90 + {
  91 + printf("当前进程pid号%d\n",pid);
  92 +
  93 + // 获取当前进程的内存使用量
  94 + current_rss = get_current_rss(pid);
  95 +
  96 + // 计算内存百分比
  97 + if (total_ram > 0)
  98 + {
  99 + memory_percentage = (double)current_rss / total_ram * 100;
  100 + } else {
  101 + memory_percentage = 0;
  102 + }
  103 +
  104 + // 打印结果
  105 + printf("Program current memory usage: %lld KB\n", current_rss);
  106 + JZSDK_LOG_INFO("Monitor:(%.2f%% of total RAM)", memory_percentage);
  107 +
  108 + delayS(10);
  109 + }
  110 +}
  111 +
  112 +
  113 +
  114 +static int Log_Monitor()
  115 +{
  116 + pthread_t work_mode_task;
  117 + pthread_attr_t task_attribute; //线程属性
  118 + pthread_attr_init(&task_attribute); //初始化线程属性
  119 + pthread_attr_setdetachstate(&task_attribute, PTHREAD_CREATE_DETACHED); //设置线程属性
  120 + int timer = pthread_create(&work_mode_task,&task_attribute,MonitorTask,NULL); //线程
  121 + if(timer != 0)
  122 + {
  123 + printf("创建计时线程失败！\n");
  124 + }
  125 +}
  126 +
  127 +T_JZsdkReturnCode createJZLOGFolder()
  128 +{
  129 + const char *path = "/root/sdcard/JZLOG";
  130 +
  131 + // 使用系统命令检测路径是否存在
  132 + if(JZsdk_check_directory_exists_posix(path) == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  133 + {
  134 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  135 + }
  136 + else
  137 + {
  138 + JZsdk_Osal_Mkdir(path);
  139 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  140 + }
  141 +}
  142 +
  143 +int ReadLogNumFromFile()
  144 +{
  145 + const char *path = "/root/sdcard/JZLOG/thelast";
  146 + int logNum = 0;
  147 +
  148 + FILE *file = fopen(path, "r");
  149 + if (file == NULL)
  150 + {
  151 + // 如果文件不存在，则创建并设置LogNum为0
  152 + file = fopen(path, "w");
  153 + fprintf(file, "%d", logNum);
  154 + }
  155 + else
  156 + {
  157 + // 从文件中读取LogNum，并自增1
  158 + fscanf(file, "%d", &logNum);
  159 + logNum++;
  160 + fclose(file);
  161 +
  162 + // 将新的LogNum写回文件中
  163 + file = fopen(path, "w");
  164 + fprintf(file, "%d", logNum);
  165 + }
  166 + fclose(file);
  167 +
  168 + return logNum;
  169 +}
  170 +
  171 +T_JZsdkReturnCode JZsdk_LoggerInit()
  172 +{
  173 + //1、记录启动时间
  174 + gettimeofday(&g_start_time, 0);
  175 +
  176 + //2、检查是否存在log文件,不在则创建
  177 + createJZLOGFolder();
  178 +
  179 + //3、获取本地log个数
  180 + int LogNum = ReadLogNumFromFile();
  181 +
  182 + //4、获取本地时间，拼接出log文件名
  183 + time_t current_time;
  184 + struct tm *info;
  185 + char timeString[80];
  186 + time(&current_time);
  187 + info = localtime(&current_time);
  188 + strftime(timeString, sizeof(timeString), "%Y%m%d_%H-%M-%S", info);
  189 + snprintf(LogFileName, sizeof(LogFileName), "/root/sdcard/JZLOG/%d_%s", LogNum, timeString);
  190 +
  191 + printf("LogFileName:%s\n",LogFileName);
  192 +
  193 + // 在主函数或初始化阶段初始化互斥锁
  194 + pthread_mutex_init(&LogWriteMutex, NULL);
  195 +
  196 + //5、打开记录文件
  197 + logFile = fopen(LogFileName, "w");
  198 + if (logFile == NULL) {
  199 + // 文件打开失败，输出错误消息
  200 + printf("Failed to open file: %s", LogFileName);
  201 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  202 + }
  203 +
  204 + //6、写入开始时间
  205 + char logMessage[256];
  206 + snprintf(logMessage,256,"LOG_FILE:%s\n",LogFileName);
  207 + fprintf(logFile, "%s", logMessage);
  208 +
  209 + //dfclose(logFile);
  210 +
  211 + //打开初始化完成的flag
  212 + Logger_init_flag = JZ_FLAGCODE_ON;
  213 +
  214 + //设立监控
  215 + Log_Monitor();
  216 +
  217 + JZSDK_LOG_INFO("log初始化完成");
  218 +}
  219 +
  220 +T_JZsdkReturnCode JZsdk_LoggerDeInit()
  221 +{
  222 + if (logFile != NULL)
  223 + {
  224 + fclose(logFile);
  225 + }
  226 +}
  227 +
  228 +T_JZsdkReturnCode writeToLogFile(const char *data)
  229 +{
  230 + // 加锁
  231 + pthread_mutex_lock(&LogWriteMutex);
  232 +
  233 + //logFile = fopen(LogFileName, "a"); // 使用"a"模式打开文件，以在末尾追加数据
  234 +
  235 + // if (logFile == NULL) {
  236 + // // 文件打开失败，输出错误消息
  237 + // printf("Failed to open file: %s", LogFileName);
  238 + // pthread_mutex_unlock(&LogWriteMutex);
  239 +
  240 + // return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  241 + // }
  242 +
  243 + if (logFile == NULL)
  244 + {
  245 + printf("Failed to open file: %s", LogFileName);
  246 + pthread_mutex_unlock(&LogWriteMutex);
  247 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  248 + }
  249 +
  250 + fprintf(logFile, "%s", data); // 写入新的数据
  251 +
  252 + //fclose(logFile);
  253 +
  254 + // 解锁
  255 + pthread_mutex_unlock(&LogWriteMutex);
  256 +
  257 +}
  258 +
  259 +T_JZsdkReturnCode HexToLogFile(const char *data)
  260 +{
  261 + // 加锁
  262 + pthread_mutex_lock(&LogWriteMutex);
  263 +
  264 + // logFile = fopen(LogFileName, "a"); // 使用"a"模式打开文件，以在末尾追加数据
  265 +
  266 + // if (logFile == NULL) {
  267 + // // 文件打开失败，输出错误消息
  268 + // printf("Failed to open file: %s", LogFileName);
  269 + // pthread_mutex_unlock(&LogWriteMutex);
  270 +
  271 + // return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  272 + // }
  273 +
  274 + if (logFile == NULL)
  275 + {
  276 + printf("Failed to open file: %s", LogFileName);
  277 + pthread_mutex_unlock(&LogWriteMutex);
  278 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  279 + }
  280 +
  281 + fprintf(logFile, "%x ", data[0]); // 写入新的数据
  282 +
  283 + //fclose(logFile);
  284 +
  285 + // 解锁
  286 + pthread_mutex_unlock(&LogWriteMutex);
  287 +}
  288 +
  289 +
  290 +void JZsdk_UserLogOutput(E_JZsdkConsoleLogLevel level, const char *fmt, ...)
  291 +{
  292 + // 将日志级别转换为相应的字符串
  293 + const char *JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "";
  294 + switch (level) {
  295 + case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_DEBUG:
  296 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "DEBUG";
  297 + break;
  298 + case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO:
  299 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "INFO";
  300 + break;
  301 + case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_WARN:
  302 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "WARNING";
  303 + break;
  304 + case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_ERROR:
  305 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "ERROR";
  306 + break;
  307 + default:
  308 + break;
  309 + }
  310 + // 使用可变参数处理传入的格式化字符串和可变参数
  311 + va_list args;
  312 + va_start(args, fmt);
  313 +
  314 + //格式化日志消息
  315 + char logMessage[512];
  316 + memset(logMessage, 0, sizeof(logMessage));
  317 + vsnprintf(logMessage, sizeof(logMessage), fmt, args);
  318 +
  319 + va_end(args);
  320 +
  321 + struct timeval current_time;
  322 + gettimeofday(&current_time, 0);
  323 +
  324 + long seconds = current_time.tv_sec - g_start_time.tv_sec;
  325 + long microseconds = current_time.tv_usec - g_start_time.tv_usec;
  326 + double elapsed = seconds + microseconds*1e-6;
  327 +
  328 + // 执行具体的日志输出操作
  329 + char finalLogMessage[612];
  330 + memset(finalLogMessage, 0, sizeof(finalLogMessage));
  331 + snprintf(finalLogMessage, 612, "[%s][%.4f]%s\n", JZSDK_LOGGER_CONSOLE_LOG_LEVEL, elapsed, logMessage);
  332 +
  333 + printf("%s",finalLogMessage);
  334 +
  335 + //写入日志
  336 + if (Logger_init_flag == JZ_FLAGCODE_ON && level <= LOG_GRADE)
  337 + {
  338 + writeToLogFile(finalLogMessage);
  339 + }
  340 +}
  341 +
  342 +
  343 +
  344 +void JZsdk_User_OutputHex(E_JZsdkConsoleLogLevel level, const char *fmt, ...)
  345 +{
  346 + // 将日志级别转换为相应的字符串
  347 + const char *JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "";
  348 + switch (level) {
  349 + case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_DEBUG:
  350 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "DEBUG";
  351 + break;
  352 + case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO:
  353 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "INFO";
  354 + break;
  355 + case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_WARN:
  356 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "WARNING";
  357 + break;
  358 + case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_ERROR:
  359 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "ERROR";
  360 + break;
  361 + default:
  362 + break;
  363 + }
  364 + // 使用可变参数处理传入的格式化字符串和可变参数
  365 + va_list args;
  366 + va_start(args, fmt);
  367 +
  368 + //格式化日志消息
  369 + char logMessage[10];
  370 + memset(logMessage, 0, sizeof(logMessage));
  371 + vsnprintf(logMessage, sizeof(logMessage), fmt, args);
  372 +
  373 + va_end(args);
  374 +
  375 + // 执行具体的日志输出操作
  376 + char finalLogMessage[512];
  377 + memset(finalLogMessage, 0, sizeof(finalLogMessage));
  378 + snprintf(finalLogMessage, 612, "%s", logMessage);
  379 +
  380 +
  381 + printf("%x ",finalLogMessage[0]);
  382 +
  383 + //写入日志
  384 + HexToLogFile(finalLogMessage);
  385 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_Logger.h
  4 + * 用于给h150s logger显示文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_LOGGER_H
  11 +#define JZSDK_LOGGER_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  15 +
  16 +#ifdef __cplusplus
  17 +extern "C" {
  18 +#endif
  19 +
  20 +/* Exported constants --------------------------------------------------------*/
  21 +/* 常亮定义*/
  22 +
  23 +
  24 +typedef enum {
  25 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL_ERROR = 0, /*!< Logger console error level. The method and level of the console are
  26 + associated with each other. If the level of the registered console
  27 + method is lower than this level, the level interface will not be
  28 + printed successfully. */
  29 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL_WARN = 1, /*!< Logger console warning level.The method and level of the console are
  30 + associated with each other. If the level of the registered console
  31 + method is lower than this level, the level interface will not be
  32 + printed successfully. */
  33 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO = 2, /*!< Logger console info level. The method and level of the console are
  34 + associated with each other. If the level of the registered console
  35 + method is lower than this level, the level interface will not be
  36 + printed successfully. */
  37 + JZSDK_LOGGER_CONSOLE_LOG_LEVEL_DEBUG = 3, /*!< Logger console debug level. The method and level of the console are
  38 + associated with each other. If the level of the registered console
  39 + method is lower than this level, the level interface will not be
  40 + printed successfully. */
  41 +} E_JZsdkConsoleLogLevel;
  42 +/* Exported types ------------------------------------------------------------*/
  43 +
  44 +
  45 +/* Exported functions --------------------------------------------------------*/
  46 +void JZsdk_UserLogOutput(E_JZsdkConsoleLogLevel level, const char *fmt, ...);
  47 +T_JZsdkReturnCode JZsdk_LoggerInit();
  48 +void JZsdk_User_OutputHex(E_JZsdkConsoleLogLevel level, const char *fmt, ...);
  49 +
  50 +/* Exported constants --------------------------------------------------------*/
  51 +#define JZSDK_LOG_DEBUG(fmt, ...) \
  52 + JZsdk_UserLogOutput(JZSDK_LOGGER_CONSOLE_LOG_LEVEL_DEBUG, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
  53 +#define JZSDK_LOG_INFO(fmt, ...) \
  54 + JZsdk_UserLogOutput(JZSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
  55 +#define JZSDK_LOG_WARN(fmt, ...) \
  56 + JZsdk_UserLogOutput(JZSDK_LOGGER_CONSOLE_LOG_LEVEL_WARN, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
  57 +#define JZSDK_LOG_ERROR(fmt, ...) \
  58 + JZsdk_UserLogOutput(JZSDK_LOGGER_CONSOLE_LOG_LEVEL_ERROR, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
  59 +#define JZSDK_LOG_OUTPUTHEX(fmt, ...) \
  60 + JZsdk_User_OutputHex(JZSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO, "" fmt , ##__VA_ARGS__)
  61 +
  62 +
  63 +#ifdef __cplusplus
  64 +}
  65 +#endif
  66 +
  67 +#endif
  68 +/************************ (C) COPYRIGHT JZSDK Innovations *******END OF FILE******/
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_FS_Standards.h
  4 + * 用于规范文件名及长度
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_FS_STANDARDS_H
  11 +#define JZSDK_FS_STANDARDS_H
  12 +
  13 +#define JZSDK_FILENAME_SIZE (128) //文件名最大长度128
  14 +#define JZSDK_CMD_SIZE (256) //cmd指令最大长度
  15 +
  16 +
  17 +#endif
  1 +#include <stdio.h>
  2 +#include "JZsdk_FileSystm.h"
  3 +#include <stdlib.h>
  4 +#include <stdbool.h>
  5 +#include <string.h>
  6 +#include <unistd.h>
  7 +#include <sys/types.h>
  8 +#include <sys/stat.h>
  9 +#include "JZsdkLib.h"
  10 +#include <dirent.h>
  11 +#include <errno.h>
  12 +
  13 +/*
  14 +* 用于运行指令
  15 +*
  16 +*/
  17 +T_JZsdkReturnCode JZsdk_RunSystemCmd(char *systemCmd)
  18 +{
  19 + //FILE *fp;
  20 +
  21 + //printf("JZsdk_RunSystemCmd:%s\n",systemCmd);
  22 +
  23 + // fp = popen(systemCmd, "r");
  24 + // if (fp == NULL) {
  25 + // return -1;
  26 + // }
  27 +
  28 + int status = system(systemCmd);
  29 + if (status == -1 || WIFEXITED(status) == false) {
  30 + printf("Call %s error, status = %d\n", systemCmd, status);
  31 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  32 + }
  33 +
  34 + if (WEXITSTATUS(status) == 0) {
  35 + JZSDK_LOG_DEBUG("指令执行成功%s\n",systemCmd);
  36 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  37 + }
  38 + else {
  39 + JZSDK_LOG_ERROR("指令执行失败Exit status is = %d", WEXITSTATUS(status));
  40 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  41 + }
  42 + //pclose(fp);
  43 +
  44 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  45 +}
  46 +
  47 +/*
  48 +
  49 + 运行命令 并读取返回值
  50 +
  51 +*/
  52 +// FILE* JZsdk_RunSystemCmd_ReturnFilePointer(char *systemCmd)
  53 +// {
  54 +// FILE *fp;
  55 +
  56 +// fp = popen(systemCmd, "r");
  57 +
  58 +// pclose(fp);
  59 +
  60 +// return fp;
  61 +// }
  62 +
  63 +
  64 +/**********************************
  65 + *
  66 + * 创建一个文件夹
  67 + 函数名：JZsdk_check_file_exists
  68 + 参数：文件路径
  69 + 返回值：JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示文件存在，
  70 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示文件不存在
  71 + * *******************************/
  72 +T_JZsdkReturnCode JZsdk_Osal_Mkdir(const char *filePath)
  73 +{
  74 + int32_t ret;
  75 +
  76 + if (filePath == NULL) {
  77 + return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  78 + }
  79 +
  80 + ret = mkdir(filePath, S_IRWXU);
  81 + if (ret < 0) {
  82 + switch (errno) {
  83 + case EACCES:
  84 + JZSDK_LOG_ERROR("Permission denied\n");
  85 + break;
  86 + case EEXIST:
  87 + JZSDK_LOG_ERROR("Directory already exists\n");
  88 + break;
  89 + case ENOENT:
  90 + JZSDK_LOG_ERROR("A component of the path does not exist or is a dangling symbolic link\n");
  91 + break;
  92 + case ENOMEM:
  93 + JZSDK_LOG_ERROR("Not enough memory\n");
  94 + break;
  95 + case ENOTDIR:
  96 + JZSDK_LOG_ERROR("A component of the path prefix is not a directory\n");
  97 + break;
  98 + case EROFS:
  99 + JZSDK_LOG_ERROR("The named file resides on a read-only file system\n");
  100 + break;
  101 + default:
  102 + JZSDK_LOG_ERROR("Unknown error %d\n", errno);
  103 + }
  104 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  105 + }
  106 +
  107 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  108 +}
  109 +
  110 +
  111 +/**********************************
  112 + *
  113 + * 文件是否存在判断函数
  114 +* 判断文件是否存在
  115 + 函数名：JZsdk_check_file_exists
  116 + 参数：文件路径
  117 + 返回值：JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示文件存在，
  118 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示文件不存在
  119 + * *******************************/
  120 +T_JZsdkReturnCode JZsdk_check_file_exists(const char* file_path)
  121 +{
  122 + if (access(file_path, F_OK) == 0)
  123 + {
  124 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  125 + }
  126 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  127 +}
  128 +
  129 +/**********************************
  130 + *
  131 + * 文件夹是否存在判断函数
  132 +* 判断文件是否存在
  133 + 函数名：JZsdk_check_file_exists
  134 + 参数：文件路径
  135 + 返回值：JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示文件存在，
  136 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示文件不存在
  137 + * *******************************/
  138 +T_JZsdkReturnCode JZsdk_check_directory_exists_posix(const char* directory_path)
  139 +{
  140 + struct stat st;
  141 + if (stat(directory_path, &st) == 0 && S_ISDIR(st.st_mode))
  142 + {
  143 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  144 + }
  145 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  146 +}
  147 +
  148 +/**********************************
  149 + *
  150 + * 创建新的文件
  151 + 函数名：JZsdk_check_file_exists
  152 + 参数：文件路径
  153 + 返回值：JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示文件存在，
  154 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示文件不存在
  155 + * *******************************/
  156 +T_JZsdkReturnCode JZsdk_create_file(const char* file_path)
  157 +{
  158 + FILE* file = fopen(file_path, "w");
  159 + if (file != NULL)
  160 + {
  161 + fclose(file);
  162 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  163 + }
  164 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  165 +}
  166 +
  167 +/**********************************
  168 + *
  169 + * 删除文件
  170 + 函数名：JZsdk_delete_file
  171 + 参数：文件路径
  172 + 返回值：JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示文件已经不存在
  173 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示文件仍然存在
  174 + * *******************************/
  175 +T_JZsdkReturnCode JZsdk_delete_file(const char* file_path)
  176 +{
  177 + int remove_result = remove(file_path);
  178 + if (remove_result != 0) {
  179 + // 删除失败，返回错误
  180 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  181 + }
  182 +
  183 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; // 删除成功
  184 +}
  185 +
  186 +/**********************************
  187 + *
  188 + * 复制文件
  189 + 函数名：JZsdk_copy_file
  190 + 参数：文件路径
  191 + 返回值：JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示文件已经不存在
  192 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示文件仍然存在
  193 + * *******************************/
  194 +T_JZsdkReturnCode JZsdk_copy_file_byC(const char* source_path, const char* dest_path)
  195 +{
  196 + FILE *source_file = fopen(source_path, "rb"); // 以二进制读模式打开源文件
  197 + if (source_file == NULL) {
  198 + // 无法打开源文件
  199 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  200 + }
  201 +
  202 + FILE *dest_file = fopen(dest_path, "wb"); // 以二进制写模式打开目标文件
  203 + if (dest_file == NULL) {
  204 + // 无法创建或打开目标文件
  205 + fclose(source_file); // 关闭已打开的源文件
  206 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  207 + }
  208 +
  209 + // 分配缓冲区用于读取和写入文件
  210 + char buffer[4096]; // 缓冲区大小可以根据需要调整
  211 + size_t bytes_read;
  212 +
  213 + // 复制文件内容
  214 + while ((bytes_read = fread(buffer, 1, sizeof(buffer), source_file)) > 0) {
  215 + if (fwrite(buffer, 1, bytes_read, dest_file) != bytes_read) {
  216 + // 写入目标文件失败
  217 + fclose(source_file); // 关闭已打开的源文件
  218 + fclose(dest_file); // 关闭已打开的目标文件
  219 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  220 + }
  221 + }
  222 +
  223 + // 关闭文件
  224 + fclose(source_file);
  225 + fclose(dest_file);
  226 +
  227 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; // 复制成功
  228 +}
  229 +
  230 +
  231 +// 删除指定路径下的所有文件（不包括子文件夹）
  232 +// 注意：这个函数不会删除子文件夹，如果您需要删除子文件夹，请添加递归逻辑。
  233 +T_JZsdkReturnCode JZsdk_delete_files_in_directory(const char* directory_path)
  234 +{
  235 + DIR* dir;
  236 + struct dirent* ent;
  237 + char file_path[1024]; // 假设文件路径不会超过这个长度
  238 + T_JZsdkReturnCode ret = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  239 +
  240 + if ((dir = opendir(directory_path)) != NULL) {
  241 + while ((ent = readdir(dir)) != NULL) {
  242 + // 跳过目录条目 '.' 和 '..'
  243 + if (strcmp(ent->d_name, ".") == 0 || strcmp(ent->d_name, "..") == 0) {
  244 + continue;
  245 + }
  246 +
  247 + // 构建文件的完整路径
  248 + snprintf(file_path, sizeof(file_path), "%s/%s", directory_path, ent->d_name);
  249 +
  250 + // 如果是文件，则删除它
  251 + if (remove(file_path) != 0) {
  252 + perror("remove"); // 打印错误信息
  253 + ret = JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  254 + break; // 或者您可以继续并尝试删除其他文件
  255 + }
  256 + }
  257 + closedir(dir);
  258 + } else {
  259 + perror("opendir"); // 打印错误信息
  260 + ret = JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  261 + }
  262 +
  263 + return ret;
  264 +}
  265 +
  266 +/**********************************
  267 + *
  268 + * 创建硬链接的函数
  269 + 函数名：JZsdk_create_hardlink
  270 + 参数：文件路径 链接路径
  271 + 返回值：JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示成功
  272 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示失败
  273 + * *******************************/
  274 +T_JZsdkReturnCode JZsdk_create_hardlink(const char* target_path, const char* link_path)
  275 +{
  276 + int result = link(target_path, link_path);
  277 + if (result == -1) {
  278 + JZSDK_LOG_ERROR("hardlink"); // 打印错误信息
  279 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; // 返回错误代码
  280 + }
  281 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; // 返回成功代码
  282 +}
  283 +
  284 +
  285 +/**********************************
  286 + *
  287 + * 字符串后缀对比
  288 + 函数名：JZsdk_strings_suffix_comparison
  289 + 参数：字符串,后缀名
  290 + 返回值：
  291 + JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示后缀正确
  292 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示后缀错误，或是长度不对
  293 + * *******************************/
  294 +T_JZsdkReturnCode JZsdk_strings_suffix_comparison_onlyStr(const unsigned char* Strings, const unsigned char *suffix)
  295 +{
  296 + if (Strings == NULL || suffix == NULL)
  297 + {
  298 + JZSDK_LOG_ERROR("字符串后缀对比输入错误");
  299 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; // 如果指针为NULL，返回失败
  300 + }
  301 +
  302 + int suffix_len = (int)strlen((const char*)suffix); // 强制转换为const char*以确保兼容性
  303 + int Strings_len = (int)strlen((const char*)Strings); // 强制转换为const char*以确保兼容性
  304 +
  305 + if (Strings_len <= suffix_len)
  306 + {
  307 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; // 如果字符串长度小于后缀长度，返回失败
  308 + }
  309 +
  310 + // 确保不会越界，并且字符串是以空字符结尾的
  311 + if (memcmp(Strings + Strings_len - suffix_len, suffix, suffix_len) == 0)
  312 + {
  313 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  314 + }
  315 + else
  316 + {
  317 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  318 + }
  319 +}
  320 +
  321 +
  322 +/**********************************
  323 + *
  324 + * 字符串后缀对比
  325 + 函数名：JZsdk_strings_suffix_comparison
  326 + 参数：字符串, 字符串长度，后缀名
  327 + 返回值：
  328 + JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示后缀正确
  329 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示后缀错误，或是长度不对
  330 + * *******************************/
  331 +T_JZsdkReturnCode JZsdk_strings_suffix_comparison_withLen(const unsigned char* Strings, int Strings_len, const unsigned char *suffix)
  332 +{
  333 + if (Strings == NULL || suffix == NULL)
  334 + {
  335 + JZSDK_LOG_ERROR("字符串后缀对比输入错误");
  336 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; // 如果指针为NULL，返回失败
  337 + }
  338 +
  339 + int suffix_len = (int)strlen((const char*)suffix); // 强制转换为const char*以确保兼容性
  340 +
  341 + if (Strings_len <= suffix_len)
  342 + {
  343 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; // 如果字符串长度小于后缀长度，返回失败
  344 + }
  345 +
  346 + // 确保不会越界，并且字符串是以空字符结尾的
  347 + if (memcmp(Strings + Strings_len - suffix_len, suffix, suffix_len) == 0)
  348 + {
  349 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  350 + }
  351 + else
  352 + {
  353 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  354 + }
  355 +}
  356 +
  357 +
  358 +
  359 +/**********************************
  360 + *
  361 + * 读取文件大小
  362 + 函数名：JZsdk_Fs_ReadFileSize
  363 + 参数：字符串, 字符串长度，后缀名
  364 + 返回值：
  365 + JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS读取正确
  366 + JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE读取错误
  367 + * *******************************/
  368 +T_JZsdkReturnCode JZsdk_Fs_ReadFileSize(const unsigned char* FilePath, int *FileSize)
  369 +{
  370 + struct stat statbuf;
  371 + int result = stat(FilePath, &statbuf);
  372 +
  373 + if (result == -1) {
  374 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  375 + }
  376 +
  377 + *FileSize = statbuf.st_size;
  378 +
  379 + if (*FileSize == 0)
  380 + {
  381 + // 文件大小为0，可能是空文件
  382 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  383 + }
  384 +
  385 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  386 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_FileSystem.h
  4 + * 用于文件系统操作
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_FILESYSTEM_H
  11 +#define JZSDK_FILESYSTEM_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +#include "../JZsdk_Code/JZsdk_Code.h"
  15 +#include "./JZsdk_FS_Standards.h"
  16 +
  17 +#ifdef __cplusplus
  18 +extern "C" {
  19 +#endif
  20 +
  21 +/* Exported constants --------------------------------------------------------*/
  22 +/* 常亮定义*/
  23 +
  24 +/* Exported types ------------------------------------------------------------*/
  25 +
  26 +
  27 +/* Exported functions --------------------------------------------------------*/
  28 +T_JZsdkReturnCode JZsdk_RunSystemCmd(char *systemCmd);
  29 +T_JZsdkReturnCode JZsdk_check_file_exists(const char* file_path) ;
  30 +T_JZsdkReturnCode JZsdk_create_file(const char* file_path) ;
  31 +T_JZsdkReturnCode JZsdk_delete_file(const char* file_path) ;
  32 +T_JZsdkReturnCode JZsdk_strings_suffix_comparison_onlyStr(const unsigned char* Strings, const unsigned char *suffix) ;
  33 +T_JZsdkReturnCode JZsdk_strings_suffix_comparison_withLen(const unsigned char* Strings, int Strings_len, const unsigned char *suffix) ;
  34 +T_JZsdkReturnCode JZsdk_Osal_Mkdir(const char *filePath);
  35 +T_JZsdkReturnCode JZsdk_delete_files_in_directory(const char* directory_path);
  36 +T_JZsdkReturnCode JZsdk_create_hardlink(const char* target_path, const char* link_path);
  37 +T_JZsdkReturnCode JZsdk_check_directory_exists_posix(const char* directory_path);
  38 +T_JZsdkReturnCode JZsdk_Fs_ReadFileSize(const unsigned char* FilePath, int *FileSize);
  39 +T_JZsdkReturnCode JZsdk_copy_file_byC(const char* source_path, const char* dest_path);
  40 +
  41 +#ifdef __cplusplus
  42 +}
  43 +#endif
  44 +
  45 +#endif
  46 +/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
  1 +#include <stdio.h>
  2 +#include <stdlib.h>
  3 +#include <stdbool.h>
  4 +#include <string.h>
  5 +
  6 +#include "JZsdkLib.h"
  7 +
  8 +
  9 +
  10 +/**********************************
  11 + *
  12 + * 注册内存
  13 + 函数名：JZsdk_Malloc
  14 + 参数：指针，注册大小
  15 + 返回值：
  16 + JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS正确
  17 + JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER 错误
  18 + * *******************************/
  19 +T_JZsdkReturnCode JZsdk_Malloc(void **ptr, unsigned int size)
  20 +{
  21 + if (size == 0)
  22 + {
  23 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  24 + }
  25 +
  26 + *ptr = malloc(size);
  27 +
  28 + if (*ptr == NULL)
  29 + {
  30 + return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  31 + }
  32 +
  33 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  34 +}
  35 +
  36 +
  37 +/**********************************
  38 + *
  39 + * 释放内存
  40 + 函数名：JZsdk_Free
  41 + 参数：指针，注册大小
  42 + 返回值：
  43 + JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS正确
  44 + JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER 错误
  45 + * *******************************/
  46 +T_JZsdkReturnCode JZsdk_Free(void *ptr)
  47 +{
  48 + if (ptr == NULL)
  49 + {
  50 + return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  51 + }
  52 +
  53 + free(ptr);
  54 + ptr = NULL;
  55 +
  56 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  57 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_MemoryAdapter.h
  4 + * 用于内存管理
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_MEMORY_ADAPTER_H
  11 +#define JZSDK_MEMORY_ADAPTER_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +#include "../JZsdk_Code/JZsdk_Code.h"
  15 +
  16 +#ifdef __cplusplus
  17 +extern "C" {
  18 +#endif
  19 +
  20 +/* Exported constants --------------------------------------------------------*/
  21 +/* 常亮定义*/
  22 +
  23 +/* Exported types ------------------------------------------------------------*/
  24 +
  25 +
  26 +/* Exported functions --------------------------------------------------------*/
  27 +T_JZsdkReturnCode JZsdk_Malloc(void **ptr, unsigned int size);
  28 +T_JZsdkReturnCode JZsdk_Free(void *ptr);
  29 +
  30 +#ifdef __cplusplus
  31 +}
  32 +#endif
  33 +
  34 +#endif
  35 +/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
  1 +/**
  2 + * \file lwrb.c
  3 + * \brief Lightweight ring buffer
  4 + */
  5 +
  6 +/*
  7 + * Copyright (c) 2024 Tilen MAJERLE
  8 + *
  9 + * Permission is hereby granted, free of charge, to any person
  10 + * obtaining a copy of this software and associated documentation
  11 + * files (the "Software"), to deal in the Software without restriction,
  12 + * including without limitation the rights to use, copy, modify, merge,
  13 + * publish, distribute, sublicense, and/or sell copies of the Software,
  14 + * and to permit persons to whom the Software is furnished to do so,
  15 + * subject to the following conditions:
  16 + *
  17 + * The above copyright notice and this permission notice shall be
  18 + * included in all copies or substantial portions of the Software.
  19 + *
  20 + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
  21 + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
  22 + * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
  23 + * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
  24 + * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
  25 + * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
  26 + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
  27 + * OTHER DEALINGS IN THE SOFTWARE.
  28 + *
  29 + * This file is part of LwRB - Lightweight ring buffer library.
  30 + *
  31 + * Author: Tilen MAJERLE <tilen@majerle.eu>
  32 + * Version: v3.1.0
  33 + */
  34 +#include "./lwrb.h"
  35 +
  36 +/* Memory set and copy functions */
  37 +#define BUF_MEMSET memset
  38 +#define BUF_MEMCPY memcpy
  39 +
  40 +#define BUF_IS_VALID(b) ((b) != NULL && (b)->buff != NULL && (b)->size > 0)
  41 +#define BUF_MIN(x, y) ((x) < (y) ? (x) : (y))
  42 +#define BUF_MAX(x, y) ((x) > (y) ? (x) : (y))
  43 +#define BUF_SEND_EVT(b, type, bp) \
  44 + do { \
  45 + if ((b)->evt_fn != NULL) { \
  46 + (b)->evt_fn((void*)(b), (type), (bp)); \
  47 + } \
  48 + } while (0)
  49 +
  50 +/* Optional atomic opeartions */
  51 +#ifdef LWRB_DISABLE_ATOMIC
  52 +#define LWRB_INIT(var, val) (var) = (val)
  53 +#define LWRB_LOAD(var, type) (var)
  54 +#define LWRB_STORE(var, val, type) (var) = (val)
  55 +#else
  56 +#define LWRB_INIT(var, val) atomic_init(&(var), (val))
  57 +#define LWRB_LOAD(var, type) atomic_load_explicit(&(var), (type))
  58 +#define LWRB_STORE(var, val, type) atomic_store_explicit(&(var), (val), (type))
  59 +#endif
  60 +
  61 +/**
  62 + * \brief Initialize buffer handle to default values with size and buffer data array
  63 + * \param[in] buff: Ring buffer instance
  64 + * \param[in] buffdata: Pointer to memory to use as buffer data
  65 + * \param[in] size: Size of `buffdata` in units of bytes
  66 + * Maximum number of bytes buffer can hold is `size - 1`
  67 + * \return `1` on success, `0` otherwise
  68 + * * \brief 初始化环形缓冲区
  69 + *
  70 + * @param buff 环形缓冲区指针
  71 + * @param buffdata 缓冲区数据内存
  72 + * @param size 缓冲区大小
  73 + * @return 初始化成功返回非零值，失败返回0
  74 + */
  75 +uint8_t
  76 +lwrb_init(lwrb_t* buff, void* buffdata, lwrb_sz_t size) {
  77 + if (buff == NULL || buffdata == NULL || size == 0) {
  78 + return 0;
  79 + }
  80 +
  81 + buff->evt_fn = NULL;
  82 + buff->size = size;
  83 + buff->buff = buffdata;
  84 + LWRB_INIT(buff->w, 0);
  85 + LWRB_INIT(buff->r, 0);
  86 + return 1;
  87 +}
  88 +
  89 +/**
  90 + * \brief Check if buff is initialized and ready to use
  91 + * \param[in] buff: Ring buffer instance
  92 + * \return `1` if ready, `0` otherwise
  93 + */
  94 +uint8_t
  95 +lwrb_is_ready(lwrb_t* buff) {
  96 + return BUF_IS_VALID(buff);
  97 +}
  98 +
  99 +/**
  100 + * \brief Free buffer memory
  101 + * \note Since implementation does not use dynamic allocation,
  102 + * it just sets buffer handle to `NULL`
  103 + * \param[in] buff: Ring buffer instance
  104 + */
  105 +void
  106 +lwrb_free(lwrb_t* buff) {
  107 + if (BUF_IS_VALID(buff)) {
  108 + buff->buff = NULL;
  109 + }
  110 +}
  111 +
  112 +/**
  113 + * \brief Set event function callback for different buffer operations
  114 + * \param[in] buff: Ring buffer instance
  115 + * \param[in] evt_fn: Callback function
  116 + */
  117 +void
  118 +lwrb_set_evt_fn(lwrb_t* buff, lwrb_evt_fn evt_fn) {
  119 + if (BUF_IS_VALID(buff)) {
  120 + buff->evt_fn = evt_fn;
  121 + }
  122 +}
  123 +
  124 +/**
  125 + * \brief Set custom buffer argument, that can be retrieved in the event function
  126 + * \param[in] buff: Ring buffer instance
  127 + * \param[in] arg: Custom user argument
  128 + */
  129 +void
  130 +lwrb_set_arg(lwrb_t* buff, void* arg) {
  131 + if (BUF_IS_VALID(buff)) {
  132 + buff->arg = arg;
  133 + }
  134 +}
  135 +
  136 +/**
  137 + * \brief Get custom buffer argument, previously set with \ref lwrb_set_arg
  138 + * \param[in] buff: Ring buffer instance
  139 + * \return User argument, previously set with \ref lwrb_set_arg
  140 + */
  141 +void*
  142 +lwrb_get_arg(lwrb_t* buff) {
  143 + return buff != NULL ? buff->arg : NULL;
  144 +}
  145 +
  146 +/**
  147 + * \brief Write data to buffer.
  148 + * Copies data from `data` array to buffer and marks buffer as full for maximum `btw` number of bytes
  149 + *
  150 + * \param[in] buff: Ring buffer instance
  151 + * \param[in] data: Pointer to data to write into buffer
  152 + * \param[in] btw: Number of bytes to write
  153 + * \return Number of bytes written to buffer.
  154 + * When returned value is less than `btw`, there was no enough memory available
  155 + * to copy full data array.
  156 + */
  157 +lwrb_sz_t
  158 +lwrb_write(lwrb_t* buff, const void* data, lwrb_sz_t btw) {
  159 + lwrb_sz_t written = 0;
  160 +
  161 + if (lwrb_write_ex(buff, data, btw, &written, 0)) {
  162 + return written;
  163 + }
  164 + return 0;
  165 +}
  166 +
  167 +/**
  168 + * \brief Write extended functionality
  169 + *
  170 + * \param buff: Ring buffer instance
  171 + * \param data: Pointer to data to write into buffer
  172 + * \param btw: Number of bytes to write
  173 + * \param bw: Output pointer to write number of bytes written
  174 + * \param flags: Optional flags.
  175 + * \ref LWRB_FLAG_WRITE_ALL: Request to write all data (up to btw).
  176 + * Will early return if no memory available
  177 + * \return `1` if write operation OK, `0` otherwise
  178 + */
  179 +uint8_t
  180 +lwrb_write_ex(lwrb_t* buff, const void* data, lwrb_sz_t btw, lwrb_sz_t* bw, uint16_t flags) {
  181 + lwrb_sz_t tocopy, free, buff_w_ptr;
  182 + const uint8_t* d = data;
  183 +
  184 + if (!BUF_IS_VALID(buff) || data == NULL || btw == 0) {
  185 + return 0;
  186 + }
  187 +
  188 + /* Calculate maximum number of bytes available to write */
  189 + free = lwrb_get_free(buff);
  190 + /* If no memory, or if user wants to write ALL data but no enough space, exit early */
  191 + if (free == 0 || (free < btw && flags & LWRB_FLAG_WRITE_ALL)) {
  192 + return 0;
  193 + }
  194 + btw = BUF_MIN(free, btw);
  195 + buff_w_ptr = LWRB_LOAD(buff->w, memory_order_acquire);
  196 +
  197 + /* Step 1: Write data to linear part of buffer */
  198 + tocopy = BUF_MIN(buff->size - buff_w_ptr, btw);
  199 + BUF_MEMCPY(&buff->buff[buff_w_ptr], d, tocopy);
  200 + buff_w_ptr += tocopy;
  201 + btw -= tocopy;
  202 +
  203 + /* Step 2: Write data to beginning of buffer (overflow part) */
  204 + if (btw > 0) {
  205 + BUF_MEMCPY(buff->buff, &d[tocopy], btw);
  206 + buff_w_ptr = btw;
  207 + }
  208 +
  209 + /* Step 3: Check end of buffer */
  210 + if (buff_w_ptr >= buff->size) {
  211 + buff_w_ptr = 0;
  212 + }
  213 +
  214 + /*
  215 + * Write final value to the actual running variable.
  216 + * This is to ensure no read operation can access intermediate data
  217 + */
  218 + LWRB_STORE(buff->w, buff_w_ptr, memory_order_release);
  219 +
  220 + BUF_SEND_EVT(buff, LWRB_EVT_WRITE, tocopy + btw);
  221 + if (bw != NULL) {
  222 + *bw = tocopy + btw;
  223 + }
  224 + return 1;
  225 +}
  226 +
  227 +/**
  228 + * \brief Read data from buffer.
  229 + * Copies data from buffer to `data` array and marks buffer as free for maximum `btr` number of bytes
  230 + *
  231 + * \param[in] buff: Ring buffer instance
  232 + * \param[out] data: Pointer to output memory to copy buffer data to
  233 + * \param[in] btr: Number of bytes to read
  234 + * \return Number of bytes read and copied to data array
  235 + */
  236 +lwrb_sz_t
  237 +lwrb_read(lwrb_t* buff, void* data, lwrb_sz_t btr) {
  238 + lwrb_sz_t read = 0;
  239 +
  240 + if (lwrb_read_ex(buff, data, btr, &read, 0)) {
  241 + return read;
  242 + }
  243 + return 0;
  244 +}
  245 +
  246 +/**
  247 + * \brief Write extended functionality
  248 + *
  249 + * \param buff: Ring buffer instance
  250 + * \param data: Pointer to memory to write read data from buffer
  251 + * \param btr: Number of bytes to read
  252 + * \param br: Output pointer to write number of bytes read
  253 + * \param flags: Optional flags
  254 + * \ref LWRB_FLAG_READ_ALL: Request to read all data (up to btr).
  255 + * Will early return if no enough bytes in the buffer
  256 + * \return `1` if read operation OK, `0` otherwise
  257 + */
  258 +uint8_t
  259 +lwrb_read_ex(lwrb_t* buff, void* data, lwrb_sz_t btr, lwrb_sz_t* br, uint16_t flags) {
  260 + lwrb_sz_t tocopy, full, buff_r_ptr;
  261 + uint8_t* d = data;
  262 +
  263 + if (!BUF_IS_VALID(buff) || data == NULL || btr == 0) {
  264 + return 0;
  265 + }
  266 +
  267 + /* Calculate maximum number of bytes available to read */
  268 + full = lwrb_get_full(buff);
  269 + if (full == 0 || (full < btr && (flags & LWRB_FLAG_READ_ALL))) {
  270 + return 0;
  271 + }
  272 + btr = BUF_MIN(full, btr);
  273 + buff_r_ptr = LWRB_LOAD(buff->r, memory_order_acquire);
  274 +
  275 + /* Step 1: Read data from linear part of buffer */
  276 + tocopy = BUF_MIN(buff->size - buff_r_ptr, btr);
  277 + BUF_MEMCPY(d, &buff->buff[buff_r_ptr], tocopy);
  278 + buff_r_ptr += tocopy;
  279 + btr -= tocopy;
  280 +
  281 + /* Step 2: Read data from beginning of buffer (overflow part) */
  282 + if (btr > 0) {
  283 + BUF_MEMCPY(&d[tocopy], buff->buff, btr);
  284 + buff_r_ptr = btr;
  285 + }
  286 +
  287 + /* Step 3: Check end of buffer */
  288 + if (buff_r_ptr >= buff->size) {
  289 + buff_r_ptr = 0;
  290 + }
  291 +
  292 + /*
  293 + * Write final value to the actual running variable.
  294 + * This is to ensure no write operation can access intermediate data
  295 + */
  296 + LWRB_STORE(buff->r, buff_r_ptr, memory_order_release);
  297 +
  298 + BUF_SEND_EVT(buff, LWRB_EVT_READ, tocopy + btr);
  299 + if (br != NULL) {
  300 + *br = tocopy + btr;
  301 + }
  302 + return 1;
  303 +}
  304 +
  305 +/**
  306 + * \brief Read from buffer without changing read pointer (peek only)
  307 + * \param[in] buff: Ring buffer instance
  308 + * \param[in] skip_count: Number of bytes to skip before reading data
  309 + * \param[out] data: Pointer to output memory to copy buffer data to
  310 + * \param[in] btp: Number of bytes to peek
  311 + * \return Number of bytes peeked and written to output array
  312 + */
  313 +lwrb_sz_t
  314 +lwrb_peek(const lwrb_t* buff, lwrb_sz_t skip_count, void* data, lwrb_sz_t btp) {
  315 + lwrb_sz_t full, tocopy, r;
  316 + uint8_t* d = data;
  317 +
  318 + if (!BUF_IS_VALID(buff) || data == NULL || btp == 0) {
  319 + return 0;
  320 + }
  321 +
  322 + /*
  323 + * Calculate maximum number of bytes available to read
  324 + * and check if we can even fit to it
  325 + */
  326 + full = lwrb_get_full(buff);
  327 + if (skip_count >= full) {
  328 + return 0;
  329 + }
  330 + r = LWRB_LOAD(buff->r, memory_order_relaxed);
  331 + r += skip_count;
  332 + full -= skip_count;
  333 + if (r >= buff->size) {
  334 + r -= buff->size;
  335 + }
  336 +
  337 + /* Check maximum number of bytes available to read after skip */
  338 + btp = BUF_MIN(full, btp);
  339 + if (btp == 0) {
  340 + return 0;
  341 + }
  342 +
  343 + /* Step 1: Read data from linear part of buffer */
  344 + tocopy = BUF_MIN(buff->size - r, btp);
  345 + BUF_MEMCPY(d, &buff->buff[r], tocopy);
  346 + btp -= tocopy;
  347 +
  348 + /* Step 2: Read data from beginning of buffer (overflow part) */
  349 + if (btp > 0) {
  350 + BUF_MEMCPY(&d[tocopy], buff->buff, btp);
  351 + }
  352 + return tocopy + btp;
  353 +}
  354 +
  355 +/**
  356 + * \brief Get available size in buffer for write operation
  357 + * \param[in] buff: Ring buffer instance
  358 + * \return Number of free bytes in memory
  359 + */
  360 +lwrb_sz_t
  361 +lwrb_get_free(const lwrb_t* buff) {
  362 + lwrb_sz_t size, w, r;
  363 +
  364 + if (!BUF_IS_VALID(buff)) {
  365 + return 0;
  366 + }
  367 +
  368 + /*
  369 + * Copy buffer pointers to local variables with atomic access.
  370 + *
  371 + * To ensure thread safety (only when in single-entry, single-exit FIFO mode use case),
  372 + * it is important to write buffer r and w values to local w and r variables.
  373 + *
  374 + * Local variables will ensure below if statements will always use the same value,
  375 + * even if buff->w or buff->r get changed during interrupt processing.
  376 + *
  377 + * They may change during load operation, important is that
  378 + * they do not change during if-else operations following these assignments.
  379 + *
  380 + * lwrb_get_free is only called for write purpose, and when in FIFO mode, then:
  381 + * - buff->w pointer will not change by another process/interrupt because we are in write mode just now
  382 + * - buff->r pointer may change by another process. If it gets changed after buff->r has been loaded to local variable,
  383 + * buffer will see "free size" less than it actually is. This is not a problem, application can
  384 + * always try again to write more data to remaining free memory that was read just during copy operation
  385 + */
  386 + w = LWRB_LOAD(buff->w, memory_order_relaxed);
  387 + r = LWRB_LOAD(buff->r, memory_order_relaxed);
  388 +
  389 + if (w >= r) {
  390 + size = buff->size - (w - r);
  391 + } else {
  392 + size = r - w;
  393 + }
  394 +
  395 + /* Buffer free size is always 1 less than actual size */
  396 + return size - 1;
  397 +}
  398 +
  399 +/**
  400 + * \brief Get number of bytes currently available in buffer
  401 + * \param[in] buff: Ring buffer instance
  402 + * \return Number of bytes ready to be read
  403 + */
  404 +lwrb_sz_t
  405 +lwrb_get_full(const lwrb_t* buff) {
  406 + lwrb_sz_t size, w, r;
  407 +
  408 + if (!BUF_IS_VALID(buff)) {
  409 + return 0;
  410 + }
  411 +
  412 + /*
  413 + * Copy buffer pointers to local variables.
  414 + *
  415 + * To ensure thread safety (only when in single-entry, single-exit FIFO mode use case),
  416 + * it is important to write buffer r and w values to local w and r variables.
  417 + *
  418 + * Local variables will ensure below if statements will always use the same value,
  419 + * even if buff->w or buff->r get changed during interrupt processing.
  420 + *
  421 + * They may change during load operation, important is that
  422 + * they do not change during if-else operations following these assignments.
  423 + *
  424 + * lwrb_get_full is only called for read purpose, and when in FIFO mode, then:
  425 + * - buff->r pointer will not change by another process/interrupt because we are in read mode just now
  426 + * - buff->w pointer may change by another process. If it gets changed after buff->w has been loaded to local variable,
  427 + * buffer will see "full size" less than it really is. This is not a problem, application can
  428 + * always try again to read more data from remaining full memory that was written just during copy operation
  429 + */
  430 + w = LWRB_LOAD(buff->w, memory_order_relaxed);
  431 + r = LWRB_LOAD(buff->r, memory_order_relaxed);
  432 +
  433 + if (w >= r) {
  434 + size = w - r;
  435 + } else {
  436 + size = buff->size - (r - w);
  437 + }
  438 + return size;
  439 +}
  440 +
  441 +/**
  442 + * \brief Resets buffer to default values. Buffer size is not modified
  443 + * \note This function is not thread safe.
  444 + * When used, application must ensure there is no active read/write operation
  445 + * \param[in] buff: Ring buffer instance
  446 + */
  447 +void
  448 +lwrb_reset(lwrb_t* buff) {
  449 + if (BUF_IS_VALID(buff)) {
  450 + LWRB_STORE(buff->w, 0, memory_order_release);
  451 + LWRB_STORE(buff->r, 0, memory_order_release);
  452 + BUF_SEND_EVT(buff, LWRB_EVT_RESET, 0);
  453 + }
  454 +}
  455 +
  456 +/**
  457 + * \brief Get linear address for buffer for fast read
  458 + * \param[in] buff: Ring buffer instance
  459 + * \return Linear buffer start address
  460 + */
  461 +void*
  462 +lwrb_get_linear_block_read_address(const lwrb_t* buff) {
  463 + if (!BUF_IS_VALID(buff)) {
  464 + return NULL;
  465 + }
  466 + return &buff->buff[buff->r];
  467 +}
  468 +
  469 +/**
  470 + * \brief Get length of linear block address before it overflows for read operation
  471 + * \param[in] buff: Ring buffer instance
  472 + * \return Linear buffer size in units of bytes for read operation
  473 + */
  474 +lwrb_sz_t
  475 +lwrb_get_linear_block_read_length(const lwrb_t* buff) {
  476 + lwrb_sz_t len, w, r;
  477 +
  478 + if (!BUF_IS_VALID(buff)) {
  479 + return 0;
  480 + }
  481 +
  482 + /*
  483 + * Use temporary values in case they are changed during operations.
  484 + * See lwrb_buff_free or lwrb_buff_full functions for more information why this is OK.
  485 + */
  486 + w = LWRB_LOAD(buff->w, memory_order_relaxed);
  487 + r = LWRB_LOAD(buff->r, memory_order_relaxed);
  488 +
  489 + if (w > r) {
  490 + len = w - r;
  491 + } else if (r > w) {
  492 + len = buff->size - r;
  493 + } else {
  494 + len = 0;
  495 + }
  496 + return len;
  497 +}
  498 +
  499 +/**
  500 + * \brief Skip (ignore; advance read pointer) buffer data
  501 + * Marks data as read in the buffer and increases free memory for up to `len` bytes
  502 + *
  503 + * \note Useful at the end of streaming transfer such as DMA
  504 + * \param[in] buff: Ring buffer instance
  505 + * \param[in] len: Number of bytes to skip and mark as read
  506 + * \return Number of bytes skipped
  507 + */
  508 +lwrb_sz_t
  509 +lwrb_skip(lwrb_t* buff, lwrb_sz_t len) {
  510 + lwrb_sz_t full, r;
  511 +
  512 + if (!BUF_IS_VALID(buff) || len == 0) {
  513 + return 0;
  514 + }
  515 +
  516 + full = lwrb_get_full(buff);
  517 + len = BUF_MIN(len, full);
  518 + r = LWRB_LOAD(buff->r, memory_order_acquire);
  519 + r += len;
  520 + if (r >= buff->size) {
  521 + r -= buff->size;
  522 + }
  523 + LWRB_STORE(buff->r, r, memory_order_release);
  524 + BUF_SEND_EVT(buff, LWRB_EVT_READ, len);
  525 + return len;
  526 +}
  527 +
  528 +/**
  529 + * \brief Get linear address for buffer for fast read
  530 + * \param[in] buff: Ring buffer instance
  531 + * \return Linear buffer start address
  532 + */
  533 +void*
  534 +lwrb_get_linear_block_write_address(const lwrb_t* buff) {
  535 + if (!BUF_IS_VALID(buff)) {
  536 + return NULL;
  537 + }
  538 + return &buff->buff[buff->w];
  539 +}
  540 +
  541 +/**
  542 + * \brief Get length of linear block address before it overflows for write operation
  543 + * \param[in] buff: Ring buffer instance
  544 + * \return Linear buffer size in units of bytes for write operation
  545 + */
  546 +lwrb_sz_t
  547 +lwrb_get_linear_block_write_length(const lwrb_t* buff) {
  548 + lwrb_sz_t len, w, r;
  549 +
  550 + if (!BUF_IS_VALID(buff)) {
  551 + return 0;
  552 + }
  553 +
  554 + /*
  555 + * Use temporary values in case they are changed during operations.
  556 + * See lwrb_buff_free or lwrb_buff_full functions for more information why this is OK.
  557 + */
  558 + w = LWRB_LOAD(buff->w, memory_order_relaxed);
  559 + r = LWRB_LOAD(buff->r, memory_order_relaxed);
  560 +
  561 + if (w >= r) {
  562 + len = buff->size - w;
  563 + /*
  564 + * When read pointer is 0,
  565 + * maximal length is one less as if too many bytes
  566 + * are written, buffer would be considered empty again (r == w)
  567 + */
  568 + if (r == 0) {
  569 + /*
  570 + * Cannot overflow:
  571 + * - If r is not 0, statement does not get called
  572 + * - buff->size cannot be 0 and if r is 0, len is greater 0
  573 + */
  574 + --len;
  575 + }
  576 + } else {
  577 + len = r - w - 1;
  578 + }
  579 + return len;
  580 +}
  581 +
  582 +/**
  583 + * \brief Advance write pointer in the buffer.
  584 + * Similar to skip function but modifies write pointer instead of read
  585 + *
  586 + * \note Useful when hardware is writing to buffer and application needs to increase number
  587 + * of bytes written to buffer by hardware
  588 + * \param[in] buff: Ring buffer instance
  589 + * \param[in] len: Number of bytes to advance
  590 + * \return Number of bytes advanced for write operation
  591 + */
  592 +lwrb_sz_t
  593 +lwrb_advance(lwrb_t* buff, lwrb_sz_t len) {
  594 + lwrb_sz_t free, w;
  595 +
  596 + if (!BUF_IS_VALID(buff) || len == 0) {
  597 + return 0;
  598 + }
  599 +
  600 + /* Use local variables before writing back to main structure */
  601 + free = lwrb_get_free(buff);
  602 + len = BUF_MIN(len, free);
  603 + w = LWRB_LOAD(buff->w, memory_order_acquire);
  604 + w += len;
  605 + if (w >= buff->size) {
  606 + w -= buff->size;
  607 + }
  608 + LWRB_STORE(buff->w, w, memory_order_release);
  609 + BUF_SEND_EVT(buff, LWRB_EVT_WRITE, len);
  610 + return len;
  611 +}
  612 +
  613 +/**
  614 + * \brief Searches for a *needle* in an array, starting from given offset.
  615 + *
  616 + * \note This function is not thread-safe.
  617 + *
  618 + * \param buff: Ring buffer to search for needle in
  619 + * \param bts: Constant byte array sequence to search for in a buffer
  620 + * \param len: Length of the \arg bts array
  621 + * \param start_offset: Start offset in the buffer
  622 + * \param found_idx: Pointer to variable to write index in array where bts has been found
  623 + * Must not be set to `NULL`
  624 + * \return `1` if \arg bts found, `0` otherwise
  625 + */
  626 +uint8_t
  627 +lwrb_find(const lwrb_t* buff, const void* bts, lwrb_sz_t len, lwrb_sz_t start_offset, lwrb_sz_t* found_idx) {
  628 + lwrb_sz_t full, r, max_x;
  629 + uint8_t found = 0;
  630 + const uint8_t* needle = bts;
  631 +
  632 + if (!BUF_IS_VALID(buff) || needle == NULL || len == 0 || found_idx == NULL) {
  633 + return 0;
  634 + }
  635 + *found_idx = 0;
  636 +
  637 + full = lwrb_get_full(buff);
  638 + /* Verify initial conditions */
  639 + if (full < (len + start_offset)) {
  640 + return 0;
  641 + }
  642 +
  643 + /* Max number of for loops is buff_full - input_len - start_offset of buffer length */
  644 + max_x = full - len;
  645 + for (lwrb_sz_t skip_x = start_offset; !found && skip_x <= max_x; ++skip_x) {
  646 + found = 1; /* Found by default */
  647 +
  648 + /* Prepare the starting point for reading */
  649 + r = buff->r + skip_x;
  650 + if (r >= buff->size) {
  651 + r -= buff->size;
  652 + }
  653 +
  654 + /* Search in the buffer */
  655 + for (lwrb_sz_t i = 0; i < len; ++i) {
  656 + if (buff->buff[r] != needle[i]) {
  657 + found = 0;
  658 + break;
  659 + }
  660 + if (++r >= buff->size) {
  661 + r = 0;
  662 + }
  663 + }
  664 + if (found) {
  665 + *found_idx = skip_x;
  666 + }
  667 + }
  668 + return found;
  669 +}
  1 +/**
  2 + * \file lwrb.h
  3 + * \brief LwRB - Lightweight ring buffer
  4 + */
  5 +
  6 +/*
  7 + * Copyright (c) 2024 Tilen MAJERLE
  8 + *
  9 + * Permission is hereby granted, free of charge, to any person
  10 + * obtaining a copy of this software and associated documentation
  11 + * files (the "Software"), to deal in the Software without restriction,
  12 + * including without limitation the rights to use, copy, modify, merge,
  13 + * publish, distribute, sublicense, and/or sell copies of the Software,
  14 + * and to permit persons to whom the Software is furnished to do so,
  15 + * subject to the following conditions:
  16 + *
  17 + * The above copyright notice and this permission notice shall be
  18 + * included in all copies or substantial portions of the Software.
  19 + *
  20 + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
  21 + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
  22 + * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
  23 + * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
  24 + * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
  25 + * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
  26 + * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
  27 + * OTHER DEALINGS IN THE SOFTWARE.
  28 + *
  29 + * This file is part of LwRB - Lightweight ring buffer library.
  30 + *
  31 + * Author: Tilen MAJERLE <tilen@majerle.eu>
  32 + * Version: v3.1.0
  33 + */
  34 +#ifndef LWRB_HDR_H
  35 +#define LWRB_HDR_H
  36 +
  37 +#include <stddef.h>
  38 +#include <stdint.h>
  39 +#include <string.h>
  40 +
  41 +#ifdef __cplusplus
  42 +extern "C" {
  43 +#endif /* __cplusplus */
  44 +
  45 +/**
  46 + * \defgroup LWRB Lightweight ring buffer manager
  47 + * \brief Lightweight ring buffer manager
  48 + * \{
  49 + */
  50 +
  51 +#if !defined(LWRB_DISABLE_ATOMIC) || __DOXYGEN__
  52 +#include <stdatomic.h>
  53 +
  54 +/**
  55 + * \brief Atomic type for size variable.
  56 + * Default value is set to be `unsigned 32-bits` type
  57 + * * \brief 原子类型，用于大小变量。
  58 + * 默认值被设置为`无符号32位`类型
  59 + */
  60 +typedef atomic_ulong lwrb_sz_atomic_t;
  61 +
  62 +/**
  63 + * \brief Size variable for all library operations.
  64 + * Default value is set to be `unsigned 32-bits` type
  65 + * * \brief 所有库操作的大小变量。
  66 + * 默认值被设置为`无符号32位`类型
  67 + */
  68 +typedef unsigned long lwrb_sz_t;
  69 +#else
  70 +typedef unsigned long lwrb_sz_atomic_t;
  71 +typedef unsigned long lwrb_sz_t;
  72 +#endif
  73 +
  74 +/**
  75 + * \brief Event type for buffer operations
  76 + * 用于缓冲区操作的事件类型
  77 + */
  78 +typedef enum {
  79 + LWRB_EVT_READ, /*!< Read event */
  80 + LWRB_EVT_WRITE, /*!< Write event */
  81 + LWRB_EVT_RESET, /*!< Reset event */
  82 +} lwrb_evt_type_t;
  83 +
  84 +/**
  85 + * \brief Buffer structure forward declaration环形缓冲区结构的前置声明
  86 + */
  87 +struct lwrb;
  88 +
  89 +/**
  90 + * \brief Event callback function type 事件回调函数类型
  91 + * \param[in] buff: Buffer handle for event 事件的缓冲区句柄
  92 + * \param[in] evt: Event type 事件类型
  93 + * \param[in] bp: Number of bytes written or read (when used), depends on event type 写入或读取的字节数（当使用时），取决于事件类型
  94 + */
  95 +typedef void (*lwrb_evt_fn)(struct lwrb* buff, lwrb_evt_type_t evt, lwrb_sz_t bp);
  96 +
  97 +/* List of flags */
  98 +#define LWRB_FLAG_READ_ALL ((uint16_t)0x0001)
  99 +#define LWRB_FLAG_WRITE_ALL ((uint16_t)0x0001)
  100 +
  101 +/**
  102 + * \brief Buffer structure
  103 + */
  104 +typedef struct lwrb {
  105 + uint8_t* buff; // 指向缓冲区数据的指针。当buff != NULL且size > 0时，认为缓冲区已初始化 /
  106 + lwrb_sz_t size; /*!<缓冲区数据的大小。实际缓冲区的大小比此值小1字节 */
  107 + lwrb_sz_atomic_t r; /*!< 下一个读指针。当r == w时，认为缓冲区为空；当w == (r - 1 + size) % size时，认为缓冲区已满 */
  108 + lwrb_sz_atomic_t w; /*!< 下一个写指针。当r == w时，认为缓冲区为空；当w == (r - 1 + size) % size时，认为缓冲区已满 */
  109 + lwrb_evt_fn evt_fn; /*!< 事件回调函数指针 */
  110 + void* arg; /*!< 事件自定义用户参数t */
  111 +} lwrb_t;
  112 +
  113 +uint8_t lwrb_init(lwrb_t* buff, void* buffdata, lwrb_sz_t size);
  114 +uint8_t lwrb_is_ready(lwrb_t* buff);
  115 +void lwrb_free(lwrb_t* buff);
  116 +void lwrb_reset(lwrb_t* buff);
  117 +void lwrb_set_evt_fn(lwrb_t* buff, lwrb_evt_fn fn);
  118 +void lwrb_set_arg(lwrb_t* buff, void* arg);
  119 +void* lwrb_get_arg(lwrb_t* buff);
  120 +
  121 +/* Read/Write functions */
  122 +lwrb_sz_t lwrb_write(lwrb_t* buff, const void* data, lwrb_sz_t btw);
  123 +lwrb_sz_t lwrb_read(lwrb_t* buff, void* data, lwrb_sz_t btr);
  124 +lwrb_sz_t lwrb_peek(const lwrb_t* buff, lwrb_sz_t skip_count, void* data, lwrb_sz_t btp);
  125 +
  126 +/* Extended read/write functions */
  127 +uint8_t lwrb_write_ex(lwrb_t* buff, const void* data, lwrb_sz_t btw, lwrb_sz_t* bw, uint16_t flags);
  128 +uint8_t lwrb_read_ex(lwrb_t* buff, void* data, lwrb_sz_t btr, lwrb_sz_t* br, uint16_t flags);
  129 +
  130 +/* Buffer size information */
  131 +lwrb_sz_t lwrb_get_free(const lwrb_t* buff);
  132 +lwrb_sz_t lwrb_get_full(const lwrb_t* buff);
  133 +
  134 +/* Read data block management */
  135 +void* lwrb_get_linear_block_read_address(const lwrb_t* buff);
  136 +lwrb_sz_t lwrb_get_linear_block_read_length(const lwrb_t* buff);
  137 +lwrb_sz_t lwrb_skip(lwrb_t* buff, lwrb_sz_t len);
  138 +
  139 +/* Write data block management */
  140 +void* lwrb_get_linear_block_write_address(const lwrb_t* buff);
  141 +lwrb_sz_t lwrb_get_linear_block_write_length(const lwrb_t* buff);
  142 +lwrb_sz_t lwrb_advance(lwrb_t* buff, lwrb_sz_t len);
  143 +
  144 +/* Search in buffer */
  145 +uint8_t lwrb_find(const lwrb_t* buff, const void* bts, lwrb_sz_t len, lwrb_sz_t start_offset, lwrb_sz_t* found_idx);
  146 +lwrb_sz_t lwrb_overwrite(lwrb_t* buff, const void* data, lwrb_sz_t btw);
  147 +lwrb_sz_t lwrb_move(lwrb_t* dest, lwrb_t* src);
  148 +
  149 +/**
  150 + * \}
  151 + */
  152 +
  153 +#ifdef __cplusplus
  154 +}
  155 +#endif /* __cplusplus */
  156 +
  157 +#endif /* LWRB_HDR_H */
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdkCommonFuntion.h
  4 + * JZsdk常用函数库的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDKCOMMONFUNTION_H
  11 +#define JZSDKCOMMONFUNTION_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +#include "JZsdk_string/JZsdk_string.h"
  22 +#include "JZsdk_math/JZsdk_math.h"
  23 +
  24 +/* Exported types ------------------------------------------------------------*/
  25 +
  26 +
  27 +/* Exported functions --------------------------------------------------------*/
  28 +
  29 +
  30 +#ifdef __cplusplus
  31 +}
  32 +#endif
  33 +
  34 +#endif
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_math.h
  4 + * 用于文件系统操作
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_MATH_H
  11 +#define JZSDK_MATH_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +#include <stddef.h>
  15 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  16 +
  17 +#ifdef __cplusplus
  18 +extern "C" {
  19 +#endif
  20 +
  21 +/* Exported constants --------------------------------------------------------*/
  22 +/* 常亮定义*/
  23 +
  24 +
  25 +/* Exported types ------------------------------------------------------------*/
  26 +
  27 +
  28 +/* Exported functions --------------------------------------------------------*/
  29 +#define JZ_MATH_MAX(a, b) ((a) > (b) ? (a) : (b)) //比较大小
  30 +#define JZ_MATH_MIN(a, b) ((a) < (b) ? (a) : (b)) //比较大小
  31 +#define JZ_MATH_ADD(a, b) ((a) + (b)) //相加
  32 +#define JZ_MATH_SUB(a, b) ((a) - (b)) //相减
  33 +#define JZ_MATH_MUL(a, b) ((a) * (b)) //相乘
  34 +#define JZ_MATH_DIVIDE(a, b) ((b) != 0 ? (a) / (b) : (-1)) //相除
  35 +#define JZ_MATH_MODULUS(a, b) ((b) != 0 ? (a) % (b) : (-1)) //求余
  36 +#define JZ_MATH_ABS(a) ((a) < 0 ? -(a) : (a)) //求绝对值
  37 +#define JZ_MATH_SQUARE(a) ((a) * (a)) //求平方
  38 +#define JZ_MATH_CUBE(a) ((a) * (a) * (a)) //求立方
  39 +
  40 +// 注意：这个宏只适用于正整数幂且幂次较小的情况
  41 +#define JZ_MATH_POW(base, exponent) ((exponent) == 0 ? 1 : ((base) * JZ_MATH_POW(base, (exponent) - 1)))
  42 +// 使用递归，对于大幂次或浮点数幂次，建议使用math.h中的pow函数
  43 +
  44 +// #include <math.h>
  45 +// #define JZ_MATH_SQRT(a) sqrt(a)
  46 +
  47 +#define JZ_MATH_CLAMP(value, min, max) ((value) < (min) ? (min) : ((value) > (max) ? (max) : (value))) //限制值在范围内（确保一个值在指定的最小值和最大值之间）：
  48 +#define JZ_MATH_SWAP(a, b) do { typeof(a) temp = (a); (a) = (b); (b) = temp; } while (0) //交换两个变量的值（这个宏使用了一个临时变量，但它仍然是通过宏来完成的）：
  49 +
  50 +
  51 +#ifdef __cplusplus
  52 +}
  53 +#endif
  54 +
  55 +#endif
  1 +#include <stdio.h>
  2 +#include <string.h>
  3 +#include "JZsdk_string.h"
  4 +#include "../../JZsdkLib.h"
  5 +
  6 +/*
  7 +* 用于字符串转int型
  8 +*/
  9 +int JZsdk_String_str_to_int(const char *str)
  10 +{
  11 + int temp = 0;
  12 + const char *ptr = str; //ptr保存str字符串开头
  13 +
  14 + if (*str == '-' || *str == '+') //如果第一个字符是正负号，
  15 + { //则移到下一个字符
  16 + str++;
  17 + }
  18 + while(*str != 0)
  19 + {
  20 + if ((*str < '0') || (*str > '9')) //如果当前字符不是数字
  21 + { //则退出循环
  22 + break;
  23 + }
  24 + temp = temp * 10 + (*str - '0'); //如果当前字符是数字则计算数值
  25 + str++; //移到下一个字符
  26 + }
  27 + if (*ptr == '-') //如果字符串是以“-”开头，则转换成其相反数
  28 + {
  29 + temp = -temp;
  30 + }
  31 +
  32 + return temp;
  33 +}
  34 +
  35 +
  36 +/*
  37 +* int型转字符串
  38 +*/
  39 +void JZsdk_String_int_to_str(int n, char *str)
  40 +{
  41 + char buf[10] = "";
  42 + int i = 0;
  43 + int len = 0;
  44 + int temp = n < 0 ? -n: n; // temp为n的绝对值
  45 +
  46 + if (str == NULL)
  47 + {
  48 + return;
  49 + }
  50 + while(temp)
  51 + {
  52 + buf[i++] = (temp % 10) + '0'; //把temp的每一位上的数存入buf
  53 + temp = temp / 10;
  54 + }
  55 +
  56 + len = n < 0 ? ++i: i; //如果n是负数，则多需要一位来存储负号
  57 + str[i] = 0; //末尾是结束符0
  58 + while(1)
  59 + {
  60 + i--;
  61 + if (buf[len-i-1] ==0)
  62 + {
  63 + break;
  64 + }
  65 + str[i] = buf[len-i-1]; //把buf数组里的字符拷到字符串
  66 + }
  67 + if (i == 0 )
  68 + {
  69 + str[i] = '-'; //如果是负数，添加一个负号
  70 + }
  71 +}
  72 +
  73 +/*
  74 +* longlong型转字符串型
  75 +*/
  76 +size_t JZsdk_String_longlong_to_str(char *s, long long value,int radix)
  77 +{
  78 + char *p, aux;
  79 + unsigned long long v;
  80 + size_t l;
  81 +
  82 + /* Generate the string representation, this method produces
  83 + * an reversed string. */
  84 + v = (value < 0) ? -value : value;
  85 + p = s;
  86 + do {
  87 + *p++ = '0' + (v % radix); // 2
  88 + v /= radix; // 2
  89 + } while (v);
  90 + if (value < 0) *p++ = '-';
  91 +
  92 + /* Compute length and add null term. */
  93 + l = p - s;
  94 + *p = '\0';
  95 +
  96 + /* Reverse the string. */
  97 + p--;
  98 + while (s < p) {
  99 + aux = *s;
  100 + *s = *p;
  101 + *p = aux;
  102 + s++;
  103 + p--;
  104 + }
  105 + return l;
  106 +}
  107 +
  108 +/****************
  109 + *
  110 + * 用于判断数组是否为空
  111 + * 不为空 JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE
  112 + * 空 JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS
  113 + * ***********/
  114 +T_JZsdkReturnCode JZsdk_Array_isEmpty(unsigned char array[], int size)
  115 +{
  116 + for (int i = 0; i < size; i++) {
  117 + if (array[i] != 0) {
  118 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; // 数组不为空
  119 + }
  120 + }
  121 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; // 数组为空
  122 +}
  123 +
  124 +/****************
  125 + *
  126 + * 用于替换数组中的换行符'\n'为结束符'\0'
  127 + *
  128 + * 替换成功返回 JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS
  129 + * 没有替换 返回JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE
  130 +
  131 + * ***********/
  132 +T_JZsdkReturnCode JZsdk_replace_newlines_with_null_terminator(char* string)
  133 +{
  134 + int replace_flag = JZ_FLAGCODE_OFF;
  135 +
  136 + // 获取字符串的长度
  137 + int length = strlen(string);
  138 +
  139 + // 遍历字符串，将换行符替换为结束符
  140 + for (int i = 0; i < length; i++) {
  141 + if (string[i] == '\n') {
  142 + string[i] = '\0';
  143 + replace_flag = JZ_FLAGCODE_ON;
  144 + }
  145 + }
  146 +
  147 + if (replace_flag == JZ_FLAGCODE_ON)
  148 + {
  149 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  150 + }
  151 + else
  152 + {
  153 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  154 + }
  155 +
  156 +}
  157 +
  158 +/****************
  159 + *
  160 + * 用于将两位u8的数据逆向合并为u16的数据
  161 + *
  162 + * 成功返回 JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS
  163 + * 失败 返回JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE
  164 +
  165 + * ***********/
  166 +T_JZsdkReturnCode JZsdk_Merge_U8_to_U16_byReverse(U8_t *in_str, int in_str_len, U16_t *out_str, int *out_str_len)
  167 +{
  168 + // 检查输入长度是否是2的倍数
  169 + if (in_str_len % 2 != 0)
  170 + {
  171 + // 输入长度不是偶数，处理错误
  172 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  173 + }
  174 +
  175 + // 检查函数地址
  176 + if(in_str == NULL || out_str == NULL)
  177 + {
  178 + return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  179 + }
  180 +
  181 + int Step = 0;
  182 + for (int i = 0; i < in_str_len; i += 2)
  183 + {
  184 + // 两字节合并为一个16位的整数，注意高低位的顺序
  185 + out_str[Step++] = ((U16_t)in_str[i+1] << 8) | in_str[i];
  186 + }
  187 +
  188 + // 设置输出字符串的长度为输入长度的一半
  189 + *out_str_len = in_str_len / 2;
  190 +
  191 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  192 +}
  193 +
  194 +/****************
  195 + *
  196 + * 用于将两位u8的数据正向合并为u16的数据
  197 + *
  198 + * 成x功返回 JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS
  199 + * 失败 返回JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE
  200 +
  201 + * ***********/
  202 +T_JZsdkReturnCode JZsdk_Merge_U8_to_U16_byForward(U8_t *in_str, int in_str_len, U16_t *out_str, int *out_str_len)
  203 +{
  204 + // 检查输入长度是否是2的倍数
  205 + if (in_str_len % 2 != 0)
  206 + {
  207 + // 输入长度不是偶数，处理错误
  208 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  209 + }
  210 +
  211 + // 检查函数地址
  212 + if (in_str == NULL || out_str == NULL)
  213 + {
  214 + return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  215 + }
  216 +
  217 + int Step = 0;
  218 + for (int i = 0; i < in_str_len; i += 2)
  219 + {
  220 + // 两字节合并为一个16位的整数，注意高低位的顺序
  221 + out_str[Step++] = ((U16_t)in_str[i+1] << 8) | in_str[i];
  222 + }
  223 +
  224 + // 设置输出字符串的长度为输入长度的一半
  225 + *out_str_len = in_str_len / 2;
  226 +
  227 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  228 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_string.h
  4 + * 用于文件系统操作
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_STRING_H
  11 +#define JZSDK_STRING_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +#include <stddef.h>
  15 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  16 +
  17 +#ifdef __cplusplus
  18 +extern "C" {
  19 +#endif
  20 +
  21 +/* Exported constants --------------------------------------------------------*/
  22 +/* 常亮定义*/
  23 +
  24 +
  25 +/* Exported types ------------------------------------------------------------*/
  26 +
  27 +
  28 +/* Exported functions --------------------------------------------------------*/
  29 +int JZsdk_String_str_to_int(const char *str);
  30 +void JZsdk_String_int_to_str(int n, char *str);
  31 +size_t JZsdk_String_longlong_to_str(char *s, long long value,int radix);
  32 +T_JZsdkReturnCode JZsdk_Array_isEmpty(unsigned char array[], int size);
  33 +T_JZsdkReturnCode JZsdk_replace_newlines_with_null_terminator(char* string) ;
  34 +
  35 +T_JZsdkReturnCode JZsdk_Merge_U8_to_U16_byReverse(U8_t *in_str, int in_str_len, U16_t *out_str, int *out_str_len);
  36 +T_JZsdkReturnCode JZsdk_Merge_U8_to_U16_byForward(U8_t *in_str, int in_str_len, U16_t *out_str, int *out_str_len);
  37 +
  38 +#ifdef __cplusplus
  39 +}
  40 +#endif
  41 +
  42 +#endif
  1 +/******************************
  2 + *
  3 + * JZsdk的任务管理模块
  4 + *
  5 + *
  6 + * ***************************/
  7 +#include <stdio.h>
  8 +#include <stdlib.h>
  9 +#include <pthread.h>
  10 +#include <unistd.h>
  11 +
  12 +#include "./TaskManagement.h"
  13 +#include <JZsdkLib.h>
  14 +
  15 +#define THREAD_POOL_SIZE 5 // 线程池大小
  16 +
  17 +typedef struct {
  18 + void (*task_function)(void*); //任务函数指针,用于指定 执行的任务
  19 + void* data; // 任务参数 //任务参数的地址 用于输入任务内容
  20 +} t_JZsdk_TaskMgmt_TaskInput;
  21 +
  22 +typedef struct {
  23 + pthread_t thread; // 线程 //调用的线程
  24 + int is_busy; // 标识线程是否忙碌
  25 + t_JZsdk_TaskMgmt_TaskInput* task; // 线程执行的任务
  26 + pthread_mutex_t lock; // 互斥锁
  27 + pthread_cond_t condition; // 条件变量
  28 +} t_ThreadPool;
  29 +
  30 +t_ThreadPool TaskPool[THREAD_POOL_SIZE]; //任务池子
  31 +
  32 +static void* TaskManagement_ThreadFunction(void* arg);
  33 +
  34 +
  35 +/**************
  36 + *
  37 + * 任务管理模块的初始化
  38 + *
  39 + * ***************/
  40 +T_JZsdkReturnCode TaskManagement_Init()
  41 +{
  42 + //1、创建任务池子
  43 + for (int i = 0; i < THREAD_POOL_SIZE; i++)
  44 + {
  45 + TaskPool[i].is_busy = 0;
  46 + pthread_mutex_init(&TaskPool[i].lock, NULL);
  47 + pthread_cond_init(&TaskPool[i].condition, NULL);
  48 + pthread_create(&TaskPool[i].thread, NULL, TaskManagement_ThreadFunction, &TaskPool[i]);
  49 + }
  50 +}
  51 +
  52 +/**************
  53 + *
  54 + * 任务的输入
  55 + *
  56 + * ***************/
  57 +T_JZsdkReturnCode TaskManagement_SubmitTask(void (*task_function)(void*), void* data)
  58 +{
  59 + //检阅是否有空余的任务线程
  60 + int i = 0;
  61 + for ( ; i < THREAD_POOL_SIZE; i++)
  62 + {
  63 + if (!TaskPool[i].is_busy)
  64 + {
  65 + //检测到有空余的线程
  66 + break;
  67 + }
  68 + }
  69 +
  70 + //没有多余的任务线程，退出该发送任务
  71 + if (i >= THREAD_POOL_SIZE)
  72 + {
  73 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  74 + }
  75 +
  76 + t_JZsdk_TaskMgmt_TaskInput *task = (t_JZsdk_TaskMgmt_TaskInput*)malloc(sizeof(t_JZsdk_TaskMgmt_TaskInput));
  77 + if (task == NULL)
  78 + {
  79 + // 处理内存分配失败的情况
  80 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  81 + }
  82 +
  83 + task->task_function = task_function;
  84 + task->data = data;
  85 +
  86 + //将发送内容放入任务
  87 + TaskPool[i].task = task;
  88 + TaskPool[i].is_busy = 1;
  89 + pthread_cond_signal(&TaskPool[i].condition);
  90 +
  91 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  92 +}
  93 +
  94 +
  95 +//执行函数
  96 +static void* TaskManagement_ThreadFunction(void* arg)
  97 +{
  98 + t_ThreadPool* pool = (t_ThreadPool*)arg;
  99 + while (1)
  100 + {
  101 + pthread_mutex_lock(&pool->lock);
  102 + while (!pool->is_busy)
  103 + {
  104 + pthread_cond_wait(&pool->condition, &pool->lock);
  105 + }
  106 +
  107 + // 执行任务
  108 + pthread_mutex_unlock(&pool->lock);
  109 +
  110 + if (pool->task->task_function != NULL)
  111 + {
  112 + pool->task->task_function(pool->task->data);
  113 + }
  114 +
  115 + // 执行完成，将状态置为未忙碌
  116 + pthread_mutex_lock(&pool->lock);
  117 + if (pool->task != NULL)
  118 + {
  119 + free(pool->task);
  120 + pool->task = NULL;
  121 + }
  122 + pool->is_busy = 0;
  123 + pthread_mutex_unlock(&pool->lock);
  124 + }
  125 + return NULL;
  126 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file TaskManagement.h
  4 + *
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_TASK_MANAGEMENT_H
  11 +#define JZSDK_TASK_MANAGEMENT_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  22 +
  23 +
  24 +/* Exported types ------------------------------------------------------------*/
  25 +
  26 +/* Exported functions --------------------------------------------------------*/
  27 +T_JZsdkReturnCode TaskManagement_Init();
  28 +T_JZsdkReturnCode TaskManagement_SubmitTask(void (*task_function)(void*), void* data);
  29 +
  30 +#ifdef __cplusplus
  31 +}
  32 +#endif
  33 +
  34 +#endif
  1 +#include <stdio.h>
  2 +#include <stdlib.h>
  3 +#include <pthread.h>
  4 +#include <unistd.h>
  5 +
  6 +#include "./TaskManagement.h"
  7 +#include <JZsdkLib.h>
  8 +
  9 +typedef struct {
  10 + char* str;
  11 + int num;
  12 +} TaskData;
  13 +
  14 +
  15 +static void TaskMgmt_sample_funtion(void *data)
  16 +{
  17 + TaskData* taskData = (TaskData*)data;
  18 + printf("Sending data to serial: %s, %d\n", taskData->str, taskData->num);
  19 +
  20 + free(taskData);
  21 + taskData = NULL;
  22 +}
  23 +
  24 +
  25 +
  26 +//记得先初始化
  27 +static T_JZsdkReturnCode TaskMgmt_sample()
  28 +{
  29 + TaskData* data = (TaskData*)malloc(sizeof(TaskData));
  30 + if (data == NULL)
  31 + {
  32 + //内存注册失败
  33 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  34 + }
  35 +
  36 + data->num = 1;
  37 + data->str = "A";
  38 +
  39 + T_JZsdkReturnCode ret = TaskManagement_SubmitTask(TaskMgmt_sample_funtion, data);
  40 + if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  41 + {
  42 + free(data);
  43 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  44 + }
  45 +
  46 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  47 +}
  1 +为方便在多个板子之间移植
  2 +sdk包被我分成了多个部分
  3 +1、Base文件
  4 +不需要依赖任何第三方环境，只需要在linux上跑，同时为其他地方,如module提供延时函数等
  5 +2、JZsdk_Normal_Module
  6 +功能模组合集，为了移植时不依赖第三方文件或板子环境，使用JZsdk_module_inport.c进行参数提供
  7 +当你需要使用第三方参数给module时，你应该把接口写在Module_InPort,后Module内的模块调用Module_Inport
  8 +
  9 +当你需要给第三方参数时
  10 +同样应该使用 JZsdk_Module_OutPort.c进行提供
  1 +#include <stdio.h>
  2 +#include <stdlib.h>
  3 +#include <pthread.h>
  4 +#include <string.h>
  5 +
  6 +#include "JZsdkLib.h"
  7 +
  8 +#include "version_choose.h"
  9 +#include "ircut.h"
  10 +#include "Megaphone/Megaphone.h"
  11 +#include "Gimbal_InAndOut.h"
  12 +
  13 +#include "JZsdk_uart/JZsdk_Uart_Input.h"
  14 +#include "BaseConfig.h"
  15 +#include "Psdk_UI_io.h"
  16 +
  17 +#include "Lighting_InAndOut.h"
  18 +#include "JZsdk_network/JZsdk_network.h"
  19 +
  20 +#include "JZsdk_TaskManagement/TaskManagement.h"
  21 +#include "JZsdk_haldata_deal/JZsdk_data_transmisson.h"
  22 +#include "MediaProc/MediaProc.h"
  23 +#include "UI_control/WidegMgmt/JZsdk_Widget.h"
  24 +
  25 +#if APP_VERSION == APP_PSDK
  26 +#include "fc_subscription/test_fc_subscription.h"
  27 +#endif
  28 +#include "DeviceInfo/DeviceInfo.h"
  29 +
  30 +#if MEGAPHONE_CONFIG_STATUS == VERSION_SWITCH_ON
  31 + #include "AudioDeal/AudioDeal.h"
  32 + #include "Megaphone/Megaphone.h"
  33 +#endif
  34 +
  35 +#if SIDE_LASER_STATUS_ON
  36 + #include "SideLaser/SideLaser.h"
  37 +#endif
  38 +
  39 +static int Main_WorkMode();
  40 +static void *Main_WorkModeTask(void *arg);
  41 +static int WorkMode = JZ_FLAGCODE_OFF;
  42 +
  43 +extern int MegaphoneStatusFlag;
  44 +static int g_All_filter_Mode = JZ_FLAGCODE_OFF; //用于m30的滤波开关
  45 +static int StartupPriorityNum = JZ_FLAGCODE_OFF; //优先启动项值
  46 +
  47 +
  48 +
  49 +/*******************
  50 + *
  51 + * mode get 是未获取 m30滤波开关
  52 + * 其他值为set+get
  53 + *
  54 + * ********************/
  55 +T_JZsdkReturnCode Main_M30_all_filter_mode(int *mode)
  56 +{
  57 +
  58 +//喊话器功能被打开时
  59 +#if MEGAPHONE_CONFIG_STATUS == VERSION_SWITCH_ON
  60 + if (*mode == JZ_FLAGCODE_GET)
  61 + {
  62 + *mode = g_All_filter_Mode;
  63 + printf("滤波模式获取%d\n",*mode);
  64 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  65 + }
  66 + else if ( (*mode != JZ_FLAGCODE_ON) && (*mode != JZ_FLAGCODE_OFF) )
  67 + {
  68 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  69 + }
  70 + else
  71 + {
  72 + printf("滤波模式设置%d\n",*mode);
  73 + g_All_filter_Mode = *mode;
  74 + if (*mode == JZ_FLAGCODE_ON)
  75 + {
  76 + //先关闭播放
  77 + Megaphone_StopPlay(JZ_FLAGCODE_OFF);
  78 +
  79 +
  80 + //修改滤波
  81 + AudioDeal_FilterReset(0x01);
  82 + }
  83 + else
  84 + {
  85 + //先关闭播放
  86 + Megaphone_StopPlay(JZ_FLAGCODE_OFF);
  87 +
  88 +
  89 + //修改滤波
  90 + AudioDeal_FilterReset(0x00);
  91 + }
  92 +
  93 + }
  94 +#endif
  95 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  96 +}
  97 +
  98 +/*** ************************* *************************
  99 + *
  100 + * 判断设备是否可用
  101 + * return 0 可用
  102 + * return 1 未激活
  103 + * return 2 海外版检测到在国外不可用
  104 + *
  105 + * ******************** ******************************/
  106 +int Main_Device_Wheather_Use()
  107 +{
  108 + //先判断是否有激活
  109 + T_JZsdkReturnCode ret = SerialMAT_Get_SerialNumberStatus();
  110 + if(ret == 0x02 || ret == 0x03)
  111 + {
  112 + //未激活 返回1
  113 + return 1;
  114 + }
  115 +
  116 + // //如果是国外版，判断是否在国内 //以后再单独领出一个模块
  117 + if (FIRMWARE_ORIGIN == OVERSEAS_VERSION)
  118 + {
  119 +#if APP_VERSION == APP_PSDK
  120 + //如果处于中国境内
  121 + if (Subscription_WhetherInChina() == 1)
  122 + {
  123 + return 2;
  124 + }
  125 +#endif
  126 + }
  127 +
  128 + return 0;
  129 +}
  130 +
  131 +
  132 +T_JZsdkReturnCode Main_APP_Psdk()
  133 +{
  134 + //sdklib加载
  135 + JZsdk_LibInit();
  136 +
  137 + JZSDK_LOG_INFO("%x,PsdkVersion%x.%x.%x.%x\n",DEVICE_VERSION,MAJOR_VERSION, MINOR_VERSION, MODIFY_VERSION, DEBUG_VERSION);
  138 +
  139 + //引脚初始化
  140 + Ircut_Init();
  141 +
  142 + //设备信息初始化
  143 + DeviceInfo_Init();
  144 +
  145 + //工作模式设置函数，用于超时，及播放启动语音等
  146 + Main_WorkMode();
  147 +
  148 + //外接传输模块
  149 + JZsdk_data_transmisson_Receive_Init();
  150 +
  151 + //喊话器功能被打开时
  152 + if (MEGAPHONE_CONFIG_STATUS == VERSION_SWITCH_ON)
  153 + {
  154 + //音频库初始化
  155 + AudioDeal_Init();
  156 +
  157 + //
  158 + }
  159 +
  160 +
  161 + if (DEVICE_VERSION == TF_A1)
  162 + {
  163 + //串口设备1初始化
  164 + //JZsdk_Uart_Init(UART_DEV_1);
  165 +
  166 + //串口设备2初始化
  167 + JZsdk_Uart_Init(UART_DEV_2);
  168 +
  169 + //喊话器初始化
  170 + Megaphone_Init();
  171 +
  172 + //云台初始化
  173 + Gimbal_Init();
  174 +
  175 + //灯类初始化
  176 + Lighting_Init();
  177 +
  178 + delayMs(1000);
  179 +
  180 + //消息订阅初始化
  181 + JZsdk_Uart_Send_MessageSubcription_Control(UART_DEV_2, JZ_FLAGCODE_ON);
  182 + }
  183 +
  184 + else if (DEVICE_VERSION == JZ_H1E)
  185 + {
  186 + //串口设备1初始化
  187 + //JZsdk_Uart_Init(UART_DEV_1);
  188 +
  189 + //喊话器初始化
  190 + Megaphone_Init();
  191 + }
  192 +
  193 + else if (DEVICE_VERSION == JZ_H1T)
  194 + {
  195 + //串口设备1初始化
  196 + //JZsdk_Uart_Init(UART_DEV_1);
  197 +
  198 + //4g设备初始化
  199 + JZsdk_Uart_Init(UART_4G);
  200 +
  201 + //喊话器初始化
  202 + Megaphone_Init();
  203 +
  204 + //云台初始化
  205 + Gimbal_Init();
  206 + }
  207 +
  208 + else if (DEVICE_VERSION == JZ_H150S || DEVICE_VERSION == JZ_H150T)
  209 + {
  210 + //串口设备1初始化
  211 + // JZsdk_Uart_Init(UART_DEV_1);
  212 +
  213 + if (DEVICE_VERSION == JZ_H150T)
  214 + {
  215 + //4g设备初始化
  216 + JZsdk_Uart_Init(UART_4G);
  217 + }
  218 +
  219 + //喊话器初始化
  220 + Megaphone_Init();
  221 +
  222 + //云台初始化
  223 + Gimbal_Init();
  224 +
  225 + //相机初始化
  226 + MediaProc_Init();
  227 + }
  228 +
  229 + else if (DEVICE_VERSION == JZ_H10)
  230 + {
  231 + //串口设备1初始化
  232 + // JZsdk_Uart_Init(UART_DEV_1);
  233 +
  234 + //喊话器初始化
  235 + Megaphone_Init();
  236 +
  237 + //云台初始化
  238 + Gimbal_Init();
  239 + }
  240 +
  241 + else if (DEVICE_VERSION == JZ_H10T)
  242 + {
  243 + //串口设备1初始化
  244 + //JZsdk_Uart_Init(UART_DEV_1);
  245 +
  246 + //4g设备初始化
  247 + JZsdk_Uart_Init(UART_4G);
  248 +
  249 + //喊话器初始化
  250 + Megaphone_Init();
  251 +
  252 + //云台初始化
  253 + Gimbal_Init();
  254 + }
  255 +
  256 + else if (DEVICE_VERSION == JZ_U3)
  257 + {
  258 + //串口设备1初始化
  259 + //JZsdk_Uart_Init(UART_DEV_1);
  260 +
  261 + //串口设备2初始化
  262 + JZsdk_Uart_Init(UART_DEV_2);
  263 +
  264 + //喊话器初始化
  265 + Megaphone_Init();
  266 +
  267 + //云台初始化
  268 + Gimbal_Init();
  269 +
  270 + //灯类初始化
  271 + Lighting_Init();
  272 +
  273 + delayMs(1000);
  274 +
  275 + //消息订阅初始化
  276 + JZsdk_Uart_Send_MessageSubcription_Control(UART_DEV_2, JZ_FLAGCODE_ON);
  277 + }
  278 +
  279 + else if (DEVICE_VERSION == JZ_U3S)
  280 + {
  281 + //串口设备1初始化
  282 + //JZsdk_Uart_Init(UART_DEV_1);
  283 +
  284 + //串口设备2初始化
  285 + JZsdk_Uart_Init(UART_DEV_2);
  286 +
  287 + //喊话器初始化
  288 + Megaphone_Init();
  289 +
  290 + //云台初始化
  291 + Gimbal_Init();
  292 +
  293 + //灯类初始化
  294 + Lighting_Init();
  295 +
  296 + //侧边激光初始化
  297 + SideLaser_Init();
  298 +
  299 + delayMs(1000);
  300 +
  301 + //消息订阅初始化
  302 + JZsdk_Uart_Send_MessageSubcription_Control(UART_DEV_2, JZ_FLAGCODE_ON);
  303 + }
  304 +
  305 + else if (DEVICE_VERSION == JZ_C1)
  306 + {
  307 + //引脚初始化
  308 + Ircut_Init();
  309 +
  310 + //视频流模块初始化
  311 + MediaProc_Init();
  312 + }
  313 +
  314 +
  315 + //初始化控件
  316 + JZSDK_WidgetMgMT_Init();
  317 +
  318 + //初始化app模式
  319 + JZsdk_Set_Psdk_UIcontrol_UseFlag(1);
  320 +
  321 + Main_WorkModeSet(JZ_FLAGCODE_ON);
  322 +
  323 +}
  324 +
  325 +
  326 +
  327 +int Main_APP_Uart()
  328 +{
  329 + //lib库初始化
  330 + JZsdk_LibInit();
  331 +
  332 + JZSDK_LOG_INFO("%x,UartVersion%x.%x.%x.%x\n",DEVICE_VERSION,MAJOR_VERSION, MINOR_VERSION, MODIFY_VERSION, DEBUG_VERSION);
  333 +
  334 + //引脚初始化
  335 + Ircut_Init();
  336 +
  337 + //设备信息初始化
  338 + DeviceInfo_Init();
  339 +
  340 + //工作模式设置函数，用于超时，及播放启动语音等
  341 + Main_WorkMode();
  342 +
  343 + //喊话器功能被打开时
  344 + if (MEGAPHONE_CONFIG_STATUS == VERSION_SWITCH_ON)
  345 + {
  346 + //音频库初始化
  347 + AudioDeal_Init();
  348 +
  349 + //
  350 + }
  351 +
  352 + if (DEVICE_VERSION == JZ_H1E)
  353 + {
  354 + //串口设备1初始化
  355 + JZsdk_Uart_Init(UART_DEV_1);
  356 +
  357 + //喊话器初始化
  358 + Megaphone_Init();
  359 + }
  360 +
  361 + if (DEVICE_VERSION == JZ_H1T)
  362 + {
  363 + //串口设备1初始化
  364 + JZsdk_Uart_Init(UART_DEV_1);
  365 +
  366 + //4g设备初始化
  367 + JZsdk_Uart_Init(UART_4G);
  368 +
  369 + //喊话器初始化
  370 + Megaphone_Init();
  371 +
  372 + //云台初始化
  373 + Gimbal_Init();
  374 +
  375 + // //测试增加选项
  376 + // //开启循环
  377 + // JZsdk_Uart_audio_PlayLoop(UART_DEV_1, 1);
  378 +
  379 + // //设置音量
  380 + // JZsdk_Uart_Set_Volume(UART_DEV_1, 50);
  381 + }
  382 +
  383 + if (DEVICE_VERSION == JZ_H150S || DEVICE_VERSION == JZ_H150T)
  384 + {
  385 + //串口设备1初始化
  386 + JZsdk_Uart_Init(UART_DEV_1);
  387 +
  388 + //网口初始化
  389 + JZsdk_NetWork_Init();
  390 +
  391 + if (DEVICE_VERSION == JZ_H150T)
  392 + {
  393 + //4g设备初始化
  394 + JZsdk_Uart_Init(UART_4G);
  395 + }
  396 +
  397 + //云台初始化
  398 + Gimbal_Init();
  399 +
  400 + //相机初始化
  401 + MediaProc_Init();
  402 +
  403 + //喊话器初始化
  404 + Megaphone_Init();
  405 + }
  406 +
  407 + if (DEVICE_VERSION == JZ_H10)
  408 + {
  409 + //串口设备1初始化
  410 + JZsdk_Uart_Init(UART_DEV_1);
  411 +
  412 + //H10和10t固定打开滤波
  413 + int filter_mode = JZ_FLAGCODE_ON;
  414 + Main_M30_all_filter_mode(&filter_mode);
  415 +
  416 + //喊话器初始化
  417 + Megaphone_Init();
  418 +
  419 + //云台初始化
  420 + Gimbal_Init();
  421 + }
  422 +
  423 + if (DEVICE_VERSION == JZ_H10T)
  424 + {
  425 + //串口设备1初始化
  426 + JZsdk_Uart_Init(UART_DEV_1);
  427 +
  428 + //4g设备初始化
  429 + JZsdk_Uart_Init(UART_4G);
  430 +
  431 + //H10和10t固定打开滤波
  432 + int filter_mode = JZ_FLAGCODE_ON;
  433 + Main_M30_all_filter_mode(&filter_mode);
  434 +
  435 + //喊话器初始化
  436 + Megaphone_Init();
  437 +
  438 + //云台初始化
  439 + Gimbal_Init();
  440 + }
  441 +
  442 + if (DEVICE_VERSION == JZ_U3)
  443 + {
  444 + //串口设备1初始化
  445 + JZsdk_Uart_Init(UART_DEV_1);
  446 +
  447 + //串口设备2初始化
  448 + JZsdk_Uart_Init(UART_DEV_2);
  449 +
  450 + //喊话器初始化
  451 + Megaphone_Init();
  452 +
  453 + //云台初始化
  454 + Gimbal_Init();
  455 +
  456 + //灯类初始化
  457 + Lighting_Init();
  458 +
  459 + delayMs(1000);
  460 +
  461 + //消息订阅初始化
  462 + JZsdk_Uart_Send_MessageSubcription_Control(UART_DEV_2, JZ_FLAGCODE_ON);
  463 +
  464 + // //测试需要开启亮度
  465 + // JZsdk_Uart_SearchLight_Control(UART_DEV_1, 1);
  466 + // JZsdk_Uart_SearchLight_Lumen(UART_DEV_1, 20, 20);
  467 +
  468 + }
  469 +
  470 +
  471 +
  472 + if (DEVICE_VERSION == TF_A1)
  473 + {
  474 + //串口设备1初始化
  475 + JZsdk_Uart_Init(UART_DEV_1);
  476 +
  477 + //串口设备2初始化
  478 + JZsdk_Uart_Init(UART_DEV_2);
  479 +
  480 + //喊话器初始化
  481 + Megaphone_Init();
  482 +
  483 + //云台初始化
  484 + Gimbal_Init();
  485 +
  486 + //消息订阅初始化
  487 + JZsdk_Uart_Send_MessageSubcription_Control(UART_DEV_2, JZ_FLAGCODE_ON);
  488 + }
  489 +
  490 +}
  491 +
  492 +int Main_TestAPP()
  493 +{
  494 + //串口设备1初始化
  495 + JZsdk_Uart_Init(UART_DEV_1);
  496 +}
  497 +
  498 +//JZ_FLAGCODE_GET为返回工作值，其他值为设置
  499 +int Main_WorkModeSet(int mode)
  500 +{
  501 + if (mode == JZ_FLAGCODE_GET)
  502 + {
  503 + return WorkMode;
  504 + }
  505 +
  506 + WorkMode = mode;
  507 +
  508 + //如果工作模式被打开
  509 + if ( (WorkMode == JZ_FLAGCODE_ON) && (APP_VERSION == APP_UART) )
  510 + {
  511 + int flag = 0x00;
  512 + Main_StartupPriority(&flag);
  513 + }
  514 +
  515 + return WorkMode;
  516 +}
  517 +
  518 +static int Main_GetStartupPriorityStatus()
  519 +{
  520 + if( JZsdk_check_file_exists("/root/Uart_connected") == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  521 + {
  522 + StartupPriorityNum = 0x00;
  523 + }
  524 + else //目前只有psdk和串口的优先区分
  525 + {
  526 + StartupPriorityNum = 0x01;
  527 + }
  528 +
  529 + return StartupPriorityNum;
  530 +}
  531 +
  532 +//设置优先启动项
  533 +//0x00 优先启动串口程序
  534 +//0x01 优先大疆PSDK
  535 +//
  536 +T_JZsdkReturnCode Main_StartupPriority(int *choose)
  537 +{
  538 + if (*choose == JZ_FLAGCODE_GET)
  539 + {
  540 + printf("获取优先启动项\n");
  541 +
  542 + //1、查询本地的是否存在优先启动值
  543 + Main_GetStartupPriorityStatus();
  544 +
  545 + //2、返回优先启动值
  546 + *choose = StartupPriorityNum;
  547 +
  548 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  549 + }
  550 + else
  551 + {
  552 + //1、设置本地的版本号
  553 + if (*choose == 0x00)
  554 + {
  555 + //增加uart连接标志
  556 + if(JZsdk_create_file("/root/Uart_connected") != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  557 + {
  558 + JZSDK_LOG_ERROR("优先启动Uart模式失败");
  559 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  560 + }
  561 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  562 + }
  563 + else if (*choose == 0x01)
  564 + {
  565 + //连接后清除串口标志
  566 + if(JZsdk_delete_file("/root/Uart_connected") != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  567 + {
  568 + JZSDK_LOG_ERROR("优先启动psdk模式失败");
  569 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  570 + }
  571 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  572 + }
  573 + else
  574 + {
  575 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  576 + }
  577 + }
  578 +}
  579 +
  580 +
  581 +static int Main_WorkMode()
  582 +{
  583 + pthread_t work_mode_task;
  584 + pthread_attr_t task_attribute; //线程属性
  585 + pthread_attr_init(&task_attribute); //初始化线程属性
  586 + pthread_attr_setdetachstate(&task_attribute, PTHREAD_CREATE_DETACHED); //设置线程属性
  587 + int timer = pthread_create(&work_mode_task,&task_attribute,Main_WorkModeTask,NULL); //线程
  588 + if(timer != 0)
  589 + {
  590 + printf("创建计时线程失败！\n");
  591 + }
  592 +}
  593 +
  594 +
  595 +static void *Main_WorkModeTask(void *arg)
  596 +{
  597 + //计时flag
  598 + int i=0;
  599 + printf("进入串口等待函数\n");
  600 + int start_voice_flag = JZ_FLAGCODE_OFF;
  601 +
  602 +#if APP_VERSION == APP_UART
  603 + for (i = 0; i < 60; i++)
  604 + {
  605 +#if CONNECTION_TIMED_OUT == VERSION_SWITCH_OFF
  606 + break;
  607 +#endif
  608 +
  609 + delayMs(1000);//延迟一秒钟
  610 + printf("计数%d\n",i);
  611 +
  612 + if (start_voice_flag == JZ_FLAGCODE_OFF && MegaphoneStatusFlag == JZ_FLAGCODE_ON)
  613 + {
  614 + start_voice_flag = JZ_FLAGCODE_ON;
  615 + Start_voice();
  616 + }
  617 +
  618 + if (WorkMode == JZ_FLAGCODE_ON)
  619 + {
  620 + printf("串口连接成功,进入串口模式\n");
  621 + printf("连接花费时间%i秒\n",i);
  622 + i = 0;
  623 + break;
  624 + }
  625 + }
  626 +
  627 + if(i==60 && WorkMode == JZ_FLAGCODE_OFF && CONNECTION_TIMED_OUT == VERSION_SWITCH_ON)
  628 + {
  629 + printf("串口连接超时,回到连接psdk");
  630 + exit(0);
  631 + }
  632 +#elif APP_VERSION == APP_PSDK
  633 +
  634 +#endif
  635 +
  636 +#if MEGAPHONE_CONFIG_STATUS == VERSION_SWITCH_ON
  637 + while (1)
  638 + {
  639 + if (start_voice_flag == JZ_FLAGCODE_OFF && MegaphoneStatusFlag == JZ_FLAGCODE_ON)
  640 + {
  641 + start_voice_flag = JZ_FLAGCODE_ON;
  642 + Start_voice();
  643 + }
  644 +
  645 + //如果开启工作模式已经打开，且喊话模块已经初始化完毕，播报启动完成
  646 + if (WorkMode == JZ_FLAGCODE_ON && MegaphoneStatusFlag == JZ_FLAGCODE_ON && start_voice_flag == JZ_FLAGCODE_ON)
  647 + {
  648 +
  649 + Start_up_and_broadcast_voice();
  650 + break;
  651 + }
  652 +
  653 + delayMs(100);
  654 + }
  655 +#endif
  656 +}
  657 +
  1 +/**
  2 + ********************************************************************
  3 + * @file
  4 + *
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef BASECONFIG_H
  11 +#define BASECONFIG_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +#include "version_choose.h"
  15 +#include "JZsdkLib.h"
  16 +#ifdef __cplusplus
  17 +extern "C" {
  18 +#endif
  19 +
  20 +/* Exported constants --------------------------------------------------------*/
  21 +/* 常亮定义*/
  22 +#define DEVICE_PSDK 0x1000 //psdk功能
  23 +#define UART_4G 0x1001 //4G功能
  24 +#define UART_DEV_1 0x1002 //1号设备功能
  25 +#define UART_DEV_2 0x1003 //2号设备功能
  26 +#define UART_DEV_3 0x1004 //3号设备功能
  27 +#define UART_DEV_4 0x1005 //4号设备功能
  28 +#define UART_DEV_5 0x1006 //5号设备功能
  29 +
  30 +#define UART_USB_1 0x1100 //usb设备
  31 +#define UART_USB_2 0x1101 //usb设备
  32 +#define UART_USB_3 0x1102 //usb设备
  33 +#define UART_USB_4 0x1103 //usb设备
  34 +#define UART_USB_5 0x1104 //usb设备
  35 +
  36 +#define HAL_DATA_TRANSMISSION 0x1200 //hal定制的特殊数据传播
  37 +
  38 +
  39 +#define COMBINE_DEVICE 0x1998 //组合设备
  40 +#define NO_SPECIFIED 0x1999 //无制定设备
  41 +
  42 +//展架通讯串口
  43 +#if DEVICE_VERSION == JZ_H150S || DEVICE_VERSION == JZ_H150T
  44 + #define UART_DEV1_NUM "/dev/ttyUSB0"
  45 + #define UART_DEV1_BITRATE (115200)
  46 +
  47 + #define UART_DEV2_NUM NULL
  48 + #define UART_DEV2_BITRATE (0)
  49 +
  50 + #define COMM_4G_UART_NUM "/dev/ttyS1"
  51 + #define COMM_4G_UART_BITRATE (115200)
  52 +
  53 + #define GIMBAL_UART_NUM "/dev/ttyS2"
  54 + #define GIMBAL_UART_BITRATE (115200)
  55 +
  56 + #define NET_WORK_IPADDR "192.168.5.3"
  57 + #define NET_WORK_TARGET_IPADDR "192.168.5.10"
  58 + #define NET_WORK_NETMASK "255.255.255.0"
  59 +
  60 +#elif DEVICE_VERSION == JZ_H1E
  61 + #define UART_DEV1_NUM "/dev/ttyS1"
  62 + #define UART_DEV1_BITRATE (115200)
  63 +
  64 + #define UART_DEV2_NUM NULL
  65 + #define UART_DEV2_BITRATE (0)
  66 +
  67 + #define COMM_4G_UART_NUM NULL
  68 + #define COMM_4G_UART_BITRATE (0)
  69 +
  70 + #define GIMBAL_UART_NUM NULL
  71 + #define GIMBAL_UART_BITRATE (0)
  72 +
  73 + #define NET_WORK_IPADDR NULL
  74 + #define NET_WORK_TARGET_IPADDR NULL
  75 + #define NET_WORK_NETMASK NULL
  76 +
  77 +#elif DEVICE_VERSION == JZ_H1T
  78 + #define UART_DEV1_NUM "/dev/ttyS2"
  79 + #define UART_DEV1_BITRATE (115200)
  80 +
  81 + #define UART_DEV2_NUM NULL
  82 + #define UART_DEV2_BITRATE (0)
  83 +
  84 + #define COMM_4G_UART_NUM "/dev/ttyS1"
  85 + #define COMM_4G_UART_BITRATE (115200)
  86 +
  87 + #define GIMBAL_UART_NUM NULL
  88 + #define GIMBAL_UART_BITRATE (0)
  89 +
  90 + #define NET_WORK_IPADDR NULL
  91 + #define NET_WORK_TARGET_IPADDR NULL
  92 + #define NET_WORK_NETMASK NULL
  93 +
  94 +#elif DEVICE_VERSION == JZ_H10
  95 + #define UART_DEV1_NUM "/dev/ttyUSB0"
  96 + #define UART_DEV1_BITRATE (115200)
  97 +
  98 + #define UART_DEV2_NUM NULL
  99 + #define UART_DEV2_BITRATE (0)
  100 +
  101 + #define COMM_4G_UART_NUM NULL
  102 + #define COMM_4G_UART_BITRATE (0)
  103 +
  104 + #define GIMBAL_UART_NUM NULL
  105 + #define GIMBAL_UART_BITRATE (0)
  106 +
  107 + #define NET_WORK_IPADDR NULL
  108 + #define NET_WORK_TARGET_IPADDR NULL
  109 + #define NET_WORK_NETMASK NULL
  110 +
  111 +#elif DEVICE_VERSION == JZ_H10T
  112 + #define UART_DEV1_NUM "/dev/ttyS2"
  113 + #define UART_DEV1_BITRATE (115200)
  114 +
  115 + #define UART_DEV2_NUM NULL
  116 + #define UART_DEV2_BITRATE (0)
  117 +
  118 + #define COMM_4G_UART_NUM "/dev/ttyS1"
  119 + #define COMM_4G_UART_BITRATE (115200)
  120 +
  121 + #define GIMBAL_UART_NUM NULL
  122 + #define GIMBAL_UART_BITRATE (0)
  123 +
  124 + #define NET_WORK_IPADDR NULL
  125 + #define NET_WORK_TARGET_IPADDR NULL
  126 + #define NET_WORK_NETMASK NULL
  127 +
  128 +#elif DEVICE_VERSION == JZ_U3
  129 + #define UART_DEV1_NUM "/dev/ttyS1"
  130 + #define UART_DEV1_BITRATE (115200)
  131 +
  132 + #define UART_DEV2_NUM "/dev/ttyS2"
  133 + #define UART_DEV2_BITRATE (115200)
  134 +
  135 + #define COMM_4G_UART_NUM NULL
  136 + #define COMM_4G_UART_BITRATE (0)
  137 +
  138 + #define GIMBAL_UART_NUM NULL
  139 + #define GIMBAL_UART_BITRATE (0)
  140 +
  141 + #define NET_WORK_IPADDR NULL
  142 + #define NET_WORK_TARGET_IPADDR NULL
  143 + #define NET_WORK_NETMASK NULL
  144 +
  145 +#elif DEVICE_VERSION == JZ_U3S
  146 + #define UART_DEV1_NUM "/dev/ttyS1"
  147 + #define UART_DEV1_BITRATE (115200)
  148 +
  149 + #define UART_DEV2_NUM "/dev/ttyS2"
  150 + #define UART_DEV2_BITRATE (115200)
  151 +
  152 + #define COMM_4G_UART_NUM NULL
  153 + #define COMM_4G_UART_BITRATE (0)
  154 +
  155 + #define GIMBAL_UART_NUM NULL
  156 + #define GIMBAL_UART_BITRATE (0)
  157 +
  158 + #define NET_WORK_IPADDR NULL
  159 + #define NET_WORK_TARGET_IPADDR NULL
  160 + #define NET_WORK_NETMASK NULL
  161 +
  162 +#elif DEVICE_VERSION == JZ_U3D
  163 + #define UART_DEV1_NUM "/dev/ttyS1"
  164 + #define UART_DEV1_BITRATE (115200)
  165 +
  166 + #define UART_DEV2_NUM "/dev/ttyS2"
  167 + #define UART_DEV2_BITRATE (115200)
  168 +
  169 + #define COMM_4G_UART_NUM NULL
  170 + #define COMM_4G_UART_BITRATE (0)
  171 +
  172 + #define GIMBAL_UART_NUM NULL
  173 + #define GIMBAL_UART_BITRATE (0)
  174 +
  175 + #define NET_WORK_IPADDR NULL
  176 + #define NET_WORK_TARGET_IPADDR NULL
  177 + #define NET_WORK_NETMASK NULL
  178 +
  179 +#elif DEVICE_VERSION == TF_A1
  180 + #define UART_DEV1_NUM "/dev/ttyS2"
  181 + #define UART_DEV1_BITRATE (115200)
  182 +
  183 + #define UART_DEV2_NUM "/dev/ttyS1"
  184 + #define UART_DEV2_BITRATE (115200)
  185 +
  186 + #define COMM_4G_UART_NUM NULL
  187 + #define COMM_4G_UART_BITRATE (0)
  188 +
  189 + #define GIMBAL_UART_NUM NULL
  190 + #define GIMBAL_UART_BITRATE (0)
  191 +
  192 + #define NET_WORK_IPADDR NULL
  193 + #define NET_WORK_TARGET_IPADDR NULL
  194 + #define NET_WORK_NETMASK NULL
  195 +
  196 +#elif DEVICE_VERSION == JZ_C1
  197 + #define UART_DEV1_NUM "/dev/ttyUSB0"
  198 + #define UART_DEV1_BITRATE (115200)
  199 +
  200 + #define UART_DEV2_NUM NULL
  201 + #define UART_DEV2_BITRATE (115200)
  202 +
  203 + #define COMM_4G_UART_NUM NULL
  204 + #define COMM_4G_UART_BITRATE (0)
  205 +
  206 + #define GIMBAL_UART_NUM NULL
  207 + #define GIMBAL_UART_BITRATE (0)
  208 +
  209 + #define NET_WORK_IPADDR NULL
  210 + #define NET_WORK_TARGET_IPADDR NULL
  211 + #define NET_WORK_NETMASK NULL
  212 +
  213 +#else
  214 + #define UART_DEV1_NUM NULL
  215 + #define UART_DEV1_BITRATE (0)
  216 +
  217 + #define UART_DEV2_NUM NULL
  218 + #define UART_DEV2_BITRATE (0)
  219 +
  220 + #define COMM_4G_UART_NUM NULL
  221 + #define COMM_4G_UART_BITRATE (0)
  222 +
  223 + #define GIMBAL_UART_NUM NULL
  224 + #define GIMBAL_UART_BITRATE (0)
  225 +
  226 + #define NET_WORK_IPADDR NULL
  227 + #define NET_WORK_TARGET_IPADDR NULL
  228 + #define NET_WORK_NETMASK NULL
  229 +
  230 +#endif
  231 +
  232 +
  233 +/* Exported types ------------------------------------------------------------*/
  234 +
  235 +/* Exported functions --------------------------------------------------------*/
  236 +int Main_WorkModeSet(int mode);
  237 +int Main_APP_Uart();
  238 +T_JZsdkReturnCode Main_APP_Psdk();
  239 +int Main_TestAPP();
  240 +int Main_Device_Wheather_Use();
  241 +T_JZsdkReturnCode Main_M30_all_filter_mode(int *mode);
  242 +T_JZsdkReturnCode Main_StartupPriority(int *choose);
  243 +T_JZsdkReturnCode Main_SetDeviceName(unsigned int Port, int g_DeviceID);
  244 +
  245 +#ifdef __cplusplus
  246 +}
  247 +#endif
  248 +
  249 +#endif
  1 +/* ********************************************************************
  2 +*
  3 +* 用来规范version_choose的参数
  4 +*
  5 +***********************************************/
  6 +#ifndef CONFIG_PARAMS_H
  7 +#define CONFIG_PARAMS_H
  8 +
  9 +//特殊版本号
  10 +#define SPECIAL_NORMAL 0x01
  11 +#define SPECIAL_DAOTONG 0x02
  12 +
  13 +//软件模式
  14 +#define APP_PSDK 0x01 //psdk设备
  15 +#define APP_UART 0x02 //串口设备
  16 +#define APP_TEST 0x03 //测试设备
  17 +
  18 +//平台选择
  19 +#define PLATFORM_H3 0x01
  20 +#define PLATFORM_V3S 0x02
  21 +
  22 +//固件属地
  23 +#define OVERSEAS_VERSION 0x01 //海外版
  24 +#define DOMESTIC_VERSION 0x02 //国内版
  25 +
  26 +//音频滤波的方式
  27 +//目前只有和h10使用带阻滤波
  28 +#define DIRECTED_STOPBAND_FILTERING 0x10001 //带阻滤波
  29 +#define HIGH_PASS_FILTERING 0x10002 //高通滤波
  30 +#define INTERGRATED_FILTERING_1 0x10003 //综合滤波1代
  31 +
  32 +//加载开关
  33 +#define VERSION_SWITCH_ON 0x0001
  34 +#define VERSION_SWITCH_OFF 0x0000
  35 +
  36 +//设备选择
  37 +#define JZ_H1E 0x0011
  38 +
  39 +#define JZ_H1T 0x0016
  40 +
  41 +#define JZ_U3 0x0017
  42 +#define JZ_U3S 0x0018
  43 +#define JZ_U3D 0x0019
  44 +
  45 +#define JZ_H150S 0x0013
  46 +#define JZ_H150T 0x0015
  47 +
  48 +#define JZ_H10 0x0012
  49 +#define JZ_H10T 0x0014
  50 +
  51 +#define TF_A1 0x1010
  52 +#define JZ_C1 0x1011
  53 +
  54 +#endif
  1 +/* ********************************************************************
  2 +*
  3 +* 用于确认对应设备的选择
  4 +*
  5 +***********************************************/
  6 +#ifndef VERSION_CHOOSE_H
  7 +#define VERSION_CHOOSE_H
  8 +#include "./ConfigParams.h"
  9 +//1~10行 除了D可以修改版本选择 禁止动任何东西
  10 +#define DEVICE_VERSION JZ_H1T
  11 +
  12 +//禁止修改行 选择是串口程序 还是 psdk程序
  13 +#define APP_VERSION APP_UART
  14 +
  15 +//禁止修改行 板子型号
  16 +#define PLATFORM_VERSION PLATFORM_V3S
  17 +
  18 +//禁止修改行 串口连接程序的软件版本号
  19 +#define MAJOR_VERSION 0x00
  20 +#define MINOR_VERSION 0x00
  21 +#define MODIFY_VERSION 0x02
  22 +#define DEBUG_VERSION 0x04
  23 +
  24 +//禁止修改行 滤波方式
  25 +#define FILTERING_TYPE HIGH_PASS_FILTERING
  26 +
  27 +//禁止修改行固件属地 目前 国内版/海外版
  28 +#define FIRMWARE_ORIGIN DOMESTIC_VERSION
  29 +
  30 +//禁止修改行指定特殊固件
  31 +#define SPECIAL_VERSION SPECIAL_NORMAL
  32 +
  33 +//禁止修改行 全志编解码库
  34 +#define ALLWINNER_CEDAR VERSION_SWITCH_OFF
  35 +
  36 +//禁止修改行 是否开启连接超时
  37 +#define CONNECTION_TIMED_OUT VERSION_SWITCH_OFF
  38 +
  39 +//这个开关可以方便日常代码编写的跳转功能
  40 +#ifdef COMPILE_MODE_MODULE
  41 + //是否开启喊话器功能
  42 + #ifdef MACRO_MEGAPHONE_MODULE
  43 + #define MEGAPHONE_CONFIG_STATUS VERSION_SWITCH_ON
  44 + #else
  45 + #define MEGAPHONE_CONFIG_STATUS VERSION_SWITCH_OFF
  46 + #endif
  47 +
  48 + //是否开启媒体功能
  49 + #ifdef MACRO_MEDIA_PROC_MODULE
  50 + #define MEDIA_PROC_CONFIG_STATUS VERSION_SWITCH_ON
  51 + #else
  52 + #define MEDIA_PROC_CONFIG_STATUS VERSION_SWITCH_OFF
  53 + #endif
  54 +
  55 + //是否开启红外相机功能
  56 + #ifdef MACRO_IRC_MODULE
  57 + #define IRC_CONFIG_STATUS VERSION_SWITCH_ON
  58 + #else
  59 + #define IRC_CONFIG_STATUS VERSION_SWITCH_OFF
  60 + #endif
  61 +
  62 + //是否加载usb模块
  63 + #ifdef MACRO_USB_MODULE
  64 + #define USB_CONFIG_STATUS VERSION_SWITCH_ON
  65 + #else
  66 + #define USB_CONFIG_STATUS VERSION_SWITCH_OFF
  67 + #endif
  68 +
  69 + //是否加载RTK_MPP模块
  70 + #ifdef MACRO_RTK_MPP_MODULE
  71 + #define RTK_MPP_STATUS VERSION_SWITCH_ON
  72 + #else
  73 + #define RTK_MPP_STATUS VERSION_SWITCH_OFF
  74 + #endif
  75 +
  76 + //是否加载WIRINGPI模块
  77 + #ifdef MACRO_WIRINGPI_MODULE
  78 + #define WIRINGPI_STATUS VERSION_SWITCH_ON
  79 + #else
  80 + #define WIRINGPI_STATUS VERSION_SWITCH_OFF
  81 + #endif
  82 +
  83 + //是否加载侧边激光模块
  84 + #ifdef MACRO_SIDE_LASER_MODULE
  85 + #define SIDE_LASER_STATUS_ON
  86 + #endif
  87 +
  88 +#else
  89 + //是否开启喊话器功能
  90 + #define MEGAPHONE_CONFIG_STATUS VERSION_SWITCH_ON
  91 +
  92 + //是否开启媒体管理功能
  93 + #define MEDIA_PROC_CONFIG_STATUS VERSION_SWITCH_ON
  94 +
  95 + //是否开启红外相机功能
  96 + #define IRC_CONFIG_STATUS VERSION_SWITCH_ON
  97 +
  98 + //是否加载usb模块
  99 + #define USB_CONFIG_STATUS VERSION_SWITCH_ON
  100 +
  101 + //是否加载RTK_MPP模块
  102 + #define RTK_MPP_STATUS VERSION_SWITCH_ON
  103 +
  104 + //是否加载WIRINGPI模块
  105 + #define WIRINGPI_STATUS VERSION_SWITCH_ON
  106 +
  107 + //是否加载侧边激光模块
  108 + #define SIDE_LASER_STATUS_ON
  109 +#endif
  110 +
  111 +#endif
  1 +#include <stdio.h>
  2 +#include <string.h>
  3 +#include <stdlib.h>
  4 +#include <pthread.h>
  5 +
  6 +#include "JZsdk_TaskManagement/TaskManagement.h"
  7 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  8 +#include "JZsdk_Base/JZsdk_FrameComparsion/JZsdk_FrameComparsion.h"
  9 +#include "JZsdk_uart/JZsdk_Uart_UartDeal.h"
  10 +#include "BaseConfig.h"
  11 +
  12 +typedef struct
  13 +{
  14 + char Message[1024]; // 传递的字符串
  15 + int MessageLength; // 字符串的长度
  16 + int ResLen; //剩余长度
  17 + pthread_mutex_t WriteMutex; // 互斥锁
  18 + pthread_mutex_t ReadMutex; // 互斥锁
  19 +} JZsdk_data_transmisson;
  20 +
  21 +#define BUFFER_SIZE 128*1024 // 128k的缓冲区
  22 +static unsigned char DataTransmissonBuffer[BUFFER_SIZE]; //data_transmisson的被动接收缓冲区
  23 +static int buffer_head = 0; //缓冲区的写入标志位
  24 +static int buffer_end = 0; //缓冲区的写出标志位
  25 +static void *JZsdk_hal_data_rece(void *arg);
  26 +static void *JZsdk_hal_data_deal(void *arg);
  27 +static pthread_mutex_t DataTransmissonLock;
  28 +static int DataTransFlag = JZ_FLAGCODE_OFF; //用于判断初始化完成
  29 +
  30 +/****************
  31 + *
  32 + * 计算缓冲区剩余容量
  33 + *
  34 + * **************/
  35 +static int JZsdk_data_transmisson_buffer_GetEmpty()
  36 +{
  37 + int empty;
  38 +
  39 + //后续要找办法处理数据段长度的问题，目前先用大空间存储
  40 +
  41 + //头在尾后面 说明目前数组缓冲区组成为 空数据 尾巴 实数据 头部 空数据
  42 + if (buffer_head >= buffer_end)
  43 + {
  44 + empty = BUFFER_SIZE - (buffer_head - buffer_end);
  45 + }
  46 + //尾在头后面 说明目前数组缓冲区组成为 实数据 头部 空数据 尾巴 实数据
  47 + else if (buffer_head < buffer_end)
  48 + {
  49 + empty = (buffer_end - buffer_head);
  50 + }
  51 +
  52 + return empty;
  53 +}
  54 +
  55 +/****************
  56 + *
  57 + * 池满判断
  58 + *
  59 + * **************/
  60 +static int JZsdk_data_transmisson_buffer_WriteDataEndReset() //池满判断
  61 +{
  62 + if (buffer_end >= BUFFER_SIZE)
  63 + {
  64 + buffer_end = 0;
  65 + }
  66 +}
  67 +static int JZsdk_data_transmisson_buffer_WriteDataHeadReset() //池满判断
  68 +{
  69 + if (buffer_head >= BUFFER_SIZE)
  70 + {
  71 + buffer_head = 0;
  72 + }
  73 +}
  74 +
  75 +/******************************************************************
  76 +
  77 + 初始化hal口数据接收
  78 +
  79 +******************************************************************/
  80 +int JZsdk_data_transmisson_Receive(unsigned char *data, int data_len)
  81 +{
  82 + //初始化完成前不能使用
  83 + if (DataTransFlag == JZ_FLAGCODE_OFF)
  84 + {
  85 + return 0 ;
  86 + }
  87 +
  88 + int temp_lenth = 0; //临时长度;
  89 +
  90 + //后续要增加缓冲区大小判断，避免出现问题
  91 + //计算当前缓冲区的剩余容量
  92 + int buffer_empty = JZsdk_data_transmisson_buffer_GetEmpty();
  93 + if (buffer_empty < data_len)
  94 + {
  95 + data_len = buffer_empty;
  96 + }
  97 +
  98 + // 在写入解码前加锁
  99 + pthread_mutex_lock(&DataTransmissonLock);
  100 +
  101 + while( (data_len - temp_lenth) > 0)
  102 + {
  103 + DataTransmissonBuffer[buffer_head] = data [temp_lenth];
  104 + temp_lenth+=1;
  105 + buffer_head+=1; //池尾后移一组
  106 + JZsdk_data_transmisson_buffer_WriteDataHeadReset() ; //池满判断
  107 + }
  108 +
  109 + // 在解码数据后解锁
  110 + pthread_mutex_unlock(&DataTransmissonLock);
  111 +}
  112 +
  113 +/******************************************************************
  114 +
  115 + 初始化hal口数据接收初始化
  116 +
  117 +******************************************************************/
  118 +int JZsdk_data_transmisson_Receive_Init()
  119 +{
  120 + int ret = 0;
  121 + pthread_t Uart_rece_task;
  122 +
  123 + pthread_attr_t task_attribute; // 线程属性
  124 + pthread_attr_init(&task_attribute); // 初始化线程属性
  125 + pthread_attr_setdetachstate(&task_attribute, PTHREAD_CREATE_DETACHED); // 设置线程属性
  126 +
  127 +
  128 +
  129 + JZsdk_data_transmisson *parameter = (JZsdk_data_transmisson *)malloc(sizeof(JZsdk_data_transmisson));
  130 + parameter->MessageLength = 0;
  131 + memset(parameter->Message, 0, sizeof(parameter->Message));
  132 +
  133 + pthread_mutex_init(&DataTransmissonLock, NULL); //初始化锁
  134 + pthread_mutex_init(&parameter->WriteMutex, NULL);
  135 + pthread_mutex_init(&parameter->ReadMutex, NULL);
  136 +
  137 + // 创建串口数据接收线程
  138 + pthread_t receiveThread;
  139 + pthread_t SerialDealThread;
  140 + pthread_attr_t task_attribute1; // 线程属性
  141 + pthread_attr_t task_attribute2; // 线程属性
  142 + pthread_attr_setdetachstate(&task_attribute1, PTHREAD_CREATE_DETACHED); // 设置线程分离属性
  143 + pthread_attr_setdetachstate(&task_attribute2, PTHREAD_CREATE_DETACHED); // 设置线程分离属性
  144 +
  145 + pthread_attr_init(&task_attribute1);
  146 + pthread_attr_init(&task_attribute2);
  147 +
  148 + if (pthread_create(&receiveThread, &task_attribute1, JZsdk_hal_data_rece, parameter) != 0)
  149 + {
  150 + JZSDK_LOG_ERROR("Failed to create receive thread");
  151 + return 1;
  152 + }
  153 +
  154 + // 创建串口数据处理线程
  155 + if (pthread_create(&SerialDealThread, &task_attribute2, JZsdk_hal_data_deal, parameter) != 0)
  156 + {
  157 + JZSDK_LOG_ERROR("Failed to create receive thread");
  158 + return 1;
  159 + }
  160 +
  161 + DataTransFlag = JZ_FLAGCODE_ON;
  162 +
  163 + JZSDK_LOG_INFO("hal数据传输模块初始化完成");
  164 +}
  165 +
  166 +
  167 +/***
  168 + *
  169 + * 数据读取函数
  170 + * 获取数据的数组str
  171 + * 最多可以获取max_get_len的长度
  172 + * ***/
  173 +static int Buffer_get_data(unsigned char *str, int max_get_len)
  174 +{
  175 + int return_len; //返回的长度
  176 +
  177 + //头在尾后面 说明目前数组缓冲区组成为 空数据 尾巴 实数据 头部 空数据
  178 + if (buffer_head >= buffer_end)
  179 + {
  180 + if (max_get_len >= (buffer_head-buffer_end))
  181 + {
  182 + return_len = (buffer_head-buffer_end);
  183 + memcpy(str, &DataTransmissonBuffer[buffer_end], return_len);
  184 + buffer_end +=return_len;
  185 + JZsdk_data_transmisson_buffer_WriteDataEndReset();
  186 + return return_len;
  187 + }
  188 + else
  189 + {
  190 + return_len = max_get_len;
  191 + memcpy(str, &DataTransmissonBuffer[buffer_end], return_len);
  192 + buffer_end +=return_len;
  193 + JZsdk_data_transmisson_buffer_WriteDataEndReset();
  194 + return return_len;
  195 + }
  196 + }
  197 +
  198 + //尾在头后面 说明目前数组缓冲区组成为 实数据 头部 空数据 尾巴 实数据
  199 + else if (buffer_head < buffer_end)
  200 + {
  201 + if (max_get_len >= ( (BUFFER_SIZE-buffer_end) + buffer_head) )
  202 + {
  203 + return_len = ( (BUFFER_SIZE-buffer_end) + buffer_head);
  204 + memcpy(str, &DataTransmissonBuffer[buffer_end], (BUFFER_SIZE-buffer_end));
  205 +
  206 + memcpy(str + (BUFFER_SIZE-buffer_end), &DataTransmissonBuffer[0], buffer_head);
  207 + buffer_end = buffer_head;
  208 + JZsdk_data_transmisson_buffer_WriteDataEndReset();
  209 + return return_len;
  210 + }
  211 + else if(max_get_len < ( (BUFFER_SIZE-buffer_end) + buffer_head) )
  212 + {
  213 + // 实数据 头部 空数据 尾巴 大于接收区的实数据
  214 + if (max_get_len <= (BUFFER_SIZE-buffer_end) )
  215 + {
  216 + return_len = max_get_len;
  217 + memcpy(str, &DataTransmissonBuffer[buffer_end], return_len);
  218 + buffer_end+=max_get_len;
  219 + JZsdk_data_transmisson_buffer_WriteDataEndReset();
  220 + return return_len;
  221 + }
  222 + // 实数据 头部 空数据 尾巴 小于接收区的实数据
  223 + else
  224 + {
  225 + return_len = max_get_len;
  226 + memcpy(str, &DataTransmissonBuffer[buffer_end], (BUFFER_SIZE-buffer_end));
  227 +
  228 + memcpy(str, &DataTransmissonBuffer[0], (max_get_len - (BUFFER_SIZE-buffer_end) ) );
  229 + buffer_end = (max_get_len - (BUFFER_SIZE-buffer_end) );
  230 + JZsdk_data_transmisson_buffer_WriteDataEndReset();
  231 + return return_len;
  232 + }
  233 +
  234 + }
  235 + }
  236 +
  237 +
  238 + return return_len;
  239 +}
  240 +
  241 +/***
  242 + *
  243 + * 数据接收线程
  244 + *
  245 + * ***/
  246 +static void *JZsdk_hal_data_rece(void *arg)
  247 +{
  248 +
  249 + JZsdk_data_transmisson *args = (JZsdk_data_transmisson *)arg;
  250 +
  251 + memset(args->Message, 0, sizeof(args->Message)); // 清空接收数组
  252 + args->ResLen = 0;
  253 + args->MessageLength = 0;
  254 +
  255 + int data_len;
  256 + int data_len2;
  257 +
  258 + while (1)
  259 + {
  260 + // 检查fs_read套接字是否有数据
  261 + if (buffer_head == buffer_end)
  262 + {
  263 + delayMs(1);
  264 +
  265 + // 超时
  266 + continue;
  267 + }
  268 +
  269 + // 如果有数据就加锁
  270 + pthread_mutex_lock(&args->WriteMutex);
  271 +
  272 + // 读取串口内容
  273 + int bytesRead = Buffer_get_data(&(args->Message[args->ResLen]), (sizeof(args->Message) - args->ResLen));
  274 + printf("bytesRead %d\n",bytesRead);
  275 +
  276 + if (bytesRead > 0)
  277 + {
  278 + args->MessageLength = args->ResLen + bytesRead;
  279 +
  280 + // data_len+=bytesRead;
  281 + // data_len2+=args->MessageLength;
  282 + // printf("当前接收长度%d bytesRead%d bmessage%d reslen%d\n",data_len,bytesRead,data_len2,args->ResLen);
  283 +
  284 + // JZSDK_LOG_INFO("从串口读取到,长度%d",(args->MessageLength-args->ResLen));
  285 +
  286 + // for (int i = 0; i < (args->MessageLength-args->ResLen); i++)
  287 + // {
  288 + // JZSDK_LOG_OUTPUTHEX("%s",&args->Message[i+args->ResLen]);
  289 + // }
  290 +
  291 + args->ResLen = 0;
  292 + }
  293 + else if (bytesRead == 0)
  294 + {
  295 + // 串口关闭或者无数据可读
  296 + JZSDK_LOG_ERROR("hal数据传输,读取数据为空");
  297 + args->MessageLength = 0;
  298 + args->ResLen = 0;
  299 + memset(&(args->Message[0]), 0, sizeof(args->Message));
  300 + }
  301 + else
  302 + {
  303 + // 读取错误发生
  304 + JZSDK_LOG_ERROR("hal数据传输读取错误");
  305 + args->MessageLength = 0;
  306 + args->ResLen = 0;
  307 + memset(&(args->Message[0]), 0, sizeof(args->Message));
  308 + }
  309 +
  310 + // 通知线程
  311 + pthread_mutex_unlock(&args->ReadMutex); // 解锁
  312 +
  313 + delayMs(3); // 加多了可能导致实时播放难恢复,以及声音间隔 3ms32字节 会向上约1个3ms opus一帧80字节
  314 + }
  315 +
  316 +}
  317 +
  318 +/***
  319 + *
  320 + * 串口处理线程
  321 + *
  322 + * ***/
  323 +// 串口数据处理线程函数
  324 +static void *JZsdk_hal_data_deal(void *arg)
  325 +{
  326 + JZsdk_data_transmisson *args = (JZsdk_data_transmisson *)arg;
  327 +
  328 + static int ResidualLength = 0; // 未处理数据长度
  329 +
  330 + while (1)
  331 + {
  332 +
  333 + // 加锁
  334 + pthread_mutex_lock(&args->ReadMutex);
  335 +
  336 + // data_len+=args->MessageLength;
  337 + // printf("当前处理长度%d\n",data_len);
  338 +
  339 + if (args->MessageLength > 0)
  340 + {
  341 +
  342 + //清除错误的多余半帧
  343 + //前面有帧的长度
  344 + if(args->ResLen != 0)
  345 + {
  346 + //存在第一帧，同时第二轮的数据开头是帧头，则清空前半段第一帧
  347 + if ( (args->Message[args->ResLen ] == 0x5A)
  348 + && (args->Message[args->ResLen + 1] == 0x5A)
  349 + && (args->Message[args->ResLen + 2] == 0x77) )
  350 + {
  351 + int temp_num;
  352 + temp_num = args->MessageLength - args->ResLen;
  353 + if (temp_num < 0)
  354 + {
  355 + temp_num = 0;
  356 + }
  357 +
  358 + memcpy(args->Message, &(args->Message[args->ResLen]), temp_num);
  359 + memset(&args->Message[temp_num], 0, (args->MessageLength - temp_num));
  360 + args->MessageLength = temp_num;
  361 + args->ResLen = 0;
  362 +
  363 + JZSDK_LOG_ERROR("串口上一帧为不完全帧，舍弃该帧操作");
  364 + }
  365 + }
  366 +
  367 + // 处理数据
  368 + ResidualLength = UartDeal_Recv_interface(1,HAL_DATA_TRANSMISSION, args->Message, args->MessageLength);
  369 + //如果还有剩余的长度
  370 + if (ResidualLength != 0)
  371 + {
  372 + memcpy(args->Message, &(args->Message[args->MessageLength - ResidualLength]), ResidualLength);
  373 + memset(&(args->Message[ResidualLength]), 0, (sizeof(args->Message) - ResidualLength));
  374 + args->MessageLength = 0;
  375 + args->ResLen = ResidualLength;
  376 + }
  377 + else
  378 + {
  379 + memset(args->Message, 0, sizeof(args->Message));
  380 + args->MessageLength = 0;
  381 + args->ResLen = 0;
  382 + }
  383 +
  384 + }
  385 + else
  386 + {
  387 + memset(args->Message, 0, sizeof(args->Message));
  388 + args->MessageLength = 0;
  389 + args->ResLen = 0;
  390 + }
  391 +
  392 + pthread_mutex_unlock(&args->WriteMutex); // 解锁
  393 + }
  394 +}
  395 +
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_data_transmisson.h
  4 + * JZsdk_data_transmisson的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_DATA_TRANS_MISSION_H
  11 +#define JZSDK_DATA_TRANS_MISSION_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  22 +
  23 +/* Exported types ------------------------------------------------------------*/
  24 +
  25 +/* Exported functions --------------------------------------------------------*/
  26 +int JZsdk_data_transmisson_Receive_Init();
  27 +int JZsdk_data_transmisson_Receive(unsigned char *data, int data_len);
  28 +
  29 +#ifdef __cplusplus
  30 +}
  31 +#endif
  32 +
  33 +#endif
  1 +#include <stdio.h>
  2 +#include <string.h>
  3 +#include <stdlib.h>
  4 +#include <termios.h>
  5 +#include <sys/socket.h>
  6 +#include <netinet/in.h>
  7 +#include <arpa/inet.h>
  8 +
  9 +#include "BaseConfig.h"
  10 +#include "version_choose.h"
  11 +
  12 +#include "JZsdkLib.h"
  13 +#include "./JZsdk_network.h"
  14 +
  15 +#define LINUX_CMD_STR_MAX_SIZE (128)
  16 +#define LINUX_NETWORK_DEV "eth0"
  17 +#define UDP_SERVER_PORT (23003)
  18 +
  19 +#define MAX_SEND_FRAME_LENTH (60000)
  20 +
  21 +#define JZSDK_UTIL_MIN(a, b) (((a) < (b)) ? (a) : (b))
  22 +
  23 +static int udp_socket = 0;
  24 +static struct sockaddr_in udp_server_addr;
  25 +static int NetworkMode = JZ_FLAGCODE_OFF; //网络模式
  26 +
  27 +T_JZsdkReturnCode JZsdk_NetWork_Init()
  28 +{
  29 + T_JZsdkReturnCode ret;
  30 + char cmdStr[LINUX_CMD_STR_MAX_SIZE];
  31 +
  32 + if (NET_WORK_IPADDR == NULL || NET_WORK_NETMASK == NULL)
  33 + {
  34 + JZSDK_LOG_ERROR("无网络参数配置");
  35 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  36 + }
  37 +
  38 + //1、打开网卡设备
  39 + memset(cmdStr, 0, sizeof(cmdStr));
  40 + snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
  41 + ret = system(cmdStr);
  42 + if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  43 + JZSDK_LOG_ERROR("Can't open the network."
  44 + "Probably the program not execute with root permission."
  45 + "Please use the root permission to execute the program.");
  46 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  47 + }
  48 +
  49 + //2、打开网络
  50 + memset(cmdStr, 0, sizeof(cmdStr));
  51 + snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, NET_WORK_IPADDR, NET_WORK_NETMASK);
  52 + ret = system(cmdStr);
  53 + if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  54 + JZSDK_LOG_ERROR("Can't config the ip address of network."
  55 + "Probably the program not execute with root permission."
  56 + "Please use the root permission to execute the program.");
  57 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  58 + }
  59 +
  60 + //3、创建UDP socket 套接字
  61 + udp_socket = socket(AF_INET, SOCK_DGRAM, 0);
  62 + if (udp_socket == -1) {
  63 + JZSDK_LOG_ERROR("网口套接字注册失败");
  64 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  65 + }
  66 +
  67 + //4、配置udp服务器地址
  68 + memset(&udp_server_addr, 0, sizeof(udp_server_addr));
  69 + udp_server_addr.sin_family = AF_INET;
  70 + udp_server_addr.sin_port = htons(UDP_SERVER_PORT);
  71 + if(inet_aton(NET_WORK_TARGET_IPADDR, &udp_server_addr.sin_addr) == 0)
  72 + {
  73 + JZSDK_LOG_ERROR("udp服务器配置失败");
  74 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  75 + }
  76 +
  77 + NetworkMode = JZ_FLAGCODE_ON;
  78 +
  79 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  80 +}
  81 +
  82 +T_JZsdkReturnCode JZsdk_NetWork_DeInit()
  83 +{
  84 + NetworkMode = JZ_FLAGCODE_OFF;
  85 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  86 +}
  87 +
  88 +static T_JZsdkReturnCode JZsdk_NetWork_Sent(const unsigned char *data, const int data_len)
  89 +{
  90 + int bytes_sent = sendto(udp_socket, data, data_len, 0,
  91 + (struct sockaddr *) &udp_server_addr, sizeof(udp_server_addr));
  92 +
  93 + if (bytes_sent == -1)
  94 + {
  95 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  96 + }
  97 + else
  98 + {
  99 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  100 + }
  101 +}
  102 +
  103 +T_JZsdkReturnCode JZsdk_NetWork_SentData(const unsigned char *data, const int data_len)
  104 +{
  105 + if (NetworkMode != JZ_FLAGCODE_ON)
  106 + {
  107 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  108 + }
  109 +
  110 + T_JZsdkReturnCode returnCode;
  111 +
  112 + int lengthOfDataHaveBeenSent = 0;
  113 + int lengthOfDataToBeSent = 0;
  114 +
  115 + while (data_len - lengthOfDataHaveBeenSent)
  116 + {
  117 + lengthOfDataToBeSent = JZSDK_UTIL_MIN(MAX_SEND_FRAME_LENTH,
  118 + data_len - lengthOfDataHaveBeenSent);
  119 +
  120 + returnCode = JZsdk_NetWork_Sent((const uint8_t *) data + lengthOfDataHaveBeenSent,
  121 + lengthOfDataToBeSent);
  122 + if (JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  123 + {
  124 + JZSDK_LOG_ERROR("网口发送错误");
  125 + }
  126 +
  127 + lengthOfDataHaveBeenSent += lengthOfDataToBeSent;
  128 + }
  129 +
  130 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  131 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_Uart_UartDeal.h
  4 + * JZsdk_Uart_UartDeal的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_NETWORK_H
  11 +#define JZSDK_NETWORK_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  22 +
  23 +/* Exported types ------------------------------------------------------------*/
  24 +
  25 +/* Exported functions --------------------------------------------------------*/
  26 +T_JZsdkReturnCode JZsdk_NetWork_Init();
  27 +T_JZsdkReturnCode JZsdk_NetWork_DeInit();
  28 +T_JZsdkReturnCode JZsdk_NetWork_SentData(const unsigned char *data, const int data_len);
  29 +
  30 +#ifdef __cplusplus
  31 +}
  32 +#endif
  33 +
  34 +#endif
  1 +#include <stdio.h>
  2 +#include <string.h>
  3 +#include <stdlib.h>
  4 +
  5 +#include "JZsdk_uart/UartConnection/UartConnection.h"
  6 +#include "Megaphone/Megaphone.h"
  7 +#include "BaseConfig.h"
  8 +#include "version_choose.h"
  9 +
  10 +#include "JZsdk_uart/JZsdk_Uart_Input.h"
  11 +#include "JZsdk_uart/JZsdk_Uart_UartDeal.h"
  12 +#include "JZsdk_uart/Uart_Config.h"
  13 +#include "JZsdk_uart/JZsdk_Uart_Send/JZsdk_Uart_Send.h"
  14 +#include "Gimbal_InAndOut.h"
  15 +
  16 +// 记录串口是否有被使用，方便ui_contrl进行信息反馈
  17 +struct UartDev_UseFlag
  18 +{
  19 + int UartDev_DEV1 ;
  20 + int UartDev_DEV2 ;
  21 + int UartDev_4G ;
  22 +};
  23 +static struct UartDev_UseFlag UartDevUseFlag = {JZ_FLAGCODE_OFF, JZ_FLAGCODE_OFF, JZ_FLAGCODE_OFF};
  24 +
  25 +
  26 +/****************
  27 + *
  28 + * 回复串口是否有被调用
  29 + *
  30 + * *************/
  31 +int JZsdk_Get_UartDev_UseFlag(int UART_DEV_NAME)
  32 +{
  33 + if (UART_DEV_NAME == UART_DEV_1)
  34 + {
  35 + return UartDevUseFlag.UartDev_DEV1;
  36 + }
  37 + else if (UART_DEV_NAME == UART_DEV_2)
  38 + {
  39 + return UartDevUseFlag.UartDev_DEV2;
  40 + }
  41 + else if (UART_DEV_NAME == UART_4G)
  42 + {
  43 + return UartDevUseFlag.UartDev_4G;
  44 + }
  45 +}
  46 +
  47 +/**************
  48 + *
  49 + * 串口部分初始化
  50 + *
  51 + * *********/
  52 +int JZsdk_Uart_Init(int UART_DEV_NAME)
  53 +{
  54 +
  55 + //初始化的是一号设备
  56 + if (UART_DEV_NAME == UART_DEV_1)
  57 + {
  58 + JZsdk_Uart_SecondInit(UART_DEV_1,UART_DEV1_BITRATE);
  59 + }
  60 +
  61 + //初始化的是二号设备
  62 + else if (UART_DEV_NAME == UART_DEV_2)
  63 + {
  64 + JZsdk_Uart_SecondInit(UART_DEV_2, UART_DEV2_BITRATE);
  65 + }
  66 +
  67 + else if (UART_DEV_NAME == UART_4G)
  68 + {
  69 + JZsdk_Uart_SecondInit(UART_4G, COMM_4G_UART_BITRATE);
  70 + }
  71 +
  72 + printf("%x串口初始化完成\n", UART_DEV_NAME);
  73 +}
  74 +
  75 +/**************
  76 + *
  77 + * 串口部分修改波特率
  78 + *
  79 + * *********/
  80 +int JZsdk_Uart_BitRateChange(int UART_DEV_NAME, int BitRate)
  81 +{
  82 + //1、释放掉原串口
  83 + if (UART_DEV_NAME == UART_DEV_1)
  84 + {
  85 + //将使用标识关闭
  86 + UartDevUseFlag.UartDev_DEV1 = JZ_FLAGCODE_OFF;
  87 +
  88 + //等候关闭接收线程
  89 + JZsdk_Uart_CloseUartThead(UART_DEV_NAME, BitRate);
  90 + }
  91 +
  92 + //1、释放掉原串口
  93 + else if (UART_DEV_NAME == UART_DEV_2)
  94 + {
  95 + //将使用标识关闭
  96 + UartDevUseFlag.UartDev_DEV2 = JZ_FLAGCODE_OFF;
  97 +
  98 + //等候关闭接收线程
  99 + JZsdk_Uart_CloseUartThead(UART_DEV_NAME, BitRate);
  100 + }
  101 +
  102 + //1、释放掉原串口
  103 + else if (UART_DEV_NAME == UART_4G)
  104 + {
  105 + //将使用标识关闭
  106 + UartDevUseFlag.UartDev_4G = JZ_FLAGCODE_OFF;
  107 +
  108 + //等候关闭接收线程
  109 + JZsdk_Uart_CloseUartThead(UART_DEV_NAME, BitRate);
  110 + }
  111 +}
  112 +
  113 +/**************
  114 + *
  115 + * 串口部分串口再注册
  116 + *
  117 + * *********/
  118 +int JZsdk_Uart_SecondInit(int UART_DEV_NAME, int BitRate)
  119 +{
  120 + int Uart_fd = 0;
  121 +
  122 + printf("初始化串口%x\n",UART_DEV_NAME);
  123 +
  124 + //初始化的是一号设备
  125 + if (UART_DEV_NAME == UART_DEV_1)
  126 + {
  127 + //1、串口初始化
  128 + Uart_fd = UartConnection_UartEnabled(UART_DEV1_NUM, BitRate);
  129 +
  130 + //2、串口接收初始化
  131 + JZsdk_Uart_UartDeal_Receive(Uart_fd, UART_DEV_1);
  132 +
  133 + //3、将使用标识打开
  134 + UartDevUseFlag.UartDev_DEV1 = JZ_FLAGCODE_ON;
  135 + }
  136 +
  137 + else if (UART_DEV_NAME == UART_DEV_2)
  138 + {
  139 + //1、串口初始化
  140 + Uart_fd = UartConnection_UartEnabled(UART_DEV2_NUM, BitRate);
  141 +
  142 + //2、串口接收初始化
  143 + JZsdk_Uart_UartDeal_Receive(Uart_fd, UART_DEV_2);
  144 +
  145 + //3、将使用标识打开
  146 + UartDevUseFlag.UartDev_DEV2 = JZ_FLAGCODE_ON;
  147 + }
  148 +
  149 + else if (UART_DEV_NAME == UART_4G)
  150 + {
  151 + //1、串口初始化
  152 + Uart_fd = UartConnection_UartEnabled(COMM_4G_UART_NUM, BitRate);
  153 +
  154 + //2、串口接收初始化
  155 + JZsdk_Uart_UartDeal_Receive(Uart_fd, UART_4G);
  156 +
  157 + //3、将使用标识打开
  158 + UartDevUseFlag.UartDev_4G = JZ_FLAGCODE_ON;
  159 + }
  160 +}
  161 +
  162 +/*******************************
  163 + *
  164 + * 自由帧发送
  165 + *
  166 + * ******************/
  167 +int JZsdk_Uart_Send_CustomOrder(int UartPort, char *frame, int frame_len)
  168 +{
  169 + JZsdk_Uart_UartSend(UartPort, frame, frame_len);
  170 +}
  171 +
  172 +/*****************
  173 + *
  174 + * 发送主动连接帧
  175 + *
  176 + * ******************/
  177 +int JZsdk_Uart_Send_ConnectFrame(int PortNum)
  178 +{
  179 + JZsdk_Uart_SendDeal_ConnectFrame(PortNum);
  180 +}
  181 +
  182 +/*
  183 +*
  184 +* 发送播放结束状态帧
  185 +*
  186 +*/
  187 +int JZsdk_Uart_Reply_PlayStatus_end(int PortNum)
  188 +{
  189 + //发送播放状态结束帧
  190 + JZsdk_Uart_SendDeal_Send_PlayStatus_end(PortNum);
  191 +}
  192 +
  193 +/**************
  194 + *
  195 + * 发送发送播放状态帧
  196 + *
  197 + * ***********/
  198 +int JZsdk_Uart_Send_PlayStatus(int Uartport ,int num)
  199 +{
  200 + JZsdk_Uart_SendDeal_Send_PlayStatus(Uartport, num);
  201 +}
  202 +
  203 +/**************
  204 + *
  205 + * 发送音量
  206 + *
  207 + * ***********/
  208 +int JZsdk_Uart_Reply_Volume(int Uartport,int volume)
  209 +{
  210 + JZsdk_Uart_SendDeal_Reply_Volume(Uartport, volume);
  211 +}
  212 +
  213 +/**************
  214 + *
  215 + * 发送音色
  216 + *
  217 + * ***********/
  218 +int JZsdk_Uart_Reply_TTS_tone(int Uartport,int tone)
  219 +{
  220 + JZsdk_Uart_SendDeal_Reply_TTS_tone(Uartport, tone);
  221 +}
  222 +
  223 +/**************
  224 + *
  225 + * 发送语速
  226 + *
  227 + * ***********/
  228 +int JZsdk_Uart_Reply_TTS_speed(int Uartport,int speed)
  229 +{
  230 + JZsdk_Uart_SendDeal_Reply_TTS_speed(Uartport, speed);
  231 +}
  232 +
  233 +/**************
  234 + *
  235 + * 发送循环状态
  236 + *
  237 + * ***********/
  238 +int JZsdk_Uart_Reply_AudioPlayLoopStatus(int Uartport,int speed)
  239 +{
  240 + JZsdk_Uart_SendDeal_Reply_LoopPlayStatus(Uartport, speed);
  241 +}
  242 +
  243 +
  244 +/**************
  245 + *
  246 + * 发送云台俯仰角度查询值
  247 + *
  248 + * ***********/
  249 +int JZsdk_Uart_Reply_GimbalPitchAngle(int Uartport,int angle)
  250 +{
  251 + JZsdk_Uart_SendDeal_Reply_GimbalPitchAngle(Uartport, angle);
  252 +}
  253 +
  254 +/*************
  255 + *
  256 + * 设置云台俯仰角度
  257 + *
  258 + * **************/
  259 +int JZsdk_Uart_Send_SetGimbalPitch(int Uartport,int angle)
  260 +{
  261 + JZsdk_Uart_SendDeal_Set_GimbalPitchAngle(Uartport, angle);
  262 +}
  263 +
  264 +/*************
  265 + *
  266 + * 查询云台角度
  267 + *
  268 + * **************/
  269 +int JZsdk_Uart_Send_CheckStatus_GimbalAngle(int Uartport ,int FrameSequence)
  270 +{
  271 + JZsdk_Uart_SendDeal_CheckStatus_GimbalAngle(Uartport, FrameSequence);
  272 +}
  273 +
  274 +/*************
  275 + *
  276 + * 设置云台俯仰角度微调
  277 + *
  278 + * **************/
  279 +int JZsdk_Uart_Send_SetGimbalFineTuningPitch(int Uartport,int angle)
  280 +{
  281 + JZsdk_Uart_SendDeal_Set_GimbalFineTuningPitch(Uartport, angle);
  282 +}
  283 +
  284 +/*************
  285 + *
  286 + * 查询云台微调角度
  287 + *
  288 + * **************/
  289 +int JZsdk_Uart_Send_CheckStatus_GimbalFineTuningPitch(int Uartport,int FrameSequence)
  290 +{
  291 + JZsdk_Uart_SendDeal_CheckStatus_GimbalFineTuningPitch(Uartport,FrameSequence);
  292 +}
  293 +
  294 +/*************
  295 + *
  296 + * 发送云台俯仰微调值
  297 + *
  298 + * **************/
  299 +int JZsdk_Uart_Send_GimbalFineTuningPitch(int Uartport,int FrameSequence, int Pitch)
  300 +{
  301 + JZsdk_Uart_SendDeal_Reply_GimbalFineTuningPitch(Uartport,FrameSequence, Pitch);
  302 +}
  303 +
  304 +/*************
  305 + *
  306 + * 设置云台联动
  307 + *
  308 + * **************/
  309 +int JZsdk_Uart_Send_Set_GimbalLinkageControl(int Uartport,int FrameSequence, int value)
  310 +{
  311 + JZsdk_Uart_SendDeal_Set_GimbalLinkageControl(Uartport,FrameSequence, value);
  312 +}
  313 +
  314 +/*************
  315 + *
  316 + * 查询云台联动值
  317 + *
  318 + * **************/
  319 +int JZsdk_Uart_Send_CheckStatus_GimbalLinkage(int Uartport,int FrameSequence)
  320 +{
  321 + JZsdk_Uart_SendDeal_CheckStatus_GimbalLinkage(Uartport,FrameSequence);
  322 +}
  323 +
  324 +/*************
  325 + *
  326 + * 发送云台联动值
  327 + *
  328 + * **************/
  329 +int JZsdk_Uart_Send_GimbalLinkageControl(int Uartport,int FrameSequence, int value)
  330 +{
  331 + JZsdk_Uart_SendDeal_GimbalLinkageControl(Uartport,FrameSequence,value);
  332 +}
  333 +
  334 +/*************
  335 + *
  336 + * 设置云台最大最小值
  337 + *
  338 + * **************/
  339 +int JZsdk_Uart_Send_SetGimbalRange(int Uartport,int FrameSequence, int value)
  340 +{
  341 + JZsdk_Uart_SendDeal_SetGimbalRange(Uartport,FrameSequence,value);
  342 +}
  343 +
  344 +/*******************************************************************************************************************************
  345 + *
  346 + * 探照灯部分
  347 + *
  348 + * *******************************************************************************************************************************/
  349 +
  350 +/*************
  351 + *
  352 + * 设置探照灯爆闪频率
  353 + *
  354 + * **************/
  355 +int JZsdk_Uart_Send_SearchLight_SetFrequency(int Uartport,int Frequency)
  356 +{
  357 + JZsdk_Uart_SendDeal_Set_SearchLightFrequency(Uartport ,Frequency);
  358 +}
  359 +
  360 +/*************
  361 + *
  362 + * 探照灯控制
  363 + *
  364 + * **************/
  365 +int JZsdk_Uart_Send_SearchLight_Control(int Uartport,int mode)
  366 +{
  367 + JZsdk_Uart_SendDeal_SearchLight_Control(Uartport, mode);
  368 +}
  369 +
  370 +/*************
  371 + *
  372 + * 探照灯亮度
  373 + *
  374 + * **************/
  375 +int JZsdk_Uart_Send_SearchLight_SetLumen(int Uartport, int LeftLumen, int RightLumen)
  376 +{
  377 + JZsdk_Uart_SendDeal_SearchLight_SetLumen(Uartport, LeftLumen, RightLumen);
  378 +}
  379 +
  380 +/*************
  381 + *
  382 + * 查询爆闪频率
  383 + *
  384 + * **************/
  385 +int JZsdk_Uart_Send_SearchLight_CheckStatus_Frequency(int Uartport)
  386 +{
  387 + JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Frequency(Uartport);
  388 +}
  389 +
  390 +/*************
  391 + *
  392 + * 查询探照灯亮度
  393 + *
  394 + * **************/
  395 +int JZsdk_Uart_Send_SearchLight_CheckStatus_Lumen(int Uartport)
  396 +{
  397 + JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Lumen(Uartport);
  398 +}
  399 +
  400 +/*************
  401 + *
  402 + * 查询探照灯模式
  403 + *
  404 + * **************/
  405 +int JZsdk_Uart_Send_SearchLight_CheckStatus_Mode(int Uartport)
  406 +{
  407 + JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Mode(Uartport);
  408 +}
  409 +
  410 +/*************
  411 + *
  412 + * 查询探照灯属性
  413 + *
  414 + * **************/
  415 +int JZsdk_Uart_Send_SearchLight_CheckStatus_LightAttribute(int Uartport)
  416 +{
  417 + JZsdk_Uart_SendDeal_CheckStatus_LightAttribute(Uartport);
  418 +}
  419 +
  420 +/*************
  421 + *
  422 + * 查询探照灯温度
  423 + *
  424 + * **************/
  425 +int JZsdk_Uart_Send_SearchLight_CheckStatus_SearchLightTemperture(int Uartport)
  426 +{
  427 + JZsdk_Uart_SendDeal_CheckStatus_SearchLightTemperture(Uartport);
  428 +}
  429 +
  430 +
  431 +/*************
  432 + *
  433 + * 探照灯消息订阅
  434 + *
  435 + * **************/
  436 +int JZsdk_Uart_Send_MessageSubcription_Control(int Uartport,int value)
  437 +{
  438 + JZsdk_Uart_SendDeal_MessageSubcription_Control(Uartport, value);
  439 +}
  440 +/*******************************************************************************************************************************
  441 + *
  442 + * 警灯部分
  443 + *
  444 + * *******************************************************************************************************************************/
  445 +
  446 +/*************
  447 + *
  448 + * 设置警灯状态
  449 + *
  450 + * **************/
  451 +int JZsdk_Uart_Send_Set_WarningLight_Status(int Uartport,int status, int mode)
  452 +{
  453 + JZsdk_Uart_SendDeal_Set_WarningLight_Status(Uartport, status, mode);
  454 +}
  455 +/*************
  456 + *
  457 + * 设置警灯颜色
  458 + *
  459 + * **************/
  460 +int JZsdk_Uart_Send_Set_WarningLight_Color(int Uartport,int color1, int color2)
  461 +{
  462 + JZsdk_Uart_SendDeal_Set_WarningLight_Color(Uartport, color1, color2);
  463 +}
  464 +
  465 +/*******************************************************************************************************************************
  466 + *
  467 + * 5B类部分
  468 + *
  469 + * *******************************************************************************************************************************/
  470 +/*************
  471 + *
  472 + * 发送opus解码状态
  473 + *
  474 + * **************/
  475 +int JZsdk_Uart_Send_OpusDecodeStatus(int Uartport,int value)
  476 +{
  477 + JZsdk_Uart_SendDeal_OpusDecodeStatus(Uartport, value);
  478 +}
  479 +
  480 +
  481 +/*************
  482 + *
  483 + * 发送探照灯爆闪频率
  484 + *
  485 + * **************/
  486 +int JZsdk_Uart_Send_SearchLight_Frequency(int Uartport,int value)
  487 +{
  488 + JZsdk_Uart_SendDeal_SearchLight_Frequency(Uartport, value);
  489 +}
  490 +
  491 +/*************
  492 + *
  493 + * 发送探照灯模式
  494 + *
  495 + * **************/
  496 +int JZsdk_Uart_Send_SearchLight_Mode(int Uartport,int value)
  497 +{
  498 + JZsdk_Uart_SendDeal_SearchLight_Mode(Uartport, value);
  499 +}
  500 +
  501 +/*************
  502 + *
  503 + * 发送探照灯亮度
  504 + *
  505 + * **************/
  506 +int JZsdk_Uart_Send_SearchLight_Lumen(int Uartport,int LeftLumen, int RightLumen)
  507 +{
  508 + JZsdk_Uart_SendDeal_SearchLight_Lumen(Uartport, LeftLumen, RightLumen);
  509 +}
  510 +
  511 +/*************
  512 + *
  513 + * 发送探照灯温度
  514 + *
  515 + * **************/
  516 +int JZsdk_Uart_Send_SearchLight_Temperature(int Uartport,int LeftTemperature, int RightTemperature)
  517 +{
  518 + JZsdk_Uart_SendDeal_SearchLight_Temperature(Uartport, LeftTemperature, RightTemperature);
  519 +}
  520 +
  521 +
  522 +/*************
  523 + *
  524 + * 发送对外供电电源的状态
  525 + *
  526 + * **************/
  527 +int JZsdk_Uart_Send_OutputPowerStatus(int Uartport, int FrameSequence, int status)
  528 +{
  529 + JZsdk_Uart_SendDeal_OutputPowerStatus(Uartport, FrameSequence, status);
  530 +}
  531 +
  532 +/*******************************************************************************************************************************
  533 + *
  534 + * 警灯部分
  535 + *
  536 + * *******************************************************************************************************************************/
  537 +/*************
  538 + *
  539 + * 发送警灯状态
  540 + *
  541 + * **************/
  542 +int JZsdk_Uart_Send_WarningLight_Status(int Uartport, int status, int mode)
  543 +{
  544 + JZsdk_Uart_SendDeal_WarningLight_Status(Uartport, status, mode);
  545 +}
  546 +
  547 +/*************
  548 + *
  549 + * 发送警灯颜色
  550 + *
  551 + * **************/
  552 +int JZsdk_Uart_Send_WarningLight_Color(int Uartport, int color1, int color2)
  553 +{
  554 + JZsdk_Uart_SendDeal_WarningLight_Color(Uartport, color1, color2);
  555 +}
  556 +
  557 +
  558 +/*************
  559 + *
  560 + * 查询警灯状态
  561 + *
  562 + * **************/
  563 +int JZsdk_Uart_Send_CheckStatus_WarningLightStatus(int Uartport)
  564 +{
  565 + JZsdk_Uart_SendDeal_CheckStatus_WarningLightStatus(Uartport);
  566 +}
  567 +
  568 +
  569 +/*************
  570 + *
  571 + * 查询警灯颜色
  572 + *
  573 + * **************/
  574 +int JZsdk_Uart_Send_CheckStatus_WarningLightColor(int Uartport)
  575 +{
  576 + JZsdk_Uart_SendDeal_CheckStatus_WarningLightColor(Uartport);
  577 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_Uart_Input.h
  4 + * JZsdk_Uart_Input
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_UART_INPUT_H
  11 +#define JZSDK_UART_INPUT_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +
  20 +/* Exported constants --------------------------------------------------------*/
  21 +/* 常亮定义*/
  22 +
  23 +/* Exported types ------------------------------------------------------------*/
  24 +
  25 +/* Exported functions --------------------------------------------------------*/
  26 +int JZsdk_Uart_Init(int UART_DEV_NAME);
  27 +int JZsdk_Get_UartDev_UseFlag(int UART_DEV_NAME);
  28 +
  29 +int JZsdk_Uart_Reply_PlayStatus_end(int PortNum);
  30 +int JZsdk_Uart_Send_PlayStatus(int Uartport ,int num);
  31 +int JZsdk_Uart_Reply_Volume(int Uartport,int volume);
  32 +int JZsdk_Uart_Reply_TTS_tone(int Uartport,int tone);
  33 +int JZsdk_Uart_Reply_TTS_speed(int Uartport,int speed);
  34 +int JZsdk_Uart_Reply_AudioPlayLoopStatus(int Uartport,int speed);
  35 +int JZsdk_Uart_Send_OpusDecodeStatus(int Uartport,int value);
  36 +
  37 +int JZsdk_Uart_Send_CustomOrder(int UartPort, char *frame, int frame_len);
  38 +int JZsdk_Uart_Send_ConnectFrame(int PortNum);
  39 +
  40 +int JZsdk_Uart_Reply_GimbalPitchAngle(int Uartport,int angle);
  41 +int JZsdk_Uart_Send_SetGimbalPitch(int Uartport,int angle);
  42 +int JZsdk_Uart_Send_SetGimbalFineTuningPitch(int Uartport,int angle);
  43 +int JZsdk_Uart_Send_Gimbal_Pitch(int Uartport, int pitch);
  44 +int JZsdk_Uart_Send_CheckStatus_GimbalFineTuningPitch(int Uartport,int FrameSequence);
  45 +int JZsdk_Uart_Send_GimbalFineTuningPitch(int Uartport,int FrameSequence, int Pitch);
  46 +int JZsdk_Uart_Send_Set_GimbalLinkageControl(int Uartport,int FrameSequence, int value);
  47 +int JZsdk_Uart_Send_CheckStatus_GimbalLinkage(int Uartport,int FrameSequence);
  48 +int JZsdk_Uart_Send_GimbalLinkageControl(int Uartport,int FrameSequence, int value);
  49 +int JZsdk_Uart_Send_CheckStatus_GimbalAngle(int Uartport ,int FrameSequence);
  50 +int JZsdk_Uart_Send_SetGimbalRange(int Uartport,int FrameSequence, int value);
  51 +
  52 +int JZsdk_Uart_Send_SearchLight_SetFrequency(int Uartport,int Frequency);
  53 +int JZsdk_Uart_Send_SearchLight_Control(int Uartport,int mode);
  54 +int JZsdk_Uart_Send_SearchLight_SetLumen(int Uartport, int LeftLumen, int RightLumen);
  55 +
  56 +int JZsdk_Uart_Send_MessageSubcription_Control(int Uartport,int value);
  57 +
  58 +int JZsdk_Uart_Send_Set_WarningLight_Status(int Uartport,int status, int mode);
  59 +int JZsdk_Uart_Send_Set_WarningLight_Color(int Uartport,int color1, int color2);
  60 +
  61 +int JZsdk_Uart_Send_SearchLight_CheckStatus_Frequency(int Uartport);
  62 +int JZsdk_Uart_Send_SearchLight_CheckStatus_Lumen(int Uartport);
  63 +int JZsdk_Uart_Send_SearchLight_CheckStatus_Mode(int Uartport);
  64 +int JZsdk_Uart_Send_SearchLight_CheckStatus_LightAttribute(int Uartport);
  65 +int JZsdk_Uart_Send_SearchLight_CheckStatus_SearchLightTemperture(int Uartport);
  66 +
  67 +int JZsdk_Uart_Send_SearchLight_Frequency(int Uartport,int value);
  68 +int JZsdk_Uart_Send_SearchLight_Mode(int Uartport,int value);
  69 +int JZsdk_Uart_Send_SearchLight_Lumen(int Uartport,int LeftLumen, int RightLumen);
  70 +int JZsdk_Uart_Send_SearchLight_Temperature(int Uartport,int LeftTemperature, int RightTemperature);
  71 +
  72 +
  73 +int JZsdk_Uart_Send_WarningLight_Status(int Uartport, int status, int mode);
  74 +int JZsdk_Uart_Send_WarningLight_Color(int Uartport, int color1, int color2);
  75 +int JZsdk_Uart_Send_CheckStatus_WarningLightStatus(int Uartport);
  76 +int JZsdk_Uart_Send_CheckStatus_WarningLightColor(int Uartport);
  77 +
  78 +
  79 +int JZsdk_Uart_Send_OutputPowerStatus(int Uartport, int FrameSequence, int status);
  80 +
  81 +int JZsdk_Uart_BitRateChange(int UART_DEV_NAME, int BitRate);
  82 +int JZsdk_Uart_SecondInit(int UART_DEV_NAME, int BitRate);
  83 +
  84 +#ifdef __cplusplus
  85 +}
  86 +#endif
  87 +
  88 +#endif
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_Uart_RecvDeal.h
  4 + * JZsdk_Uart_RecvDeal的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_UART_RECVDEAL_H
  11 +#define JZSDK_UART_RECVDEAL_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +/* Exported types ------------------------------------------------------------*/
  23 +
  24 +/* Exported functions --------------------------------------------------------*/
  25 +int JZsdk_Uart_RecvDeal_CharmDeal(int Port, unsigned char *getbuf, int len);
  26 +
  27 +#ifdef __cplusplus
  28 +}
  29 +#endif
  30 +
  31 +#endif
  1 +#include <stdio.h>
  2 +#include <string.h>
  3 +#include <stdlib.h>
  4 +
  5 +#include "../JZsdk_Uart_UartDeal.h"
  6 +#include "../Uart_Config.h"
  7 +#include "./JZsdk_Uart_Send.h"
  8 +#include "JZsdk_TaskManagement/TaskManagement.h"
  9 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  10 +#include "JZsdk_Base/JZsdk_FrameComparsion/JZsdk_FrameComparsion.h"
  11 +
  12 +
  13 +//发送主动连接帧
  14 +int JZsdk_Uart_SendDeal_ConnectFrame(int PortNum)
  15 +{
  16 + unsigned char sendbuf[256];
  17 + int send_buf_len;
  18 +
  19 + //1、获取帧样板
  20 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_ASKFORCONNECT , sendbuf, &send_buf_len);
  21 +
  22 + //2、发送帧
  23 + JZsdk_Uart_UartSend(PortNum ,sendbuf, send_buf_len);
  24 +}
  25 +
  26 +//回复连接帧
  27 +int JZsdk_Uart_SendDeal_Send_Connect(int Uartport , int FrameSequence,int Version_flag)
  28 +{
  29 + unsigned char sendbuf[256];
  30 + int send_buf_len;
  31 +
  32 + //1、获取帧样板
  33 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_INITIATECONNECT , sendbuf, &send_buf_len);
  34 +
  35 + //2、写入硬件码
  36 + sendbuf[9] = Version_flag;
  37 +
  38 + //写入帧序列
  39 + sendbuf[6] = FrameSequence; //帧序列
  40 +
  41 + //3、发送帧
  42 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  43 +}
  44 +
  45 +//回复心跳帧
  46 +int JZsdk_Uart_SendDeal_Send_HeartBeatStatus(int Uartport , int FrameSequence,int HeartBeatStatus)
  47 +{
  48 + unsigned char sendbuf[256];
  49 + int send_buf_len;
  50 +
  51 + //1、获取帧样板
  52 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_HEARTBEAT , sendbuf, &send_buf_len);
  53 +
  54 + //2、写入硬件码
  55 + sendbuf[9] = HeartBeatStatus;
  56 +
  57 + //写入帧序列
  58 + sendbuf[6] = FrameSequence; //帧序列
  59 +
  60 + //3、发送帧
  61 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  62 +}
  63 +
  64 +//设置电源状态
  65 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_PowerStatus(int Uartport, int FrameSequence, int status)
  66 +{
  67 + printf("发送电源状态\n");
  68 +
  69 + unsigned char sendbuf[256];
  70 + int send_buf_len;
  71 +
  72 + //1、获取帧样板
  73 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_FRAME_POWER_STATUS, sendbuf, &send_buf_len);
  74 +
  75 + sendbuf[9] = status;
  76 + sendbuf[6] = FrameSequence; //帧序列
  77 +
  78 + //2、发送帧
  79 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  80 +}
  81 +
  82 +//发送心跳帧
  83 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_Ask_HeartBeatStatus(int Uartport , int FrameSequence,int HeartBeatStatus)
  84 +{
  85 + printf("发送请求心跳帧\n");
  86 +
  87 + unsigned char sendbuf[256];
  88 + int send_buf_len;
  89 +
  90 + //1、获取帧样板
  91 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_HEARTBEAT, sendbuf, &send_buf_len);
  92 +
  93 + sendbuf[9] = HeartBeatStatus;
  94 + sendbuf[6] = FrameSequence; //帧序列
  95 +
  96 + //2、发送帧
  97 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  98 +}
  99 +
  100 +//发送请求时间戳帧
  101 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_Ask_TimeStamp(int Uartport , int FrameSequence)
  102 +{
  103 + printf("发送请求时间戳帧\n");
  104 +
  105 + unsigned char sendbuf[256];
  106 + int send_buf_len;
  107 +
  108 + //1、获取帧样板
  109 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_TIMESTAMP, sendbuf, &send_buf_len);
  110 +
  111 + sendbuf[6] = FrameSequence; //帧序列
  112 +
  113 + //2、发送帧
  114 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  115 +}
  116 +
  117 +//发送版本号
  118 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_SendAllVersion(int Uartport, int FrameSequence, int DeviceID, int MajorVersion, int MinorVersion, int ModifyVersion, int DebugVersion)
  119 +{
  120 + printf("发送所有版本号\n");
  121 +
  122 + unsigned char sendbuf[256];
  123 + int send_buf_len;
  124 +
  125 + //1、获取帧样板
  126 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_ALL_VERSION, sendbuf, &send_buf_len);
  127 +
  128 + sendbuf[6] = FrameSequence; //帧序列
  129 + sendbuf[9] = DeviceID;
  130 + sendbuf[10] = MajorVersion;
  131 + sendbuf[11] = MinorVersion;
  132 + sendbuf[12] = ModifyVersion;
  133 + sendbuf[13] = DebugVersion;
  134 +
  135 + //2、发送帧
  136 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  137 +}
  138 +
  139 +//发送序列号
  140 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_SendAllSerialNumber(int Uartport, int FrameSequence, int DeviceID, unsigned char *SerialNumber, int SerialNumberLen)
  141 +{
  142 + printf("发送所有序列号\n");
  143 +
  144 + unsigned char sendbuf[256];
  145 + int send_buf_len;
  146 +
  147 + //1、获取帧样板
  148 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_ALL_SERIAL_NUMBER, sendbuf, &send_buf_len);
  149 +
  150 + sendbuf[6] = FrameSequence; //帧序列
  151 + sendbuf[9] = DeviceID;
  152 + memcpy(&sendbuf[10], SerialNumber, SerialNumberLen);
  153 + send_buf_len = send_buf_len - 1 + SerialNumberLen;
  154 + sendbuf[send_buf_len-2] = 0x00;
  155 + sendbuf[send_buf_len-1] = 0x23;
  156 +
  157 + sendbuf[3] = (send_buf_len >> 8);
  158 + sendbuf[4] = (send_buf_len & 0xff);
  159 +
  160 + //2、发送帧
  161 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  162 +}
  163 +
  164 +//发送成功帧
  165 +int JZsdk_Uart_SendDeal_Reply_Sucesss(int Uartport ,int FrameSequence)
  166 +{
  167 + unsigned char sendbuf[256];
  168 + int send_buf_len;
  169 +
  170 + //1、获取帧样板
  171 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_SUCESS , sendbuf, &send_buf_len);
  172 +
  173 + //2、写入数据
  174 + sendbuf[6] = FrameSequence; //帧序列
  175 +
  176 + //3、发送帧
  177 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  178 +}
  179 +
  180 +//发送失败帧
  181 +int JZsdk_Uart_SendDeal_Reply_Failure(int Uartport ,int FrameSequence)
  182 +{
  183 + unsigned char sendbuf[256];
  184 + int send_buf_len;
  185 +
  186 + //1、获取帧样板
  187 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_DEFEAT , sendbuf, &send_buf_len);
  188 +
  189 + //2、写入数据
  190 + sendbuf[6] = FrameSequence; //帧序列
  191 +
  192 + //3、发送帧
  193 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  194 +}
  195 +
  196 +//发送当前从设备名
  197 +int JZsdk_Uart_SendDeal_Reply_SecondaryDeviceName(int Uartport , int device_name, int FrameSequence)
  198 +{
  199 + unsigned char sendbuf[256];
  200 + int send_buf_len;
  201 +
  202 + //1、获取帧样板
  203 + JZsdk_GetFrameTemplate(JZ_INSCODE_6BFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME , sendbuf, &send_buf_len);
  204 +
  205 + //2、写入数据
  206 + sendbuf[6] = FrameSequence; //帧序列
  207 + sendbuf[10] = device_name;
  208 +
  209 + //3、发送帧
  210 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  211 +}
  212 +
  213 +
  214 +//查询当前从设备名
  215 +int JZsdk_Uart_SendDeal_QuerySecondaryDeviceName(int Uartport ,int FrameSequence)
  216 +{
  217 + unsigned char sendbuf[256];
  218 + int send_buf_len;
  219 +
  220 + //1、获取帧样板
  221 + JZsdk_GetFrameTemplate(JZ_INSCODE_6AFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME , sendbuf, &send_buf_len);
  222 +
  223 + //2、写入数据
  224 + sendbuf[6] = FrameSequence; //帧序列
  225 +
  226 + //3、发送帧
  227 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  228 +}
  229 +
  230 +//发送当前设备序列号
  231 +int JZsdk_Uart_SendDeal_SerialNumber(int UartPort, int FrameSequence, char *SerialNumber, int SerialNumberLenth)
  232 +{
  233 + unsigned char sendbuf[256];
  234 + int send_buf_len;
  235 +
  236 + //1、获取帧样板
  237 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_SERIALNUMBER , sendbuf, &send_buf_len);
  238 +
  239 + //2、写入数据
  240 + sendbuf[6] = FrameSequence; //帧序列
  241 +
  242 + for (int i = 0; i < SerialNumberLenth; i++)
  243 + {
  244 + sendbuf[9+i] = SerialNumber[i];
  245 + }
  246 +
  247 + sendbuf[9+SerialNumberLenth] = 0x00;
  248 + sendbuf[9+SerialNumberLenth + 1] = 0x23;
  249 +
  250 + send_buf_len = (9+SerialNumberLenth + 2);
  251 + sendbuf[4] = send_buf_len;
  252 +
  253 + //3、发送帧
  254 + JZsdk_Uart_UartSend(UartPort ,sendbuf, send_buf_len);
  255 +}
  256 +
  257 +/*********
  258 + *
  259 + * 发送设备信息
  260 + *
  261 + *
  262 + * *******/
  263 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_DeviceMessage(int UartPort, int FrameSequence, unsigned char *message, unsigned int messageLen)
  264 +{
  265 + unsigned char sendbuf[300];
  266 + memset(sendbuf,0,sizeof(sendbuf));
  267 + unsigned int send_buf_len = 0;
  268 +
  269 + //获取帧样板
  270 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_DEVICE_MESSAGE , sendbuf, &send_buf_len);
  271 +
  272 + memcpy(&sendbuf[9], message, messageLen);
  273 + send_buf_len = 9+messageLen+2;
  274 +
  275 + sendbuf[9+messageLen] = 0x00;
  276 + sendbuf[9+messageLen + 1] = 0x23;
  277 +
  278 + //3、发送帧
  279 + JZsdk_Uart_UartSend(UartPort ,sendbuf, send_buf_len);
  280 +}
  281 +
  282 +
  283 +struct JZsdk_MusicListSentStruct
  284 +{
  285 + int UartPort;
  286 + int FrameSequence;
  287 + int music_sum;
  288 + char **MusicName;
  289 + int *MusicNameLength;
  290 +};
  291 +
  292 +/**********
  293 + *
  294 + * 歌曲列表发送任务函数
  295 + *
  296 + * ***********/
  297 +static void JZsdk_Uart_SentDeal_Reply_Musiclist_Task(void *data)
  298 +{
  299 + struct JZsdk_MusicListSentStruct *taskData = (struct JZsdk_MusicListSentStruct *)data;
  300 + unsigned char sendbuf[256];
  301 + int send_buf_len;
  302 +
  303 + //1、发送操作成功
  304 + //获取帧样板
  305 + memset(sendbuf,0,sizeof(sendbuf));
  306 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_SUCESS , sendbuf, &send_buf_len);
  307 + //写入数据
  308 + sendbuf[6] = taskData->FrameSequence; //帧序列
  309 + //发送帧
  310 + printf("发送操作成功帧\n");
  311 + JZsdk_Uart_UartSend_NotTask(taskData->UartPort ,sendbuf, send_buf_len);
  312 +
  313 + //2、发送开始帧
  314 + //获取帧样板
  315 + memset(sendbuf,0,sizeof(sendbuf));
  316 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_MUSICLIST_START , sendbuf, &send_buf_len);
  317 + //写入数据
  318 + sendbuf[6] = taskData->FrameSequence; //帧序列
  319 + sendbuf[9] = taskData->music_sum;
  320 + //发送帧
  321 + printf("发送歌曲开始列表帧\n");
  322 + JZsdk_Uart_UartSend_NotTask(taskData->UartPort ,sendbuf, send_buf_len);
  323 +
  324 + //3、逐一调用发送函数将歌曲名发出
  325 + for (int i = 0; i < (taskData->music_sum) ; i++)
  326 + {
  327 + memset(sendbuf,0,sizeof(sendbuf));
  328 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_MUSICLIST_TRANS , sendbuf, &send_buf_len);
  329 +
  330 + memcpy(&sendbuf[9],taskData->MusicName[i],taskData->MusicNameLength[i]);
  331 + sendbuf[9+taskData->MusicNameLength[i]]=0x00;
  332 + sendbuf[10+taskData->MusicNameLength[i]]=0x23;
  333 +
  334 + send_buf_len = send_buf_len -1 + taskData->MusicNameLength[i] ;
  335 +
  336 + sendbuf[3] = (send_buf_len >> 8);
  337 + sendbuf[4] = (send_buf_len & 0xff);
  338 + sendbuf[6] = taskData->FrameSequence; //帧序列
  339 + JZsdk_Uart_UartSend_NotTask(taskData->UartPort ,sendbuf, send_buf_len);
  340 + }
  341 +
  342 + //4、发送结束帧
  343 + //获取帧样板
  344 + memset(sendbuf,0,sizeof(sendbuf));
  345 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_MUSICLIST_STOP , sendbuf, &send_buf_len);
  346 + //写入数据
  347 + sendbuf[6] = taskData->FrameSequence; //帧序列
  348 + sendbuf[9] = taskData->music_sum;
  349 + //发送帧
  350 + printf("发送歌曲结束列表");
  351 + JZsdk_Uart_UartSend_NotTask(taskData->UartPort ,sendbuf, send_buf_len);
  352 +
  353 + //5、释放内存
  354 + for (int i = 0; i < taskData->music_sum; i++)
  355 + {
  356 + free(taskData->MusicName[i]);
  357 + taskData->MusicName[i] = NULL;
  358 + }
  359 +
  360 + free(taskData->MusicName);
  361 + taskData->MusicName = NULL;
  362 +
  363 + free(taskData->MusicNameLength);
  364 + free(taskData);
  365 + taskData = NULL;
  366 +}
  367 +
  368 +T_JZsdkReturnCode JZsdk_Uart_SentDeal_Reply_Musiclist(int UartPort ,int FrameSequence, int music_sum ,char **MusicName ,int *MusicNameLength)
  369 +{
  370 + struct JZsdk_MusicListSentStruct *musicList = (struct JZsdk_MusicListSentStruct *)malloc(sizeof(struct JZsdk_MusicListSentStruct));
  371 + if (musicList == NULL)
  372 + {
  373 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  374 + }
  375 +
  376 + musicList->UartPort = UartPort;
  377 + musicList->FrameSequence = FrameSequence;
  378 + musicList->music_sum = music_sum;
  379 + musicList->MusicName = MusicName;
  380 + musicList->MusicNameLength = MusicNameLength;
  381 +
  382 + T_JZsdkReturnCode ret = TaskManagement_SubmitTask(JZsdk_Uart_SentDeal_Reply_Musiclist_Task, (void *)musicList);
  383 + if (ret == JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE)
  384 + {
  385 + free(musicList);
  386 + musicList = NULL;
  387 + return ret;
  388 + }
  389 +
  390 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  391 +}
  392 +
  393 +//发送播放状态结束帧
  394 +int JZsdk_Uart_SendDeal_Send_PlayStatus_end(int Uartport)
  395 +{
  396 + printf("发送播放状态结束帧\n");
  397 + unsigned char sendbuf[256];
  398 + int send_buf_len;
  399 +
  400 + //1、获取帧样板
  401 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS_END , sendbuf, &send_buf_len);
  402 +
  403 + //2、写入数据
  404 +
  405 + //3、发送帧
  406 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  407 +}
  408 +
  409 +//发送播放状态帧
  410 +int JZsdk_Uart_SendDeal_Send_PlayStatus(int Uartport ,int num)
  411 +{
  412 + printf("向");
  413 + switch (Uartport)
  414 + {
  415 + case UART_4G:
  416 + printf("4G模块");
  417 + break;
  418 + case UART_DEV_1:
  419 + printf("串口1设备");
  420 + break;
  421 + case UART_DEV_2:
  422 + printf("串口2设备");
  423 + break;
  424 +
  425 + default:
  426 + break;
  427 + }
  428 + printf("发送播放状态帧%x\n",num);
  429 + unsigned char sendbuf[256];
  430 + int send_buf_len;
  431 +
  432 + //1、获取帧样板
  433 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS , sendbuf, &send_buf_len);
  434 +
  435 + //2、写入数据
  436 + sendbuf[9] = (char)num;
  437 +
  438 + //3、发送帧
  439 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  440 +}
  441 +
  442 +//回复当前播放的歌曲名字
  443 +int JZsdk_Uart_SendDeal_Reply_MusicName(int Uartport ,char *music_name, int music_name_len)
  444 +{
  445 + printf("发送当前歌曲名字帧");
  446 + unsigned char sendbuf[256];
  447 + int send_buf_len;
  448 +
  449 + //1、获取帧样板
  450 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYFILENAME , sendbuf, &send_buf_len);
  451 +
  452 + //2、写入数据
  453 + memcpy(&sendbuf[9],music_name,music_name_len);
  454 + sendbuf[9+music_name_len]=0x00;
  455 + sendbuf[10+music_name_len]=0x23;
  456 +
  457 + int len = send_buf_len -1 + music_name_len;
  458 +
  459 + sendbuf[3] = len >> 8;
  460 + sendbuf[4] = len & 0xff;
  461 +
  462 + //3、发送帧
  463 + JZsdk_Uart_UartSend(Uartport ,sendbuf, len);
  464 +}
  465 +
  466 +//回复当前音量
  467 +int JZsdk_Uart_SendDeal_Reply_Volume(int Uartport ,int num)
  468 +{
  469 + printf("发送播放状态帧\n");
  470 + unsigned char sendbuf[256];
  471 + int send_buf_len;
  472 +
  473 + //1、获取帧样板
  474 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_VOLUME, sendbuf, &send_buf_len);
  475 +
  476 + //2、写入数据
  477 + sendbuf[9] = (char)num;
  478 +
  479 + //3、发送帧
  480 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  481 +
  482 +}
  483 +
  484 +
  485 +
  486 +//回复软件版本号
  487 +int JZsdk_Uart_SendDeal_Reply_SoftVersion(int Uartport ,char majorVersion, char minorVersion, char modifyVersion, char debugVersion)
  488 +{
  489 + printf("发送软件版本号帧\n");
  490 + unsigned char sendbuf[256];
  491 + int send_buf_len;
  492 +
  493 + //1、获取帧样板
  494 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_SORTWAREVERSION, sendbuf, &send_buf_len);
  495 +
  496 + //2、写入数据
  497 + sendbuf[9] = majorVersion;
  498 + sendbuf[10] = minorVersion;
  499 + sendbuf[11] = modifyVersion;
  500 + sendbuf[12] = debugVersion;
  501 +
  502 + //3、发送帧
  503 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  504 +}
  505 +
  506 +//发送循环状态
  507 +int JZsdk_Uart_SendDeal_Reply_LoopPlayStatus(int Uartport ,int status)
  508 +{
  509 + printf("发送循环状态帧\n");
  510 +
  511 + unsigned char sendbuf[256];
  512 + int send_buf_len;
  513 +
  514 + //1、获取帧样板
  515 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYLOOPSTATUS, sendbuf, &send_buf_len);
  516 +
  517 + //2、写入数据
  518 + sendbuf[9] = status;
  519 +
  520 + //3、发送帧
  521 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  522 +
  523 +}
  524 +
  525 +//发送音色
  526 +int JZsdk_Uart_SendDeal_Reply_TTS_tone(int Uartport ,int tone)
  527 +{
  528 + printf("发送音色帧\n");
  529 +
  530 + unsigned char sendbuf[256];
  531 + int send_buf_len;
  532 +
  533 + //1、获取帧样板
  534 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_TTS_TONE, sendbuf, &send_buf_len);
  535 +
  536 + //2、写入数据
  537 + sendbuf[9] = tone;
  538 +
  539 + //3、发送帧
  540 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  541 +}
  542 +
  543 +//发送语速
  544 +int JZsdk_Uart_SendDeal_Reply_TTS_speed(int Uartport ,int speed)
  545 +{
  546 + printf("发送音色帧\n");
  547 +
  548 + unsigned char sendbuf[256];
  549 + int send_buf_len;
  550 +
  551 + //1、获取帧样板
  552 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_TTS_SPEED, sendbuf, &send_buf_len);
  553 +
  554 + //2、写入数据
  555 + sendbuf[9] = speed;
  556 +
  557 + //3、发送帧
  558 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  559 +}
  560 +
  561 +/*************
  562 + *
  563 + * 发送opus解码状态
  564 + *
  565 + * **************/
  566 +int JZsdk_Uart_SendDeal_OpusDecodeStatus(int Uartport,int value)
  567 +{
  568 + printf("发送opus解码状态帧\n");
  569 +
  570 + unsigned char sendbuf[256];
  571 + int send_buf_len;
  572 +
  573 + //1、获取帧样板
  574 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_OPUS_DECODE_STATUS, sendbuf, &send_buf_len);
  575 +
  576 + //2、写入数据
  577 + sendbuf[9] = value;
  578 +
  579 + //3、发送帧
  580 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  581 +}
  582 +
  583 +/****************************************************************************************************************************************************
  584 +*
  585 +* 云台部分
  586 +*
  587 +****************************************************************************************************************************************************/
  588 +
  589 +//回复当前云台角度
  590 +int JZsdk_Uart_SendDeal_Reply_GimbalPitchAngle(int Uartport ,int angle)
  591 +{
  592 + printf("发送当前云台角度帧\n");
  593 + unsigned char sendbuf[256];
  594 + int send_buf_len;
  595 +
  596 + //1、获取帧样板
  597 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_GIMBAL_PITCH, sendbuf, &send_buf_len);
  598 +
  599 + //2、写入数据
  600 + char signal = 0x00;
  601 + if (angle < 0)
  602 + {
  603 + signal = 0xff;
  604 + angle = -angle;
  605 + }
  606 +
  607 + sendbuf[9] = (char)signal;
  608 + sendbuf[10] = (char)(angle >> 8);
  609 + sendbuf[11] = (char)(angle & 255);
  610 +
  611 + //3、发送帧
  612 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  613 +}
  614 +
  615 +//设置当前云台角度
  616 +int JZsdk_Uart_SendDeal_Set_GimbalPitchAngle(int Uartport ,int angle)
  617 +{
  618 + //printf("发送设置云台角度帧 %d\n",angle); //该打印可能会造成卡顿
  619 + unsigned char sendbuf[256];
  620 + int send_buf_len;
  621 +
  622 + //1、获取帧样板
  623 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_GIMBAL_PITCH_CONTROL, sendbuf, &send_buf_len);
  624 +
  625 + //char sendbuf[14] = {0x5A ,0x5A ,0x77 ,0x00 ,0x0E ,0x00 ,0x00 ,0x64 ,0x51 ,0x00 ,0x00 ,0x00 ,0x00 ,0x23};
  626 + //send_buf_len = 14;
  627 +
  628 + //2、写入数据
  629 + if (angle < 0)
  630 + {
  631 + angle = -angle;
  632 + sendbuf[9] = 0xff;
  633 + }
  634 + else
  635 + {
  636 + sendbuf[9] = 0x00;
  637 + }
  638 +
  639 + sendbuf[10] = ((angle>>8) & 0xff);
  640 + sendbuf[11] = (angle & 0xff);
  641 +
  642 + //3、发送帧
  643 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  644 +}
  645 +
  646 +//查询云台角度
  647 +int JZsdk_Uart_SendDeal_CheckStatus_GimbalAngle(int Uartport ,int FrameSequence)
  648 +{
  649 + printf("发送查询云台角度帧\n");
  650 + unsigned char sendbuf[256];
  651 + int send_buf_len;
  652 +
  653 + //1、获取帧样板
  654 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL, sendbuf, &send_buf_len);
  655 +
  656 + //2、写入帧序列
  657 + sendbuf[6] = FrameSequence;
  658 +
  659 + //3、发送帧
  660 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  661 +}
  662 +
  663 +//微调云台pitch
  664 +int JZsdk_Uart_SendDeal_Set_GimbalFineTuningPitch(int Uartport, int PitchFineTuning)
  665 +{
  666 + printf("发送微调云台pitch帧\n");
  667 + unsigned char sendbuf[256];
  668 + int send_buf_len;
  669 +
  670 + //1、获取帧样板
  671 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_GIMBAL_PITCH_FINETUNING_CONTROL, sendbuf, &send_buf_len);
  672 +
  673 + //2、写入数据
  674 + if (PitchFineTuning < 0)
  675 + {
  676 + PitchFineTuning = -PitchFineTuning;
  677 + sendbuf[9] = 0xff;
  678 + }
  679 + else
  680 + {
  681 + sendbuf[9] = 0x00;
  682 + }
  683 +
  684 + sendbuf[10] = ((PitchFineTuning>>8) & 0xff);
  685 + sendbuf[11] = (PitchFineTuning & 0xff);
  686 +
  687 + //3、发送帧
  688 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  689 +}
  690 +
  691 +//查询云台角度微调值
  692 +int JZsdk_Uart_SendDeal_CheckStatus_GimbalFineTuningPitch(int Uartport, int FrameSequence)
  693 +{
  694 + printf("发送查询云台角度微调值帧\n");
  695 + unsigned char sendbuf[256];
  696 + int send_buf_len;
  697 +
  698 + //1、获取帧样板
  699 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL_FINETUNING, sendbuf, &send_buf_len);
  700 +
  701 + //2、写入数据
  702 + sendbuf[6] = FrameSequence; //帧序列
  703 +
  704 + //3、发送帧
  705 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  706 +}
  707 +
  708 +//回复云台pitch微调值
  709 +int JZsdk_Uart_SendDeal_Reply_GimbalFineTuningPitch(int Uartport, int FrameSequence, int FineTunigPitch)
  710 +{
  711 + printf("发送云台pitch微调值\n");
  712 + unsigned char sendbuf[256];
  713 + int send_buf_len;
  714 +
  715 + //1、获取帧样板
  716 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_GIMBAL_PITCH_FINETUNING, sendbuf, &send_buf_len);
  717 +
  718 + //2、写入数据
  719 + if (FineTunigPitch < 0)
  720 + {
  721 + FineTunigPitch = -FineTunigPitch;
  722 + sendbuf[9] = 0xff;
  723 + }
  724 + else
  725 + {
  726 + sendbuf[9] = 0x00;
  727 + }
  728 +
  729 + sendbuf[10] = ((FineTunigPitch>>8) & 0xff);
  730 + sendbuf[11] = (FineTunigPitch & 0xff);
  731 +
  732 + //3、发送帧
  733 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  734 +}
  735 +
  736 +//设置云台联动
  737 +int JZsdk_Uart_SendDeal_Set_GimbalLinkageControl(int Uartport,int FrameSequence, int value)
  738 +{
  739 + printf("发送设置云台联动帧\n");
  740 + unsigned char sendbuf[256];
  741 + int send_buf_len;
  742 +
  743 + //1、获取帧样板
  744 + JZsdk_GetFrameTemplate(JZ_INSCODE_6AFRAME_GIMBAL_LINKAGE_CONTROL, sendbuf, &send_buf_len);
  745 +
  746 + //2、写入数据
  747 + sendbuf[6] = FrameSequence; //帧序列
  748 + sendbuf[10] = value;
  749 +
  750 + //3、发送帧
  751 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  752 +}
  753 +
  754 +//查询云台联动值
  755 +int JZsdk_Uart_SendDeal_CheckStatus_GimbalLinkage(int Uartport,int FrameSequence)
  756 +{
  757 + printf("发送查询云台联动值帧\n");
  758 + unsigned char sendbuf[256];
  759 + int send_buf_len;
  760 +
  761 + //1、获取帧样板
  762 + JZsdk_GetFrameTemplate(JZ_INSCODE_6AFRAME_CHECKSTATUS_GIMBAL_LINKAGE, sendbuf, &send_buf_len);
  763 +
  764 + //2、写入数据
  765 + sendbuf[6] = FrameSequence; //帧序列
  766 +
  767 + //3、发送帧
  768 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  769 +}
  770 +
  771 +//发送云台联动值
  772 +int JZsdk_Uart_SendDeal_GimbalLinkageControl(int Uartport,int FrameSequence,int value)
  773 +{
  774 + printf("发送云台联动值帧\n");
  775 + unsigned char sendbuf[256];
  776 + int send_buf_len;
  777 +
  778 + //1、获取帧样板
  779 + JZsdk_GetFrameTemplate(JZ_INSCODE_6BFRAME_CHECKSTATUS_GIMBAL_LINKAGE, sendbuf, &send_buf_len);
  780 +
  781 + //2、写入数据
  782 + sendbuf[6] = FrameSequence; //帧序列
  783 + sendbuf[10] = value;
  784 +
  785 + //3、发送帧
  786 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  787 +}
  788 +
  789 +//发送云台最大最小值帧
  790 +int JZsdk_Uart_SendDeal_SetGimbalRange(int Uartport,int FrameSequence,int value)
  791 +{
  792 + printf("发送云台最大最小值帧\n");
  793 + unsigned char sendbuf[256];
  794 + int send_buf_len;
  795 +
  796 + //1、获取帧样板
  797 + JZsdk_GetFrameTemplate(JZ_INSCODE_6AFRAME_SET_GIMBAL_MAXMIN_RANGE, sendbuf, &send_buf_len);
  798 +
  799 + //2、写入数据
  800 + sendbuf[6] = FrameSequence; //帧序列
  801 + sendbuf[10] = value;
  802 +
  803 + //3、发送帧
  804 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  805 +}
  806 +
  807 +/****************************************************************************************************************************************************
  808 +*
  809 +* 探照灯部分
  810 +*
  811 +****************************************************************************************************************************************************/
  812 +
  813 +//发送设置探照灯爆闪频率
  814 +int JZsdk_Uart_SendDeal_Set_SearchLightFrequency(int Uartport ,int Frequency)
  815 +{
  816 + printf("发送设置爆闪频率帧\n");
  817 +
  818 + unsigned char sendbuf[256];
  819 + int send_buf_len;
  820 +
  821 + //1、获取帧样板
  822 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_FREQUENCY, sendbuf, &send_buf_len);
  823 +
  824 + //2、写入数据
  825 + sendbuf[10] = Frequency;
  826 +
  827 + //3、发送帧
  828 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  829 +}
  830 +
  831 +//设置探照灯控制
  832 +int JZsdk_Uart_SendDeal_SearchLight_Control(int Uartport,int mode)
  833 +{
  834 + printf("发送探照灯控制\n");
  835 +
  836 + unsigned char sendbuf[256];
  837 + int send_buf_len;
  838 +
  839 + //1、获取帧样板
  840 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_SEARCHLIGHT_CONTROL, sendbuf, &send_buf_len);
  841 +
  842 + //2、写入数据
  843 + sendbuf[10] = mode;
  844 +
  845 + //3、发送帧
  846 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  847 +}
  848 +
  849 +//设置探照灯亮度
  850 +int JZsdk_Uart_SendDeal_SearchLight_SetLumen(int Uartport, int LeftLumen, int RightLumen)
  851 +{
  852 + printf("发送设置探照灯亮度\n");
  853 +
  854 + unsigned char sendbuf[256];
  855 + int send_buf_len;
  856 +
  857 + //1、获取帧样板
  858 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_LUMEN, sendbuf, &send_buf_len);
  859 +
  860 + //2、写入数据
  861 + sendbuf[9] = LeftLumen;
  862 + sendbuf[10] = RightLumen;
  863 +
  864 + //3、发送帧
  865 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  866 +}
  867 +
  868 +//发送
  869 +
  870 +//查询探照灯频率
  871 +int JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Frequency(int Uartport)
  872 +{
  873 + printf("发送查询探照灯频率帧\n");
  874 +
  875 + unsigned char sendbuf[256];
  876 + int send_buf_len;
  877 +
  878 + //1、获取帧样板
  879 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY, sendbuf, &send_buf_len);
  880 +
  881 + //2、发送帧
  882 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  883 +}
  884 +
  885 +//查询探照灯亮度
  886 +int JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Lumen(int Uartport)
  887 +{
  888 + printf("发送查询探照灯亮度帧\n");
  889 +
  890 + unsigned char sendbuf[256];
  891 + int send_buf_len;
  892 +
  893 + //1、获取帧样板
  894 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN, sendbuf, &send_buf_len);
  895 +
  896 + //2、发送帧
  897 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  898 +}
  899 +
  900 +//查询探照灯模式
  901 +int JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Mode(int Uartport)
  902 +{
  903 + printf("发送查询探照灯模式帧\n");
  904 +
  905 + unsigned char sendbuf[256];
  906 + int send_buf_len;
  907 +
  908 + //1、获取帧样板
  909 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_MODE, sendbuf, &send_buf_len);
  910 +
  911 + //2、发送帧
  912 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  913 +}
  914 +
  915 +//查询探照灯属性
  916 +int JZsdk_Uart_SendDeal_CheckStatus_LightAttribute(int Uartport)
  917 +{
  918 + printf("发送查询探照灯属性帧\n");
  919 +
  920 + unsigned char sendbuf[256];
  921 + int send_buf_len;
  922 +
  923 + //1、获取帧样板
  924 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LIGHTATTRIBUTE, sendbuf, &send_buf_len);
  925 +
  926 + //2、发送帧
  927 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  928 +}
  929 +
  930 +//查询探照灯温度
  931 +int JZsdk_Uart_SendDeal_CheckStatus_SearchLightTemperture(int Uartport)
  932 +{
  933 + printf("发送查询探照灯温度\n");
  934 +
  935 + unsigned char sendbuf[256];
  936 + int send_buf_len;
  937 +
  938 + //1、获取帧样板
  939 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE, sendbuf, &send_buf_len);
  940 +
  941 + //2、发送帧
  942 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  943 +}
  944 +
  945 +//开启消息订阅
  946 +int JZsdk_Uart_SendDeal_MessageSubcription_Control(int Uartport, int value)
  947 +{
  948 + printf("发送开启消息订阅%d\n",value);
  949 +
  950 + unsigned char sendbuf[256];
  951 + int send_buf_len;
  952 +
  953 + //1、获取帧样板
  954 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_SEARCHLIGHT_MESSAGE_SUBSCRIPTION_CONTROL, sendbuf, &send_buf_len);
  955 +
  956 + //2、写入数据
  957 + sendbuf[10] = value;
  958 +
  959 + //3、发送帧
  960 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  961 +}
  962 +
  963 +/****************************************************************************************************************************************************
  964 +*
  965 +* 警灯部分
  966 +*
  967 +****************************************************************************************************************************************************/
  968 +/*************
  969 + *
  970 + * 设置警灯状态
  971 + *
  972 + * **************/
  973 +int JZsdk_Uart_SendDeal_Set_WarningLight_Status(int Uartport,int status, int mode)
  974 +{
  975 + printf("发送设置警灯状态\n");
  976 +
  977 + unsigned char sendbuf[256];
  978 + int send_buf_len;
  979 +
  980 + //1、获取帧样板
  981 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL, sendbuf, &send_buf_len);
  982 +
  983 + //2、写入数据
  984 + sendbuf[9] = status;
  985 + sendbuf[10] = mode;
  986 +
  987 + //3、发送帧
  988 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  989 +}
  990 +
  991 +/*************
  992 + *
  993 + * 设置警灯颜色
  994 + *
  995 + * **************/
  996 +int JZsdk_Uart_SendDeal_Set_WarningLight_Color(int Uartport,int color1, int color2)
  997 +{
  998 + printf("发送设置警灯颜色\n");
  999 +
  1000 + unsigned char sendbuf[256];
  1001 + int send_buf_len;
  1002 +
  1003 + //1、获取帧样板
  1004 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR, sendbuf, &send_buf_len);
  1005 +
  1006 + //2、写入数据
  1007 + sendbuf[9] = color1;
  1008 + sendbuf[10] = color2;
  1009 +
  1010 + //3、发送帧
  1011 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1012 +}
  1013 +
  1014 +//查询警灯状态
  1015 +int JZsdk_Uart_SendDeal_CheckStatus_WarningLightStatus(int Uartport)
  1016 +{
  1017 + printf("发送查询警灯状态\n");
  1018 +
  1019 + unsigned char sendbuf[256];
  1020 + int send_buf_len;
  1021 +
  1022 + //1、获取帧样板
  1023 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS, sendbuf, &send_buf_len);
  1024 +
  1025 + //2、发送帧
  1026 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1027 +}
  1028 +
  1029 +//查询警灯颜色
  1030 +int JZsdk_Uart_SendDeal_CheckStatus_WarningLightColor(int Uartport)
  1031 +{
  1032 + printf("发送查询警灯颜色\n");
  1033 +
  1034 + unsigned char sendbuf[256];
  1035 + int send_buf_len;
  1036 +
  1037 + //1、获取帧样板
  1038 + JZsdk_GetFrameTemplate(JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR, sendbuf, &send_buf_len);
  1039 +
  1040 + //2、发送帧
  1041 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1042 +}
  1043 +
  1044 +/****************************************************************************************************************************************************
  1045 +*
  1046 +* 5B类帧
  1047 +*
  1048 +****************************************************************************************************************************************************/
  1049 +
  1050 +/*************
  1051 + *
  1052 + * 发送探照灯爆闪频率
  1053 + *
  1054 + * **************/
  1055 +int JZsdk_Uart_SendDeal_SearchLight_Frequency(int Uartport, int Frequency)
  1056 +{
  1057 + printf("发送灯光频率帧\n");
  1058 +
  1059 + unsigned char sendbuf[256];
  1060 + int send_buf_len;
  1061 +
  1062 + //1、获取帧样板
  1063 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY, sendbuf, &send_buf_len);
  1064 +
  1065 + //2、写入数据
  1066 + sendbuf[10] = Frequency;
  1067 +
  1068 + //3、发送帧
  1069 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1070 +}
  1071 +
  1072 +/*************
  1073 + *
  1074 + * 发送探照灯模式
  1075 + *
  1076 + * **************/
  1077 +int JZsdk_Uart_SendDeal_SearchLight_Mode(int Uartport, int mode)
  1078 +{
  1079 + printf("发送探照灯模式帧\n");
  1080 +
  1081 + unsigned char sendbuf[256];
  1082 + int send_buf_len;
  1083 +
  1084 + //1、获取帧样板
  1085 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_MODE, sendbuf, &send_buf_len);
  1086 +
  1087 + //2、写入数据
  1088 + sendbuf[10] = mode;
  1089 +
  1090 + //3、发送帧
  1091 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1092 +}
  1093 +
  1094 +/*************
  1095 + *
  1096 + * 发送探照灯亮度
  1097 + *
  1098 + * **************/
  1099 +int JZsdk_Uart_SendDeal_SearchLight_Lumen(int Uartport,int LeftLumen, int RightLumen)
  1100 +{
  1101 + printf("发送探照灯亮度帧\n");
  1102 +
  1103 + unsigned char sendbuf[256];
  1104 + int send_buf_len;
  1105 +
  1106 + //1、获取帧样板
  1107 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN, sendbuf, &send_buf_len);
  1108 +
  1109 + //2、写入数据
  1110 + sendbuf[9] = LeftLumen;
  1111 + sendbuf[10] = RightLumen;
  1112 +
  1113 + //3、发送帧
  1114 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1115 +}
  1116 +
  1117 +/*************
  1118 + *
  1119 + * 发送探照灯温度
  1120 + *
  1121 + * **************/
  1122 +int JZsdk_Uart_SendDeal_SearchLight_Temperature(int Uartport, int LeftTemperature, int RightTemperature)
  1123 +{
  1124 + printf("发送探照灯温度帧\n");
  1125 +
  1126 + unsigned char sendbuf[256];
  1127 + int send_buf_len;
  1128 +
  1129 + //1、获取帧样板
  1130 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE, sendbuf, &send_buf_len);
  1131 +
  1132 + //2、写入数据
  1133 + sendbuf[9] = LeftTemperature;
  1134 + sendbuf[10] = RightTemperature;
  1135 +
  1136 + //3、发送帧
  1137 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1138 +}
  1139 +
  1140 +
  1141 +/*************
  1142 + *
  1143 + * 发送警灯状态
  1144 + *
  1145 + * **************/
  1146 +int JZsdk_Uart_SendDeal_WarningLight_Status(int Uartport, int status, int mode)
  1147 +{
  1148 + printf("发送警灯状态帧\n");
  1149 +
  1150 + unsigned char sendbuf[256];
  1151 + int send_buf_len;
  1152 +
  1153 + //1、获取帧样板
  1154 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS, sendbuf, &send_buf_len);
  1155 +
  1156 + //2、写入数据
  1157 + sendbuf[9] = status;
  1158 + sendbuf[10] = mode;
  1159 +
  1160 + //3、发送帧
  1161 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len); }
  1162 +
  1163 +/*************
  1164 + *
  1165 + * 发送警灯颜色
  1166 + *
  1167 + * **************/
  1168 +int JZsdk_Uart_SendDeal_WarningLight_Color(int Uartport, int color1, int color2)
  1169 +{
  1170 + printf("发送警灯颜色帧\n");
  1171 +
  1172 + unsigned char sendbuf[256];
  1173 + int send_buf_len;
  1174 +
  1175 + //1、获取帧样板
  1176 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR, sendbuf, &send_buf_len);
  1177 +
  1178 + //2、写入数据
  1179 + sendbuf[9] = color1;
  1180 + sendbuf[10] = color2;
  1181 +
  1182 + //3、发送帧
  1183 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1184 +}
  1185 +
  1186 +/*************
  1187 + *
  1188 + * 发送对外电源状态
  1189 + *
  1190 + * **************/
  1191 +int JZsdk_Uart_SendDeal_OutputPowerStatus(int Uartport, int FrameSequence, int status)
  1192 +{
  1193 + printf("发送对外电源状态帧\n");
  1194 +
  1195 + unsigned char sendbuf[256];
  1196 + int send_buf_len;
  1197 +
  1198 + //1、获取帧样板
  1199 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_OUTPUTPOWER, sendbuf, &send_buf_len);
  1200 +
  1201 + //2、写入数据
  1202 + sendbuf[9] = status;
  1203 +
  1204 + //3、发送帧
  1205 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1206 +}
  1207 +
  1208 +/****************************************************************************************************************************************************
  1209 +*
  1210 +* 6B类帧
  1211 +*
  1212 +****************************************************************************************************************************************************/
  1213 +//发送特殊参数
  1214 +int JZsdk_Uart_Reply_CheckSpecialParameters(int Uartport,int FrameSequence,int type, int value)
  1215 +{
  1216 + printf("发送特殊参数帧\n");
  1217 + unsigned char sendbuf[256];
  1218 + int send_buf_len;
  1219 +
  1220 + //1、获取帧样板
  1221 + JZsdk_GetFrameTemplate(JZ_INSCODE_6BFRAME_CHECK_SPECIAL_PARAMETERS, sendbuf, &send_buf_len);
  1222 +
  1223 + //2、写入数据
  1224 + sendbuf[6] = FrameSequence; //帧序列
  1225 + sendbuf[9] = type;
  1226 + sendbuf[10] = value;
  1227 +
  1228 + //3、发送帧
  1229 + JZsdk_Uart_UartSend(Uartport ,sendbuf, send_buf_len);
  1230 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_Uart_SendDeal.h
  4 + *
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_IART_SENDDEAL_H
  11 +#define JZSDK_IART_SENDDEAL_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  15 +
  16 +#ifdef __cplusplus
  17 +extern "C" {
  18 +#endif
  19 +
  20 +/* Exported constants --------------------------------------------------------*/
  21 +/* 常亮定义*/
  22 +
  23 +
  24 +/* Exported types ------------------------------------------------------------*/
  25 +int JZsdk_Uart_SendDeal_Send_Connect(int Uartport , int FrameSequence,int Version_flag);
  26 +int JZsdk_Uart_SendDeal_ConnectFrame(int PortNum);
  27 +int JZsdk_Uart_SendDeal_Send_HeartBeatStatus(int Uartport , int FrameSequence,int HeartBeatStatus);
  28 +
  29 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_PowerStatus(int Uartport, int FrameSequence, int status);
  30 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_Ask_HeartBeatStatus(int Uartport , int FrameSequence,int HeartBeatStatus);
  31 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_Ask_TimeStamp(int Uartport , int FrameSequence);
  32 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_SendAllVersion(int Uartport, int FrameSequence, int DeviceID, int MajorVersion, int MinorVersion, int ModifyVersion, int DebugVersion);
  33 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_SendAllSerialNumber(int Uartport, int FrameSequence, int DeviceID, unsigned char *SerialNumber, int SerialNumberLen);
  34 +T_JZsdkReturnCode JZsdk_Uart_SendDeal_DeviceMessage(int UartPort, int FrameSequence, unsigned char *message, unsigned int messageLen);
  35 +
  36 +int JZsdk_Uart_SendDeal_Reply_SecondaryDeviceName(int Uartport , int device_name, int FrameSequence);
  37 +int JZsdk_Uart_SendDeal_QuerySecondaryDeviceName(int Uartport ,int FrameSequence);
  38 +
  39 +
  40 +
  41 +int JZsdk_Uart_SendDeal_Reply_Sucesss(int Uartport ,int FrameSequence);
  42 +int JZsdk_Uart_SendDeal_Reply_Failure(int Uartport ,int FrameSequence);
  43 +T_JZsdkReturnCode JZsdk_Uart_SentDeal_Reply_Musiclist(int UartPort ,int FrameSequence, int music_sum ,char **MusicName ,int *MusicNameLength);
  44 +int JZsdk_Uart_SendDeal_Send_PlayStatus_end(int Uartport);
  45 +int JZsdk_Uart_SendDeal_Send_PlayStatus(int Uartport ,int num);
  46 +int JZsdk_Uart_SendDeal_Reply_MusicName(int Uartport ,char *music_name, int music_name_len);
  47 +int JZsdk_Uart_SendDeal_Reply_Volume(int Uartport ,int num);
  48 +int JZsdk_Uart_SendDeal_OpusDecodeStatus(int Uartport,int value);
  49 +
  50 +int JZsdk_Uart_SendDeal_Reply_GimbalPitchAngle(int Uartport ,int angle);
  51 +int JZsdk_Uart_SendDeal_Set_GimbalPitchAngle(int Uartport ,int angle);
  52 +int JZsdk_Uart_SendDeal_Reply_GimbalFineTuningPitch(int Uartport, int FrameSequence, int FineTunigPitch);
  53 +int JZsdk_Uart_SendDeal_Set_GimbalFineTuningPitch(int Uartport, int PitchFineTuning);
  54 +int JZsdk_Uart_SendDeal_CheckStatus_GimbalFineTuningPitch(int Uartport, int FrameSequence);
  55 +int JZsdk_Uart_SendDeal_Set_GimbalLinkageControl(int Uartport,int FrameSequence, int value);
  56 +int JZsdk_Uart_SendDeal_CheckStatus_GimbalLinkage(int Uartport,int FrameSequence);
  57 +int JZsdk_Uart_SendDeal_GimbalLinkageControl(int Uartport,int FrameSequence,int value);
  58 +int JZsdk_Uart_SendDeal_CheckStatus_GimbalAngle(int Uartport ,int FrameSequence);
  59 +int JZsdk_Uart_SendDeal_SetGimbalRange(int Uartport,int FrameSequence,int value);
  60 +
  61 +
  62 +int JZsdk_Uart_SendDeal_Reply_SoftVersion(int Uartport ,char majorVersion, char minorVersion, char modifyVersion, char debugVersion);
  63 +int JZsdk_Uart_SendDeal_Reply_LoopPlayStatus(int Uartport ,int status);
  64 +int JZsdk_Uart_SendDeal_Reply_TTS_tone(int Uartport ,int tone);
  65 +int JZsdk_Uart_SendDeal_Reply_TTS_speed(int Uartport ,int speed);
  66 +
  67 +int JZsdk_Uart_SendDeal_Set_SearchLightFrequency(int Uartport ,int Frequency);
  68 +int JZsdk_Uart_SendDeal_SearchLight_Control(int Uartport,int mode);
  69 +int JZsdk_Uart_SendDeal_SearchLight_SetLumen(int Uartport, int LeftLumen, int RightLumen);
  70 +int JZsdk_Uart_SendDeal_MessageSubcription_Control(int Uartport, int value);
  71 +
  72 +int JZsdk_Uart_SendDeal_Set_WarningLight_Status(int Uartport,int status, int mode);
  73 +int JZsdk_Uart_SendDeal_Set_WarningLight_Color(int Uartport,int color1, int color2);
  74 +
  75 +int JZsdk_Uart_SendDeal_SerialNumber(int UartPort, int FrameSequence, char *SerialNumber, int SerialNumberLenth);
  76 +int JZsdk_Uart_Reply_CheckSpecialParameters(int Uartport,int FrameSequence,int type, int value);
  77 +
  78 +
  79 +
  80 +
  81 +
  82 +
  83 +int JZsdk_Uart_SendDeal_SearchLight_Frequency(int Uartport, int Frequency);
  84 +int JZsdk_Uart_SendDeal_SearchLight_Mode(int Uartport, int mode);
  85 +int JZsdk_Uart_SendDeal_SearchLight_Lumen(int Uartport,int LeftLumen, int RightLumen);
  86 +int JZsdk_Uart_SendDeal_SearchLight_Temperature(int Uartport, int LeftTemperature, int RightTemperature);
  87 +
  88 +
  89 +//查询探照灯频率
  90 +int JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Frequency(int Uartport);
  91 +int JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Lumen(int Uartport);
  92 +int JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Mode(int Uartport);
  93 +int JZsdk_Uart_SendDeal_CheckStatus_LightAttribute(int Uartport);
  94 +int JZsdk_Uart_SendDeal_CheckStatus_SearchLightTemperture(int Uartport);
  95 +
  96 +
  97 +int JZsdk_Uart_SendDeal_WarningLight_Status(int Uartport, int status, int mode);
  98 +int JZsdk_Uart_SendDeal_WarningLight_Color(int Uartport, int color1, int color2);
  99 +int JZsdk_Uart_SendDeal_CheckStatus_WarningLightStatus(int Uartport);
  100 +int JZsdk_Uart_SendDeal_CheckStatus_WarningLightColor(int Uartport);
  101 +
  102 +int JZsdk_Uart_SendDeal_OutputPowerStatus(int Uartport, int FrameSequence, int status);
  103 +
  104 +
  105 +/* Exported functions --------------------------------------------------------*/
  106 +
  107 +#ifdef __cplusplus
  108 +}
  109 +#endif
  110 +
  111 +#endif
  1 +#include <stdio.h>
  2 +#include <string.h>
  3 +#include <pthread.h>
  4 +#include <stdlib.h>
  5 +
  6 +#include <fcntl.h>
  7 +#include <unistd.h>
  8 +#include <termios.h>
  9 +#include <sys/time.h>
  10 +#include "JZsdk_uart/Uart_Config.h"
  11 +#include "JZsdk_Uart_Recv/JZsdk_Uart_RecvDeal.h"
  12 +#include "JZsdkLib.h"
  13 +#include "JZsdk_uart/JZsdk_Uart_Input.h"
  14 +#include "JZsdk_TaskManagement/TaskManagement.h"
  15 +#include "JZsdk_Uart_UartDeal.h"
  16 +
  17 +
  18 +#if APP_VERSION == APP_PSDK
  19 + #include "data_transmission/test_data_transmission.h"
  20 +#endif
  21 +
  22 +// 串口参数结构体
  23 +typedef struct
  24 +{
  25 + int UartFd; // 串口识别符
  26 + int UartDevName; //串口名
  27 + char Message[1024]; // 传递的字符串
  28 + int MessageLength; // 字符串的长度
  29 + int ResLen; //剩余长度
  30 + pthread_mutex_t WriteMutex; // 互斥锁
  31 + pthread_mutex_t ReadMutex; // 互斥锁
  32 + pthread_cond_t cond; // 条件变量
  33 +} s_SerialArgs;
  34 +
  35 +// 再注册串口
  36 +typedef struct
  37 +{
  38 + int UartFd; // 串口识别符
  39 + int UartDevName; //串口名
  40 + int BitRate; //波特率
  41 +} s_SerialInitArg;
  42 +
  43 +//不同串口的描述符
  44 +static int Uart_4G_fd;
  45 +static int Uart_DEV1_fd;
  46 +static int Uart_DEV2_fd;
  47 +
  48 +//用于判断关闭的是哪个串口
  49 +static int Uart_4G_Switch = JZ_FLAGCODE_OFF;
  50 +static int Uart_DEV1_Switch = JZ_FLAGCODE_OFF;
  51 +static int Uart_DEV2_Switch = JZ_FLAGCODE_OFF;
  52 +
  53 +static int Recv_Thread = JZ_FLAGCODE_OFF; //用于判断接收线程是否成功退出
  54 +static int Deal_Thread = JZ_FLAGCODE_OFF; //用于判断处理线程是否成功退出
  55 +
  56 +static void *UartDeal_rece(void *arg);
  57 +static void *UartDeal_deal(void *arg);
  58 +
  59 +/*********************
  60 + *
  61 + * 串口接收线程
  62 + *
  63 + * *****************/
  64 +/******************************************************************
  65 +
  66 + 初始化串口接收和处理
  67 +
  68 +******************************************************************/
  69 +int JZsdk_Uart_UartDeal_Receive(int Uart_fd, int Uart_Dev_name)
  70 +{
  71 + int ret = 0;
  72 + pthread_t Uart_rece_task;
  73 +
  74 + pthread_attr_t task_attribute; // 线程属性
  75 + pthread_attr_init(&task_attribute); // 初始化线程属性
  76 + pthread_attr_setdetachstate(&task_attribute, PTHREAD_CREATE_DETACHED); // 设置线程属性
  77 +
  78 + if (Uart_Dev_name == UART_DEV_1)
  79 + {
  80 + Uart_DEV1_fd = Uart_fd;
  81 + }
  82 + else if (Uart_Dev_name == UART_DEV_2)
  83 + {
  84 + Uart_DEV2_fd = Uart_fd;
  85 + }
  86 + else if (Uart_Dev_name == UART_4G)
  87 + {
  88 + Uart_4G_fd = Uart_fd;
  89 + }
  90 +
  91 + s_SerialArgs *parameter = (s_SerialArgs *)malloc(sizeof(s_SerialArgs));
  92 + parameter->UartFd = Uart_fd;
  93 + parameter->UartDevName = Uart_Dev_name;
  94 + parameter->MessageLength = 0;
  95 + memset(parameter->Message, 0, sizeof(parameter->Message));
  96 + pthread_mutex_init(&parameter->WriteMutex, NULL);
  97 + pthread_mutex_init(&parameter->ReadMutex, NULL);
  98 +
  99 + pthread_cond_init(&parameter->cond, NULL);
  100 +
  101 + // 创建串口数据接收线程
  102 + pthread_t receiveThread;
  103 + pthread_t SerialDealThread;
  104 + pthread_attr_t task_attribute1; // 线程属性
  105 + pthread_attr_t task_attribute2; // 线程属性
  106 + pthread_attr_setdetachstate(&task_attribute1, PTHREAD_CREATE_DETACHED); // 设置线程分离属性
  107 + pthread_attr_setdetachstate(&task_attribute2, PTHREAD_CREATE_DETACHED); // 设置线程分离属性
  108 +
  109 + pthread_attr_init(&task_attribute1);
  110 + pthread_attr_init(&task_attribute2);
  111 +
  112 + if (pthread_create(&receiveThread, &task_attribute1, UartDeal_rece, parameter) != 0)
  113 + {
  114 + JZSDK_LOG_ERROR("Failed to create receive thread");
  115 + return 1;
  116 + }
  117 +
  118 + // 创建串口数据处理线程
  119 + if (pthread_create(&SerialDealThread, &task_attribute2, UartDeal_deal, parameter) != 0)
  120 + {
  121 + JZSDK_LOG_ERROR("Failed to create receive thread");
  122 + return 1;
  123 + }
  124 +}
  125 +/***
  126 + *
  127 + * 串口接收线程
  128 + *
  129 + * ***/
  130 +static void *UartDeal_rece(void *arg)
  131 +{
  132 +
  133 + s_SerialArgs *args = (s_SerialArgs *)arg;
  134 + struct timeval timeout; // 超时时间
  135 + fd_set fs_read;
  136 +
  137 + int Uart_fd = args->UartFd;
  138 +
  139 + FD_ZERO(&fs_read);
  140 + FD_SET(Uart_fd, &fs_read);
  141 +
  142 + memset(args->Message, 0, sizeof(args->Message)); // 清空接收数组
  143 + args->ResLen = 0;
  144 + args->MessageLength = 0;
  145 +
  146 + int *TheadSwtch = NULL;
  147 + if (args->UartDevName == UART_4G)
  148 + {
  149 + TheadSwtch = &Uart_4G_Switch;
  150 + Uart_4G_Switch = JZ_FLAGCODE_ON;
  151 + }
  152 + else if (args->UartDevName == UART_DEV_1)
  153 + {
  154 + TheadSwtch = &Uart_DEV1_Switch;
  155 + Uart_DEV1_Switch = JZ_FLAGCODE_ON;
  156 + }
  157 + else if (args->UartDevName == UART_DEV_2)
  158 + {
  159 + TheadSwtch = &Uart_DEV2_Switch;
  160 + Uart_DEV2_Switch = JZ_FLAGCODE_ON;
  161 + }
  162 +
  163 + while (*TheadSwtch)
  164 + {
  165 + FD_ZERO(&fs_read);
  166 + FD_SET(Uart_fd, &fs_read);
  167 +
  168 + timeout.tv_sec = 0;
  169 + timeout.tv_usec = 100000; // 设置为可变的超时时间（100毫秒）
  170 +
  171 + // 检查fs_read套接字是否有数据
  172 + int ret = select(Uart_fd + 1, &fs_read, NULL, NULL, &timeout);
  173 + if (ret < 0) {
  174 + // 发生错误
  175 + JZSDK_LOG_ERROR("串口select出错");
  176 + args->MessageLength = 0;
  177 + args->ResLen = 0;
  178 + memset(&(args->Message[0]), 0, sizeof(args->Message));
  179 + delayMs(3);
  180 + continue;
  181 + } else if (ret == 0)
  182 + {
  183 + // 超时
  184 + continue;
  185 + }
  186 +
  187 + // 如果有数据就加锁
  188 + pthread_mutex_lock(&args->WriteMutex);
  189 +
  190 + // 读取串口内容
  191 + int bytesRead = read(Uart_fd, &(args->Message[args->ResLen]), (sizeof(args->Message) - args->ResLen));
  192 + if (bytesRead > 0)
  193 + {
  194 + args->MessageLength = args->ResLen + bytesRead;
  195 +
  196 + // data_len+=bytesRead;
  197 + // data_len2+=args->MessageLength;
  198 + // printf("当前接收长度%d bytesRead%d bmessage%d reslen%d\n",data_len,bytesRead,data_len2,args->ResLen);
  199 +
  200 + // JZSDK_LOG_INFO("从串口读取到,长度%d",(args->MessageLength-args->ResLen));
  201 +
  202 + // for (int i = 0; i < (args->MessageLength-args->ResLen); i++)
  203 + // {
  204 + // JZSDK_LOG_OUTPUTHEX("%s",&args->Message[i+args->ResLen]);
  205 + // }
  206 +
  207 + args->ResLen = 0;
  208 + }
  209 + else if (bytesRead == 0)
  210 + {
  211 + // 串口关闭或者无数据可读
  212 + JZSDK_LOG_ERROR("串口读取数据为空");
  213 + args->MessageLength = 0;
  214 + args->ResLen = 0;
  215 + memset(&(args->Message[0]), 0, sizeof(args->Message));
  216 + }
  217 + else
  218 + {
  219 + // 读取错误发生
  220 + JZSDK_LOG_ERROR("Error reading from serial port");
  221 + args->MessageLength = 0;
  222 + args->ResLen = 0;
  223 + memset(&(args->Message[0]), 0, sizeof(args->Message));
  224 + }
  225 +
  226 + // 通知线程
  227 + //pthread_cond_signal(&args->cond);
  228 + pthread_mutex_unlock(&args->ReadMutex); // 解锁
  229 +
  230 + // 添加适当延时，确保接收缓冲区完全填满
  231 + delayMs(3); // 加多了可能导致实时播放难恢复,以及声音间隔 3ms32字节 会向上约1个3ms opus一帧80字节
  232 + }
  233 +
  234 + //注销相关
  235 + Recv_Thread = JZ_FLAGCODE_OFF;
  236 + // 通知线程
  237 + //pthread_cond_signal(&args->cond);
  238 + pthread_mutex_unlock(&args->WriteMutex); // 解锁
  239 +
  240 + JZSDK_LOG_WARN("串口接收线程被关闭");
  241 +}
  242 +
  243 +/***
  244 + *
  245 + * 串口处理线程
  246 + *
  247 + * ***/
  248 +// 串口数据处理线程函数
  249 +static void *UartDeal_deal(void *arg)
  250 +{
  251 + s_SerialArgs *args = (s_SerialArgs *)arg;
  252 +
  253 + static int ResidualLength = 0; // 未处理数据长度
  254 +
  255 + int *TheadSwtch = NULL;
  256 + if (args->UartDevName == UART_4G)
  257 + {
  258 + TheadSwtch = &Uart_4G_Switch;
  259 + Uart_4G_Switch = JZ_FLAGCODE_ON;
  260 + }
  261 + else if (args->UartDevName == UART_DEV_1)
  262 + {
  263 + TheadSwtch = &Uart_DEV1_Switch;
  264 + Uart_DEV1_Switch = JZ_FLAGCODE_ON;
  265 + }
  266 + else if (args->UartDevName == UART_DEV_2)
  267 + {
  268 + TheadSwtch = &Uart_DEV2_Switch;
  269 + Uart_DEV2_Switch = JZ_FLAGCODE_ON;
  270 + }
  271 +
  272 + //int data_len = 0;
  273 +
  274 + while (*TheadSwtch)
  275 + {
  276 +
  277 + // 加锁
  278 + pthread_mutex_lock(&args->ReadMutex);
  279 +
  280 + // 等候接收线程的通知
  281 + //pthread_cond_wait(&args->cond, &args->mutex);
  282 +
  283 + // data_len+=args->MessageLength;
  284 + // printf("当前处理长度%d\n",data_len);
  285 +
  286 + if (args->MessageLength > 0)
  287 + {
  288 +
  289 + //清除错误的多余半帧
  290 + //前面有帧的长度
  291 + if(args->ResLen != 0)
  292 + {
  293 + //存在第一帧，同时第二轮的数据开头是帧头，则清空前半段第一帧
  294 + if ( (args->Message[args->ResLen ] == 0x5A)
  295 + && (args->Message[args->ResLen + 1] == 0x5A)
  296 + && (args->Message[args->ResLen + 2] == 0x77) )
  297 + {
  298 + int temp_num;
  299 + temp_num = args->MessageLength - args->ResLen;
  300 + if (temp_num < 0)
  301 + {
  302 + temp_num = 0;
  303 + }
  304 +
  305 + memcpy(args->Message, &(args->Message[args->ResLen]), temp_num);
  306 + memset(&args->Message[temp_num], 0, (args->MessageLength - temp_num));
  307 + args->MessageLength = temp_num;
  308 + args->ResLen = 0;
  309 +
  310 + JZSDK_LOG_ERROR("串口上一帧为不完全帧，舍弃该帧操作");
  311 + }
  312 + }
  313 +
  314 + // 处理数据
  315 + ResidualLength = UartDeal_Recv_interface(0, args->UartFd, args->Message, args->MessageLength);
  316 + //如果还有剩余的长度
  317 + if (ResidualLength != 0)
  318 + {
  319 + memcpy(args->Message, &(args->Message[args->MessageLength - ResidualLength]), ResidualLength);
  320 + memset(&(args->Message[ResidualLength]), 0, (sizeof(args->Message) - ResidualLength));
  321 + args->MessageLength = 0;
  322 + args->ResLen = ResidualLength;
  323 + }
  324 + else
  325 + {
  326 + memset(args->Message, 0, sizeof(args->Message));
  327 + args->MessageLength = 0;
  328 + args->ResLen = 0;
  329 + }
  330 +
  331 + }
  332 + else
  333 + {
  334 + memset(args->Message, 0, sizeof(args->Message));
  335 + args->MessageLength = 0;
  336 + args->ResLen = 0;
  337 + }
  338 +
  339 + pthread_mutex_unlock(&args->WriteMutex); // 解锁
  340 + }
  341 +
  342 + Deal_Thread = JZ_FLAGCODE_OFF;
  343 + free(args); //释放掉处理结构体
  344 + JZSDK_LOG_WARN("串口处理线程被关闭");
  345 +}
  346 +
  347 +/*
  348 +
  349 + 数据排出函数
  350 +
  351 +*/
  352 +static int UartDeal_Recv_Ouput(int tpye, int fd, unsigned char *getbuf, int ReadLen)
  353 +{
  354 + //JZSDK_LOG_INFO("UartDeal_Recv_Ouput排出函数%d",ReadLen);
  355 + if (tpye == 0)
  356 + {
  357 + if (fd == Uart_DEV1_fd)
  358 + {
  359 + JZsdk_Uart_RecvDeal_CharmDeal(UART_DEV_1, getbuf, ReadLen);
  360 +
  361 + }
  362 + else if (fd == Uart_DEV2_fd)
  363 + {
  364 + JZsdk_Uart_RecvDeal_CharmDeal(UART_DEV_2, getbuf, ReadLen);
  365 + }
  366 + else if (fd == Uart_4G_fd)
  367 + {
  368 + JZsdk_Uart_RecvDeal_CharmDeal(UART_4G, getbuf, ReadLen);
  369 + }
  370 + else
  371 + {
  372 + JZSDK_LOG_ERROR("接收到的数据不是从正常串口来的");
  373 + return 0;
  374 + }
  375 + }
  376 + else if (tpye == 1)
  377 + {
  378 + if (fd == HAL_DATA_TRANSMISSION)
  379 + {
  380 + JZsdk_Uart_RecvDeal_CharmDeal(HAL_DATA_TRANSMISSION, getbuf, ReadLen);
  381 + }
  382 + else
  383 + {
  384 + JZSDK_LOG_ERROR("接收到的数据不是从hal_transmisson来的");
  385 + return 0;
  386 + }
  387 + }
  388 +}
  389 +
  390 +/*
  391 +
  392 + 处理数据接口，返回没有处理的数据长度
  393 +
  394 +*/
  395 +int UartDeal_Recv_interface(int type, int Uart_fd , unsigned char *getbuf, int getbufLen)
  396 +{
  397 + //0即是串口内容
  398 + if (type == 0)
  399 + {
  400 + if (Uart_fd == Uart_DEV1_fd)
  401 + {
  402 + JZSDK_LOG_INFO("串口-设备1号,接受到数据+未处理数据的长度len: %d", getbufLen);
  403 + }
  404 + else if (Uart_fd == Uart_DEV2_fd)
  405 + {
  406 + JZSDK_LOG_INFO("串口-设备2号,接受到数据+未处理数据的长度len: %d", getbufLen);
  407 + }
  408 + else if (Uart_fd == Uart_4G_fd)
  409 + {
  410 + JZSDK_LOG_INFO("串口-设备4G,接受到数据+未处理数据的长度len: %d", getbufLen);
  411 + }
  412 + else
  413 + {
  414 + JZSDK_LOG_ERROR("接收到的数据不是从正常串口来的");
  415 + return 0;
  416 + }
  417 + }
  418 + else if (type == 1)
  419 + {
  420 + if (Uart_fd == HAL_DATA_TRANSMISSION)
  421 + {
  422 + JZSDK_LOG_INFO("hal_data,接受到数据+未处理数据的长度len: %d", getbufLen);
  423 + }
  424 + else
  425 + {
  426 + JZSDK_LOG_ERROR("接收到的数据不是从hal_transmisson来的");
  427 + return 0;
  428 + }
  429 + }
  430 +
  431 + // 是否要打印内容
  432 + // printf("getbuf: %s\n", getbuf);
  433 + // for (int i = 0; i < getbufLen; i++)
  434 + // {
  435 + // printf("%x ", getbuf[i]);
  436 + // }
  437 + // printf("\n");
  438 +
  439 + int HaveReadLen = 0; // 已读长度
  440 + int HaveDealLen = 0; // 已处理长度
  441 + int FrameFlag = 0; // 帧标志
  442 + int FrameLen = 0;
  443 +
  444 + // 检索出帧数据
  445 +
  446 + // 遍历数据找帧头，直到数据的倒数第4位，如果这里有帧，帧存在帧头3位+数据长度两位
  447 +
  448 + //printf("遍历开始\n");
  449 + for (HaveReadLen = 0; HaveReadLen < (getbufLen - 4); )
  450 + {
  451 + // 1、如果找到 5A 5B 6A 6B 判断是否是帧
  452 + switch (getbuf[HaveReadLen])
  453 + {
  454 + case 0x5A:
  455 + if ( (getbuf[HaveReadLen + 1] == 0x5A) && (getbuf[HaveReadLen + 2] == 0x77))
  456 + {
  457 + //JZSDK_LOG_INFO("输入5A");
  458 + FrameFlag = 0x5A;
  459 + break;
  460 + }
  461 + else
  462 + {
  463 + FrameFlag = 0x00;
  464 + break;
  465 + }
  466 +
  467 + case 0x5B:
  468 + if ((getbuf[HaveReadLen + 1] == 0x5B) && (getbuf[HaveReadLen + 2] == 0x77))
  469 + {
  470 + //JZSDK_LOG_INFO("输入5B");
  471 + FrameFlag = 0x5B;
  472 + break;
  473 + }
  474 + else
  475 + {
  476 + FrameFlag = 0x00;
  477 + break;
  478 + }
  479 +
  480 + case 0x6A:
  481 + if ((getbuf[HaveReadLen + 1] == 0x6A) && (getbuf[HaveReadLen + 2] == 0x77))
  482 + {
  483 + //JZSDK_LOG_INFO("输入6A");
  484 + FrameFlag = 0x6A;
  485 + break;
  486 + }
  487 + else
  488 + {
  489 + FrameFlag = 0x00;
  490 + break;
  491 + }
  492 +
  493 + case 0x6B:
  494 + if ((getbuf[HaveReadLen + 1] == 0x6B) && (getbuf[HaveReadLen + 2] == 0x77))
  495 + {
  496 + //JZSDK_LOG_INFO("输入6B");
  497 + FrameFlag = 0x6B;
  498 + break;
  499 + }
  500 + else
  501 + {
  502 + FrameFlag = 0x00;
  503 + break;
  504 + }
  505 +
  506 + default:
  507 + FrameFlag = 0x00;
  508 + break;
  509 + }
  510 +
  511 + if (FrameFlag == 0)
  512 + {
  513 + if (HaveReadLen >= (getbufLen - 5))
  514 + {
  515 + //JZSDK_LOG_INFO("没有找到帧头");
  516 + }
  517 + HaveReadLen++;
  518 + continue;
  519 + }
  520 +
  521 + // 3、如果有帧头,则先判断前面有没有多余的数据残留,并将其排出到处理线程
  522 + if ((HaveReadLen - HaveDealLen) > 0)
  523 + {
  524 + //JZSDK_LOG_INFO("残余处理%d",(HaveReadLen - HaveDealLen));
  525 + UartDeal_Recv_Ouput(type, Uart_fd, &getbuf[HaveDealLen], (HaveReadLen - HaveDealLen));
  526 + HaveDealLen = HaveReadLen;
  527 + }
  528 +
  529 + // 4、检查帧长度是否超过数组剩余内容
  530 + FrameLen = (((int)getbuf[HaveReadLen+3]) << 8) + (int)getbuf[HaveReadLen+4];
  531 + if (FrameLen > (getbufLen - HaveReadLen))
  532 + {
  533 + JZSDK_LOG_DEBUG("当前帧长度位长度%d 超出剩余帧长度%d ",FrameLen,(getbufLen - HaveReadLen));
  534 + // 直接跳出for循环
  535 + break;
  536 + }
  537 +
  538 + //5、检查帧长度是否为0，避免卡死接收串口
  539 + if (FrameLen == 0)
  540 + {
  541 + JZSDK_LOG_ERROR("严重错误，接收到的帧出现长度为空");
  542 + //直接清空接收的数组
  543 + return 0;
  544 + }
  545 +
  546 + // 6、以上检查都没问题，则正常输出帧
  547 + //JZSDK_LOG_INFO("正常输出帧%d",FrameLen);
  548 + UartDeal_Recv_Ouput(type, Uart_fd, &getbuf[HaveReadLen], FrameLen);
  549 + HaveReadLen = HaveReadLen + FrameLen;
  550 + HaveDealLen = HaveReadLen;
  551 +
  552 + JZSDK_LOG_INFO("framelen%d read%d [read]:%x get%d",FrameLen ,HaveReadLen, getbuf[HaveReadLen], getbufLen);
  553 +
  554 + FrameLen = 0;
  555 + FrameFlag = 0;
  556 + }
  557 +
  558 + //JZSDK_LOG_INFO("UartDeal_Recv_Ouput%d %d %d",HaveDealLen,HaveReadLen , getbufLen);
  559 +
  560 + // 如果没有数据残留了
  561 + if (HaveDealLen >= getbufLen)
  562 + {
  563 + //printf("HaveReadLen:%d HaveDealLen%d getbufLen:%d\n",HaveReadLen,HaveDealLen,getbufLen);
  564 + return 0;
  565 + }
  566 +
  567 + // 如果是有帧头的情况跳出的，说明是帧被切了，需要返回帧长度给接收线程
  568 + if (FrameFlag != 0) //bu
  569 + {
  570 + // 1、判断帧的长度会不会不合理，帧的长度最大为文件名帧，其长度为9+2+400
  571 + if (FrameLen > (9 + 2 + 400))
  572 + {
  573 + // 将其排出不返回
  574 + UartDeal_Recv_Ouput(type, Uart_fd, &getbuf[HaveReadLen], (getbufLen - HaveReadLen));
  575 + HaveDealLen = HaveReadLen;
  576 + return 0;
  577 + }
  578 +
  579 + printf("切帧返回%d\n",(getbufLen - HaveDealLen));
  580 +
  581 + // 2、如果合理，则返回剩余长度
  582 + return (getbufLen - HaveDealLen);
  583 + }
  584 +
  585 + // 如果是没有帧头的情况下跳出的
  586 + // 1、先检查 未经检查最后 最后4 3位
  587 + //如果还有4 或者 3 位未处理
  588 + for (; HaveReadLen < getbufLen - 2; HaveReadLen++)
  589 + {
  590 + if ((getbuf[HaveReadLen] == 0x5A && getbuf[HaveReadLen + 1] == 0x5A && getbuf[HaveReadLen + 2] == 0x77) ||
  591 + (getbuf[HaveReadLen] == 0x5B && getbuf[HaveReadLen + 1] == 0x5B && getbuf[HaveReadLen + 2] == 0x77) ||
  592 + (getbuf[HaveReadLen] == 0x6A && getbuf[HaveReadLen + 1] == 0x6A && getbuf[HaveReadLen + 2] == 0x77) ||
  593 + (getbuf[HaveReadLen] == 0x6B && getbuf[HaveReadLen + 1] == 0x6B && getbuf[HaveReadLen + 2] == 0x77))
  594 + {
  595 + if ((HaveReadLen - HaveDealLen) > 0)
  596 + {
  597 + UartDeal_Recv_Ouput(type, Uart_fd, &getbuf[HaveDealLen], (HaveReadLen - HaveDealLen));
  598 + HaveDealLen = HaveReadLen;
  599 + }
  600 +
  601 + printf("检查最后3 4位%d\n",(getbufLen - HaveDealLen));
  602 +
  603 + return (getbufLen - HaveDealLen);
  604 + }
  605 + }
  606 +
  607 + // 2、检查最后两位
  608 + // 如果还有两位未处理
  609 + for (; HaveReadLen < getbufLen - 1; HaveReadLen++)
  610 + {
  611 + if ((getbuf[HaveReadLen] == 0x5A && getbuf[HaveReadLen + 1] == 0x5A) ||
  612 + (getbuf[HaveReadLen] == 0x5B && getbuf[HaveReadLen + 1] == 0x5B) ||
  613 + (getbuf[HaveReadLen] == 0x6A && getbuf[HaveReadLen + 1] == 0x6A) ||
  614 + (getbuf[HaveReadLen] == 0x6B && getbuf[HaveReadLen + 1] == 0x6B))
  615 + {
  616 + if ((HaveReadLen - HaveDealLen) > 0)
  617 + {
  618 + UartDeal_Recv_Ouput(type, Uart_fd, &getbuf[HaveDealLen], (HaveReadLen - HaveDealLen));
  619 + HaveDealLen = HaveReadLen;
  620 + }
  621 +
  622 + printf("检查最后两位%d\n",(getbufLen - HaveDealLen));
  623 +
  624 + return (getbufLen - HaveDealLen);
  625 + }
  626 + }
  627 +
  628 + // 2、检查最后一位
  629 + // 如果还有一位未处理
  630 + for (; HaveReadLen < getbufLen - 0; HaveReadLen++)
  631 + {
  632 + // 1、检查最后一位
  633 + if (getbuf[HaveReadLen] == 0x5A ||
  634 + getbuf[HaveReadLen] == 0x5B ||
  635 + getbuf[HaveReadLen] == 0x6A ||
  636 + getbuf[HaveReadLen] == 0x6B)
  637 + {
  638 + if ((HaveReadLen - HaveDealLen) > 0)
  639 + {
  640 + UartDeal_Recv_Ouput(type, Uart_fd, &getbuf[HaveDealLen], (HaveReadLen - HaveDealLen));
  641 + HaveDealLen = HaveReadLen;
  642 + }
  643 +
  644 + printf("检查最后一位%d\n",(getbufLen - HaveDealLen));
  645 +
  646 + return (getbufLen - HaveDealLen);
  647 + }
  648 + }
  649 +
  650 + // 都检查完了，还是没有帧头在里面, 将剩余的所有数据排出
  651 + UartDeal_Recv_Ouput(type, Uart_fd, &getbuf[HaveDealLen], (HaveReadLen - HaveDealLen));
  652 + printf("检查完毕,排出剩余数据HaveReadLen:%d HaveDealLen%d getbufLen:%d\n",HaveReadLen,HaveDealLen,getbufLen);
  653 +
  654 + return 0;
  655 +}
  656 +
  657 +/**********
  658 + *
  659 + * 无任务发送函数
  660 + *
  661 + * ***********/
  662 +T_JZsdkReturnCode JZsdk_Uart_UartSend_NotTask(int Uart_Name, unsigned char *str, int str_lenth)
  663 +{
  664 + if (Uart_Name == UART_4G)
  665 + {
  666 + printf("向4G设备发送\n");
  667 + write(Uart_4G_fd, str, str_lenth);
  668 + }
  669 + else if (Uart_Name == UART_DEV_1)
  670 + {
  671 + printf("向串口1号设备发送\n");
  672 + write(Uart_DEV1_fd, str, str_lenth);
  673 + }
  674 + else if (Uart_Name = UART_DEV_2)
  675 + {
  676 + printf("向串口2号设备发送\n");
  677 + write(Uart_DEV2_fd, str, str_lenth);
  678 + }
  679 +
  680 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  681 +}
  682 +
  683 +typedef struct {
  684 + char* str;
  685 + int str_lenth;
  686 + int Uart_name;
  687 +} UartSendData;
  688 +
  689 +/**********
  690 + *
  691 + * 发送任务函数
  692 + *
  693 + * ***********/
  694 +static void JZsdk_Uart_UartSend_Task(void *data)
  695 +{
  696 + UartSendData* taskData = (UartSendData*)data;
  697 +
  698 + if (taskData->Uart_name == UART_4G)
  699 + {
  700 + printf("向4G设备发送\n");
  701 + write(Uart_4G_fd, taskData->str, taskData->str_lenth);
  702 + }
  703 + else if (taskData->Uart_name == UART_DEV_1)
  704 + {
  705 + printf("向串口1号设备发送\n");
  706 + write(Uart_DEV1_fd, taskData->str, taskData->str_lenth);
  707 + }
  708 + else if (taskData->Uart_name == UART_DEV_2)
  709 + {
  710 + printf("向串口2号设备发送\n");
  711 + write(Uart_DEV2_fd, taskData->str, taskData->str_lenth);
  712 + }
  713 + else if (taskData->Uart_name == HAL_DATA_TRANSMISSION)
  714 + {
  715 +#if APP_VERSION == APP_PSDK
  716 + DJI_Low_Data_Trans(taskData->str, taskData->str_lenth);
  717 +#endif
  718 + }
  719 +
  720 + free(taskData->str);
  721 + taskData->str = NULL;
  722 +
  723 + free(taskData);
  724 + taskData = NULL;
  725 +}
  726 +
  727 +/****************
  728 + *
  729 + *
  730 + * 发送函数
  731 + *
  732 + * ****************/
  733 +T_JZsdkReturnCode JZsdk_Uart_UartSend(int UartPort, unsigned char *send, int num)
  734 +{
  735 + UartSendData *senddata = (UartSendData*)malloc(sizeof(UartSendData));
  736 + if (senddata == NULL) {
  737 + // 处理内存分配失败的情况
  738 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  739 + }
  740 +
  741 +
  742 + senddata->str = (unsigned char*)malloc(num + 1); // 分配足够的内存用于保存字符串
  743 + if (senddata->str == NULL) {
  744 + // 处理内存分配失败的情况
  745 + free(senddata); // 释放之前分配的内存
  746 + senddata = NULL;
  747 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  748 + }
  749 +
  750 + senddata->str_lenth = num;
  751 + senddata->Uart_name = UartPort;
  752 + memcpy(senddata->str, send, num);
  753 +
  754 + T_JZsdkReturnCode ret = TaskManagement_SubmitTask(JZsdk_Uart_UartSend_Task, (void *)senddata);
  755 + if (ret == JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE)
  756 + {
  757 + free(senddata->str);
  758 + senddata->str = NULL;
  759 + free(senddata);
  760 + senddata = NULL;
  761 + return ret;
  762 + }
  763 +
  764 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  765 +}
  766 +
  767 +
  768 +/****************
  769 + *
  770 + * 串口识别符关闭
  771 + *
  772 + * ****************/
  773 +int JZsdk_Uart_CloseUartFd(int UartPort)
  774 +{
  775 + if (UartPort == UART_4G)
  776 + {
  777 + JZSDK_LOG_INFO("关闭4g串口识别符\n");
  778 + close(Uart_4G_fd);
  779 + return 0;
  780 + }
  781 + else if (UartPort == UART_DEV_1)
  782 + {
  783 + JZSDK_LOG_INFO("关闭串口1识别符\n");
  784 + close(Uart_DEV1_fd);
  785 + return 0;
  786 + }
  787 + else if (UartPort == UART_DEV_2)
  788 + {
  789 + JZSDK_LOG_INFO("关闭串口2识别符\n");
  790 + close(Uart_DEV1_fd);
  791 + return 0;
  792 + }
  793 +}
  794 +
  795 +
  796 +
  797 +
  798 +static void *CloseUart(void *arg)
  799 +{
  800 + s_SerialInitArg *args = (s_SerialInitArg *)arg;
  801 + int UartPort = args->UartDevName;
  802 + int BitRate = args->BitRate;
  803 +
  804 + Recv_Thread = JZ_FLAGCODE_ON;
  805 + Deal_Thread = JZ_FLAGCODE_ON;
  806 +
  807 + if (UartPort == UART_4G)
  808 + {
  809 + JZSDK_LOG_INFO("关闭4g线程\n");
  810 + Uart_4G_Switch = JZ_FLAGCODE_OFF;
  811 + }
  812 + else if (UartPort == UART_DEV_1)
  813 + {
  814 + JZSDK_LOG_INFO("关闭串口1线程\n");
  815 + Uart_DEV1_Switch = JZ_FLAGCODE_OFF;
  816 + }
  817 + else if (UartPort == UART_DEV_2)
  818 + {
  819 + JZSDK_LOG_INFO("关闭串口2线程\n");
  820 + Uart_DEV2_Switch = JZ_FLAGCODE_OFF;
  821 + }
  822 + else
  823 + {
  824 + return 0;
  825 + }
  826 +
  827 + while ( (Recv_Thread != JZ_FLAGCODE_OFF) && (Deal_Thread != JZ_FLAGCODE_OFF))
  828 + {
  829 + delayMs(1);
  830 + }
  831 +
  832 + delayMs(100);
  833 +
  834 + //保证全部注销后
  835 + JZSDK_LOG_INFO("串口注销完毕");
  836 +
  837 + //创建新的
  838 + JZsdk_Uart_SecondInit(UartPort, BitRate);
  839 +
  840 + free(args);
  841 +}
  842 +
  843 +/****************
  844 + *
  845 + * 线程关闭, 并创建一个新的串口
  846 + *
  847 + * ****************/
  848 +int JZsdk_Uart_CloseUartThead(int UartPort, int BitRate)
  849 +{
  850 +
  851 + //将串口描述符关闭
  852 + JZsdk_Uart_CloseUartFd(UartPort);
  853 +
  854 + s_SerialInitArg *parameter = (s_SerialInitArg *)malloc(sizeof(s_SerialInitArg));
  855 + parameter->UartDevName = UartPort;
  856 + parameter->BitRate = BitRate;
  857 +
  858 +
  859 + // 创建关闭串口的线程
  860 + pthread_t CloseThread;
  861 + pthread_attr_t task_attribute; // 线程属性
  862 + pthread_attr_setdetachstate(&task_attribute, PTHREAD_CREATE_DETACHED); // 设置线程分离属性
  863 +
  864 + pthread_attr_init(&task_attribute);
  865 +
  866 +
  867 + // 创建串口数据处理线程
  868 + if (pthread_create(&CloseThread, &task_attribute, CloseUart, parameter) != 0)
  869 + {
  870 + JZSDK_LOG_ERROR("Failed to create receive thread");
  871 + return 1;
  872 + }
  873 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_Uart_UartDeal.h
  4 + * JZsdk_Uart_UartDeal的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_UART_UARTDEAL_H
  11 +#define JZSDK_UART_UARTDEAL_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  22 +
  23 +/* Exported types ------------------------------------------------------------*/
  24 +
  25 +/* Exported functions --------------------------------------------------------*/
  26 +T_JZsdkReturnCode JZsdk_Uart_UartSend(int UartPort ,unsigned char *send, int num);
  27 +int JZsdk_Uart_UartDeal_Receive(int Uart_fd, int Uart_Dev_name);
  28 +int JZsdk_Uart_CloseUartFd(int UartPort);
  29 +int JZsdk_Uart_CloseUartThead(int UartPort, int BitRate);
  30 +T_JZsdkReturnCode JZsdk_Uart_UartSend_NotTask(int Uart_Name, unsigned char *str, int str_lenth);
  31 +int UartDeal_Recv_interface(int type, int Uart_fd , unsigned char *getbuf, int getbufLen);
  32 +
  33 +
  34 +
  35 +#ifdef __cplusplus
  36 +}
  37 +#endif
  38 +
  39 +#endif
  1 +#include <stdio.h>
  2 +#include <string.h>
  3 +#include <stdlib.h>
  4 +
  5 +#include <fcntl.h>
  6 +#include <unistd.h>
  7 +#include <termios.h>
  8 +#include <sys/time.h>
  9 +
  10 +#include "JZsdkLib.h"
  11 +
  12 +/*******************************************
  13 +*
  14 +* 使能一个串口 返回设备号
  15 +* 变量1 串口设备名
  16 + 变量2 比特率
  17 + 返回 int 设备号
  18 + 例子: UartDeal_Base_CreateReceive("/dev/ttyS2", 115200)
  19 +
  20 +*******************************************/
  21 +int UartConnection_UartEnabled(char *UartDev, int BitRate)
  22 +{
  23 + int ret = 0;
  24 + int UartReceive_fd = 0;
  25 + pthread_t UartReceive_task;
  26 + char PrintStr[256];
  27 +
  28 + //1、读取串口
  29 + UartReceive_fd = open(UartDev,O_RDWR);
  30 + if(UartReceive_fd < 0)
  31 + {
  32 + snprintf(PrintStr, 256, "打开%s失败", UartDev);
  33 + printf("%s\n", PrintStr);
  34 + return -1;
  35 + }
  36 + else
  37 + {
  38 + snprintf(PrintStr, 256, "打开%s成功", UartDev);
  39 + printf("%s\n", PrintStr);
  40 + }
  41 +
  42 + //2、获取终端信息
  43 + struct termios options;
  44 + if(tcgetattr(UartReceive_fd,&options)!= 0) //获取终端信息
  45 + {
  46 + printf("获取终端信息失败！\n");
  47 + return -1;
  48 + }
  49 +
  50 + //3、设置比特率
  51 + switch (BitRate)
  52 + {
  53 + case 115200:
  54 + cfsetispeed(&options, B115200);
  55 + cfsetospeed(&options, B115200);
  56 + break;
  57 + case 230400:
  58 + cfsetispeed(&options, B230400);
  59 + cfsetospeed(&options, B230400);
  60 + break;
  61 + case 460800:
  62 + cfsetispeed(&options, B460800);
  63 + cfsetospeed(&options, B460800);
  64 + break;
  65 + case 921600:
  66 + cfsetispeed(&options, B921600);
  67 + cfsetospeed(&options, B921600);
  68 + break;
  69 + case 1000000:
  70 + cfsetispeed(&options, B1000000);
  71 + cfsetospeed(&options, B1000000);
  72 + break;
  73 + default:
  74 + return -1;
  75 + break;
  76 + }
  77 +
  78 + options.c_cflag |= (unsigned) CLOCAL;
  79 + options.c_cflag |= (unsigned) CREAD;
  80 + options.c_cflag &= ~(unsigned) CRTSCTS;
  81 + options.c_cflag &= ~(unsigned) CSIZE;
  82 + options.c_cflag |= (unsigned) CS8;
  83 + options.c_cflag &= ~(unsigned) PARENB;
  84 + options.c_iflag &= ~(unsigned) INPCK;
  85 + options.c_cflag &= ~(unsigned) CSTOPB;
  86 + options.c_oflag &= ~(unsigned) OPOST;
  87 + options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
  88 + options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
  89 + options.c_cc[VTIME] = 0;
  90 + options.c_cc[VMIN] = 0;
  91 +
  92 +
  93 + tcflush(UartReceive_fd,TCIOFLUSH); //刷清输入、输出队列
  94 + tcsetattr(UartReceive_fd,TCSAFLUSH,&options); //串口设置使能
  95 +
  96 + JZSDK_LOG_INFO("使能串口 波特率%d成功",BitRate);
  97 +
  98 + return UartReceive_fd;
  99 +}
  1 +/**
  2 + ********************************************************************
  3 + * @file UartDeal_Base.h
  4 + * UartDeal_Base的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef UARTDEAL_BASE_H
  11 +#define UARTDEAL_BASE_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +
  15 +#ifdef __cplusplus
  16 +extern "C" {
  17 +#endif
  18 +
  19 +/* Exported constants --------------------------------------------------------*/
  20 +/* 常亮定义*/
  21 +
  22 +/* Exported types ------------------------------------------------------------*/
  23 +
  24 +/* Exported functions --------------------------------------------------------*/
  25 +int UartConnection_UartEnabled(char *UartDev, int BitRate);
  26 +
  27 +
  28 +#ifdef __cplusplus
  29 +}
  30 +#endif
  31 +
  32 +#endif
  1 +/**
  2 + ********************************************************************
  3 + * @file Uart_Config.h
  4 + * Uart_Config的头文件
  5 + * 用于管理串口的基本信息
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef UART_CONFIG_H
  11 +#define UART_CONFIG_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +#include "BaseConfig.h"
  15 +
  16 +#ifdef __cplusplus
  17 +extern "C" {
  18 +#endif
  19 +
  20 +/* Exported constants --------------------------------------------------------*/
  21 +/* 常亮定义*/
  22 +
  23 +/* Exported types ------------------------------------------------------------*/
  24 +
  25 +/* Exported functions --------------------------------------------------------*/
  26 +
  27 +#ifdef __cplusplus
  28 +}
  29 +#endif
  30 +
  31 +#endif
  1 +#include <stdio.h>
  2 +#include <stdlib.h>
  3 +
  4 +
  5 +#include "version_choose.h"
  6 +#include "JZsdkLib.h"
  7 +#include "./JZsdk_usb_bulk.h"
  8 +
  9 +
  10 +#if USB_CONFIG_STATUS == VERSION_SWITCH_ON
  11 + #include <libusb-1.0/libusb.h>
  12 +#endif
  13 +
  14 +#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
  15 +#define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER (-1)
  16 +
  17 +typedef struct JZsdk_T_HalUsbBulkObj{
  18 +
  19 +
  20 +#if USB_CONFIG_STATUS == VERSION_SWITCH_ON
  21 + libusb_device_handle *handle; //usb的权柄
  22 +#endif
  23 +
  24 + unsigned int interfaceNum; //接口编号
  25 + int isUsbHost;
  26 +
  27 + unsigned int pid; //pid号码 用于标识产商
  28 + unsigned int vid; //vid号码 用于标识设备名
  29 +
  30 + unsigned int PointIn; //读取输入引脚
  31 + unsigned int PointOut; //写入输出引脚
  32 +
  33 +}JZsdk_T_HalUsbBulkObj;
  34 +
  35 +T_JZsdkReturnCode JZsdk_HalUsbBulk_Init(void **index, int interfaceNum, int isUsbHost,
  36 + unsigned int pid, unsigned int vid, unsigned int PointIn, unsigned int PointOut)
  37 +{
  38 +#if USB_CONFIG_STATUS == VERSION_SWITCH_ON
  39 + //创建一个usb信息结构体
  40 + struct JZsdk_T_HalUsbBulkObj *UsbBulkObj = NULL;
  41 +
  42 + //为usb信息结构体注册内存
  43 + UsbBulkObj = (struct JZsdk_T_HalUsbBulkObj *)malloc(sizeof(struct JZsdk_T_HalUsbBulkObj));
  44 + if (UsbBulkObj == NULL) {
  45 + JZSDK_LOG_ERROR("HalUsbBulk注册失败");
  46 + return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
  47 + }
  48 +
  49 + UsbBulkObj->handle = NULL;
  50 + UsbBulkObj->interfaceNum = interfaceNum;
  51 + UsbBulkObj->isUsbHost = isUsbHost;
  52 + UsbBulkObj->pid = pid;
  53 + UsbBulkObj->vid = vid;
  54 + UsbBulkObj->PointIn = PointIn;
  55 + UsbBulkObj->PointOut = PointOut;
  56 +
  57 + int ret;
  58 +
  59 + ret = libusb_init(NULL);
  60 + if (ret < 0) {
  61 + JZSDK_LOG_ERROR("init usb bulk failed, errno = %d", ret);
  62 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  63 + }
  64 +
  65 + UsbBulkObj->handle = libusb_open_device_with_vid_pid(NULL, UsbBulkObj->vid, UsbBulkObj->pid);
  66 + if(UsbBulkObj->handle == NULL) {
  67 + JZSDK_LOG_ERROR("Open Device Error\n");
  68 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  69 + }
  70 +
  71 + // ret = libusb_detach_kernel_driver(UsbBulkObj->handle, UsbBulkObj->interfaceNum);
  72 + // if (ret < 0)
  73 + // {
  74 + // printf("销毁usb任务失败\n");
  75 + // }
  76 +
  77 + ret = libusb_claim_interface(UsbBulkObj->handle, UsbBulkObj->interfaceNum);
  78 + if(ret < 0) {
  79 + JZSDK_LOG_ERROR("Cannot Claim Interface\n");
  80 + libusb_close(UsbBulkObj->handle);
  81 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  82 + }
  83 +
  84 + JZSDK_LOG_INFO("USB 初始化完成\n");
  85 +
  86 + *index = (void *)UsbBulkObj;
  87 +#endif
  88 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  89 +}
  90 +
  91 +T_JZsdkReturnCode JZsdk_HalUsbBulk_DeInit(void **index)
  92 +{
  93 + // struct libusb_device_handle *handle = NULL;
  94 + // int32_t ret;
  95 + // T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
  96 +
  97 + // if (usbBulkHandle == NULL) {
  98 + // return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  99 + // }
  100 +
  101 + // handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
  102 +
  103 +
  104 + // ret = libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
  105 + // if(ret != 0) {
  106 + // USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret);
  107 + // return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  108 + // }
  109 + // osalHandler->TaskSleepMs(100);
  110 + // libusb_exit(NULL);
  111 +
  112 +
  113 + // free(usbBulkHandle);
  114 +
  115 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  116 +}
  117 +
  118 +T_JZsdkReturnCode JZsdk_HalUsbBulk_WriteData(void **index ,const unsigned char *buf, unsigned int len, unsigned int *realLen)
  119 +{
  120 + struct JZsdk_T_HalUsbBulkObj *UsbBulkObj = (struct JZsdk_T_HalUsbBulkObj *) *index;
  121 +
  122 + int ret;
  123 + int actualLen = 0;
  124 +#if USB_CONFIG_STATUS == VERSION_SWITCH_ON
  125 + ret = libusb_bulk_transfer(UsbBulkObj->handle, UsbBulkObj->PointOut,
  126 + (unsigned char *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
  127 + if (ret < 0) {
  128 + JZSDK_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
  129 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  130 + }
  131 +#endif
  132 +
  133 + *realLen = actualLen;
  134 +
  135 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  136 +}
  137 +
  138 +T_JZsdkReturnCode JZsdk_HalUsbBulk_ReadData(void **index ,unsigned char *buf, unsigned int len,unsigned int *realLen)
  139 +{
  140 + struct JZsdk_T_HalUsbBulkObj *UsbBulkObj = (struct JZsdk_T_HalUsbBulkObj *) *index;
  141 +
  142 + int ret;
  143 + int actualLen = 0;
  144 +
  145 +#if USB_CONFIG_STATUS == VERSION_SWITCH_ON
  146 + ret = libusb_bulk_transfer(UsbBulkObj->handle, UsbBulkObj->PointIn,
  147 + buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
  148 + if (ret < 0) {
  149 + JZSDK_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
  150 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  151 + }
  152 +#endif
  153 + *realLen = actualLen;
  154 +
  155 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  156 +}
  157 +
  158 +// T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
  159 +// {
  160 +// //attention: this interface only be called in usb device mode.
  161 +// deviceInfo->vid = LINUX_USB_VID;
  162 +// deviceInfo->pid = LINUX_USB_PID;
  163 +
  164 +// // This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
  165 +// deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
  166 +// deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
  167 +// deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
  168 +
  169 +// // This bulk channel is used to obtain DJI perception image and download camera media file.
  170 +// deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
  171 +// deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
  172 +// deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
  173 +
  174 +// return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  175 +// }
  176 +
  177 +// int JZ_HalUsbBulk_GetDeviceInfo() {
  178 +// libusb_device **devs; // 指针的指针，用于存储设备列表
  179 +// libusb_context *ctx = NULL; // libusb上下文
  180 +// libusb_device_handle *dev_handle; // 设备句柄
  181 +// int r; // 用于存储返回值
  182 +// ssize_t cnt; // 设备数量
  183 +// libusb_device_descriptor desc; // 设备描述符
  184 +// libusb_config_descriptor *config_desc; // 配置描述符
  185 +// const libusb_interface *intf; // 接口
  186 +// const libusb_interface_descriptor *intf_desc; // 接口描述符
  187 +// int i, j;
  188 +
  189 +// // 初始化libusb库
  190 +// r = libusb_init(&ctx);
  191 +// if(r < 0) {
  192 +// printf("初始化libusb失败\n");
  193 +// return 1;
  194 +// }
  195 +
  196 +// libusb_set_debug(ctx, 3); // 设置调试级别
  197 +
  198 +// // 获取USB设备列表
  199 +// cnt = libusb_get_device_list(ctx, &devs);
  200 +// if(cnt < 0) {
  201 +// printf("获取设备列表失败\n");
  202 +// libusb_exit(ctx);
  203 +// return 1;
  204 +// }
  205 +
  206 +// // 遍历设备列表
  207 +// printf("找到了 %zd 个设备\n", cnt);
  208 +// for (i = 0; i < cnt; i++) {
  209 +// dev_handle = libusb_open_device_with_vid_pid(ctx, VENDOR_ID, PRODUCT_ID); // 使用厂商ID和产品ID打开设备
  210 +// if (dev_handle == NULL) {
  211 +// printf("无法打开设备\n");
  212 +// continue;
  213 +// }
  214 +
  215 +// // 获取设备描述符
  216 +// r = libusb_get_device_descriptor(devs[i], &desc);
  217 +// if (r < 0) {
  218 +// printf("获取设备描述符失败\n");
  219 +// libusb_close(dev_handle);
  220 +// continue;
  221 +// }
  222 +
  223 +// printf("设备描述符：\n");
  224 +// printf(" 厂商ID: 0x%04x\n", desc.idVendor);
  225 +// printf(" 产品ID: 0x%04x\n", desc.idProduct);
  226 +
  227 +// // 获取活动配置的描述符
  228 +// r = libusb_get_active_config_descriptor(devs[i], &config_desc);
  229 +// if (r < 0) {
  230 +// printf("获取配置描述符失败\n");
  231 +// libusb_close(dev_handle);
  232 +// continue;
  233 +// }
  234 +
  235 +// // 遍历配置中的接口
  236 +// for (j = 0; j < config_desc->bNumInterfaces; j++) {
  237 +// intf = &config_desc->interface[j];
  238 +// printf("接口编号: %d\n", intf->bInterfaceNumber);
  239 +
  240 +// // 遍历接口中的设置
  241 +// for (int k = 0; k < intf->num_altsetting; k++) {
  242 +// intf_desc = &intf->altsetting[k];
  243 +// // 这里可以进一步处理接口描述符的信息，比如端点等
  244 +// printf(" 设置编号: %d\n", intf_desc->bAlternateSetting);
  245 +// // ...
  246 +// }
  247 +// }
  248 +
  249 +// libusb_free_config_descriptor(config_desc); // 释放配置描述符
  250 +// libusb_close(dev_handle); // 关闭设备句柄
  251 +// }
  252 +
  253 +// libusb_free_device_list(devs, 1); // 释放设备列表
  254 +// libusb_exit(ctx); // 退出libusb库
  255 +
  256 +// return 0;
  257 +// }
  1 +/**
  2 + ********************************************************************
  3 + * @file JZsdk_usb_bulk.h
  4 + * JZsdk_usb_bulk的头文件
  5 + *
  6 + *********************************************************************
  7 + */
  8 +
  9 +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
  10 +#ifndef JZSDK_USB_BULK_H
  11 +#define JZSDK_USB_BULK_H
  12 +
  13 +/* Includes ------------------------------------------------------------------*/
  14 +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
  15 +
  16 +#ifdef __cplusplus
  17 +extern "C" {
  18 +#endif
  19 +
  20 +#define LINUX_USB_VID (0x04b4)
  21 +#define LINUX_USB_PID (0x00f1)
  22 +#define USB_OUT_POINT (0x02)
  23 +#define USB_IN_POINT (0x86)
  24 +
  25 +T_JZsdkReturnCode JZsdk_HalUsbBulk_WriteData(void **index ,const unsigned char *buf, unsigned int len, unsigned int *realLen);
  26 +T_JZsdkReturnCode JZsdk_HalUsbBulk_ReadData(void **index ,unsigned char *buf, unsigned int len,unsigned int *realLen);
  27 +T_JZsdkReturnCode JZsdk_HalUsbBulk_Init(void **index, int interfaceNum, int isUsbHost,
  28 + unsigned int pid, unsigned int vid, unsigned int PointIn, unsigned int PointOut);
  29 +
  30 +#ifdef __cplusplus
  31 +}
  32 +#endif
  33 +
  34 +#endif
  1 +#更新日志
  1 +#!/bin/bash
  2 +#1、输入分支名，账号，密码，描述信息
  3 +branch_name="dev_00.00.02.00"
  4 +Account="PanHaoBin"
  5 +PassWord="ookk3866"
  6 +Message="更新"
  7 +ProjectName="114.132.166.25:8099/PanHaoBin/JZSDK_Linux.git"
  8 +
  9 +
  10 +# 检查分支是否存在
  11 +if git rev-parse --verify "$branch_name" >/dev/null 2>&1; then
  12 + echo "分支 $branch_name 存在"
  13 +else
  14 + echo "分支 $branch_name 不存在"
  15 + # 创建新分支
  16 + git branch "$branch_name"
  17 +fi
  18 +
  19 +# 切换到新创建的分支
  20 +git checkout "$branch_name"
  21 +
  22 +#选择上传内容
  23 +#git add -n . | grep -v "project_build" | xargs git add
  24 +git add .
  25 +
  26 +# 写入描述/注释
  27 +git commit -m "$Message"
  28 +
  29 +# 设置远程仓库的URL
  30 +remote_url="http://$Account:$PassWord@$ProjectName"
  31 +
  32 +# 上传到远程仓库
  33 +git push "$remote_url" "$branch_name"
  34 +
  35 +echo "推送完成"